2014-09-12T22:12:58.425Z,1410559978.425 [Supervisor](DEBUG): Initializing supervisor.
2014-09-12T22:12:58.428Z,1410559978.428 [SyncHandler](DEBUG): Created PCaller Thread at 4034C4E0
2014-09-12T22:12:58.428Z,1410559978.428 [SyncHandler](INFO): Protected caller Thread ID is 3670
2014-09-12T22:12:58.429Z,1410559978.429 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2014-09-12T22:12:58.430Z,1410559978.430 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4037C4E0
2014-09-12T22:12:58.430Z,1410559978.430 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 3671
2014-09-12T22:12:58.433Z,1410559978.433 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2014-09-12T22:12:58.456Z,1410559978.456 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2014-09-12T22:12:58.457Z,1410559978.457 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 403AC4E0
2014-09-12T22:12:58.458Z,1410559978.458 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 3672
2014-09-12T22:12:58.459Z,1410559978.459 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2014-09-12T22:12:58.460Z,1410559978.460 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403DC4E0
2014-09-12T22:12:58.460Z,1410559978.460 [logger ThreadHandler](INFO): Protected caller Thread ID is 3673
2014-09-12T22:12:58.462Z,1410559978.462 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2014-09-12T22:12:58.463Z,1410559978.463 [Supervisor](INFO): Looking for Config files in directory: Config/
2014-09-12T22:12:58.464Z,1410559978.464 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2014-09-12T22:12:58.801Z,1410559978.801 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2014-09-12T22:12:58.802Z,1410559978.802 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2014-09-12T22:12:58.962Z,1410559978.962 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2014-09-12T22:12:58.962Z,1410559978.962 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2014-09-12T22:12:59.074Z,1410559979.074 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2014-09-12T22:12:59.075Z,1410559979.075 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2014-09-12T22:12:59.203Z,1410559979.203 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2014-09-12T22:12:59.203Z,1410559979.203 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2014-09-12T22:12:59.292Z,1410559979.292 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2014-09-12T22:12:59.440Z,1410559979.440 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2014-09-12T22:12:59.441Z,1410559979.441 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2014-09-12T22:12:59.530Z,1410559979.530 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2014-09-12T22:12:59.531Z,1410559979.531 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2014-09-12T22:12:59.735Z,1410559979.735 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2014-09-12T22:12:59.736Z,1410559979.736 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2014-09-12T22:13:00.049Z,1410559980.049 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2014-09-12T22:13:00.050Z,1410559980.050 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2014-09-12T22:13:00.356Z,1410559980.356 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2014-09-12T22:13:00.357Z,1410559980.357 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2014-09-12T22:13:00.854Z,1410559980.854 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2014-09-12T22:13:00.855Z,1410559980.855 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2014-09-12T22:13:01.049Z,1410559981.049 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2014-09-12T22:13:01.050Z,1410559981.050 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2014-09-12T22:13:01.158Z,1410559981.158 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2014-09-12T22:13:01.159Z,1410559981.159 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2014-09-12T22:13:01.577Z,1410559981.577 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2014-09-12T22:13:01.578Z,1410559981.578 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2014-09-12T22:13:01.695Z,1410559981.695 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2014-09-12T22:13:01.697Z,1410559981.697 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/
2014-09-12T22:13:01.698Z,1410559981.698 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Battery.cfg
2014-09-12T22:13:01.939Z,1410559981.939 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2014-09-12T22:13:01.940Z,1410559981.940 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/BIT.cfg
2014-09-12T22:13:02.059Z,1410559982.059 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Estimation.cfg
2014-09-12T22:13:02.159Z,1410559982.159 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Control.cfg
2014-09-12T22:13:02.259Z,1410559982.259 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Navigation.cfg
2014-09-12T22:13:02.358Z,1410559982.358 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Science.cfg
2014-09-12T22:13:02.501Z,1410559982.501 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Sensor.cfg
2014-09-12T22:13:02.667Z,1410559982.667 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Servo.cfg
2014-09-12T22:13:02.771Z,1410559982.771 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Simulator.cfg
2014-09-12T22:13:02.860Z,1410559982.860 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/logger.cfg
2014-09-12T22:13:02.955Z,1410559982.955 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/secure.cfg
2014-09-12T22:13:03.055Z,1410559983.055 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/vehicle.cfg
2014-09-12T22:13:03.226Z,1410559983.226 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/LOGIN/
2014-09-12T22:13:03.227Z,1410559983.227 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2014-09-12T22:13:03.228Z,1410559983.228 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2014-09-12T22:13:03.280Z,1410559983.280 [VerticalControl](DEBUG): Construct VerticalControl.
