2015-03-23T23:10:13.065Z,1427152213.065 [Supervisor](DEBUG): Initializing supervisor.
2015-03-23T23:10:13.075Z,1427152213.075 [SyncHandler](DEBUG): Created PCaller Thread at 4034C4E0
2015-03-23T23:10:13.076Z,1427152213.076 [SyncHandler](INFO): Protected caller Thread ID is 4584
2015-03-23T23:10:13.076Z,1427152213.076 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2015-03-23T23:10:13.077Z,1427152213.077 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4037C4E0
2015-03-23T23:10:13.078Z,1427152213.078 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 4585
2015-03-23T23:10:13.097Z,1427152213.097 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2015-03-23T23:10:13.109Z,1427152213.109 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2015-03-23T23:10:13.110Z,1427152213.110 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 403AC4E0
2015-03-23T23:10:13.110Z,1427152213.110 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 4586
2015-03-23T23:10:13.111Z,1427152213.111 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2015-03-23T23:10:13.112Z,1427152213.112 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403DC4E0
2015-03-23T23:10:13.112Z,1427152213.112 [logger ThreadHandler](INFO): Protected caller Thread ID is 4587
2015-03-23T23:10:13.114Z,1427152213.114 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2015-03-23T23:10:13.115Z,1427152213.115 [Supervisor](INFO): Looking for Config files in directory: Config/
2015-03-23T23:10:13.120Z,1427152213.120 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2015-03-23T23:10:13.644Z,1427152213.644 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2015-03-23T23:10:13.645Z,1427152213.645 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2015-03-23T23:10:13.844Z,1427152213.844 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2015-03-23T23:10:13.845Z,1427152213.845 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2015-03-23T23:10:13.954Z,1427152213.954 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2015-03-23T23:10:13.955Z,1427152213.955 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2015-03-23T23:10:14.078Z,1427152214.078 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2015-03-23T23:10:14.079Z,1427152214.079 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2015-03-23T23:10:14.165Z,1427152214.165 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2015-03-23T23:10:14.326Z,1427152214.326 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2015-03-23T23:10:14.327Z,1427152214.327 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2015-03-23T23:10:14.414Z,1427152214.414 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2015-03-23T23:10:14.416Z,1427152214.416 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2015-03-23T23:10:14.628Z,1427152214.628 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2015-03-23T23:10:14.629Z,1427152214.629 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2015-03-23T23:10:14.000Z,1427152215.000 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2015-03-23T23:10:15.001Z,1427152215.001 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2015-03-23T23:10:15.314Z,1427152215.314 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2015-03-23T23:10:15.314Z,1427152215.314 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2015-03-23T23:10:15.827Z,1427152215.827 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2015-03-23T23:10:15.828Z,1427152215.828 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2015-03-23T23:10:16.063Z,1427152216.063 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2015-03-23T23:10:16.064Z,1427152216.064 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2015-03-23T23:10:16.169Z,1427152216.169 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2015-03-23T23:10:16.169Z,1427152216.169 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2015-03-23T23:10:16.598Z,1427152216.598 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2015-03-23T23:10:16.599Z,1427152216.599 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2015-03-23T23:10:16.710Z,1427152216.710 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2015-03-23T23:10:16.712Z,1427152216.712 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/
2015-03-23T23:10:16.717Z,1427152216.717 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Battery.cfg
2015-03-23T23:10:16.960Z,1427152216.960 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2015-03-23T23:10:16.960Z,1427152216.960 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/BIT.cfg
2015-03-23T23:10:17.087Z,1427152217.087 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Estimation.cfg
2015-03-23T23:10:17.185Z,1427152217.185 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Control.cfg
2015-03-23T23:10:17.283Z,1427152217.283 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Navigation.cfg
2015-03-23T23:10:17.394Z,1427152217.394 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Science.cfg
2015-03-23T23:10:17.537Z,1427152217.537 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Sensor.cfg
2015-03-23T23:10:17.711Z,1427152217.711 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Servo.cfg
2015-03-23T23:10:17.812Z,1427152217.812 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Simulator.cfg
2015-03-23T23:10:17.903Z,1427152217.903 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/logger.cfg
2015-03-23T23:10:18.004Z,1427152218.004 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/secure.cfg
2015-03-23T23:10:18.104Z,1427152218.104 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/vehicle.cfg
2015-03-23T23:10:25.538Z,1427152225.538 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/root/
2015-03-23T23:10:25.538Z,1427152225.538 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2015-03-23T23:10:34.811Z,1427152234.811 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2015-03-23T23:10:34.889Z,1427152234.889 [VerticalControl](DEBUG): Construct VerticalControl.
