2013-08-26T21:14:29.777Z,1377551669.777 [Supervisor](DEBUG): Initializing supervisor.
2013-08-26T21:14:29.785Z,1377551669.785 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-08-26T21:14:29.786Z,1377551669.786 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-08-26T21:14:29.789Z,1377551669.789 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-08-26T21:14:29.793Z,1377551669.793 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-08-26T21:14:29.804Z,1377551669.804 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-08-26T21:14:29.805Z,1377551669.805 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-08-26T21:14:29.806Z,1377551669.806 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-08-26T21:14:29.809Z,1377551669.809 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-08-26T21:14:29.810Z,1377551669.810 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-08-26T21:14:29.814Z,1377551669.814 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-08-26T21:14:30.127Z,1377551670.127 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-08-26T21:14:30.127Z,1377551670.127 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-08-26T21:14:30.337Z,1377551670.337 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-08-26T21:14:30.338Z,1377551670.338 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-08-26T21:14:30.433Z,1377551670.433 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-08-26T21:14:30.435Z,1377551670.435 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-08-26T21:14:30.558Z,1377551670.558 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-08-26T21:14:30.559Z,1377551670.559 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-08-26T21:14:30.709Z,1377551670.709 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-08-26T21:14:30.711Z,1377551670.711 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-08-26T21:14:30.975Z,1377551670.974 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-08-26T21:14:30.975Z,1377551670.975 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-08-26T21:14:31.157Z,1377551671.157 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-08-26T21:14:31.159Z,1377551671.159 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-08-26T21:14:31.447Z,1377551671.447 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-08-26T21:14:31.449Z,1377551671.449 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-08-26T21:14:31.566Z,1377551671.566 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-08-26T21:14:31.567Z,1377551671.567 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-08-26T21:14:32.023Z,1377551672.023 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-08-26T21:14:32.023Z,1377551672.023 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-08-26T21:14:32.145Z,1377551672.145 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-08-26T21:14:32.146Z,1377551672.146 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-08-26T21:14:32.243Z,1377551672.243 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-08-26T21:14:32.246Z,1377551672.246 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-08-26T21:14:32.356Z,1377551672.356 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-08-26T21:14:32.499Z,1377551672.499 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-08-26T21:14:32.603Z,1377551672.603 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-08-26T21:14:32.719Z,1377551672.719 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-08-26T21:14:32.827Z,1377551672.827 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-08-26T21:14:32.955Z,1377551672.954 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-08-26T21:14:33.063Z,1377551673.063 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-08-26T21:14:33.162Z,1377551673.162 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-08-26T21:14:33.230Z,1377551673.230 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-08-26T21:14:33.440Z,1377551673.440 [InternalSim] Loaded
2013-08-26T21:14:33.440Z,1377551673.440 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-08-26T21:14:33.441Z,1377551673.441 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-08-26T21:14:33.445Z,1377551673.445 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-08-26T21:14:33.561Z,1377551673.560 [SBIT](DEBUG): Construct Startup Built In Test.
2013-08-26T21:14:33.593Z,1377551673.593 [SBIT] Loaded
2013-08-26T21:14:33.594Z,1377551673.594 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-08-26T21:14:33.595Z,1377551673.595 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-08-26T21:14:33.623Z,1377551673.623 [IBIT] Loaded
2013-08-26T21:14:33.623Z,1377551673.623 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-08-26T21:14:33.626Z,1377551673.625 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-08-26T21:14:33.754Z,1377551673.754 [CBIT] Loaded
2013-08-26T21:14:33.754Z,1377551673.754 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-08-26T21:14:33.755Z,1377551673.755 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-08-26T21:14:33.756Z,1377551673.756 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-08-26T21:14:33.955Z,1377551673.955 [BuoyancyServo] Loaded
2013-08-26T21:14:33.955Z,1377551673.955 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-08-26T21:14:33.967Z,1377551673.967 [ElevatorServo] Loaded
2013-08-26T21:14:33.967Z,1377551673.967 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-08-26T21:14:33.982Z,1377551673.982 [MassServo] Loaded
2013-08-26T21:14:33.982Z,1377551673.982 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-08-26T21:14:33.993Z,1377551673.993 [RudderServo] Loaded
2013-08-26T21:14:33.994Z,1377551673.994 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-08-26T21:14:34.005Z,1377551674.005 [ThrusterServo] Loaded
2013-08-26T21:14:34.005Z,1377551674.005 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-08-26T21:14:34.005Z,1377551674.005 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-08-26T21:14:34.006Z,1377551674.006 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-08-26T21:14:34.066Z,1377551674.066 [DepthRateCalculator] Loaded
2013-08-26T21:14:34.066Z,1377551674.066 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-08-26T21:14:37.509Z,1377551677.509 [HFRadarModelCalc] Loaded
2013-08-26T21:14:37.509Z,1377551677.509 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-08-26T21:14:37.525Z,1377551677.525 [NavChart] Loaded
2013-08-26T21:14:37.525Z,1377551677.525 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-08-26T21:14:37.531Z,1377551677.531 [PitchRateCalculator] Loaded
2013-08-26T21:14:37.531Z,1377551677.531 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-08-26T21:14:37.545Z,1377551677.545 [SpeedCalculator] Loaded
2013-08-26T21:14:37.546Z,1377551677.546 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-08-26T21:14:37.562Z,1377551677.562 [TempGradientCalculator] Loaded
2013-08-26T21:14:37.562Z,1377551677.562 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-08-26T21:14:37.567Z,1377551677.567 [YawRateCalculator] Loaded
2013-08-26T21:14:37.567Z,1377551677.567 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-08-26T21:14:37.617Z,1377551677.617 [Navigation] Loaded
2013-08-26T21:14:37.617Z,1377551677.617 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-08-26T21:14:37.618Z,1377551677.618 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-08-26T21:14:37.618Z,1377551677.618 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-08-26T21:14:37.915Z,1377551677.915 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-08-26T21:14:37.916Z,1377551677.916 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-08-26T21:14:37.954Z,1377551677.954 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-08-26T21:14:37.955Z,1377551677.955 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-08-26T21:14:38.025Z,1377551678.026 [VerticalControl](DEBUG): Construct VerticalControl.
