2013-09-16T16:24:11.338Z,1379348651.338 [Supervisor](DEBUG): Initializing supervisor.
2013-09-16T16:24:11.340Z,1379348651.340 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-09-16T16:24:11.341Z,1379348651.341 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-09-16T16:24:11.342Z,1379348651.342 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-09-16T16:24:11.345Z,1379348651.345 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-09-16T16:24:11.355Z,1379348651.355 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-09-16T16:24:11.357Z,1379348651.357 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-09-16T16:24:11.357Z,1379348651.357 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-09-16T16:24:11.358Z,1379348651.358 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-09-16T16:24:11.359Z,1379348651.359 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-09-16T16:24:11.360Z,1379348651.360 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-09-16T16:24:11.637Z,1379348651.637 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-09-16T16:24:11.637Z,1379348651.637 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-09-16T16:24:11.827Z,1379348651.827 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-09-16T16:24:11.827Z,1379348651.827 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-09-16T16:24:11.911Z,1379348651.911 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-09-16T16:24:11.911Z,1379348651.911 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-09-16T16:24:12.021Z,1379348652.021 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-09-16T16:24:12.022Z,1379348652.022 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-09-16T16:24:12.163Z,1379348652.163 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-09-16T16:24:12.163Z,1379348652.163 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-09-16T16:24:12.399Z,1379348652.399 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-09-16T16:24:12.399Z,1379348652.399 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-09-16T16:24:12.561Z,1379348652.561 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-09-16T16:24:12.561Z,1379348652.561 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-09-16T16:24:12.820Z,1379348652.820 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-09-16T16:24:12.821Z,1379348652.821 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-09-16T16:24:12.921Z,1379348652.921 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-09-16T16:24:12.921Z,1379348652.921 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-09-16T16:24:13.327Z,1379348653.327 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-09-16T16:24:13.328Z,1379348653.328 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-09-16T16:24:13.437Z,1379348653.437 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-09-16T16:24:13.437Z,1379348653.437 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-09-16T16:24:13.522Z,1379348653.522 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-09-16T16:24:13.523Z,1379348653.523 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-09-16T16:24:13.620Z,1379348653.620 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-09-16T16:24:13.746Z,1379348653.746 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-09-16T16:24:13.840Z,1379348653.840 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-09-16T16:24:13.943Z,1379348653.943 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-09-16T16:24:14.037Z,1379348654.037 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-09-16T16:24:14.045Z,1379348654.045 [Config/Science](ERROR): Could not parse value: 	
2013-09-16T16:24:14.152Z,1379348654.152 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-09-16T16:24:14.246Z,1379348654.246 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-09-16T16:24:14.331Z,1379348654.331 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/LOGIN/
2013-09-16T16:24:14.331Z,1379348654.331 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2013-09-16T16:24:14.333Z,1379348654.333 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-09-16T16:24:14.491Z,1379348654.491 [InternalSim] Loaded
2013-09-16T16:24:14.491Z,1379348654.491 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-09-16T16:24:14.492Z,1379348654.492 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-09-16T16:24:14.492Z,1379348654.492 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-09-16T16:24:14.574Z,1379348654.574 [SBIT](DEBUG): Construct Startup Built In Test.
