Rover MF modem register:
Factory Sregisters
S21=200  S22=000  S23=001  S24=100  S25=150  S26=027  S27=028
S28=000  S29=000  S30=008  S31=004  S32=102  S33=000  S34=005
S35=000  S36=-001  S37=000  S38=000  S39=000  S40=000  S41=107

root@mvc-rover:~/control# echo -ne "ats?\r" > /dev/modem
root@mvc-rover:~/control#
Local Sregisters
S00=056  S01=000  S02=000  S03=002  S04=003  S05=000  S06=008
S07=015  S08=060  S09=000  S10=010  S11=000  S12=002  S13=000
S14=001  S15=001  S16=000  S17=001  S18=003  S19=000  S20=000


Rover LF Modem Registers
Local Sregisters
S00=069  S01=000  S02=000  S03=002  S04=002  S05=000  S06=008
S07=015  S08=060  S09=000  S10=010  S11=000  S12=000  S13=000
S14=002  S15=001  S16=000  S17=001  S18=000  S19=000  S20=000

root@mvc-rover:~/device# echo -ne "ats22?\r" > /dev/lfmodem
root@mvc-rover:~/device#
Factory Sregisters
S21=200  S22=000  S23=001  S24=056  S25=150  S26=027  S27=028
S28=003  S29=000  S30=020  S31=004  S32=102  S33=000  S34=005
S35=000  S36=-001  S37=000  S38=000  S39=000  S40=000  S41=629
         
Strange error running VehicleCheckup:
         root@mvc-rover:~/control# more ../plans/vehicle_checkup.xml
<?xml version="1.0" encoding="UTF-8"?>

<Deployment name="vehicle-checkup" sim="" comment="test">

  <Plan name="experiments" sites="1">

    <!-- Test the device components before every site -->
    <VehicleCheckup />

  </Plan>

  <!-- ==================================================== -->

</Deployment>
root@mvc-rover:~/control# ./supervisor.rb vehicle_checkup.rb &
root@mvc-rover:~/control# wlog**** Saving hib data...
**** Saving params...
**** Saving hib data...
_ Supervisor...making deployment from vehicle_checkup.rb
/usr/local/lib/ruby/1.6/rexml/parsers/treeparser.rb:85:in `parse': #<REXML::ParseException: malformed XML: missing tag start (REXML::ParseException)
Line: 359
Position: 8743
Last 80 unconsumed characters:
< Behavior   include SyslogWriter    attr_reader :name, :state    def initialize(>
/usr/local/lib/ruby/1.6/rexml/parsers/baseparser.rb:334:in `pull'
/usr/local/lib/ruby/1.6/rexml/parsers/treeparser.rb:21:in `parse'
/usr/local/lib/ruby/1.6/rexml/document.rb:178:in `build'
/usr/local/lib/ruby/1.6/rexml/document.rb:45:in `initialize'
./supervisor.rb:109:in `new'
./supervisor.rb:109:in `make_deployment'
./supervisor.rb:767
...
malformed XML: missing tag start
Line: 359
Position: 8743
Last 80 unconsumed characters:
< Behavior   include SyslogWriter    attr_reader :name, :state    def initialize(
        from /usr/local/lib/ruby/1.6/rexml/document.rb:178:in `build'
        from /usr/local/lib/ruby/1.6/rexml/document.rb:45:in `initialize'
        from ./supervisor.rb:109:in `new'
        from ./supervisor.rb:109:in `make_deployment'
        from ./supervisor.rb:767

root@mvc-rover:~/control# rm vehicle_checkup.rb
[1] + Done(1)                    ./supervisor.rb vehicle_checkup.rb
root@mvc-rover:~/control#
root@mvc-rover:~/control#
root@mvc-rover:~/control# ./supervisor.rb vehicle_checkup.rb &
root@mvc-rover:~/control# /cf/rover/barbo/control/factory.rb:34:in `require': No such file to load -- control/vehicle_checkup (LoadError)
        from /cf/rover/barbo/control/factory.rb:34
        from /cf/rover/barbo/control/plan.rb:24:in `require'
        from /cf/rover/barbo/control/plan.rb:24
        from /cf/rover/barbo/control/deployment.rb:20:in `require'
        from /cf/rover/barbo/control/deployment.rb:20
        from ./supervisor.rb:31:in `require'
        from ./supervisor.rb:31