2014-09-12T22:13:03.399Z,1410559983.399 [VerticalControl] Loaded
2014-09-12T22:13:03.399Z,1410559983.399 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2014-09-12T22:13:03.400Z,1410559983.400 [HorizontalControl](DEBUG): Construct HorizontalControl.
2014-09-12T22:13:03.470Z,1410559983.470 [HorizontalControl] Loaded
2014-09-12T22:13:03.471Z,1410559983.471 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2014-09-12T22:13:03.471Z,1410559983.471 [SpeedControl](DEBUG): Construct SpeedControl.
2014-09-12T22:13:03.477Z,1410559983.477 [SpeedControl] Loaded
2014-09-12T22:13:03.477Z,1410559983.477 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2014-09-12T22:13:03.478Z,1410559983.478 [LoopControl](DEBUG): Construct LoopControl.
2014-09-12T22:13:03.479Z,1410559983.479 [LoopControl] Loaded
2014-09-12T22:13:03.479Z,1410559983.479 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2014-09-12T22:13:03.480Z,1410559983.480 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2014-09-12T22:13:03.480Z,1410559983.480 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2014-09-12T22:13:03.575Z,1410559983.575 [SBIT](DEBUG): Construct Startup Built In Test.
2014-09-12T22:13:03.586Z,1410559983.586 [SBIT] Loaded
2014-09-12T22:13:03.586Z,1410559983.586 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2014-09-12T22:13:03.587Z,1410559983.587 [IBIT](DEBUG): Construct Initiated Built In Test.
2014-09-12T22:13:03.617Z,1410559983.617 [IBIT] Loaded
2014-09-12T22:13:03.617Z,1410559983.617 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2014-09-12T22:13:03.619Z,1410559983.619 [CBIT](DEBUG): Construct CBIT Built In Test.
2014-09-12T22:13:03.741Z,1410559983.741 [CBIT] Loaded
2014-09-12T22:13:03.741Z,1410559983.741 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2014-09-12T22:13:03.742Z,1410559983.742 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2014-09-12T22:13:03.742Z,1410559983.742 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2014-09-12T22:13:03.761Z,1410559983.761 [DepthRateCalculator] Loaded
2014-09-12T22:13:03.762Z,1410559983.762 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2014-09-12T22:13:03.767Z,1410559983.767 [PitchRateCalculator] Loaded
2014-09-12T22:13:03.767Z,1410559983.767 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2014-09-12T22:13:03.779Z,1410559983.779 [SpeedCalculator] Loaded
2014-09-12T22:13:03.779Z,1410559983.779 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2014-09-12T22:13:03.796Z,1410559983.796 [TempGradientCalculator] Loaded
2014-09-12T22:13:03.796Z,1410559983.796 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2014-09-12T22:13:03.801Z,1410559983.801 [YawRateCalculator] Loaded
2014-09-12T22:13:03.801Z,1410559983.801 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2014-09-12T22:13:03.802Z,1410559983.802 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2014-09-12T22:13:03.802Z,1410559983.802 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2014-09-12T22:13:05.002Z,1410559985.002 [HFRCMReconstructedInterpolator] Loaded
2014-09-12T22:13:05.002Z,1410559985.002 [ComponentRegistry](DEBUG): SyncComponent "HFRCMReconstructedInterpolator" handled in the control thread.
