2015-02-17T18:38:25.199Z,1424198305.199 [Supervisor](DEBUG): Initializing supervisor.
2015-02-17T18:38:25.202Z,1424198305.202 [SyncHandler](DEBUG): Created PCaller Thread at 4034C4E0
2015-02-17T18:38:25.202Z,1424198305.202 [SyncHandler](INFO): Protected caller Thread ID is 769
2015-02-17T18:38:25.203Z,1424198305.203 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2015-02-17T18:38:25.204Z,1424198305.204 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4037C4E0
2015-02-17T18:38:25.204Z,1424198305.204 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 770
2015-02-17T18:38:25.207Z,1424198305.207 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2015-02-17T18:38:25.238Z,1424198305.238 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2015-02-17T18:38:25.239Z,1424198305.239 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 403AC4E0
2015-02-17T18:38:25.239Z,1424198305.239 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 771
2015-02-17T18:38:25.240Z,1424198305.240 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2015-02-17T18:38:25.241Z,1424198305.241 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403DC4E0
2015-02-17T18:38:25.242Z,1424198305.242 [logger ThreadHandler](INFO): Protected caller Thread ID is 772
2015-02-17T18:38:25.244Z,1424198305.244 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2015-02-17T18:38:25.244Z,1424198305.244 [Supervisor](INFO): Looking for Config files in directory: Config/
2015-02-17T18:38:25.249Z,1424198305.249 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2015-02-17T18:38:25.584Z,1424198305.584 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2015-02-17T18:38:25.584Z,1424198305.584 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2015-02-17T18:38:25.749Z,1424198305.749 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2015-02-17T18:38:25.749Z,1424198305.749 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2015-02-17T18:38:25.861Z,1424198305.861 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2015-02-17T18:38:25.861Z,1424198305.861 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2015-02-17T18:38:25.986Z,1424198305.986 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2015-02-17T18:38:25.987Z,1424198305.987 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2015-02-17T18:38:26.075Z,1424198306.075 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2015-02-17T18:38:26.237Z,1424198306.237 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2015-02-17T18:38:26.238Z,1424198306.238 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2015-02-17T18:38:26.326Z,1424198306.326 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2015-02-17T18:38:26.329Z,1424198306.329 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2015-02-17T18:38:26.541Z,1424198306.541 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2015-02-17T18:38:26.541Z,1424198306.541 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2015-02-17T18:38:26.904Z,1424198306.904 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2015-02-17T18:38:26.905Z,1424198306.905 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2015-02-17T18:38:27.218Z,1424198307.218 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2015-02-17T18:38:27.219Z,1424198307.219 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2015-02-17T18:38:27.729Z,1424198307.729 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2015-02-17T18:38:27.730Z,1424198307.730 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2015-02-17T18:38:27.972Z,1424198307.972 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2015-02-17T18:38:27.972Z,1424198307.972 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2015-02-17T18:38:28.078Z,1424198308.078 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2015-02-17T18:38:28.079Z,1424198308.079 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2015-02-17T18:38:28.499Z,1424198308.499 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2015-02-17T18:38:28.500Z,1424198308.500 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2015-02-17T18:38:28.614Z,1424198308.614 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2015-02-17T18:38:28.615Z,1424198308.615 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/
2015-02-17T18:38:28.620Z,1424198308.620 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Battery.cfg
2015-02-17T18:38:28.869Z,1424198308.869 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2015-02-17T18:38:28.870Z,1424198308.870 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/BIT.cfg
2015-02-17T18:38:42.479Z,1424198322.479 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Estimation.cfg
2015-02-17T18:38:43.391Z,1424198323.391 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Control.cfg
2015-02-17T18:38:43.490Z,1424198323.490 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Navigation.cfg
2015-02-17T18:38:43.602Z,1424198323.602 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Science.cfg
2015-02-17T18:38:43.749Z,1424198323.749 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Sensor.cfg
2015-02-17T18:38:43.924Z,1424198323.924 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Servo.cfg
2015-02-17T18:38:44.028Z,1424198324.028 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Simulator.cfg
2015-02-17T18:38:44.120Z,1424198324.120 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/logger.cfg
2015-02-17T18:38:44.223Z,1424198324.223 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/secure.cfg
2015-02-17T18:38:44.321Z,1424198324.321 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/vehicle.cfg
2015-02-17T18:38:44.505Z,1424198324.505 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2015-02-17T18:38:44.512Z,1424198324.512 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2015-02-17T18:38:44.589Z,1424198324.589 [VerticalControl](DEBUG): Construct VerticalControl.