root@mvc-rover:~/control# fg
./supervisor.rb vehicle_checkup.rb
root@mvc-rover:~/control#
root@mvc-rover:~/control# ps -ef
  PID  Uid     VmSize Stat Command
    1 root        472 S   init [3]
    2 root            SW  [keventd]
    3 root            SWN [ksoftirqd_CPU0]
    4 root            SW  [kswapd]
    5 root            SW  [bdflush]
    6 root            SW  [kupdated]
    7 root            SW  [mtdblockd]
    8 root            Z N [jffs2_gcd_mtd1]
   15 root        712 S   /sbin/devfsd /dev
   35 root            SWN [jffs2_gcd_mtd1]
   36 root            SW  [kjournald]
   95 root        564 S   /sbin/syslogd -s0 -S -l5 -m60
   97 root        544 S   /sbin/klogd
  316 rpc         488 S   /sbin/portmap
  322 root        608 S   /usr/sbin/inetd
  333 root        832 S   -sh
  352 root        824 S   dropbear -i
  353 root        820 S   -sh
  685 root        628 R   ps -ef
root@mvc-rover:~/control# pwd
/cf/rover/barbo/control
root@mvc-rover:~/control# df
Filesystem                Size      Used Available Use% Mounted on
/dev/root                14.0M      6.6M      7.4M  47% /
/dev/hda1                29.3G    176.6M     27.7G   1% /cf
root@mvc-rover:~/control# vi ../plans/vehicle_checkup.xml
<?xml version="1.0" encoding="UTF-8"?>