2013-08-26T21:14:38.129Z,1377551678.129 [VerticalControl] Loaded
2013-08-26T21:14:38.130Z,1377551678.129 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-08-26T21:14:38.130Z,1377551678.130 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-08-26T21:14:38.191Z,1377551678.191 [HorizontalControl] Loaded
2013-08-26T21:14:38.191Z,1377551678.191 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-08-26T21:14:38.192Z,1377551678.192 [SpeedControl](DEBUG): Construct SpeedControl.
2013-08-26T21:14:38.198Z,1377551678.198 [SpeedControl] Loaded
2013-08-26T21:14:38.198Z,1377551678.198 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-08-26T21:14:38.199Z,1377551678.199 [LoopControl](DEBUG): Construct LoopControl.
2013-08-26T21:14:38.199Z,1377551678.199 [LoopControl] Loaded
2013-08-26T21:14:38.199Z,1377551678.200 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-08-26T21:14:38.200Z,1377551678.200 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-08-26T21:14:38.201Z,1377551678.201 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-08-26T21:14:38.211Z,1377551678.211 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-08-26T21:14:38.216Z,1377551678.216 [AsyncPiEstimator] Loaded
2013-08-26T21:14:38.216Z,1377551678.216 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-08-26T21:14:38.222Z,1377551678.222 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406474E0
2013-08-26T21:14:38.223Z,1377551678.223 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-08-26T21:14:38.223Z,1377551678.223 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-08-26T21:14:38.486Z,1377551678.486 [AHRS_sp3003D] Loaded
2013-08-26T21:14:38.486Z,1377551678.486 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-08-26T21:14:38.755Z,1377551678.755 [Batt_Ocean_Server] Loaded
2013-08-26T21:14:38.756Z,1377551678.756 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-08-26T21:14:38.769Z,1377551678.769 [Depth_Keller] Loaded
2013-08-26T21:14:38.774Z,1377551678.773 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-08-26T21:14:38.778Z,1377551678.778 [DropWeight] Loaded
2013-08-26T21:14:38.779Z,1377551678.779 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-08-26T21:14:38.978Z,1377551678.978 [DVL_micro] Loaded
2013-08-26T21:14:38.978Z,1377551678.978 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-08-26T21:14:38.981Z,1377551678.981 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406D54E0
2013-08-26T21:14:39.075Z,1377551679.075 [NAL9602] Loaded
2013-08-26T21:14:39.076Z,1377551679.076 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-08-26T21:14:39.121Z,1377551679.121 [Onboard] Loaded
2013-08-26T21:14:39.122Z,1377551679.122 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-08-26T21:14:39.128Z,1377551679.128 [Radio_Freewave] Loaded
2013-08-26T21:14:39.129Z,1377551679.129 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-08-26T21:14:39.283Z,1377551679.283 [DAT] Loaded
2013-08-26T21:14:39.283Z,1377551679.283 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-08-26T21:14:39.283Z,1377551679.283 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-08-26T21:14:39.284Z,1377551679.284 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-08-26T21:14:39.379Z,1377551679.379 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-08-26T21:14:39.381Z,1377551679.381 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-08-26T21:14:39.382Z,1377551679.382 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-08-26T21:14:39.398Z,1377551679.398 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-08-26T21:14:39.401Z,1377551679.401 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407324E0
2013-08-26T21:14:39.405Z,1377551679.405 [Supervisor](DEBUG): Running supervisor.
2013-08-26T21:14:39.407Z,1377551679.407 [CommandLine](INFO): Thread ID is 748
2013-08-26T21:14:39.410Z,1377551679.410 [controlThread](INFO): Thread ID is 747
2013-08-26T21:14:39.410Z,1377551679.410 [controlThread](DEBUG): Initializing ControlThread
2013-08-26T21:14:39.411Z,1377551679.411 [CycleStarter](INFO): Thread ID is 746
2013-08-26T21:14:39.411Z,1377551679.411 [InternalSim](DEBUG):  InternalSim initializing...
2013-08-26T21:14:39.516Z,1377551679.516 [logger](INFO): Thread ID is 749
2013-08-26T21:14:39.617Z,1377551679.617 [AsyncPiEstimator](INFO): Thread ID is 810
2013-08-26T21:14:39.617Z,1377551679.617 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-08-26T21:14:39.730Z,1377551679.730 [DVL_micro](INFO): Thread ID is 811
2013-08-26T21:14:39.748Z,1377551679.748 [DVL_micro](INFO): Initializing
2013-08-26T21:14:39.748Z,1377551679.748 [DVL_micro](INFO): start:Powering up
2013-08-26T21:14:39.754Z,1377551679.754 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-08-26T21:14:39.754Z,1377551679.754 [DVL_micro](INFO): Cycling power to configure device.
2013-08-26T21:14:39.766Z,1377551679.766 [NavChartDb](INFO): Thread ID is 812
2013-08-26T21:14:39.775Z,1377551679.776 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-08-26T21:14:39.776Z,1377551679.776 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-08-26T21:14:39.777Z,1377551679.777 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-08-26T21:14:39.777Z,1377551679.777 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-08-26T21:14:39.777Z,1377551679.777 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-08-26T21:14:39.777Z,1377551679.777 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-08-26T21:14:39.778Z,1377551679.778 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-08-26T21:14:39.778Z,1377551679.778 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-08-26T21:14:39.778Z,1377551679.778 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-08-26T21:14:39.852Z,1377551679.852 [SBIT](INFO): Initialize SBIT Component.
