2013-09-13T23:47:55.208Z,1379116075.208 [Supervisor](DEBUG): Initializing supervisor.
2013-09-13T23:47:55.210Z,1379116075.210 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-09-13T23:47:55.211Z,1379116075.211 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-09-13T23:47:55.214Z,1379116075.214 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-09-13T23:47:55.218Z,1379116075.218 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-09-13T23:47:55.228Z,1379116075.228 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-09-13T23:47:55.230Z,1379116075.230 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-09-13T23:47:55.231Z,1379116075.231 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-09-13T23:47:55.234Z,1379116075.234 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-09-13T23:47:55.235Z,1379116075.235 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-09-13T23:47:55.239Z,1379116075.239 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-09-13T23:47:55.550Z,1379116075.550 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-09-13T23:47:55.551Z,1379116075.551 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-09-13T23:47:55.768Z,1379116075.768 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-09-13T23:47:55.768Z,1379116075.768 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-09-13T23:47:55.864Z,1379116075.864 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-09-13T23:47:55.866Z,1379116075.866 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-09-13T23:47:55.992Z,1379116075.992 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-09-13T23:47:55.992Z,1379116075.992 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-09-13T23:47:56.144Z,1379116076.144 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-09-13T23:47:56.146Z,1379116076.146 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-09-13T23:47:56.411Z,1379116076.411 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-09-13T23:47:56.412Z,1379116076.412 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-09-13T23:47:56.597Z,1379116076.597 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-09-13T23:47:56.599Z,1379116076.599 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-09-13T23:47:56.894Z,1379116076.894 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-09-13T23:47:56.896Z,1379116076.896 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-09-13T23:47:57.013Z,1379116077.013 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-09-13T23:47:57.014Z,1379116077.014 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-09-13T23:47:57.467Z,1379116077.467 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-09-13T23:47:57.468Z,1379116077.468 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-09-13T23:47:57.594Z,1379116077.594 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-09-13T23:47:57.595Z,1379116077.595 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-09-13T23:47:57.691Z,1379116077.691 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-09-13T23:47:57.695Z,1379116077.695 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-09-13T23:47:57.805Z,1379116077.805 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-09-13T23:47:57.948Z,1379116077.948 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-09-13T23:47:58.051Z,1379116078.051 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-09-13T23:47:58.167Z,1379116078.167 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-09-13T23:47:58.276Z,1379116078.276 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-09-13T23:47:58.404Z,1379116078.404 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-09-13T23:47:58.512Z,1379116078.512 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-09-13T23:47:58.607Z,1379116078.607 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2013-09-13T23:47:58.611Z,1379116078.611 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-09-13T23:47:58.825Z,1379116078.825 [InternalSim] Loaded
2013-09-13T23:47:58.825Z,1379116078.825 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-09-13T23:47:58.826Z,1379116078.826 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-09-13T23:47:58.826Z,1379116078.826 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-09-13T23:47:58.949Z,1379116078.949 [SBIT](DEBUG): Construct Startup Built In Test.
