2013-09-16T16:19:25.489Z,1379348365.489 [Supervisor](DEBUG): Initializing supervisor.
2013-09-16T16:19:25.493Z,1379348365.493 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-09-16T16:19:25.493Z,1379348365.493 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-09-16T16:19:25.497Z,1379348365.497 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-09-16T16:19:25.500Z,1379348365.500 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-09-16T16:19:25.511Z,1379348365.511 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-09-16T16:19:25.513Z,1379348365.513 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-09-16T16:19:25.514Z,1379348365.514 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-09-16T16:19:25.517Z,1379348365.517 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-09-16T16:19:25.517Z,1379348365.517 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-09-16T16:19:25.521Z,1379348365.521 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-09-16T16:19:25.844Z,1379348365.844 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-09-16T16:19:25.845Z,1379348365.845 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-09-16T16:19:26.066Z,1379348366.066 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-09-16T16:19:26.067Z,1379348366.067 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-09-16T16:19:26.165Z,1379348366.165 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-09-16T16:19:26.167Z,1379348366.167 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-09-16T16:19:26.298Z,1379348366.298 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-09-16T16:19:26.299Z,1379348366.299 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-09-16T16:19:26.459Z,1379348366.459 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-09-16T16:19:26.461Z,1379348366.461 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-09-16T16:19:26.740Z,1379348366.740 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-09-16T16:19:26.740Z,1379348366.740 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-09-16T16:19:26.927Z,1379348366.927 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-09-16T16:19:26.930Z,1379348366.930 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-09-16T16:19:27.241Z,1379348367.241 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-09-16T16:19:27.243Z,1379348367.243 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-09-16T16:19:27.360Z,1379348367.360 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-09-16T16:19:27.361Z,1379348367.361 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-09-16T16:19:27.838Z,1379348367.838 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-09-16T16:19:27.838Z,1379348367.838 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-09-16T16:19:27.957Z,1379348367.957 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-09-16T16:19:27.958Z,1379348367.958 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-09-16T16:19:28.058Z,1379348368.058 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-09-16T16:19:28.062Z,1379348368.062 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-09-16T16:19:28.174Z,1379348368.174 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-09-16T16:19:28.318Z,1379348368.318 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-09-16T16:19:28.426Z,1379348368.426 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-09-16T16:19:28.545Z,1379348368.545 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-09-16T16:19:28.654Z,1379348368.654 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-09-16T16:19:28.664Z,1379348368.664 [Config/Science](ERROR): Could not parse value: 	
2013-09-16T16:19:28.787Z,1379348368.787 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-09-16T16:19:28.895Z,1379348368.895 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-09-16T16:19:28.994Z,1379348368.994 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-09-16T16:19:29.004Z,1379348369.004 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-09-16T16:19:29.225Z,1379348369.225 [InternalSim] Loaded
2013-09-16T16:19:29.225Z,1379348369.225 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-09-16T16:19:29.226Z,1379348369.226 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-09-16T16:19:29.226Z,1379348369.226 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-09-16T16:19:29.361Z,1379348369.361 [SBIT](DEBUG): Construct Startup Built In Test.
