2013-09-17T07:38:04.902Z,1379403484.902 [Supervisor](DEBUG): Initializing supervisor.
2013-09-17T07:38:04.906Z,1379403484.906 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-09-17T07:38:04.906Z,1379403484.906 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-09-17T07:38:04.910Z,1379403484.910 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-09-17T07:38:04.912Z,1379403484.912 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-09-17T07:38:04.923Z,1379403484.923 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-09-17T07:38:04.926Z,1379403484.926 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-09-17T07:38:04.927Z,1379403484.927 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-09-17T07:38:04.930Z,1379403484.930 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-09-17T07:38:04.930Z,1379403484.930 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-09-17T07:38:04.935Z,1379403484.935 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-09-17T07:38:05.245Z,1379403485.245 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-09-17T07:38:05.246Z,1379403485.246 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-09-17T07:38:05.464Z,1379403485.464 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-09-17T07:38:05.464Z,1379403485.464 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-09-17T07:38:05.562Z,1379403485.562 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-09-17T07:38:05.564Z,1379403485.564 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-09-17T07:38:05.692Z,1379403485.692 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-09-17T07:38:05.692Z,1379403485.692 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-09-17T07:38:05.852Z,1379403485.852 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-09-17T07:38:05.854Z,1379403485.854 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-09-17T07:38:06.119Z,1379403486.119 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-09-17T07:38:06.120Z,1379403486.120 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-09-17T07:38:06.304Z,1379403486.304 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-09-17T07:38:06.307Z,1379403486.307 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-09-17T07:38:06.598Z,1379403486.598 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-09-17T07:38:06.600Z,1379403486.600 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-09-17T07:38:06.717Z,1379403486.717 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-09-17T07:38:06.718Z,1379403486.718 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-09-17T07:38:07.171Z,1379403487.171 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-09-17T07:38:07.171Z,1379403487.171 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-09-17T07:38:07.290Z,1379403487.290 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-09-17T07:38:07.291Z,1379403487.291 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-09-17T07:38:07.386Z,1379403487.386 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-09-17T07:38:07.390Z,1379403487.390 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-09-17T07:38:07.500Z,1379403487.500 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-09-17T07:38:07.643Z,1379403487.643 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-09-17T07:38:07.751Z,1379403487.751 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-09-17T07:38:07.867Z,1379403487.867 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-09-17T07:38:07.976Z,1379403487.976 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-09-17T07:38:08.108Z,1379403488.108 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-09-17T07:38:08.216Z,1379403488.216 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-09-17T07:38:08.314Z,1379403488.314 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2013-09-17T07:38:08.319Z,1379403488.319 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-09-17T07:38:08.533Z,1379403488.533 [InternalSim] Loaded
2013-09-17T07:38:08.533Z,1379403488.533 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-09-17T07:38:08.533Z,1379403488.533 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-09-17T07:38:08.534Z,1379403488.534 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-09-17T07:38:08.650Z,1379403488.650 [SBIT](DEBUG): Construct Startup Built In Test.
2013-09-17T07:38:08.683Z,1379403488.683 [SBIT] Loaded
2013-09-17T07:38:08.683Z,1379403488.683 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-09-17T07:38:08.684Z,1379403488.684 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-09-17T07:38:08.717Z,1379403488.717 [IBIT] Loaded
2013-09-17T07:38:08.718Z,1379403488.718 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-09-17T07:38:08.720Z,1379403488.720 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-09-17T07:38:08.841Z,1379403488.841 [CBIT] Loaded
2013-09-17T07:38:08.841Z,1379403488.841 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-09-17T07:38:08.842Z,1379403488.842 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-09-17T07:38:08.842Z,1379403488.842 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-09-17T07:38:09.057Z,1379403489.057 [BuoyancyServo] Loaded
2013-09-17T07:38:09.058Z,1379403489.058 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-09-17T07:38:09.069Z,1379403489.069 [ElevatorServo] Loaded
2013-09-17T07:38:09.070Z,1379403489.070 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-09-17T07:38:09.085Z,1379403489.085 [MassServo] Loaded