2013-09-16T16:24:14.602Z,1379348654.602 [SBIT] Loaded
2013-09-16T16:24:14.602Z,1379348654.602 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-09-16T16:24:14.603Z,1379348654.603 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-09-16T16:24:14.632Z,1379348654.632 [IBIT] Loaded
2013-09-16T16:24:14.632Z,1379348654.632 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-09-16T16:24:14.634Z,1379348654.634 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-09-16T16:24:14.746Z,1379348654.746 [CBIT] Loaded
2013-09-16T16:24:14.746Z,1379348654.746 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-09-16T16:24:14.747Z,1379348654.747 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-09-16T16:24:14.747Z,1379348654.747 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-09-16T16:24:14.910Z,1379348654.910 [BuoyancyServo] Loaded
2013-09-16T16:24:14.911Z,1379348654.911 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-09-16T16:24:14.922Z,1379348654.922 [ElevatorServo] Loaded
2013-09-16T16:24:14.922Z,1379348654.922 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-09-16T16:24:14.933Z,1379348654.933 [MassServo] Loaded
2013-09-16T16:24:14.933Z,1379348654.933 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-09-16T16:24:14.945Z,1379348654.945 [RudderServo] Loaded
2013-09-16T16:24:14.945Z,1379348654.945 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-09-16T16:24:14.956Z,1379348654.956 [ThrusterServo] Loaded
2013-09-16T16:24:14.956Z,1379348654.956 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-09-16T16:24:14.956Z,1379348654.956 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-09-16T16:24:14.957Z,1379348654.957 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-09-16T16:24:14.991Z,1379348654.991 [DepthRateCalculator] Loaded
2013-09-16T16:24:14.991Z,1379348654.991 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-09-16T16:24:18.037Z,1379348658.037 [HFRadarModelCalc] Loaded
2013-09-16T16:24:18.037Z,1379348658.037 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-09-16T16:24:18.053Z,1379348658.053 [NavChart] Loaded
2013-09-16T16:24:18.053Z,1379348658.053 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-09-16T16:24:18.059Z,1379348658.059 [PitchRateCalculator] Loaded
2013-09-16T16:24:18.059Z,1379348658.059 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-09-16T16:24:18.069Z,1379348658.069 [SpeedCalculator] Loaded
2013-09-16T16:24:18.069Z,1379348658.069 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-09-16T16:24:18.085Z,1379348658.085 [TempGradientCalculator] Loaded
2013-09-16T16:24:18.086Z,1379348658.086 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-09-16T16:24:18.091Z,1379348658.091 [YawRateCalculator] Loaded
2013-09-16T16:24:18.091Z,1379348658.091 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-09-16T16:24:18.137Z,1379348658.137 [Navigation] Loaded
2013-09-16T16:24:18.137Z,1379348658.137 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-09-16T16:24:18.138Z,1379348658.138 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-09-16T16:24:18.138Z,1379348658.138 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-09-16T16:24:18.364Z,1379348658.364 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-09-16T16:24:18.365Z,1379348658.365 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-09-16T16:24:18.387Z,1379348658.387 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-09-16T16:24:18.388Z,1379348658.388 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-09-16T16:24:18.433Z,1379348658.433 [VerticalControl](DEBUG): Construct VerticalControl.
2013-09-16T16:24:18.524Z,1379348658.524 [VerticalControl] Loaded
2013-09-16T16:24:18.524Z,1379348658.524 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-09-16T16:24:18.525Z,1379348658.525 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-09-16T16:24:18.581Z,1379348658.581 [HorizontalControl] Loaded
2013-09-16T16:24:18.582Z,1379348658.582 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-09-16T16:24:18.582Z,1379348658.582 [SpeedControl](DEBUG): Construct SpeedControl.
2013-09-16T16:24:18.584Z,1379348658.584 [SpeedControl] Loaded
2013-09-16T16:24:18.584Z,1379348658.584 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-09-16T16:24:18.585Z,1379348658.585 [LoopControl](DEBUG): Construct LoopControl.
2013-09-16T16:24:18.585Z,1379348658.585 [LoopControl] Loaded
2013-09-16T16:24:18.586Z,1379348658.586 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-09-16T16:24:18.586Z,1379348658.586 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-09-16T16:24:18.587Z,1379348658.587 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-09-16T16:24:18.592Z,1379348658.592 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-09-16T16:24:18.599Z,1379348658.599 [AsyncPiEstimator] Loaded
2013-09-16T16:24:18.599Z,1379348658.599 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-09-16T16:24:18.604Z,1379348658.604 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406474E0
2013-09-16T16:24:18.604Z,1379348658.604 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-09-16T16:24:18.605Z,1379348658.605 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-09-16T16:24:18.800Z,1379348658.800 [AHRS_sp3003D] Loaded
2013-09-16T16:24:18.801Z,1379348658.801 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-09-16T16:24:18.814Z,1379348658.814 [Depth_Keller] Loaded
