2021-03-30T18:03:31.243Z,1617127411.243 [Supervisor](DEBUG): Initializing supervisor.
2021-03-30T18:03:31.248Z,1617127411.248 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2021-03-30T18:03:31.249Z,1617127411.249 [SyncHandler](INFO): Protected caller Thread ID is 6404
2021-03-30T18:03:31.249Z,1617127411.249 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2021-03-30T18:03:31.251Z,1617127411.251 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2021-03-30T18:03:31.251Z,1617127411.251 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 6405
2021-03-30T18:03:31.256Z,1617127411.256 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2021-03-30T18:03:31.274Z,1617127411.274 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2021-03-30T18:03:31.275Z,1617127411.275 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2021-03-30T18:03:31.276Z,1617127411.276 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 6406
2021-03-30T18:03:31.278Z,1617127411.278 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2021-03-30T18:03:31.279Z,1617127411.279 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2021-03-30T18:03:31.279Z,1617127411.279 [logger ThreadHandler](INFO): Protected caller Thread ID is 6407
2021-03-30T18:03:31.283Z,1617127411.283 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2021-03-30T18:03:31.283Z,1617127411.283 [Supervisor](INFO): Looking for Config files in directory: Config/
2021-03-30T18:03:31.285Z,1617127411.285 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2021-03-30T18:03:31.614Z,1617127411.614 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2021-03-30T18:03:31.614Z,1617127411.614 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2021-03-30T18:03:32.217Z,1617127412.217 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2021-03-30T18:03:32.217Z,1617127412.217 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2021-03-30T18:03:32.317Z,1617127412.317 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2021-03-30T18:03:32.317Z,1617127412.317 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2021-03-30T18:03:32.837Z,1617127412.837 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2021-03-30T18:03:32.837Z,1617127412.837 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2021-03-30T18:03:32.935Z,1617127412.935 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2021-03-30T18:03:32.936Z,1617127412.936 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2021-03-30T18:03:33.016Z,1617127413.016 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2021-03-30T18:03:33.369Z,1617127413.369 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2021-03-30T18:03:33.369Z,1617127413.369 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2021-03-30T18:03:33.517Z,1617127413.517 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2021-03-30T18:03:33.517Z,1617127413.517 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2021-03-30T18:03:33.642Z,1617127413.642 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2021-03-30T18:03:33.642Z,1617127413.642 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2021-03-30T18:03:33.867Z,1617127413.867 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2021-03-30T18:03:33.868Z,1617127413.868 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2021-03-30T18:03:34.304Z,1617127414.304 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2021-03-30T18:03:34.304Z,1617127414.304 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2021-03-30T18:03:34.667Z,1617127414.667 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2021-03-30T18:03:34.668Z,1617127414.668 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2021-03-30T18:03:34.747Z,1617127414.747 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2021-03-30T18:03:34.946Z,1617127414.946 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2021-03-30T18:03:34.946Z,1617127414.946 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2021-03-30T18:03:35.741Z,1617127415.741 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2021-03-30T18:03:35.741Z,1617127415.741 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2021-03-30T18:03:35.986Z,1617127415.986 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2021-03-30T18:03:35.988Z,1617127415.988 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-brizo/
2021-03-30T18:03:35.989Z,1617127415.989 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Control.cfg
2021-03-30T18:03:36.085Z,1617127416.085 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Sensor.cfg
2021-03-30T18:03:36.227Z,1617127416.227 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Simulator.cfg
2021-03-30T18:03:36.312Z,1617127416.312 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/secure.cfg
2021-03-30T18:03:36.394Z,1617127416.394 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Servo.cfg
2021-03-30T18:03:36.500Z,1617127416.500 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/vehicle.cfg
2021-03-30T18:03:36.678Z,1617127416.678 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Battery.cfg
2021-03-30T18:03:36.929Z,1617127416.929 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2021-03-30T18:03:36.930Z,1617127416.930 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Science.cfg
2021-03-30T18:03:37.048Z,1617127417.048 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/logger.cfg
2021-03-30T18:03:37.143Z,1617127417.143 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/BIT.cfg
2021-03-30T18:03:37.247Z,1617127417.247 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Navigation.cfg
2021-03-30T18:03:37.341Z,1617127417.341 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-brizo/root/
2021-03-30T18:03:37.341Z,1617127417.341 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2021-03-30T18:03:37.347Z,1617127417.347 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2021-03-30T18:03:37.434Z,1617127417.434 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2021-03-30T18:03:37.434Z,1617127417.434 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2021-03-30T18:03:37.445Z,1617127417.445 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2021-03-30T18:03:37.445Z,1617127417.445 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2021-03-30T18:03:37.486Z,1617127417.486 [DepthRateCalculator] Loaded
2021-03-30T18:03:37.487Z,1617127417.487 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2021-03-30T18:03:37.492Z,1617127417.492 [PitchRateCalculator] Loaded
2021-03-30T18:03:37.492Z,1617127417.492 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2021-03-30T18:03:37.502Z,1617127417.502 [SpeedCalculator] Loaded
2021-03-30T18:03:37.502Z,1617127417.502 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2021-03-30T18:03:37.515Z,1617127417.515 [TempGradientCalculator] Loaded
2021-03-30T18:03:37.515Z,1617127417.515 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2021-03-30T18:03:37.520Z,1617127417.520 [YawRateCalculator] Loaded
2021-03-30T18:03:37.520Z,1617127417.520 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2021-03-30T18:03:37.539Z,1617127417.539 [ElevatorOffsetCalculator] Loaded
2021-03-30T18:03:37.540Z,1617127417.540 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2021-03-30T18:03:37.540Z,1617127417.540 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2021-03-30T18:03:37.541Z,1617127417.541 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2021-03-30T18:03:37.593Z,1617127417.593 [VerticalControl](DEBUG): Construct VerticalControl.
2021-03-30T18:03:37.648Z,1617127417.648 [VerticalControl] Loaded
2021-03-30T18:03:37.648Z,1617127417.648 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2021-03-30T18:03:37.651Z,1617127417.651 [HorizontalControl](DEBUG): Construct HorizontalControl.
2021-03-30T18:03:37.687Z,1617127417.687 [HorizontalControl] Loaded
2021-03-30T18:03:37.688Z,1617127417.688 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2021-03-30T18:03:37.690Z,1617127417.690 [SpeedControl](DEBUG): Construct SpeedControl.
2021-03-30T18:03:37.693Z,1617127417.693 [SpeedControl] Loaded
2021-03-30T18:03:37.693Z,1617127417.693 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2021-03-30T18:03:37.695Z,1617127417.695 [LoopControl](DEBUG): Construct LoopControl.
2021-03-30T18:03:37.696Z,1617127417.696 [LoopControl] Loaded
2021-03-30T18:03:37.696Z,1617127417.696 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2021-03-30T18:03:37.697Z,1617127417.697 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2021-03-30T18:03:37.697Z,1617127417.697 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2021-03-30T18:03:37.775Z,1617127417.775 [DeadReckonUsingMultipleVelocitySources] Loaded
2021-03-30T18:03:37.775Z,1617127417.775 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2021-03-30T18:03:37.787Z,1617127417.787 [NavChart] Loaded
2021-03-30T18:03:37.788Z,1617127417.788 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2021-03-30T18:03:37.793Z,1617127417.793 [UniversalFixResidualReporter] Loaded
2021-03-30T18:03:37.793Z,1617127417.793 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2021-03-30T18:03:37.794Z,1617127417.794 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2021-03-30T18:03:37.794Z,1617127417.794 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2021-03-30T18:03:37.893Z,1617127417.893 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2021-03-30T18:03:37.894Z,1617127417.894 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2021-03-30T18:03:38.252Z,1617127418.252 [AHRS_M2] Loaded
2021-03-30T18:03:38.252Z,1617127418.252 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2021-03-30T18:03:39.008Z,1617127419.008 [BPC1] Loaded
2021-03-30T18:03:39.008Z,1617127419.008 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2021-03-30T18:03:39.084Z,1617127419.084 [DataOverHttps] Loaded
2021-03-30T18:03:39.084Z,1617127419.084 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2021-03-30T18:03:39.085Z,1617127419.085 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 408674E0
2021-03-30T18:03:39.086Z,1617127419.086 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 6489
2021-03-30T18:03:39.104Z,1617127419.104 [Depth_Keller] Loaded
2021-03-30T18:03:39.105Z,1617127419.105 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2021-03-30T18:03:39.138Z,1617127419.138 [DVL_micro] Loaded
2021-03-30T18:03:39.138Z,1617127419.138 [ComponentRegistry](DEBUG): SyncComponent "DVL_micro" handled in the control thread.
2021-03-30T18:03:39.194Z,1617127419.194 [NAL9602] Loaded
2021-03-30T18:03:39.195Z,1617127419.195 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2021-03-30T18:03:39.223Z,1617127419.223 [Onboard] Loaded