2013-09-17T07:38:09.085Z,1379403489.085 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-09-17T07:38:09.096Z,1379403489.096 [RudderServo] Loaded
2013-09-17T07:38:09.097Z,1379403489.097 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-09-17T07:38:09.108Z,1379403489.108 [ThrusterServo] Loaded
2013-09-17T07:38:09.108Z,1379403489.108 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-09-17T07:38:09.108Z,1379403489.108 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-09-17T07:38:09.109Z,1379403489.109 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-09-17T07:38:09.166Z,1379403489.166 [DepthRateCalculator] Loaded
2013-09-17T07:38:09.166Z,1379403489.166 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-09-17T07:38:12.671Z,1379403492.671 [HFRadarModelCalc] Loaded
2013-09-17T07:38:12.671Z,1379403492.671 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-09-17T07:38:12.691Z,1379403492.691 [NavChart] Loaded
2013-09-17T07:38:12.692Z,1379403492.692 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-09-17T07:38:12.697Z,1379403492.697 [PitchRateCalculator] Loaded
2013-09-17T07:38:12.698Z,1379403492.698 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-09-17T07:38:12.708Z,1379403492.708 [SpeedCalculator] Loaded
2013-09-17T07:38:12.708Z,1379403492.708 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-09-17T07:38:12.725Z,1379403492.725 [TempGradientCalculator] Loaded
2013-09-17T07:38:12.725Z,1379403492.725 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-09-17T07:38:12.734Z,1379403492.734 [YawRateCalculator] Loaded
2013-09-17T07:38:12.735Z,1379403492.735 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-09-17T07:38:12.785Z,1379403492.785 [Navigation] Loaded
2013-09-17T07:38:12.785Z,1379403492.785 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-09-17T07:38:12.786Z,1379403492.786 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-09-17T07:38:12.786Z,1379403492.786 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-09-17T07:38:13.085Z,1379403493.085 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-09-17T07:38:13.086Z,1379403493.086 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-09-17T07:38:13.124Z,1379403493.124 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-09-17T07:38:13.125Z,1379403493.125 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-09-17T07:38:13.197Z,1379403493.197 [VerticalControl](DEBUG): Construct VerticalControl.
2013-09-17T07:38:13.297Z,1379403493.297 [VerticalControl] Loaded
2013-09-17T07:38:13.298Z,1379403493.298 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-09-17T07:38:13.298Z,1379403493.298 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-09-17T07:38:13.364Z,1379403493.364 [HorizontalControl] Loaded
2013-09-17T07:38:13.364Z,1379403493.364 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-09-17T07:38:13.365Z,1379403493.365 [SpeedControl](DEBUG): Construct SpeedControl.
2013-09-17T07:38:13.366Z,1379403493.366 [SpeedControl] Loaded
2013-09-17T07:38:13.367Z,1379403493.367 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-09-17T07:38:13.367Z,1379403493.367 [LoopControl](DEBUG): Construct LoopControl.
2013-09-17T07:38:13.368Z,1379403493.368 [LoopControl] Loaded
2013-09-17T07:38:13.368Z,1379403493.368 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-09-17T07:38:13.369Z,1379403493.369 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-09-17T07:38:13.369Z,1379403493.369 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-09-17T07:38:13.378Z,1379403493.378 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-09-17T07:38:13.383Z,1379403493.383 [AsyncPiEstimator] Loaded
2013-09-17T07:38:13.383Z,1379403493.383 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-09-17T07:38:13.387Z,1379403493.387 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406474E0
2013-09-17T07:38:13.387Z,1379403493.387 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-09-17T07:38:13.388Z,1379403493.388 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-09-17T07:38:13.648Z,1379403493.648 [AHRS_sp3003D] Loaded
2013-09-17T07:38:13.649Z,1379403493.649 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-09-17T07:38:13.666Z,1379403493.666 [Depth_Keller] Loaded
2013-09-17T07:38:13.667Z,1379403493.667 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-09-17T07:38:13.672Z,1379403493.672 [DropWeight] Loaded
2013-09-17T07:38:13.672Z,1379403493.672 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-09-17T07:38:13.872Z,1379403493.872 [DVL_micro] Loaded
2013-09-17T07:38:13.873Z,1379403493.873 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-09-17T07:38:13.875Z,1379403493.875 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406CE4E0
2013-09-17T07:38:13.971Z,1379403493.971 [NAL9602] Loaded
2013-09-17T07:38:13.971Z,1379403493.971 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-09-17T07:38:14.018Z,1379403494.018 [Onboard] Loaded
2013-09-17T07:38:14.018Z,1379403494.018 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-09-17T07:38:14.028Z,1379403494.028 [Radio_Freewave] Loaded
2013-09-17T07:38:14.029Z,1379403494.029 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-09-17T07:38:14.180Z,1379403494.180 [DAT] Loaded
2013-09-17T07:38:14.180Z,1379403494.180 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-09-17T07:38:14.186Z,1379403494.186 [SCPI] Loaded
2013-09-17T07:38:14.187Z,1379403494.187 [ComponentRegistry](DEBUG): SyncComponent "SCPI" handled in the control thread.