2013-09-16T16:24:18.814Z,1379348658.814 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-09-16T16:24:18.819Z,1379348658.819 [DropWeight] Loaded
2013-09-16T16:24:18.819Z,1379348658.819 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-09-16T16:24:18.996Z,1379348658.996 [DVL_micro] Loaded
2013-09-16T16:24:18.996Z,1379348658.996 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-09-16T16:24:18.997Z,1379348658.997 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406CE4E0
2013-09-16T16:24:19.082Z,1379348659.082 [NAL9602] Loaded
2013-09-16T16:24:19.082Z,1379348659.082 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-09-16T16:24:19.125Z,1379348659.125 [Onboard] Loaded
2013-09-16T16:24:19.125Z,1379348659.125 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-09-16T16:24:19.131Z,1379348659.131 [Radio_Freewave] Loaded
2013-09-16T16:24:19.132Z,1379348659.132 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-09-16T16:24:19.268Z,1379348659.268 [DAT] Loaded
2013-09-16T16:24:19.269Z,1379348659.269 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-09-16T16:24:19.269Z,1379348659.269 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-09-16T16:24:19.270Z,1379348659.270 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-09-16T16:24:19.364Z,1379348659.364 [CTD_NeilBrown] Loaded
2013-09-16T16:24:19.364Z,1379348659.364 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-09-16T16:24:19.365Z,1379348659.365 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4072B4E0
2013-09-16T16:24:19.380Z,1379348659.380 [PAR_Licor] Loaded
2013-09-16T16:24:19.380Z,1379348659.380 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2013-09-16T16:24:19.411Z,1379348659.411 [WetLabsBB2FL] Loaded
2013-09-16T16:24:19.411Z,1379348659.411 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-09-16T16:24:19.413Z,1379348659.413 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 4075B4E0
2013-09-16T16:24:19.413Z,1379348659.413 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-09-16T16:24:19.415Z,1379348659.415 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-09-16T16:24:19.416Z,1379348659.416 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-09-16T16:24:19.423Z,1379348659.423 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-09-16T16:24:19.424Z,1379348659.424 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 4078B4E0
2013-09-16T16:24:19.428Z,1379348659.428 [Supervisor](DEBUG): Running supervisor.
2013-09-16T16:24:19.429Z,1379348659.429 [CommandLine](INFO): Thread ID is 982
2013-09-16T16:24:19.432Z,1379348659.432 [controlThread](INFO): Thread ID is 981
2013-09-16T16:24:19.432Z,1379348659.432 [controlThread](DEBUG): Initializing ControlThread
2013-09-16T16:24:19.433Z,1379348659.433 [CycleStarter](INFO): Thread ID is 980
2013-09-16T16:24:19.433Z,1379348659.433 [InternalSim](DEBUG):  InternalSim initializing...
2013-09-16T16:24:19.468Z,1379348659.468 [logger](INFO): Thread ID is 983
2013-09-16T16:24:19.468Z,1379348659.468 [SBIT](INFO): Initialize SBIT Component.
2013-09-16T16:24:19.469Z,1379348659.469 [SBIT](IMPORTANT): Tethys CM Info: 
$Rev:10634
2013-09-16T16:24:19.469Z,1379348659.469 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-09-16T16:24:19.469Z,1379348659.469 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-09-16T16:24:19.470Z,1379348659.470 [IBIT](INFO): Initialize IBIT Component.
2013-09-16T16:24:19.471Z,1379348659.471 [CBIT](DEBUG): Initialize CBIT Component.
2013-09-16T16:24:19.471Z,1379348659.471 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2013-09-16T16:24:19.471Z,1379348659.471 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-09-16T16:24:19.493Z,1379348659.493 [AsyncPiEstimator](INFO): Thread ID is 1044
2013-09-16T16:24:19.493Z,1379348659.493 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-09-16T16:24:19.498Z,1379348659.498 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-09-16T16:24:19.499Z,1379348659.499 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-09-16T16:24:19.499Z,1379348659.499 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-09-16T16:24:19.499Z,1379348659.499 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-09-16T16:24:19.500Z,1379348659.500 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-09-16T16:24:19.500Z,1379348659.500 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-09-16T16:24:19.501Z,1379348659.501 [Navigation](DEBUG): Initializing Navigation.
2013-09-16T16:24:19.501Z,1379348659.501 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-09-16T16:24:19.503Z,1379348659.503 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-09-16T16:24:19.504Z,1379348659.504 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-09-16T16:24:19.504Z,1379348659.504 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-09-16T16:24:19.521Z,1379348659.521 [DVL_micro](INFO): Thread ID is 1045
2013-09-16T16:24:19.530Z,1379348659.530 [DVL_micro](INFO): Initializing
2013-09-16T16:24:19.530Z,1379348659.530 [DVL_micro](INFO): start:Powering up
2013-09-16T16:24:19.531Z,1379348659.531 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-09-16T16:24:19.532Z,1379348659.532 [DVL_micro](INFO): Cycling power to configure device.
2013-09-16T16:24:19.545Z,1379348659.545 [DropWeight](CRITICAL): DROP WEIGHT MISSING.

