2013-09-14T20:56:16.289Z,1379192176.289 [Supervisor](DEBUG): Initializing supervisor.
2013-09-14T20:56:16.292Z,1379192176.292 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-09-14T20:56:16.293Z,1379192176.293 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-09-14T20:56:16.297Z,1379192176.297 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-09-14T20:56:16.300Z,1379192176.300 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-09-14T20:56:16.311Z,1379192176.311 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-09-14T20:56:16.313Z,1379192176.313 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-09-14T20:56:16.314Z,1379192176.314 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-09-14T20:56:16.317Z,1379192176.317 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-09-14T20:56:16.317Z,1379192176.317 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-09-14T20:56:16.321Z,1379192176.321 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-09-14T20:56:16.638Z,1379192176.638 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-09-14T20:56:16.639Z,1379192176.639 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-09-14T20:56:16.859Z,1379192176.859 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-09-14T20:56:16.860Z,1379192176.860 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-09-14T20:56:16.957Z,1379192176.957 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-09-14T20:56:16.959Z,1379192176.959 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-09-14T20:56:17.088Z,1379192177.088 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-09-14T20:56:17.088Z,1379192177.088 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-09-14T20:56:17.243Z,1379192177.243 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-09-14T20:56:17.245Z,1379192177.245 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-09-14T20:56:17.515Z,1379192177.515 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-09-14T20:56:17.516Z,1379192177.516 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-09-14T20:56:17.704Z,1379192177.704 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-09-14T20:56:17.706Z,1379192177.706 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-09-14T20:56:18.013Z,1379192178.013 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-09-14T20:56:18.015Z,1379192178.015 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-09-14T20:56:18.132Z,1379192178.132 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-09-14T20:56:18.133Z,1379192178.133 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-09-14T20:56:18.602Z,1379192178.602 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-09-14T20:56:18.602Z,1379192178.602 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-09-14T20:56:18.725Z,1379192178.725 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-09-14T20:56:18.726Z,1379192178.726 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-09-14T20:56:18.826Z,1379192178.826 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-09-14T20:56:18.829Z,1379192178.829 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-09-14T20:56:18.944Z,1379192178.944 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-09-14T20:56:19.089Z,1379192179.089 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-09-14T20:56:19.194Z,1379192179.194 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-09-14T20:56:19.315Z,1379192179.315 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-09-14T20:56:19.422Z,1379192179.422 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-09-14T20:56:19.555Z,1379192179.555 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-09-14T20:56:19.663Z,1379192179.663 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-09-14T20:56:19.761Z,1379192179.761 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2013-09-14T20:56:19.766Z,1379192179.766 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-09-14T20:56:19.985Z,1379192179.985 [InternalSim] Loaded
2013-09-14T20:56:19.985Z,1379192179.985 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-09-14T20:56:19.986Z,1379192179.986 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-09-14T20:56:19.986Z,1379192179.986 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-09-14T20:56:20.118Z,1379192180.118 [SBIT](DEBUG): Construct Startup Built In Test.