2021-03-30T18:03:39.223Z,1617127419.223 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2021-03-30T18:03:39.224Z,1617127419.224 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 408974E0
2021-03-30T18:03:39.224Z,1617127419.224 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 6490
2021-03-30T18:03:39.237Z,1617127419.237 [Radio_Surface] Loaded
2021-03-30T18:03:39.237Z,1617127419.237 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2021-03-30T18:03:39.238Z,1617127419.238 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 408C74E0
2021-03-30T18:03:39.238Z,1617127419.238 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 6491
2021-03-30T18:03:39.239Z,1617127419.239 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2021-03-30T18:03:39.240Z,1617127419.240 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2021-03-30T18:03:39.347Z,1617127419.347 [BuoyancyServo] Loaded
2021-03-30T18:03:39.347Z,1617127419.347 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2021-03-30T18:03:39.366Z,1617127419.366 [ElevatorServo] Loaded
2021-03-30T18:03:39.366Z,1617127419.366 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2021-03-30T18:03:39.384Z,1617127419.384 [MassServo] Loaded
2021-03-30T18:03:39.384Z,1617127419.384 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2021-03-30T18:03:39.402Z,1617127419.402 [RudderServo] Loaded
2021-03-30T18:03:39.402Z,1617127419.402 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2021-03-30T18:03:39.418Z,1617127419.418 [ThrusterServo] Loaded
2021-03-30T18:03:39.419Z,1617127419.419 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2021-03-30T18:03:39.419Z,1617127419.419 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2021-03-30T18:03:39.420Z,1617127419.420 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2021-03-30T18:03:39.476Z,1617127419.476 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2021-03-30T18:03:39.476Z,1617127419.476 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2021-03-30T18:03:39.504Z,1617127419.504 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2021-03-30T18:03:39.504Z,1617127419.504 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2021-03-30T18:03:39.811Z,1617127419.811 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2021-03-30T18:03:39.812Z,1617127419.812 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2021-03-30T18:03:39.979Z,1617127419.979 [CTD_Seabird] Loaded
2021-03-30T18:03:39.979Z,1617127419.979 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2021-03-30T18:03:39.980Z,1617127419.980 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 40A4F4E0
2021-03-30T18:03:39.981Z,1617127419.981 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 6492
2021-03-30T18:03:40.012Z,1617127420.012 [ESPComponent] Loaded
2021-03-30T18:03:40.012Z,1617127420.012 [ComponentRegistry](DEBUG): SyncComponent "ESPComponent" handled in the control thread.
2021-03-30T18:03:40.031Z,1617127420.031 [PAR_Licor] Loaded
2021-03-30T18:03:40.031Z,1617127420.031 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2021-03-30T18:03:40.061Z,1617127420.061 [WetLabsBB2FL] Loaded
2021-03-30T18:03:40.061Z,1617127420.061 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2021-03-30T18:03:40.063Z,1617127420.063 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 40A7F4E0
2021-03-30T18:03:40.063Z,1617127420.063 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 6493
2021-03-30T18:03:40.064Z,1617127420.064 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2021-03-30T18:03:40.064Z,1617127420.064 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2021-03-30T18:03:40.612Z,1617127420.612 [SBIT](DEBUG): Construct Startup Built In Test.
2021-03-30T18:03:40.632Z,1617127420.632 [SBIT] Loaded
2021-03-30T18:03:40.633Z,1617127420.633 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2021-03-30T18:03:40.635Z,1617127420.635 [IBIT](DEBUG): Construct Initiated Built In Test.
2021-03-30T18:03:40.690Z,1617127420.690 [IBIT] Loaded
2021-03-30T18:03:40.691Z,1617127420.691 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2021-03-30T18:03:40.696Z,1617127420.696 [CBIT](DEBUG): Construct Continuous Built In Test.
2021-03-30T18:03:40.892Z,1617127420.892 [CBIT] Loaded
2021-03-30T18:03:40.892Z,1617127420.892 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2021-03-30T18:03:40.894Z,1617127420.894 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2021-03-30T18:03:40.902Z,1617127420.902 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2021-03-30T18:03:40.904Z,1617127420.904 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2021-03-30T18:03:40.914Z,1617127420.914 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2021-03-30T18:03:40.915Z,1617127420.915 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40AEB4E0
2021-03-30T18:03:40.916Z,1617127420.916 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 6494
2021-03-30T18:03:40.920Z,1617127420.920 [Supervisor](INFO): Main Thread ID is 6210
2021-03-30T18:03:40.920Z,1617127420.920 [Supervisor](DEBUG): Running supervisor.
2021-03-30T18:03:40.921Z,1617127420.921 [CommandLine ThreadHandler](INFO): Handler Thread ID is 6495
2021-03-30T18:03:40.923Z,1617127420.923 [controlThread ThreadHandler](INFO): Handler Thread ID is 6496
2021-03-30T18:03:40.924Z,1617127420.924 [controlThread](DEBUG): Initializing ControlThread
2021-03-30T18:03:40.925Z,1617127420.925 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2021-03-30T18:03:40.925Z,1617127420.925 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2021-03-30T18:03:40.926Z,1617127420.926 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2021-03-30T18:03:40.926Z,1617127420.926 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2021-03-30T18:03:40.926Z,1617127420.926 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2021-03-30T18:03:40.927Z,1617127420.927 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2021-03-30T18:03:40.927Z,1617127420.927 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2021-03-30T18:03:40.929Z,1617127420.929 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2021-03-30T18:03:40.930Z,1617127420.930 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2021-03-30T18:03:40.930Z,1617127420.930 [LoopControl](DEBUG): Initialize LoopControlComponent.
2021-03-30T18:03:40.931Z,1617127420.931 [NavChart](DEBUG): Initialize NavChart Navigation.
2021-03-30T18:03:40.931Z,1617127420.931 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2021-03-30T18:03:40.937Z,1617127420.937 [SBIT](INFO): Initialize SBIT Component.
2021-03-30T18:03:40.938Z,1617127420.938 [SBIT](IMPORTANT): git: 2021-03-26
2021-03-30T18:03:40.938Z,1617127420.938 [SBIT](INFO): git hash: 3e39556f75aeeaed90da67e82e5e852ed9f537e3
2021-03-30T18:03:40.938Z,1617127420.938 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2021-03-30T18:03:40.938Z,1617127420.938 [SBIT](IMPORTANT): Kernel Version:#1 PREEMPT Tue Sep 24 11:12:27 PDT 2019
2021-03-30T18:03:40.939Z,1617127420.939 [SBIT](INFO): Beginning SBIT in 39.000000 seconds.
2021-03-30T18:03:40.940Z,1617127420.940 [IBIT](INFO): Initialize IBIT Component.
2021-03-30T18:03:40.941Z,1617127420.941 [CBIT](DEBUG): Initialize CBIT Component.
2021-03-30T18:03:40.942Z,1617127420.942 [logger ThreadHandler](INFO): Handler Thread ID is 6497
2021-03-30T18:03:40.953Z,1617127420.953 [CBIT](DEBUG): Initialized mux pins.
2021-03-30T18:03:40.953Z,1617127420.953 [CBIT](DEBUG): Initializing the watchdog timer.
2021-03-30T18:03:40.961Z,1617127420.961 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 6498
2021-03-30T18:03:40.962Z,1617127420.962 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2021-03-30T18:03:40.973Z,1617127420.973 [Onboard ThreadHandler](INFO): Handler Thread ID is 6499
2021-03-30T18:03:40.977Z,1617127420.977 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2021-03-30T18:03:40.978Z,1617127420.978 [CBIT](DEBUG): Initializing heartbeat.
2021-03-30T18:03:40.995Z,1617127420.995 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 6500
2021-03-30T18:03:41.005Z,1617127421.005 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 6501
2021-03-30T18:03:41.006Z,1617127421.006 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2021-03-30T18:03:41.010Z,1617127421.010 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 6503
2021-03-30T18:03:41.013Z,1617127421.013 [WetLabsBB2FL](INFO): Powering up
2021-03-30T18:03:41.015Z,1617127421.015 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 6505
2021-03-30T18:03:41.018Z,1617127421.018 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2021-03-30T18:03:41.018Z,1617127421.018 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2021-03-30T18:03:41.018Z,1617127421.018 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2021-03-30T18:03:41.018Z,1617127421.018 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2021-03-30T18:03:41.018Z,1617127421.018 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2021-03-30T18:03:41.018Z,1617127421.018 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2021-03-30T18:03:41.019Z,1617127421.019 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2021-03-30T18:03:41.019Z,1617127421.019 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2021-03-30T18:03:41.019Z,1617127421.019 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2021-03-30T18:03:41.019Z,1617127421.019 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2021-03-30T18:03:41.019Z,1617127421.019 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2021-03-30T18:03:41.019Z,1617127421.019 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2021-03-30T18:03:41.020Z,1617127421.020 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2021-03-30T18:03:41.020Z,1617127421.020 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2021-03-30T18:03:41.020Z,1617127421.020 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2021-03-30T18:03:41.020Z,1617127421.020 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2021-03-30T18:03:41.049Z,1617127421.049 [CBIT](DEBUG): Deactivating GF circuits.
2021-03-30T18:03:41.049Z,1617127421.049 [CBIT](DEBUG): Deactivating emergency mode.
2021-03-30T18:03:41.085Z,1617127421.085 [CBIT](DEBUG): Backplane powered.
2021-03-30T18:03:41.086Z,1617127421.086 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2021-03-30T18:03:41.097Z,1617127421.097 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2021-03-30T18:03:41.121Z,1617127421.121 [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://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.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>