2015-02-17T18:38:44.711Z,1424198324.711 [VerticalControl] Loaded
2015-02-17T18:38:44.712Z,1424198324.712 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2015-02-17T18:38:44.712Z,1424198324.712 [HorizontalControl](DEBUG): Construct HorizontalControl.
2015-02-17T18:38:44.787Z,1424198324.787 [HorizontalControl] Loaded
2015-02-17T18:38:44.787Z,1424198324.787 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2015-02-17T18:38:44.788Z,1424198324.788 [SpeedControl](DEBUG): Construct SpeedControl.
2015-02-17T18:38:44.794Z,1424198324.794 [SpeedControl] Loaded
2015-02-17T18:38:44.795Z,1424198324.795 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2015-02-17T18:38:44.795Z,1424198324.795 [LoopControl](DEBUG): Construct LoopControl.
2015-02-17T18:38:44.796Z,1424198324.796 [LoopControl] Loaded
2015-02-17T18:38:44.796Z,1424198324.796 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2015-02-17T18:38:44.797Z,1424198324.797 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2015-02-17T18:38:44.797Z,1424198324.797 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2015-02-17T18:38:44.928Z,1424198324.928 [SBIT](DEBUG): Construct Startup Built In Test.
2015-02-17T18:38:44.940Z,1424198324.940 [SBIT] Loaded
2015-02-17T18:38:44.940Z,1424198324.940 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2015-02-17T18:38:44.941Z,1424198324.941 [IBIT](DEBUG): Construct Initiated Built In Test.
2015-02-17T18:38:44.971Z,1424198324.971 [IBIT] Loaded
2015-02-17T18:38:44.971Z,1424198324.971 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2015-02-17T18:38:44.974Z,1424198324.974 [CBIT](DEBUG): Construct CBIT Built In Test.
2015-02-17T18:38:45.109Z,1424198325.109 [CBIT] Loaded
2015-02-17T18:38:45.109Z,1424198325.109 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2015-02-17T18:38:45.110Z,1424198325.110 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2015-02-17T18:38:45.110Z,1424198325.110 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2015-02-17T18:38:45.141Z,1424198325.141 [DepthRateCalculator] Loaded
2015-02-17T18:38:45.142Z,1424198325.142 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2015-02-17T18:38:45.147Z,1424198325.147 [PitchRateCalculator] Loaded
2015-02-17T18:38:45.148Z,1424198325.148 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2015-02-17T18:38:45.160Z,1424198325.160 [SpeedCalculator] Loaded
2015-02-17T18:38:45.160Z,1424198325.160 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2015-02-17T18:38:45.177Z,1424198325.177 [TempGradientCalculator] Loaded
2015-02-17T18:38:45.177Z,1424198325.177 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2015-02-17T18:38:45.183Z,1424198325.183 [YawRateCalculator] Loaded
2015-02-17T18:38:45.183Z,1424198325.183 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2015-02-17T18:38:45.183Z,1424198325.183 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2015-02-17T18:38:45.184Z,1424198325.184 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2015-02-17T18:38:46.332Z,1424198326.332 [HFRCMReconstructedInterpolator] Loaded
2015-02-17T18:38:46.332Z,1424198326.332 [ComponentRegistry](DEBUG): SyncComponent "HFRCMReconstructedInterpolator" handled in the control thread.
2015-02-17T18:38:46.333Z,1424198326.333 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2015-02-17T18:38:46.334Z,1424198326.334 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2015-02-17T18:38:46.621Z,1424198326.621 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2015-02-17T18:38:46.622Z,1424198326.622 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2015-02-17T18:38:46.732Z,1424198326.732 [DeadReckonUsingMultipleVelocitySources] Loaded
2015-02-17T18:38:46.732Z,1424198326.732 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2015-02-17T18:38:46.780Z,1424198326.780 [DeadReckonUsingSpeedCalculator] Loaded
2015-02-17T18:38:46.780Z,1424198326.780 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingSpeedCalculator" handled in the control thread.
