2013-09-03T22:46:07.225Z,1378248367.225 [Supervisor](DEBUG): Initializing supervisor.
2013-09-03T22:46:07.228Z,1378248367.228 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-09-03T22:46:07.229Z,1378248367.229 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-09-03T22:46:07.232Z,1378248367.232 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-09-03T22:46:07.236Z,1378248367.236 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-09-03T22:46:07.246Z,1378248367.246 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-09-03T22:46:07.248Z,1378248367.248 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-09-03T22:46:07.249Z,1378248367.249 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-09-03T22:46:07.252Z,1378248367.252 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-09-03T22:46:07.253Z,1378248367.253 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-09-03T22:46:07.257Z,1378248367.257 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-09-03T22:46:07.568Z,1378248367.568 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-09-03T22:46:07.568Z,1378248367.568 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-09-03T22:46:07.786Z,1378248367.786 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-09-03T22:46:07.786Z,1378248367.786 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-09-03T22:46:07.884Z,1378248367.884 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-09-03T22:46:07.886Z,1378248367.886 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-09-03T22:46:08.006Z,1378248368.006 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-09-03T22:46:08.006Z,1378248368.006 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-09-03T22:46:08.158Z,1378248368.158 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-09-03T22:46:08.160Z,1378248368.160 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-09-03T22:46:08.425Z,1378248368.425 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-09-03T22:46:08.426Z,1378248368.426 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-09-03T22:46:08.611Z,1378248368.611 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-09-03T22:46:08.613Z,1378248368.613 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-09-03T22:46:08.908Z,1378248368.908 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-09-03T22:46:08.910Z,1378248368.910 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-09-03T22:46:09.027Z,1378248369.027 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-09-03T22:46:09.028Z,1378248369.028 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-09-03T22:46:09.486Z,1378248369.486 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-09-03T22:46:09.487Z,1378248369.487 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-09-03T22:46:09.605Z,1378248369.605 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-09-03T22:46:09.606Z,1378248369.606 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-09-03T22:46:09.701Z,1378248369.701 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-09-03T22:46:09.705Z,1378248369.705 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-09-03T22:46:09.814Z,1378248369.814 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-09-03T22:46:09.957Z,1378248369.957 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-09-03T22:46:10.061Z,1378248370.061 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-09-03T22:46:10.178Z,1378248370.178 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-09-03T22:46:10.286Z,1378248370.286 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-09-03T22:46:10.418Z,1378248370.418 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-09-03T22:46:10.528Z,1378248370.528 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-09-03T22:46:10.630Z,1378248370.630 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2013-09-03T22:46:10.680Z,1378248370.680 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-09-03T22:46:10.946Z,1378248370.946 [InternalSim] Loaded
2013-09-03T22:46:10.946Z,1378248370.946 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-09-03T22:46:10.947Z,1378248370.947 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-09-03T22:46:10.947Z,1378248370.947 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-09-03T22:46:11.065Z,1378248371.065 [SBIT](DEBUG): Construct Startup Built In Test.