2021-03-30T18:03:41.122Z,1617127421.122 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2021-03-30T18:03:41.176Z,1617127421.176 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2021-03-30T18:03:41.193Z,1617127421.193 [Default:A.Wait](DEBUG): Construct Wait.
2021-03-30T18:03:41.195Z,1617127421.195 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-03-30T18:03:41.215Z,1617127421.215 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2021-03-30T18:03:41.245Z,1617127421.245 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2021-03-30T18:03:41.251Z,1617127421.251 [Default:E.Execute](DEBUG): Construct Execute.
2021-03-30T18:03:41.276Z,1617127421.276 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
         xmlns="Tethys"
         xmlns:Units="Tethys/Units"
         xmlns:Guidance="Tethys/Guidance"
         xmlns:Universal="Tethys/Universal"
         xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                             Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                             Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                             Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
         Id="Default">

    <DefineArg Name="ElapsedSinceDefaultStarted"><Units:minute/><Value>0</Value></DefineArg>

    <Guidance:Wait>
        <Description>
            Wait a moment to see if the scheduler starts a new mission before
            starting to actually run Default.
        </Description>
        <Sequence/>
        <Setting><Guidance:Wait.duration/><Units:second/><Value>13</Value></Setting>
    </Guidance:Wait>

    <Guidance:GoToSurface>
        <Progression/>
    </Guidance:GoToSurface>

    <Aggregate Id="CheckIn">

        <Sequence Repeat="288"/>

        <ReadDatum Id="Read_GPS">
            <Timeout Duration="P5M"/>
            <Universal:time_fix/>
        </ReadDatum>

        <ReadDatum Id="Read_Iridium">
            <Timeout Duration="P2H">
                <Guidance:Execute>
                    <Sequence/>
                    <Setting><Guidance:Execute.command/><String>Burn on</String></Setting>
                </Guidance:Execute>
                <Syslog Severity="Critical">Dropped weight due to communications timeout.</Syslog>
            </Timeout>
            <Universal:platform_communications/>
        </ReadDatum>

        <Guidance:Wait>
            <Sequence/>
            <Setting><Guidance:Wait.duration/><Units:minute/><Value>5</Value></Setting>
        </Guidance:Wait>

        <Assign><Sequence/><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>

    <Syslog Severity="Important">Restarting logs and Default mission.</Syslog>

    <Guidance:Execute>
        <Sequence/>
        <Setting><Guidance:Execute.command/><String>restart logs</String></Setting>
    </Guidance:Execute>

</Mission>


2021-03-30T18:03:41.281Z,1617127421.281 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,Depth_Keller,DVL_micro,NAL9602,ESPComponent,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2021-03-30T18:03:41.305Z,1617127421.305 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2021-03-30T18:03:41.359Z,1617127421.359 [Depth_Keller](ERROR): Pressure reading out of range: 1829.799438 decibar
2021-03-30T18:03:41.371Z,1617127421.371 [DepthRateCalculator](ERROR): Depth measurement is not active
2021-03-30T18:03:41.399Z,1617127421.399 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-03-30T18:03:41.399Z,1617127421.399 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-03-30T18:03:41.400Z,1617127421.400 [ElevatorServo](DEBUG): Initializing EZServoServo.
2021-03-30T18:03:41.401Z,1617127421.401 [Radio_Surface](INFO): Powering up
2021-03-30T18:03:41.413Z,1617127421.413 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2021-03-30T18:03:41.414Z,1617127421.414 [MassServo](DEBUG): Initializing EZServoServo.
2021-03-30T18:03:41.421Z,1617127421.421 [MassServo](DEBUG): Initializing MassServo.
2021-03-30T18:03:41.422Z,1617127421.422 [RudderServo](DEBUG): Initializing EZServoServo.
2021-03-30T18:03:41.429Z,1617127421.429 [RudderServo](DEBUG): Initializing RudderServo.
2021-03-30T18:03:41.430Z,1617127421.430 [ThrusterServo](DEBUG): Initializing EZServoServo.
2021-03-30T18:03:41.441Z,1617127421.441 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2021-03-30T18:03:43.625Z,1617127423.625 [WetLabsBB2FL](INFO): Powering down
2021-03-30T18:04:09.567Z,1617127449.567 [NAL9602](INFO): Powering up NAL9602
2021-03-30T18:04:20.475Z,1617127460.475 [NAL9602](INFO): NAL9602 initialized
2021-03-30T18:04:20.508Z,1617127460.508 [SBIT](IMPORTANT): Beginning Startup BIT
2021-03-30T18:04:20.512Z,1617127460.512 [CBIT](IMPORTANT): Beginning ground fault scan
2021-03-30T18:04:31.441Z,1617127471.441 [CBIT](IMPORTANT): Ground fault detected
mA:
CHAN A0 (Batt): -0.004014
CHAN A1 (24V): 0.177973
CHAN A2 (12V): -0.000495
CHAN A3 (5V): 0.000066
CHAN B0 (3.3V): 0.001114
CHAN B1 (3.15aV): 0.000428
CHAN B2 (3.15bV): -0.000206
CHAN B3 (GND): 0.000631
OPEN: 0.004340
Full Scale Calc: 4.765 mA, -1.589 mA
2021-03-30T18:05:14.632Z,1617127514.632 [SBIT](IMPORTANT): SBIT PASSED
2021-03-30T18:05:14.632Z,1617127514.632 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2021-03-30T18:05:14.649Z,1617127514.649 [SBIT](IMPORTANT): BPC1.batteryMissingStickThreshold=2 count;

2021-03-30T18:05:14.649Z,1617127514.649 [SBIT](IMPORTANT): CBIT.gf24Offset=-26 microampere;

2021-03-30T18:05:14.649Z,1617127514.649 [SBIT](IMPORTANT): DropWeight.loadAtStartup=0 bool;

2021-03-30T18:05:14.649Z,1617127514.649 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=194.331976 cubic_centimeter;

2021-03-30T18:05:14.649Z,1617127514.649 [SBIT](IMPORTANT): VerticalControl.massDefault=4.752829 millimeter;