2015-03-23T23:10:35.012Z,1427152235.012 [VerticalControl] Loaded
2015-03-23T23:10:35.012Z,1427152235.012 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2015-03-23T23:10:35.013Z,1427152235.013 [HorizontalControl](DEBUG): Construct HorizontalControl.
2015-03-23T23:10:35.087Z,1427152235.087 [HorizontalControl] Loaded
2015-03-23T23:10:35.088Z,1427152235.088 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2015-03-23T23:10:35.088Z,1427152235.088 [SpeedControl](DEBUG): Construct SpeedControl.
2015-03-23T23:10:35.095Z,1427152235.095 [SpeedControl] Loaded
2015-03-23T23:10:35.095Z,1427152235.095 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2015-03-23T23:10:35.096Z,1427152235.096 [LoopControl](DEBUG): Construct LoopControl.
2015-03-23T23:10:35.096Z,1427152235.096 [LoopControl] Loaded
2015-03-23T23:10:35.096Z,1427152235.096 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2015-03-23T23:10:35.097Z,1427152235.097 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2015-03-23T23:10:35.098Z,1427152235.098 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2015-03-23T23:10:37.619Z,1427152237.619 [SBIT](DEBUG): Construct Startup Built In Test.
2015-03-23T23:10:37.631Z,1427152237.631 [SBIT] Loaded
2015-03-23T23:10:37.631Z,1427152237.631 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2015-03-23T23:10:37.632Z,1427152237.632 [IBIT](DEBUG): Construct Initiated Built In Test.
2015-03-23T23:10:37.661Z,1427152237.661 [IBIT] Loaded
2015-03-23T23:10:37.662Z,1427152237.662 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2015-03-23T23:10:37.664Z,1427152237.664 [CBIT](DEBUG): Construct CBIT Built In Test.
2015-03-23T23:10:37.800Z,1427152237.800 [CBIT] Loaded
2015-03-23T23:10:37.800Z,1427152237.800 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2015-03-23T23:10:37.800Z,1427152237.800 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2015-03-23T23:10:37.801Z,1427152237.801 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2015-03-23T23:10:37.833Z,1427152237.833 [DepthRateCalculator] Loaded
2015-03-23T23:10:37.833Z,1427152237.833 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2015-03-23T23:10:37.839Z,1427152237.839 [PitchRateCalculator] Loaded
2015-03-23T23:10:37.839Z,1427152237.839 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2015-03-23T23:10:37.851Z,1427152237.851 [SpeedCalculator] Loaded
2015-03-23T23:10:37.852Z,1427152237.852 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2015-03-23T23:10:37.869Z,1427152237.869 [TempGradientCalculator] Loaded
2015-03-23T23:10:37.869Z,1427152237.869 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2015-03-23T23:10:37.874Z,1427152237.874 [YawRateCalculator] Loaded
2015-03-23T23:10:37.875Z,1427152237.875 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2015-03-23T23:10:37.875Z,1427152237.875 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2015-03-23T23:10:37.876Z,1427152237.876 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2015-03-23T23:10:38.984Z,1427152238.984 [HFRCMReconstructedInterpolator] Loaded
2015-03-23T23:10:38.985Z,1427152238.985 [ComponentRegistry](DEBUG): SyncComponent "HFRCMReconstructedInterpolator" handled in the control thread.
