2013-10-22T21:14:53.447Z,1382476493.447 [Supervisor](DEBUG): Initializing supervisor.
2013-10-22T21:14:53.450Z,1382476493.450 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-10-22T21:14:53.451Z,1382476493.451 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-10-22T21:14:53.452Z,1382476493.452 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-10-22T21:14:53.469Z,1382476493.469 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-10-22T21:14:53.480Z,1382476493.480 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-10-22T21:14:53.481Z,1382476493.481 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-10-22T21:14:53.482Z,1382476493.482 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-10-22T21:14:53.483Z,1382476493.483 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-10-22T21:14:53.484Z,1382476493.484 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-10-22T21:14:53.491Z,1382476493.491 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-10-22T21:14:53.954Z,1382476493.954 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-10-22T21:14:53.955Z,1382476493.955 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-10-22T21:14:54.177Z,1382476494.177 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-10-22T21:14:54.177Z,1382476494.177 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-10-22T21:14:54.264Z,1382476494.264 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-10-22T21:14:54.266Z,1382476494.266 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-10-22T21:14:54.390Z,1382476494.390 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-10-22T21:14:54.391Z,1382476494.391 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-10-22T21:14:54.544Z,1382476494.544 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-10-22T21:14:54.546Z,1382476494.546 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-10-22T21:14:54.791Z,1382476494.791 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-10-22T21:14:54.792Z,1382476494.792 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-10-22T21:14:54.960Z,1382476494.960 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-10-22T21:14:54.962Z,1382476494.962 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-10-22T21:14:55.234Z,1382476495.234 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-10-22T21:14:55.236Z,1382476495.236 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-10-22T21:14:55.346Z,1382476495.346 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-10-22T21:14:55.346Z,1382476495.346 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-10-22T21:14:55.769Z,1382476495.769 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-10-22T21:14:55.770Z,1382476495.770 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-10-22T21:14:55.885Z,1382476495.885 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-10-22T21:14:55.886Z,1382476495.886 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-10-22T21:14:55.973Z,1382476495.973 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-10-22T21:14:55.974Z,1382476495.974 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-10-22T21:14:56.080Z,1382476496.080 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-10-22T21:14:56.214Z,1382476496.214 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-10-22T21:14:56.343Z,1382476496.343 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-10-22T21:14:56.450Z,1382476496.450 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-10-22T21:14:56.547Z,1382476496.547 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-10-22T21:14:56.664Z,1382476496.664 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-10-22T21:14:56.762Z,1382476496.762 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-10-22T21:14:56.850Z,1382476496.850 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/LOGIN/
2013-10-22T21:14:56.850Z,1382476496.850 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2013-10-22T21:14:56.855Z,1382476496.855 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-10-22T21:14:57.054Z,1382476497.054 [InternalSim] Loaded
2013-10-22T21:14:57.054Z,1382476497.054 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-10-22T21:14:57.055Z,1382476497.055 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-10-22T21:14:57.055Z,1382476497.055 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-10-22T21:14:57.165Z,1382476497.165 [SBIT](DEBUG): Construct Startup Built In Test.