2015-02-17T18:38:46.827Z,1424198326.827 [DeadReckonWithRespectToWater] Loaded
2015-02-17T18:38:46.828Z,1424198326.828 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonWithRespectToWater" handled in the control thread.
2015-02-17T18:38:46.845Z,1424198326.845 [NavChart] Loaded
2015-02-17T18:38:46.846Z,1424198326.846 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2015-02-17T18:38:46.850Z,1424198326.850 [UniversalFixResidualReporter] Loaded
2015-02-17T18:38:46.850Z,1424198326.850 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2015-02-17T18:38:46.851Z,1424198326.851 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2015-02-17T18:38:46.851Z,1424198326.851 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2015-02-17T18:38:46.861Z,1424198326.861 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2015-02-17T18:38:46.861Z,1424198326.861 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2015-02-17T18:38:46.987Z,1424198326.987 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2015-02-17T18:38:46.988Z,1424198326.988 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2015-02-17T18:38:47.647Z,1424198327.647 [DataOverHttps] Loaded
2015-02-17T18:38:47.647Z,1424198327.647 [ComponentRegistry](DEBUG): SyncComponent "DataOverHttps" handled in the control thread.
2015-02-17T18:38:47.730Z,1424198327.730 [Depth_Keller] Loaded
2015-02-17T18:38:47.730Z,1424198327.730 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2015-02-17T18:38:48.011Z,1424198328.011 [DVL_micro] Loaded
2015-02-17T18:38:48.011Z,1424198328.011 [ComponentRegistry](DEBUG): SyncComponent "DVL_micro" handled in the control thread.
2015-02-17T18:38:48.109Z,1424198328.109 [NAL9602] Loaded
2015-02-17T18:38:48.109Z,1424198328.109 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2015-02-17T18:38:48.153Z,1424198328.153 [Onboard] Loaded
2015-02-17T18:38:48.153Z,1424198328.153 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2015-02-17T18:38:48.160Z,1424198328.160 [Radio_Surface] Loaded
2015-02-17T18:38:48.161Z,1424198328.161 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2015-02-17T18:38:48.162Z,1424198328.162 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 408074E0
2015-02-17T18:38:48.163Z,1424198328.163 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 854
2015-02-17T18:38:50.118Z,1424198330.118 [BPC1] Loaded
2015-02-17T18:38:50.119Z,1424198330.119 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2015-02-17T18:38:50.119Z,1424198330.119 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2015-02-17T18:38:50.120Z,1424198330.120 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2015-02-17T18:38:58.075Z,1424198338.075 [BuoyancyServo] Loaded
2015-02-17T18:38:58.075Z,1424198338.075 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2015-02-17T18:38:58.088Z,1424198338.088 [ElevatorServo] Loaded
2015-02-17T18:38:58.088Z,1424198338.088 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2015-02-17T18:38:58.100Z,1424198338.100 [MassServo] Loaded
2015-02-17T18:38:58.101Z,1424198338.101 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2015-02-17T18:38:58.113Z,1424198338.113 [RudderServo] Loaded
2015-02-17T18:38:58.113Z,1424198338.113 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2015-02-17T18:38:58.125Z,1424198338.125 [ThrusterServo] Loaded
2015-02-17T18:38:58.125Z,1424198338.125 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2015-02-17T18:38:58.126Z,1424198338.126 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2015-02-17T18:38:58.127Z,1424198338.127 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2015-02-17T18:38:58.410Z,1424198338.410 [ExternalSim] Loaded
2015-02-17T18:38:58.410Z,1424198338.410 [ComponentRegistry](DEBUG): SyncComponent "ExternalSim" handled in the control thread.