2013-08-26T21:14:39.881Z,1377551679.881 [SBIT](IMPORTANT): Tethys CM Info: 
$ Rev:10573
2013-08-26T21:14:39.882Z,1377551679.882 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-08-26T21:14:39.882Z,1377551679.882 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-08-26T21:14:39.883Z,1377551679.883 [IBIT](INFO): Initialize IBIT Component.
2013-08-26T21:14:39.883Z,1377551679.884 [CBIT](DEBUG): Initialize CBIT Component.
2013-08-26T21:14:39.884Z,1377551679.884 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-08-26T21:14:39.923Z,1377551679.923 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-08-26T21:14:39.924Z,1377551679.924 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-08-26T21:14:39.924Z,1377551679.924 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-08-26T21:14:39.925Z,1377551679.925 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-08-26T21:14:39.925Z,1377551679.925 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-08-26T21:14:39.932Z,1377551679.932 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-08-26T21:14:39.933Z,1377551679.933 [Navigation](DEBUG): Initializing Navigation.
2013-08-26T21:14:39.933Z,1377551679.933 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-08-26T21:14:39.935Z,1377551679.935 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-08-26T21:14:39.936Z,1377551679.936 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-08-26T21:14:39.936Z,1377551679.936 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-08-26T21:14:41.612Z,1377551681.612 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-08-26T21:14:41.645Z,1377551681.645 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-08-26T21:14:41.707Z,1377551681.707 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-26T21:14:41.729Z,1377551681.729 [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>


2013-08-26T21:14:41.730Z,1377551681.730 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-08-26T21:14:41.816Z,1377551681.816 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-08-26T21:14:41.818Z,1377551681.818 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-08-26T21:14:41.821Z,1377551681.821 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-26T21:14:41.842Z,1377551681.842 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-08-26T21:14:41.842Z,1377551681.842 [DVL_micro](INFO): Querying output modes
2013-08-26T21:14:41.842Z,1377551681.842 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-08-26T21:14:41.854Z,1377551681.854 [DVL_micro](DEBUG): cmdResponse: 01
2013-08-26T21:14:41.854Z,1377551681.854 [DVL_micro](INFO): NQ1 output enabled
2013-08-26T21:14:41.854Z,1377551681.854 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-08-26T21:14:41.866Z,1377551681.866 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-08-26T21:14:41.871Z,1377551681.871 [DVL_micro](INFO): pause:Powering down
2013-08-26T21:14:41.878Z,1377551681.878 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-08-26T21:14:41.881Z,1377551681.881 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-26T21:14:41.907Z,1377551681.907 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-08-26T21:14:41.928Z,1377551681.928 [Default:D.SetSpeed](DEBUG): Construct.
2013-08-26T21:14:41.947Z,1377551681.947 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-26T21:14:41.952Z,1377551681.952 [Default:F.Wait](DEBUG): Construct Wait.
2013-08-26T21:14:41.979Z,1377551681.979 [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>


2013-08-26T21:14:41.984Z,1377551681.984 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Batt_Ocean_Server,Depth_Keller,DropWeight,NAL9602,Onboard,Radio_Freewave,DAT,Depth_Keller,DepthRateCalculator,HFRadarModelCalc,NavChart,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,Navigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,
2013-08-26T21:14:42.038Z,1377551682.038 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-08-26T21:14:42.082Z,1377551682.082 [Depth_Keller](ERROR): Pressure reading out of range: 1831.078247 decibar
2013-08-26T21:14:42.186Z,1377551682.186 [Radio_Freewave](INFO): Powering up
2013-08-26T21:14:42.195Z,1377551682.195 [DAT](INFO): Powering up
2013-08-26T21:14:42.195Z,1377551682.195 [DAT](DEBUG): Initializing DAT.
2013-08-26T21:14:42.438Z,1377551682.438 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-08-26T21:14:42.446Z,1377551682.446 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-08-26T21:14:42.480Z,1377551682.480 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-08-26T21:14:42.486Z,1377551682.486 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-08-26T21:14:42.507Z,1377551682.507 [MassServo](DEBUG): Initializing EZServoServo.
2013-08-26T21:14:42.514Z,1377551682.514 [MassServo](DEBUG): Initializing MassServo.
2013-08-26T21:14:42.519Z,1377551682.519 [RudderServo](DEBUG): Initializing EZServoServo.
2013-08-26T21:14:42.526Z,1377551682.526 [RudderServo](DEBUG): Initializing RudderServo.
2013-08-26T21:14:42.531Z,1377551682.531 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-08-26T21:14:42.546Z,1377551682.546 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-08-26T21:14:42.766Z,1377551682.766 [AHRS_sp3003D](ERROR): readHeadingMagBin got 0x420D0AA409
2013-08-26T21:14:42.766Z,1377551682.766 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2013-08-26T21:14:42.766Z,1377551682.766 [AHRS_sp3003D] Hardware Fault, FailCount= 1
2013-08-26T21:14:42.766Z,1377551682.766 [AHRS_sp3003D](ERROR): Hardware Fault
2013-08-26T21:14:42.931Z,1377551682.931 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2013-08-26T21:14:43.026Z,1377551683.026 [AHRS_sp3003D](INFO): Powering down
2013-08-26T21:14:43.082Z,1377551683.082 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-08-26T21:14:43.083Z,1377551683.083 [DVL_micro](INFO): resume:Powering up
2013-08-26T21:14:43.083Z,1377551683.083 [DVL_micro](INFO): Cycling power to configure device.