2013-10-22T21:14:57.194Z,1382476497.194 [SBIT] Loaded
2013-10-22T21:14:57.194Z,1382476497.194 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-10-22T21:14:57.195Z,1382476497.195 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-10-22T21:14:57.224Z,1382476497.224 [IBIT] Loaded
2013-10-22T21:14:57.225Z,1382476497.225 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-10-22T21:14:57.227Z,1382476497.227 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-10-22T21:14:57.341Z,1382476497.341 [CBIT] Loaded
2013-10-22T21:14:57.341Z,1382476497.341 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-10-22T21:14:57.342Z,1382476497.342 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-10-22T21:14:57.343Z,1382476497.343 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-10-22T21:14:57.538Z,1382476497.538 [BuoyancyServo] Loaded
2013-10-22T21:14:57.538Z,1382476497.538 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-10-22T21:14:57.551Z,1382476497.551 [ElevatorServo] Loaded
2013-10-22T21:14:57.551Z,1382476497.551 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-10-22T21:14:57.562Z,1382476497.562 [MassServo] Loaded
2013-10-22T21:14:57.562Z,1382476497.562 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-10-22T21:14:57.574Z,1382476497.574 [RudderServo] Loaded
2013-10-22T21:14:57.574Z,1382476497.574 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-10-22T21:14:57.585Z,1382476497.585 [ThrusterServo] Loaded
2013-10-22T21:14:57.585Z,1382476497.585 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-10-22T21:14:57.586Z,1382476497.586 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-10-22T21:14:57.586Z,1382476497.586 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-10-22T21:14:57.651Z,1382476497.651 [DepthRateCalculator] Loaded
2013-10-22T21:14:57.651Z,1382476497.651 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-10-22T21:15:00.881Z,1382476500.881 [HFRadarModelCalc] Loaded
2013-10-22T21:15:00.881Z,1382476500.881 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-10-22T21:15:00.897Z,1382476500.897 [NavChart] Loaded
2013-10-22T21:15:00.898Z,1382476500.898 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-10-22T21:15:00.903Z,1382476500.903 [PitchRateCalculator] Loaded
2013-10-22T21:15:00.904Z,1382476500.904 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-10-22T21:15:00.915Z,1382476500.915 [SpeedCalculator] Loaded
2013-10-22T21:15:00.915Z,1382476500.915 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-10-22T21:15:00.931Z,1382476500.931 [TempGradientCalculator] Loaded
2013-10-22T21:15:00.931Z,1382476500.931 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-10-22T21:15:00.937Z,1382476500.937 [YawRateCalculator] Loaded
2013-10-22T21:15:00.937Z,1382476500.937 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-10-22T21:15:00.984Z,1382476500.984 [Navigation] Loaded
2013-10-22T21:15:00.984Z,1382476500.984 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-10-22T21:15:00.985Z,1382476500.985 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-10-22T21:15:00.985Z,1382476500.985 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-10-22T21:15:01.276Z,1382476501.276 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-10-22T21:15:01.277Z,1382476501.277 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-10-22T21:15:01.330Z,1382476501.330 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-10-22T21:15:01.331Z,1382476501.331 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-10-22T21:15:01.402Z,1382476501.402 [VerticalControl](DEBUG): Construct VerticalControl.
2013-10-22T21:15:01.494Z,1382476501.494 [VerticalControl] Loaded
2013-10-22T21:15:01.495Z,1382476501.495 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-10-22T21:15:01.495Z,1382476501.495 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-10-22T21:15:01.553Z,1382476501.553 [HorizontalControl] Loaded
2013-10-22T21:15:01.554Z,1382476501.554 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-10-22T21:15:01.554Z,1382476501.554 [SpeedControl](DEBUG): Construct SpeedControl.
2013-10-22T21:15:01.556Z,1382476501.556 [SpeedControl] Loaded
2013-10-22T21:15:01.556Z,1382476501.556 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-10-22T21:15:01.557Z,1382476501.557 [LoopControl](DEBUG): Construct LoopControl.