2013-09-03T22:46:11.098Z,1378248371.098 [SBIT] Loaded
2013-09-03T22:46:11.098Z,1378248371.098 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-09-03T22:46:11.099Z,1378248371.099 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-09-03T22:46:11.132Z,1378248371.132 [IBIT] Loaded
2013-09-03T22:46:11.132Z,1378248371.132 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-09-03T22:46:11.134Z,1378248371.134 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-09-03T22:46:11.260Z,1378248371.260 [CBIT] Loaded
2013-09-03T22:46:11.261Z,1378248371.261 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-09-03T22:46:11.261Z,1378248371.261 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-09-03T22:46:11.262Z,1378248371.262 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-09-03T22:46:11.460Z,1378248371.460 [BuoyancyServo] Loaded
2013-09-03T22:46:11.460Z,1378248371.460 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-09-03T22:46:11.472Z,1378248371.472 [ElevatorServo] Loaded
2013-09-03T22:46:11.472Z,1378248371.472 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-09-03T22:46:11.488Z,1378248371.488 [MassServo] Loaded
2013-09-03T22:46:11.488Z,1378248371.488 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-09-03T22:46:11.499Z,1378248371.499 [RudderServo] Loaded
2013-09-03T22:46:11.499Z,1378248371.499 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-09-03T22:46:11.511Z,1378248371.511 [ThrusterServo] Loaded
2013-09-03T22:46:11.511Z,1378248371.511 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-09-03T22:46:11.511Z,1378248371.511 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-09-03T22:46:11.512Z,1378248371.512 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-09-03T22:46:11.569Z,1378248371.569 [DepthRateCalculator] Loaded
2013-09-03T22:46:11.569Z,1378248371.569 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-09-03T22:46:15.073Z,1378248375.073 [HFRadarModelCalc] Loaded
2013-09-03T22:46:15.073Z,1378248375.073 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-09-03T22:46:15.089Z,1378248375.089 [NavChart] Loaded
2013-09-03T22:46:15.090Z,1378248375.090 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-09-03T22:46:15.095Z,1378248375.095 [PitchRateCalculator] Loaded
2013-09-03T22:46:15.096Z,1378248375.096 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-09-03T22:46:15.110Z,1378248375.110 [SpeedCalculator] Loaded
2013-09-03T22:46:15.110Z,1378248375.110 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-09-03T22:46:15.126Z,1378248375.126 [TempGradientCalculator] Loaded
2013-09-03T22:46:15.127Z,1378248375.127 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-09-03T22:46:15.132Z,1378248375.132 [YawRateCalculator] Loaded
2013-09-03T22:46:15.132Z,1378248375.132 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-09-03T22:46:15.187Z,1378248375.187 [Navigation] Loaded
2013-09-03T22:46:15.187Z,1378248375.187 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-09-03T22:46:15.188Z,1378248375.188 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-09-03T22:46:15.188Z,1378248375.188 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-09-03T22:46:15.491Z,1378248375.491 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-09-03T22:46:15.491Z,1378248375.491 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-09-03T22:46:15.531Z,1378248375.531 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-09-03T22:46:15.531Z,1378248375.531 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-09-03T22:46:15.603Z,1378248375.603 [VerticalControl](DEBUG): Construct VerticalControl.
2013-09-03T22:46:15.711Z,1378248375.711 [VerticalControl] Loaded
2013-09-03T22:46:15.711Z,1378248375.711 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-09-03T22:46:15.712Z,1378248375.712 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-09-03T22:46:15.777Z,1378248375.777 [HorizontalControl] Loaded
2013-09-03T22:46:15.778Z,1378248375.778 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-09-03T22:46:15.778Z,1378248375.778 [SpeedControl](DEBUG): Construct SpeedControl.
2013-09-03T22:46:15.780Z,1378248375.780 [SpeedControl] Loaded
2013-09-03T22:46:15.780Z,1378248375.780 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-09-03T22:46:15.781Z,1378248375.781 [LoopControl](DEBUG): Construct LoopControl.