2013-09-16T16:19:29.399Z,1379348369.399 [SBIT] Loaded
2013-09-16T16:19:29.400Z,1379348369.400 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-09-16T16:19:29.400Z,1379348369.400 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-09-16T16:19:29.436Z,1379348369.436 [IBIT] Loaded
2013-09-16T16:19:29.436Z,1379348369.436 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-09-16T16:19:29.438Z,1379348369.438 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-09-16T16:19:29.574Z,1379348369.574 [CBIT] Loaded
2013-09-16T16:19:29.574Z,1379348369.574 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-09-16T16:19:29.574Z,1379348369.574 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-09-16T16:19:29.575Z,1379348369.575 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-09-16T16:19:31.628Z,1379348371.628 [BuoyancyServo] Loaded
2013-09-16T16:19:31.628Z,1379348371.628 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-09-16T16:19:31.640Z,1379348371.640 [ElevatorServo] Loaded
2013-09-16T16:19:31.640Z,1379348371.640 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-09-16T16:19:31.656Z,1379348371.656 [MassServo] Loaded
2013-09-16T16:19:31.656Z,1379348371.656 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-09-16T16:19:31.668Z,1379348371.668 [RudderServo] Loaded
2013-09-16T16:19:31.668Z,1379348371.668 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-09-16T16:19:31.679Z,1379348371.679 [ThrusterServo] Loaded
2013-09-16T16:19:31.679Z,1379348371.679 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-09-16T16:19:31.680Z,1379348371.680 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-09-16T16:19:31.681Z,1379348371.681 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-09-16T16:19:31.743Z,1379348371.743 [DepthRateCalculator] Loaded
2013-09-16T16:19:31.743Z,1379348371.743 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-09-16T16:19:35.641Z,1379348375.641 [HFRadarModelCalc] Loaded
2013-09-16T16:19:35.642Z,1379348375.642 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-09-16T16:19:35.658Z,1379348375.658 [NavChart] Loaded
2013-09-16T16:19:35.659Z,1379348375.659 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-09-16T16:19:35.664Z,1379348375.664 [PitchRateCalculator] Loaded
2013-09-16T16:19:35.665Z,1379348375.665 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-09-16T16:19:35.680Z,1379348375.680 [SpeedCalculator] Loaded
2013-09-16T16:19:35.680Z,1379348375.680 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-09-16T16:19:35.697Z,1379348375.697 [TempGradientCalculator] Loaded
2013-09-16T16:19:35.697Z,1379348375.697 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-09-16T16:19:35.703Z,1379348375.703 [YawRateCalculator] Loaded
2013-09-16T16:19:35.703Z,1379348375.703 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-09-16T16:19:35.760Z,1379348375.760 [Navigation] Loaded
2013-09-16T16:19:35.761Z,1379348375.761 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-09-16T16:19:35.761Z,1379348375.761 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-09-16T16:19:35.762Z,1379348375.762 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-09-16T16:19:36.087Z,1379348376.087 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-09-16T16:19:36.088Z,1379348376.088 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-09-16T16:19:36.133Z,1379348376.133 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-09-16T16:19:36.134Z,1379348376.134 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-09-16T16:19:36.209Z,1379348376.209 [VerticalControl](DEBUG): Construct VerticalControl.
2013-09-16T16:19:36.317Z,1379348376.317 [VerticalControl] Loaded
2013-09-16T16:19:36.317Z,1379348376.317 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-09-16T16:19:36.318Z,1379348376.318 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-09-16T16:19:36.387Z,1379348376.387 [HorizontalControl] Loaded
2013-09-16T16:19:36.387Z,1379348376.387 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-09-16T16:19:36.388Z,1379348376.388 [SpeedControl](DEBUG): Construct SpeedControl.
2013-09-16T16:19:36.390Z,1379348376.390 [SpeedControl] Loaded
2013-09-16T16:19:36.390Z,1379348376.390 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-09-16T16:19:36.391Z,1379348376.391 [LoopControl](DEBUG): Construct LoopControl.
