2014-09-03T21:34:06.971Z,1409780046.971 [Supervisor](DEBUG): Initializing supervisor.
2014-09-03T21:34:06.974Z,1409780046.974 [SyncHandler](DEBUG): Created PCaller Thread at 4034C4E0
2014-09-03T21:34:06.974Z,1409780046.974 [SyncHandler](INFO): Protected caller Thread ID is 2018
2014-09-03T21:34:06.975Z,1409780046.975 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2014-09-03T21:34:06.976Z,1409780046.976 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4037C4E0
2014-09-03T21:34:06.976Z,1409780046.976 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 2019
2014-09-03T21:34:06.979Z,1409780046.979 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2014-09-03T21:34:07.001Z,1409780047.001 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2014-09-03T21:34:07.002Z,1409780047.002 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 403AC4E0
2014-09-03T21:34:07.002Z,1409780047.002 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 2020
2014-09-03T21:34:07.003Z,1409780047.003 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2014-09-03T21:34:07.004Z,1409780047.004 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403DC4E0
2014-09-03T21:34:07.005Z,1409780047.005 [logger ThreadHandler](INFO): Protected caller Thread ID is 2021
2014-09-03T21:34:07.007Z,1409780047.007 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2014-09-03T21:34:07.007Z,1409780047.007 [Supervisor](INFO): Looking for Config files in directory: Config/
2014-09-03T21:34:07.009Z,1409780047.009 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2014-09-03T21:34:07.335Z,1409780047.335 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2014-09-03T21:34:07.336Z,1409780047.336 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2014-09-03T21:34:07.494Z,1409780047.494 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2014-09-03T21:34:07.495Z,1409780047.495 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2014-09-03T21:34:07.606Z,1409780047.606 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2014-09-03T21:34:07.607Z,1409780047.607 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2014-09-03T21:34:07.734Z,1409780047.734 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2014-09-03T21:34:07.734Z,1409780047.734 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2014-09-03T21:34:07.824Z,1409780047.824 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2014-09-03T21:34:07.970Z,1409780047.970 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2014-09-03T21:34:07.971Z,1409780047.971 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2014-09-03T21:34:08.060Z,1409780048.060 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2014-09-03T21:34:08.061Z,1409780048.061 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2014-09-03T21:34:08.261Z,1409780048.261 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2014-09-03T21:34:08.262Z,1409780048.262 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2014-09-03T21:34:08.560Z,1409780048.560 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2014-09-03T21:34:08.560Z,1409780048.560 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2014-09-03T21:34:08.906Z,1409780048.906 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2014-09-03T21:34:08.907Z,1409780048.907 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2014-09-03T21:34:09.393Z,1409780049.393 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2014-09-03T21:34:09.394Z,1409780049.394 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2014-09-03T21:34:09.585Z,1409780049.585 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2014-09-03T21:34:09.585Z,1409780049.585 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2014-09-03T21:34:09.692Z,1409780049.692 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2014-09-03T21:34:09.692Z,1409780049.692 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2014-09-03T21:34:10.097Z,1409780050.097 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2014-09-03T21:34:10.098Z,1409780050.098 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2014-09-03T21:34:10.211Z,1409780050.211 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2014-09-03T21:34:10.213Z,1409780050.213 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/
2014-09-03T21:34:10.214Z,1409780050.214 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Battery.cfg
2014-09-03T21:34:10.455Z,1409780050.455 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2014-09-03T21:34:10.455Z,1409780050.455 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/BIT.cfg
2014-09-03T21:34:10.577Z,1409780050.577 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Estimation.cfg
2014-09-03T21:34:10.677Z,1409780050.677 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Control.cfg
2014-09-03T21:34:10.776Z,1409780050.776 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Navigation.cfg
2014-09-03T21:34:10.876Z,1409780050.876 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Science.cfg
2014-09-03T21:34:11.018Z,1409780051.018 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Sensor.cfg
2014-09-03T21:34:11.178Z,1409780051.178 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Servo.cfg
2014-09-03T21:34:11.281Z,1409780051.281 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Simulator.cfg
2014-09-03T21:34:11.370Z,1409780051.370 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/logger.cfg
2014-09-03T21:34:11.465Z,1409780051.465 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/secure.cfg
2014-09-03T21:34:11.564Z,1409780051.564 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/vehicle.cfg
2014-09-03T21:34:11.729Z,1409780051.729 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/LOGIN/
2014-09-03T21:34:11.729Z,1409780051.729 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2014-09-03T21:34:11.731Z,1409780051.731 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2014-09-03T21:34:11.782Z,1409780051.782 [VerticalControl](DEBUG): Construct VerticalControl.
2014-09-03T21:34:11.900Z,1409780051.900 [VerticalControl] Loaded
2014-09-03T21:34:11.900Z,1409780051.900 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2014-09-03T21:34:11.901Z,1409780051.901 [HorizontalControl](DEBUG): Construct HorizontalControl.
2014-09-03T21:34:11.971Z,1409780051.971 [HorizontalControl] Loaded
2014-09-03T21:34:11.971Z,1409780051.971 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2014-09-03T21:34:11.972Z,1409780051.972 [SpeedControl](DEBUG): Construct SpeedControl.
2014-09-03T21:34:11.978Z,1409780051.978 [SpeedControl] Loaded
2014-09-03T21:34:11.978Z,1409780051.978 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2014-09-03T21:34:11.979Z,1409780051.979 [LoopControl](DEBUG): Construct LoopControl.
2014-09-03T21:34:11.979Z,1409780051.979 [LoopControl] Loaded
2014-09-03T21:34:11.980Z,1409780051.980 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2014-09-03T21:34:11.980Z,1409780051.980 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2014-09-03T21:34:11.981Z,1409780051.981 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2014-09-03T21:34:12.078Z,1409780052.078 [SBIT](DEBUG): Construct Startup Built In Test.
2014-09-03T21:34:12.089Z,1409780052.089 [SBIT] Loaded
2014-09-03T21:34:12.089Z,1409780052.089 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2014-09-03T21:34:12.090Z,1409780052.090 [IBIT](DEBUG): Construct Initiated Built In Test.
2014-09-03T21:34:12.119Z,1409780052.119 [IBIT] Loaded
2014-09-03T21:34:12.119Z,1409780052.119 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2014-09-03T21:34:12.122Z,1409780052.122 [CBIT](DEBUG): Construct CBIT Built In Test.
2014-09-03T21:34:12.244Z,1409780052.244 [CBIT] Loaded
2014-09-03T21:34:12.244Z,1409780052.244 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2014-09-03T21:34:12.244Z,1409780052.244 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2014-09-03T21:34:12.245Z,1409780052.245 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2014-09-03T21:34:12.263Z,1409780052.263 [DepthRateCalculator] Loaded
2014-09-03T21:34:12.264Z,1409780052.264 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2014-09-03T21:34:12.269Z,1409780052.269 [PitchRateCalculator] Loaded
2014-09-03T21:34:12.269Z,1409780052.269 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2014-09-03T21:34:12.281Z,1409780052.281 [SpeedCalculator] Loaded
2014-09-03T21:34:12.281Z,1409780052.281 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2014-09-03T21:34:12.298Z,1409780052.298 [TempGradientCalculator] Loaded
2014-09-03T21:34:12.298Z,1409780052.298 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2014-09-03T21:34:12.303Z,1409780052.303 [YawRateCalculator] Loaded