2021-03-30T18:05:15.034Z,1617127515.034 [MissionManager](IMPORTANT): Started mission Startup
2021-03-30T18:05:15.035Z,1617127515.035 [Startup] Running Loop=1
2021-03-30T18:05:15.035Z,1617127515.035 [Startup](DEBUG): Aggregate::initialize Startup
2021-03-30T18:05:15.035Z,1617127515.035 [Startup:A.GoToSurface] Running Loop=1
2021-03-30T18:05:15.035Z,1617127515.035 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-03-30T18:05:15.036Z,1617127515.036 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-03-30T18:05:15.036Z,1617127515.036 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-03-30T18:05:15.036Z,1617127515.036 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-03-30T18:05:15.037Z,1617127515.037 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-03-30T18:05:15.037Z,1617127515.037 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-03-30T18:05:15.039Z,1617127515.039 [Startup:StartupSatComms] Running Loop=1
2021-03-30T18:05:15.039Z,1617127515.039 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2021-03-30T18:05:15.039Z,1617127515.039 [Startup:StartupSatComms:A] Running Loop=1
2021-03-30T18:05:15.467Z,1617127515.467 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2021-03-30T18:05:19.619Z,1617127519.619 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.latitude_fix 36.799999 degree
2021-03-30T18:05:19.622Z,1617127519.622 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.latitude_fix" handled in the control thread.
2021-03-30T18:05:19.623Z,1617127519.623 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.longitude_fix -122.800003 degree
2021-03-30T18:05:19.626Z,1617127519.626 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.longitude_fix" handled in the control thread.
2021-03-30T18:05:19.922Z,1617127519.922 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,Depth_Keller,DVL_micro,NAL9602,ESPComponent,PAR_Licor,Depth_Keller,PAR_Licor,Maintain_NAL9602.latitude_fix,Maintain_NAL9602.longitude_fix,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2021-03-30T18:05:20.300Z,1617127520.300 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2021-03-30T18:05:20.300Z,1617127520.300 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2021-03-30T18:05:20.300Z,1617127520.300 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-03-30T18:05:20.301Z,1617127520.301 [Startup:StartupSatComms:A] Stopped
2021-03-30T18:05:20.301Z,1617127520.301 [Startup:StartupSatComms:B] Running Loop=1
2021-03-30T18:05:20.334Z,1617127520.334 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-03-30T18:05:20.708Z,1617127520.708 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2021-03-30T18:05:20.750Z,1617127520.750 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-03-30T18:05:20.750Z,1617127520.750 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2021-03-30T18:05:21.511Z,1617127521.511 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2021-03-30T18:05:21.511Z,1617127521.511 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2021-03-30T18:05:21.511Z,1617127521.511 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-03-30T18:05:21.590Z,1617127521.590 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-03-30T18:05:21.986Z,1617127521.986 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-03-30T18:05:21.986Z,1617127521.986 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2021-03-30T18:05:22.714Z,1617127522.714 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2021-03-30T18:05:22.714Z,1617127522.714 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 3
2021-03-30T18:05:22.714Z,1617127522.714 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-03-30T18:05:22.779Z,1617127522.779 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-03-30T18:05:23.170Z,1617127523.170 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-03-30T18:05:23.170Z,1617127523.170 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 3
2021-03-30T18:05:23.915Z,1617127523.915 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2021-03-30T18:05:23.915Z,1617127523.915 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 4
2021-03-30T18:05:23.915Z,1617127523.915 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-03-30T18:05:23.966Z,1617127523.966 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-03-30T18:05:24.354Z,1617127524.354 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-03-30T18:05:24.354Z,1617127524.354 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 4
2021-03-30T18:05:25.134Z,1617127525.134 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2021-03-30T18:05:25.134Z,1617127525.134 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 5
2021-03-30T18:05:25.134Z,1617127525.134 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-03-30T18:05:25.157Z,1617127525.157 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-03-30T18:05:25.554Z,1617127525.554 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-03-30T18:05:25.554Z,1617127525.554 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 5
2021-03-30T18:05:26.359Z,1617127526.359 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2021-03-30T18:05:26.359Z,1617127526.359 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 6
2021-03-30T18:05:26.359Z,1617127526.359 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-03-30T18:05:26.396Z,1617127526.396 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-03-30T18:05:26.776Z,1617127526.776 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-03-30T18:05:26.776Z,1617127526.776 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 6
2021-03-30T18:05:27.554Z,1617127527.554 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2021-03-30T18:05:27.554Z,1617127527.554 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 7
2021-03-30T18:05:27.554Z,1617127527.554 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-03-30T18:05:27.588Z,1617127527.588 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-03-30T18:05:27.993Z,1617127527.993 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-03-30T18:05:27.993Z,1617127527.993 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 7
2021-03-30T18:05:28.778Z,1617127528.778 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2021-03-30T18:05:28.778Z,1617127528.778 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 8
2021-03-30T18:05:28.778Z,1617127528.778 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-03-30T18:05:28.789Z,1617127528.789 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-03-30T18:05:29.202Z,1617127529.202 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-03-30T18:05:29.203Z,1617127529.203 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 8
2021-03-30T18:05:29.980Z,1617127529.980 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2021-03-30T18:05:29.980Z,1617127529.980 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 9
2021-03-30T18:05:29.980Z,1617127529.980 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-03-30T18:05:29.990Z,1617127529.990 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-03-30T18:05:30.553Z,1617127530.553 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-03-30T18:05:30.553Z,1617127530.553 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 9
2021-03-30T18:05:31.227Z,1617127531.227 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2021-03-30T18:05:31.228Z,1617127531.228 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 10
2021-03-30T18:05:31.228Z,1617127531.228 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-03-30T18:05:31.238Z,1617127531.238 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-03-30T18:05:31.406Z,1617127531.406 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1617127552.000000 second
2021-03-30T18:05:31.652Z,1617127531.652 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-03-30T18:05:31.652Z,1617127531.652 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 10
2021-03-30T18:05:41.814Z,1617127541.814 [CommandLine](IMPORTANT): got command get latitude
2021-03-30T18:05:41.815Z,1617127541.815 [CommandLine](IMPORTANT): latitude 36.799999 arcdeg
2021-03-30T18:05:59.718Z,1617127559.718 [CommandLine](IMPORTANT): got command show stack
2021-03-30T18:05:59.718Z,1617127559.718 [CommandLine](IMPORTANT): Behavior Stack:

