2015-01-29T18:55:34.718Z,1422557734.718 [Supervisor](DEBUG): Initializing supervisor.
2015-01-29T18:55:34.720Z,1422557734.720 [SyncHandler](DEBUG): Created PCaller Thread at 4034C4E0
2015-01-29T18:55:34.721Z,1422557734.721 [SyncHandler](INFO): Protected caller Thread ID is 3578
2015-01-29T18:55:34.721Z,1422557734.721 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2015-01-29T18:55:34.722Z,1422557734.722 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4037C4E0
2015-01-29T18:55:34.722Z,1422557734.722 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 3579
2015-01-29T18:55:34.725Z,1422557734.725 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2015-01-29T18:55:34.737Z,1422557734.737 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2015-01-29T18:55:34.738Z,1422557734.738 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 403AC4E0
2015-01-29T18:55:34.738Z,1422557734.738 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 3580
2015-01-29T18:55:34.739Z,1422557734.739 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2015-01-29T18:55:34.740Z,1422557734.740 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403DC4E0
2015-01-29T18:55:34.740Z,1422557734.740 [logger ThreadHandler](INFO): Protected caller Thread ID is 3581
2015-01-29T18:55:34.742Z,1422557734.742 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2015-01-29T18:55:34.743Z,1422557734.743 [Supervisor](INFO): Looking for Config files in directory: Config/
2015-01-29T18:55:34.747Z,1422557734.747 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2015-01-29T18:55:35.248Z,1422557735.248 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2015-01-29T18:55:35.251Z,1422557735.251 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2015-01-29T18:55:35.411Z,1422557735.411 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2015-01-29T18:55:35.412Z,1422557735.412 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2015-01-29T18:55:35.522Z,1422557735.522 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2015-01-29T18:55:35.522Z,1422557735.522 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2015-01-29T18:55:35.658Z,1422557735.658 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2015-01-29T18:55:35.659Z,1422557735.659 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2015-01-29T18:55:35.749Z,1422557735.749 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2015-01-29T18:55:35.918Z,1422557735.918 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2015-01-29T18:55:35.918Z,1422557735.918 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2015-01-29T18:55:36.007Z,1422557736.007 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2015-01-29T18:55:36.013Z,1422557736.013 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2015-01-29T18:55:36.223Z,1422557736.223 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2015-01-29T18:55:36.224Z,1422557736.224 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2015-01-29T18:55:36.599Z,1422557736.599 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2015-01-29T18:55:36.600Z,1422557736.600 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2015-01-29T18:55:36.930Z,1422557736.930 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2015-01-29T18:55:36.931Z,1422557736.931 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2015-01-29T18:55:37.441Z,1422557737.441 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2015-01-29T18:55:37.442Z,1422557737.442 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2015-01-29T18:55:37.647Z,1422557737.647 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2015-01-29T18:55:37.648Z,1422557737.648 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2015-01-29T18:55:37.758Z,1422557737.758 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2015-01-29T18:55:37.759Z,1422557737.759 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2015-01-29T18:55:38.196Z,1422557738.196 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2015-01-29T18:55:38.197Z,1422557738.197 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2015-01-29T18:55:38.311Z,1422557738.311 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2015-01-29T18:55:38.313Z,1422557738.313 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/
2015-01-29T18:55:38.318Z,1422557738.318 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Battery.cfg
2015-01-29T18:55:38.561Z,1422557738.561 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2015-01-29T18:55:38.562Z,1422557738.562 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/BIT.cfg
2015-01-29T18:55:38.681Z,1422557738.681 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Estimation.cfg
2015-01-29T18:55:38.782Z,1422557738.782 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Control.cfg
2015-01-29T18:55:38.886Z,1422557738.886 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Navigation.cfg
2015-01-29T18:55:39.006Z,1422557739.006 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Science.cfg
2015-01-29T18:55:39.150Z,1422557739.150 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Sensor.cfg
2015-01-29T18:55:39.324Z,1422557739.324 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Servo.cfg
2015-01-29T18:55:39.429Z,1422557739.429 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Simulator.cfg
2015-01-29T18:55:39.523Z,1422557739.523 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/logger.cfg
2015-01-29T18:55:46.278Z,1422557746.278 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/secure.cfg
2015-01-29T18:55:58.078Z,1422557758.078 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/vehicle.cfg
2015-01-29T18:55:58.322Z,1422557758.322 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2015-01-29T18:56:00.890Z,1422557760.890 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2015-01-29T18:56:00.962Z,1422557760.962 [VerticalControl](DEBUG): Construct VerticalControl.