2013-09-17T07:38:14.187Z,1379403494.187 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-09-17T07:38:14.188Z,1379403494.188 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-09-17T07:38:14.321Z,1379403494.321 [CTD_NeilBrown] Loaded
2013-09-17T07:38:14.322Z,1379403494.322 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-09-17T07:38:14.324Z,1379403494.324 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4072B4E0
2013-09-17T07:38:14.339Z,1379403494.339 [PAR_Licor] Loaded
2013-09-17T07:38:14.340Z,1379403494.340 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2013-09-17T07:38:14.375Z,1379403494.375 [WetLabsBB2FL] Loaded
2013-09-17T07:38:14.376Z,1379403494.376 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-09-17T07:38:14.380Z,1379403494.380 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 4075B4E0
2013-09-17T07:38:14.381Z,1379403494.381 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-09-17T07:38:14.383Z,1379403494.383 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-09-17T07:38:14.384Z,1379403494.384 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-09-17T07:38:14.397Z,1379403494.397 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-09-17T07:38:14.400Z,1379403494.400 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 4078B4E0
2013-09-17T07:38:14.404Z,1379403494.404 [Supervisor](DEBUG): Running supervisor.
2013-09-17T07:38:14.406Z,1379403494.406 [CommandLine](INFO): Thread ID is 760
2013-09-17T07:38:14.409Z,1379403494.409 [controlThread](INFO): Thread ID is 759
2013-09-17T07:38:14.409Z,1379403494.409 [controlThread](DEBUG): Initializing ControlThread
2013-09-17T07:38:14.410Z,1379403494.410 [CycleStarter](INFO): Thread ID is 758
2013-09-17T07:38:14.410Z,1379403494.410 [InternalSim](DEBUG):  InternalSim initializing...
2013-09-17T07:38:14.492Z,1379403494.492 [logger](INFO): Thread ID is 761
2013-09-17T07:38:14.541Z,1379403494.541 [AsyncPiEstimator](INFO): Thread ID is 822
2013-09-17T07:38:14.541Z,1379403494.541 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-09-17T07:38:14.555Z,1379403494.555 [DVL_micro](INFO): Thread ID is 823
2013-09-17T07:38:14.558Z,1379403494.558 [SBIT](INFO): Initialize SBIT Component.
2013-09-17T07:38:14.558Z,1379403494.558 [SBIT](IMPORTANT): Tethys CM Info: 
$Rev:10634
2013-09-17T07:38:14.559Z,1379403494.559 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-09-17T07:38:14.559Z,1379403494.559 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-09-17T07:38:14.560Z,1379403494.560 [IBIT](INFO): Initialize IBIT Component.
2013-09-17T07:38:14.561Z,1379403494.561 [CBIT](DEBUG): Initialize CBIT Component.
2013-09-17T07:38:14.561Z,1379403494.561 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2013-09-17T07:38:14.561Z,1379403494.561 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-09-17T07:38:14.572Z,1379403494.572 [CTD_NeilBrown](INFO): Thread ID is 824
2013-09-17T07:38:14.573Z,1379403494.573 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-09-17T07:38:14.575Z,1379403494.575 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-09-17T07:38:14.586Z,1379403494.586 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-09-17T07:38:14.587Z,1379403494.587 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-09-17T07:38:14.587Z,1379403494.587 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-09-17T07:38:14.587Z,1379403494.587 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-09-17T07:38:14.588Z,1379403494.588 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-09-17T07:38:14.588Z,1379403494.588 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-09-17T07:38:14.589Z,1379403494.589 [Navigation](DEBUG): Initializing Navigation.
2013-09-17T07:38:14.589Z,1379403494.589 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-09-17T07:38:14.591Z,1379403494.591 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-09-17T07:38:14.592Z,1379403494.592 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-09-17T07:38:14.592Z,1379403494.592 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-09-17T07:38:14.625Z,1379403494.625 [WetLabsBB2FL](INFO): Thread ID is 825
2013-09-17T07:38:14.626Z,1379403494.626 [WetLabsBB2FL](INFO): Powering down
2013-09-17T07:38:14.642Z,1379403494.642 [DropWeight](CRITICAL): DROP WEIGHT MISSING.