2013-09-03T22:46:15.782Z,1378248375.782 [LoopControl] Loaded
2013-09-03T22:46:15.782Z,1378248375.782 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-09-03T22:46:15.782Z,1378248375.782 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-09-03T22:46:15.783Z,1378248375.783 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-09-03T22:46:15.792Z,1378248375.792 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-09-03T22:46:15.797Z,1378248375.797 [AsyncPiEstimator] Loaded
2013-09-03T22:46:15.798Z,1378248375.798 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-09-03T22:46:15.801Z,1378248375.801 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406474E0
2013-09-03T22:46:15.802Z,1378248375.802 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-09-03T22:46:15.803Z,1378248375.803 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-09-03T22:46:16.065Z,1378248376.065 [AHRS_sp3003D] Loaded
2013-09-03T22:46:16.065Z,1378248376.065 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-09-03T22:46:16.338Z,1378248376.338 [Batt_Ocean_Server] Loaded
2013-09-03T22:46:16.339Z,1378248376.339 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-09-03T22:46:16.357Z,1378248376.357 [Depth_Keller] Loaded
2013-09-03T22:46:16.357Z,1378248376.357 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-09-03T22:46:16.362Z,1378248376.362 [DropWeight] Loaded
2013-09-03T22:46:16.362Z,1378248376.362 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-09-03T22:46:16.565Z,1378248376.565 [DVL_micro] Loaded
2013-09-03T22:46:16.565Z,1378248376.565 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-09-03T22:46:16.566Z,1378248376.566 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406D54E0
2013-09-03T22:46:16.662Z,1378248376.662 [NAL9602] Loaded
2013-09-03T22:46:16.662Z,1378248376.662 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-09-03T22:46:16.709Z,1378248376.709 [Onboard] Loaded
2013-09-03T22:46:16.709Z,1378248376.709 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-09-03T22:46:16.716Z,1378248376.716 [Radio_Freewave] Loaded
2013-09-03T22:46:16.716Z,1378248376.716 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-09-03T22:46:16.872Z,1378248376.872 [DAT] Loaded
2013-09-03T22:46:16.873Z,1378248376.873 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-09-03T22:46:16.873Z,1378248376.873 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-09-03T22:46:16.874Z,1378248376.874 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-09-03T22:46:16.965Z,1378248376.965 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-09-03T22:46:16.967Z,1378248376.967 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-09-03T22:46:16.968Z,1378248376.968 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-09-03T22:46:16.981Z,1378248376.981 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-09-03T22:46:16.983Z,1378248376.983 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407324E0
2013-09-03T22:46:16.987Z,1378248376.987 [Supervisor](DEBUG): Running supervisor.
2013-09-03T22:46:16.988Z,1378248376.988 [CommandLine](INFO): Thread ID is 754
2013-09-03T22:46:16.992Z,1378248376.992 [controlThread](INFO): Thread ID is 753
2013-09-03T22:46:16.992Z,1378248376.992 [controlThread](DEBUG): Initializing ControlThread
2013-09-03T22:46:16.992Z,1378248376.992 [CycleStarter](INFO): Thread ID is 752
2013-09-03T22:46:16.993Z,1378248376.993 [InternalSim](DEBUG):  InternalSim initializing...
2013-09-03T22:46:17.104Z,1378248377.104 [logger](INFO): Thread ID is 755
2013-09-03T22:46:17.236Z,1378248377.236 [AsyncPiEstimator](INFO): Thread ID is 816
2013-09-03T22:46:17.236Z,1378248377.236 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-09-03T22:46:17.357Z,1378248377.357 [DVL_micro](INFO): Thread ID is 817
2013-09-03T22:46:17.376Z,1378248377.376 [DVL_micro](INFO): Initializing
2013-09-03T22:46:17.376Z,1378248377.376 [DVL_micro](INFO): start:Powering up
2013-09-03T22:46:17.377Z,1378248377.377 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-09-03T22:46:17.378Z,1378248377.378 [DVL_micro](INFO): Cycling power to configure device.
2013-09-03T22:46:17.384Z,1378248377.384 [NavChartDb](INFO): Thread ID is 818
2013-09-03T22:46:17.429Z,1378248377.429 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-09-03T22:46:17.430Z,1378248377.430 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-09-03T22:46:17.431Z,1378248377.431 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-09-03T22:46:17.431Z,1378248377.431 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-09-03T22:46:17.431Z,1378248377.431 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-09-03T22:46:17.431Z,1378248377.431 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-09-03T22:46:17.432Z,1378248377.432 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-09-03T22:46:17.432Z,1378248377.432 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-09-03T22:46:17.432Z,1378248377.432 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-09-03T22:46:17.467Z,1378248377.467 [SBIT](INFO): Initialize SBIT Component.