2013-09-14T20:56:20.152Z,1379192180.152 [SBIT] Loaded
2013-09-14T20:56:20.153Z,1379192180.153 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-09-14T20:56:20.153Z,1379192180.153 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-09-14T20:56:20.194Z,1379192180.194 [IBIT] Loaded
2013-09-14T20:56:20.195Z,1379192180.195 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-09-14T20:56:20.197Z,1379192180.197 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-09-14T20:56:20.329Z,1379192180.329 [CBIT] Loaded
2013-09-14T20:56:20.330Z,1379192180.330 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-09-14T20:56:20.330Z,1379192180.330 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-09-14T20:56:20.331Z,1379192180.331 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-09-14T20:56:20.565Z,1379192180.565 [BuoyancyServo] Loaded
2013-09-14T20:56:20.565Z,1379192180.565 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-09-14T20:56:20.577Z,1379192180.577 [ElevatorServo] Loaded
2013-09-14T20:56:20.578Z,1379192180.578 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-09-14T20:56:20.593Z,1379192180.593 [MassServo] Loaded
2013-09-14T20:56:20.593Z,1379192180.593 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-09-14T20:56:20.605Z,1379192180.605 [RudderServo] Loaded
2013-09-14T20:56:20.605Z,1379192180.605 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-09-14T20:56:20.616Z,1379192180.616 [ThrusterServo] Loaded
2013-09-14T20:56:20.617Z,1379192180.617 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-09-14T20:56:20.617Z,1379192180.617 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-09-14T20:56:20.618Z,1379192180.618 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-09-14T20:56:20.679Z,1379192180.679 [DepthRateCalculator] Loaded
2013-09-14T20:56:20.679Z,1379192180.679 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-09-14T20:56:24.158Z,1379192184.158 [HFRadarModelCalc] Loaded
2013-09-14T20:56:24.158Z,1379192184.158 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-09-14T20:56:24.174Z,1379192184.174 [NavChart] Loaded
2013-09-14T20:56:24.175Z,1379192184.175 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-09-14T20:56:24.180Z,1379192184.180 [PitchRateCalculator] Loaded
2013-09-14T20:56:24.181Z,1379192184.181 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-09-14T20:56:24.195Z,1379192184.195 [SpeedCalculator] Loaded
2013-09-14T20:56:24.196Z,1379192184.196 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-09-14T20:56:24.212Z,1379192184.212 [TempGradientCalculator] Loaded
2013-09-14T20:56:24.212Z,1379192184.212 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-09-14T20:56:24.218Z,1379192184.218 [YawRateCalculator] Loaded
2013-09-14T20:56:24.218Z,1379192184.218 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-09-14T20:56:24.274Z,1379192184.274 [Navigation] Loaded
2013-09-14T20:56:24.274Z,1379192184.274 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-09-14T20:56:24.275Z,1379192184.275 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-09-14T20:56:24.275Z,1379192184.275 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-09-14T20:56:24.580Z,1379192184.580 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-09-14T20:56:24.581Z,1379192184.581 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-09-14T20:56:24.627Z,1379192184.627 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-09-14T20:56:24.628Z,1379192184.628 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-09-14T20:56:24.701Z,1379192184.701 [VerticalControl](DEBUG): Construct VerticalControl.
2013-09-14T20:56:24.804Z,1379192184.804 [VerticalControl] Loaded
2013-09-14T20:56:24.804Z,1379192184.804 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-09-14T20:56:24.805Z,1379192184.805 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-09-14T20:56:24.872Z,1379192184.872 [HorizontalControl] Loaded
2013-09-14T20:56:24.872Z,1379192184.872 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-09-14T20:56:24.873Z,1379192184.873 [SpeedControl](DEBUG): Construct SpeedControl.
2013-09-14T20:56:24.875Z,1379192184.875 [SpeedControl] Loaded
2013-09-14T20:56:24.875Z,1379192184.875 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-09-14T20:56:24.876Z,1379192184.876 [LoopControl](DEBUG): Construct LoopControl.