2013-09-13T23:47:58.990Z,1379116078.990 [SBIT] Loaded
2013-09-13T23:47:58.990Z,1379116078.990 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-09-13T23:47:58.991Z,1379116078.991 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-09-13T23:47:59.025Z,1379116079.025 [IBIT] Loaded
2013-09-13T23:47:59.026Z,1379116079.026 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-09-13T23:47:59.028Z,1379116079.028 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-09-13T23:47:59.161Z,1379116079.161 [CBIT] Loaded
2013-09-13T23:47:59.161Z,1379116079.161 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-09-13T23:47:59.161Z,1379116079.161 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-09-13T23:47:59.163Z,1379116079.163 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-09-13T23:48:01.269Z,1379116081.269 [BuoyancyServo] Loaded
2013-09-13T23:48:01.269Z,1379116081.269 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-09-13T23:48:01.281Z,1379116081.281 [ElevatorServo] Loaded
2013-09-13T23:48:01.281Z,1379116081.281 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-09-13T23:48:01.297Z,1379116081.297 [MassServo] Loaded
2013-09-13T23:48:01.297Z,1379116081.297 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-09-13T23:48:01.308Z,1379116081.308 [RudderServo] Loaded
2013-09-13T23:48:01.309Z,1379116081.309 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-09-13T23:48:01.320Z,1379116081.320 [ThrusterServo] Loaded
2013-09-13T23:48:01.320Z,1379116081.320 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-09-13T23:48:01.320Z,1379116081.320 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-09-13T23:48:01.321Z,1379116081.321 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-09-13T23:48:01.381Z,1379116081.381 [DepthRateCalculator] Loaded
2013-09-13T23:48:01.382Z,1379116081.382 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-09-13T23:48:04.880Z,1379116084.880 [HFRadarModelCalc] Loaded
2013-09-13T23:48:04.881Z,1379116084.881 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-09-13T23:48:04.897Z,1379116084.897 [NavChart] Loaded
2013-09-13T23:48:04.897Z,1379116084.897 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-09-13T23:48:04.903Z,1379116084.903 [PitchRateCalculator] Loaded
2013-09-13T23:48:04.903Z,1379116084.903 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-09-13T23:48:04.913Z,1379116084.913 [SpeedCalculator] Loaded
2013-09-13T23:48:04.914Z,1379116084.914 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-09-13T23:48:04.930Z,1379116084.930 [TempGradientCalculator] Loaded
2013-09-13T23:48:04.930Z,1379116084.930 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-09-13T23:48:04.935Z,1379116084.935 [YawRateCalculator] Loaded
2013-09-13T23:48:04.936Z,1379116084.936 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-09-13T23:48:04.982Z,1379116084.982 [Navigation] Loaded
2013-09-13T23:48:04.982Z,1379116084.982 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-09-13T23:48:04.983Z,1379116084.983 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-09-13T23:48:04.983Z,1379116084.983 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-09-13T23:48:05.285Z,1379116085.285 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-09-13T23:48:05.286Z,1379116085.286 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-09-13T23:48:05.329Z,1379116085.329 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-09-13T23:48:05.330Z,1379116085.330 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-09-13T23:48:05.401Z,1379116085.401 [VerticalControl](DEBUG): Construct VerticalControl.
2013-09-13T23:48:05.507Z,1379116085.507 [VerticalControl] Loaded
2013-09-13T23:48:05.507Z,1379116085.507 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-09-13T23:48:05.508Z,1379116085.508 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-09-13T23:48:05.570Z,1379116085.570 [HorizontalControl] Loaded
2013-09-13T23:48:05.570Z,1379116085.570 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-09-13T23:48:05.571Z,1379116085.571 [SpeedControl](DEBUG): Construct SpeedControl.
2013-09-13T23:48:05.572Z,1379116085.572 [SpeedControl] Loaded
2013-09-13T23:48:05.573Z,1379116085.573 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-09-13T23:48:05.573Z,1379116085.573 [LoopControl](DEBUG): Construct LoopControl.
