2015-03-23T23:17:58.170Z,1427152678.170 [Supervisor](DEBUG): Initializing supervisor.
2015-03-23T23:17:58.172Z,1427152678.172 [SyncHandler](DEBUG): Created PCaller Thread at 4034C4E0
2015-03-23T23:17:58.173Z,1427152678.173 [SyncHandler](INFO): Protected caller Thread ID is 766
2015-03-23T23:17:58.174Z,1427152678.174 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2015-03-23T23:17:58.175Z,1427152678.175 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4037C4E0
2015-03-23T23:17:58.175Z,1427152678.175 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 767
2015-03-23T23:17:58.178Z,1427152678.178 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2015-03-23T23:17:58.190Z,1427152678.190 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2015-03-23T23:17:58.191Z,1427152678.191 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 403AC4E0
2015-03-23T23:17:58.192Z,1427152678.192 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 768
2015-03-23T23:17:58.192Z,1427152678.192 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2015-03-23T23:17:58.193Z,1427152678.193 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403DC4E0
2015-03-23T23:17:58.194Z,1427152678.194 [logger ThreadHandler](INFO): Protected caller Thread ID is 769
2015-03-23T23:17:58.196Z,1427152678.196 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2015-03-23T23:17:58.196Z,1427152678.196 [Supervisor](INFO): Looking for Config files in directory: Config/
2015-03-23T23:17:58.202Z,1427152678.202 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2015-03-23T23:17:58.543Z,1427152678.543 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2015-03-23T23:17:58.543Z,1427152678.543 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2015-03-23T23:17:58.716Z,1427152678.716 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2015-03-23T23:17:58.716Z,1427152678.716 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2015-03-23T23:17:58.828Z,1427152678.828 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2015-03-23T23:17:58.829Z,1427152678.829 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2015-03-23T23:17:58.957Z,1427152678.957 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2015-03-23T23:17:58.957Z,1427152678.957 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2015-03-23T23:17:59.045Z,1427152679.045 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2015-03-23T23:17:59.209Z,1427152679.209 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2015-03-23T23:17:59.210Z,1427152679.210 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2015-03-23T23:17:59.298Z,1427152679.298 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2015-03-23T23:17:59.301Z,1427152679.301 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2015-03-23T23:17:59.516Z,1427152679.516 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2015-03-23T23:17:59.517Z,1427152679.517 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2015-03-23T23:17:59.890Z,1427152679.890 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2015-03-23T23:17:59.891Z,1427152679.891 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2015-03-23T23:18:00.214Z,1427152680.214 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2015-03-23T23:18:00.214Z,1427152680.214 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2015-03-23T23:18:00.736Z,1427152680.736 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2015-03-23T23:18:00.737Z,1427152680.737 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2015-03-23T23:18:00.980Z,1427152680.980 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2015-03-23T23:18:00.980Z,1427152680.980 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2015-03-23T23:18:01.088Z,1427152681.088 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2015-03-23T23:18:01.088Z,1427152681.088 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2015-03-23T23:18:01.520Z,1427152681.520 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2015-03-23T23:18:01.521Z,1427152681.521 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2015-03-23T23:18:01.635Z,1427152681.635 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2015-03-23T23:18:01.637Z,1427152681.637 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/
2015-03-23T23:18:01.642Z,1427152681.642 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Battery.cfg
2015-03-23T23:18:01.899Z,1427152681.899 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2015-03-23T23:18:01.900Z,1427152681.900 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/BIT.cfg
2015-03-23T23:18:13.198Z,1427152693.198 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Estimation.cfg
2015-03-23T23:18:14.157Z,1427152694.157 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Control.cfg
2015-03-23T23:18:14.257Z,1427152694.257 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Navigation.cfg
2015-03-23T23:18:14.370Z,1427152694.370 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Science.cfg
2015-03-23T23:18:14.517Z,1427152694.517 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Sensor.cfg
2015-03-23T23:18:14.694Z,1427152694.694 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Servo.cfg
2015-03-23T23:18:14.797Z,1427152694.797 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Simulator.cfg
2015-03-23T23:18:14.890Z,1427152694.890 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/logger.cfg
2015-03-23T23:18:14.993Z,1427152694.993 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/secure.cfg
2015-03-23T23:18:15.092Z,1427152695.092 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/vehicle.cfg
2015-03-23T23:18:15.277Z,1427152695.277 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2015-03-23T23:18:15.285Z,1427152695.285 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2015-03-23T23:18:15.364Z,1427152695.364 [VerticalControl](DEBUG): Construct VerticalControl.