2014-09-03T21:34:12.304Z,1409780052.304 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2014-09-03T21:34:12.304Z,1409780052.304 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2014-09-03T21:34:12.305Z,1409780052.305 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2014-09-03T21:34:13.417Z,1409780053.417 [HFRCMReconstructedInterpolator] Loaded
2014-09-03T21:34:13.417Z,1409780053.417 [ComponentRegistry](DEBUG): SyncComponent "HFRCMReconstructedInterpolator" handled in the control thread.
2014-09-03T21:34:13.417Z,1409780053.417 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2014-09-03T21:34:13.418Z,1409780053.418 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2014-09-03T21:34:13.669Z,1409780053.669 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2014-09-03T21:34:13.670Z,1409780053.670 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2014-09-03T21:34:13.750Z,1409780053.750 [DeadReckonUsingMultipleVelocitySourcesVector] Loaded
2014-09-03T21:34:13.750Z,1409780053.750 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySourcesVector" handled in the control thread.
2014-09-03T21:34:13.804Z,1409780053.804 [DeadReckonUsingMultipleVelocitySources] Loaded
2014-09-03T21:34:13.804Z,1409780053.804 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2014-09-03T21:34:13.849Z,1409780053.849 [DeadReckonWithRespectToWater] Loaded
2014-09-03T21:34:13.850Z,1409780053.850 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonWithRespectToWater" handled in the control thread.
2014-09-03T21:34:13.896Z,1409780053.896 [DeadReckonWithRespectToSeafloor] Loaded
2014-09-03T21:34:13.896Z,1409780053.896 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonWithRespectToSeafloor" handled in the control thread.
2014-09-03T21:34:13.955Z,1409780053.955 [DeadReckonUsingDVLWaterTrack] Loaded
2014-09-03T21:34:13.956Z,1409780053.956 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingDVLWaterTrack" handled in the control thread.
2014-09-03T21:34:13.972Z,1409780053.972 [NavChart] Loaded
2014-09-03T21:34:13.973Z,1409780053.973 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2014-09-03T21:34:13.977Z,1409780053.977 [UniversalFixResidualReporter] Loaded
2014-09-03T21:34:13.977Z,1409780053.977 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2014-09-03T21:34:13.978Z,1409780053.978 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2014-09-03T21:34:13.978Z,1409780053.978 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2014-09-03T21:34:13.984Z,1409780053.984 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2014-09-03T21:34:13.984Z,1409780053.984 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2014-09-03T21:34:14.067Z,1409780054.067 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2014-09-03T21:34:14.068Z,1409780054.068 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2014-09-03T21:34:14.340Z,1409780054.340 [DataOverHttps] Loaded
2014-09-03T21:34:14.341Z,1409780054.341 [ComponentRegistry](DEBUG): SyncComponent "DataOverHttps" handled in the control thread.
2014-09-03T21:34:14.423Z,1409780054.423 [Depth_Keller] Loaded
2014-09-03T21:34:14.423Z,1409780054.423 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2014-09-03T21:34:14.428Z,1409780054.428 [DropWeight] Loaded
2014-09-03T21:34:14.428Z,1409780054.428 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2014-09-03T21:34:14.522Z,1409780054.522 [NAL9602] Loaded
2014-09-03T21:34:14.522Z,1409780054.522 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2014-09-03T21:34:14.564Z,1409780054.564 [Onboard] Loaded
2014-09-03T21:34:14.564Z,1409780054.564 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2014-09-03T21:34:16.441Z,1409780056.441 [BPC1] Loaded
2014-09-03T21:34:16.441Z,1409780056.441 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2014-09-03T21:34:16.441Z,1409780056.441 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2014-09-03T21:34:16.442Z,1409780056.442 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2014-09-03T21:34:16.537Z,1409780056.537 [ElevatorServo] Loaded
2014-09-03T21:34:16.538Z,1409780056.538 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2014-09-03T21:34:16.550Z,1409780056.550 [RudderServo] Loaded
2014-09-03T21:34:16.550Z,1409780056.550 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2014-09-03T21:34:16.561Z,1409780056.561 [ThrusterServo] Loaded
2014-09-03T21:34:16.562Z,1409780056.562 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2014-09-03T21:34:16.562Z,1409780056.562 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2014-09-03T21:34:16.563Z,1409780056.563 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2014-09-03T21:34:16.719Z,1409780056.719 [InternalSim] Loaded
2014-09-03T21:34:16.719Z,1409780056.719 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2014-09-03T21:34:16.720Z,1409780056.720 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2014-09-03T21:34:16.720Z,1409780056.720 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2014-09-03T21:34:16.744Z,1409780056.744 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2014-09-03T21:34:16.746Z,1409780056.746 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2014-09-03T21:34:16.747Z,1409780056.747 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2014-09-03T21:34:16.753Z,1409780056.753 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2014-09-03T21:34:16.755Z,1409780056.755 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 408684E0
2014-09-03T21:34:16.755Z,1409780056.755 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 2104
2014-09-03T21:34:16.760Z,1409780056.760 [Supervisor](INFO): Main Thread ID is 2017
2014-09-03T21:34:16.760Z,1409780056.760 [Supervisor](DEBUG): Running supervisor.
2014-09-03T21:34:16.761Z,1409780056.761 [CommandLine ThreadHandler](INFO): Handler Thread ID is 2105
2014-09-03T21:34:16.763Z,1409780056.763 [controlThread ThreadHandler](INFO): Handler Thread ID is 2106
2014-09-03T21:34:16.764Z,1409780056.764 [controlThread](DEBUG): Initializing ControlThread
2014-09-03T21:34:16.765Z,1409780056.765 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2014-09-03T21:34:16.766Z,1409780056.766 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2014-09-03T21:34:16.767Z,1409780056.767 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2014-09-03T21:34:16.768Z,1409780056.768 [LoopControl](DEBUG): Initialize LoopControlComponent.
2014-09-03T21:34:16.768Z,1409780056.768 [SBIT](INFO): Initialize SBIT Component.
2014-09-03T21:34:16.768Z,1409780056.768 [SBIT](IMPORTANT): Tethys CM Info: SVN revision: 11592
2014-09-03T21:34:16.769Z,1409780056.769 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2014-09-03T21:34:16.769Z,1409780056.769 [SBIT](IMPORTANT): Kernel Version:#639 PREEMPT Wed Mar 12 12:53:33 PDT 2014
2014-09-03T21:34:16.770Z,1409780056.770 [IBIT](INFO): Initialize IBIT Component.
2014-09-03T21:34:16.770Z,1409780056.770 [CBIT](DEBUG): Initialize CBIT Component.
2014-09-03T21:34:16.771Z,1409780056.771 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2014-09-03T21:34:16.772Z,1409780056.772 [logger ThreadHandler](INFO): Handler Thread ID is 2107
2014-09-03T21:34:16.792Z,1409780056.792 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 2108
2014-09-03T21:34:16.794Z,1409780056.794 [NavChartDb](FAULT): Change detected in ENC collection. Wiping NavChart Directory
2014-09-03T21:34:16.797Z,1409780056.797 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2014-09-03T21:34:16.798Z,1409780056.798 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2014-09-03T21:34:16.798Z,1409780056.798 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2014-09-03T21:34:16.798Z,1409780056.798 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2014-09-03T21:34:16.799Z,1409780056.799 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2014-09-03T21:34:16.800Z,1409780056.800 [HFRCMReconstructedInterpolator](INFO): Initializing HFRCMReconstructedInterpolator component with velocityAccuracy_ = 0.300000 m/s.
2014-09-03T21:34:16.801Z,1409780056.801 [DeadReckonUsingMultipleVelocitySourcesVector](DEBUG): Initializing DeadReckonUsingMultipleVelocitySourcesVector component.
2014-09-03T21:34:16.802Z,1409780056.802 [DeadReckonUsingMultipleVelocitySources](DEBUG): Initializing DeadReckonUsingMultipleVelocitySources component.
2014-09-03T21:34:16.802Z,1409780056.802 [DeadReckonWithRespectToWater](DEBUG): Initializing DeadReckonWithRespectToWater component.
2014-09-03T21:34:16.803Z,1409780056.803 [DeadReckonWithRespectToSeafloor](DEBUG): Initializing DeadReckonWithRespectToSeafloor component.
2014-09-03T21:34:16.803Z,1409780056.803 [DeadReckonUsingDVLWaterTrack](DEBUG): Initializing DeadReckonUsingDVLWaterTrack component.
2014-09-03T21:34:16.803Z,1409780056.803 [NavChart](DEBUG): Initialize NavChart Navigation.
2014-09-03T21:34:16.804Z,1409780056.804 [UniversalFixResidualReporter](DEBUG): Initializing DeadReckonUsingMultipleVelocitySources component.
2014-09-03T21:34:16.808Z,1409780056.808 [DropWeight](CRITICAL): DROP WEIGHT MISSING.