<Deployment name="vehicle-checkup" sim="" comment="test">

  <Plan name="experiments" sites="1">

    <!-- Test the device components before every site -->
    <VehicleCheckup />

  </Plan>

  <!-- ==================================================== -->

</Deployment>
~
~
~
~
~
~
~
~
~
root@mvc-rover:~/control# ./supervisor.rb
./supervisor.rb             ./supervisor.rb.August2014
root@mvc-rover:~/control# ./supervisor.rb ../plans/vehicle_checkup.xml
/cf/rover/barbo/control/factory.rb:34:in `require': No such file to load -- control/vehicle_checkup (LoadError)
        from /cf/rover/barbo/control/factory.rb:34
        from /cf/rover/barbo/control/plan.rb:24:in `require'
        from /cf/rover/barbo/control/plan.rb:24
        from /cf/rover/barbo/control/deployment.rb:20:in `require'
        from /cf/rover/barbo/control/deployment.rb:20
        from ./supervisor.rb:31:in `require'
        from ./supervisor.rb:31
root@mvc-rover:~/control# ls -ltr
-rw-------    1 1000     1000         6603 Sep 30  2009 move_forward.works
-rw-------    1 1000     1000         3750 Nov 17  2011 move_carousel.rb
-rw-------    1 1000     1000         4077 Nov 17  2011 fluor_to_camera.rb
-rw-------    1 1000     1000         3960 Nov 17  2011 collection_to_fluor.rb
-rw-------    1 1000     1000         2654 Apr 22  2014 sample_behavior.rb
-rw-------    1 1000     1000         3308 Apr 22  2014 runtime_config.rb
-rw-------    1 1000     1000         3058 Apr 22  2014 report.rb
-rw-------    1 1000     1000          704 Apr 22  2014 remote.rb
-rw-------    1 1000     1000         7341 Apr 22  2014 plan.rb.hib
-rw-------    1 1000     1000         6138 Apr 22  2014 optode_measure.rb.hib
-rw-------    1 1000     1000        11589 Apr 22  2014 optode_measure.rb
-rw-------    1 1000     1000            0 Apr 22  2014 modem.csv
-rw-------    1 1000     1000         3100 Apr 22  2014 local.rb
-rw-------    1 1000     1000         8538 Apr 22  2014 launch.rb
-rw-------    1 1000     1000         5537 Apr 22  2014 home_chambers.rb.new
-rw-------    1 1000     1000        12356 Apr 22  2014 favorable_current.rb
-rw-------    1 1000     1000         3849 Apr 22  2014 factory.rb
-rw-------    1 1000     1000         4354 Apr 22  2014 deployment.rb.hib
-rw-------    1 1000     1000         4922 Jun 19  2014 transit_image.rb
-rw-------    1 1000     1000         7554 Jul 31  2014 insert_chambers.rb
-rw-------    1 1000     1000         6127 Jul 31  2014 behavior.rb
-rw-------    1 1000     1000        19043 Sep 16  2014 executive.rb.August2014
-rw-------    1 1000     1000        21011 Sep 16  2014 supervisor.rb.August2014
-rw-------    1 1000     1000         5016 Sep 22  2014 fluoro_image.rb
-rw-------    1 1000     1000         5567 Sep 22  2014 chamber_images.rb
-rwx--x--x    1 1000     1000        21052 Sep 22  2014 supervisor.rb
-rw-------    1 1000     1000        11450 Sep 30  2014 move_forward.rb
-rw-------    1 1000     1000         9255 Sep 30  2014 deployment.rb
-rw-------    1 1000     1000        10251 Oct  6  2014 make_heading.rb
-rw-------    1 1000     1000         6548 Oct  9  2014 home_chambers.rb
-rw-------    1 1000     1000        12200 Oct  9  2014 plan.rb
-rwx--x--x    1 1000     1000        23227 Nov  7 06:21 executive.rb
root@mvc-rover:~/control# pwd
/cf/rover/barbo/control
root@mvc-rover:~/control# df
Filesystem                Size      Used Available Use% Mounted on
/dev/root                14.0M      6.6M      7.4M  47% /
/dev/hda1                29.3G    176.6M     27.7G   1% /cf
root@mvc-rover:~/control# cd ../device/
root@mvc-rover:~/device# ls -ltr
-rw-------    1 1000     1000            6 Aug  5  2009 devrack
-rw-------    1 1000     1000            0 Apr 22  2010 modem.csv
-rw-------    1 1000     1000            0 Sep 29  2010 image.jpg
-rw-------    1 1000     1000        13890 Apr 22  2014 relay_board.old
-rw-------    1 1000     1000        14315 Apr 22  2014 rack.rb.new
-rw-------    1 1000     1000        14078 Apr 22  2014 rack.rb.hold
-rw-------    1 1000     1000           35 Apr 22  2014 optode-setup.txt
-rw-------    1 1000     1000         9586 Apr 22  2014 new_rack.rb
-rw-------    1 1000     1000          823 Apr 22  2014 neo_rack.rb