2013-09-16T16:24:19.545Z,1379348659.545 [DropWeight] Hardware Fault, FailCount= 1
2013-09-16T16:24:19.545Z,1379348659.545 [DropWeight](ERROR): Hardware Fault
2013-09-16T16:24:19.548Z,1379348659.548 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-09-16T16:24:19.553Z,1379348659.553 [CTD_NeilBrown](INFO): Thread ID is 1046
2013-09-16T16:24:19.554Z,1379348659.554 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-09-16T16:24:19.561Z,1379348659.561 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-09-16T16:24:19.578Z,1379348659.578 [WetLabsBB2FL](INFO): Thread ID is 1047
2013-09-16T16:24:19.578Z,1379348659.578 [WetLabsBB2FL](INFO): Powering down
2013-09-16T16:24:19.614Z,1379348659.614 [NavChartDb](INFO): Thread ID is 1048
2013-09-16T16:24:19.616Z,1379348659.616 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-09-16T16:24:19.617Z,1379348659.617 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-09-16T16:24:19.617Z,1379348659.617 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-09-16T16:24:19.618Z,1379348659.618 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-09-16T16:24:19.618Z,1379348659.618 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-09-16T16:24:19.618Z,1379348659.618 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-09-16T16:24:19.618Z,1379348659.618 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-09-16T16:24:19.619Z,1379348659.619 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-09-16T16:24:19.619Z,1379348659.619 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-09-16T16:24:19.640Z,1379348659.640 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-09-16T16:24:19.662Z,1379348659.662 [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>


2013-09-16T16:24:19.663Z,1379348659.663 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-09-16T16:24:19.762Z,1379348659.762 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-09-16T16:24:19.764Z,1379348659.764 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-09-16T16:24:19.767Z,1379348659.767 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-09-16T16:24:19.809Z,1379348659.809 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-09-16T16:24:19.812Z,1379348659.812 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-09-16T16:24:19.825Z,1379348659.825 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-09-16T16:24:19.848Z,1379348659.848 [Default:D.SetSpeed](DEBUG): Construct.
2013-09-16T16:24:19.860Z,1379348659.860 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-09-16T16:24:19.865Z,1379348659.865 [Default:F.Wait](DEBUG): Construct Wait.
2013-09-16T16:24:19.869Z,1379348659.869 [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>


2013-09-16T16:24:19.905Z,1379348659.905 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Depth_Keller,DropWeight,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,
2013-09-16T16:24:19.948Z,1379348659.948 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-09-16T16:24:19.994Z,1379348659.994 [Depth_Keller](ERROR): Pressure reading out of range: 1831.078247 decibar
2013-09-16T16:24:20.049Z,1379348660.049 [Radio_Freewave](INFO): Powering up
2013-09-16T16:24:20.054Z,1379348660.054 [DAT](INFO): Powering up
2013-09-16T16:24:20.054Z,1379348660.054 [DAT](DEBUG): Initializing DAT.
2013-09-16T16:24:20.398Z,1379348660.398 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-09-16T16:24:20.406Z,1379348660.406 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-09-16T16:24:20.421Z,1379348660.421 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-09-16T16:24:20.434Z,1379348660.434 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-09-16T16:24:20.440Z,1379348660.440 [MassServo](DEBUG): Initializing EZServoServo.
2013-09-16T16:24:20.446Z,1379348660.446 [MassServo](DEBUG): Initializing MassServo.
2013-09-16T16:24:20.452Z,1379348660.452 [RudderServo](DEBUG): Initializing EZServoServo.
2013-09-16T16:24:20.458Z,1379348660.458 [RudderServo](DEBUG): Initializing RudderServo.