2013-09-03T22:46:17.467Z,1378248377.467 [SBIT](IMPORTANT): Tethys CM Info: 
$Rev:10573
2013-09-03T22:46:17.467Z,1378248377.467 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-09-03T22:46:17.468Z,1378248377.468 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-09-03T22:46:17.480Z,1378248377.480 [IBIT](INFO): Initialize IBIT Component.
2013-09-03T22:46:17.481Z,1378248377.481 [CBIT](DEBUG): Initialize CBIT Component.
2013-09-03T22:46:17.481Z,1378248377.481 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2013-09-03T22:46:17.481Z,1378248377.481 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-09-03T22:46:17.505Z,1378248377.505 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-09-03T22:46:17.506Z,1378248377.506 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-09-03T22:46:17.506Z,1378248377.506 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-09-03T22:46:17.506Z,1378248377.506 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-09-03T22:46:17.507Z,1378248377.507 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-09-03T22:46:17.507Z,1378248377.507 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-09-03T22:46:17.508Z,1378248377.508 [Navigation](DEBUG): Initializing Navigation.
2013-09-03T22:46:17.508Z,1378248377.508 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-09-03T22:46:17.510Z,1378248377.510 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-09-03T22:46:17.511Z,1378248377.511 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-09-03T22:46:17.511Z,1378248377.511 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-09-03T22:46:19.443Z,1378248379.443 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-09-03T22:46:19.444Z,1378248379.444 [DVL_micro](INFO): Querying output modes
2013-09-03T22:46:19.444Z,1378248379.444 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-09-03T22:46:19.455Z,1378248379.455 [DVL_micro](DEBUG): cmdResponse: 01 03 16
2013-09-03T22:46:19.455Z,1378248379.455 [DVL_micro](INFO): NQ1 output enabled
2013-09-03T22:46:19.455Z,1378248379.455 [DVL_micro](INFO): RSSI output enabled
2013-09-03T22:46:19.456Z,1378248379.456 [DVL_micro](INFO): ADCP output enabled
2013-09-03T22:46:19.456Z,1378248379.456 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-09-03T22:46:19.467Z,1378248379.467 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-09-03T22:46:19.472Z,1378248379.472 [DVL_micro](INFO): pause:Powering down
2013-09-03T22:46:19.495Z,1378248379.495 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-09-03T22:46:19.534Z,1378248379.534 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-09-03T22:46:19.574Z,1378248379.574 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-09-03T22:46:19.588Z,1378248379.588 [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>


2013-09-03T22:46:19.589Z,1378248379.589 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-09-03T22:46:19.685Z,1378248379.685 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-09-03T22:46:19.688Z,1378248379.688 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-09-03T22:46:19.690Z,1378248379.690 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-09-03T22:46:19.706Z,1378248379.706 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-09-03T22:46:19.710Z,1378248379.710 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-09-03T22:46:19.744Z,1378248379.744 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-09-03T22:46:19.769Z,1378248379.769 [Default:D.SetSpeed](DEBUG): Construct.
2013-09-03T22:46:19.788Z,1378248379.788 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-09-03T22:46:19.793Z,1378248379.793 [Default:F.Wait](DEBUG): Construct Wait.
2013-09-03T22:46:19.796Z,1378248379.796 [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>


2013-09-03T22:46:19.803Z,1378248379.803 [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,
2013-09-03T22:46:19.879Z,1378248379.879 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-09-03T22:46:20.159Z,1378248380.159 [Radio_Freewave](INFO): Powering up
2013-09-03T22:46:20.181Z,1378248380.181 [DAT](INFO): Powering up
2013-09-03T22:46:20.181Z,1378248380.181 [DAT](DEBUG): Initializing DAT.
2013-09-03T22:46:20.416Z,1378248380.416 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-09-03T22:46:20.437Z,1378248380.437 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-09-03T22:46:20.449Z,1378248380.449 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-09-03T22:46:20.461Z,1378248380.461 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-09-03T22:46:20.474Z,1378248380.474 [MassServo](DEBUG): Initializing EZServoServo.