2015-03-23T23:18:15.491Z,1427152695.491 [VerticalControl] Loaded
2015-03-23T23:18:15.492Z,1427152695.492 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2015-03-23T23:18:15.492Z,1427152695.492 [HorizontalControl](DEBUG): Construct HorizontalControl.
2015-03-23T23:18:15.570Z,1427152695.570 [HorizontalControl] Loaded
2015-03-23T23:18:15.570Z,1427152695.570 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2015-03-23T23:18:15.571Z,1427152695.571 [SpeedControl](DEBUG): Construct SpeedControl.
2015-03-23T23:18:15.577Z,1427152695.577 [SpeedControl] Loaded
2015-03-23T23:18:15.578Z,1427152695.578 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2015-03-23T23:18:15.578Z,1427152695.578 [LoopControl](DEBUG): Construct LoopControl.
2015-03-23T23:18:15.579Z,1427152695.579 [LoopControl] Loaded
2015-03-23T23:18:15.579Z,1427152695.579 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2015-03-23T23:18:15.580Z,1427152695.580 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2015-03-23T23:18:15.580Z,1427152695.580 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2015-03-23T23:18:15.718Z,1427152695.718 [SBIT](DEBUG): Construct Startup Built In Test.
2015-03-23T23:18:15.730Z,1427152695.730 [SBIT] Loaded
2015-03-23T23:18:15.730Z,1427152695.730 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2015-03-23T23:18:15.731Z,1427152695.731 [IBIT](DEBUG): Construct Initiated Built In Test.
2015-03-23T23:18:15.762Z,1427152695.762 [IBIT] Loaded
2015-03-23T23:18:15.762Z,1427152695.762 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2015-03-23T23:18:15.764Z,1427152695.764 [CBIT](DEBUG): Construct CBIT Built In Test.
2015-03-23T23:18:15.905Z,1427152695.905 [CBIT] Loaded
2015-03-23T23:18:15.906Z,1427152695.906 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2015-03-23T23:18:15.906Z,1427152695.906 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2015-03-23T23:18:15.907Z,1427152695.907 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2015-03-23T23:18:15.939Z,1427152695.939 [DepthRateCalculator] Loaded
2015-03-23T23:18:15.939Z,1427152695.939 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2015-03-23T23:18:15.945Z,1427152695.945 [PitchRateCalculator] Loaded
2015-03-23T23:18:15.945Z,1427152695.945 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2015-03-23T23:18:15.958Z,1427152695.958 [SpeedCalculator] Loaded
2015-03-23T23:18:15.958Z,1427152695.958 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2015-03-23T23:18:15.975Z,1427152695.975 [TempGradientCalculator] Loaded
2015-03-23T23:18:15.976Z,1427152695.976 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2015-03-23T23:18:15.981Z,1427152695.981 [YawRateCalculator] Loaded
2015-03-23T23:18:15.982Z,1427152695.982 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2015-03-23T23:18:15.982Z,1427152695.982 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2015-03-23T23:18:15.983Z,1427152695.983 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2015-03-23T23:18:17.126Z,1427152697.126 [HFRCMReconstructedInterpolator] Loaded
2015-03-23T23:18:17.126Z,1427152697.126 [ComponentRegistry](DEBUG): SyncComponent "HFRCMReconstructedInterpolator" handled in the control thread.