2014-09-03T21:34:16.809Z,1409780056.809 [DropWeight] Hardware Fault, FailCount= 1
2014-09-03T21:34:16.809Z,1409780056.809 [DropWeight](ERROR): Hardware Fault
2014-09-03T21:34:16.811Z,1409780056.811 [InternalSim](DEBUG):  InternalSim initializing...
2014-09-03T21:34:16.816Z,1409780056.816 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2014-09-03T21:34:16.818Z,1409780056.818 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US1WC07M.000
2014-09-03T21:34:16.820Z,1409780056.820 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US2WC11M.000
2014-09-03T21:34:16.821Z,1409780056.821 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US3CA52M.000
2014-09-03T21:34:16.823Z,1409780056.823 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US4CA60M.000
2014-09-03T21:34:16.825Z,1409780056.825 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA50M.000
2014-09-03T21:34:16.827Z,1409780056.827 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA61M.000
2014-09-03T21:34:16.829Z,1409780056.829 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA62M.000
2014-09-03T21:34:16.830Z,1409780056.830 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA83M.000
2014-09-03T21:34:16.912Z,1409780056.912 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2014-09-03T21:34:16.922Z,1409780056.922 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2014-09-03T21:34:16.943Z,1409780056.943 [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>
        <Progression/>
    </Guidance:GoToSurface>