2013-09-03T22:46:20.477Z,1378248380.477 [MassServo](DEBUG): Initializing MassServo.
2013-09-03T22:46:20.494Z,1378248380.494 [RudderServo](DEBUG): Initializing EZServoServo.
2013-09-03T22:46:20.501Z,1378248380.501 [RudderServo](DEBUG): Initializing RudderServo.
2013-09-03T22:46:20.507Z,1378248380.507 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-09-03T22:46:20.513Z,1378248380.513 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-09-03T22:46:21.768Z,1378248381.768 [NAL9602](INFO): Powering up NAL9602
2013-09-03T22:46:32.519Z,1378248392.519 [NAL9602](INFO): NAL9602 initialized
2013-09-03T22:46:32.985Z,1378248392.985 [SBIT](IMPORTANT): Beginning Startup BIT
2013-09-03T22:46:32.992Z,1378248392.992 [CBIT](IMPORTANT): Beginning GF scan
2013-09-03T22:46:40.166Z,1378248400.166 [DAT](INFO): Powering down
2013-09-03T22:46:59.702Z,1378248419.702 [CBIT](IMPORTANT): No ground fault detected
2013-09-03T22:47:26.670Z,1378248446.670 [SBIT](IMPORTANT): SBIT PASSED
2013-09-03T22:47:27.062Z,1378248447.062 [MissionManager](IMPORTANT): Started mission Startup
2013-09-03T22:47:27.062Z,1378248447.062 [Startup] Running Loop=1
2013-09-03T22:47:27.062Z,1378248447.062 [Startup](INFO): Aggregate::initialize Startup
2013-09-03T22:47:27.062Z,1378248447.062 [Startup:A.GoToSurface] Running Loop=1
2013-09-03T22:47:27.063Z,1378248447.063 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-09-03T22:47:27.069Z,1378248447.069 [Startup:StartupSatComms] Running Loop=1
2013-09-03T22:47:27.069Z,1378248447.069 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2013-09-03T22:47:27.069Z,1378248447.069 [Startup:StartupSatComms:A] Running Loop=1
2013-09-03T22:47:27.500Z,1378248447.500 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-09-03T22:48:27.540Z,1378248507.540 [Startup:StartupSatComms:A](INFO): Timed out from 2013-09-03T22:47:27.1Z
2013-09-03T22:48:27.540Z,1378248507.540 [Startup:StartupSatComms:A:A_Timeout] Running Loop=1
2013-09-03T22:48:27.541Z,1378248507.541 [Startup:StartupSatComms:A:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:A:A_Timeout
2013-09-03T22:48:27.541Z,1378248507.541 [Startup:StartupSatComms:A:A_Timeout](INFO): Completed Startup:StartupSatComms:A:A_Timeout
2013-09-03T22:48:27.541Z,1378248507.541 [Startup:StartupSatComms:A] Stopped
2013-09-03T22:48:27.541Z,1378248507.541 [Startup:StartupSatComms:B] Running Loop=1
2013-09-03T22:48:27.849Z,1378248507.849 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-09-03T22:49:27.705Z,1378248567.705 [Startup:StartupSatComms:B](INFO): Timed out from 2013-09-03T22:48:27.5Z
2013-09-03T22:49:27.705Z,1378248567.705 [Startup:StartupSatComms:B:A_Timeout] Running Loop=1
2013-09-03T22:49:27.706Z,1378248567.706 [Startup:StartupSatComms:B:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:B:A_Timeout
2013-09-03T22:49:27.706Z,1378248567.706 [Startup:StartupSatComms:B:A_Timeout](INFO): Completed Startup:StartupSatComms:B:A_Timeout
2013-09-03T22:49:27.706Z,1378248567.706 [Startup:StartupSatComms:B] Stopped
2013-09-03T22:49:27.706Z,1378248567.706 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2013-09-03T22:49:27.706Z,1378248567.706 [Startup:StartupSatComms] Stopped
2013-09-03T22:49:27.706Z,1378248567.706 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2013-09-03T22:49:27.707Z,1378248567.707 [Startup](INFO): Completed Startup