2015-03-23T23:18:17.127Z,1427152697.127 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2015-03-23T23:18:17.128Z,1427152697.128 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2015-03-23T23:18:17.429Z,1427152697.429 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2015-03-23T23:18:17.429Z,1427152697.429 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2015-03-23T23:18:17.543Z,1427152697.543 [DeadReckonUsingMultipleVelocitySources] Loaded
2015-03-23T23:18:17.544Z,1427152697.544 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2015-03-23T23:18:17.562Z,1427152697.562 [NavChart] Loaded
2015-03-23T23:18:17.562Z,1427152697.562 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2015-03-23T23:18:17.566Z,1427152697.566 [UniversalFixResidualReporter] Loaded
2015-03-23T23:18:17.567Z,1427152697.567 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2015-03-23T23:18:17.567Z,1427152697.567 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2015-03-23T23:18:17.568Z,1427152697.568 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2015-03-23T23:18:17.577Z,1427152697.577 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2015-03-23T23:18:17.578Z,1427152697.578 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2015-03-23T23:18:17.713Z,1427152697.713 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2015-03-23T23:18:17.716Z,1427152697.716 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2015-03-23T23:18:18.381Z,1427152698.381 [DataOverHttps] Loaded
2015-03-23T23:18:18.382Z,1427152698.382 [ComponentRegistry](DEBUG): SyncComponent "DataOverHttps" handled in the control thread.
2015-03-23T23:18:18.465Z,1427152698.465 [Depth_Keller] Loaded
2015-03-23T23:18:18.465Z,1427152698.465 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2015-03-23T23:18:18.749Z,1427152698.749 [DVL_micro] Loaded
2015-03-23T23:18:18.749Z,1427152698.749 [ComponentRegistry](DEBUG): SyncComponent "DVL_micro" handled in the control thread.
2015-03-23T23:18:18.852Z,1427152698.852 [NAL9602] Loaded
2015-03-23T23:18:18.852Z,1427152698.852 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2015-03-23T23:18:18.897Z,1427152698.897 [Onboard] Loaded
2015-03-23T23:18:18.897Z,1427152698.897 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2015-03-23T23:18:18.905Z,1427152698.905 [Radio_Surface] Loaded
2015-03-23T23:18:18.905Z,1427152698.905 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2015-03-23T23:18:18.906Z,1427152698.906 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 408074E0
2015-03-23T23:18:18.907Z,1427152698.907 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 852
2015-03-23T23:18:18.958Z,1427152698.958 [PNI_TCM] Loaded
2015-03-23T23:18:18.959Z,1427152698.959 [ComponentRegistry](DEBUG): SyncComponent "PNI_TCM" handled in the control thread.
2015-03-23T23:18:20.947Z,1427152700.947 [BPC1] Loaded
2015-03-23T23:18:20.947Z,1427152700.947 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2015-03-23T23:18:20.948Z,1427152700.948 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2015-03-23T23:18:20.949Z,1427152700.949 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2015-03-23T23:18:21.115Z,1427152701.115 [BuoyancyServo] Loaded
2015-03-23T23:18:21.115Z,1427152701.115 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2015-03-23T23:18:21.128Z,1427152701.128 [ElevatorServo] Loaded
2015-03-23T23:18:21.129Z,1427152701.129 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2015-03-23T23:18:21.141Z,1427152701.141 [MassServo] Loaded
2015-03-23T23:18:21.142Z,1427152701.142 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2015-03-23T23:18:21.154Z,1427152701.154 [RudderServo] Loaded
2015-03-23T23:18:21.155Z,1427152701.155 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2015-03-23T23:18:21.167Z,1427152701.167 [ThrusterServo] Loaded
2015-03-23T23:18:21.167Z,1427152701.167 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2015-03-23T23:18:21.168Z,1427152701.168 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2015-03-23T23:18:21.168Z,1427152701.168 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2015-03-23T23:18:27.845Z,1427152707.845 [ExternalSim] Loaded
2015-03-23T23:18:27.845Z,1427152707.845 [ComponentRegistry](DEBUG): SyncComponent "ExternalSim" handled in the control thread.