2013-08-26T21:14:44.371Z,1377551684.372 [NAL9602](INFO): Powering up NAL9602
2013-08-26T21:14:44.442Z,1377551684.442 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2013-08-26T21:14:44.442Z,1377551684.442 [AHRS_sp3003D] No Fault, FailCount= 1
2013-08-26T21:14:44.821Z,1377551684.821 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-08-26T21:14:45.090Z,1377551685.090 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-08-26T21:14:45.090Z,1377551685.090 [DVL_micro](INFO): Querying output modes
2013-08-26T21:14:45.090Z,1377551685.090 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-08-26T21:14:45.101Z,1377551685.102 [DVL_micro](DEBUG): cmdResponse: 01
2013-08-26T21:14:45.102Z,1377551685.102 [DVL_micro](INFO): NQ1 output enabled
2013-08-26T21:14:45.102Z,1377551685.102 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-08-26T21:14:45.114Z,1377551685.114 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-08-26T21:14:45.116Z,1377551685.116 [DVL_micro](INFO): pause:Powering down
2013-08-26T21:14:54.954Z,1377551694.954 [NAL9602](INFO): NAL9602 initialized
2013-08-26T21:14:55.469Z,1377551695.469 [SBIT](IMPORTANT): Beginning Startup BIT
2013-08-26T21:14:55.472Z,1377551695.472 [CBIT](IMPORTANT): Beginning GF scan
2013-08-26T21:15:02.069Z,1377551702.069 [DAT](INFO): Powering down
2013-08-26T21:15:22.146Z,1377551722.146 [CBIT](IMPORTANT): No ground fault detected
2013-08-26T21:15:49.451Z,1377551749.451 [SBIT](IMPORTANT): SBIT PASSED
2013-08-26T21:15:49.844Z,1377551749.844 [MissionManager](IMPORTANT): Started mission Startup
2013-08-26T21:15:49.844Z,1377551749.844 [Startup] Running Loop=1
2013-08-26T21:15:49.844Z,1377551749.844 [Startup](INFO): Aggregate::initialize Startup
2013-08-26T21:15:49.844Z,1377551749.844 [Startup:A.GoToSurface] Running Loop=1
2013-08-26T21:15:49.844Z,1377551749.844 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-08-26T21:15:49.850Z,1377551749.850 [Startup:StartupSatComms] Running Loop=1
2013-08-26T21:15:49.850Z,1377551749.850 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2013-08-26T21:15:49.850Z,1377551749.850 [Startup:StartupSatComms:A] Running Loop=1
2013-08-26T21:15:50.225Z,1377551750.225 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-08-26T21:16:07.419Z,1377551767.419 [NAL9602](IMPORTANT): GPS fix at: 1377551735.00
2013-08-26T21:16:07.434Z,1377551767.434 [Startup:StartupSatComms:A] Stopped
2013-08-26T21:16:07.434Z,1377551767.434 [Startup:StartupSatComms:B] Running Loop=1
2013-08-26T21:16:07.854Z,1377551767.853 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-08-26T21:17:07.605Z,1377551827.605 [Startup:StartupSatComms:B](INFO): Timed out from 2013-08-26T21:16:07.4Z
2013-08-26T21:17:07.605Z,1377551827.605 [Startup:StartupSatComms:B:A_Timeout] Running Loop=1
2013-08-26T21:17:07.605Z,1377551827.605 [Startup:StartupSatComms:B:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:B:A_Timeout
2013-08-26T21:17:07.605Z,1377551827.605 [Startup:StartupSatComms:B:A_Timeout](INFO): Completed Startup:StartupSatComms:B:A_Timeout
2013-08-26T21:17:07.605Z,1377551827.605 [Startup:StartupSatComms:B] Stopped
2013-08-26T21:17:07.605Z,1377551827.605 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2013-08-26T21:17:07.606Z,1377551827.606 [Startup:StartupSatComms] Stopped
2013-08-26T21:17:07.606Z,1377551827.606 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2013-08-26T21:17:07.607Z,1377551827.606 [Startup](INFO): Completed Startup
2013-08-26T21:17:07.607Z,1377551827.607 [Startup] Stopped
2013-08-26T21:17:07.607Z,1377551827.607 [Startup](INFO): Aggregate::uninitialize Startup
2013-08-26T21:17:07.607Z,1377551827.607 [Startup:A.GoToSurface] Stopped
2013-08-26T21:17:07.607Z,1377551827.607 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-08-26T21:17:08.516Z,1377551828.516 [MissionManager](IMPORTANT): Started mission Default
2013-08-26T21:17:08.516Z,1377551828.516 [Default] Running Loop=1
2013-08-26T21:17:08.516Z,1377551828.516 [Default](INFO): Aggregate::initialize Default
2013-08-26T21:17:08.516Z,1377551828.516 [Default:D.SetSpeed] Running Loop=1
2013-08-26T21:17:08.517Z,1377551828.517 [Default:D.SetSpeed](DEBUG): Initialize.