2013-09-17T07:38:14.642Z,1379403494.642 [DropWeight] Hardware Fault, FailCount= 1
2013-09-17T07:38:14.642Z,1379403494.642 [DropWeight](ERROR): Hardware Fault
2013-09-17T07:38:14.650Z,1379403494.650 [DVL_micro](INFO): Initializing
2013-09-17T07:38:14.651Z,1379403494.651 [DVL_micro](INFO): start:Powering up
2013-09-17T07:38:14.651Z,1379403494.651 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-09-17T07:38:14.652Z,1379403494.652 [DVL_micro](INFO): Cycling power to configure device.
2013-09-17T07:38:14.654Z,1379403494.654 [NavChartDb](INFO): Thread ID is 826
2013-09-17T07:38:14.658Z,1379403494.658 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-09-17T07:38:14.690Z,1379403494.690 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-09-17T07:38:14.690Z,1379403494.690 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-09-17T07:38:14.691Z,1379403494.691 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-09-17T07:38:14.691Z,1379403494.691 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-09-17T07:38:14.691Z,1379403494.691 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-09-17T07:38:14.692Z,1379403494.692 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-09-17T07:38:14.692Z,1379403494.692 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-09-17T07:38:14.692Z,1379403494.692 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-09-17T07:38:14.692Z,1379403494.692 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-09-17T07:38:14.790Z,1379403494.790 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-09-17T07:38:14.833Z,1379403494.833 [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>


2013-09-17T07:38:14.834Z,1379403494.834 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-09-17T07:38:14.885Z,1379403494.885 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-09-17T07:38:14.887Z,1379403494.887 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-09-17T07:38:14.891Z,1379403494.891 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-09-17T07:38:14.931Z,1379403494.931 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-09-17T07:38:14.950Z,1379403494.950 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-09-17T07:38:14.970Z,1379403494.970 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-09-17T07:38:14.978Z,1379403494.978 [Default:D.SetSpeed](DEBUG): Construct.
2013-09-17T07:38:15.009Z,1379403495.009 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-09-17T07:38:15.014Z,1379403495.014 [Default:F.Wait](DEBUG): Construct Wait.
2013-09-17T07:38:15.034Z,1379403495.034 [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>


2013-09-17T07:38:15.038Z,1379403495.038 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Depth_Keller,DropWeight,NAL9602,Onboard,Radio_Freewave,DAT,SCPI,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,
2013-09-17T07:38:15.081Z,1379403495.081 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-09-17T07:38:15.182Z,1379403495.182 [Radio_Freewave](INFO): Powering up
2013-09-17T07:38:15.187Z,1379403495.187 [DAT](INFO): Powering up
2013-09-17T07:38:15.187Z,1379403495.187 [DAT](DEBUG): Initializing DAT.
2013-09-17T07:38:15.551Z,1379403495.551 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-09-17T07:38:15.558Z,1379403495.558 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-09-17T07:38:15.565Z,1379403495.565 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-09-17T07:38:15.570Z,1379403495.570 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-09-17T07:38:15.576Z,1379403495.576 [MassServo](DEBUG): Initializing EZServoServo.
2013-09-17T07:38:15.582Z,1379403495.582 [MassServo](DEBUG): Initializing MassServo.
2013-09-17T07:38:15.588Z,1379403495.588 [RudderServo](DEBUG): Initializing EZServoServo.
2013-09-17T07:38:15.618Z,1379403495.618 [RudderServo](DEBUG): Initializing RudderServo.