2014-09-12T22:13:05.003Z,1410559985.003 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2014-09-12T22:13:05.003Z,1410559985.003 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2014-09-12T22:13:05.233Z,1410559985.233 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2014-09-12T22:13:05.233Z,1410559985.233 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2014-09-12T22:13:05.314Z,1410559985.314 [DeadReckonUsingMultipleVelocitySourcesVector] Loaded
2014-09-12T22:13:05.314Z,1410559985.314 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySourcesVector" handled in the control thread.
2014-09-12T22:13:05.368Z,1410559985.368 [DeadReckonUsingMultipleVelocitySources] Loaded
2014-09-12T22:13:05.368Z,1410559985.368 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2014-09-12T22:13:05.413Z,1410559985.413 [DeadReckonWithRespectToWater] Loaded
2014-09-12T22:13:05.413Z,1410559985.413 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonWithRespectToWater" handled in the control thread.
2014-09-12T22:13:05.459Z,1410559985.459 [DeadReckonWithRespectToSeafloor] Loaded
2014-09-12T22:13:05.459Z,1410559985.459 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonWithRespectToSeafloor" handled in the control thread.
2014-09-12T22:13:05.519Z,1410559985.519 [DeadReckonUsingDVLWaterTrack] Loaded
2014-09-12T22:13:05.519Z,1410559985.519 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingDVLWaterTrack" handled in the control thread.
2014-09-12T22:13:05.536Z,1410559985.536 [NavChart] Loaded
2014-09-12T22:13:05.537Z,1410559985.537 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2014-09-12T22:13:05.541Z,1410559985.541 [UniversalFixResidualReporter] Loaded
2014-09-12T22:13:05.541Z,1410559985.541 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2014-09-12T22:13:05.542Z,1410559985.542 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2014-09-12T22:13:05.542Z,1410559985.542 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2014-09-12T22:13:05.548Z,1410559985.548 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2014-09-12T22:13:05.548Z,1410559985.548 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2014-09-12T22:13:05.742Z,1410559985.742 [Aanderaa_O2] Loaded
2014-09-12T22:13:05.742Z,1410559985.742 [ComponentRegistry](DEBUG): SyncComponent "Aanderaa_O2" handled in the control thread.
2014-09-12T22:13:05.778Z,1410559985.778 [CTD_NeilBrown] Loaded
2014-09-12T22:13:05.779Z,1410559985.779 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2014-09-12T22:13:05.780Z,1410559985.780 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 405DB4E0
2014-09-12T22:13:05.780Z,1410559985.780 [CTD_NeilBrown ThreadHandler](INFO): Protected caller Thread ID is 3755
2014-09-12T22:13:05.797Z,1410559985.797 [rhodamine] Loaded
2014-09-12T22:13:05.797Z,1410559985.797 [ComponentRegistry](DEBUG): SyncComponent "rhodamine" handled in the control thread.
2014-09-12T22:13:05.833Z,1410559985.833 [WetLabsBB2FL] Loaded
2014-09-12T22:13:05.833Z,1410559985.833 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2014-09-12T22:13:05.834Z,1410559985.834 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 4060B4E0
2014-09-12T22:13:05.835Z,1410559985.835 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 3756
2014-09-12T22:13:05.835Z,1410559985.835 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2014-09-12T22:13:05.836Z,1410559985.836 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2014-09-12T22:13:06.114Z,1410559986.114 [AHRS_sp3003D] Loaded
2014-09-12T22:13:06.114Z,1410559986.114 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2014-09-12T22:13:06.186Z,1410559986.186 [DataOverHttps] Loaded
2014-09-12T22:13:06.186Z,1410559986.186 [ComponentRegistry](DEBUG): SyncComponent "DataOverHttps" handled in the control thread.
2014-09-12T22:13:06.200Z,1410559986.200 [Depth_Keller] Loaded
2014-09-12T22:13:06.200Z,1410559986.200 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2014-09-12T22:13:06.205Z,1410559986.205 [DropWeight] Loaded
2014-09-12T22:13:06.206Z,1410559986.206 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2014-09-12T22:13:06.336Z,1410559986.336 [DVL_micro] Loaded
2014-09-12T22:13:06.336Z,1410559986.336 [ComponentRegistry](DEBUG): SyncComponent "DVL_micro" handled in the control thread.