2013-09-16T16:19:36.391Z,1379348376.391 [LoopControl] Loaded
2013-09-16T16:19:36.392Z,1379348376.392 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-09-16T16:19:36.392Z,1379348376.392 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-09-16T16:19:36.393Z,1379348376.393 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-09-16T16:19:36.402Z,1379348376.402 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-09-16T16:19:36.407Z,1379348376.407 [AsyncPiEstimator] Loaded
2013-09-16T16:19:36.407Z,1379348376.407 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-09-16T16:19:36.410Z,1379348376.410 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406474E0
2013-09-16T16:19:36.410Z,1379348376.410 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-09-16T16:19:36.411Z,1379348376.411 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-09-16T16:19:36.685Z,1379348376.685 [AHRS_sp3003D] Loaded
2013-09-16T16:19:36.685Z,1379348376.685 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-09-16T16:19:36.703Z,1379348376.703 [Depth_Keller] Loaded
2013-09-16T16:19:36.704Z,1379348376.704 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-09-16T16:19:36.916Z,1379348376.916 [DVL_micro] Loaded
2013-09-16T16:19:36.917Z,1379348376.917 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-09-16T16:19:36.922Z,1379348376.922 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406CE4E0
2013-09-16T16:19:37.024Z,1379348377.024 [NAL9602] Loaded
2013-09-16T16:19:37.024Z,1379348377.024 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-09-16T16:19:37.073Z,1379348377.073 [Onboard] Loaded
2013-09-16T16:19:37.073Z,1379348377.073 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-09-16T16:19:37.080Z,1379348377.080 [Radio_Freewave] Loaded
2013-09-16T16:19:37.080Z,1379348377.080 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-09-16T16:19:37.243Z,1379348377.243 [DAT] Loaded
2013-09-16T16:19:37.243Z,1379348377.243 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-09-16T16:19:37.244Z,1379348377.244 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-09-16T16:19:37.244Z,1379348377.244 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-09-16T16:19:37.381Z,1379348377.381 [CTD_NeilBrown] Loaded
2013-09-16T16:19:37.381Z,1379348377.381 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-09-16T16:19:37.383Z,1379348377.383 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4072B4E0
2013-09-16T16:19:37.399Z,1379348377.399 [PAR_Licor] Loaded
2013-09-16T16:19:37.399Z,1379348377.399 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2013-09-16T16:19:37.436Z,1379348377.436 [WetLabsBB2FL] Loaded
2013-09-16T16:19:37.436Z,1379348377.436 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-09-16T16:19:37.439Z,1379348377.439 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 4075B4E0
2013-09-16T16:19:37.440Z,1379348377.440 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-09-16T16:19:37.442Z,1379348377.442 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-09-16T16:19:37.443Z,1379348377.443 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-09-16T16:19:37.456Z,1379348377.456 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-09-16T16:19:37.459Z,1379348377.459 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 4078B4E0
2013-09-16T16:19:37.463Z,1379348377.463 [Supervisor](DEBUG): Running supervisor.
2013-09-16T16:19:37.465Z,1379348377.465 [CommandLine](INFO): Thread ID is 760
2013-09-16T16:19:37.468Z,1379348377.468 [controlThread](INFO): Thread ID is 759
2013-09-16T16:19:37.468Z,1379348377.468 [controlThread](DEBUG): Initializing ControlThread
2013-09-16T16:19:37.468Z,1379348377.468 [CycleStarter](INFO): Thread ID is 758
2013-09-16T16:19:37.469Z,1379348377.469 [InternalSim](DEBUG):  InternalSim initializing...
2013-09-16T16:19:37.556Z,1379348377.556 [logger](INFO): Thread ID is 761
2013-09-16T16:19:37.616Z,1379348377.616 [SBIT](INFO): Initialize SBIT Component.
2013-09-16T16:19:37.617Z,1379348377.617 [SBIT](IMPORTANT): Tethys CM Info: 
$Rev:10634
2013-09-16T16:19:37.617Z,1379348377.617 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-09-16T16:19:37.618Z,1379348377.618 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-09-16T16:19:37.618Z,1379348377.618 [IBIT](INFO): Initialize IBIT Component.
2013-09-16T16:19:37.619Z,1379348377.619 [CBIT](DEBUG): Initialize CBIT Component.
2013-09-16T16:19:37.619Z,1379348377.619 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-09-16T16:19:37.621Z,1379348377.621 [AsyncPiEstimator](INFO): Thread ID is 822
2013-09-16T16:19:37.621Z,1379348377.621 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-09-16T16:19:37.629Z,1379348377.629 [DVL_micro](INFO): Thread ID is 823
2013-09-16T16:19:37.649Z,1379348377.649 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-09-16T16:19:37.649Z,1379348377.649 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-09-16T16:19:37.650Z,1379348377.650 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-09-16T16:19:37.650Z,1379348377.650 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-09-16T16:19:37.650Z,1379348377.650 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-09-16T16:19:37.651Z,1379348377.651 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-09-16T16:19:37.651Z,1379348377.651 [Navigation](DEBUG): Initializing Navigation.