    <Aggregate Id="StartupSatComms">

        <Sequence/>

        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:latitude_fix/>
        </ReadDatum>

        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:platform_communications/>
        </ReadDatum>

    </Aggregate>

</Mission>


2014-09-03T21:34:16.944Z,1409780056.944 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2014-09-03T21:34:17.001Z,1409780057.001 [MissionManager](INFO): DefineArg Default.TimeMissionWasStarted = 0.000000 h
2014-09-03T21:34:17.008Z,1409780057.008 [MissionManager](INFO): DefineArg Default.ElapsedSinceMissionWasStarted = 0.000000 h
2014-09-03T21:34:17.015Z,1409780057.015 [NavChartDb](INFO): Setup scan of Resources/US5CA83M.000
2014-09-03T21:34:17.027Z,1409780057.027 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2014-09-03T21:34:17.053Z,1409780057.053 [Default:CheckIn:A.SetSpeed](DEBUG): Construct.
2014-09-03T21:34:17.059Z,1409780057.059 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2014-09-03T21:34:17.074Z,1409780057.074 [Default:WaitAtTheSurface:RunApplicationAtLowSpeed.SetSpeed](DEBUG): Construct.
2014-09-03T21:34:17.105Z,1409780057.105 [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="TimeMissionWasStarted"><Units:hour/><Value>0</Value></DefineArg>

    <DefineArg Name="ElapsedSinceMissionWasStarted"><Units:hour/><Value>0</Value></DefineArg>

    <Aggregate Id="StartClock">

        <Sequence/>

        <Assign><Arg Name="TimeMissionWasStarted"/><Universal:time/></Assign>

    </Aggregate>

    <Guidance:GoToSurface>
        <Progression/>
    </Guidance:GoToSurface>

    <Aggregate Id="CheckIn">

        <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>

<!-- TODO: Do we really want this When operating on platform_communications? or on something else like time_fix? -->

<!-- Run application at high speed -->

        <Guidance:SetSpeed>
            <Parallel/>
            <Setting><Guidance:SetSpeed.period/><Units:millisecond/><Value>400</Value></Setting>
        </Guidance:SetSpeed>

        <ReadDatum Id="Read_GPS">
            <Timeout Duration="P5M"/>
<!-- NOTE: Original Default.xml didn't have a timeout on the GPS read, so theoretically could have hung indefinitely there... -->
            <Universal:latitude_fix/>
        </ReadDatum>

<!-- Do data comms -->

        <ReadDatum Id="Read_Iridium">
            <Timeout Duration="P2H">
                <Guidance:Execute>
                    <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="UpdateAndReportMinutesSinceMissionStarted">

        <When>
            <Elapsed><Arg Name="ElapsedSinceMissionWasStarted"/></Elapsed>
            <Gt><Units:minute/><Value>5.0</Value></Gt>
        </When>

        <Assign><Arg Name="ElapsedSinceMissionWasStarted"/><Universal:time/><Sub><Arg Name="TimeMissionWasStarted"/></Sub></Assign>

        <Syslog Severity="Important">Default mission has been running for <Arg Name="ElapsedSinceMissionWasStarted"/><Units:minute/></Syslog>

    </Aggregate>

    <Aggregate Id="WaitAtTheSurface">

        <Sequence/>

        <Guidance:SetSpeed Id="RunApplicationAtLowSpeed">
            <Parallel/>
            <Setting><Guidance:SetSpeed.period/><Units:second/><Value>5</Value></Setting>
        </Guidance:SetSpeed>