2015-03-23T23:18:27.846Z,1427152707.846 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2015-03-23T23:18:27.846Z,1427152707.846 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2015-03-23T23:18:27.890Z,1427152707.890 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2015-03-23T23:18:27.892Z,1427152707.892 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2015-03-23T23:18:27.893Z,1427152707.893 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2015-03-23T23:18:27.900Z,1427152707.900 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2015-03-23T23:18:27.901Z,1427152707.901 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 408B84E0
2015-03-23T23:18:27.901Z,1427152707.901 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 853
2015-03-23T23:18:27.906Z,1427152707.906 [Supervisor](INFO): Main Thread ID is 764
2015-03-23T23:18:27.906Z,1427152707.906 [Supervisor](DEBUG): Running supervisor.
2015-03-23T23:18:27.907Z,1427152707.907 [CommandLine ThreadHandler](INFO): Handler Thread ID is 854
2015-03-23T23:18:27.910Z,1427152707.910 [controlThread ThreadHandler](INFO): Handler Thread ID is 855
2015-03-23T23:18:27.910Z,1427152707.910 [controlThread](DEBUG): Initializing ControlThread
2015-03-23T23:18:27.911Z,1427152707.911 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2015-03-23T23:18:27.913Z,1427152707.913 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2015-03-23T23:18:27.913Z,1427152707.913 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2015-03-23T23:18:27.914Z,1427152707.914 [LoopControl](DEBUG): Initialize LoopControlComponent.
2015-03-23T23:18:27.914Z,1427152707.914 [SBIT](INFO): Initialize SBIT Component.
2015-03-23T23:18:27.915Z,1427152707.915 [SBIT](IMPORTANT): Tethys CM Info: SVN revision:12012
2015-03-23T23:18:27.915Z,1427152707.915 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2015-03-23T23:18:27.915Z,1427152707.915 [SBIT](IMPORTANT): Kernel Version:#639 PREEMPT Wed Mar 12 12:53:33 PDT 2014
2015-03-23T23:18:27.916Z,1427152707.916 [IBIT](INFO): Initialize IBIT Component.
2015-03-23T23:18:27.917Z,1427152707.917 [CBIT](DEBUG): Initialize CBIT Component.
2015-03-23T23:18:27.917Z,1427152707.917 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2015-03-23T23:18:27.917Z,1427152707.917 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2015-03-23T23:18:27.918Z,1427152707.918 [logger ThreadHandler](INFO): Handler Thread ID is 856
2015-03-23T23:18:27.932Z,1427152707.932 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 857
2015-03-23T23:18:27.938Z,1427152707.938 [Radio_Surface](INFO): Powering up
2015-03-23T23:18:27.944Z,1427152707.944 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2015-03-23T23:18:27.944Z,1427152707.944 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2015-03-23T23:18:27.944Z,1427152707.944 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2015-03-23T23:18:27.945Z,1427152707.945 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2015-03-23T23:18:27.945Z,1427152707.945 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2015-03-23T23:18:27.946Z,1427152707.946 [HFRCMReconstructedInterpolator](INFO): Initializing HFRCMReconstructedInterpolator component with velocityAccuracy_ = 0.300000 m/s.
2015-03-23T23:18:27.948Z,1427152707.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): Initializing DeadReckonUsingMultipleVelocitySources component.
2015-03-23T23:18:27.948Z,1427152707.948 [NavChart](DEBUG): Initialize NavChart Navigation.
2015-03-23T23:18:27.949Z,1427152707.949 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2015-03-23T23:18:27.962Z,1427152707.962 [ExternalSim](INFO): ExternalSim initializing...