2021-03-30T18:05:59.719Z,1617127559.719 [Startup](IMPORTANT): Priority 0: Startup:A.GoToSurface
2021-03-30T18:05:59.719Z,1617127559.719 [Startup:StartupSatComms](IMPORTANT): Priority 1: Startup:StartupSatComms:B
2021-03-30T18:06:08.579Z,1617127568.579 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004843
2021-03-30T18:06:16.513Z,1617127576.513 [DataOverHttps](INFO): Sending 104 bytes from file Logs/20210330T170827/Courier0019.lzma
2021-03-30T18:06:17.515Z,1617127577.515 [DataOverHttps](INFO): Moved sent file to Logs/20210330T170827/Courier0019.lzma.bak
2021-03-30T18:06:17.515Z,1617127577.515 [DataOverHttps](INFO): SBD MOMSN=15456724
2021-03-30T18:06:20.489Z,1617127580.489 [Startup:StartupSatComms:B](INFO): Timed out from 2021-03-30T18:05:20.3Z
2021-03-30T18:06:20.489Z,1617127580.489 [Startup:StartupSatComms:B] Stopped
2021-03-30T18:06:20.489Z,1617127580.489 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2021-03-30T18:06:20.489Z,1617127580.489 [Startup:StartupSatComms] Stopped
2021-03-30T18:06:20.489Z,1617127580.489 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2021-03-30T18:06:20.490Z,1617127580.490 [Startup](INFO): Completed Startup
2021-03-30T18:06:20.490Z,1617127580.490 [MissionManager](INFO): Startup is completed.
2021-03-30T18:06:20.490Z,1617127580.490 [MissionManager](INFO): Uninitializing Mission Startup
2021-03-30T18:06:20.490Z,1617127580.490 [Startup] Stopped
2021-03-30T18:06:20.491Z,1617127580.491 [Startup](DEBUG): Aggregate::uninitialize Startup
2021-03-30T18:06:20.491Z,1617127580.491 [Startup:A.GoToSurface] Stopped
2021-03-30T18:06:20.491Z,1617127580.491 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-03-30T18:06:20.920Z,1617127580.920 [MissionManager](IMPORTANT): Started mission Default
2021-03-30T18:06:20.920Z,1617127580.920 [Default] Running Loop=1
2021-03-30T18:06:20.920Z,1617127580.920 [Default](DEBUG): Aggregate::initialize Default
2021-03-30T18:06:20.920Z,1617127580.920 [Default:B.GoToSurface] Running Loop=1
2021-03-30T18:06:20.920Z,1617127580.920 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-03-30T18:06:20.921Z,1617127580.921 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-03-30T18:06:20.921Z,1617127580.921 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-03-30T18:06:20.921Z,1617127580.921 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-03-30T18:06:20.922Z,1617127580.922 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-03-30T18:06:20.922Z,1617127580.922 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-03-30T18:06:20.922Z,1617127580.922 [Default:A.Wait] Running Loop=1
2021-03-30T18:06:20.922Z,1617127580.922 [Default:A.Wait](DEBUG): Initialize Wait Component.
2021-03-30T18:06:34.251Z,1617127594.251 [Default:A.Wait](INFO): Done Waiting.
2021-03-30T18:06:34.251Z,1617127594.251 [Default:A.Wait] Stopped
2021-03-30T18:06:34.251Z,1617127594.251 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2021-03-30T18:06:34.504Z,1617127594.504 [DataOverHttps](INFO): Sending 151 bytes from file Logs/20210330T180331/Courier0000.lzma
2021-03-30T18:06:34.653Z,1617127594.653 [Default:CheckIn] Running Loop=1
2021-03-30T18:06:34.653Z,1617127594.653 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2021-03-30T18:06:34.654Z,1617127594.654 [Default:CheckIn:Read_GPS] Running Loop=1
2021-03-30T18:06:35.046Z,1617127595.046 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2021-03-30T18:06:35.507Z,1617127595.507 [DataOverHttps](INFO): Moved sent file to Logs/20210330T180331/Courier0000.lzma.bak
2021-03-30T18:06:35.508Z,1617127595.508 [DataOverHttps](IMPORTANT): SBD MOMSN=15456728, MTMSN=20210330T180652
2021-03-30T18:06:43.625Z,1617127603.625 [DataOverHttps](INFO): Received command:load Maintenance/sample.xml;set sample.MissionTimeout 120 minute;set sample.Depth 3 meter;set sample.CartridgeType -6 count;set sample.NumberOfSamples 2 count;set sample.WaitBeforeSample 10 second;run
2021-03-30T18:06:43.660Z,1617127603.660 [CommandLine](IMPORTANT): got command load ./Missions/Maintenance/sample.xml
2021-03-30T18:06:43.660Z,1617127603.660 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/sample.xml
2021-03-30T18:06:43.696Z,1617127603.696 [MissionManager](INFO): DefineArg sample.MissionTimeout = 90.000000 min
2021-03-30T18:06:43.699Z,1617127603.699 [MissionManager](INFO): DefineArg sample.Depth = 7.000000 m
2021-03-30T18:06:43.702Z,1617127603.702 [MissionManager](INFO): DefineArg sample.CartridgeType = -4.000000 count
2021-03-30T18:06:43.704Z,1617127603.704 [MissionManager](INFO): DefineArg sample.NumberOfSamples = 1.000000 count
2021-03-30T18:06:43.707Z,1617127603.707 [MissionManager](INFO): DefineArg sample.WaitBeforeSample = 3.000000 min
2021-03-30T18:06:43.709Z,1617127603.709 [sample:A.AbortSample](DEBUG): Construct.
2021-03-30T18:06:43.710Z,1617127603.710 [sample:B.Pitch](DEBUG): Construct.
2021-03-30T18:06:43.717Z,1617127603.717 [sample:C.SetSpeed](DEBUG): Construct.
2021-03-30T18:06:43.719Z,1617127603.719 [MissionManager](INFO): Inserting Stack: Missions/Insert/SampleAtDepth.xml
2021-03-30T18:06:43.915Z,1617127603.915 [MissionManager](INFO): DefineArg sample:SampleAtDepth.TargetDepth = 5.000000 m
2021-03-30T18:06:43.930Z,1617127603.930 [MissionManager](INFO): DefineArg sample:SampleAtDepth.SettleTime = 10.000000 s
2021-03-30T18:06:43.933Z,1617127603.933 [MissionManager](INFO): DefineArg sample:SampleAtDepth.MaxWaitNotReachingDepth = 3.000000 h
2021-03-30T18:06:43.936Z,1617127603.936 [MissionManager](INFO): DefineArg sample:SampleAtDepth.RotateOnly = 0.000000 bool
2021-03-30T18:06:43.959Z,1617127603.959 [MissionManager](INFO): DefineArg sample:SampleAtDepth.UseCANONSampler = 0.000000 bool
2021-03-30T18:06:43.975Z,1617127603.975 [MissionManager](INFO): DefineArg sample:SampleAtDepth.UseESP = 1.000000 bool
2021-03-30T18:06:43.985Z,1617127603.985 [MissionManager](INFO): DefineArg sample:SampleAtDepth.ESPCartridgeType = nan count
2021-03-30T18:06:43.988Z,1617127603.988 [MissionManager](INFO): DefineArg sample:SampleAtDepth.CANONSamplerTriggerTimeout = 1.000000 min
2021-03-30T18:06:44.000Z,1617127604.000 [MissionManager](INFO): DefineArg sample:SampleAtDepth.CANONSamplerTimeout = 6.000000 min
2021-03-30T18:06:44.004Z,1617127604.004 [MissionManager](INFO): DefineArg sample:SampleAtDepth.BuoyancyNeutral = 194.331966 cc
2021-03-30T18:06:44.007Z,1617127604.007 [sample:SampleAtDepth:ApproachDepth:B.Pitch](DEBUG): Construct.
2021-03-30T18:06:44.039Z,1617127604.039 [sample:SampleAtDepth:ApproachDepth:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2021-03-30T18:06:44.054Z,1617127604.054 [sample:SampleAtDepth:SampleWrapper:A.Pitch](DEBUG): Construct.
2021-03-30T18:06:44.074Z,1617127604.074 [sample:SampleAtDepth:SampleWrapper:C.Wait](DEBUG): Construct Wait.
2021-03-30T18:06:44.091Z,1617127604.091 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:TriggerCANONSampler:A_Timeout:B.Execute](DEBUG): Construct Execute.
2021-03-30T18:06:44.098Z,1617127604.098 [MissionManager](ERROR): Slate does not contain CTD_NeilBrown.bin_mean_sea_water_temperature
2021-03-30T18:06:44.098Z,1617127604.098 [MissionManager](ERROR): Slate does not contain celsius
2021-03-30T18:06:44.107Z,1617127604.107 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:E:A_Timeout:B.Execute](DEBUG): Construct Execute.
2021-03-30T18:06:44.116Z,1617127604.116 [sample:SampleAtDepth:SampleWrapper:SampleESP:SelectESPCartridge:A.ESPCartridgeSelect](DEBUG): Construct.
2021-03-30T18:06:44.169Z,1617127604.169 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<!-- ====================
     Generated by TethysL
     ==================== -->
<Mission xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
         xmlns="Tethys"
         xmlns:Units="Tethys/Units"
         xmlns:Guidance="Tethys/Guidance"
         xmlns:Sample="Tethys/Sample"
         xmlns:Control="Tethys/Control"
         xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                             Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                             Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                             Tethys/Sample http://okeanids.mbari.org/tethys/Xml/Sample.xsd
                             Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd"
       Id="sample">

    <Description>
        This mission is designed to be run in the test tank only and samples
        whichever sampler is installed once the vehicle reaches the target
        depth.
    </Description>

    <DefineArg Name="MissionTimeout"><Description>
        How long to let the mission run.
    </Description><Units:minute/><Value>90</Value></DefineArg>

    <DefineArg Name="Depth"><Description>
        Depth to sample at.
    </Description><Units:meter/><Value>7</Value></DefineArg>

    <DefineArg Name="CartridgeType"><Description>
        Specifies ESP cartridge type code (defaults to archiveHiBiomass_bac: -4)
    </Description><Units:count/><Value>-4</Value></DefineArg>

    <DefineArg Name="NumberOfSamples"><Description>
        Number of samples to take.
    </Description><Units:count/><Value>1</Value></DefineArg>

    <DefineArg Name="WaitBeforeSample"><Description>
        How long to wait between samples. This starts *before* the first sample
        to exercise the SettleTime setting in the insert aggregate.
    </Description><Units:minute/><Value>3</Value></DefineArg>

    <Timeout Duration="MissionTimeout"/>

    <Sample:AbortSample>
        <Parallel/>
    </Sample:AbortSample>

    <Guidance:Pitch>
        <Parallel/>
        <Setting><Guidance:Pitch.massPosition/><Control:VerticalControl.massDefault/></Setting>
    </Guidance:Pitch>

    <Guidance:SetSpeed>
        <Parallel/>
        <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0</Value></Setting>
    </Guidance:SetSpeed>

    <Insert Filename="Insert/SampleAtDepth.xml"/>

    <Assign><Sequence/><Arg Name="SampleAtDepth:TargetDepth"/><Arg Name="Depth"/></Assign>

    <Assign><Sequence/><Arg Name="SampleAtDepth:SettleTime"/><Arg Name="WaitBeforeSample"/></Assign>

    <Assign><Sequence/><Arg Name="SampleAtDepth:ESPCartridgeType"/><Arg Name="CartridgeType"/></Assign>