2013-09-14T20:56:24.876Z,1379192184.876 [LoopControl] Loaded
2013-09-14T20:56:24.876Z,1379192184.876 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-09-14T20:56:24.877Z,1379192184.877 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-09-14T20:56:24.878Z,1379192184.878 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-09-14T20:56:24.886Z,1379192184.886 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-09-14T20:56:24.891Z,1379192184.891 [AsyncPiEstimator] Loaded
2013-09-14T20:56:24.891Z,1379192184.891 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-09-14T20:56:24.894Z,1379192184.894 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406474E0
2013-09-14T20:56:24.895Z,1379192184.895 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-09-14T20:56:24.895Z,1379192184.895 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-09-14T20:56:25.157Z,1379192185.157 [AHRS_sp3003D] Loaded
2013-09-14T20:56:25.157Z,1379192185.157 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-09-14T20:56:25.443Z,1379192185.443 [Batt_Ocean_Server] Loaded
2013-09-14T20:56:25.443Z,1379192185.443 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-09-14T20:56:25.461Z,1379192185.461 [Depth_Keller] Loaded
2013-09-14T20:56:25.461Z,1379192185.461 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-09-14T20:56:25.466Z,1379192185.466 [DropWeight] Loaded
2013-09-14T20:56:25.467Z,1379192185.467 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-09-14T20:56:25.674Z,1379192185.674 [DVL_micro] Loaded
2013-09-14T20:56:25.674Z,1379192185.674 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-09-14T20:56:25.679Z,1379192185.679 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406D54E0
2013-09-14T20:56:25.777Z,1379192185.777 [NAL9602] Loaded
2013-09-14T20:56:25.778Z,1379192185.778 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-09-14T20:56:25.825Z,1379192185.825 [Onboard] Loaded
2013-09-14T20:56:25.825Z,1379192185.825 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-09-14T20:56:25.836Z,1379192185.836 [Radio_Freewave] Loaded
2013-09-14T20:56:25.837Z,1379192185.837 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-09-14T20:56:25.996Z,1379192185.996 [DAT] Loaded
2013-09-14T20:56:25.996Z,1379192185.996 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-09-14T20:56:25.997Z,1379192185.997 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-09-14T20:56:25.997Z,1379192185.997 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-09-14T20:56:26.098Z,1379192186.098 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-09-14T20:56:26.101Z,1379192186.101 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-09-14T20:56:26.102Z,1379192186.102 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-09-14T20:56:26.115Z,1379192186.115 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-09-14T20:56:26.120Z,1379192186.120 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407324E0
2013-09-14T20:56:26.124Z,1379192186.124 [Supervisor](DEBUG): Running supervisor.
2013-09-14T20:56:26.125Z,1379192186.125 [CommandLine](INFO): Thread ID is 761
2013-09-14T20:56:26.129Z,1379192186.129 [controlThread](INFO): Thread ID is 760
2013-09-14T20:56:26.129Z,1379192186.129 [controlThread](DEBUG): Initializing ControlThread
2013-09-14T20:56:26.129Z,1379192186.129 [CycleStarter](INFO): Thread ID is 759
2013-09-14T20:56:26.130Z,1379192186.130 [InternalSim](DEBUG):  InternalSim initializing...
2013-09-14T20:56:26.213Z,1379192186.213 [logger](INFO): Thread ID is 762
2013-09-14T20:56:26.261Z,1379192186.261 [AsyncPiEstimator](INFO): Thread ID is 823
2013-09-14T20:56:26.261Z,1379192186.261 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-09-14T20:56:26.275Z,1379192186.275 [DVL_micro](INFO): Thread ID is 824
2013-09-14T20:56:26.277Z,1379192186.277 [SBIT](INFO): Initialize SBIT Component.
2013-09-14T20:56:26.278Z,1379192186.278 [SBIT](IMPORTANT): Tethys CM Info: 
$Rev:10573
2013-09-14T20:56:26.278Z,1379192186.278 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-09-14T20:56:26.278Z,1379192186.278 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-09-14T20:56:26.279Z,1379192186.279 [IBIT](INFO): Initialize IBIT Component.
2013-09-14T20:56:26.280Z,1379192186.280 [CBIT](DEBUG): Initialize CBIT Component.
2013-09-14T20:56:26.280Z,1379192186.280 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2013-09-14T20:56:26.280Z,1379192186.280 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-09-14T20:56:26.292Z,1379192186.292 [NavChartDb](INFO): Thread ID is 825
2013-09-14T20:56:26.304Z,1379192186.304 [DVL_micro](INFO): Initializing
2013-09-14T20:56:26.304Z,1379192186.304 [DVL_micro](INFO): start:Powering up
2013-09-14T20:56:26.305Z,1379192186.305 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-09-14T20:56:26.306Z,1379192186.306 [DVL_micro](INFO): Cycling power to configure device.