2015-03-23T23:10:38.985Z,1427152238.985 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2015-03-23T23:10:38.986Z,1427152238.986 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2015-03-23T23:10:39.277Z,1427152239.277 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2015-03-23T23:10:39.277Z,1427152239.277 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2015-03-23T23:10:39.389Z,1427152239.389 [DeadReckonUsingMultipleVelocitySources] Loaded
2015-03-23T23:10:39.389Z,1427152239.389 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2015-03-23T23:10:39.406Z,1427152239.406 [NavChart] Loaded
2015-03-23T23:10:39.407Z,1427152239.407 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2015-03-23T23:10:39.411Z,1427152239.411 [UniversalFixResidualReporter] Loaded
2015-03-23T23:10:39.411Z,1427152239.411 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2015-03-23T23:10:39.412Z,1427152239.412 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2015-03-23T23:10:39.413Z,1427152239.413 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2015-03-23T23:10:39.422Z,1427152239.422 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2015-03-23T23:10:39.423Z,1427152239.423 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2015-03-23T23:10:39.555Z,1427152239.555 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2015-03-23T23:10:39.558Z,1427152239.558 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2015-03-23T23:10:40.423Z,1427152240.423 [DataOverHttps] Loaded
2015-03-23T23:10:40.424Z,1427152240.424 [ComponentRegistry](DEBUG): SyncComponent "DataOverHttps" handled in the control thread.
2015-03-23T23:10:40.506Z,1427152240.506 [Depth_Keller] Loaded
2015-03-23T23:10:40.506Z,1427152240.506 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2015-03-23T23:10:40.823Z,1427152240.823 [DVL_micro] Loaded
2015-03-23T23:10:40.823Z,1427152240.823 [ComponentRegistry](DEBUG): SyncComponent "DVL_micro" handled in the control thread.
2015-03-23T23:10:40.923Z,1427152240.923 [NAL9602] Loaded
2015-03-23T23:10:40.924Z,1427152240.924 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2015-03-23T23:10:40.967Z,1427152240.967 [Onboard] Loaded
2015-03-23T23:10:40.968Z,1427152240.968 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2015-03-23T23:10:40.975Z,1427152240.975 [Radio_Surface] Loaded
2015-03-23T23:10:40.975Z,1427152240.975 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2015-03-23T23:10:40.983Z,1427152240.983 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 408074E0
2015-03-23T23:10:40.984Z,1427152240.984 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 4671
2015-03-23T23:10:41.034Z,1427152241.034 [PNI_TCM] Loaded
2015-03-23T23:10:41.035Z,1427152241.035 [ComponentRegistry](DEBUG): SyncComponent "PNI_TCM" handled in the control thread.
2015-03-23T23:10:42.996Z,1427152242.996 [BPC1] Loaded
2015-03-23T23:10:42.996Z,1427152242.996 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2015-03-23T23:10:42.996Z,1427152242.996 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2015-03-23T23:10:42.997Z,1427152242.997 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2015-03-23T23:10:43.149Z,1427152243.149 [BuoyancyServo] Loaded
2015-03-23T23:10:43.149Z,1427152243.149 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2015-03-23T23:10:43.162Z,1427152243.162 [ElevatorServo] Loaded
2015-03-23T23:10:43.162Z,1427152243.162 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2015-03-23T23:10:43.174Z,1427152243.174 [MassServo] Loaded
2015-03-23T23:10:43.174Z,1427152243.174 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2015-03-23T23:10:43.186Z,1427152243.186 [RudderServo] Loaded
2015-03-23T23:10:43.187Z,1427152243.187 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2015-03-23T23:10:43.199Z,1427152243.199 [ThrusterServo] Loaded
2015-03-23T23:10:43.199Z,1427152243.199 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2015-03-23T23:10:43.200Z,1427152243.200 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2015-03-23T23:10:43.200Z,1427152243.200 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2015-03-23T23:10:43.493Z,1427152243.493 [ExternalSim] Loaded
2015-03-23T23:10:43.493Z,1427152243.493 [ComponentRegistry](DEBUG): SyncComponent "ExternalSim" handled in the control thread.