2013-09-13T23:48:05.578Z,1379116085.578 [LoopControl] Loaded
2013-09-13T23:48:05.578Z,1379116085.578 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-09-13T23:48:05.579Z,1379116085.579 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-09-13T23:48:05.579Z,1379116085.579 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-09-13T23:48:05.588Z,1379116085.588 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-09-13T23:48:05.593Z,1379116085.593 [AsyncPiEstimator] Loaded
2013-09-13T23:48:05.593Z,1379116085.593 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-09-13T23:48:05.598Z,1379116085.598 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406474E0
2013-09-13T23:48:05.599Z,1379116085.599 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-09-13T23:48:05.599Z,1379116085.599 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-09-13T23:48:05.860Z,1379116085.860 [AHRS_sp3003D] Loaded
2013-09-13T23:48:05.861Z,1379116085.861 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-09-13T23:48:06.134Z,1379116086.134 [Batt_Ocean_Server] Loaded
2013-09-13T23:48:06.134Z,1379116086.134 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-09-13T23:48:06.152Z,1379116086.152 [Depth_Keller] Loaded
2013-09-13T23:48:06.152Z,1379116086.152 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-09-13T23:48:06.157Z,1379116086.157 [DropWeight] Loaded
2013-09-13T23:48:06.158Z,1379116086.158 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-09-13T23:48:06.360Z,1379116086.360 [DVL_micro] Loaded
2013-09-13T23:48:06.360Z,1379116086.360 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-09-13T23:48:06.363Z,1379116086.363 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406D54E0
2013-09-13T23:48:06.459Z,1379116086.459 [NAL9602] Loaded
2013-09-13T23:48:06.459Z,1379116086.459 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-09-13T23:48:06.506Z,1379116086.506 [Onboard] Loaded
2013-09-13T23:48:06.506Z,1379116086.506 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-09-13T23:48:06.517Z,1379116086.517 [Radio_Freewave] Loaded
2013-09-13T23:48:06.517Z,1379116086.517 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-09-13T23:48:06.669Z,1379116086.669 [DAT] Loaded
2013-09-13T23:48:06.669Z,1379116086.669 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-09-13T23:48:06.670Z,1379116086.670 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-09-13T23:48:06.671Z,1379116086.671 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-09-13T23:48:06.767Z,1379116086.767 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-09-13T23:48:06.769Z,1379116086.769 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-09-13T23:48:06.770Z,1379116086.770 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-09-13T23:48:06.783Z,1379116086.783 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-09-13T23:48:06.784Z,1379116086.784 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407324E0
2013-09-13T23:48:06.788Z,1379116086.788 [Supervisor](DEBUG): Running supervisor.
2013-09-13T23:48:06.789Z,1379116086.789 [CommandLine](INFO): Thread ID is 760
2013-09-13T23:48:06.793Z,1379116086.793 [controlThread](INFO): Thread ID is 759
2013-09-13T23:48:06.793Z,1379116086.793 [controlThread](DEBUG): Initializing ControlThread
2013-09-13T23:48:06.793Z,1379116086.793 [CycleStarter](INFO): Thread ID is 758
2013-09-13T23:48:06.794Z,1379116086.794 [InternalSim](DEBUG):  InternalSim initializing...
2013-09-13T23:48:06.877Z,1379116086.877 [logger](INFO): Thread ID is 761
2013-09-13T23:48:06.951Z,1379116086.951 [AsyncPiEstimator](INFO): Thread ID is 827
2013-09-13T23:48:06.952Z,1379116086.952 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-09-13T23:48:06.964Z,1379116086.964 [SBIT](INFO): Initialize SBIT Component.
2013-09-13T23:48:06.965Z,1379116086.965 [SBIT](IMPORTANT): Tethys CM Info: 
$Rev:10573
2013-09-13T23:48:06.965Z,1379116086.965 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-09-13T23:48:06.965Z,1379116086.965 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-09-13T23:48:06.966Z,1379116086.966 [IBIT](INFO): Initialize IBIT Component.
2013-09-13T23:48:06.967Z,1379116086.967 [CBIT](DEBUG): Initialize CBIT Component.
2013-09-13T23:48:06.967Z,1379116086.967 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2013-09-13T23:48:06.967Z,1379116086.967 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-09-13T23:48:06.968Z,1379116086.968 [DVL_micro](INFO): Thread ID is 828
2013-09-13T23:48:06.993Z,1379116086.993 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-09-13T23:48:06.994Z,1379116086.994 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-09-13T23:48:06.994Z,1379116086.994 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-09-13T23:48:06.995Z,1379116086.995 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-09-13T23:48:06.995Z,1379116086.995 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-09-13T23:48:06.996Z,1379116086.996 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-09-13T23:48:06.996Z,1379116086.996 [Navigation](DEBUG): Initializing Navigation.