2013-08-26T21:17:08.517Z,1377551828.517 [Default:E.GoToSurface] Running Loop=1
2013-08-26T21:17:08.517Z,1377551828.517 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-08-26T21:17:08.517Z,1377551828.517 [Default:Iridium] Running Loop=1
2013-08-26T21:17:08.517Z,1377551828.517 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-08-26T21:17:08.517Z,1377551828.517 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-08-26T21:17:08.517Z,1377551828.517 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-08-26T21:17:08.518Z,1377551828.518 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-08-26T21:17:08.518Z,1377551828.518 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-08-26T21:17:08.518Z,1377551828.518 [Default:E.GoToSurface] Running Loop=1
2013-08-26T21:17:08.524Z,1377551828.523 [Default:D.SetSpeed] Running Loop=1
2013-08-26T21:17:08.529Z,1377551828.529 [Default:CallIridium] Running Loop=1
2013-08-26T21:17:08.529Z,1377551828.529 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2013-08-26T21:17:08.529Z,1377551828.529 [Default:CallIridium:A] Running Loop=1
2013-08-26T21:17:08.531Z,1377551828.531 [Default:CallIridium:A] Stopped
2013-08-26T21:17:08.531Z,1377551828.531 [Default:CallIridium:B] Running Loop=1
2013-08-26T21:17:08.531Z,1377551828.531 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2013-08-26T21:17:08.536Z,1377551828.536 [Default:Iridium:B.GoToSurface] Stopped
2013-08-26T21:17:08.536Z,1377551828.536 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-08-26T21:17:08.536Z,1377551828.536 [Default:Iridium:Read_Iridium] Running Loop=1
2013-08-26T21:17:08.537Z,1377551828.537 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-08-26T21:17:08.542Z,1377551828.542 [Default:GPS] Running Loop=1
2013-08-26T21:17:08.542Z,1377551828.542 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2013-08-26T21:17:08.542Z,1377551828.542 [Default:GPS:A.SetSpeed] Running Loop=1
2013-08-26T21:17:08.542Z,1377551828.542 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2013-08-26T21:17:08.542Z,1377551828.542 [Default:GPS:B.GoToSurface] Running Loop=1
2013-08-26T21:17:08.542Z,1377551828.542 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-08-26T21:17:08.548Z,1377551828.548 [Default:GPS:B.GoToSurface] Stopped
2013-08-26T21:17:08.548Z,1377551828.548 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-08-26T21:17:08.548Z,1377551828.548 [Default:GPS:Read_GPS] Running Loop=1
2013-08-26T21:17:08.548Z,1377551828.548 [Default:GPS:A.SetSpeed] Running Loop=1
2013-08-26T21:17:08.906Z,1377551828.906 [Default:Iridium:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-08-26T21:17:08.909Z,1377551828.909 [Default:GPS:Read_GPS](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-08-26T21:17:09.960Z,1377551829.960 [NAL9602](IMPORTANT): GPS fix at: 1377551798.00
2013-08-26T21:17:09.976Z,1377551829.976 [Default:GPS:Read_GPS] Stopped
2013-08-26T21:17:09.976Z,1377551829.976 [Default:GPS:D] Running Loop=1
2013-08-26T21:17:10.414Z,1377551830.414 [Default:GPS:D] Stopped
2013-08-26T21:17:10.415Z,1377551830.415 [Default:GPS](INFO): Completed Default:GPS
2013-08-26T21:17:10.415Z,1377551830.415 [Default:GPS] Stopped
2013-08-26T21:17:10.415Z,1377551830.415 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2013-08-26T21:17:10.415Z,1377551830.415 [Default:GPS:A.SetSpeed] Stopped
2013-08-26T21:17:10.415Z,1377551830.415 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2013-08-26T21:19:57.273Z,1377551997.273 [NAL9602](INFO): SBD MO Status=2, MOMSN=14303, MT Status=2, MTMSN=0
2013-08-26T21:19:57.273Z,1377551997.273 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2013-08-26T21:22:48.512Z,1377552168.512 [NAL9602](INFO): SBD MO Status=2, MOMSN=14303, MT Status=2, MTMSN=0
2013-08-26T21:22:48.512Z,1377552168.512 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2013-08-26T21:23:14.639Z,1377552194.639 [NAL9602](INFO): SBD MO Status=2, MOMSN=14303, MT Status=2, MTMSN=0
2013-08-26T21:23:14.640Z,1377552194.639 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2013-08-26T21:24:25.392Z,1377552265.392 [NAL9602](INFO): SBD MO Status=2, MOMSN=14303, MT Status=2, MTMSN=0
2013-08-26T21:24:25.392Z,1377552265.392 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2013-08-26T21:24:41.228Z,1377552281.228 [NAL9602](INFO): SBD MO Status=2, MOMSN=14303, MT Status=2, MTMSN=0
2013-08-26T21:24:41.229Z,1377552281.229 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2013-08-26T21:25:05.321Z,1377552305.321 [NAL9602](INFO): SBD MO Status=2, MOMSN=14303, MT Status=2, MTMSN=0
2013-08-26T21:25:05.321Z,1377552305.321 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2013-08-26T21:25:21.576Z,1377552321.576 [NAL9602](INFO): SBD MO Status=2, MOMSN=14303, MT Status=2, MTMSN=0
2013-08-26T21:25:21.577Z,1377552321.577 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2013-08-26T21:25:30.192Z,1377552330.192 [NAL9602](INFO): SBD MO Status=2, MOMSN=14303, MT Status=2, MTMSN=0
2013-08-26T21:25:30.192Z,1377552330.193 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2013-08-26T21:25:39.328Z,1377552339.328 [NAL9602](INFO): SBD MO Status=2, MOMSN=14303, MT Status=2, MTMSN=0