2013-10-22T21:15:01.558Z,1382476501.558 [LoopControl] Loaded
2013-10-22T21:15:01.558Z,1382476501.558 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-10-22T21:15:01.558Z,1382476501.558 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-10-22T21:15:01.559Z,1382476501.559 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-10-22T21:15:01.568Z,1382476501.568 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-10-22T21:15:01.572Z,1382476501.572 [AsyncPiEstimator] Loaded
2013-10-22T21:15:01.573Z,1382476501.573 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-10-22T21:15:01.574Z,1382476501.574 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406474E0
2013-10-22T21:15:01.575Z,1382476501.575 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-10-22T21:15:01.575Z,1382476501.575 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-10-22T21:15:01.833Z,1382476501.833 [AHRS_sp3003D] Loaded
2013-10-22T21:15:01.833Z,1382476501.833 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-10-22T21:15:01.847Z,1382476501.847 [Depth_Keller] Loaded
2013-10-22T21:15:01.847Z,1382476501.847 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-10-22T21:15:01.855Z,1382476501.855 [DropWeight] Loaded
2013-10-22T21:15:01.855Z,1382476501.855 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-10-22T21:15:02.040Z,1382476502.040 [DVL_micro] Loaded
2013-10-22T21:15:02.040Z,1382476502.040 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-10-22T21:15:02.042Z,1382476502.042 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406CE4E0
2013-10-22T21:15:02.129Z,1382476502.129 [NAL9602] Loaded
2013-10-22T21:15:02.129Z,1382476502.129 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-10-22T21:15:02.172Z,1382476502.172 [Onboard] Loaded
2013-10-22T21:15:02.173Z,1382476502.173 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-10-22T21:15:02.179Z,1382476502.179 [Radio_Freewave] Loaded
2013-10-22T21:15:02.180Z,1382476502.180 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-10-22T21:15:02.326Z,1382476502.326 [DAT] Loaded
2013-10-22T21:15:02.327Z,1382476502.327 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-10-22T21:15:02.333Z,1382476502.333 [SCPI] Loaded
2013-10-22T21:15:02.334Z,1382476502.334 [ComponentRegistry](DEBUG): SyncComponent "SCPI" handled in the control thread.
2013-10-22T21:15:02.334Z,1382476502.334 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-10-22T21:15:02.335Z,1382476502.335 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-10-22T21:15:02.468Z,1382476502.468 [CTD_NeilBrown] Loaded
2013-10-22T21:15:02.468Z,1382476502.468 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-10-22T21:15:02.469Z,1382476502.469 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4072B4E0
2013-10-22T21:15:02.485Z,1382476502.485 [PAR_Licor] Loaded
2013-10-22T21:15:02.485Z,1382476502.485 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2013-10-22T21:15:02.517Z,1382476502.517 [WetLabsBB2FL] Loaded
2013-10-22T21:15:02.517Z,1382476502.517 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-10-22T21:15:02.518Z,1382476502.518 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 4075B4E0
2013-10-22T21:15:02.519Z,1382476502.519 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-10-22T21:15:02.521Z,1382476502.521 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-10-22T21:15:02.522Z,1382476502.522 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-10-22T21:15:02.535Z,1382476502.535 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-10-22T21:15:02.536Z,1382476502.536 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 4078B4E0
2013-10-22T21:15:02.540Z,1382476502.540 [Supervisor](DEBUG): Running supervisor.
2013-10-22T21:15:02.541Z,1382476502.541 [CommandLine](INFO): Thread ID is 9053
2013-10-22T21:15:02.546Z,1382476502.546 [controlThread](INFO): Thread ID is 9052
2013-10-22T21:15:02.546Z,1382476502.546 [controlThread](DEBUG): Initializing ControlThread
2013-10-22T21:15:02.547Z,1382476502.547 [CycleStarter](INFO): Thread ID is 9051
2013-10-22T21:15:02.547Z,1382476502.547 [InternalSim](DEBUG):  InternalSim initializing...
2013-10-22T21:15:02.648Z,1382476502.648 [logger](INFO): Thread ID is 9054
2013-10-22T21:15:02.744Z,1382476502.744 [AsyncPiEstimator](INFO): Thread ID is 9115
2013-10-22T21:15:02.744Z,1382476502.744 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-10-22T21:15:02.757Z,1382476502.757 [DVL_micro](INFO): Thread ID is 9116
2013-10-22T21:15:02.896Z,1382476502.896 [CTD_NeilBrown](INFO): Thread ID is 9117
2013-10-22T21:15:02.896Z,1382476502.896 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-10-22T21:15:02.908Z,1382476502.908 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-10-22T21:15:02.989Z,1382476502.989 [DVL_micro](INFO): Initializing
2013-10-22T21:15:02.989Z,1382476502.989 [DVL_micro](INFO): start:Powering up
2013-10-22T21:15:02.990Z,1382476502.990 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-10-22T21:15:02.990Z,1382476502.990 [DVL_micro](INFO): Cycling power to configure device.