2015-02-17T18:38:58.411Z,1424198338.411 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2015-02-17T18:38:58.412Z,1424198338.412 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2015-02-17T18:38:58.453Z,1424198338.453 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2015-02-17T18:38:58.455Z,1424198338.455 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2015-02-17T18:38:58.456Z,1424198338.456 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2015-02-17T18:38:58.463Z,1424198338.463 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2015-02-17T18:38:58.464Z,1424198338.464 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 408B84E0
2015-02-17T18:38:58.464Z,1424198338.464 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 855
2015-02-17T18:38:58.469Z,1424198338.469 [Supervisor](INFO): Main Thread ID is 767
2015-02-17T18:38:58.469Z,1424198338.469 [Supervisor](DEBUG): Running supervisor.
2015-02-17T18:38:58.470Z,1424198338.470 [CommandLine ThreadHandler](INFO): Handler Thread ID is 856
2015-02-17T18:38:58.473Z,1424198338.473 [controlThread ThreadHandler](INFO): Handler Thread ID is 857
2015-02-17T18:38:58.473Z,1424198338.473 [controlThread](DEBUG): Initializing ControlThread
2015-02-17T18:38:58.474Z,1424198338.474 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2015-02-17T18:38:58.476Z,1424198338.476 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2015-02-17T18:38:58.477Z,1424198338.477 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2015-02-17T18:38:58.477Z,1424198338.477 [LoopControl](DEBUG): Initialize LoopControlComponent.
2015-02-17T18:38:58.477Z,1424198338.477 [SBIT](INFO): Initialize SBIT Component.
2015-02-17T18:38:58.478Z,1424198338.478 [SBIT](IMPORTANT): Tethys CM Info: SVN revision:12012
2015-02-17T18:38:58.478Z,1424198338.478 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2015-02-17T18:38:58.478Z,1424198338.478 [SBIT](IMPORTANT): Kernel Version:#639 PREEMPT Wed Mar 12 12:53:33 PDT 2014
2015-02-17T18:38:58.479Z,1424198338.479 [IBIT](INFO): Initialize IBIT Component.
2015-02-17T18:38:58.480Z,1424198338.480 [CBIT](DEBUG): Initialize CBIT Component.
2015-02-17T18:38:58.480Z,1424198338.480 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2015-02-17T18:38:58.480Z,1424198338.480 [CBIT](CRITICAL): LAST REBOOT DUE TO WATCHDOG TIMER RESET.
2015-02-17T18:38:58.481Z,1424198338.481 [logger ThreadHandler](INFO): Handler Thread ID is 858
2015-02-17T18:38:58.499Z,1424198338.499 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 859
2015-02-17T18:38:58.505Z,1424198338.505 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2015-02-17T18:38:58.506Z,1424198338.506 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2015-02-17T18:38:58.506Z,1424198338.506 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2015-02-17T18:38:58.506Z,1424198338.506 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2015-02-17T18:38:58.507Z,1424198338.507 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2015-02-17T18:38:58.508Z,1424198338.508 [HFRCMReconstructedInterpolator](INFO): Initializing HFRCMReconstructedInterpolator component with velocityAccuracy_ = 0.300000 m/s.
2015-02-17T18:38:58.509Z,1424198338.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): Initializing DeadReckonUsingMultipleVelocitySources component.
2015-02-17T18:38:58.510Z,1424198338.510 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2015-02-17T18:38:58.510Z,1424198338.510 [DeadReckonWithRespectToWater](DEBUG): Initializing DeadReckonWithRespectToWater component.
2015-02-17T18:38:58.511Z,1424198338.511 [NavChart](DEBUG): Initialize NavChart Navigation.
2015-02-17T18:38:58.511Z,1424198338.511 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2015-02-17T18:38:58.517Z,1424198338.517 [ExternalSim](INFO): ExternalSim initializing...