2013-08-26T21:25:39.328Z,1377552339.328 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2013-08-26T21:26:04.704Z,1377552364.704 [NAL9602](INFO): SBD MO Status=2, MOMSN=14303, MT Status=2, MTMSN=0
2013-08-26T21:26:04.705Z,1377552364.704 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2013-08-26T21:26:22.528Z,1377552382.528 [NAL9602](INFO): SBD MO Status=2, MOMSN=14303, MT Status=2, MTMSN=0
2013-08-26T21:26:22.529Z,1377552382.529 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2013-08-26T21:26:48.756Z,1377552408.756 [NAL9602](INFO): SBD MO Status=2, MOMSN=14303, MT Status=2, MTMSN=0
2013-08-26T21:26:48.757Z,1377552408.757 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2013-08-26T21:27:06.204Z,1377552426.204 [NAL9602](INFO): SBD MO Status=2, MOMSN=14303, MT Status=2, MTMSN=0
2013-08-26T21:27:06.204Z,1377552426.204 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2013-08-26T21:27:22.392Z,1377552442.392 [NAL9602](INFO): SBD MO Status=2, MOMSN=14303, MT Status=2, MTMSN=0
2013-08-26T21:27:22.393Z,1377552442.392 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2013-08-26T21:27:30.704Z,1377552450.704 [NAL9602](INFO): SBD MO Status=2, MOMSN=14303, MT Status=2, MTMSN=0
2013-08-26T21:27:30.705Z,1377552450.704 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2013-08-26T21:27:39.717Z,1377552459.717 [NAL9602](INFO): SBD MO Status=2, MOMSN=14303, MT Status=2, MTMSN=0
2013-08-26T21:27:39.717Z,1377552459.717 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2013-08-26T21:27:47.992Z,1377552467.992 [NAL9602](INFO): SBD MO Status=2, MOMSN=14303, MT Status=2, MTMSN=0
2013-08-26T21:27:47.993Z,1377552467.993 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2013-08-26T21:28:06.591Z,1377552486.591 [NAL9602](INFO): SBD MO Status=2, MOMSN=14303, MT Status=2, MTMSN=0
2013-08-26T21:28:06.592Z,1377552486.592 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2013-08-26T21:28:22.504Z,1377552502.504 [NAL9602](INFO): SBD MO Status=2, MOMSN=14303, MT Status=2, MTMSN=0
2013-08-26T21:28:22.504Z,1377552502.504 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2013-08-26T21:28:32.298Z,1377552512.298 [NAL9602](INFO): SBD MO Status=2, MOMSN=14303, MT Status=2, MTMSN=0
2013-08-26T21:28:32.299Z,1377552512.299 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2013-08-26T21:28:48.860Z,1377552528.860 [NAL9602](INFO): SBD MO Status=2, MOMSN=14303, MT Status=2, MTMSN=0
2013-08-26T21:28:48.860Z,1377552528.861 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2013-08-26T21:29:05.959Z,1377552545.959 [NAL9602](INFO): SBD MO Status=2, MOMSN=14303, MT Status=2, MTMSN=0
2013-08-26T21:29:05.959Z,1377552545.959 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2013-08-26T21:29:33.092Z,1377552573.092 [NAL9602](INFO): SBD MO Status=2, MOMSN=14303, MT Status=2, MTMSN=0
2013-08-26T21:29:33.092Z,1377552573.092 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2013-08-26T21:29:49.432Z,1377552589.432 [NAL9602](INFO): SBD MO Status=2, MOMSN=14303, MT Status=2, MTMSN=0
2013-08-26T21:29:49.433Z,1377552589.432 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2013-08-26T21:29:57.744Z,1377552597.744 [NAL9602](INFO): SBD MO Status=2, MOMSN=14303, MT Status=2, MTMSN=0
2013-08-26T21:29:57.744Z,1377552597.744 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2013-08-26T21:30:14.104Z,1377552614.104 [NAL9602](INFO): SBD MO Status=2, MOMSN=14303, MT Status=2, MTMSN=0
2013-08-26T21:30:14.104Z,1377552614.104 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2013-08-26T21:30:29.626Z,1377552629.626 [NAL9602](INFO): SBD MO Status=2, MOMSN=14303, MT Status=2, MTMSN=0
2013-08-26T21:30:29.626Z,1377552629.626 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2013-08-26T21:30:43.205Z,1377552643.205 [NAL9602](INFO): SBD MO Status=2, MOMSN=14303, MT Status=2, MTMSN=0
2013-08-26T21:30:43.205Z,1377552643.205 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2013-08-26T21:31:00.225Z,1377552660.225 [NAL9602](INFO): SBD MO Status=2, MOMSN=14303, MT Status=2, MTMSN=0
2013-08-26T21:31:00.226Z,1377552660.226 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2013-08-26T21:31:08.600Z,1377552668.600 [NAL9602](INFO): SBD MO Status=2, MOMSN=14303, MT Status=2, MTMSN=0
2013-08-26T21:31:08.601Z,1377552668.601 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2013-08-26T21:31:26.104Z,1377552686.104 [NAL9602](INFO): SBD MO Status=2, MOMSN=14303, MT Status=2, MTMSN=0
2013-08-26T21:31:26.104Z,1377552686.104 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2013-08-26T21:31:34.668Z,1377552694.668 [NAL9602](INFO): SBD MO Status=2, MOMSN=14303, MT Status=2, MTMSN=0
2013-08-26T21:31:34.669Z,1377552694.669 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2013-08-26T21:31:43.316Z,1377552703.316 [NAL9602](INFO): SBD MO Status=2, MOMSN=14303, MT Status=2, MTMSN=0
2013-08-26T21:31:43.316Z,1377552703.316 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2013-08-26T21:31:51.959Z,1377552711.959 [NAL9602](INFO): SBD MO Status=2, MOMSN=14303, MT Status=2, MTMSN=0