2013-10-22T21:15:02.991Z,1382476502.991 [WetLabsBB2FL](INFO): Thread ID is 9118
2013-10-22T21:15:03.003Z,1382476503.003 [NavChartDb](INFO): Thread ID is 9119
2013-10-22T21:15:03.010Z,1382476503.010 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-10-22T21:15:03.011Z,1382476503.011 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-10-22T21:15:03.011Z,1382476503.011 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-10-22T21:15:03.011Z,1382476503.011 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-10-22T21:15:03.012Z,1382476503.012 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-10-22T21:15:03.012Z,1382476503.012 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-10-22T21:15:03.013Z,1382476503.013 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-10-22T21:15:03.013Z,1382476503.013 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-10-22T21:15:03.013Z,1382476503.013 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-10-22T21:15:03.028Z,1382476503.028 [WetLabsBB2FL](INFO): Powering down
2013-10-22T21:15:03.058Z,1382476503.058 [SBIT](INFO): Initialize SBIT Component.
2013-10-22T21:15:03.058Z,1382476503.058 [SBIT](IMPORTANT): Tethys CM Info: 
 $Rev:10655
2013-10-22T21:15:03.058Z,1382476503.058 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-10-22T21:15:03.059Z,1382476503.059 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-10-22T21:15:03.059Z,1382476503.059 [IBIT](INFO): Initialize IBIT Component.
2013-10-22T21:15:03.083Z,1382476503.083 [CBIT](DEBUG): Initialize CBIT Component.
2013-10-22T21:15:03.083Z,1382476503.083 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2013-10-22T21:15:03.093Z,1382476503.093 [CBIT](CRITICAL): Watchdog Timer failed to initialize.
2013-10-22T21:15:03.093Z,1382476503.093 [CBIT] Hardware Fault, FailCount= 1
2013-10-22T21:15:03.093Z,1382476503.093 [CBIT](ERROR): Hardware Fault
2013-10-22T21:15:03.117Z,1382476503.117 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-10-22T21:15:03.118Z,1382476503.118 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-10-22T21:15:03.118Z,1382476503.118 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-10-22T21:15:03.118Z,1382476503.118 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-10-22T21:15:03.118Z,1382476503.118 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-10-22T21:15:03.119Z,1382476503.119 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-10-22T21:15:03.119Z,1382476503.119 [Navigation](DEBUG): Initializing Navigation.
2013-10-22T21:15:03.119Z,1382476503.119 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-10-22T21:15:03.122Z,1382476503.122 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-10-22T21:15:03.122Z,1382476503.122 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-10-22T21:15:03.123Z,1382476503.123 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-10-22T21:15:03.134Z,1382476503.134 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-10-22T21:15:03.170Z,1382476503.170 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-10-22T21:15:03.201Z,1382476503.201 [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>


2013-10-22T21:15:03.202Z,1382476503.202 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-10-22T21:15:03.258Z,1382476503.258 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-10-22T21:15:03.260Z,1382476503.260 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-10-22T21:15:03.291Z,1382476503.291 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-10-22T21:15:03.316Z,1382476503.316 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-10-22T21:15:03.319Z,1382476503.319 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-10-22T21:15:03.346Z,1382476503.346 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-10-22T21:15:03.390Z,1382476503.390 [Default:D.SetSpeed](DEBUG): Construct.
2013-10-22T21:15:03.393Z,1382476503.393 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-10-22T21:15:03.407Z,1382476503.407 [Default:F.Wait](DEBUG): Construct Wait.
2013-10-22T21:15:03.410Z,1382476503.410 [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>


2013-10-22T21:15:03.424Z,1382476503.424 [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,
2013-10-22T21:15:03.503Z,1382476503.503 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-10-22T21:15:03.685Z,1382476503.685 [Radio_Freewave](INFO): Powering up
2013-10-22T21:15:03.695Z,1382476503.695 [DAT](INFO): Powering up
2013-10-22T21:15:03.695Z,1382476503.695 [DAT](DEBUG): Initializing DAT.