2015-02-17T18:38:58.523Z,1424198338.523 [Radio_Surface](INFO): Powering up
2015-02-17T18:38:58.539Z,1424198338.539 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 860
2015-02-17T18:38:58.550Z,1424198338.550 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2015-02-17T18:38:58.551Z,1424198338.551 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2015-02-17T18:38:58.551Z,1424198338.551 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2015-02-17T18:38:58.552Z,1424198338.552 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2015-02-17T18:38:58.552Z,1424198338.552 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2015-02-17T18:38:58.552Z,1424198338.552 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2015-02-17T18:38:58.552Z,1424198338.552 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2015-02-17T18:38:58.553Z,1424198338.553 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2015-02-17T18:38:58.553Z,1424198338.553 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2015-02-17T18:38:58.796Z,1424198338.796 [ExternalSim](DEBUG): beaconLat = 36.80340
2015-02-17T18:38:58.796Z,1424198338.796 [ExternalSim](DEBUG): beaconLon = -121.82230
2015-02-17T18:38:58.797Z,1424198338.797 [ExternalSim](DEBUG): beaconDepth = 25.00
2015-02-17T18:38:59.072Z,1424198339.072 [ExternalSim](DEBUG): Simulator initialized
2015-02-17T18:38:59.180Z,1424198339.180 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2015-02-17T18:38:59.212Z,1424198339.212 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2015-02-17T18:38:59.231Z,1424198339.231 [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>


2015-02-17T18:38:59.256Z,1424198339.256 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2015-02-17T18:38:59.340Z,1424198339.340 [MissionManager](INFO): DefineArg Default.TimeMissionWasStarted = 0.000000 h
2015-02-17T18:38:59.344Z,1424198339.344 [MissionManager](INFO): DefineArg Default.ElapsedSinceMissionWasStarted = 0.000000 h
2015-02-17T18:38:59.364Z,1424198339.364 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2015-02-17T18:38:59.389Z,1424198339.389 [Default:CheckIn:A.SetSpeed](DEBUG): Construct.
2015-02-17T18:38:59.395Z,1424198339.395 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2015-02-17T18:38:59.423Z,1424198339.423 [Default:WaitAtTheSurface:RunApplicationAtLowSpeed.SetSpeed](DEBUG): Construct.
2015-02-17T18:38:59.446Z,1424198339.446 [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>


2015-02-17T18:38:59.457Z,1424198339.457 [controlThread](DEBUG): Component order: CycleStarter,ExternalSim,DataOverHttps,Depth_Keller,DVL_micro,NAL9602,Onboard,BPC1,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,HFRCMReconstructedInterpolator,DeadReckonUsingMultipleVelocitySources,DeadReckonUsingSpeedCalculator,DeadReckonWithRespectToWater,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2015-02-17T18:38:59.711Z,1424198339.711 [DVL_micro](INFO): Initializing
2015-02-17T18:38:59.721Z,1424198339.721 [NAL9602](INFO): Powering up NAL9602
2015-02-17T18:38:59.958Z,1424198339.958 [HFRCMReconstructedInterpolator](DEBUG): no valid forecast
2015-02-17T18:38:59.971Z,1424198339.971 [DeadReckonUsingMultipleVelocitySources](DEBUG): No bottom track data -- 0 cycles since last successful read, accepting data for 5 cycles.
2015-02-17T18:39:00.138Z,1424198340.138 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2015-02-17T18:39:00.146Z,1424198340.146 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2015-02-17T18:39:00.152Z,1424198340.152 [ElevatorServo](DEBUG): Initializing EZServoServo.
2015-02-17T18:39:00.158Z,1424198340.158 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2015-02-17T18:39:00.176Z,1424198340.176 [MassServo](DEBUG): Initializing EZServoServo.
2015-02-17T18:39:00.181Z,1424198340.181 [MassServo](DEBUG): Initializing MassServo.
2015-02-17T18:39:00.187Z,1424198340.187 [RudderServo](DEBUG): Initializing EZServoServo.
2015-02-17T18:39:00.193Z,1424198340.193 [RudderServo](DEBUG): Initializing RudderServo.
2015-02-17T18:39:00.199Z,1424198340.199 [ThrusterServo](DEBUG): Initializing EZServoServo.
2015-02-17T18:39:00.206Z,1424198340.205 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2015-02-17T18:39:00.255Z,1424198340.255 [CommandLine](FAULT): Scheduling is paused
2015-02-17T18:39:00.509Z,1424198340.509 [HFRCMReconstructedInterpolator](DEBUG): no valid forecast
2015-02-17T18:39:00.510Z,1424198340.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): No bottom track data -- 1 cycles since last successful read, accepting data for 5 cycles.
2015-02-17T18:39:09.058Z,1424198349.058 [HFRCMReconstructedInterpolator](DEBUG): no valid forecast
2015-02-17T18:39:09.059Z,1424198349.059 [DeadReckonUsingMultipleVelocitySources](DEBUG): No bottom track data -- 2 cycles since last successful read, accepting data for 5 cycles.