    </Aggregate>

</Mission>


2014-09-03T21:34:17.110Z,1409780057.110 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,DataOverHttps,Depth_Keller,DropWeight,NAL9602,Onboard,BPC1,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,HFRCMReconstructedInterpolator,DeadReckonUsingMultipleVelocitySourcesVector,DeadReckonUsingMultipleVelocitySources,DeadReckonWithRespectToWater,DeadReckonWithRespectToSeafloor,DeadReckonUsingDVLWaterTrack,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,ElevatorServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2014-09-03T21:34:17.422Z,1409780057.422 [HFRCMReconstructedInterpolator](DEBUG): no valid forecast
2014-09-03T21:34:17.436Z,1409780057.436 [DeadReckonUsingMultipleVelocitySourcesVector](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:17.444Z,1409780057.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:17.460Z,1409780057.460 [DeadReckonWithRespectToWater](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:17.467Z,1409780057.467 [DeadReckonWithRespectToSeafloor](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:17.484Z,1409780057.484 [DeadReckonUsingDVLWaterTrack](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:17.565Z,1409780057.565 [ElevatorServo](DEBUG): Initializing EZServoServo.
2014-09-03T21:34:17.573Z,1409780057.573 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2014-09-03T21:34:17.579Z,1409780057.579 [RudderServo](DEBUG): Initializing EZServoServo.
2014-09-03T21:34:17.592Z,1409780057.592 [RudderServo](DEBUG): Initializing RudderServo.
2014-09-03T21:34:17.598Z,1409780057.598 [ThrusterServo](DEBUG): Initializing EZServoServo.
2014-09-03T21:34:17.604Z,1409780057.604 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2014-09-03T21:34:17.632Z,1409780057.632 [CommandLine](FAULT): Scheduling is paused
2014-09-03T21:34:17.634Z,1409780057.634 [CBIT](ERROR): Hardware Fault in component: DropWeight
2014-09-03T21:34:17.634Z,1409780057.634 [CBIT](CRITICAL): Hardware Fault in component: DropWeight
2014-09-03T21:34:17.735Z,1409780057.735 [HFRCMReconstructedInterpolator](DEBUG): no valid forecast
2014-09-03T21:34:17.735Z,1409780057.735 [DeadReckonUsingMultipleVelocitySourcesVector](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:17.736Z,1409780057.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:17.738Z,1409780057.738 [DeadReckonWithRespectToWater](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:17.738Z,1409780057.738 [DeadReckonWithRespectToSeafloor](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:17.739Z,1409780057.739 [DeadReckonUsingDVLWaterTrack](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:18.109Z,1409780058.109 [HFRCMReconstructedInterpolator](DEBUG): no valid forecast
2014-09-03T21:34:18.118Z,1409780058.118 [DeadReckonUsingMultipleVelocitySourcesVector](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:18.119Z,1409780058.119 [DeadReckonUsingMultipleVelocitySources](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:18.120Z,1409780058.120 [DeadReckonWithRespectToWater](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:18.121Z,1409780058.121 [DeadReckonWithRespectToSeafloor](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:18.122Z,1409780058.122 [DeadReckonUsingDVLWaterTrack](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:18.442Z,1409780058.442 [ElevatorServo](ERROR): Elevator initialization uart error I:serial timeout
2014-09-03T21:34:18.442Z,1409780058.442 [ElevatorServo](FAULT): Elevator failed to initialize
2014-09-03T21:34:18.442Z,1409780058.442 [ElevatorServo] Communications Fault, FailCount= 1
2014-09-03T21:34:18.442Z,1409780058.442 [ElevatorServo](ERROR): Communications Fault
2014-09-03T21:34:18.802Z,1409780058.802 [ThrusterServo](ERROR): Thruster halt for initialization uart error serial timeout
2014-09-03T21:34:19.115Z,1409780059.115 [ThrusterServo](ERROR): Thruster initialization uart error serial timeout
2014-09-03T21:34:19.115Z,1409780059.115 [ThrusterServo](FAULT): Thruster failed to initialize
2014-09-03T21:34:19.115Z,1409780059.115 [ThrusterServo] Communications Fault, FailCount= 1
2014-09-03T21:34:19.115Z,1409780059.115 [ThrusterServo](ERROR): Communications Fault
2014-09-03T21:34:19.117Z,1409780059.117 [CBIT](ERROR): Communications Fault in component: ElevatorServo
2014-09-03T21:34:19.117Z,1409780059.117 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2014-09-03T21:34:19.203Z,1409780059.203 [HFRCMReconstructedInterpolator](DEBUG): no valid forecast
2014-09-03T21:34:19.203Z,1409780059.203 [DeadReckonUsingMultipleVelocitySourcesVector](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:19.204Z,1409780059.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:19.205Z,1409780059.205 [DeadReckonWithRespectToWater](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:19.206Z,1409780059.206 [DeadReckonWithRespectToSeafloor](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:19.207Z,1409780059.207 [DeadReckonUsingDVLWaterTrack](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:19.221Z,1409780059.221 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2014-09-03T21:34:19.221Z,1409780059.221 [ElevatorServo](INFO): Powering down
2014-09-03T21:34:19.271Z,1409780059.271 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2014-09-03T21:34:19.271Z,1409780059.271 [ThrusterServo](INFO): Powering down
2014-09-03T21:34:19.541Z,1409780059.541 [NAL9602](INFO): Powering up NAL9602
2014-09-03T21:34:19.578Z,1409780059.578 [HFRCMReconstructedInterpolator](DEBUG): no valid forecast
2014-09-03T21:34:19.579Z,1409780059.579 [DeadReckonUsingMultipleVelocitySourcesVector](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:19.591Z,1409780059.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:19.593Z,1409780059.593 [DeadReckonWithRespectToWater](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:19.593Z,1409780059.593 [DeadReckonWithRespectToSeafloor](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:19.594Z,1409780059.594 [DeadReckonUsingDVLWaterTrack](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:19.959Z,1409780059.959 [HFRCMReconstructedInterpolator](DEBUG): no valid forecast