2013-10-22T21:15:04.030Z,1382476504.030 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-10-22T21:15:04.038Z,1382476504.038 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-10-22T21:15:04.044Z,1382476504.044 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-10-22T21:15:04.050Z,1382476504.050 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-10-22T21:15:04.056Z,1382476504.056 [MassServo](DEBUG): Initializing EZServoServo.
2013-10-22T21:15:04.086Z,1382476504.086 [MassServo](DEBUG): Initializing MassServo.
2013-10-22T21:15:04.093Z,1382476504.093 [RudderServo](DEBUG): Initializing EZServoServo.
2013-10-22T21:15:04.098Z,1382476504.098 [RudderServo](DEBUG): Initializing RudderServo.
2013-10-22T21:15:04.114Z,1382476504.114 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-10-22T21:15:04.122Z,1382476504.122 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-10-22T21:15:04.148Z,1382476504.148 [CBIT](DEBUG): Uninitialize CBIT Component.
2013-10-22T21:15:04.382Z,1382476504.382 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2013-10-22T21:15:04.382Z,1382476504.382 [AHRS_sp3003D](ERROR): readHeadingMagBin got 0xA409A0
2013-10-22T21:15:04.383Z,1382476504.383 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2013-10-22T21:15:04.383Z,1382476504.383 [AHRS_sp3003D] Hardware Fault, FailCount= 1
2013-10-22T21:15:04.383Z,1382476504.383 [AHRS_sp3003D](ERROR): Hardware Fault
2013-10-22T21:15:04.609Z,1382476504.609 [AHRS_sp3003D](INFO): Powering down
2013-10-22T21:15:05.088Z,1382476505.088 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-10-22T21:15:05.088Z,1382476505.088 [DVL_micro](INFO): Querying output modes
2013-10-22T21:15:05.088Z,1382476505.088 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-10-22T21:15:05.388Z,1382476505.388 [BuoyancyServo](ERROR): Buoyancy initialization uart error serial timeout
2013-10-22T21:15:05.388Z,1382476505.388 [BuoyancyServo](FAULT): Buoyancy failed to initialize
2013-10-22T21:15:05.388Z,1382476505.388 [BuoyancyServo] Communications Fault, FailCount= 1
2013-10-22T21:15:05.388Z,1382476505.388 [BuoyancyServo](ERROR): Communications Fault
2013-10-22T21:15:05.901Z,1382476505.901 [ElevatorServo](ERROR): Elevator initialization uart error I:serial timeout
2013-10-22T21:15:05.901Z,1382476505.901 [ElevatorServo](FAULT): Elevator failed to initialize
2013-10-22T21:15:05.901Z,1382476505.901 [ElevatorServo] Communications Fault, FailCount= 1
2013-10-22T21:15:05.901Z,1382476505.901 [ElevatorServo](ERROR): Communications Fault
2013-10-22T21:15:06.409Z,1382476506.409 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2013-10-22T21:15:06.409Z,1382476506.409 [RudderServo](FAULT): Rudder failed to initialize
2013-10-22T21:15:06.410Z,1382476506.410 [RudderServo] Communications Fault, FailCount= 1
2013-10-22T21:15:06.410Z,1382476506.410 [RudderServo](ERROR): Communications Fault
2013-10-22T21:15:06.930Z,1382476506.930 [ThrusterServo](ERROR): Thruster halt for initialization uart error serial timeout
2013-10-22T21:15:07.094Z,1382476507.094 [DVL_micro](DEBUG): cmdResponse: 
2013-10-22T21:15:07.095Z,1382476507.095 [DVL_micro](INFO): Output Modes: No Response
2013-10-22T21:15:07.095Z,1382476507.095 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-10-22T21:15:07.443Z,1382476507.443 [ThrusterServo](ERROR): Thruster initialization uart error serial timeout