2013-09-13T23:48:06.996Z,1379116086.996 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-09-13T23:48:06.998Z,1379116086.998 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-09-13T23:48:06.999Z,1379116086.999 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-09-13T23:48:06.000Z,1379116087.000 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-09-13T23:48:07.035Z,1379116087.035 [NavChartDb](INFO): Thread ID is 829
2013-09-13T23:48:07.033Z,1379116087.033 [DVL_micro](INFO): Initializing
2013-09-13T23:48:07.036Z,1379116087.036 [DVL_micro](INFO): start:Powering up
2013-09-13T23:48:07.037Z,1379116087.037 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-09-13T23:48:07.039Z,1379116087.039 [DVL_micro](INFO): Cycling power to configure device.
2013-09-13T23:48:07.049Z,1379116087.049 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-09-13T23:48:07.049Z,1379116087.049 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-09-13T23:48:07.050Z,1379116087.050 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-09-13T23:48:07.050Z,1379116087.050 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-09-13T23:48:07.050Z,1379116087.050 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-09-13T23:48:07.050Z,1379116087.050 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-09-13T23:48:07.051Z,1379116087.051 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-09-13T23:48:07.051Z,1379116087.051 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-09-13T23:48:07.051Z,1379116087.051 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-09-13T23:48:09.148Z,1379116089.148 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-09-13T23:48:09.148Z,1379116089.148 [DVL_micro](INFO): Querying output modes
2013-09-13T23:48:09.149Z,1379116089.149 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-09-13T23:48:09.160Z,1379116089.160 [DVL_micro](DEBUG): cmdResponse: 01 03 16
2013-09-13T23:48:09.160Z,1379116089.160 [DVL_micro](INFO): NQ1 output enabled
2013-09-13T23:48:09.160Z,1379116089.160 [DVL_micro](INFO): RSSI output enabled
2013-09-13T23:48:09.160Z,1379116089.160 [DVL_micro](INFO): ADCP output enabled
2013-09-13T23:48:09.161Z,1379116089.161 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-09-13T23:48:09.172Z,1379116089.172 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-09-13T23:48:09.177Z,1379116089.177 [DVL_micro](INFO): pause:Powering down
2013-09-13T23:48:13.659Z,1379116093.659 [Batt_Ocean_Server](ERROR): Batt_Ocean_Server A initialization uart error: serial timeout
2013-09-13T23:48:13.659Z,1379116093.659 [Batt_Ocean_Server](ERROR): Ocean Server Batteries failed to initialize. Re-initializing
2013-09-13T23:48:13.659Z,1379116093.659 [Batt_Ocean_Server] Communications Fault, FailCount= 1
2013-09-13T23:48:13.659Z,1379116093.659 [Batt_Ocean_Server](ERROR): Communications Fault
2013-09-13T23:48:13.676Z,1379116093.676 [DropWeight](CRITICAL): DROP WEIGHT MISSING.

2013-09-13T23:48:13.676Z,1379116093.676 [DropWeight] Hardware Fault, FailCount= 1
2013-09-13T23:48:13.676Z,1379116093.676 [DropWeight](ERROR): Hardware Fault
2013-09-13T23:48:13.678Z,1379116093.678 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-09-13T23:48:13.736Z,1379116093.736 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-09-13T23:48:13.758Z,1379116093.758 [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>


2013-09-13T23:48:13.759Z,1379116093.759 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-09-13T23:48:13.868Z,1379116093.868 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-09-13T23:48:13.870Z,1379116093.870 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-09-13T23:48:13.873Z,1379116093.873 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-09-13T23:48:13.922Z,1379116093.922 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-09-13T23:48:13.925Z,1379116093.925 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-09-13T23:48:13.932Z,1379116093.932 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-09-13T23:48:13.965Z,1379116093.965 [Default:D.SetSpeed](DEBUG): Construct.