2014-09-03T21:34:19.959Z,1409780059.959 [DeadReckonUsingMultipleVelocitySourcesVector](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:19.964Z,1409780059.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:19.965Z,1409780059.965 [DeadReckonWithRespectToWater](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:19.966Z,1409780059.966 [DeadReckonWithRespectToSeafloor](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:19.967Z,1409780059.967 [DeadReckonUsingDVLWaterTrack](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:19.981Z,1409780059.981 [ElevatorServo](DEBUG): Initializing EZServoServo.
2014-09-03T21:34:20.101Z,1409780060.101 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2014-09-03T21:34:20.251Z,1409780060.251 [CBIT](INFO): Clearing failed state for component ElevatorServo
2014-09-03T21:34:20.251Z,1409780060.251 [ElevatorServo] No Fault, FailCount= 1
2014-09-03T21:34:20.251Z,1409780060.251 [CBIT](INFO): Clearing failed state for component ThrusterServo
2014-09-03T21:34:20.251Z,1409780060.251 [ThrusterServo] No Fault, FailCount= 1
2014-09-03T21:34:20.356Z,1409780060.356 [HFRCMReconstructedInterpolator](DEBUG): no valid forecast
2014-09-03T21:34:20.357Z,1409780060.357 [DeadReckonUsingMultipleVelocitySourcesVector](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:20.358Z,1409780060.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:20.359Z,1409780060.359 [DeadReckonWithRespectToWater](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:20.360Z,1409780060.360 [DeadReckonWithRespectToSeafloor](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:20.360Z,1409780060.360 [DeadReckonUsingDVLWaterTrack](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:20.380Z,1409780060.380 [ThrusterServo](DEBUG): Initializing EZServoServo.
2014-09-03T21:34:20.385Z,1409780060.385 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2014-09-03T21:34:20.796Z,1409780060.796 [HFRCMReconstructedInterpolator](DEBUG): no valid forecast
2014-09-03T21:34:20.796Z,1409780060.796 [DeadReckonUsingMultipleVelocitySourcesVector](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:20.798Z,1409780060.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:20.799Z,1409780060.799 [DeadReckonWithRespectToWater](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:20.799Z,1409780060.799 [DeadReckonWithRespectToSeafloor](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:20.800Z,1409780060.800 [DeadReckonUsingDVLWaterTrack](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:21.230Z,1409780061.230 [ThrusterServo](ERROR): Thruster halt for initialization uart error serial timeout
2014-09-03T21:34:21.542Z,1409780061.542 [ThrusterServo](ERROR): Thruster initialization uart error serial timeout
2014-09-03T21:34:21.542Z,1409780061.542 [ThrusterServo](FAULT): Thruster failed to initialize
2014-09-03T21:34:21.543Z,1409780061.543 [ThrusterServo] Communications Fault, FailCount= 2
2014-09-03T21:34:21.543Z,1409780061.543 [ThrusterServo](ERROR): Communications Fault
2014-09-03T21:34:21.545Z,1409780061.545 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2014-09-03T21:34:21.606Z,1409780061.606 [HFRCMReconstructedInterpolator](DEBUG): no valid forecast
2014-09-03T21:34:21.607Z,1409780061.607 [DeadReckonUsingMultipleVelocitySourcesVector](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:21.608Z,1409780061.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:21.609Z,1409780061.609 [DeadReckonWithRespectToWater](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:21.610Z,1409780061.610 [DeadReckonWithRespectToSeafloor](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:21.611Z,1409780061.611 [DeadReckonUsingDVLWaterTrack](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:21.711Z,1409780061.711 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2014-09-03T21:34:21.711Z,1409780061.711 [ThrusterServo](INFO): Powering down
2014-09-03T21:34:22.018Z,1409780062.018 [HFRCMReconstructedInterpolator](DEBUG): no valid forecast
2014-09-03T21:34:22.018Z,1409780062.018 [DeadReckonUsingMultipleVelocitySourcesVector](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:22.020Z,1409780062.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:22.021Z,1409780062.021 [DeadReckonWithRespectToWater](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:22.022Z,1409780062.022 [DeadReckonWithRespectToSeafloor](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:22.023Z,1409780062.023 [DeadReckonUsingDVLWaterTrack](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:22.419Z,1409780062.419 [HFRCMReconstructedInterpolator](DEBUG): no valid forecast
2014-09-03T21:34:22.420Z,1409780062.420 [DeadReckonUsingMultipleVelocitySourcesVector](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:22.421Z,1409780062.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:22.422Z,1409780062.422 [DeadReckonWithRespectToWater](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:22.423Z,1409780062.423 [DeadReckonWithRespectToSeafloor](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:22.424Z,1409780062.424 [DeadReckonUsingDVLWaterTrack](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:22.594Z,1409780062.594 [CBIT](INFO): Clearing failed state for component ThrusterServo
2014-09-03T21:34:22.595Z,1409780062.595 [ThrusterServo] No Fault, FailCount= 2
2014-09-03T21:34:22.784Z,1409780062.784 [HFRCMReconstructedInterpolator](DEBUG): no valid forecast
2014-09-03T21:34:22.785Z,1409780062.785 [DeadReckonUsingMultipleVelocitySourcesVector](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:22.786Z,1409780062.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:22.787Z,1409780062.787 [DeadReckonWithRespectToWater](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:22.788Z,1409780062.788 [DeadReckonWithRespectToSeafloor](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:22.800Z,1409780062.800 [DeadReckonUsingDVLWaterTrack](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:22.808Z,1409780062.808 [ThrusterServo](DEBUG): Initializing EZServoServo.