2015-01-29T18:56:01.082Z,1422557761.082 [VerticalControl] Loaded
2015-01-29T18:56:01.082Z,1422557761.082 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2015-01-29T18:56:01.083Z,1422557761.083 [HorizontalControl](DEBUG): Construct HorizontalControl.
2015-01-29T18:56:01.156Z,1422557761.156 [HorizontalControl] Loaded
2015-01-29T18:56:01.156Z,1422557761.156 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2015-01-29T18:56:01.157Z,1422557761.157 [SpeedControl](DEBUG): Construct SpeedControl.
2015-01-29T18:56:01.163Z,1422557761.163 [SpeedControl] Loaded
2015-01-29T18:56:01.163Z,1422557761.163 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2015-01-29T18:56:01.164Z,1422557761.164 [LoopControl](DEBUG): Construct LoopControl.
2015-01-29T18:56:01.164Z,1422557761.164 [LoopControl] Loaded
2015-01-29T18:56:01.165Z,1422557761.165 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2015-01-29T18:56:01.165Z,1422557761.165 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2015-01-29T18:56:01.166Z,1422557761.166 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2015-01-29T18:56:01.285Z,1422557761.285 [SBIT](DEBUG): Construct Startup Built In Test.
2015-01-29T18:56:01.296Z,1422557761.296 [SBIT] Loaded
2015-01-29T18:56:01.296Z,1422557761.296 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2015-01-29T18:56:01.297Z,1422557761.297 [IBIT](DEBUG): Construct Initiated Built In Test.
2015-01-29T18:56:01.326Z,1422557761.326 [IBIT] Loaded
2015-01-29T18:56:01.326Z,1422557761.326 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2015-01-29T18:56:01.329Z,1422557761.329 [CBIT](DEBUG): Construct CBIT Built In Test.
2015-01-29T18:56:01.450Z,1422557761.450 [CBIT] Loaded
2015-01-29T18:56:01.451Z,1422557761.451 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2015-01-29T18:56:01.451Z,1422557761.451 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2015-01-29T18:56:01.452Z,1422557761.452 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2015-01-29T18:56:01.479Z,1422557761.479 [DepthRateCalculator] Loaded
2015-01-29T18:56:01.479Z,1422557761.479 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2015-01-29T18:56:01.485Z,1422557761.485 [PitchRateCalculator] Loaded
2015-01-29T18:56:01.485Z,1422557761.485 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2015-01-29T18:56:01.497Z,1422557761.497 [SpeedCalculator] Loaded
2015-01-29T18:56:01.497Z,1422557761.497 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2015-01-29T18:56:01.514Z,1422557761.514 [TempGradientCalculator] Loaded
2015-01-29T18:56:01.514Z,1422557761.514 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2015-01-29T18:56:01.520Z,1422557761.520 [YawRateCalculator] Loaded
2015-01-29T18:56:01.520Z,1422557761.520 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2015-01-29T18:56:01.520Z,1422557761.520 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2015-01-29T18:56:01.521Z,1422557761.521 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2015-01-29T18:56:01.605Z,1422557761.605 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2015-01-29T18:56:01.605Z,1422557761.605 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2015-01-29T18:56:01.877Z,1422557761.877 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2015-01-29T18:56:01.878Z,1422557761.878 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2015-01-29T18:56:01.981Z,1422557761.981 [DeadReckonUsingMultipleVelocitySources] Loaded
2015-01-29T18:56:01.981Z,1422557761.981 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2015-01-29T18:56:01.998Z,1422557761.998 [NavChart] Loaded
2015-01-29T18:56:01.999Z,1422557761.999 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2015-01-29T18:56:02.003Z,1422557762.003 [UniversalFixResidualReporter] Loaded
2015-01-29T18:56:02.003Z,1422557762.003 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2015-01-29T18:56:02.004Z,1422557762.004 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2015-01-29T18:56:02.004Z,1422557762.004 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2015-01-29T18:56:02.018Z,1422557762.018 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2015-01-29T18:56:02.019Z,1422557762.019 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2015-01-29T18:56:02.132Z,1422557762.132 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2015-01-29T18:56:02.132Z,1422557762.132 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2015-01-29T18:56:02.549Z,1422557762.549 [DataOverHttps] Loaded
2015-01-29T18:56:02.550Z,1422557762.550 [ComponentRegistry](DEBUG): SyncComponent "DataOverHttps" handled in the control thread.