2013-09-16T16:19:37.652Z,1379348377.652 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-09-16T16:19:37.653Z,1379348377.653 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-09-16T16:19:37.654Z,1379348377.654 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-09-16T16:19:37.654Z,1379348377.654 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-09-16T16:19:37.676Z,1379348377.676 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-09-16T16:19:37.680Z,1379348377.680 [DVL_micro](INFO): Initializing
2013-09-16T16:19:37.681Z,1379348377.681 [DVL_micro](INFO): start:Powering up
2013-09-16T16:19:37.682Z,1379348377.682 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-09-16T16:19:37.682Z,1379348377.682 [DVL_micro](INFO): Cycling power to configure device.
2013-09-16T16:19:37.696Z,1379348377.696 [CTD_NeilBrown](INFO): Thread ID is 824
2013-09-16T16:19:37.696Z,1379348377.696 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-09-16T16:19:37.712Z,1379348377.712 [WetLabsBB2FL](INFO): Thread ID is 825
2013-09-16T16:19:37.713Z,1379348377.713 [WetLabsBB2FL](INFO): Powering down
2013-09-16T16:19:37.732Z,1379348377.732 [NavChartDb](INFO): Thread ID is 826
2013-09-16T16:19:37.757Z,1379348377.757 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-09-16T16:19:37.757Z,1379348377.757 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-09-16T16:19:37.758Z,1379348377.758 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-09-16T16:19:37.758Z,1379348377.758 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-09-16T16:19:37.758Z,1379348377.758 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-09-16T16:19:37.758Z,1379348377.758 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-09-16T16:19:37.759Z,1379348377.759 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-09-16T16:19:37.759Z,1379348377.759 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-09-16T16:19:37.759Z,1379348377.759 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-09-16T16:19:37.809Z,1379348377.809 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-09-16T16:19:37.819Z,1379348377.819 [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>


2013-09-16T16:19:37.822Z,1379348377.822 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-09-16T16:19:37.932Z,1379348377.932 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-09-16T16:19:37.934Z,1379348377.934 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-09-16T16:19:37.937Z,1379348377.937 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-09-16T16:19:37.959Z,1379348377.959 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-09-16T16:19:37.982Z,1379348377.982 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-09-16T16:19:38.005Z,1379348378.005 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-09-16T16:19:38.028Z,1379348378.028 [Default:D.SetSpeed](DEBUG): Construct.
2013-09-16T16:19:38.031Z,1379348378.031 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-09-16T16:19:38.035Z,1379348378.035 [Default:F.Wait](DEBUG): Construct Wait.
2013-09-16T16:19:38.051Z,1379348378.051 [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>


2013-09-16T16:19:38.055Z,1379348378.055 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Depth_Keller,NAL9602,Onboard,Radio_Freewave,DAT,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,HFRadarModelCalc,NavChart,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,Navigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,
2013-09-16T16:19:38.104Z,1379348378.104 [CTD_NeilBrown](ERROR): Salinity reading out of range: 0.000000 psu
2013-09-16T16:19:38.124Z,1379348378.124 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-09-16T16:19:38.149Z,1379348378.149 [Depth_Keller](ERROR): Pressure reading out of range: 1831.078247 decibar
2013-09-16T16:19:38.219Z,1379348378.219 [Radio_Freewave](INFO): Powering up
2013-09-16T16:19:38.224Z,1379348378.224 [DAT](INFO): Powering up
2013-09-16T16:19:38.236Z,1379348378.236 [DAT](DEBUG): Initializing DAT.
2013-09-16T16:19:38.581Z,1379348378.581 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-09-16T16:19:38.589Z,1379348378.589 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-09-16T16:19:38.610Z,1379348378.610 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-09-16T16:19:38.628Z,1379348378.628 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-09-16T16:19:38.634Z,1379348378.634 [MassServo](DEBUG): Initializing EZServoServo.