2013-09-17T07:38:15.624Z,1379403495.624 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-09-17T07:38:15.631Z,1379403495.631 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-09-17T07:38:15.679Z,1379403495.679 [CommandLine](FAULT): Scheduling is paused
2013-09-17T07:38:15.681Z,1379403495.681 [CBIT](ERROR): Hardware Fault in component: DropWeight
2013-09-17T07:38:15.681Z,1379403495.681 [CBIT](CRITICAL): Hardware Fault in component: DropWeight
2013-09-17T07:38:16.628Z,1379403496.628 [BuoyancyServo](ERROR): Buoyancy initialization uart error serial timeout
2013-09-17T07:38:16.628Z,1379403496.628 [BuoyancyServo](FAULT): Buoyancy failed to initialize
2013-09-17T07:38:16.628Z,1379403496.628 [BuoyancyServo] Communications Fault, FailCount= 1
2013-09-17T07:38:16.628Z,1379403496.628 [BuoyancyServo](ERROR): Communications Fault
2013-09-17T07:38:16.691Z,1379403496.691 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-09-17T07:38:16.693Z,1379403496.693 [DVL_micro](INFO): Querying output modes
2013-09-17T07:38:16.695Z,1379403496.695 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-09-17T07:38:16.716Z,1379403496.716 [DVL_micro](DEBUG): cmdResponse: 01 16
2013-09-17T07:38:16.716Z,1379403496.716 [DVL_micro](INFO): NQ1 output enabled
2013-09-17T07:38:16.716Z,1379403496.716 [DVL_micro](INFO): RSSI output enabled
2013-09-17T07:38:16.717Z,1379403496.717 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-09-17T07:38:16.729Z,1379403496.729 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-09-17T07:38:16.735Z,1379403496.735 [DVL_micro](INFO): pause:Powering down
2013-09-17T07:38:16.846Z,1379403496.846 [CBIT](ERROR): Communications Fault in component: BuoyancyServo
2013-09-17T07:38:17.108Z,1379403497.108 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-09-17T07:38:17.117Z,1379403497.117 [BuoyancyServo](INFO): Powering down
2013-09-17T07:38:19.193Z,1379403499.193 [NAL9602](INFO): Powering up NAL9602
2013-09-17T07:38:19.471Z,1379403499.471 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2013-09-17T07:38:19.471Z,1379403499.471 [BuoyancyServo] No Fault, FailCount= 1
2013-09-17T07:38:19.737Z,1379403499.737 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-09-17T07:38:19.865Z,1379403499.865 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-09-17T07:38:29.684Z,1379403509.684 [NAL9602](INFO): NAL9602 initialized
2013-09-17T07:38:30.159Z,1379403510.159 [SBIT](IMPORTANT): Beginning Startup BIT
2013-09-17T07:38:30.161Z,1379403510.161 [CBIT](IMPORTANT): Beginning GF scan
2013-09-17T07:38:34.764Z,1379403514.764 [DAT](INFO): Init failed - response: 
2013-09-17T07:38:34.764Z,1379403514.764 [DAT](FAULT): DAT failed to initialize
2013-09-17T07:38:34.764Z,1379403514.764 [DAT] Communications Fault, FailCount= 1
2013-09-17T07:38:34.764Z,1379403514.764 [DAT](ERROR): Communications Fault
2013-09-17T07:38:34.944Z,1379403514.944 [CBIT](ERROR): Communications Fault in component: DAT
2013-09-17T07:38:35.191Z,1379403515.191 [DAT](INFO): Powering down
2013-09-17T07:38:36.382Z,1379403516.382 [CBIT](INFO): Clearing failed state for component DAT
2013-09-17T07:38:36.382Z,1379403516.382 [DAT] No Fault, FailCount= 1
2013-09-17T07:38:38.255Z,1379403518.255 [DAT](INFO): Powering up
2013-09-17T07:38:38.255Z,1379403518.255 [DAT](DEBUG): Initializing DAT.