2014-09-12T22:13:06.432Z,1410559986.432 [NAL9602] Loaded
2014-09-12T22:13:06.433Z,1410559986.433 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2014-09-12T22:13:06.474Z,1410559986.474 [Onboard] Loaded
2014-09-12T22:13:06.474Z,1410559986.474 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2014-09-12T22:13:08.371Z,1410559988.371 [BPC1] Loaded
2014-09-12T22:13:08.371Z,1410559988.371 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2014-09-12T22:13:08.372Z,1410559988.372 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2014-09-12T22:13:08.372Z,1410559988.372 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2014-09-12T22:13:08.473Z,1410559988.473 [BuoyancyServo] Loaded
2014-09-12T22:13:08.473Z,1410559988.473 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2014-09-12T22:13:08.486Z,1410559988.486 [ElevatorServo] Loaded
2014-09-12T22:13:08.486Z,1410559988.486 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2014-09-12T22:13:08.498Z,1410559988.498 [MassServo] Loaded
2014-09-12T22:13:08.498Z,1410559988.498 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2014-09-12T22:13:08.510Z,1410559988.510 [RudderServo] Loaded
2014-09-12T22:13:08.511Z,1410559988.511 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2014-09-12T22:13:08.522Z,1410559988.522 [ThrusterServo] Loaded
2014-09-12T22:13:08.523Z,1410559988.523 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2014-09-12T22:13:08.523Z,1410559988.523 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2014-09-12T22:13:08.524Z,1410559988.524 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2014-09-12T22:13:08.751Z,1410559988.751 [ExternalSim] Loaded
2014-09-12T22:13:08.752Z,1410559988.752 [ComponentRegistry](DEBUG): SyncComponent "ExternalSim" handled in the control thread.
2014-09-12T22:13:08.806Z,1410559988.806 [InternalSim] Loaded
2014-09-12T22:13:08.806Z,1410559988.806 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2014-09-12T22:13:08.807Z,1410559988.807 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2014-09-12T22:13:08.807Z,1410559988.807 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2014-09-12T22:13:08.831Z,1410559988.831 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2014-09-12T22:13:08.833Z,1410559988.833 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2014-09-12T22:13:08.834Z,1410559988.834 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2014-09-12T22:13:08.840Z,1410559988.840 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2014-09-12T22:13:08.841Z,1410559988.841 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 408C84E0
2014-09-12T22:13:08.842Z,1410559988.842 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 3757
2014-09-12T22:13:08.847Z,1410559988.847 [Supervisor](INFO): Main Thread ID is 3669
2014-09-12T22:13:08.847Z,1410559988.847 [Supervisor](DEBUG): Running supervisor.
2014-09-12T22:13:08.848Z,1410559988.848 [CommandLine ThreadHandler](INFO): Handler Thread ID is 3758
2014-09-12T22:13:08.850Z,1410559988.850 [controlThread ThreadHandler](INFO): Handler Thread ID is 3759
2014-09-12T22:13:08.851Z,1410559988.851 [controlThread](DEBUG): Initializing ControlThread
2014-09-12T22:13:08.852Z,1410559988.852 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2014-09-12T22:13:08.853Z,1410559988.853 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2014-09-12T22:13:08.854Z,1410559988.854 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2014-09-12T22:13:08.855Z,1410559988.855 [LoopControl](DEBUG): Initialize LoopControlComponent.
2014-09-12T22:13:08.855Z,1410559988.855 [SBIT](INFO): Initialize SBIT Component.
2014-09-12T22:13:08.855Z,1410559988.855 [SBIT](IMPORTANT): Tethys CM Info: SVN revision: 11616
2014-09-12T22:13:08.856Z,1410559988.856 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2014-09-12T22:13:08.856Z,1410559988.856 [SBIT](IMPORTANT): Kernel Version:#639 PREEMPT Wed Mar 12 12:53:33 PDT 2014
2014-09-12T22:13:08.857Z,1410559988.857 [IBIT](INFO): Initialize IBIT Component.