2013-09-16T16:19:38.641Z,1379348378.641 [MassServo](DEBUG): Initializing MassServo.
2013-09-16T16:19:38.647Z,1379348378.647 [RudderServo](DEBUG): Initializing EZServoServo.
2013-09-16T16:19:38.653Z,1379348378.653 [RudderServo](DEBUG): Initializing RudderServo.
2013-09-16T16:19:38.675Z,1379348378.675 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-09-16T16:19:38.681Z,1379348378.681 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-09-16T16:19:39.739Z,1379348379.739 [BuoyancyServo](ERROR): Buoyancy initialization uart error serial timeout
2013-09-16T16:19:39.739Z,1379348379.739 [BuoyancyServo](FAULT): Buoyancy failed to initialize
2013-09-16T16:19:39.739Z,1379348379.739 [BuoyancyServo] Communications Fault, FailCount= 1
2013-09-16T16:19:39.739Z,1379348379.739 [BuoyancyServo](ERROR): Communications Fault
2013-09-16T16:19:39.758Z,1379348379.758 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-09-16T16:19:39.773Z,1379348379.773 [DVL_micro](INFO): Querying output modes
2013-09-16T16:19:39.773Z,1379348379.773 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-09-16T16:19:39.787Z,1379348379.787 [DVL_micro](DEBUG): cmdResponse: 01 16
2013-09-16T16:19:39.787Z,1379348379.787 [DVL_micro](INFO): NQ1 output enabled
2013-09-16T16:19:39.787Z,1379348379.787 [DVL_micro](INFO): RSSI output enabled
2013-09-16T16:19:39.787Z,1379348379.787 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-09-16T16:19:39.801Z,1379348379.801 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-09-16T16:19:39.831Z,1379348379.831 [DVL_micro](INFO): pause:Powering down
2013-09-16T16:19:39.953Z,1379348379.953 [CBIT](ERROR): Communications Fault in component: BuoyancyServo
2013-09-16T16:19:40.233Z,1379348380.233 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-09-16T16:19:40.234Z,1379348380.234 [BuoyancyServo](INFO): Powering down
2013-09-16T16:19:42.214Z,1379348382.214 [NAL9602](INFO): Powering up NAL9602
2013-09-16T16:19:42.405Z,1379348382.405 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2013-09-16T16:19:42.405Z,1379348382.405 [BuoyancyServo] No Fault, FailCount= 1
2013-09-16T16:19:42.699Z,1379348382.699 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-09-16T16:19:42.828Z,1379348382.828 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-09-16T16:19:50.019Z,1379348390.019 [BuoyancyServo](ERROR): getPosition uart error serial timeout
2013-09-16T16:19:50.019Z,1379348390.019 [BuoyancyServo](FAULT): Buoyancy getPosition uart error.serial timeout
2013-09-16T16:19:50.019Z,1379348390.019 [BuoyancyServo] Communications Fault, FailCount= 2
2013-09-16T16:19:50.019Z,1379348390.019 [BuoyancyServo](ERROR): Communications Fault
2013-09-16T16:19:50.023Z,1379348390.023 [CBIT](ERROR): Communications Fault in component: BuoyancyServo
2013-09-16T16:19:50.279Z,1379348390.279 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-09-16T16:19:50.280Z,1379348390.280 [BuoyancyServo](INFO): Powering down
2013-09-16T16:19:51.842Z,1379348391.842 [BuoyancyServo](FAULT): LCB fault:  Current Limiter Activated.