2015-01-29T18:56:02.630Z,1422557762.630 [Depth_Keller] Loaded
2015-01-29T18:56:02.630Z,1422557762.630 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2015-01-29T18:56:02.726Z,1422557762.726 [NAL9602] Loaded
2015-01-29T18:56:02.726Z,1422557762.726 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2015-01-29T18:56:02.770Z,1422557762.770 [Onboard] Loaded
2015-01-29T18:56:02.770Z,1422557762.770 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2015-01-29T18:56:02.777Z,1422557762.777 [Radio_Surface] Loaded
2015-01-29T18:56:02.777Z,1422557762.777 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2015-01-29T18:56:02.779Z,1422557762.779 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 4078B4E0
2015-01-29T18:56:02.779Z,1422557762.779 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 3664
2015-01-29T18:56:02.828Z,1422557762.828 [PNI_TCM] Loaded
2015-01-29T18:56:02.829Z,1422557762.829 [ComponentRegistry](DEBUG): SyncComponent "PNI_TCM" handled in the control thread.
2015-01-29T18:56:04.712Z,1422557764.712 [BPC1] Loaded
2015-01-29T18:56:04.712Z,1422557764.712 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2015-01-29T18:56:04.713Z,1422557764.713 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2015-01-29T18:56:04.713Z,1422557764.713 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2015-01-29T18:56:04.839Z,1422557764.839 [BuoyancyServo] Loaded
2015-01-29T18:56:04.840Z,1422557764.840 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2015-01-29T18:56:04.853Z,1422557764.853 [ElevatorServo] Loaded
2015-01-29T18:56:04.853Z,1422557764.853 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2015-01-29T18:56:04.865Z,1422557764.865 [RudderServo] Loaded
2015-01-29T18:56:04.865Z,1422557764.865 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2015-01-29T18:56:04.876Z,1422557764.876 [ThrusterServo] Loaded
2015-01-29T18:56:04.877Z,1422557764.877 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2015-01-29T18:56:04.877Z,1422557764.877 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2015-01-29T18:56:04.878Z,1422557764.878 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2015-01-29T18:56:05.152Z,1422557765.152 [ExternalSim] Loaded
2015-01-29T18:56:05.152Z,1422557765.152 [ComponentRegistry](DEBUG): SyncComponent "ExternalSim" handled in the control thread.
2015-01-29T18:56:05.153Z,1422557765.153 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2015-01-29T18:56:05.154Z,1422557765.154 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2015-01-29T18:56:05.193Z,1422557765.193 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2015-01-29T18:56:05.195Z,1422557765.195 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2015-01-29T18:56:05.196Z,1422557765.196 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2015-01-29T18:56:05.203Z,1422557765.203 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2015-01-29T18:56:05.204Z,1422557765.204 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 4083C4E0
2015-01-29T18:56:05.204Z,1422557765.204 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 3665
2015-01-29T18:56:05.210Z,1422557765.210 [Supervisor](INFO): Main Thread ID is 3577
2015-01-29T18:56:05.210Z,1422557765.210 [Supervisor](DEBUG): Running supervisor.
2015-01-29T18:56:05.211Z,1422557765.211 [CommandLine ThreadHandler](INFO): Handler Thread ID is 3666
2015-01-29T18:56:05.215Z,1422557765.215 [controlThread ThreadHandler](INFO): Handler Thread ID is 3667
2015-01-29T18:56:05.216Z,1422557765.216 [controlThread](DEBUG): Initializing ControlThread
2015-01-29T18:56:05.216Z,1422557765.216 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2015-01-29T18:56:05.218Z,1422557765.218 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2015-01-29T18:56:05.219Z,1422557765.219 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2015-01-29T18:56:05.219Z,1422557765.219 [LoopControl](DEBUG): Initialize LoopControlComponent.
2015-01-29T18:56:05.220Z,1422557765.220 [SBIT](INFO): Initialize SBIT Component.