2015-03-23T23:10:43.494Z,1427152243.494 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2015-03-23T23:10:43.495Z,1427152243.495 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2015-03-23T23:10:43.539Z,1427152243.539 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2015-03-23T23:10:43.541Z,1427152243.541 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2015-03-23T23:10:43.542Z,1427152243.542 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2015-03-23T23:10:43.549Z,1427152243.549 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2015-03-23T23:10:43.556Z,1427152243.556 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 408B84E0
2015-03-23T23:10:43.557Z,1427152243.557 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 4672
2015-03-23T23:10:43.561Z,1427152243.561 [Supervisor](INFO): Main Thread ID is 4583
2015-03-23T23:10:43.561Z,1427152243.561 [Supervisor](DEBUG): Running supervisor.
2015-03-23T23:10:43.562Z,1427152243.562 [CommandLine ThreadHandler](INFO): Handler Thread ID is 4673
2015-03-23T23:10:43.566Z,1427152243.566 [controlThread ThreadHandler](INFO): Handler Thread ID is 4674
2015-03-23T23:10:43.567Z,1427152243.567 [controlThread](DEBUG): Initializing ControlThread
2015-03-23T23:10:43.568Z,1427152243.568 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2015-03-23T23:10:43.569Z,1427152243.569 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2015-03-23T23:10:43.570Z,1427152243.570 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2015-03-23T23:10:43.570Z,1427152243.570 [LoopControl](DEBUG): Initialize LoopControlComponent.
2015-03-23T23:10:43.572Z,1427152243.572 [SBIT](INFO): Initialize SBIT Component.
2015-03-23T23:10:43.572Z,1427152243.572 [SBIT](IMPORTANT): Tethys CM Info: SVN revision:12012
2015-03-23T23:10:43.572Z,1427152243.572 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2015-03-23T23:10:43.573Z,1427152243.573 [SBIT](IMPORTANT): Kernel Version:#639 PREEMPT Wed Mar 12 12:53:33 PDT 2014
2015-03-23T23:10:43.573Z,1427152243.573 [IBIT](INFO): Initialize IBIT Component.
2015-03-23T23:10:43.574Z,1427152243.574 [CBIT](DEBUG): Initialize CBIT Component.
2015-03-23T23:10:43.574Z,1427152243.574 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2015-03-23T23:10:43.575Z,1427152243.575 [CBIT](CRITICAL): Watchdog Timer failed to initialize.
2015-03-23T23:10:43.575Z,1427152243.575 [CBIT] Hardware Fault, FailCount= 1
2015-03-23T23:10:43.575Z,1427152243.575 [CBIT](ERROR): Hardware Fault
2015-03-23T23:10:43.576Z,1427152243.576 [logger ThreadHandler](INFO): Handler Thread ID is 4675
2015-03-23T23:10:43.596Z,1427152243.596 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 4676
2015-03-23T23:10:43.602Z,1427152243.602 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2015-03-23T23:10:43.602Z,1427152243.602 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2015-03-23T23:10:43.603Z,1427152243.603 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2015-03-23T23:10:43.603Z,1427152243.603 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2015-03-23T23:10:43.604Z,1427152243.604 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2015-03-23T23:10:43.631Z,1427152243.631 [Radio_Surface](INFO): Powering up
2015-03-23T23:10:43.641Z,1427152243.641 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 4677
2015-03-23T23:10:43.642Z,1427152243.642 [HFRCMReconstructedInterpolator](INFO): Initializing HFRCMReconstructedInterpolator component with velocityAccuracy_ = 0.300000 m/s.
2015-03-23T23:10:43.649Z,1427152243.649 [DeadReckonUsingMultipleVelocitySources](DEBUG): Initializing DeadReckonUsingMultipleVelocitySources component.
2015-03-23T23:10:43.650Z,1427152243.650 [NavChart](DEBUG): Initialize NavChart Navigation.
2015-03-23T23:10:43.650Z,1427152243.650 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2015-03-23T23:10:43.663Z,1427152243.663 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2015-03-23T23:10:43.664Z,1427152243.664 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2015-03-23T23:10:43.664Z,1427152243.664 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2015-03-23T23:10:43.665Z,1427152243.665 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2015-03-23T23:10:43.665Z,1427152243.665 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2015-03-23T23:10:43.665Z,1427152243.665 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2015-03-23T23:10:43.665Z,1427152243.665 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2015-03-23T23:10:43.666Z,1427152243.666 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2015-03-23T23:10:43.666Z,1427152243.666 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2015-03-23T23:10:43.671Z,1427152243.671 [ExternalSim](INFO): ExternalSim initializing...