2013-09-16T16:19:51.842Z,1379348391.842 [BuoyancyServo] Hardware Fault, FailCount= 2
2013-09-16T16:19:51.843Z,1379348391.843 [BuoyancyServo](ERROR): Hardware Fault
2013-09-16T16:19:52.299Z,1379348392.299 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2013-09-16T16:19:52.299Z,1379348392.299 [BuoyancyServo] No Fault, FailCount= 2
2013-09-16T16:19:52.682Z,1379348392.682 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-09-16T16:19:52.811Z,1379348392.811 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-09-16T16:19:53.096Z,1379348393.096 [NAL9602](INFO): NAL9602 initialized
2013-09-16T16:19:53.146Z,1379348393.146 [SBIT](IMPORTANT): Beginning Startup BIT
2013-09-16T16:19:53.149Z,1379348393.149 [CBIT](IMPORTANT): Beginning GF scan
2013-09-16T16:19:57.582Z,1379348397.582 [DAT](INFO): Init failed - response: 
2013-09-16T16:19:57.582Z,1379348397.582 [DAT](FAULT): DAT failed to initialize
2013-09-16T16:19:57.583Z,1379348397.583 [DAT] Communications Fault, FailCount= 1
2013-09-16T16:19:57.583Z,1379348397.583 [DAT](ERROR): Communications Fault
2013-09-16T16:19:57.742Z,1379348397.742 [CBIT](ERROR): Communications Fault in component: DAT
2013-09-16T16:19:58.017Z,1379348398.017 [DAT](INFO): Powering down
2013-09-16T16:19:59.117Z,1379348399.117 [CBIT](INFO): Clearing failed state for component DAT
2013-09-16T16:19:59.117Z,1379348399.117 [DAT] No Fault, FailCount= 1
2013-09-16T16:20:00.359Z,1379348400.359 [BuoyancyServo](ERROR): getPosition uart error serial timeout
2013-09-16T16:20:00.359Z,1379348400.359 [BuoyancyServo](FAULT): Buoyancy getPosition uart error.serial timeout
2013-09-16T16:20:00.359Z,1379348400.359 [BuoyancyServo] Communications Fault, FailCount= 3
2013-09-16T16:20:00.359Z,1379348400.359 [BuoyancyServo](ERROR): Communications Fault
2013-09-16T16:20:00.403Z,1379348400.403 [CBIT](ERROR): Communications Fault in component: BuoyancyServo
2013-09-16T16:20:00.657Z,1379348400.657 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-09-16T16:20:00.658Z,1379348400.658 [BuoyancyServo](INFO): Powering down
2013-09-16T16:20:01.427Z,1379348401.427 [DAT](INFO): Powering up
2013-09-16T16:20:01.428Z,1379348401.428 [DAT](DEBUG): Initializing DAT.
2013-09-16T16:20:02.311Z,1379348402.311 [BuoyancyServo](FAULT): LCB fault:  Current Limiter Activated.
2013-09-16T16:20:02.311Z,1379348402.311 [BuoyancyServo] Hardware Fault, FailCount= 3
2013-09-16T16:20:02.311Z,1379348402.311 [BuoyancyServo](ERROR): Hardware Fault
2013-09-16T16:20:02.708Z,1379348402.708 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2013-09-16T16:20:02.708Z,1379348402.708 [BuoyancyServo] No Fault, FailCount= 3
2013-09-16T16:20:03.117Z,1379348403.117 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-09-16T16:20:03.232Z,1379348403.232 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-09-16T16:20:10.306Z,1379348410.306 [BuoyancyServo](ERROR): getPosition uart error serial timeout
2013-09-16T16:20:10.306Z,1379348410.306 [BuoyancyServo](FAULT): Buoyancy getPosition uart error.serial timeout
2013-09-16T16:20:10.306Z,1379348410.306 [BuoyancyServo] Communications Fault, FailCount= 4
2013-09-16T16:20:10.306Z,1379348410.306 [BuoyancyServo](ERROR): Communications Fault
2013-09-16T16:20:10.399Z,1379348410.399 [CBIT](ERROR): Communications Fault in component: BuoyancyServo
2013-09-16T16:20:10.687Z,1379348410.687 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-09-16T16:20:10.688Z,1379348410.688 [BuoyancyServo](INFO): Powering down
2013-09-16T16:20:12.706Z,1379348412.706 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2013-09-16T16:20:12.706Z,1379348412.706 [BuoyancyServo] No Fault, FailCount= 4
2013-09-16T16:20:13.028Z,1379348413.028 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-09-16T16:20:13.147Z,1379348413.147 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-