2015-01-29T18:56:05.220Z,1422557765.220 [SBIT](IMPORTANT): Tethys CM Info: SVN revision:11963
2015-01-29T18:56:05.220Z,1422557765.220 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2015-01-29T18:56:05.221Z,1422557765.221 [SBIT](IMPORTANT): Kernel Version:#639 PREEMPT Wed Mar 12 12:53:33 PDT 2014
2015-01-29T18:56:05.221Z,1422557765.221 [IBIT](INFO): Initialize IBIT Component.
2015-01-29T18:56:05.222Z,1422557765.222 [CBIT](DEBUG): Initialize CBIT Component.
2015-01-29T18:56:05.223Z,1422557765.223 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2015-01-29T18:56:05.223Z,1422557765.223 [logger ThreadHandler](INFO): Handler Thread ID is 3668
2015-01-29T18:56:05.243Z,1422557765.243 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 3669
2015-01-29T18:56:05.249Z,1422557765.249 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2015-01-29T18:56:05.249Z,1422557765.249 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2015-01-29T18:56:05.249Z,1422557765.249 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2015-01-29T18:56:05.250Z,1422557765.250 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2015-01-29T18:56:05.250Z,1422557765.250 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2015-01-29T18:56:05.251Z,1422557765.251 [DeadReckonUsingMultipleVelocitySources](DEBUG): Initializing DeadReckonUsingMultipleVelocitySources component.
2015-01-29T18:56:05.251Z,1422557765.251 [NavChart](DEBUG): Initialize NavChart Navigation.
2015-01-29T18:56:05.251Z,1422557765.251 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2015-01-29T18:56:05.257Z,1422557765.257 [ExternalSim](INFO): ExternalSim initializing...
2015-01-29T18:56:05.263Z,1422557765.263 [Radio_Surface](INFO): Powering up
2015-01-29T18:56:05.284Z,1422557765.284 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 3670
2015-01-29T18:56:05.295Z,1422557765.295 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2015-01-29T18:56:05.298Z,1422557765.298 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2015-01-29T18:56:05.299Z,1422557765.299 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2015-01-29T18:56:05.299Z,1422557765.299 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2015-01-29T18:56:05.299Z,1422557765.299 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2015-01-29T18:56:05.300Z,1422557765.300 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2015-01-29T18:56:05.300Z,1422557765.300 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2015-01-29T18:56:05.300Z,1422557765.300 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2015-01-29T18:56:05.300Z,1422557765.300 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2015-01-29T18:56:05.517Z,1422557765.517 [ExternalSim](DEBUG): beaconLat = 36.80340
2015-01-29T18:56:05.518Z,1422557765.518 [ExternalSim](DEBUG): beaconLon = -121.82230
2015-01-29T18:56:05.518Z,1422557765.518 [ExternalSim](DEBUG): beaconDepth = 25.00
2015-01-29T18:56:05.609Z,1422557765.609 [ExternalSim](DEBUG): Simulator initialized
2015-01-29T18:56:05.616Z,1422557765.616 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2015-01-29T18:56:05.644Z,1422557765.644 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2015-01-29T18:56:05.684Z,1422557765.684 [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>


2015-01-29T18:56:05.685Z,1422557765.685 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2015-01-29T18:56:05.761Z,1422557765.761 [MissionManager](INFO): DefineArg Default.TimeMissionWasStarted = 0.000000 h
2015-01-29T18:56:05.773Z,1422557765.773 [MissionManager](INFO): DefineArg Default.ElapsedSinceMissionWasStarted = 0.000000 h
2015-01-29T18:56:05.777Z,1422557765.777 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2015-01-29T18:56:05.813Z,1422557765.813 [Default:CheckIn:A.SetSpeed](DEBUG): Construct.
2015-01-29T18:56:05.836Z,1422557765.836 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2015-01-29T18:56:05.860Z,1422557765.860 [Default:WaitAtTheSurface:RunApplicationAtLowSpeed.SetSpeed](DEBUG): Construct.