-rw-------    1 1000     1000         5094 Apr 22  2014 hesc.rb
-rw-------    1 1000     1000         3397 Apr 22  2014 front_panel.rb
-rw-------    1 1000     1000        24034 Apr 22  2014 ezstepper.rb
-rw-------    1 1000     1000        30247 Apr 22  2014 ezservo.rb.old
-rw-------    1 1000     1000         5156 Apr 22  2014 battery.rb
-rw-------    1 1000     1000         6263 Jun  3  2014 aanderaa.rb
-rw-------    1 1000     1000         7967 Jun 13  2014 modem.rb
-rw-------    1 1000     1000        10129 Jun 16  2014 acm.rb
-rw-------    1 1000     1000        15121 Jul 31  2014 relay_board.rb
-rw-------    1 1000     1000        14324 Sep  8  2014 rack.rb
-rw-------    1 1000     1000        30475 Sep  8  2014 ezservo.rb
-rw-------    1 1000     1000        10423 Sep 16  2014 wakey.rb.August2014
-rw-------    1 1000     1000         4622 Sep 22  2014 axis.rb
-rwx--x--x    1 1000     1000        11505 Jun 20 10:38 wakey.rb
-rw-------    1 1000     1000         5567 Nov  7 06:21 prosilica.rb
-rw-------    1 1000     1000         3817 Nov  8 14:40 rover.rb
root@mvc-rover:~/device# cd ../control/
root@mvc-rover:~/control# ls -ltr
-rw-------    1 1000     1000         6603 Sep 30  2009 move_forward.works
-rw-------    1 1000     1000         3750 Nov 17  2011 move_carousel.rb
-rw-------    1 1000     1000         4077 Nov 17  2011 fluor_to_camera.rb
-rw-------    1 1000     1000         3960 Nov 17  2011 collection_to_fluor.rb
-rw-------    1 1000     1000         2654 Apr 22  2014 sample_behavior.rb
-rw-------    1 1000     1000         3308 Apr 22  2014 runtime_config.rb
-rw-------    1 1000     1000         3058 Apr 22  2014 report.rb
-rw-------    1 1000     1000          704 Apr 22  2014 remote.rb
-rw-------    1 1000     1000         7341 Apr 22  2014 plan.rb.hib
-rw-------    1 1000     1000         6138 Apr 22  2014 optode_measure.rb.hib
-rw-------    1 1000     1000        11589 Apr 22  2014 optode_measure.rb
-rw-------    1 1000     1000            0 Apr 22  2014 modem.csv
-rw-------    1 1000     1000         3100 Apr 22  2014 local.rb
-rw-------    1 1000     1000         8538 Apr 22  2014 launch.rb
-rw-------    1 1000     1000         5537 Apr 22  2014 home_chambers.rb.new
-rw-------    1 1000     1000        12356 Apr 22  2014 favorable_current.rb
-rw-------    1 1000     1000         3849 Apr 22  2014 factory.rb
-rw-------    1 1000     1000         4354 Apr 22  2014 deployment.rb.hib
-rw-------    1 1000     1000         4922 Jun 19  2014 transit_image.rb
-rw-------    1 1000     1000         7554 Jul 31  2014 insert_chambers.rb
-rw-------    1 1000     1000         6127 Jul 31  2014 behavior.rb
-rw-------    1 1000     1000        19043 Sep 16  2014 executive.rb.August2014
-rw-------    1 1000     1000        21011 Sep 16  2014 supervisor.rb.August2014
-rw-------    1 1000     1000         5016 Sep 22  2014 fluoro_image.rb
-rw-------    1 1000     1000         5567 Sep 22  2014 chamber_images.rb
-rwx--x--x    1 1000     1000        21052 Sep 22  2014 supervisor.rb
-rw-------    1 1000     1000        11450 Sep 30  2014 move_forward.rb
-rw-------    1 1000     1000         9255 Sep 30  2014 deployment.rb
-rw-------    1 1000     1000        10251 Oct  6  2014 make_heading.rb
-rw-------    1 1000     1000         6548 Oct  9  2014 home_chambers.rb
-rw-------    1 1000     1000        12200 Oct  9  2014 plan.rb
-rwx--x--x    1 1000     1000        23227 Nov  7 06:21 executive.rb
root@mvc-rover:~/control# ls .*
.:
behavior.rb               home_chambers.rb          optode_measure.rb.hib
chamber_images.rb         home_chambers.rb.new      plan.rb
collection_to_fluor.rb    insert_chambers.rb        plan.rb.hib
deployment.rb             launch.rb                 remote.rb
deployment.rb.hib         local.rb                  report.rb
executive.rb              make_heading.rb           runtime_config.rb
executive.rb.August2014   modem.csv                 sample_behavior.rb
factory.rb                move_carousel.rb          supervisor.rb
favorable_current.rb      move_forward.rb           supervisor.rb.August2014
fluor_to_camera.rb        move_forward.works        transit_image.rb
fluoro_image.rb           optode_measure.rb