2013-09-16T16:24:20.464Z,1379348660.464 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-09-16T16:24:20.497Z,1379348660.497 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-09-16T16:24:20.527Z,1379348660.527 [CommandLine](FAULT): Scheduling is paused
2013-09-16T16:24:20.528Z,1379348660.528 [CBIT](ERROR): Hardware Fault in component: DropWeight
2013-09-16T16:24:20.529Z,1379348660.529 [CBIT](CRITICAL): Hardware Fault in component: DropWeight
2013-09-16T16:24:21.640Z,1379348661.640 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-09-16T16:24:21.640Z,1379348661.640 [DVL_micro](INFO): Querying output modes
2013-09-16T16:24:21.641Z,1379348661.641 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-09-16T16:24:21.652Z,1379348661.652 [DVL_micro](DEBUG): cmdResponse: 01 16
2013-09-16T16:24:21.652Z,1379348661.652 [DVL_micro](INFO): NQ1 output enabled
2013-09-16T16:24:21.652Z,1379348661.652 [DVL_micro](INFO): RSSI output enabled
2013-09-16T16:24:21.653Z,1379348661.653 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-09-16T16:24:21.664Z,1379348661.664 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-09-16T16:24:21.669Z,1379348661.669 [DVL_micro](INFO): pause:Powering down
2013-09-16T16:24:24.135Z,1379348664.135 [NAL9602](INFO): Powering up NAL9602
2013-09-16T16:24:27.373Z,1379348667.373 [BuoyancyServo](ERROR): getPosition uart error serial timeout
2013-09-16T16:24:27.373Z,1379348667.373 [BuoyancyServo](FAULT): Buoyancy getPosition uart error.serial timeout
2013-09-16T16:24:27.373Z,1379348667.373 [BuoyancyServo] Communications Fault, FailCount= 1
2013-09-16T16:24:27.373Z,1379348667.373 [BuoyancyServo](ERROR): Communications Fault
2013-09-16T16:24:27.377Z,1379348667.377 [CBIT](ERROR): Communications Fault in component: BuoyancyServo
2013-09-16T16:24:27.631Z,1379348667.631 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-09-16T16:24:27.632Z,1379348667.632 [BuoyancyServo](INFO): Powering down
2013-09-16T16:24:29.213Z,1379348669.213 [BuoyancyServo](FAULT): LCB fault:  Current Limiter Activated.
2013-09-16T16:24:29.213Z,1379348669.213 [BuoyancyServo] Hardware Fault, FailCount= 1
2013-09-16T16:24:29.213Z,1379348669.213 [BuoyancyServo](ERROR): Hardware Fault
2013-09-16T16:24:29.632Z,1379348669.632 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2013-09-16T16:24:29.633Z,1379348669.633 [BuoyancyServo] No Fault, FailCount= 1
2013-09-16T16:24:30.134Z,1379348670.134 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-09-16T16:24:30.250Z,1379348670.250 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-09-16T16:24:34.879Z,1379348674.879 [NAL9602](INFO): NAL9602 initialized
2013-09-16T16:24:34.951Z,1379348674.951 [SBIT](IMPORTANT): Beginning Startup BIT
2013-09-16T16:24:34.954Z,1379348674.954 [CBIT](IMPORTANT): Beginning GF scan
2013-09-16T16:24:37.036Z,1379348677.036 [BuoyancyServo](ERROR): getPosition uart error serial timeout
2013-09-16T16:24:37.036Z,1379348677.036 [BuoyancyServo](FAULT): Buoyancy getPosition uart error.serial timeout
2013-09-16T16:24:37.036Z,1379348677.036 [BuoyancyServo] Communications Fault, FailCount= 2
2013-09-16T16:24:37.036Z,1379348677.036 [BuoyancyServo](ERROR): Communications Fault
2013-09-16T16:24:37.171Z,1379348677.171 [CBIT](ERROR): Communications Fault in component: BuoyancyServo
2013-09-16T16:24:37.512Z,1379348677.512 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-09-16T16:24:37.513Z,1379348677.513 [BuoyancyServo](INFO): Powering down
2013-09-16T16:24:39.445Z,1379348679.445 [BuoyancyServo](FAULT): LCB fault:  Current Limiter Activated.
2013-09-16T16:24:39.445Z,1379348679.445 [BuoyancyServo] Hardware Fault, FailCount= 2
2013-09-16T16:24:39.445Z,1379348679.445 [BuoyancyServo](ERROR): Hardware Fault
2013-09-16T16:24:39.812Z,1379348679.812 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2013-09-16T16:24:39.812Z,1379348679.812 [BuoyancyServo] No Fault, FailCount= 2
2013-09-16T16:24:40.124Z,1379348680.124 [DAT](INFO): Powering down
2013-09-16T16:24:40.344Z,1379348680.344 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-09-16T16:24:40.462Z,1379348680.462 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-09-16T16:24:46.955Z,1379348686.955 [BuoyancyServo](ERROR): getPosition uart error serial timeout
2013-09-16T16:24:46.955Z,1379348686.955 [BuoyancyServo](FAULT): Buoyancy getPosition uart error.serial timeout
2013-09-16T16:24:46.955Z,1379348686.955 [BuoyancyServo] Communications Fault, FailCount= 3
2013-09-16T16:24:46.955Z,1379348686.955 [BuoyancyServo](ERROR): Communications Fault
2013-09-16T16:24:46.960Z,1379348686.960 [CBIT](ERROR): Communications Fault in component: BuoyancyServo
2013-09-16T16:24:47.242Z,1379348687.242 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-09-16T16:24:47.243Z,1379348687.243 [BuoyancyServo](INFO): Powering down
2013-09-16T16:24:48.801Z,1379348688.801 [BuoyancyServo](FAULT): LCB fault:  Current Limiter Activated.