2013-09-03T22:49:27.707Z,1378248567.707 [Startup] Stopped
2013-09-03T22:49:27.708Z,1378248567.708 [Startup](INFO): Aggregate::uninitialize Startup
2013-09-03T22:49:27.708Z,1378248567.708 [Startup:A.GoToSurface] Stopped
2013-09-03T22:49:27.708Z,1378248567.708 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-09-03T22:49:28.101Z,1378248568.101 [MissionManager](IMPORTANT): Started mission Default
2013-09-03T22:49:28.102Z,1378248568.102 [Default] Running Loop=1
2013-09-03T22:49:28.102Z,1378248568.102 [Default](INFO): Aggregate::initialize Default
2013-09-03T22:49:28.102Z,1378248568.102 [Default:D.SetSpeed] Running Loop=1
2013-09-03T22:49:28.102Z,1378248568.102 [Default:D.SetSpeed](DEBUG): Initialize.
2013-09-03T22:49:28.102Z,1378248568.102 [Default:E.GoToSurface] Running Loop=1
2013-09-03T22:49:28.102Z,1378248568.102 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-09-03T22:49:28.102Z,1378248568.102 [Default:Iridium] Running Loop=1
2013-09-03T22:49:28.102Z,1378248568.102 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-09-03T22:49:28.102Z,1378248568.102 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-09-03T22:49:28.102Z,1378248568.102 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-09-03T22:49:28.103Z,1378248568.103 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-09-03T22:49:28.103Z,1378248568.103 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-09-03T22:49:28.103Z,1378248568.103 [Default:E.GoToSurface] Running Loop=1
2013-09-03T22:49:28.109Z,1378248568.109 [Default:D.SetSpeed] Running Loop=1
2013-09-03T22:49:28.114Z,1378248568.114 [Default:CallIridium] Running Loop=1
2013-09-03T22:49:28.114Z,1378248568.114 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2013-09-03T22:49:28.114Z,1378248568.114 [Default:CallIridium:A] Running Loop=1
2013-09-03T22:49:28.116Z,1378248568.116 [Default:CallIridium:A] Stopped
2013-09-03T22:49:28.116Z,1378248568.116 [Default:CallIridium:B] Running Loop=1
2013-09-03T22:49:28.117Z,1378248568.117 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2013-09-03T22:49:28.122Z,1378248568.122 [Default:Iridium:B.GoToSurface] Stopped
2013-09-03T22:49:28.122Z,1378248568.122 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-09-03T22:49:28.122Z,1378248568.122 [Default:Iridium:Read_Iridium] Running Loop=1
2013-09-03T22:49:28.122Z,1378248568.122 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-09-03T22:49:28.143Z,1378248568.143 [Default:GPS] Running Loop=1
2013-09-03T22:49:28.147Z,1378248568.147 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2013-09-03T22:49:28.148Z,1378248568.148 [Default:GPS:A.SetSpeed] Running Loop=1
2013-09-03T22:49:28.148Z,1378248568.148 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2013-09-03T22:49:28.148Z,1378248568.148 [Default:GPS:B.GoToSurface] Running Loop=1
2013-09-03T22:49:28.148Z,1378248568.148 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-09-03T22:49:28.157Z,1378248568.157 [Default:GPS:B.GoToSurface] Stopped
2013-09-03T22:49:28.158Z,1378248568.158 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-09-03T22:49:28.158Z,1378248568.158 [Default:GPS:Read_GPS] Running Loop=1
2013-09-03T22:49:28.158Z,1378248568.158 [Default:GPS:A.SetSpeed] Running Loop=1
2013-09-03T22:49:28.574Z