2015-01-29T18:56:05.881Z,1422557765.881 [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>


2015-01-29T18:56:05.886Z,1422557765.886 [controlThread](DEBUG): Component order: CycleStarter,ExternalSim,DataOverHttps,Depth_Keller,NAL9602,Onboard,PNI_TCM,BPC1,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2015-01-29T18:56:06.139Z,1422557766.139 [NAL9602](INFO): Start
2015-01-29T18:56:06.561Z,1422557766.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): No bottom track data -- 0 cycles since last successful read, accepting data for 5 cycles.
2015-01-29T18:56:06.705Z,1422557766.705 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2015-01-29T18:56:06.713Z,1422557766.713 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2015-01-29T18:56:06.736Z,1422557766.736 [ElevatorServo](DEBUG): Initializing EZServoServo.
2015-01-29T18:56:06.741Z,1422557766.741 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2015-01-29T18:56:06.755Z,1422557766.755 [RudderServo](DEBUG): Initializing EZServoServo.
2015-01-29T18:56:06.761Z,1422557766.761 [RudderServo](DEBUG): Initializing RudderServo.
2015-01-29T18:56:06.775Z,1422557766.775 [ThrusterServo](DEBUG): Initializing EZServoServo.
2015-01-29T18:56:06.781Z,1422557766.781 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2015-01-29T18:56:07.024Z,1422557767.024 [NAL9602](INFO): Start
2015-01-29T18:56:07.059Z,1422557767.059 [DeadReckonUsingMultipleVelocitySources](DEBUG): No bottom track data -- 1 cycles since last successful read, accepting data for 5 cycles.
2015-01-29T18:56:16.045Z,1422557776.045 [NAL9602](INFO): Start
2015-01-29T18:56:16.045Z,1422557776.045 [NAL9602](INFO): Powering up NAL9602
2015-01-29T18:56:16.102Z,1422557776.102 [DeadReckonUsingMultipleVelocitySources](DEBUG): No bottom track data -- 2 cycles since last successful read, accepting data for 5 cycles.
2015-01-29T18:56:16.629Z,1422557776.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): No bottom track data -- 3 cycles since last successful read, accepting data for 5 cycles.
2015-01-29T18:56:17.013Z,1422557777.013 [DeadReckonUsingMultipleVelocitySources](DEBUG): No bottom track data -- 4 cycles since last successful read, accepting data for 5 cycles.
2015-01-29T18:56:17.294Z,1422557777.294 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003706
2015-01-29T18:56:17.575Z,1422557777.575 [DeadReckonUsingMultipleVelocitySources](DEBUG): No bottom track data -- 5 cycles since last successful read, accepting data for 5 cycles.
2015-01-29T18:56:20.875Z,1422557780.875 [SBIT](IMPORTANT): Beginning Startup BIT
2015-01-29T18:56:20.877Z,1422557780.877 [CBIT](IMPORTANT): Beginning GF scan
2015-01-29T18:56:24.630Z,1422557784.630 [CommandLine](IMPORTANT): got command report mod NAL9602.sigQuality
2015-01-29T18:56:24.785Z,1422557784.785 [Reporter](INFO): NAL9602.sigQuality no_value
2015-01-29T18:56:26.922Z,1422557786.922 [NAL9602](INFO): ************** CMDMODE **************

2015-01-29T18:56:26.922Z,1422557786.922 [NAL9602](INFO): NAL9602 initialized
2015-01-29T18:56:27.731Z,1422557787.731 [NAL9602](INFO): ************** Request Fix **************

2015-01-29T18:56:28.100Z,1422557788.100 [NAL9602](INFO): ************** GetFix **************

2015-01-29T18:56:29.706Z,1422557789.706 [NAL9602](INFO): MT Sig Qty requested
2015-01-29T18:56:33.519Z,1422557793.519 [Reporter](INFO): NAL9602.sigQuality 0 count
2015-01-29T18:56:33.732Z,1422557793.732 [NAL9602](INFO): MT Sig Qty requested
2015-01-29T18:56:33.897Z,1422557793.897 [SBIT](ERROR): Could not read massPosReader_.
2015-01-29T18:56:35.706Z,1422557795.706 [NAL9602](INFO): MT Sig Qty requested
2015-01-29T18:56:37.346Z,1422557797.346 [CommandLine](IMPORTANT): got command quit
2015-01-29T18:56:42.912Z,1422557802.912 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2015-01-29T18:56:42.912Z,1422557802.912 [CommandLine ThreadHandler](INFO): Thread cancelled.