..:
control  device   logs     plans    utils
root@mvc-rover:~/control# ls -ltr
-rw-------    1 1000     1000         6603 Sep 30  2009 move_forward.works
-rw-------    1 1000     1000         3750 Nov 17  2011 move_carousel.rb
-rw-------    1 1000     1000         4077 Nov 17  2011 fluor_to_camera.rb
-rw-------    1 1000     1000         3960 Nov 17  2011 collection_to_fluor.rb
-rw-------    1 1000     1000         2654 Apr 22  2014 sample_behavior.rb
-rw-------    1 1000     1000         3308 Apr 22  2014 runtime_config.rb
-rw-------    1 1000     1000         3058 Apr 22  2014 report.rb
-rw-------    1 1000     1000          704 Apr 22  2014 remote.rb
-rw-------    1 1000     1000         7341 Apr 22  2014 plan.rb.hib
-rw-------    1 1000     1000         6138 Apr 22  2014 optode_measure.rb.hib
-rw-------    1 1000     1000        11589 Apr 22  2014 optode_measure.rb
-rw-------    1 1000     1000            0 Apr 22  2014 modem.csv
-rw-------    1 1000     1000         3100 Apr 22  2014 local.rb
-rw-------    1 1000     1000         8538 Apr 22  2014 launch.rb
-rw-------    1 1000     1000         5537 Apr 22  2014 home_chambers.rb.new
-rw-------    1 1000     1000        12356 Apr 22  2014 favorable_current.rb
-rw-------    1 1000     1000         3849 Apr 22  2014 factory.rb
-rw-------    1 1000     1000         4354 Apr 22  2014 deployment.rb.hib
-rw-------    1 1000     1000         4922 Jun 19  2014 transit_image.rb
-rw-------    1 1000     1000         7554 Jul 31  2014 insert_chambers.rb
-rw-------    1 1000     1000         6127 Jul 31  2014 behavior.rb
-rw-------    1 1000     1000        19043 Sep 16  2014 executive.rb.August2014
-rw-------    1 1000     1000        21011 Sep 16  2014 supervisor.rb.August2014
-rw-------    1 1000     1000         5016 Sep 22  2014 fluoro_image.rb
-rw-------    1 1000     1000         5567 Sep 22  2014 chamber_images.rb
-rwx--x--x    1 1000     1000        21052 Sep 22  2014 supervisor.rb
-rw-------    1 1000     1000        11450 Sep 30  2014 move_forward.rb
-rw-------    1 1000     1000         9255 Sep 30  2014 deployment.rb
-rw-------    1 1000     1000        10251 Oct  6  2014 make_heading.rb
-rw-------    1 1000     1000         6548 Oct  9  2014 home_chambers.rb
-rw-------    1 1000     1000        12200 Oct  9  2014 plan.rb
-rwx--x--x    1 1000     1000        23227 Nov  7 06:21 executive.rb
-rw-r--r--    1 root     root         8743 Nov  7 13:40 vehicle_checkup.rb
root@mvc-rover:~/control# ./supervisor.rb ../plans/vehicle_checkup.xml &
root@mvc-rover:~/control# **** Saving hib data...
_ Supervisor...making deployment from ../plans/vehicle_checkup.xml
_ Supervisor...loading deployment vehicle-checkup
_ Deployment...loading plan experiments
_ 1 of 1 behaviors loaded
_ Supervisor...Setting up vehicle-checkup
_ Supervisor...Running vehicle-checkup
wlog
2015-11-09T02:11:54.58,RelayMan,_ RelayMan: all off
2015-11-09T02:11:54.58,RelayMan,_ RelayMan initialized
2015-11-09T02:11:54.60,Ezservo,_ starting listener thread
2015-11-09T02:11:54.61,Ezservo,_ thread created
2015-11-09T02:11:54.61,Ezservo,_ command u25000R sending [A1u25000Ra]
2015-11-09T02:11:55.13,Rack,_ starting listener thread
2015-11-09T02:11:55.14,Rack,_ thread created
2015-11-09T02:11:55.14,Rack,_ command u25000R sending [21u25000R]
2015-11-09T02:12:00.65,Rack,! timed out waiting for command response
2015-11-09T02:12:00.67,Rack,_ Rack: active rack set to 1
2015-11-09T02:12:00.68,Rack,_ starting listener thread
2015-11-09T02:12:00.68,Rack,_ thread created
2015-11-09T02:12:00.69,Rack,_ command u25000R sending [21u25000R]
rover: Rover control system instantiated
_ Supervisor entering comms loop
**** Saving hib data...
========== Executing Deployment vehicle-checkup ==========
_ experiments initializing...
**** Saving params...
_ Executing plan experiments
_ Executing 1 of 1 sites
_ Executing VehicleCheckup behavior VehicleCheckup
2015-11-09T02:12:06.19,Rack,! timed out waiting for command response
2015-11-09T02:12:06.21,Rack,_ Rack: active rack set to 2
2015-11-09T02:12:06.22,Prosilica,_ Prosilica object instantiated for camera 123528
2015-11-09T02:12:06.22,Prosilica,_ Prosilica object instantiated for camera 36132
2015-11-09T02:12:06.22,Axis,_ Axis object instantiated with ip 134.89.12.147
2015-11-09T02:12:06.22,Hesc,_ Hesc object instantiated with dev /dev/ttyAM0
2015-11-09T02:12:06.25,Supervisor,_status string = vehicle-checkup|
2015-11-09T02:12:06.32,Deployment,_ plan sequence number 1 executing
2015-11-09T02:12:06.32,Deployment,_ executing experiments
2015-11-09T02:12:06.34,Plan,_ Executing 1 of 1 sites
2015-11-09T02:12:06.35,Plan,_ state saved
2015-11-09T02:12:06.36,Plan,_ Executing VehicleCheckup behavior VehicleCheckup
2015-11-09T02:12:06.36,VehicleCheckup,_ VehicleCheckup init
2015-11-09T02:12:06.37,VehicleCheckup,_ VehicleCheckup execute
2015-11-09T02:12:06.37,Rover,_ ethernet on
relay
2015-11-09T02:12:07.39,VehicleCheckup,_ Relay boards check_up attempt 1
2015-11-09T02:12:07.95,RelayMan,_ RelayMan: all off
2015-11-09T02:12:12.95,VehicleCheckup,_ just updating timestamp
nil
2015-11-09T02:12:13.97,VehicleCheckup,_ Wakey check_up attempt 1
2015-11-09T02:12:13.97,VehicleCheckup,! caught exception during Wakey check_up
2015-11-09T02:12:13.97,VehicleCheckup,_ just updating timestamp
2015-11-09T02:12:14.27,RelayMan,_ 5V On
2015-11-09T02:12:14.47,RelayMan,_ optodes on
port_optode
2015-11-09T02:12:15.47,VehicleCheckup,_ Port optode check_up attempt 1