2014-09-12T22:13:08.858Z,1410559988.858 [CBIT](DEBUG): Initialize CBIT Component.
2014-09-12T22:13:08.858Z,1410559988.858 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2014-09-12T22:13:08.859Z,1410559988.859 [logger ThreadHandler](INFO): Handler Thread ID is 3760
2014-09-12T22:13:08.880Z,1410559988.880 [CTD_NeilBrown ThreadHandler](INFO): Handler Thread ID is 3761
2014-09-12T22:13:08.880Z,1410559988.880 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2014-09-12T22:13:08.883Z,1410559988.883 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2014-09-12T22:13:08.884Z,1410559988.884 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2014-09-12T22:13:08.884Z,1410559988.884 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2014-09-12T22:13:08.885Z,1410559988.885 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2014-09-12T22:13:08.885Z,1410559988.885 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2014-09-12T22:13:08.886Z,1410559988.886 [HFRCMReconstructedInterpolator](INFO): Initializing HFRCMReconstructedInterpolator component with velocityAccuracy_ = 0.300000 m/s.
2014-09-12T22:13:08.888Z,1410559988.888 [DeadReckonUsingMultipleVelocitySourcesVector](DEBUG): Initializing DeadReckonUsingMultipleVelocitySourcesVector component.
2014-09-12T22:13:08.889Z,1410559988.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): Initializing DeadReckonUsingMultipleVelocitySources component.
2014-09-12T22:13:08.889Z,1410559988.889 [DeadReckonWithRespectToWater](DEBUG): Initializing DeadReckonWithRespectToWater component.
2014-09-12T22:13:08.889Z,1410559988.889 [DeadReckonWithRespectToSeafloor](DEBUG): Initializing DeadReckonWithRespectToSeafloor component.
2014-09-12T22:13:08.890Z,1410559988.890 [DeadReckonUsingDVLWaterTrack](DEBUG): Initializing DeadReckonUsingDVLWaterTrack component.
2014-09-12T22:13:08.890Z,1410559988.890 [NavChart](DEBUG): Initialize NavChart Navigation.
2014-09-12T22:13:08.890Z,1410559988.890 [UniversalFixResidualReporter](DEBUG): Initializing DeadReckonUsingMultipleVelocitySources component.
2014-09-12T22:13:08.899Z,1410559988.899 [ExternalSim](INFO): ExternalSim initializing...
2014-09-12T22:13:08.904Z,1410559988.904 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2014-09-12T22:13:08.915Z,1410559988.915 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 3763
2014-09-12T22:13:08.924Z,1410559988.924 [WetLabsBB2FL](INFO): Powering down
2014-09-12T22:13:08.950Z,1410559988.950 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 3764
2014-09-12T22:13:08.953Z,1410559988.953 [NavChartDb](FAULT): Change detected in ENC collection. Wiping NavChart Directory
2014-09-12T22:13:08.957Z,1410559988.957 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2014-09-12T22:13:08.959Z,1410559988.959 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US1WC07M.000
2014-09-12T22:13:08.961Z,1410559988.961 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US2WC11M.000
2014-09-12T22:13:08.962Z,1410559988.962 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US3CA52M.000
2014-09-12T22:13:08.964Z,1410559988.964 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US4CA60M.000
2014-09-12T22:13:08.966Z,1410559988.966 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA50M.000
2014-09-12T22:13:08.980Z,1410559988.980 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA61M.000
2014-09-12T22:13:08.982Z,1410559988.982 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA62M.000
2014-09-12T22:13:08.988Z,1410559988.988 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA83M.000
2014-09-12T22:13:09.160Z,1410559989.160 [NavChartDb](INFO): Setup scan of Resources/US5CA83M.000
2014-09-12T22:13:29.056Z,1410560009.056 [ExternalSim](ERROR): Error making socket connection to simulation server at tellum.shore.mbari.org: Can not connect to invalid network address: tellum.shore.mbari.org
2014-09-12T22:13:29.096Z,1410560009.096 [ExternalSim](DEBUG): beaconLat = 36.81340
2014-09-12T22:13:29.096Z,1410560009.096 [ExternalSim](DEBUG): beaconLon = -121.82240
2014-09-12T22:13:29.097Z,1410560009.097 [ExternalSim](DEBUG): beaconDepth = 25.00
2014-09-12T22:13:29.100Z,1410560009.100 [ExternalSim](DEBUG): Simulator initialized
2014-09-12T22:13:29.103Z,1410560009.103 [InternalSim](DEBUG):  InternalSim initializing...