2015-03-23T23:11:03.848Z,1427152263.848 [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
2015-03-23T23:11:03.894Z,1427152263.894 [ExternalSim](DEBUG): beaconLat = 36.80340
2015-03-23T23:11:03.894Z,1427152263.894 [ExternalSim](DEBUG): beaconLon = -121.82230
2015-03-23T23:11:03.906Z,1427152263.906 [ExternalSim](DEBUG): beaconDepth = 25.00
2015-03-23T23:11:03.985Z,1427152263.985 [ExternalSim](DEBUG): Simulator initialized
2015-03-23T23:11:04.076Z,1427152264.076 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2015-03-23T23:11:04.114Z,1427152264.114 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2015-03-23T23:11:04.180Z,1427152264.180 [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>


2015-03-23T23:11:04.181Z,1427152264.181 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2015-03-23T23:11:04.245Z,1427152264.245 [MissionManager](INFO): DefineArg Default.TimeMissionWasStarted = 0.000000 h
2015-03-23T23:11:04.249Z,1427152264.249 [MissionManager](INFO): DefineArg Default.ElapsedSinceMissionWasStarted = 0.000000 h
2015-03-23T23:11:04.265Z,1427152264.265 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2015-03-23T23:11:04.306Z,1427152264.306 [Default:CheckIn:A.SetSpeed](DEBUG): Construct.
2015-03-23T23:11:04.326Z,1427152264.326 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2015-03-23T23:11:04.359Z,1427152264.359 [Default:WaitAtTheSurface:RunApplicationAtLowSpeed.SetSpeed](DEBUG): Construct.
2015-03-23T23:11:04.382Z,1427152264.382 [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>


2015-03-23T23:11:04.387Z,1427152264.387 [controlThread](DEBUG): Component order: CycleStarter,ExternalSim,DataOverHttps,Depth_Keller,DVL_micro,NAL9602,Onboard,PNI_TCM,BPC1,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,HFRCMReconstructedInterpolator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2015-03-23T23:11:04.541Z,1427152264.541 [Radio_Surface](INFO): Powering down
2015-03-23T23:11:04.595Z,1427152264.595 [DVL_micro](INFO): Initializing
2015-03-23T23:11:04.624Z,1427152264.624 [NAL9602](INFO): Powering up NAL9602
2015-03-23T23:11:04.877Z,1427152264.877 [HFRCMReconstructedInterpolator](DEBUG): no valid forecast
2015-03-23T23:11:04.893Z,1427152264.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): No bottom track data -- 0 cycles since last successful read, accepting data for 5 cycles.
2015-03-23T23:11:05.021Z,1427152265.021 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2015-03-23T23:11:05.028Z,1427152265.028 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2015-03-23T23:11:05.049Z,1427152265.049 [ElevatorServo](DEBUG): Initializing EZServoServo.
2015-03-23T23:11:05.057Z,1427152265.057 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2015-03-23T23:11:05.071Z,1427152265.071 [MassServo](DEBUG): Initializing EZServoServo.
2015-03-23T23:11:05.077Z,1427152265.077 [MassServo](DEBUG): Initializing MassServo.
2015-03-23T23:11:05.091Z,1427152265.091 [RudderServo](DEBUG): Initializing EZServoServo.
2015-03-23T23:11:05.097Z,1427152265.097 [RudderServo](DEBUG): Initializing RudderServo.
2015-03-23T23:11:05.118Z,1427152265.118 [ThrusterServo](DEBUG): Initializing EZServoServo.
2015-03-23T23:11:05.131Z,1427152265.131 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2015-03-23T23:11:05.173Z,1427152265.173 [CBIT](DEBUG): Uninitialize CBIT Component.
2015-03-23T23:11:05.352Z,1427152265.352 [HFRCMReconstructedInterpolator](DEBUG): no valid forecast
2015-03-23T23:11:05.353Z,1427152265.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): No bottom track data -- 1 cycles since last successful read, accepting data for 5 cycles.