2014-09-03T21:34:22.817Z,1409780062.817 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2014-09-03T21:34:23.179Z,1409780063.179 [HFRCMReconstructedInterpolator](DEBUG): no valid forecast
2014-09-03T21:34:23.180Z,1409780063.180 [DeadReckonUsingMultipleVelocitySourcesVector](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:23.181Z,1409780063.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:23.182Z,1409780063.182 [DeadReckonWithRespectToWater](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:23.183Z,1409780063.183 [DeadReckonWithRespectToSeafloor](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:23.183Z,1409780063.183 [DeadReckonUsingDVLWaterTrack](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:23.581Z,1409780063.581 [HFRCMReconstructedInterpolator](DEBUG): no valid forecast
2014-09-03T21:34:23.582Z,1409780063.582 [DeadReckonUsingMultipleVelocitySourcesVector](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:23.583Z,1409780063.583 [DeadReckonUsingMultipleVelocitySources](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:23.584Z,1409780063.584 [DeadReckonWithRespectToWater](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:23.585Z,1409780063.585 [DeadReckonWithRespectToSeafloor](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:23.585Z,1409780063.585 [DeadReckonUsingDVLWaterTrack](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:23.918Z,1409780063.918 [ThrusterServo](ERROR): Thruster halt for initialization uart error serial timeout
2014-09-03T21:34:24.231Z,1409780064.231 [ThrusterServo](ERROR): Thruster initialization uart error serial timeout
2014-09-03T21:34:24.231Z,1409780064.231 [ThrusterServo](FAULT): Thruster failed to initialize
2014-09-03T21:34:24.231Z,1409780064.231 [ThrusterServo] Communications Fault, FailCount= 3
2014-09-03T21:34:24.231Z,1409780064.231 [ThrusterServo](ERROR): Communications Fault
2014-09-03T21:34:24.233Z,1409780064.233 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2014-09-03T21:34:24.282Z,1409780064.282 [HFRCMReconstructedInterpolator](DEBUG): no valid forecast
2014-09-03T21:34:24.295Z,1409780064.295 [DeadReckonUsingMultipleVelocitySourcesVector](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:24.296Z,1409780064.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:24.297Z,1409780064.297 [DeadReckonWithRespectToWater](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:24.298Z,1409780064.298 [DeadReckonWithRespectToSeafloor](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:24.299Z,1409780064.299 [DeadReckonUsingDVLWaterTrack](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:24.306Z,1409780064.306 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2014-09-03T21:34:24.306Z,1409780064.306 [ThrusterServo](INFO): Powering down
2014-09-03T21:34:24.706Z,1409780064.706 [HFRCMReconstructedInterpolator](DEBUG): no valid forecast
2014-09-03T21:34:24.707Z,1409780064.707 [DeadReckonUsingMultipleVelocitySourcesVector](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:24.713Z,1409780064.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:24.714Z,1409780064.714 [DeadReckonWithRespectToWater](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:24.715Z,1409780064.715 [DeadReckonWithRespectToSeafloor](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:24.720Z,1409780064.720 [DeadReckonUsingDVLWaterTrack](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:25.063Z,1409780065.063 [HFRCMReconstructedInterpolator](DEBUG): no valid forecast
2014-09-03T21:34:25.063Z,1409780065.063 [DeadReckonUsingMultipleVelocitySourcesVector](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:25.064Z,1409780065.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:25.065Z,1409780065.065 [DeadReckonWithRespectToWater](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:25.066Z,1409780065.066 [DeadReckonWithRespectToSeafloor](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:25.067Z,1409780065.067 [DeadReckonUsingDVLWaterTrack](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:25.190Z,1409780065.190 [CBIT](INFO): Clearing failed state for component ThrusterServo
2014-09-03T21:34:25.190Z,1409780065.190 [ThrusterServo] No Fault, FailCount= 3
2014-09-03T21:34:25.460Z,1409780065.460 [HFRCMReconstructedInterpolator](DEBUG): no valid forecast
2014-09-03T21:34:25.461Z,1409780065.461 [DeadReckonUsingMultipleVelocitySourcesVector](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:25.461Z,1409780065.461 [DeadReckonUsingMultipleVelocitySources](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:25.463Z,1409780065.463 [DeadReckonWithRespectToWater](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:25.463Z,1409780065.463 [DeadReckonWithRespectToSeafloor](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:25.464Z,1409780065.464 [DeadReckonUsingDVLWaterTrack](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:25.471Z,1409780065.471 [ThrusterServo](DEBUG): Initializing EZServoServo.
2014-09-03T21:34:25.472Z,1409780065.472 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2014-09-03T21:34:25.868Z,1409780065.868 [HFRCMReconstructedInterpolator](DEBUG): no valid forecast
2014-09-03T21:34:25.869Z,1409780065.869 [DeadReckonUsingMultipleVelocitySourcesVector](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:25.870Z,1409780065.870 [DeadReckonUsingMultipleVelocitySources](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:25.871Z,1409780065.871 [DeadReckonWithRespectToWater](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:25.872Z,1409780065.872 [DeadReckonWithRespectToSeafloor](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:25.872Z,1409780065.872 [DeadReckonUsingDVLWaterTrack](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:25.877Z,1409780065.877 [CommandLine](IMPORTANT): got command quit