2015-01-29T18:56:42.981Z,1422557802.981 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2015-01-29T18:56:42.981Z,1422557802.981 [CommandLine ThreadHandler](INFO): Thread cancelled.
2015-01-29T18:56:42.982Z,1422557802.982 [CommandLine](INFO): Join timeout helper Thread ID is 3678
2015-01-29T18:56:42.993Z,1422557802.993 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2015-01-29T18:56:42.993Z,1422557802.993 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2015-01-29T18:56:42.994Z,1422557802.994 [NavChartDb](INFO): Join timeout helper Thread ID is 3679
2015-01-29T18:56:44.037Z,1422557804.037 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2015-01-29T18:56:44.038Z,1422557804.038 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2015-01-29T18:56:44.043Z,1422557804.043 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2015-01-29T18:56:44.043Z,1422557804.043 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2015-01-29T18:56:44.043Z,1422557804.043 [Radio_Surface](INFO): Join timeout helper Thread ID is 3680
2015-01-29T18:56:44.067Z,1422557804.067 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2015-01-29T18:56:44.068Z,1422557804.068 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2015-01-29T18:56:44.083Z,1422557804.083 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2015-01-29T18:56:44.083Z,1422557804.083 [logger ThreadHandler](INFO): Thread cancelled.
2015-01-29T18:56:44.084Z,1422557804.084 [logger](INFO): Join timeout helper Thread ID is 3681
2015-01-29T18:56:44.119Z,1422557804.119 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2015-01-29T18:56:44.119Z,1422557804.119 [logger ThreadHandler](INFO): Thread cancelled.
2015-01-29T18:56:44.123Z,1422557804.123 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2015-01-29T18:56:44.123Z,1422557804.123 [CommandLine ThreadHandler](INFO): Thread cancelled.
2015-01-29T18:56:44.123Z,1422557804.123 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2015-01-29T18:56:44.123Z,1422557804.123 [controlThread ThreadHandler](INFO): Thread cancelled.
2015-01-29T18:56:44.124Z,1422557804.124 [controlThread](INFO): Join timeout helper Thread ID is 3682
2015-01-29T18:56:44.240Z,1422557804.240 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2015-01-29T18:56:44.241Z,1422557804.241 [controlThread](DEBUG): Uninitializing ControlThread
2015-01-29T18:56:44.242Z,1422557804.242 [NAL9602](INFO): Uninitialize
2015-01-29T18:56:44.242Z,1422557804.242 [NAL9602](INFO): Powering down
2015-01-29T18:56:44.244Z,1422557804.244 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2015-01-29T18:56:44.245Z,1422557804.245 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2015-01-29T18:56:44.249Z,1422557804.249 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2015-01-29T18:56:44.250Z,1422557804.250 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2015-01-29T18:56:44.250Z,1422557804.250 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2015-01-29T18:56:44.250Z,1422557804.250 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2015-01-29T18:56:44.250Z,1422557804.250 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2015-01-29T18:56:44.251Z,1422557804.251 [BuoyancyServo](INFO): Powering down
2015-01-29T18:56:44.263Z,1422557804.263 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2015-01-29T18:56:44.264Z,1422557804.264 [ElevatorServo](INFO): Powering down
2015-01-29T18:56:44.264Z,1422557804.264 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2015-01-29T18:56:44.265Z,1422557804.265 [RudderServo](INFO): Powering down
2015-01-29T18:56:44.265Z,1422557804.265 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2015-01-29T18:56:44.265Z,1422557804.265 [ThrusterServo](INFO): Powering down
2015-01-29T18:56:44.266Z,1422557804.266 [SBIT](DEBUG): Uninitialize SBIT Component.
2015-01-29T18:56:44.267Z,1422557804.267 [IBIT](DEBUG): Uninitialize IBIT Component.
2015-01-29T18:56:44.267Z,1422557804.267 [CBIT](DEBUG): Uninitialize CBIT Component.
2015-01-29T18:56:44.300Z,1422557804.300 [controlThread ThreadHandler](INFO): Thread cancelled.
2015-01-29T18:56:44.401Z,1422557804.401 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2015-01-29T18:56:44.562Z,1422557804.562 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2015-01-29T18:56:44.610Z,1422557804.610 [logger ThreadHandler](INFO): Thread cancelled.