2013-09-16T16:24:48.801Z,1379348688.801 [BuoyancyServo] Hardware Fault, FailCount= 3
2013-09-16T16:24:48.801Z,1379348688.801 [BuoyancyServo](ERROR): Hardware Fault
2013-09-16T16:24:49.209Z,1379348689.209 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2013-09-16T16:24:49.210Z,1379348689.210 [BuoyancyServo] No Fault, FailCount= 3
2013-09-16T16:24:49.661Z,1379348689.661 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-09-16T16:24:49.776Z,1379348689.776 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-09-16T16:24:53.966Z,1379348693.966 [CommandLine](IMPORTANT): got command quit
2013-09-16T16:24:55.124Z,1379348695.124 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-09-16T16:24:55.124Z,1379348695.124 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-09-16T16:24:55.408Z,1379348695.408 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2013-09-16T16:24:55.753Z,1379348695.753 [WetLabsBB2FL](INFO): Powering down
2013-09-16T16:24:55.769Z,1379348695.769 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2013-09-16T16:24:56.033Z,1379348696.033 [CTD_NeilBrown](INFO): Powering down
2013-09-16T16:24:56.045Z,1379348696.045 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-09-16T16:24:56.250Z,1379348696.250 [DVL_micro](INFO): uninitialize:Powering down
2013-09-16T16:24:56.251Z,1379348696.251 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-09-16T16:24:56.494Z,1379348696.494 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-09-16T16:24:56.507Z,1379348696.507 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-09-16T16:24:56.587Z,1379348696.587 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-09-16T16:24:56.588Z,1379348696.588 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-09-16T16:24:56.850Z,1379348696.850 [BuoyancyServo](ERROR): getPosition uart error serial timeout
2013-09-16T16:24:56.850Z,1379348696.850 [BuoyancyServo](FAULT): Buoyancy getPosition uart error.serial timeout
2013-09-16T16:24:56.851Z,1379348696.851 [BuoyancyServo] Communications Fault, FailCount= 4
2013-09-16T16:24:56.851Z,1379348696.851 [BuoyancyServo](ERROR): Communications Fault
2013-09-16T16:24:57.014Z,1379348697.014 [CBIT](ERROR): Communications Fault in component: BuoyancyServo
2013-09-16T16:24:57.016Z,1379348697.016 [controlThread](DEBUG): Uninitializing ControlThread
2013-09-16T16:24:57.016Z,1379348697.016 [AHRS_sp3003D](INFO): Powering down
2013-09-16T16:24:57.104Z,1379348697.104 [NAL9602](INFO): Powering down
2013-09-16T16:24:57.105Z,1379348697.105 [DAT](INFO): Powering down
2013-09-16T16:24:57.106Z,1379348697.106 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-09-16T16:24:57.107Z,1379348697.107 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-09-16T16:24:57.112Z,1379348697.112 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-09-16T16:24:57.112Z,1379348697.112 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-09-16T16:24:57.113Z,1379348697.113 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-09-16T16:24:57.113Z,1379348697.113 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-09-16T16:24:57.113Z,1379348697.113 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-09-16T16:24:57.114Z,1379348697.114 [BuoyancyServo](INFO): Powering down
2013-09-16T16:24:57.131Z,1379348697.131 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-09-16T16:24:57.131Z,1379348697.131 [ElevatorServo](INFO): Powering down
2013-09-16T16:24:57.132Z,1379348697.132 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-09-16T16:24:57.132Z,1379348697.132 [MassServo](INFO): Powering down
2013-09-16T16:24:57.133Z,1379348697.133 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-09-16T16:24:57.133Z,1379348697.133 [RudderServo](INFO): Powering down
2013-09-16T16:24:57.134Z,1379348697.134 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-09-16T16:24:57.134Z,1379348697.134 [ThrusterServo](INFO): Powering down
2013-09-16T16:24:57.135Z,1379348697.135 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-09-16T16:24:57.135Z,1379348697.135 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-09-16T16:24:57.135Z,1379348697.135 [CBIT](DEBUG): Uninitialize CBIT Component.