2014-09-03T21:34:26.268Z,1409780066.268 [HFRCMReconstructedInterpolator](DEBUG): no valid forecast
2014-09-03T21:34:26.269Z,1409780066.269 [DeadReckonUsingMultipleVelocitySourcesVector](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:26.270Z,1409780066.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:26.271Z,1409780066.271 [DeadReckonWithRespectToWater](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:26.272Z,1409780066.272 [DeadReckonWithRespectToSeafloor](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:26.273Z,1409780066.273 [DeadReckonUsingDVLWaterTrack](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:26.626Z,1409780066.626 [ThrusterServo](ERROR): Thruster halt for initialization uart error serial timeout
2014-09-03T21:34:26.881Z,1409780066.881 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2014-09-03T21:34:26.882Z,1409780066.882 [CommandLine ThreadHandler](INFO): Thread cancelled.
2014-09-03T21:34:26.943Z,1409780066.943 [ThrusterServo](ERROR): Thruster initialization uart error serial timeout
2014-09-03T21:34:26.943Z,1409780066.943 [ThrusterServo](FAULT): Thruster failed to initialize
2014-09-03T21:34:26.943Z,1409780066.943 [ThrusterServo] Communications Fault, FailCount= 4
2014-09-03T21:34:26.943Z,1409780066.943 [ThrusterServo](ERROR): Communications Fault
2014-09-03T21:34:26.945Z,1409780066.945 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2014-09-03T21:34:26.974Z,1409780066.974 [HFRCMReconstructedInterpolator](DEBUG): no valid forecast
2014-09-03T21:34:26.974Z,1409780066.974 [DeadReckonUsingMultipleVelocitySourcesVector](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:26.975Z,1409780066.975 [DeadReckonUsingMultipleVelocitySources](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:26.976Z,1409780066.976 [DeadReckonWithRespectToWater](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:26.977Z,1409780066.977 [DeadReckonWithRespectToSeafloor](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:26.978Z,1409780066.978 [DeadReckonUsingDVLWaterTrack](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-03T21:34:27.005Z,1409780067.005 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2014-09-03T21:34:27.005Z,1409780067.005 [ThrusterServo](INFO): Powering down
2014-09-03T21:34:27.075Z,1409780067.075 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2014-09-03T21:34:27.075Z,1409780067.075 [CommandLine ThreadHandler](INFO): Thread cancelled.
2014-09-03T21:34:27.076Z,1409780067.076 [CommandLine](INFO): Join timeout helper Thread ID is 2116
2014-09-03T21:34:27.076Z,1409780067.076 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2014-09-03T21:34:27.076Z,1409780067.076 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2014-09-03T21:34:27.077Z,1409780067.077 [NavChartDb](INFO): Join timeout helper Thread ID is 2117
2014-09-03T21:34:27.119Z,1409780067.119 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2014-09-03T21:34:27.119Z,1409780067.119 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2014-09-03T21:34:27.135Z,1409780067.135 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2014-09-03T21:34:27.135Z,1409780067.135 [logger ThreadHandler](INFO): Thread cancelled.
2014-09-03T21:34:27.136Z,1409780067.136 [logger](INFO): Join timeout helper Thread ID is 2118
2014-09-03T21:34:27.183Z,1409780067.183 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2014-09-03T21:34:27.183Z,1409780067.183 [logger ThreadHandler](INFO): Thread cancelled.
2014-09-03T21:34:27.195Z,1409780067.195 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2014-09-03T21:34:27.195Z,1409780067.195 [CommandLine ThreadHandler](INFO): Thread cancelled.
2014-09-03T21:34:27.195Z,1409780067.195 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2014-09-03T21:34:27.195Z,1409780067.195 [controlThread ThreadHandler](INFO): Thread cancelled.
2014-09-03T21:34:27.196Z,1409780067.196 [controlThread](INFO): Join timeout helper Thread ID is 2119
2014-09-03T21:34:27.348Z,1409780067.348 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2014-09-03T21:34:27.348Z,1409780067.348 [controlThread](DEBUG): Uninitializing ControlThread
2014-09-03T21:34:27.349Z,1409780067.349 [NAL9602](INFO): Powering down
2014-09-03T21:34:27.370Z,1409780067.370 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2014-09-03T21:34:27.372Z,1409780067.372 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2014-09-03T21:34:27.377Z,1409780067.377 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2014-09-03T21:34:27.377Z,1409780067.377 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2014-09-03T21:34:27.377Z,1409780067.377 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2014-09-03T21:34:27.377Z,1409780067.377 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2014-09-03T21:34:27.378Z,1409780067.378 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2014-09-03T21:34:27.378Z,1409780067.378 [ElevatorServo](INFO): Powering down
2014-09-03T21:34:27.379Z,1409780067.379 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2014-09-03T21:34:27.379Z,1409780067.379 [RudderServo](INFO): Powering down
2014-09-03T21:34:27.380Z,1409780067.380 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2014-09-03T21:34:27.380Z,1409780067.380 [ThrusterServo](INFO): Powering down
2014-09-03T21:34:27.381Z,1409780067.381 [SBIT](DEBUG): Uninitialize SBIT Component.
2014-09-03T21:34:27.381Z,1409780067.381 [IBIT](DEBUG): Uninitialize IBIT Component.
2014-09-03T21:34:27.381Z,1409780067.381 [CBIT](DEBUG): Uninitialize CBIT Component.
2014-09-03T21:34:27.412Z,1409780067.412 [controlThread ThreadHandler](INFO): Thread cancelled.
2014-09-03T21:34:27.793Z,1409780067.793 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2014-09-03T21:34:27.830Z,1409780067.830 [logger ThreadHandler](INFO): Thread cancelled.