2013-09-17T07:38:56.948Z,1379403536.948 [CBIT](IMPORTANT): No ground fault detected
2013-09-17T07:38:58.142Z,1379403538.142 [DAT](INFO): Powering down
2013-09-17T07:39:23.614Z,1379403563.614 [SBIT](IMPORTANT): SBIT PASSED
2013-09-17T07:39:23.995Z,1379403563.995 [MissionManager](IMPORTANT): Started mission Startup
2013-09-17T07:39:23.995Z,1379403563.995 [Startup] Running Loop=1
2013-09-17T07:39:23.995Z,1379403563.995 [Startup](INFO): Aggregate::initialize Startup
2013-09-17T07:39:23.995Z,1379403563.995 [Startup:A.GoToSurface] Running Loop=1
2013-09-17T07:39:23.995Z,1379403563.995 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-09-17T07:39:24.001Z,1379403564.001 [Startup:StartupSatComms] Running Loop=1
2013-09-17T07:39:24.001Z,1379403564.001 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2013-09-17T07:39:24.001Z,1379403564.001 [Startup:StartupSatComms:A] Running Loop=1
2013-09-17T07:39:24.398Z,1379403564.398 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-09-17T07:40:23.008Z,1379403623.008 [CommandLine](IMPORTANT): got command restart application
2013-09-17T07:40:24.073Z,1379403624.073 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-09-17T07:40:24.073Z,1379403624.073 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-09-17T07:40:24.378Z,1379403624.378 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2013-09-17T07:40:24.402Z,1379403624.402 [Startup:StartupSatComms:A](INFO): Timed out from 2013-09-17T07:39:24.0Z
2013-09-17T07:40:24.403Z,1379403624.403 [Startup:StartupSatComms:A:A_Timeout] Running Loop=1
2013-09-17T07:40:24.403Z,1379403624.403 [Startup:StartupSatComms:A:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:A:A_Timeout
2013-09-17T07:40:24.403Z,1379403624.403 [Startup:StartupSatComms:A:A_Timeout](INFO): Completed Startup:StartupSatComms:A:A_Timeout
2013-09-17T07:40:24.403Z,1379403624.403 [Startup:StartupSatComms:A] Stopped
2013-09-17T07:40:24.403Z,1379403624.403 [Startup:StartupSatComms:B] Running Loop=1
2013-09-17T07:40:24.643Z,1379403624.643 [WetLabsBB2FL](INFO): Powering down
2013-09-17T07:40:24.663Z,1379403624.663 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2013-09-17T07:40:24.799Z,1379403624.799 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-09-17T07:40:24.967Z,1379403624.967 [CTD_NeilBrown](INFO): Powering down
2013-09-17T07:40:24.987Z,1379403624.987 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-09-17T07:40:24.995Z,1379403624.995 [DVL_micro](INFO): uninitialize:Powering down
2013-09-17T07:40:25.002Z,1379403625.002 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-09-17T07:40:25.211Z,1379403625.211 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-09-17T07:40:25.224Z,1379403625.224 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-09-17T07:40:25.232Z,1379403625.232 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-09-17T07:40:25.233Z,1379403625.233 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-09-17T07:40:25.388Z,1379403625.388 [controlThread](DEBUG): Uninitializing ControlThread
2013-09-17T07:40:25.388Z,1379403625.388 [AHRS_sp3003D](INFO): Powering down
2013-09-17T07:40:25.476Z,1379403625.476 [NAL9602](INFO): Powering down
2013-09-17T07:40:25.478Z,1379403625.478 [DAT](INFO): Powering down
2013-09-17T07:40:25.479Z,1379403625.479 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-09-17T07:40:25.480Z,1379403625.480 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-09-17T07:40:25.484Z,1379403625.484 [Startup] Stopped
2013-09-17T07:40:25.484Z,1379403625.484 [Startup](INFO): Aggregate::uninitialize Startup
2013-09-17T07:40:25.484Z,1379403625.484 [Startup:A.GoToSurface] Stopped
2013-09-17T07:40:25.484Z,1379403625.484 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-09-17T07:40:25.484Z,1379403625.484 [Startup:StartupSatComms] Stopped
2013-09-17T07:40:25.484Z,1379403625.484 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2013-09-17T07:40:25.484Z,1379403625.484 [Startup:StartupSatComms:B] Stopped
2013-09-17T07:40:25.486Z,1379403625.486 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-09-17T07:40:25.486Z,1379403625.486 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-09-17T07:40:25.486Z,1379403625.486 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-09-17T07:40:25.487Z,1379403625.487 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-09-17T07:40:25.487Z,1379403625.487 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-09-17T07:40:25.488Z,1379403625.488 [BuoyancyServo](INFO): Powering down
2013-09-17T07:40:25.500Z,1379403625.500 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-09-17T07:40:25.500Z,1379403625.500 [ElevatorServo](INFO): Powering down
2013-09-17T07:40:25.501Z,1379403625.501 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-09-17T07:40:25.501Z,1379403625.501 [MassServo](INFO): Powering down
2013-09-17T07:40:25.502Z,1379403625.502 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-09-17T07:40:25.502Z,1379403625.502 [RudderServo](INFO): Powering down
2013-09-17T07:40:25.503Z,1379403625.503 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-09-17T07:40:25.503Z,1379403625.503 [ThrusterServo](INFO): Powering down
2013-09-17T07:40:25.504Z,1379403625.504 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-09-17T07:40:25.505Z,1379403625.505 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-09-17T07:40:25.505Z,1379403625.505 [CBIT](DEBUG): Uninitialize CBIT Component.