2015-03-23T23:18:27.964Z,1427152707.964 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 858
2015-03-23T23:18:27.977Z,1427152707.977 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2015-03-23T23:18:27.978Z,1427152707.978 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2015-03-23T23:18:27.979Z,1427152707.979 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2015-03-23T23:18:27.979Z,1427152707.979 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2015-03-23T23:18:27.979Z,1427152707.979 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2015-03-23T23:18:27.980Z,1427152707.980 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2015-03-23T23:18:27.980Z,1427152707.980 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2015-03-23T23:18:27.980Z,1427152707.980 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2015-03-23T23:18:27.980Z,1427152707.980 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2015-03-23T23:18:28.045Z,1427152708.045 [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
2015-03-23T23:18:28.161Z,1427152708.161 [ExternalSim](DEBUG): beaconLat = 36.80340
2015-03-23T23:18:28.161Z,1427152708.161 [ExternalSim](DEBUG): beaconLon = -121.82230
2015-03-23T23:18:28.161Z,1427152708.161 [ExternalSim](DEBUG): beaconDepth = 25.00
2015-03-23T23:18:28.276Z,1427152708.276 [ExternalSim](DEBUG): Simulator initialized
2015-03-23T23:18:28.430Z,1427152708.430 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2015-03-23T23:18:28.467Z,1427152708.467 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2015-03-23T23:18:28.496Z,1427152708.496 [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>


2015-03-23T23:18:28.497Z,1427152708.497 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2015-03-23T23:18:28.580Z,1427152708.580 [MissionManager](INFO): DefineArg Default.TimeMissionWasStarted = 0.000000 h
2015-03-23T23:18:28.584Z,1427152708.584 [MissionManager](INFO): DefineArg Default.ElapsedSinceMissionWasStarted = 0.000000 h
2015-03-23T23:18:28.604Z,1427152708.604 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2015-03-23T23:18:28.631Z,1427152708.631 [Default:CheckIn:A.SetSpeed](DEBUG): Construct.
2015-03-23T23:18:28.652Z,1427152708.652 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2015-03-23T23:18:28.676Z,1427152708.676 [Default:WaitAtTheSurface:RunApplicationAtLowSpeed.SetSpeed](DEBUG): Construct.
2015-03-23T23:18:28.698Z,1427152708.698 [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>


2015-03-23T23:18:28.713Z,1427152708.713 [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,
2015-03-23T23:18:28.880Z,1427152708.880 [DVL_micro](INFO): Initializing
2015-03-23T23:18:28.910Z,1427152708.910 [NAL9602](INFO): Powering up NAL9602
2015-03-23T23:18:29.153Z,1427152709.153 [HFRCMReconstructedInterpolator](DEBUG): no valid forecast
2015-03-23T23:18:29.166Z,1427152709.166 [DeadReckonUsingMultipleVelocitySources](DEBUG): No bottom track data -- 0 cycles since last successful read, accepting data for 5 cycles.
2015-03-23T23:18:29.294Z,1427152709.294 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2015-03-23T23:18:29.302Z,1427152709.302 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2015-03-23T23:18:29.309Z,1427152709.309 [ElevatorServo](DEBUG): Initializing EZServoServo.
2015-03-23T23:18:29.314Z,1427152709.314 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2015-03-23T23:18:29.321Z,1427152709.321 [MassServo](DEBUG): Initializing EZServoServo.
2015-03-23T23:18:29.326Z,1427152709.326 [MassServo](DEBUG): Initializing MassServo.
2015-03-23T23:18:29.340Z,1427152709.340 [RudderServo](DEBUG): Initializing EZServoServo.
2015-03-23T23:18:29.346Z,1427152709.346 [RudderServo](DEBUG): Initializing RudderServo.
2015-03-23T23:18:29.352Z,1427152709.352 [ThrusterServo](DEBUG): Initializing EZServoServo.
2015-03-23T23:18:29.358Z,1427152709.358 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2015-03-23T23:18:29.545Z,1427152709.545 [HFRCMReconstructedInterpolator](DEBUG): no valid forecast
2015-03-23T23:18:29.547Z,1427152709.547 [Radio_Surface](INFO): Powering down
2015-03-23T23:18:29.562Z,1427152709.562 [DeadReckonUsingMultipleVelocitySources](DEBUG): No bottom track data -- 1 cycles since last successful read, accepting data for 5 cycles.
2015-03-23T23:18:29.877Z,1427152709.877 [HFRCMReconstructedInterpolator](DEBUG): no valid forecast
2015-03-23T23:18:29.878Z,1427152709.878 [DeadReckonUsingMultipleVelocitySources](DEBUG): No bottom track data -- 2 cycles since last successful read, accepting data for 5 cycles.
2015-03-23T23:18:30.231Z,1427152710.231 [BuoyancyServo](ERROR): Buoyancy initialization uart error serial timeout
2015-03-23T23:18:30.231Z,1427152710.231 [BuoyancyServo](FAULT): Buoyancy failed to initialize
2015-03-23T23:18:30.231Z,1427152710.231 [BuoyancyServo] Communications Fault, FailCount= 1
2015-03-23T23:18:30.231Z,1427152710.231 [BuoyancyServo](ERROR): Communications Fault
2015-03-23T23:18:30.543Z,1427152710.543 [ElevatorServo](ERROR): Elevator initialization uart error I:serial timeout
2015-03-23T23:18:30.544Z,1427152710.544 [ElevatorServo](FAULT): Elevator failed to initialize
2015-03-23T23:18:30.544Z,1427152710.544 [ElevatorServo] Communications Fault, FailCount= 1
2015-03-23T23:18:30.544Z,1427152710.544 [ElevatorServo](ERROR): Communications Fault
2015-03-23T23:18:30.848Z,1427152710.848 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2015-03-23T23:18:30.848Z,1427152710.848 [RudderServo](FAULT): Rudder failed to initialize
2015-03-23T23:18:30.848Z,1427152710.848 [RudderServo] Communications Fault, FailCount= 1
2015-03-23T23:18:30.848Z,1427152710.848 [RudderServo](ERROR): Communications Fault
2015-03-23T23:18:31.160Z,1427152711.160 [ThrusterServo](ERROR): Thruster halt for initialization uart error serial timeout
2015-03-23T23:18:31.473Z,1427152711.473 [ThrusterServo](ERROR): Thruster initialization uart error serial timeout
2015-03-23T23:18:31.473Z,1427152711.473 [ThrusterServo](FAULT): Thruster failed to initialize
2015-03-23T23:18:31.473Z,1427152711.473 [ThrusterServo] Communications Fault, FailCount= 1
2015-03-23T23:18:31.473Z,1427152711.473 [ThrusterServo](ERROR): Communications Fault
2015-03-23T23:18:31.475Z,1427152711.475 [CBIT](ERROR): Communications Fault in component: BuoyancyServo
2015-03-23T23:18:31.476Z,1427152711.476 [CBIT](ERROR): Communications Fault in component: ElevatorServo
2015-03-23T23:18:31.476Z,1427152711.476 [CBIT](ERROR): Communications Fault in component: RudderServo
2015-03-23T23:18:31.476Z,1427152711.476 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2015-03-23T23:18:31.512Z,1427152711.512 [HFRCMReconstructedInterpolator](DEBUG): no valid forecast
2015-03-23T23:18:31.514Z,1427152711.514 [DeadReckonUsingMultipleVelocitySources](DEBUG): No bottom track data -- 3 cycles since last successful read, accepting data for 5 cycles.
2015-03-23T23:18:31.543Z,1427152711.543 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2015-03-23T23:18:31.543Z,1427152711.543 [BuoyancyServo](INFO): Powering down
2015-03-23T23:18:31.606Z,1427152711.606 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2015-03-23T23:18:31.606Z,1427152711.606 [ElevatorServo](INFO): Powering down
2015-03-23T23:18:31.966Z,1427152711.966 [MassServo](FAULT): Mass shifter EEPROM initialization uart error serial timeout
2015-03-23T23:18:31.966Z,1427152711.966 [MassServo] Communications Fault, FailCount= 1
2015-03-23T23:18:31.966Z,1427152711.966 [MassServo](ERROR): Communications Fault
2015-03-23T23:18:31.966Z,1427152711.966 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2015-03-23T23:18:31.967Z,1427152711.967 [RudderServo](INFO): Powering down
2015-03-23T23:18:31.999Z,1427152711.999 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2015-03-23T23:18:31.000Z,1427152712.000 [ThrusterServo](INFO): Powering down
2015-03-23T23:18:32.036Z,1427152712.036 [CBIT](ERROR): Communications Fault in component: MassServo
2015-03-23T23:18:32.121Z,1427152712.121 [HFRCMReconstructedInterpolator](DEBUG): no valid forecast
2015-03-23T23:18:32.122Z,142715