2014-09-12T22:13:29.147Z,1410560009.147 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2014-09-12T22:13:29.157Z,1410560009.157 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2014-09-12T22:13:29.167Z,1410560009.167 [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>


2014-09-12T22:13:29.168Z,1410560009.168 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2014-09-12T22:13:29.253Z,1410560009.253 [MissionManager](INFO): DefineArg Default.TimeMissionWasStarted = 0.000000 h
2014-09-12T22:13:29.257Z,1410560009.257 [MissionManager](INFO): DefineArg Default.ElapsedSinceMissionWasStarted = 0.000000 h
2014-09-12T22:13:29.263Z,1410560009.263 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2014-09-12T22:13:29.304Z,1410560009.304 [Default:CheckIn:A.SetSpeed](DEBUG): Construct.
2014-09-12T22:13:29.318Z,1410560009.318 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2014-09-12T22:13:29.343Z,1410560009.343 [Default:WaitAtTheSurface:RunApplicationAtLowSpeed.SetSpeed](DEBUG): Construct.
2014-09-12T22:13:29.367Z,1410560009.367 [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>


2014-09-12T22:13:29.381Z,1410560009.381 [controlThread](DEBUG): Component order: CycleStarter,ExternalSim,InternalSim,Aanderaa_O2,rhodamine,AHRS_sp3003D,DataOverHttps,Depth_Keller,DropWeight,DVL_micro,NAL9602,Onboard,BPC1,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,HFRCMReconstructedInterpolator,DeadReckonUsingMultipleVelocitySourcesVector,DeadReckonUsingMultipleVelocitySources,DeadReckonWithRespectToWater,DeadReckonWithRespectToSeafloor,DeadReckonUsingDVLWaterTrack,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2014-09-12T22:13:29.460Z,1410560009.460 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2014-09-12T22:13:29.601Z,1410560009.601 [DVL_micro](INFO): Initializing
2014-09-12T22:13:29.609Z,1410560009.609 [NAL9602](INFO): Powering up NAL9602
2014-09-12T22:13:29.730Z,1410560009.730 [HFRCMReconstructedInterpolator](DEBUG): no valid forecast
2014-09-12T22:13:29.768Z,1410560009.768 [DeadReckonUsingMultipleVelocitySourcesVector](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-12T22:13:29.781Z,1410560009.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-12T22:13:29.795Z,1410560009.795 [DeadReckonWithRespectToWater](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-12T22:13:29.802Z,1410560009.802 [DeadReckonWithRespectToSeafloor](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-12T22:13:29.808Z,1410560009.808 [DeadReckonUsingDVLWaterTrack](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-12T22:13:29.901Z,1410560009.901 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2014-09-12T22:13:29.902Z,1410560009.902 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2014-09-12T22:13:29.909Z,1410560009.909 [ElevatorServo](DEBUG): Initializing EZServoServo.
2014-09-12T22:13:29.910Z,1410560009.910 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2014-09-12T22:13:29.917Z,1410560009.917 [MassServo](DEBUG): Initializing EZServoServo.
2014-09-12T22:13:29.918Z,1410560009.918 [MassServo](DEBUG): Initializing MassServo.
2014-09-12T22:13:29.924Z,1410560009.924 [RudderServo](DEBUG): Initializing EZServoServo.
2014-09-12T22:13:29.925Z,1410560009.925 [RudderServo](DEBUG): Initializing RudderServo.
2014-09-12T22:13:29.930Z,1410560009.930 [ThrusterServo](DEBUG): Initializing EZServoServo.