2013-09-13T23:48:14.004Z,1379116094.004 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-09-13T23:48:14.033Z,1379116094.033 [Default:F.Wait](DEBUG): Construct Wait.
2013-09-13T23:48:14.037Z,1379116094.037 [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>


2013-09-13T23:48:14.043Z,1379116094.043 [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,
2013-09-13T23:48:14.077Z,1379116094.077 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-09-13T23:48:14.249Z,1379116094.249 [NAL9602](INFO): Powering up NAL9602
2013-09-13T23:48:14.306Z,1379116094.306 [Radio_Freewave](INFO): Powering up
2013-09-13T23:48:14.331Z,1379116094.331 [DAT](INFO): Powering up
2013-09-13T23:48:14.331Z,1379116094.331 [DAT](DEBUG): Initializing DAT.
2013-09-13T23:48:14.579Z,1379116094.579 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-09-13T23:48:14.608Z,1379116094.608 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-09-13T23:48:14.614Z,1379116094.614 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-09-13T23:48:14.624Z,1379116094.624 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-09-13T23:48:14.630Z,1379116094.630 [MassServo](DEBUG): Initializing EZServoServo.
2013-09-13T23:48:14.636Z,1379116094.636 [MassServo](DEBUG): Initializing MassServo.
2013-09-13T23:48:14.642Z,1379116094.642 [RudderServo](DEBUG): Initializing EZServoServo.
2013-09-13T23:48:14.648Z,1379116094.648 [RudderServo](DEBUG): Initializing RudderServo.
2013-09-13T23:48:14.654Z,1379116094.654 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-09-13T23:48:14.660Z,1379116094.660 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-09-13T23:48:14.708Z,1379116094.708 [CommandLine](FAULT): Scheduling is paused
2013-09-13T23:48:14.710Z,1379116094.710 [CBIT](FAULT): Main Battery Failure. Count: 1
2013-09-13T23:48:14.710Z,1379116094.710 [CBIT](ERROR): Communications Fault in component: Batt_Ocean_Server
2013-09-13T23:48:14.710Z,1379116094.710 [CBIT](INFO): Clearing failed state for component Batt_Ocean_Server
2013-09-13T23:48:14.710Z,1379116094.710 [Batt_Ocean_Server] No Fault, FailCount= 1
2013-09-13T23:48:14.711Z,1379116094.711 [CBIT](ERROR): Hardware Fault in component: DropWeight
2013-09-13T23:48:14.711Z,1379116094.711 [CBIT](CRITICAL): Hardware Fault in component: DropWeight
2013-09-13T23:48:21.447Z,1379116101.447 [Batt_Ocean_Server](ERROR): Batt_Ocean_Server A initialization uart error: serial timeout
2013-09-13T23:48:21.447Z,1379116101.447 [Batt_Ocean_Server](ERROR): Ocean Server Batteries failed to initialize. Re-initializing
2013-09-13T23:48:21.447Z,1379116101.447 [Batt_Ocean_Server] Communications Fault, FailCount= 2
2013-09-13T23:48:21.447Z,1379116101.447 [Batt_Ocean_Server](ERROR): Communications Fault
2013-09-13T23:48:21.809Z,1379116101.809 [CBIT](ERROR): Communications Fault in component: Batt_Ocean_Server
2013-09-13T23:48:22.219Z,1379116102.219 [CBIT](INFO): Clearing failed state for component Batt_Ocean_Server
2013-09-13T23:48:22.219Z,1379116102.219 [Batt_Ocean_Server] No Fault, FailCount= 2
2013-09-13T23:48:28.970Z,1379116108.970 [Batt_Ocean_Server](ERROR): Batt_Ocean_Server A initialization uart error: serial timeout
2013-09-13T23:48:28.970Z,1379116108.970 [Batt_Ocean_Server](ERROR): Ocean Server Batteries failed to initialize. Re-initializing
2013-09-13T23:48:28.971Z,1379116108.971 [Batt_Ocean_Server] Communi