2013-09-14T20:56:26.313Z,1379192186.313 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-09-14T20:56:26.314Z,1379192186.314 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-09-14T20:56:26.314Z,1379192186.314 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-09-14T20:56:26.315Z,1379192186.315 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-09-14T20:56:26.315Z,1379192186.315 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-09-14T20:56:26.316Z,1379192186.316 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-09-14T20:56:26.341Z,1379192186.341 [Navigation](DEBUG): Initializing Navigation.
2013-09-14T20:56:26.341Z,1379192186.341 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-09-14T20:56:26.343Z,1379192186.343 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-09-14T20:56:26.344Z,1379192186.344 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-09-14T20:56:26.345Z,1379192186.345 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-09-14T20:56:26.374Z,1379192186.374 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-09-14T20:56:26.375Z,1379192186.375 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-09-14T20:56:26.375Z,1379192186.375 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-09-14T20:56:26.375Z,1379192186.375 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-09-14T20:56:26.375Z,1379192186.375 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-09-14T20:56:26.376Z,1379192186.376 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-09-14T20:56:26.376Z,1379192186.376 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-09-14T20:56:26.376Z,1379192186.376 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-09-14T20:56:26.376Z,1379192186.376 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-09-14T20:56:28.372Z,1379192188.372 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-09-14T20:56:28.372Z,1379192188.372 [DVL_micro](INFO): Querying output modes
2013-09-14T20:56:28.372Z,1379192188.372 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-09-14T20:56:28.384Z,1379192188.384 [DVL_micro](DEBUG): cmdResponse: 01 03 16
2013-09-14T20:56:28.384Z,1379192188.384 [DVL_micro](INFO): NQ1 output enabled
2013-09-14T20:56:28.384Z,1379192188.384 [DVL_micro](INFO): RSSI output enabled
2013-09-14T20:56:28.384Z,1379192188.384 [DVL_micro](INFO): ADCP output enabled
2013-09-14T20:56:28.384Z,1379192188.384 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-09-14T20:56:28.396Z,1379192188.396 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-09-14T20:56:28.401Z,1379192188.401 [DVL_micro](INFO): pause:Powering down
2013-09-14T20:56:32.902Z,1379192192.902 [Batt_Ocean_Server](ERROR): Batt_Ocean_Server A initialization uart error: serial timeout
2013-09-14T20:56:32.902Z,1379192192.902 [Batt_Ocean_Server](ERROR): Ocean Server Batteries failed to initialize. Re-initializing
2013-09-14T20:56:32.903Z,1379192192.903 [Batt_Ocean_Server] Communications Fault, FailCount= 1
2013-09-14T20:56:32.903Z,1379192192.903 [Batt_Ocean_Server](ERROR): Communications Fault
2013-09-14T20:56:32.914Z,1379192192.914 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-09-14T20:56:32.960Z,1379192192.960 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-09-14T20:56:32.982Z,1379192192.982 [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>


2013-09-14T20:56:32.983Z,1379192192.983 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-09-14T20:56:33.074Z,1379192193.074 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-09-14T20:56:33.076Z,1379192193.076 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-09-14T20:56:33.079Z,1379192193.079 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-09-14T20:56:33.100Z,1379192193.100 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-09-14T20:56:33.103Z,1379192193.103 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-09-14T20:56:33.141Z,1379192193.141 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-09-14T20:56:33.177Z,1379192193.177 [Default:D.SetSpeed](DEBUG): Construct.
2013-09-14T20:56:33.180Z,1379192193.180 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-09-14T20:56:33.185Z,1379192193.185 [Default:F.Wait](DEBUG): Construct Wait.