2015-03-23T23:11:05.385Z,1427152265.385 [SBIT](IMPORTANT): Beginning Startup BIT
2015-03-23T23:11:05.652Z,1427152265.652 [HFRCMReconstructedInterpolator](DEBUG): no valid forecast
2015-03-23T23:11:05.653Z,1427152265.653 [DeadReckonUsingMultipleVelocitySources](DEBUG): No bottom track data -- 2 cycles since last successful read, accepting data for 5 cycles.
2015-03-23T23:11:06.006Z,1427152266.006 [BuoyancyServo](ERROR): Buoyancy initialization uart error serial timeout
2015-03-23T23:11:06.006Z,1427152266.006 [BuoyancyServo](FAULT): Buoyancy failed to initialize
2015-03-23T23:11:06.006Z,1427152266.006 [BuoyancyServo] Communications Fault, FailCount= 1
2015-03-23T23:11:06.006Z,1427152266.006 [BuoyancyServo](ERROR): Communications Fault
2015-03-23T23:11:06.318Z,1427152266.318 [ElevatorServo](ERROR): Elevator initialization uart error I:serial timeout
2015-03-23T23:11:06.319Z,1427152266.319 [ElevatorServo](FAULT): Elevator failed to initialize
2015-03-23T23:11:06.319Z,1427152266.319 [ElevatorServo] Communications Fault, FailCount= 1
2015-03-23T23:11:06.319Z,1427152266.319 [ElevatorServo](ERROR): Communications Fault
2015-03-23T23:11:06.627Z,1427152266.627 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2015-03-23T23:11:06.627Z,1427152266.627 [RudderServo](FAULT): Rudder failed to initialize
2015-03-23T23:11:06.627Z,1427152266.627 [RudderServo] Communications Fault, FailCount= 1
2015-03-23T23:11:06.627Z,1427152266.627 [RudderServo](ERROR): Communications Fault
2015-03-23T23:11:06.947Z,1427152266.947 [ThrusterServo](ERROR): Thruster halt for initialization uart error serial timeout
2015-03-23T23:11:07.260Z,1427152267.260 [ThrusterServo](ERROR): Thruster initialization uart error serial timeout
2015-03-23T23:11:07.260Z,1427152267.260 [ThrusterServo](FAULT): Thruster failed to initialize
2015-03-23T23:11:07.260Z,1427152267.260 [ThrusterServo] Communications Fault, FailCount= 1
2015-03-23T23:11:07.260Z,1427152267.260 [ThrusterServo](ERROR): Communications Fault
2015-03-23T23:11:07.338Z,1427152267.338 [HFRCMReconstructedInterpolator](DEBUG): no valid forecast
2015-03-23T23:11:07.339Z,1427152267.339 [DeadReckonUsingMultipleVelocitySources](DEBUG): No bottom track data -- 3 cycles since last successful read, accepting data for 5 cycles.
2015-03-23T23:11:07.345Z,1427152267.345 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2015-03-23T23:11:07.346Z,1427152267.346 [BuoyancyServo](INFO): Powering down
2015-03-23T23:11:07.437Z,1427152267.437 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2015-03-23T23:11:07.437Z,1427152267.437 [ElevatorServo](INFO): Powering down
2015-03-23T23:11:07.825Z,1427152267.825 [MassServo](FAULT): Mass shifter EEPROM initialization uart error serial timeout
2015-03-23T23:11:07.825Z,1427152267.825 [MassServo] Communications Fault, FailCount= 1
2015-03-23T23:11:07.825Z,1427152267.825 [MassServo](ERROR): Communications Fault
2015-03-23T23:11:07.825Z,1427152267.825 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2015-03-23T23:11:07.826Z,1427152267.826 [RudderServo](INFO): Powering down
2015-03-23T23:11:07.865Z,1427152267.865 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2015-03-23T23:11:07.865Z,1427152267.865 [ThrusterServo](INFO): Powering down
2015-03-23T23:11:07.984Z,1427152267.984 [HFRCMReconstructedInterpolator](DEBUG): no valid forecast
2015-03-23T23:11:07.993Z,1427152267.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): No bottom t