2013-10-22T21:15:07.443Z,1382476507.443 [ThrusterServo](FAULT): Thruster failed to initialize
2013-10-22T21:15:07.443Z,1382476507.443 [ThrusterServo] Communications Fault, FailCount= 1
2013-10-22T21:15:07.443Z,1382476507.443 [ThrusterServo](ERROR): Communications Fault
2013-10-22T21:15:07.593Z,1382476507.593 [NAL9602](INFO): Powering up NAL9602
2013-10-22T21:15:07.663Z,1382476507.663 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-10-22T21:15:07.684Z,1382476507.684 [BuoyancyServo](INFO): Powering down
2013-10-22T21:15:07.752Z,1382476507.752 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-10-22T21:15:07.752Z,1382476507.752 [ElevatorServo](INFO): Powering down
2013-10-22T21:15:08.316Z,1382476508.316 [MassServo](FAULT): Mass shifter EEPROM initialization uart error serial timeout
2013-10-22T21:15:08.316Z,1382476508.316 [MassServo] Communications Fault, FailCount= 1
2013-10-22T21:15:08.316Z,1382476508.316 [MassServo](ERROR): Communications Fault
2013-10-22T21:15:08.317Z,1382476508.317 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-10-22T21:15:08.317Z,1382476508.317 [RudderServo](INFO): Powering down
2013-10-22T21:15:08.338Z,1382476508.338 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-10-22T21:15:08.338Z,1382476508.338 [ThrusterServo](INFO): Powering down
2013-10-22T21:15:08.527Z,1382476508.527 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-10-22T21:15:08.527Z,1382476508.527 [MassServo](INFO): Powering down
2013-10-22T21:15:08.899Z,1382476508.899 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-10-22T21:15:09.020Z,1382476509.020 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-10-22T21:15:09.023Z,1382476509.023 [RudderServo](DEBUG): Initializing EZServoServo.
2013-10-22T21:15:09.097Z,1382476509.097 [DVL_micro](DEBUG): cmdResponse: 
2013-10-22T21:15:09.103Z,1382476509.103 [DVL_micro](INFO): pause:Powering down
2013-10-22T21:15:09.105Z,1382476509.105 [DVL_micro](INFO): NQ1 requested
2013-10-22T21:15:09.106Z,1382476509.106 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-10-22T21:15:09.106Z,1382476509.106 [DVL_micro](INFO): resume:Powering up
2013-10-22T21:15:09.106Z,1382476509.106 [DVL_micro](INFO): Cycling power to configure device.
2013-10-22T21:15:09.142Z,1382476509.142 [RudderServo](DEBUG): Initializing RudderServo.
2013-10-22T21:15:09.418Z,1382476509.418 [MassServo](DEBUG): Initializing EZServoServo.
2013-10-22T21:15:09.536Z,1382476509.536 [MassServo](DEBUG): Initializing MassServo.
2013-10-22T21:15:11.109Z,1382476511.109 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-10-22T21:15:11.109Z,1382476511.109 [DVL_micro](INFO): Querying output modes
2013-10-22T21:15:11.110Z,1382476511.110 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-10-22T21:15:13.120Z,1382476513.120 [DVL_micro](DEBUG): cmdResponse: 
2013-10-22T21:15:13.120Z,1382476513.120 [DVL_micro](INFO): Output Modes: No Response
2013-10-22T21:15:13.120Z,1382476513.120 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-10-22T21:15:15.131Z,1382476515.131 [DVL_micro](DEBUG): cmdResponse: 
2013-10-22T21:15:15.133Z,1382476515.133 [DVL_micro](INFO): NQ1 requested
2013-10-22T21:15:15.133Z,1382476515.133 [DVL_micro](INFO): Cycling power to configure device.
2013-10-22T21:15:17.138Z,1382476517.138 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-10-22T21:15:17.139Z,1382476517.139 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2013-10-22T21: