2015-05-18T20:47:54.324Z,1431982074.324 [Supervisor](DEBUG): Initializing supervisor.
2015-05-18T20:47:54.327Z,1431982074.327 [SyncHandler](DEBUG): Created PCaller Thread at 4034C4E0
2015-05-18T20:47:54.327Z,1431982074.327 [SyncHandler](INFO): Protected caller Thread ID is 766
2015-05-18T20:47:54.328Z,1431982074.328 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2015-05-18T20:47:54.332Z,1431982074.332 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4037C4E0
2015-05-18T20:47:54.332Z,1431982074.332 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 767
2015-05-18T20:47:54.335Z,1431982074.335 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2015-05-18T20:47:54.347Z,1431982074.347 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2015-05-18T20:47:54.352Z,1431982074.352 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 403AC4E0
2015-05-18T20:47:54.352Z,1431982074.352 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 768
2015-05-18T20:47:54.353Z,1431982074.353 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2015-05-18T20:47:54.356Z,1431982074.356 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403DC4E0
2015-05-18T20:47:54.356Z,1431982074.356 [logger ThreadHandler](INFO): Protected caller Thread ID is 769
2015-05-18T20:47:54.358Z,1431982074.358 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2015-05-18T20:47:54.359Z,1431982074.359 [Supervisor](INFO): Looking for Config files in directory: Config/
2015-05-18T20:47:54.362Z,1431982074.362 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2015-05-18T20:47:54.762Z,1431982074.762 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2015-05-18T20:47:54.763Z,1431982074.763 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2015-05-18T20:47:54.954Z,1431982074.954 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2015-05-18T20:47:54.955Z,1431982074.955 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2015-05-18T20:47:55.072Z,1431982075.072 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2015-05-18T20:47:55.073Z,1431982075.073 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2015-05-18T20:47:55.214Z,1431982075.214 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2015-05-18T20:47:55.215Z,1431982075.215 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2015-05-18T20:47:55.309Z,1431982075.309 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2015-05-18T20:47:55.495Z,1431982075.495 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2015-05-18T20:47:55.495Z,1431982075.495 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2015-05-18T20:47:55.593Z,1431982075.593 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2015-05-18T20:47:55.594Z,1431982075.594 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2015-05-18T20:47:55.851Z,1431982075.851 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2015-05-18T20:47:55.852Z,1431982075.852 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2015-05-18T20:47:56.264Z,1431982076.264 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2015-05-18T20:47:56.265Z,1431982076.265 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2015-05-18T20:47:56.620Z,1431982076.620 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2015-05-18T20:47:56.621Z,1431982076.621 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2015-05-18T20:47:57.218Z,1431982077.218 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2015-05-18T20:47:57.219Z,1431982077.219 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2015-05-18T20:47:57.442Z,1431982077.442 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2015-05-18T20:47:57.442Z,1431982077.442 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2015-05-18T20:47:57.554Z,1431982077.554 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2015-05-18T20:47:57.554Z,1431982077.554 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2015-05-18T20:47:58.045Z,1431982078.045 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2015-05-18T20:47:58.046Z,1431982078.046 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2015-05-18T20:47:58.193Z,1431982078.193 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2015-05-18T20:47:58.195Z,1431982078.195 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/
2015-05-18T20:47:58.199Z,1431982078.199 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Battery.cfg
2015-05-18T20:47:58.467Z,1431982078.467 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2015-05-18T20:47:58.468Z,1431982078.468 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/BIT.cfg
2015-05-18T20:47:58.605Z,1431982078.605 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Estimation.cfg
2015-05-18T20:47:58.712Z,1431982078.712 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Control.cfg
2015-05-18T20:47:58.820Z,1431982078.820 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Navigation.cfg
2015-05-18T20:47:58.928Z,1431982078.928 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Science.cfg
2015-05-18T20:47:59.096Z,1431982079.096 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Sensor.cfg
2015-05-18T20:47:59.285Z,1431982079.285 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Servo.cfg
2015-05-18T20:47:59.397Z,1431982079.397 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Simulator.cfg
2015-05-18T20:47:59.497Z,1431982079.497 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/logger.cfg
2015-05-18T20:47:59.592Z,1431982079.592 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/secure.cfg
2015-05-18T20:47:59.701Z,1431982079.701 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/vehicle.cfg
2015-05-18T20:47:59.908Z,1431982079.908 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2015-05-18T20:47:59.913Z,1431982079.913 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2015-05-18T20:47:59.987Z,1431982079.987 [VerticalControl](DEBUG): Construct VerticalControl.
2015-05-18T20:48:00.117Z,1431982080.117 [VerticalControl] Loaded
2015-05-18T20:48:00.118Z,1431982080.118 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2015-05-18T20:48:00.118Z,1431982080.118 [HorizontalControl](DEBUG): Construct HorizontalControl.
2015-05-18T20:48:00.201Z,1431982080.201 [HorizontalControl] Loaded
2015-05-18T20:48:00.202Z,1431982080.202 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2015-05-18T20:48:00.202Z,1431982080.202 [SpeedControl](DEBUG): Construct SpeedControl.
2015-05-18T20:48:00.208Z,1431982080.208 [SpeedControl] Loaded
2015-05-18T20:48:00.208Z,1431982080.208 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2015-05-18T20:48:00.209Z,1431982080.209 [LoopControl](DEBUG): Construct LoopControl.
2015-05-18T20:48:00.210Z,1431982080.210 [LoopControl] Loaded
2015-05-18T20:48:00.210Z,1431982080.210 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2015-05-18T20:48:00.210Z,1431982080.210 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2015-05-18T20:48:00.211Z,1431982080.211 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2015-05-18T20:48:00.367Z,1431982080.367 [SBIT](DEBUG): Construct Startup Built In Test.
2015-05-18T20:48:00.379Z,1431982080.379 [SBIT] Loaded
2015-05-18T20:48:00.379Z,1431982080.379 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2015-05-18T20:48:00.380Z,1431982080.380 [IBIT](DEBUG): Construct Initiated Built In Test.
2015-05-18T20:48:00.417Z,1431982080.417 [IBIT] Loaded
2015-05-18T20:48:00.417Z,1431982080.417 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2015-05-18T20:48:00.419Z,1431982080.419 [CBIT](DEBUG): Construct Continuous Built In Test.
2015-05-18T20:48:00.566Z,1431982080.566 [CBIT] Loaded
2015-05-18T20:48:00.566Z,1431982080.566 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2015-05-18T20:48:00.567Z,1431982080.567 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2015-05-18T20:48:00.568Z,1431982080.568 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2015-05-18T20:48:00.603Z,1431982080.603 [DepthRateCalculator] Loaded
2015-05-18T20:48:00.604Z,1431982080.604 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2015-05-18T20:48:00.609Z,1431982080.609 [PitchRateCalculator] Loaded
2015-05-18T20:48:00.609Z,1431982080.609 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2015-05-18T20:48:00.621Z,1431982080.621 [SpeedCalculator] Loaded
2015-05-18T20:48:00.621Z,1431982080.621 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2015-05-18T20:48:00.637Z,1431982080.637 [TempGradientCalculator] Loaded
2015-05-18T20:48:00.638Z,1431982080.638 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2015-05-18T20:48:00.643Z,1431982080.643 [YawRateCalculator] Loaded
2015-05-18T20:48:00.643Z,1431982080.643 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2015-05-18T20:48:00.643Z,1431982080.643 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2015-05-18T20:48:00.644Z,1431982080.644 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2015-05-18T20:48:05.268Z,1431982085.268 [HFRadarCompactModelForecaster] Loaded
2015-05-18T20:48:05.269Z,1431982085.269 [ComponentRegistry](DEBUG): SyncComponent "HFRadarCompactModelForecaster" handled in the control thread.
2015-05-18T20:48:06.460Z,1431982086.460 [HFRCMSpaceInterpolator] Loaded
2015-05-18T20:48:06.461Z,1431982086.461 [ComponentRegistry](DEBUG): SyncComponent "HFRCMSpaceInterpolator" handled in the control thread.
2015-05-18T20:48:06.463Z,1431982086.463 [HFRCMTimeInterpolator] Loaded
2015-05-18T20:48:06.463Z,1431982086.463 [ComponentRegistry](DEBUG): SyncComponent "HFRCMTimeInterpolator" handled in the control thread.
2015-05-18T20:48:07.582Z,1431982087.582 [HFRCMReconstructedInterpolator] Loaded
2015-05-18T20:48:07.582Z,1431982087.582 [ComponentRegistry](DEBUG): SyncComponent "HFRCMReconstructedInterpolator" handled in the control thread.
2015-05-18T20:48:07.594Z,1431982087.594 [HFRCMSurfaceCurrentAtVehicleLocation] Loaded
2015-05-18T20:48:07.594Z,1431982087.594 [ComponentRegistry](DEBUG): SyncComponent "HFRCMSurfaceCurrentAtVehicleLocation" handled in the control thread.
2015-05-18T20:48:07.624Z,1431982087.624 [HFRCMVirtualSurfaceDrifter] Loaded
2015-05-18T20:48:07.625Z,1431982087.625 [ComponentRegistry](DEBUG): SyncComponent "HFRCMVirtualSurfaceDrifter" handled in the control thread.
2015-05-18T20:48:07.625Z,1431982087.625 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2015-05-18T20:48:07.626Z,1431982087.626 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2015-05-18T20:48:07.908Z,1431982087.908 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2015-05-18T20:48:07.909Z,1431982087.909 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2015-05-18T20:48:08.032Z,1431982088.032 [DeadReckonUsingMultipleVelocitySources] Loaded
2015-05-18T20:48:08.032Z,1431982088.032 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2015-05-18T20:48:08.093Z,1431982088.093 [DeadReckonUsingSpeedCalculator] Loaded
2015-05-18T20:48:08.093Z,1431982088.093 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingSpeedCalculator" handled in the control thread.
2015-05-18T20:48:08.110Z,1431982088.110 [NavChart] Loaded
2015-05-18T20:48:08.110Z,1431982088.110 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2015-05-18T20:48:08.115Z,1431982088.115 [UniversalFixResidualReporter] Loaded
2015-05-18T20:48:08.115Z,1431982088.115 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2015-05-18T20:48:08.116Z,1431982088.116 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2015-05-18T20:48:08.116Z,1431982088.116 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2015-05-18T20:48:08.125Z,1431982088.125 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2015-05-18T20:48:08.126Z,1431982088.126 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2015-05-18T20:48:08.341Z,1431982088.341 [Aanderaa_O2] Loaded
2015-05-18T20:48:08.341Z,1431982088.341 [ComponentRegistry](DEBUG): SyncComponent "Aanderaa_O2" handled in the control thread.
2015-05-18T20:48:08.352Z,1431982088.352 [CANONSampler] Loaded
2015-05-18T20:48:08.353Z,1431982088.353 [ComponentRegistry](DEBUG): SyncComponent "CANONSampler" handled in the control thread.
2015-05-18T20:48:08.436Z,1431982088.436 [CTD_NeilBrown] Loaded
2015-05-18T20:48:08.436Z,1431982088.436 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2015-05-18T20:48:08.438Z,1431982088.438 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 406EA4E0
2015-05-18T20:48:08.438Z,1431982088.438 [CTD_NeilBrown ThreadHandler](INFO): Protected caller Thread ID is 851
2015-05-18T20:48:08.454Z,1431982088.454 [PAR_Licor] Loaded
2015-05-18T20:48:08.454Z,1431982088.454 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2015-05-18T20:48:08.508Z,1431982088.508 [WetLabsBB2FL] Loaded
2015-05-18T20:48:08.509Z,1431982088.509 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2015-05-18T20:48:08.510Z,1431982088.510 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 4071A4E0
2015-05-18T20:48:08.510Z,1431982088.510 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 852
2015-05-18T20:48:08.511Z,1431982088.511 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2015-05-18T20:48:08.511Z,1431982088.511 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2015-05-18T20:48:09.046Z,1431982089.046 [AcousticModem_Benthos_ATM900] Loaded
2015-05-18T20:48:09.047Z,1431982089.047 [ComponentRegistry](DEBUG): SyncComponent "AcousticModem_Benthos_ATM900" handled in the control thread.
2015-05-18T20:48:09.233Z,1431982089.233 [DataOverHttps] Loaded
2015-05-18T20:48:09.233Z,1431982089.233 [ComponentRegistry](DEBUG): SyncComponent "DataOverHttps" handled in the control thread.
2015-05-18T20:48:09.246Z,1431982089.246 [Depth_Keller] Loaded
2015-05-18T20:48:09.247Z,1431982089.247 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2015-05-18T20:48:09.256Z,1431982089.256 [DropWeight] Loaded
2015-05-18T20:48:09.256Z,1431982089.256 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2015-05-18T20:48:09.357Z,1431982089.357 [NAL9602] Loaded
2015-05-18T20:48:09.357Z,1431982089.357 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2015-05-18T20:48:09.402Z,1431982089.402 [Onboard] Loaded
2015-05-18T20:48:09.402Z,1431982089.402 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2015-05-18T20:48:09.409Z,1431982089.409 [Radio_Surface] Loaded
2015-05-18T20:48:09.409Z,1431982089.409 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2015-05-18T20:48:09.411Z,1431982089.411 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 4095E4E0
2015-05-18T20:48:09.412Z,1431982089.412 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 853
2015-05-18T20:48:09.624Z,1431982089.624 [PNI_TCM] Loaded
2015-05-18T20:48:09.624Z,1431982089.624 [ComponentRegistry](DEBUG): SyncComponent "PNI_TCM" handled in the control thread.
2015-05-18T20:48:09.820Z,1431982089.820 [Rowe_600] Loaded
2015-05-18T20:48:09.821Z,1431982089.821 [ComponentRegistry](DEBUG): SyncComponent "Rowe_600" handled in the control thread.
2015-05-18T20:48:11.864Z,1431982091.864 [BPC1] Loaded
2015-05-18T20:48:11.865Z,1431982091.865 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2015-05-18T20:48:11.865Z,1431982091.865 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2015-05-18T20:48:11.866Z,1431982091.866 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2015-05-18T20:48:12.001Z,1431982092.001 [BuoyancyServo] Loaded
2015-05-18T20:48:12.001Z,1431982092.001 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2015-05-18T20:48:12.013Z,1431982092.013 [ElevatorServo] Loaded
2015-05-18T20:48:12.014Z,1431982092.014 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2015-05-18T20:48:12.025Z,1431982092.025 [MassServo] Loaded
2015-05-18T20:48:12.026Z,1431982092.026 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2015-05-18T20:48:12.042Z,1431982092.042 [RudderServo] Loaded
2015-05-18T20:48:12.042Z,1431982092.042 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2015-05-18T20:48:12.054Z,1431982092.054 [ThrusterServo] Loaded
2015-05-18T20:48:12.054Z,1431982092.054 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2015-05-18T20:48:12.055Z,1431982092.055 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2015-05-18T20:48:12.055Z,1431982092.055 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2015-05-18T20:48:12.202Z,1431982092.202 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2015-05-18T20:48:12.203Z,1431982092.203 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2015-05-18T20:48:12.245Z,1431982092.245 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2015-05-18T20:48:12.249Z,1431982092.249 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2015-05-18T20:48:12.249Z,1431982092.249 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2015-05-18T20:48:12.256Z,1431982092.256 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2015-05-18T20:48:12.260Z,1431982092.260 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40A0C4E0
2015-05-18T20:48:12.260Z,1431982092.260 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 854
2015-05-18T20:48:12.265Z,1431982092.265 [Supervisor](INFO): Main Thread ID is 765
2015-05-18T20:48:12.265Z,1431982092.265 [Supervisor](DEBUG): Running supervisor.
2015-05-18T20:48:12.266Z,1431982092.266 [CommandLine ThreadHandler](INFO): Handler Thread ID is 855
2015-05-18T20:48:12.272Z,1431982092.272 [controlThread ThreadHandler](INFO): Handler Thread ID is 856
2015-05-18T20:48:12.273Z,1431982092.273 [controlThread](DEBUG): Initializing ControlThread
2015-05-18T20:48:12.274Z,1431982092.274 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2015-05-18T20:48:12.275Z,1431982092.275 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2015-05-18T20:48:12.276Z,1431982092.276 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2015-05-18T20:48:12.277Z,1431982092.277 [LoopControl](DEBUG): Initialize LoopControlComponent.
2015-05-18T20:48:12.277Z,1431982092.277 [SBIT](INFO): Initialize SBIT Component.
2015-05-18T20:48:12.278Z,1431982092.278 [SBIT](IMPORTANT): Tethys CM Info: SVN revision:12241
2015-05-18T20:48:12.278Z,1431982092.278 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2015-05-18T20:48:12.278Z,1431982092.278 [SBIT](IMPORTANT): Kernel Version:#639 PREEMPT Wed Mar 12 12:53:33 PDT 2014
2015-05-18T20:48:12.279Z,1431982092.279 [IBIT](INFO): Initialize IBIT Component.
2015-05-18T20:48:12.280Z,1431982092.280 [CBIT](DEBUG): Initialize CBIT Component.
2015-05-18T20:48:12.280Z,1431982092.280 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2015-05-18T20:48:12.280Z,1431982092.280 [CBIT](CRITICAL): LAST REBOOT DUE TO WATCHDOG TIMER RESET.
2015-05-18T20:48:12.284Z,1431982092.284 [logger ThreadHandler](INFO): Handler Thread ID is 857
2015-05-18T20:48:12.304Z,1431982092.304 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2015-05-18T20:48:12.304Z,1431982092.304 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2015-05-18T20:48:12.305Z,1431982092.305 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2015-05-18T20:48:12.305Z,1431982092.305 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2015-05-18T20:48:12.306Z,1431982092.306 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2015-05-18T20:48:12.319Z,1431982092.319 [HFRadarCompactModelForecaster](DEBUG): Found new ECs!
2015-05-18T20:48:12.320Z,1431982092.320 [HFRadarCompactModelForecaster](ERROR): Most recent ECs are more than six hours old.
2015-05-18T20:48:12.348Z,1431982092.348 [CTD_NeilBrown ThreadHandler](INFO): Handler Thread ID is 858
2015-05-18T20:48:12.349Z,1431982092.349 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2015-05-18T20:48:12.356Z,1431982092.356 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2015-05-18T20:48:12.366Z,1431982092.366 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 860
2015-05-18T20:48:12.368Z,1431982092.368 [WetLabsBB2FL](INFO): Powering down
2015-05-18T20:48:12.397Z,1431982092.397 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 861
2015-05-18T20:48:12.403Z,1431982092.403 [Radio_Surface](INFO): Powering up
2015-05-18T20:48:12.416Z,1431982092.416 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 862
2015-05-18T20:48:12.447Z,1431982092.447 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2015-05-18T20:48:12.448Z,1431982092.448 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2015-05-18T20:48:12.448Z,1431982092.448 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2015-05-18T20:48:12.448Z,1431982092.448 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2015-05-18T20:48:12.449Z,1431982092.449 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2015-05-18T20:48:12.449Z,1431982092.449 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2015-05-18T20:48:12.449Z,1431982092.449 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2015-05-18T20:48:12.449Z,1431982092.449 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2015-05-18T20:48:12.450Z,1431982092.450 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2015-05-18T20:48:12.777Z,1431982092.777 [CTD_NeilBrown](DEBUG): CTD uart timeout: serial timeout
2015-05-18T20:48:12.777Z,1431982092.777 [CTD_NeilBrown](ERROR): Could not get real or simulated CTD data. startTime.elapsed() = 0.420054
2015-05-18T20:48:21.438Z,1431982101.438 [HFRadarCompactModelForecaster](IMPORTANT): forecast time 201412101700 published
2015-05-18T20:48:21.442Z,1431982101.442 [HFRCMSpaceInterpolator](DEBUG): Initializing HFRCMSpaceInterpolator component with verbosity level 0.
2015-05-18T20:48:21.451Z,1431982101.451 [HFRCMTimeInterpolator](DEBUG): Initializing HFRCMTimeInterpolator component.
2015-05-18T20:48:21.452Z,1431982101.452 [HFRCMReconstructedInterpolator](INFO): Initializing HFRCMReconstructedInterpolator component with velocityAccuracy_ = 0.300000 m/s.
2015-05-18T20:48:21.453Z,1431982101.453 [HFRCMSurfaceCurrentAtVehicleLocation](DEBUG): Initializing HFRCMSurfaceCurrentAtVehicleLocation component.
2015-05-18T20:48:21.462Z,1431982101.462 [HFRCMVirtualSurfaceDrifter](DEBUG): Initializing HFRCMVirtualSurfaceDrifter component.
2015-05-18T20:48:21.463Z,1431982101.463 [DeadReckonUsingMultipleVelocitySources](DEBUG): Initializing DeadReckonUsingMultipleVelocitySources component.
2015-05-18T20:48:21.463Z,1431982101.463 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2015-05-18T20:48:21.463Z,1431982101.463 [NavChart](DEBUG): Initialize NavChart Navigation.
2015-05-18T20:48:21.464Z,1431982101.464 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2015-05-18T20:48:21.480Z,1431982101.480 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2015-05-18T20:48:21.518Z,1431982101.518 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2015-05-18T20:48:21.547Z,1431982101.547 [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>


2015-05-18T20:48:21.551Z,1431982101.551 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2015-05-18T20:48:21.639Z,1431982101.639 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2015-05-18T20:48:21.640Z,1431982101.640 [Default:A.GoToSurface](DEBUG): Construct GoToSurface.
2015-05-18T20:48:21.669Z,1431982101.669 [Default:CheckIn:A.SetSpeed](DEBUG): Construct.
2015-05-18T20:48:21.714Z,1431982101.714 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2015-05-18T20:48:21.737Z,1431982101.737 [Default:WaitAtTheSurface:RunApplicationAtLowSpeed.SetSpeed](DEBUG): Construct.
2015-05-18T20:48:21.755Z,1431982101.755 [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="ElapsedSinceDefaultStarted"><Units:minute/><Value>0</Value></DefineArg>

    <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>

<!-- 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:time_fix/>
        </ReadDatum>

<!-- Do data comms -->

        <Aggregate Id="ReportMinutesSinceMissionStarted">

            <When>
                <Elapsed><Universal:mission_started/></Elapsed>
                <Gt><Units:minute/><Value>10</Value></Gt>
                <And><Elapsed><Universal:time_fix/></Elapsed><Lt><Units:millisecond/><Value>500</Value></Lt></And>
            </When>

            <Assign><Arg Name="ElapsedSinceDefaultStarted"/><Elapsed><Universal:mission_started/></Elapsed></Assign>

            <Syslog Severity="Important">Default mission has been running for <Arg Name="ElapsedSinceDefaultStarted"/><Units:minute/></Syslog>

        </Aggregate>

        <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 weight due to communications timeout.</Syslog>
            </Timeout>
            <Universal:platform_communications/>
        </ReadDatum>

    </Aggregate>

    <Aggregate Id="WaitAtTheSurface">

        <Sequence/>

        <Guidance:SetSpeed Id="RunApplicationAtLowSpeed">
            <Parallel/>
            <Setting><Guidance:SetSpeed.period/><Units:second/><Value>5</Value></Setting>
        </Guidance:SetSpeed>

    </Aggregate>

</Mission>


2015-05-18T20:48:21.761Z,1431982101.761 [controlThread](DEBUG): Component order: CycleStarter,Aanderaa_O2,CANONSampler,PAR_Licor,AcousticModem_Benthos_ATM900,DataOverHttps,Depth_Keller,DropWeight,NAL9602,Onboard,PNI_TCM,Rowe_600,BPC1,PAR_Licor,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,HFRadarCompactModelForecaster,HFRCMSpaceInterpolator,HFRCMTimeInterpolator,HFRCMReconstructedInterpolator,HFRCMSurfaceCurrentAtVehicleLocation,HFRCMVirtualSurfaceDrifter,DeadReckonUsingMultipleVelocitySources,DeadReckonUsingSpeedCalculator,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2015-05-18T20:48:21.813Z,1431982101.813 [CANONSampler](INFO): Powering down
2015-05-18T20:48:21.839Z,1431982101.839 [AcousticModem_Benthos_ATM900](INFO): Powering up
2015-05-18T20:48:21.839Z,1431982101.839 [AcousticModem_Benthos_ATM900](DEBUG): Initializing AcousticModem_Benthos_ATM900.
2015-05-18T20:48:22.136Z,1431982102.136 [NAL9602](INFO): Powering up NAL9602
2015-05-18T20:48:22.225Z,1431982102.225 [Rowe_600](INFO): Initializing
2015-05-18T20:48:22.240Z,1431982102.240 [Rowe_600](INFO): Powering up
2015-05-18T20:48:30.252Z,1431982110.252 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 3.140000 seconds.
2015-05-18T20:48:30.252Z,1431982110.252 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2015-05-18T20:48:30.252Z,1431982110.252 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2015-05-18T20:48:30.432Z,1431982110.432 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 3.140000 seconds.
2015-05-18T20:48:30.432Z,1431982110.432 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 1
2015-05-18T20:48:30.433Z,1431982110.433 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2015-05-18T20:48:30.545Z,1431982110.545 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2015-05-18T20:48:30.556Z,1431982110.556 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2015-05-18T20:48:30.571Z,1431982110.571 [ElevatorServo](DEBUG): Initializing EZServoServo.
2015-05-18T20:48:30.581Z,1431982110.581 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2015-05-18T20:48:30.602Z,1431982110.602 [MassServo](DEBUG): Initializing EZServoServo.
2015-05-18T20:48:30.609Z,1431982110.609 [MassServo](DEBUG): Initializing MassServo.
2015-05-18T20:48:30.619Z,1431982110.619 [RudderServo](DEBUG): Initializing EZServoServo.
2015-05-18T20:48:30.625Z,1431982110.625 [RudderServo](DEBUG): Initializing RudderServo.
2015-05-18T20:48:30.646Z,1431982110.646 [ThrusterServo](DEBUG): Initializing EZServoServo.
2015-05-18T20:48:30.653Z,1431982110.653 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2015-05-18T20:48:30.711Z,1431982110.711 [CommandLine](FAULT): Scheduling is paused
2015-05-18T20:48:30.713Z,1431982110.713 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2015-05-18T20:48:30.713Z,1431982110.713 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2015-05-18T20:48:30.803Z,1431982110.803 [AcousticModem_Benthos_ATM900](DEBUG): 
2015-05-18T20:48:30.804Z,1431982110.804 [AcousticModem_Benthos_ATM900](DEBUG): Teledyne Benthos ATM-900 Series OEM w/burn wire
2015-05-18T20:48:30.805Z,1431982110.805 [AcousticModem_Benthos_ATM900](DEBUG): MF Frequency Band
2015-05-18T20:48:30.805Z,1431982110.805 [AcousticModem_Benthos_ATM900](DEBUG): Standard version 8.6.3
2015-05-18T20:48:30.998Z,1431982110.998 [SBIT](IMPORTANT): Beginning Startup BIT
2015-05-18T20:48:31.010Z,1431982111.010 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2015-05-18T20:48:31.010Z,1431982111.010 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2015-05-18T20:48:31.011Z,1431982111.011 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2015-05-18T20:48:31.011Z,1431982111.011 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 1
2015-05-18T20:48:31.012Z,1431982111.012 [CBIT](IMPORTANT): Beginning GF scan
2015-05-18T20:48:31.163Z,1431982111.163 [AcousticModem_Benthos_ATM900](DEBUG): May 18 2015 20:52:47 
2015-05-18T20:48:31.249Z,1431982111.249 [DeadReckonUsingMultipleVelocitySources](DEBUG): Initializing DeadReckonUsingMultipleVelocitySources component.
2015-05-18T20:48:31.250Z,1431982111.250 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2015-05-18T20:48:31.574Z,1431982111.574 [BuoyancyServo](ERROR): Buoyancy initialization uart error serial timeout
2015-05-18T20:48:31.574Z,1431982111.574 [BuoyancyServo](FAULT): Buoyancy failed to initialize
2015-05-18T20:48:31.574Z,1431982111.574 [BuoyancyServo] Communications Fault, FailCount= 1
2015-05-18T20:48:31.574Z,1431982111.574 [BuoyancyServo](ERROR): Communications Fault
2015-05-18T20:48:31.782Z,1431982111.782 [CBIT](ERROR): Communications Fault in component: BuoyancyServo
2015-05-18T20:48:31.906Z,1431982111.906 [Aanderaa_O2](INFO): Powering down
2015-05-18T20:48:32.027Z,1431982112.027 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 3.140000 seconds.
2015-05-18T20:48:32.027Z,1431982112.027 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2015-05-18T20:48:32.027Z,1431982112.027 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2015-05-18T20:48:32.029Z,1431982112.029 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 3.140000 seconds.
2015-05-18T20:48:32.029Z,1431982112.029 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 2
2015-05-18T20:48:32.029Z,1431982112.029 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2015-05-18T20:48:32.044Z,1431982112.044 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2015-05-18T20:48:32.045Z,1431982112.045 [BuoyancyServo](INFO): Powering down
2015-05-18T20:48:32.139Z,1431982112.139 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2015-05-18T20:48:32.139Z,1431982112.139 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2015-05-18T20:48:32.196Z,1431982112.196 [AcousticModem