2013-08-26T21:31:51.959Z,1377552711.959 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2013-08-26T21:32:00.944Z,1377552720.944 [NAL9602](INFO): SBD MO Status=2, MOMSN=14303, MT Status=2, MTMSN=0
2013-08-26T21:32:00.945Z,1377552720.945 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2013-08-26T21:32:17.564Z,1377552737.564 [NAL9602](INFO): SBD MO Status=2, MOMSN=14303, MT Status=2, MTMSN=0
2013-08-26T21:32:17.564Z,1377552737.565 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2013-08-26T21:32:34.245Z,1377552754.245 [NAL9602](INFO): SBD MO Status=2, MOMSN=14303, MT Status=2, MTMSN=0
2013-08-26T21:32:34.245Z,1377552754.245 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2013-08-26T21:32:42.944Z,1377552762.944 [NAL9602](INFO): SBD MO Status=2, MOMSN=14303, MT Status=2, MTMSN=0
2013-08-26T21:32:42.944Z,1377552762.944 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2013-08-26T21:32:51.572Z,1377552771.572 [NAL9602](INFO): SBD MO Status=2, MOMSN=14303, MT Status=2, MTMSN=0
2013-08-26T21:32:51.572Z,1377552771.572 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2013-08-26T21:33:00.544Z,1377552780.544 [NAL9602](INFO): SBD MO Status=2, MOMSN=14303, MT Status=2, MTMSN=0
2013-08-26T21:33:00.545Z,1377552780.545 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2013-08-26T21:33:17.734Z,1377552797.734 [NAL9602](INFO): SBD MO Status=2, MOMSN=14303, MT Status=2, MTMSN=0
2013-08-26T21:33:17.735Z,1377552797.735 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2013-08-26T21:33:34.860Z,1377552814.860 [NAL9602](INFO): SBD MO Status=2, MOMSN=14303, MT Status=2, MTMSN=0
2013-08-26T21:33:34.860Z,1377552814.861 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2013-08-26T21:33:43.492Z,1377552823.492 [NAL9602](INFO): SBD MO Status=2, MOMSN=14303, MT Status=2, MTMSN=0
2013-08-26T21:33:43.492Z,1377552823.492 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2013-08-26T21:33:51.868Z,1377552831.868 [NAL9602](INFO): SBD MO Status=2, MOMSN=14303, MT Status=2, MTMSN=0
2013-08-26T21:33:51.869Z,1377552831.869 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2013-08-26T21:34:00.492Z,1377552840.492 [NAL9602](INFO): SBD MO Status=2, MOMSN=14303, MT Status=2, MTMSN=0
2013-08-26T21:34:00.493Z,1377552840.493 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2013-08-26T21:34:16.723Z,1377552856.723 [NAL9602](INFO): SBD MO Status=2, MOMSN=14303, MT Status=2, MTMSN=0
2013-08-26T21:34:16.724Z,1377552856.724 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2013-08-26T21:34:34.196Z,1377552874.196 [NAL9602](INFO): SBD MO Status=2, MOMSN=14303, MT Status=2, MTMSN=0
2013-08-26T21:34:34.196Z,1377552874.196 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2013-08-26T21:34:38.754Z,1377552878.754 [CommandLine](IMPORTANT): got command failComponent
2013-08-26T21:34:38.754Z,1377552878.754 [CommandLine](IMPORTANT): Failed components:
2013-08-26T21:34:38.754Z,1377552878.754 [CommandLine](IMPORTANT): No failed Components.
2013-08-26T21:34:51.328Z,1377552891.328 [NAL9602](INFO): SBD MO Status=2, MOMSN=14303, MT Status=2, MTMSN=0
2013-08-26T21:34:51.329Z,1377552891.329 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2013-08-26T21:35:17.916Z,1377552917.916 [NAL9602](INFO): SBD MO Status=2, MOMSN=14303, MT Status=2, MTMSN=0
2013-08-26T21:35:17.916Z,1377552917.916 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2013-08-26T21:35:21.882Z,1377552921.882 [CommandLine](IMPORTANT): got command ibit
2013-08-26T21:35:21.974Z,1377552921.974 [IBIT](IMPORTANT): Beginning Initiated BIT
2013-08-26T21:35:21.974Z,1377552921.974 [IBIT](IMPORTANT): Beginning control surface checks.

2013-08-26T21:35:21.975Z,1377552921.976 [CBIT](IMPORTANT): Beginning GF scan
2013-08-26T21:35:48.347Z,1377552948.347 [CBIT](IMPORTANT): No ground fault detected
2013-08-26T21:35:50.738Z,1377552950.738 [CommandLine](IMPORTANT): got command ! chmod ugo-x /mnt/mmc/LRAUV/Tools/*.sh
2013-08-26T21:36:00.610Z,1377552960.610 [CommandLine](IMPORTANT): got command ! ls -l -h /mnt/mmc/LRAUV/Tools/
2013-08-26T21:36:00.762Z,1377552960.762 [NAL9602](INFO): SBD MO Status=2, MOMSN=14303, MT Status=2, MTMSN=0
2013-08-26T21:36:00.762Z,1377552960.762 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2013-08-26T21:36:00.958Z,1377552960.958 [CommandLine](IMPORTANT): total 36K
-rw-r--r-- 1 root root  592 May 30 23:10 disable-tools-on-vehicle.sh
-rw-r--r-- 1 root root  443 May 30 23:10 disableEmergency.sh
-rw-r--r-- 1 root root  203 May 30 23:10 disableWDT.sh
-rw-r--r-- 1 root root  756 Aug 23  2012 gfScan.sh
-rw-r--r-- 1 root root  225 May 30 23:10 keepAlive.sh
-rw-r--r-- 1 root root  631 May 30 23:10 loadControlOff.sh
-rw-r--r-- 1 root root 1.3K May 30 23:10 loadControlOn.sh
-rw-r--r-- 1 root root  246 Feb 27 19:02 thresh4A.sh
-rw-r--r-- 1 root root  123 May 30 23:10 toggleHeartbeat.sh

2013-08-26T21:36:01.959Z,1377552961.959 [NAL9602](IMPORTANT): GPS fix at: 1377552932.00
2013-08-26T21:36:07.142Z,1377552967.142 [NAL9602](IMPORTANT): GPS fix at: 1377552937.00