2014-09-12T22:13:29.931Z,1410560009.931 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2014-09-12T22:13:30.112Z,1410560010.112 [HFRCMReconstructedInterpolator](DEBUG): no valid forecast
2014-09-12T22:13:30.113Z,1410560010.113 [DeadReckonUsingMultipleVelocitySourcesVector](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-12T22:13:30.114Z,1410560010.114 [DeadReckonUsingMultipleVelocitySources](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-12T22:13:30.115Z,1410560010.115 [DeadReckonWithRespectToWater](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-12T22:13:30.116Z,1410560010.116 [DeadReckonWithRespectToSeafloor](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-12T22:13:30.117Z,1410560010.117 [DeadReckonUsingDVLWaterTrack](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-12T22:13:30.125Z,1410560010.125 [SBIT](IMPORTANT): Beginning Startup BIT
2014-09-12T22:13:30.127Z,1410560010.127 [CBIT](IMPORTANT): Beginning GF scan
2014-09-12T22:13:30.521Z,1410560010.521 [HFRCMReconstructedInterpolator](DEBUG): no valid forecast
2014-09-12T22:13:30.521Z,1410560010.521 [DeadReckonUsingMultipleVelocitySourcesVector](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-12T22:13:30.522Z,1410560010.522 [DeadReckonUsingMultipleVelocitySources](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-12T22:13:30.523Z,1410560010.523 [DeadReckonWithRespectToWater](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-12T22:13:30.524Z,1410560010.524 [DeadReckonWithRespectToSeafloor](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-12T22:13:30.525Z,1410560010.525 [DeadReckonUsingDVLWaterTrack](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-12T22:13:30.877Z,1410560010.877 [BuoyancyServo](ERROR): Buoyancy initialization uart error serial timeout
2014-09-12T22:13:30.877Z,1410560010.877 [BuoyancyServo](FAULT): Buoyancy failed to initialize
2014-09-12T22:13:30.878Z,1410560010.878 [BuoyancyServo] Communications Fault, FailCount= 1
2014-09-12T22:13:30.878Z,1410560010.878 [BuoyancyServo](ERROR): Communications Fault
2014-09-12T22:13:31.080Z,1410560011.080 [CBIT](ERROR): Communications Fault in component: BuoyancyServo
2014-09-12T22:13:31.114Z,1410560011.114 [CommandLine](IMPORTANT): got command maintain control VerticalControl.massPositionAction -2.000000 centimeter
2014-09-12T22:13:31.116Z,1410560011.116 [ComponentRegistry](DEBUG): SyncComponent "Maintain_VerticalControl.massPositionAction" handled in the control thread.
2014-09-12T22:13:31.442Z,1410560011.442 [HFRCMReconstructedInterpolator](DEBUG): no valid forecast
2014-09-12T22:13:31.471Z,1410560011.471 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2014-09-12T22:13:31.472Z,1410560011.472 [BuoyancyServo](INFO): Powering down
2014-09-12T22:13:31.550Z,1410560011.550 [controlThread](DEBUG): Component order: CycleStarter,ExternalSim,InternalSim,Aanderaa_O2,rhodamine,AHRS_sp3003D,DataOverHttps,Depth_Keller,DropWeight,DVL_micro,NAL9602,Onboard,BPC1,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,HFRCMReconstructedInterpolator,DeadReckonUsingMultipleVelocitySourcesVector,DeadReckonUsingMultipleVelocitySources,DeadReckonWithRespectToWater,DeadReckonWithRespectToSeafloor,DeadReckonUsingDVLWaterTrack,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,Maintain_VerticalControl.massPositionAction,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2014-09-12T22:13:31.911Z,1410560011.911 [HFRCMReconstructedInterpolator](DEBUG): no valid forecast
2014-09-12T22:13:32.336Z,1410560012.336 [HFRCMReconstructedInterpolator](DEBUG): no valid forecast
2014-09-12T22:13:32.729Z,1410560012.729 [HFRCMReconstructedInterpolator](DEBUG): no valid forecast
2014-09-12T22:13:33.215Z,