2015-02-17T18:39:09.713Z,1424198349.713 [HFRCMReconstructedInterpolator](DEBUG): no valid forecast
2015-02-17T18:39:09.714Z,1424198349.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): No bottom track data -- 3 cycles since last successful read, accepting data for 5 cycles.
2015-02-17T18:39:09.911Z,1424198349.911 [HFRCMReconstructedInterpolator](DEBUG): no valid forecast
2015-02-17T18:39:09.912Z,1424198349.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): No bottom track data -- 4 cycles since last successful read, accepting data for 5 cycles.
2015-02-17T18:39:10.264Z,1424198350.264 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003506
2015-02-17T18:39:10.324Z,1424198350.324 [HFRCMReconstructedInterpolator](DEBUG): no valid forecast
2015-02-17T18:39:10.333Z,1424198350.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): No bottom track data -- 5 cycles since last successful read, accepting data for 5 cycles.
2015-02-17T18:39:10.664Z,1424198350.664 [NAL9602](INFO): NAL9602 initialized
2015-02-17T18:39:10.720Z,1424198350.720 [HFRCMReconstructedInterpolator](DEBUG): no valid forecast
2015-02-17T18:39:11.163Z,1424198351.163 [HFRCMReconstructedInterpolator](DEBUG): no valid forecast
2015-02-17T18:39:11.510Z,1424198351.510 [HFRCMReconstructedInterpolator](DEBUG): no valid forecast
2015-02-17T18:39:11.907Z,1424198351.907 [HFRCMReconstructedInterpolator](DEBUG): no valid forecast
2015-02-17T18:39:12.391Z,1424198352.391 [HFRCMReconstructedInterpolator](DEBUG): no valid forecast
2015-02-17T18:39:12.917Z,1424198352.917 [HFRCMReconstructedInterpolator](DEBUG): no valid forecast
2015-02-17T18:39:13.285Z,1424198353.285 [HFRCMReconstructedInterpolator](DEBUG): no valid forecast
2015-02-17T18:39:13.786Z,1424198353.786 [NAL9602](INFO): Flushing. SigQuality: 0
2015-02-17T18:39:13.787Z,1424198353.787 [NAL9602](INFO): Response:
+CSQ:0

OK
2015-02-17T18:39:14.046Z,1424198354.046 [HFRCMReconstructedInterpolator](DEBUG): no valid forecast
2015-02-17T18:39:14.238Z,1424198354.238 [HFRCMReconstructedInterpolator](DEBUG): no valid forecast
2015-02-17T18:39:14.301Z,1424198354.301 [SBIT](IMPORTANT): Beginning Startup BIT
2015-02-17T18:39:14.304Z,1424198354.304 [CBIT](IMPORTANT): Beginning GF scan
2015-02-17T18:39:14.651Z,1424198354.651 [HFRCMReconstructedInterpolator](DEBUG): no valid forecast
2015-02-17T18:39:15.316Z,1424198355.316 [HFRCMReconstructedInterpolator](DEBUG): no valid forecast
2015-02-17T18:39:15.625Z,1424198355.625 [HFRCMReconstructedInterpolator](DEBUG): no valid forecast
2015-02-17T18:39:16.245Z,1424198356.245 [HFRCMReconstructedInterpolator](DEBUG): no valid forecast
2015-02-17T18:39:16.858Z,1424198356.858 [HFRCMReconstructedInterpolator](DEBUG): no valid forecast
2015-02-17T18:39:17.387Z,1424198357.387 [HFRCMReconstructedInterpolator](DEBUG): no valid forecast
2015-02-17T18:39:17.647Z,1424198357.647 [HFRCMReconstructedInterpolator](DEBUG): no valid forecast
2015-02-17T18:39:18.029Z,1424198358.029 [NAL9602](INFO): Flushing. SigQuality: 0
2015-02-17T18:39:18.029Z,1424198358.029 [NAL9602](INFO): Response:
+CSQ:0

OK
2015-02-17T18:39:18.056Z,1424198358.056 [HFRCMReconstruct