2013-08-26T21:36:11.062Z,1377552971.062 [NAL9602](IMPORTANT): GPS fix at: 1377552941.00
2013-08-26T21:36:15.442Z,1377552975.442 [NAL9602](IMPORTANT): GPS fix at: 1377552946.00
2013-08-26T21:36:20.184Z,1377552980.184 [NAL9602](IMPORTANT): GPS fix at: 1377552950.00
2013-08-26T21:36:24.540Z,1377552984.540 [NAL9602](IMPORTANT): GPS fix at: 1377552955.00
2013-08-26T21:36:29.247Z,1377552989.247 [NAL9602](IMPORTANT): GPS fix at: 1377552959.00
2013-08-26T21:36:35.956Z,1377552995.956 [NAL9602](IMPORTANT): GPS fix at: 1377552966.00
2013-08-26T21:36:39.890Z,1377552999.890 [NAL9602](IMPORTANT): GPS fix at: 1377552970.00
2013-08-26T21:36:44.234Z,1377553004.234 [NAL9602](IMPORTANT): GPS fix at: 1377552975.00
2013-08-26T21:36:49.374Z,1377553009.374 [NAL9602](IMPORTANT): GPS fix at: 1377552980.00
2013-08-26T21:36:54.203Z,1377553014.203 [NAL9602](IMPORTANT): GPS fix at: 1377552984.00
2013-08-26T21:36:58.442Z,1377553018.442 [NAL9602](IMPORTANT): GPS fix at: 1377552989.00
2013-08-26T21:37:02.626Z,1377553022.626 [CommandLine](IMPORTANT): got command restart application
2013-08-26T21:37:03.203Z,1377553023.203 [NAL9602](IMPORTANT): GPS fix at: 1377552993.00
2013-08-26T21:37:03.681Z,1377553023.681 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-08-26T21:37:03.682Z,1377553023.682 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-08-26T21:37:03.733Z,1377553023.733 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-08-26T21:37:03.926Z,1377553023.926 [DVL_micro](INFO): uninitialize:Powering down
2013-08-26T21:37:03.933Z,1377553023.934 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-08-26T21:37:03.950Z,1377553023.950 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-08-26T21:37:03.953Z,1377553023.953 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-08-26T21:37:03.994Z,1377553023.994 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-08-26T21:37:03.998Z,1377553023.998 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-08-26T21:37:04.026Z,1377553024.026 [controlThread](DEBUG): Uninitializing ControlThread
2013-08-26T21:37:04.027Z,1377553024.027 [AHRS_sp3003D](INFO): Powering down
2013-08-26T21:37:04.115Z,1377553024.115 [NAL9602](INFO): Powering down
2013-08-26T21:37:04.116Z,1377553024.116 [DAT](INFO): Powering down
2013-08-26T21:37:04.117Z,1377553024.117 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-08-26T21:37:04.118Z,1377553024.118 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-08-26T21:37:04.119Z,1377553024.119 [Default] Stopped
2013-08-26T21:37:04.119Z,1377553024.119 [Default](INFO): Aggregate::uninitialize Default
2013-08-26T21:37:04.119Z,1377553024.119 [Default:Iridium] Stopped
2013-08-26T21:37:04.119Z,1377553024.119 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2013-08-26T21:37:04.119Z,1377553024.119 [Default:Iridium:A.SetSpeed] Stopped
2013-08-26T21:37:04.119Z,1377553024.119 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2013-08-26T21:37:04.119Z,1377553024.119 [Default:Iridium:Read_Iridium] Stopped
2013-08-26T21:37:04.119Z,1377553024.119 [Default:CallIridium] Stopped
2013-08-26T21:37:04.120Z,1377553024.120 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2013-08-26T21:37:04.120Z,1377553024.120 [Default:CallIridium:B] Stopped
2013-08-26T21:37:04.120Z,1377553024.120 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2013-08-26T21:37:04.120Z,1377553024.120 [Default:D.SetSpeed] Stopped
2013-08-26T21:37:04.120Z,1377553024.120 [Default:D.SetSpeed](DEBUG): Uninitialize.
2013-08-26T21:37:04.120Z,1377553024.120 [Default:E.GoToSurface] Stopped
2013-08-26T21:37:04.120Z,1377553024.120 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-08-26T21:37:04.124Z,1377553024.124 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-08-26T21:37:04.125Z,1377553024.125 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-08-26T21:37:04.125Z,1377553024.125 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-08-26T21:37:04.126Z,1377553024.126 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-08-26T21:37:04.126Z,1377553024.126 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-08-26T21:37:04.126Z,1377553024.126 [BuoyancyServo](INFO): Powering down
2013-08-26T21:37:04.138Z,1377553024.138 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-08-26T21:37:04.138Z,1377553024.138 [ElevatorServo](INFO): Powering down
2013-08-26T21:37:04.139Z,1377553024.139 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-08-26T21:37:04.139Z,1377553024.139 [MassServo](INFO): Powering down
2013-08-26T21:37:04.140Z,1377553024.139 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-08-26T21:37:04.140Z,1377553024.140 [RudderServo](INFO): Powering down
2013-08-26T21:37:04.140Z,1377553024.140 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-08-26T21:37:04.140Z,1377553024.141 [ThrusterServo](INFO): Powering down
2013-08-26T21:37:04.141Z,1377553024.141 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-08-26T21:37:04.142Z,1377553024.142 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-08-26T21:37:04.142Z,1377553024.142 [CBIT](DEBUG): Uninitialize CBIT Component.