2013-09-14T20:56:33.205Z,1379192193.205 [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>


2013-09-14T20:56:33.218Z,1379192193.218 [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,
2013-09-14T20:56:33.271Z,1379192193.271 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-09-14T20:56:33.287Z,1379192193.287 [Depth_Keller](ERROR): Pressure reading out of range: 1831.078247 decibar
2013-09-14T20:56:33.333Z,1379192193.333 [NAL9602](INFO): Powering up NAL9602
2013-09-14T20:56:33.444Z,1379192193.444 [Radio_Freewave](INFO): Powering up
2013-09-14T20:56:33.453Z,1379192193.453 [DAT](INFO): Powering up
2013-09-14T20:56:33.453Z,1379192193.453 [DAT](DEBUG): Initializing DAT.
2013-09-14T20:56:33.764Z,1379192193.764 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-09-14T20:56:33.772Z,1379192193.772 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-09-14T20:56:33.791Z,1379192193.791 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-09-14T20:56:33.796Z,1379192193.796 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-09-14T20:56:33.802Z,1379192193.802 [MassServo](DEBUG): Initializing EZServoServo.
2013-09-14T20:56:33.828Z,1379192193.828 [MassServo](DEBUG): Initializing MassServo.
2013-09-14T20:56:33.834Z,1379192193.834 [RudderServo](DEBUG): Initializing EZServoServo.
2013-09-14T20:56:33.840Z,1379192193.840 [RudderServo](DEBUG): Initializing RudderServo.
2013-09-14T20:56:33.854Z,1379192193.854 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-09-14T20:56:33.859Z,1379192193.859 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-09-14T20:56:33.897Z,1379192193.897 [CBIT](FAULT): Main Battery Failure. Count: 1
2013-09-14T20:56:33.897Z,1379192193.897 [CBIT](ERROR): Communications Fault in component: Batt_Ocean_Server
2013-09-14T20:56:33.898Z,1379192193.898 [CBIT](INFO): Clearing failed state for component Batt_Ocean_Server
2013-09-14T20:56:33.898Z,1379192193.898 [Batt_Ocean_Server] No Fault, FailCount= 1
2013-09-14T20:56:40.694Z,1379192200.694 [Batt_Ocean_Server](ERROR): Batt_Ocean_Server A initialization uart error: serial timeout
2013-09-14T20:56:40.694Z,1379192200.694 [Batt_Ocean_Server](ERROR): Ocean Server Batteries failed to initialize. Re-initializing
2013-09-14T20:56:40.695Z,1379192200.695 [Batt_Ocean_Server] Communications Fault, FailCount= 2
2013-09-14T20:56:40.695Z,1379192200.695 [Batt_Ocean_Server](ERROR): Communications Fault
2013-09-14T20:56:41.141Z,1379192201.141 [CBIT](ERROR): Communications Fault in component: Batt_Ocean_Server
2013-09-14T20:56:41.544Z,1379192201.544 [CBIT](INFO): Clearing failed state for component Batt_Ocean_Server
2013-09-14T20:56:41.544Z,1379192201.544 [Batt_Ocean_Server] No Fault, FailCount= 2
2013-09-14T20:56:48.302Z,1379192208.302 [Batt_Ocean_Server](ERROR): Batt_Ocean_Server A initialization uart error: serial timeout
2013-09-14T20:56:48.302Z,1379192208.302 [Batt_Ocean_Server](ERROR): Ocean Server Batteries failed to initialize. Re-initializing
2013-09-14T20:56:48.303Z,1379192208.303 [Batt_Ocean_Server] Communications Fault, FailCount= 3
2013-09-14T20:56:48.303Z,1379192208.303 [Batt_Ocean_Server](ERROR): Communications Fault
2013-09-14T20:56:48.399Z,1379192208.399 [SBIT](IMPORTANT): Beginning Startup BIT
2013-09-14T20:56:48.401Z,1379192208.401 [CBIT](ERROR): Communications Fault in component: Batt_Ocean_Server
2013-09-14T20:56:48.402Z,1379192208.402 [CBIT](CRITICAL): Communications Fault in component: Batt_Oc