    <Aggregate Id="SampleRepeater">

        <Sequence Repeat="NumberOfSamples"/>

        <Call Id="Sample" RefId="SampleAtDepth"/>

    </Aggregate>

</Mission>


2021-03-30T18:06:44.169Z,1617127604.169 [CommandLine](IMPORTANT): Loaded ./Missions/Maintenance/sample.xml
2021-03-30T18:06:51.297Z,1617127611.297 [CommandLine](IMPORTANT): got command set sample.MissionTimeout 120.000000 minute
2021-03-30T18:06:51.298Z,1617127611.298 [CommandLine](IMPORTANT): got command set sample.Depth 3.000000 meter
2021-03-30T18:06:51.299Z,1617127611.299 [CommandLine](IMPORTANT): got command set sample.CartridgeType -6.000000 count
2021-03-30T18:06:51.299Z,1617127611.299 [CommandLine](IMPORTANT): got command set sample.NumberOfSamples 2.000000 count
2021-03-30T18:06:51.300Z,1617127611.300 [CommandLine](IMPORTANT): got command set sample.WaitBeforeSample 10.000000 second
2021-03-30T18:06:51.300Z,1617127611.300 [CommandLine](IMPORTANT): got command run
2021-03-30T18:06:51.303Z,1617127611.303 [CommandLine](IMPORTANT): Running 
2021-03-30T18:06:51.626Z,1617127611.626 [Default] Stopped
2021-03-30T18:06:51.626Z,1617127611.626 [Default](DEBUG): Aggregate::uninitialize Default
2021-03-30T18:06:51.626Z,1617127611.626 [Default:B.GoToSurface] Stopped
2021-03-30T18:06:51.626Z,1617127611.626 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-03-30T18:06:51.626Z,1617127611.626 [Default:CheckIn] Stopped
2021-03-30T18:06:51.626Z,1617127611.626 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2021-03-30T18:06:51.626Z,1617127611.626 [Default:CheckIn:Read_GPS] Stopped
2021-03-30T18:06:51.626Z,1617127611.626 [MissionManager](IMPORTANT): Started mission sample
2021-03-30T18:06:51.627Z,1617127611.627 [sample] Running Loop=1
2021-03-30T18:06:51.627Z,1617127611.627 [sample](DEBUG): Aggregate::initialize sample
2021-03-30T18:06:51.627Z,1617127611.627 [sample:A.AbortSample] Running Loop=1
2021-03-30T18:06:51.627Z,1617127611.627 [sample:A.AbortSample](INFO): Initializing AbortSample.
2021-03-30T18:06:51.627Z,1617127611.627 [sample:B.Pitch] Running Loop=1
2021-03-30T18:06:51.627Z,1617127611.627 [sample:B.Pitch](DEBUG): Initialize.
2021-03-30T18:06:51.627Z,1617127611.627 [sample:C.SetSpeed] Running Loop=1
2021-03-30T18:06:51.627Z,1617127611.627 [sample:C.SetSpeed](DEBUG): Initialize.
2021-03-30T18:06:51.628Z,1617127611.628 [sample:E] Running Loop=1
2021-03-30T18:06:51.628Z,1617127611.628 [sample:E] Stopped
2021-03-30T18:06:51.628Z,1617127611.628 [sample:F] Running Loop=1
2021-03-30T18:06:51.628Z,1617127611.628 [sample:C.SetSpeed] Running Loop=1
2021-03-30T18:06:51.628Z,1617127611.628 [sample:B.Pitch] Running Loop=1
2021-03-30T18:06:51.629Z,1617127611.629 [sample:A.AbortSample] Running Loop=1
2021-03-30T18:06:52.010Z,1617127612.010 [sample:F] Stopped
2021-03-30T18:06:52.011Z,1617127612.011 [sample:G] Running Loop=1
2021-03-30T18:06:52.413Z,1617127612.413 [sample:G] Stopped
2021-03-30T18:06:52.413Z,1617127612.413 [sample:SampleRepeater] Running Loop=1
2021-03-30T18:06:52.413Z,1617127612.413 [sample:SampleRepeater](DEBUG): Aggregate::initialize sample:SampleRepeater
2021-03-30T18:06:52.414Z,1617127612.414 [sample:SampleRepeater:Sample] Running Loop=1
2021-03-30T18:06:52.414Z,1617127612.414 [sample:SampleRepeater:Sample](DEBUG): Aggregate::initialize sample:SampleRepeater:Sample
2021-03-30T18:06:52.823Z,1617127612.823 [sample:SampleAtDepth] Running Loop=1
2021-03-30T18:06:52.823Z,1617127612.823 [sample:SampleAtDepth](DEBUG): Aggregate::initialize sample:SampleAtDepth
2021-03-30T18:06:52.823Z,1617127612.823 [sample:SampleAtDepth:ApproachDepth] Running Loop=1
2021-03-30T18:06:52.823Z,1617127612.823 [sample:SampleAtDepth:ApproachDepth](DEBUG): Aggregate::initialize sample:SampleAtDepth:ApproachDepth
2021-03-30T18:06:52.823Z,1617127612.823 [sample:SampleAtDepth:ApproachDepth:A] Running Loop=1
2021-03-30T18:06:52.824Z,1617127612.824 [sample:SampleAtDepth:ApproachDepth:A](INFO): Moving to 3.000000 m 
2021-03-30T18:06:52.824Z,1617127612.824 [sample:SampleAtDepth:ApproachDepth:A] Stopped
2021-03-30T18:06:52.824Z,1617127612.824 [sample:SampleAtDepth:ApproachDepth:B.Pitch] Running Loop=1
2021-03-30T18:06:52.824Z,1617127612.824 [sample:SampleAtDepth:ApproachDepth:B.Pitch](DEBUG): Initialize.
2021-03-30T18:06:58.413Z,1617127618.413 [CommandLine](IMPORTANT): got command get VerticalControl.depthCmd
2021-03-30T18:06:58.414Z,1617127618.414 [CommandLine](IMPORTANT): VerticalControl.depthCmd 3.000000 m
2021-03-30T18:07:07.902Z,1617127627.902 [CommandLine](IMPORTANT): got command maintain sensor Depth_Keller.depth 3.000000 meter
2021-03-30T18:07:07.906Z,1617127627.906 [ComponentRegistry](DEBUG): SyncComponent "Maintain_Depth_Keller.depth" handled in the control thread.
2021-03-30T18:07:08.258Z,1617127628.258 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,Depth_Keller,DVL_micro,NAL9602,ESPComponent,PAR_Licor,Depth_Keller,PAR_Licor,Maintain_NAL9602.latitude_fix,Maintain_NAL9602.longitude_fix,Maintain_Depth_Keller.depth,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2021-03-30T18:07:08.570Z,1617127628.570 [sample:SampleAtDepth:ApproachDepth:B.Pitch] Stopped
2021-03-30T18:07:08.571Z,1617127628.571 [sample:SampleAtDepth:ApproachDepth](INFO): Completed sample:SampleAtDepth:ApproachDepth
2021-03-30T18:07:08.571Z,1617127628.571 [sample:SampleAtDepth:ApproachDepth] Stopped
2021-03-30T18:07:08.571Z,1617127628.571 [sample:SampleAtDepth:ApproachDepth](DEBUG): Aggregate::uninitialize sample:SampleAtDepth:ApproachDepth
2021-03-30T18:07:08.571Z,1617127628.571 [sample:SampleAtDepth:SampleWrapper] Running Loop=1
2021-03-30T18:07:08.571Z,1617127628.571 [sample:SampleAtDepth:SampleWrapper](DEBUG): Aggregate::initialize sample:SampleAtDepth:SampleWrapper
2021-03-30T18:07:08.571Z,1617127628.571 [sample:SampleAtDepth:SampleWrapper:A.Pitch] Running Loop=1
2021-03-30T18:07:08.571Z,1617127628.571 [sample:SampleAtDepth:SampleWrapper:A.Pitch](DEBUG): Initialize.
2021-03-30T18:07:08.571Z,1617127628.571 [sample:SampleAtDepth:SampleWrapper:B] Running Loop=1
2021-03-30T18:07:08.979Z,1617127628.979 [sample:SampleAtDepth:SampleWrapper:B](IMPORTANT): At 3.000000 m , settling for 0.166667 min 
2021-03-30T18:07:08.979Z,1617127628.979 [sample:SampleAtDepth:SampleWrapper:B] Stopped
2021-03-30T18:07:08.979Z,1617127628.979 [sample:SampleAtDepth:SampleWrapper:C.Wait] Running Loop=1
2021-03-30T18:07:08.979Z,1617127628.979 [sample:SampleAtDepth:SampleWrapper:C.Wait](DEBUG): Initialize Wait Component.
2021-03-30T18:07:08.979Z,1617127628.979 [sample:SampleAtDepth:SampleWrapper:A.Pitch] Running Loop=1
2021-03-30T18:07:19.484Z,1617127639.484 [sample:SampleAtDepth:SampleWrapper:C.Wait](INFO): Done Waiting.
2021-03-30T18:07:19.484Z,1617127639.484 [sample:SampleAtDepth:SampleWrapper:C.Wait] Stopped
2021-03-30T18:07:19.484Z,1617127639.484 [sample:SampleAtDepth:SampleWrapper:C.Wait](DEBUG): Uninitialize Wait Component.
2021-03-30T18:07:19.485Z,1617127639.485 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler] Running Loop=1
2021-03-30T18:07:19.485Z,1617127639.485 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler](DEBUG): Aggregate::initialize sample:SampleAtDepth:SampleWrapper:SampleCANONSampler
2021-03-30T18:07:19.485Z,1617127639.485 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:A] Running Loop=1
2021-03-30T18:07:19.485Z,1617127639.485 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:B] Running Loop=1
2021-03-30T18:07:19.485Z,1617127639.485 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:TriggerCANONSampler] Running Loop=1
2021-03-30T18:07:19.882Z,1617127639.882 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler] Stopped
2021-03-30T18:07:19.882Z,1617127639.882 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler](DEBUG): Aggregate::uninitialize sample:SampleAtDepth:SampleWrapper:SampleCANONSampler
2021-03-30T18:07:19.882Z,1617127639.882 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:A] Stopped
2021-03-30T18:07:19.882Z,1617127639.882 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:B] Stopped
2021-03-30T18:07:19.882Z,1617127639.882 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:TriggerCANONSampler] Stopped
2021-03-30T18:07:19.882Z,1617127639.882 [sample:SampleAtDepth:SampleWrapper:SampleESP] Running Loop=1
2021-03-30T18:07:19.882Z,1617127639.882 [sample:SampleAtDepth:SampleWrapper:SampleESP](DEBUG): Aggregate::initialize sample:SampleAtDepth:SampleWrapper:SampleESP
2021-03-30T18:07:19.882Z,1617127639.882 [sample:SampleAtDepth:SampleWrapper:SampleESP:SelectESPCartridge] Running Loop=1
2021-03-30T18:07:19.883Z,1617127639.883 [sample:SampleAtDepth:SampleWrapper:SampleESP:SelectESPCartridge](DEBUG): Aggregate::initialize sample:SampleAtDepth:SampleWrapper:SampleESP:SelectESPCartridge
2021-03-30T18:07:19.883Z,1617127639.883 [sample:SampleAtDepth:SampleWrapper:SampleESP:SelectESPCartridge:A.ESPCartridgeSelect] Running Loop=1
2021-03-30T18:07:19.883Z,1617127639.883 [sample:SampleAtDepth:SampleWrapper:SampleESP:SelectESPCartridge:A.ESPCartridgeSelect](INFO): Initializing ESPCartridgeSelect.
2021-03-30T18:07:20.290Z,1617127640.290 [sample:SampleAtDepth:SampleWrapper:SampleESP:SelectESPCartridge:A.ESPCartridgeSelect](INFO): Issuing request for ESP cartridge type: -6.
2021-03-30T18:07:20.290Z,1617127640.290 [sample:SampleAtDepth:SampleWrapper:SampleESP:SelectESPCartridge:A.ESPCartridgeSelect] Stopped
2021-03-30T18:07:20.290Z,1617127640.290 [sample:SampleAtDepth:SampleWrapper:SampleESP:SelectESPCartridge:A.ESPCartridgeSelect](INFO): Uninitializing ESPCartridgeSelect.
2021-03-30T18:07:20.290Z,1617127640.290 [sample:SampleAtDepth:SampleWrapper:SampleESP:SelectESPCartridge](INFO): Completed sample:SampleAtDepth:SampleWrapper:SampleESP:SelectESPCartridge
2021-03-30T18:07:20.290Z,1617127640.290 [sample:SampleAtDepth:SampleWrapper:SampleESP:SelectESPCartridge] Stopped
2021-03-30T18:07:20.290Z,1617127640.290 [sample:SampleAtDepth:SampleWrapper:SampleESP:SelectESPCartridge](DEBUG): Aggregate::uninitialize sample:SampleAtDepth:SampleWrapper:SampleESP:SelectESPCartridge
2021-03-30T18:07:20.291Z,1617127640.291 [sample:SampleAtDepth:SampleWrapper:SampleESP:TriggerESP] Running Loop=1
2021-03-30T18:07:20.702Z,1617127640.702 [sample:SampleAtDepth:SampleWrapper:SampleESP:TriggerESP](DEBUG): Initialize ReadDataComponent to sense ESPComponent.sampling
2021-03-30T18:07:21.497Z,1617127641.497 [ESPComponent](IMPORTANT): Setting regex for ESP Log summary: 'Selecting Cartridge|Sampled|Error|Underpressure|Overpressure|Fail|Retry|Cmd::|Sampler::'
2021-03-30T18:07:21.500Z,1617127641.500 [ESPComponent](INFO): compiled regex: "Selecting Cartridge|Sampled|Error|Underpressure|Overpressure|Fail|Retry|Cmd::|Sampler::"
2021-03-30T18:07:21.501Z,1617127641.501 [ESPComponent](DEBUG): (612) Will wait for 10.0000 before power-up/connection sequence
2021-03-30T18:07:31.597Z,1617127651.597 [ESPComponent](DEBUG): (612) Done with wait. Will continue with general power-up/connection sequence
2021-03-30T18:07:31.600Z,1617127651.600 [ESPComponent](DEBUG): Error in ESPComm::open: cannot open socket port: Could not bind socket to port due to error: Address already in use errno=98
2021-03-30T18:07:31.999Z,1617127651.999 [ESPComponent](DEBUG): (612) Will wait for 10.0000 before power-up/connection sequence
2021-03-30T18:07:42.112Z,1617127662.112 [ESPComponent](DEBUG): (612) Done with wait. Will continue with general power-up/connection sequence
2021-03-30T18:07:42.113Z,1617127662.113 [ESPComponent](DEBUG): Error in ESPComm::open: cannot open socket port: Could not bind socket to port due to error: Address already in use errno=98
2021-03-30T18:07:42.501Z,1617127662.501 [ESPComponent](DEBUG): (612) Will wait for 10.0000 before power-up/connection sequence
2021-03-30T18:07:52.612Z,1617127672.612 [ESPComponent](DEBUG): (612) Done with wait. Will continue with general power-up/connection sequence
2021-03-30T18:07:52.613Z,1617127672.613 [ESPComponent](DEBUG): Error in ESPComm::open: cannot open socket port: Could not bind socket to port due to error: Address already in use errno=98
2021-03-30T18:07:53.012Z,1617127673.012 [ESPComponent](DEBUG): (612) Will wait for 10.0000 before power-up/connection sequence
2021-03-30T18:08:03.109Z,1617127683.109 [ESPComponent](DEBUG): (612) Done with wait. Will continue with general power-up/connection sequence
2021-03-30T18:08:03.110Z,1617127683.110 [ESPComponent](DEBUG): Error in ESPComm::open: cannot open socket port: Could not bind socket to port due to error: Address already in use errno=98
2021-03-30T18:08:03.529Z,1617127683.529 [ESPComponent](DEBUG): (612) Will wait for 10.0000 before power-up/connection sequence
2021-03-30T18:08:12.765Z,1617127692.765 [CommandLine](IMPORTANT): got command show stack
2021-03-30T18:08:12.766Z,1617127692.766 [CommandLine](IMPORTANT): Behavior Stack:

2021-03-30T18:08:12.766Z,1617127692.766 [sample](IMPORTANT): Priority 0: sample:A.AbortSample
2021-03-30T18:08:12.766Z,1617127692.766 [sample](IMPORTANT): Priority 1: sample:B.Pitch
2021-03-30T18:08:12.766Z,1617127692.766 [sample](IMPORTANT): Priority 2: sample:C.SetSpeed
2021-03-30T18:08:12.767Z,1617127692.767 [sample:SampleAtDepth:SampleWrapper](IMPORTANT): Priority 3: sample:SampleAtDepth:SampleWrapper:A.Pitch
2021-03-30T18:08:12.767Z,1617127692.767 [sample:SampleAtDepth:SampleWrapper:SampleESP](IMPORTANT): Priority 4: sample:SampleAtDepth:SampleWrapper:SampleESP:TriggerESP
2021-03-30T18:08:13.637Z,1617127693.637 [ESPComponent](DEBUG): (612) Done with wait. Will continue with general power-up/connection sequence
2021-03-30T18:08:13.638Z,1617127693.638 [ESPComponent](DEBUG): Error in ESPComm::open: cannot open socket port: Could not bind socket to port due to error: Address already in use errno=98
2021-03-30T18:08:14.017Z,1617127694.017 [ESPComponent](DEBUG): (612) Will wait for 10.0000 before power-up/connection sequence
2021-03-30T18:08:24.134Z,1617127704.134 [ESPComponent](DEBUG): (612) Done with wait. Will continue with general power-up/connection sequence
2021-03-30T18:08:24.135Z,1617127704.135 [ESPComponent](DEBUG): Error in ESPComm::open: cannot open socket port: Could not bind socket to port due to error: Address already in use errno=98
2021-03-30T18:08:24.573Z,1617127704.573 [ESPComponent](DEBUG): (612) Will wait for 10.0000 before power-up/connection sequence
2021-03-30T18:08:34.717Z,1617127714.717 [ESPComponent](DEBUG): (612) Done with wait. Will continue with general power-up/connection sequence
2021-03-30T18:08:34.719Z,1617127714.719 [ESPComponent](DEBUG): Error in ESPComm::open: cannot open socket port: Could not bind socket to port due to error: Address already in use errno=98
2021-03-30T18:08:35.113Z,1617127715.113 [ESPComponent](DEBUG): (612) Will wait for 10.0000 before power-up/connection sequence
2021-03-30T18:08:45.209Z,1617127725.209 [ESPComponent](DEBUG): (612) Done with wait. Will continue with general power-up/connection sequence
2021-03-30T18:08:45.210Z,1617127725.210 [ESPComponent](DEBUG): Error in ESPComm::open: cannot open socket port: Could not bind socket to port due to error: Address already in use errno=98
2021-03-30T18:08:45.617Z,1617127725.617 [ESPComponent](DEBUG): (612) Will wait for 10.0000 before power-up/connection sequence
2021-03-30T18:08:48.982Z,1617127728.982 [CommandLine](IMPORTANT): got command get depth
2021-03-30T18:08:48.983Z,1617127728.983 [CommandLine](IMPORTANT): depth 3.000000 m
2021-03-30T18:08:50.606Z,1617127730.606 [CommandLine](IMPORTANT): got command show stack
2021-03-30T18:08:50.606Z,1617127730.606 [CommandLine](IMPORTANT): Behavior Stack:

2021-03-30T18:08:50.607Z,1617127730.607 [sample](IMPORTANT): Priority 0: sample:A.AbortSample
2021-03-30T18:08:50.607Z,1617127730.607 [sample](IMPORTANT): Priority 1: sample:B.Pitch
2021-03-30T18:08:50.607Z,1617127730.607 [sample](IMPORTANT): Priority 2: sample:C.SetSpeed
2021-03-30T18:08:50.608Z,1617127730.608 [sample:SampleAtDepth:SampleWrapper](IMPORTANT): Priority 3: sample:SampleAtDepth:SampleWrapper:A.Pitch
2021-03-30T18:08:50.608Z,1617127730.608 [sample:SampleAtDepth:SampleWrapper:SampleESP](IMPORTANT): Priority 4: sample:SampleAtDepth:SampleWrapper:SampleESP:TriggerESP
2021-03-30T18:08:54.150Z,1617127734.150 [CommandLine](IMPORTANT): got command get VerticalControl.depthCmd
2021-03-30T18:08:54.151Z,1617127734.151 [CommandLine](IMPORTANT): VerticalControl.depthCmd 3.000000 m
2021-03-30T18:08:55.713Z,1617127735.713 [ESPComponent](DEBUG): (612) Done with wait. Will continue with general power-up/connection sequence
2021-03-30T18:08:55.714Z,1617127735.714 [ESPComponent](DEBUG): Error in ESPComm::open: cannot open socket port: Could not bind socket to port due to error: Address already in use errno=98
2021-03-30T18:08:56.121Z,1617127736.121 [ESPComponent](DEBUG): (612) Will wait for 10.0000 before power-up/connection sequence
2021-03-30T18:08:58.256Z,1617127738.256 [CommandLine](IMPORTANT): got command show stack
2021-03-30T18:08:58.256Z,1617127738.256 [CommandLine](IMPORTANT): Behavior Stack:

2021-03-30T18:08:58.257Z,1617127738.257 [sample](IMPORTANT): Priority 0: sample:A.AbortSample
2021-03-30T18:08:58.258Z,1617127738.258 [sample](IMPORTANT): Priority 1: sample:B.Pitch
2021-03-30T18:08:58.258Z,1617127738.258 [sample](IMPORTANT): Priority 2: sample:C.SetSpeed
2021-03-30T18:08:58.258Z,1617127738.258 [sample:SampleAtDepth:SampleWrapper](IMPORTANT): Priority 3: sample:SampleAtDepth:SampleWrapper:A.Pitch
2021-03-30T18:08:58.259Z,1617127738.259 [sample:SampleAtDepth:SampleWrapper:SampleESP](IMPORTANT): Priority 4: sample:SampleAtDepth:SampleWrapper:SampleESP:TriggerESP
2021-03-30T18:09:06.253Z,1617127746.253 [ESPComponent](DEBUG): (612) Done with wait. Will continue with general power-up/connection sequence
2021-03-30T18:09:06.254Z,1617127746.254 [ESPComponent](DEBUG): Error in ESPComm::open: cannot open socket port: Could not bind socket to port due to error: Address already in use errno=98
2021-03-30T18:09:06.653Z,1617127746.653 [ESPComponent](DEBUG): (612) Will wait for 10.0000 before power-up/connection sequence
2021-03-30T18:09:16.729Z,1617127756.729 [ESPComponent](DEBUG): (612) Done with wait. Will continue with general power-up/connection sequence
2021-03-30T18:09:16.730Z,1617127756.730 [ESPComponent](DEBUG): Error in ESPComm::open: cannot open socket port: Could not bind socket to port due to error: Address already in use errno=98
2021-03-30T18:09:17.141Z,1617127757.141 [ESPComponent](DEBUG): (612) Will wait for 10.0000 before power-up/connection sequence
2021-03-30T18:09:23.579Z,1617127763.579 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2021-03-30T18:09:27.216Z,1617127767.216 [ESPComponent](DEBUG): (612) Done with wait. Will continue with general power-up/connection sequence
2021-03-30T18:09:27.220Z,1617127767.220 [ESPComponent](DEBUG): Error in ESPComm::open: cannot open socket port: Could not bind socket to port due to error: Address already in use errno=98
2021-03-30T18:09:27.628Z,1617127767.628 [ESPComponent](DEBUG): (612) Will wait for 10.0000 before power-up/connection sequence
2021-03-30T18:09:37.728Z,1617127777.728 [ESPComponent](DEBUG): (612) Done with wait. Will continue with general power-up/connection sequence
2021-03-30T18:09:37.729Z,1617127777.729 [ESPComponent](DEBUG): Error in ESPComm::open: cannot open socket port: Could not bind socket to port due to error: Address already in use errno=98
2021-03-30T18:09:38.123Z,1617127778.123 [ESPComponent](DEBUG): (612) Will wait for 10.0000 before power-up/connection sequence
2021-03-30T18:09:48.250Z,1617127788.250 [ESPComponent](DEBUG): (612) Done with wait. Will continue with general power-up/connection sequence
2021-03-30T18:09:48.252Z,1617127788.252 [ESPComponent](DEBUG): Error in ESPComm::open: cannot open socket port: Could not bind socket to port due to error: Address already in use errno=98
2021-03-30T18:09:48.751Z,1617127788.751 [ESPComponent](DEBUG): (612) Will wait for 10.0000 before power-up/connection sequence
2021-03-30T18:09:54.286Z,1617127794.286 [NAL9602](INFO): Not Powering down - fast GPS
2021-03-30T18:09:59.130Z,1617127799.130 [ESPComponent](DEBUG): (612) Done with wait. Will continue with general power-up/connection sequence
2021-03-30T18:09:59.132Z,1617127799.132 [ESPComponent](DEBUG): Error in ESPComm::open: cannot open socket port: Could not bind socket to port due to error: Address already in use errno=98
2021-03-30T18:09:59.535Z,1617127799.535 [ESPComponent](DEBUG): (612) Will wait for 10.0000 before power-up/connection sequence
2021-03-30T18:10:06.145Z,1617127806.145 [Radio_Surface](INFO): Powering down
2021-03-30T18:10:06.369Z,1617127806.369 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2021-03-30T18:10:07.611Z,1617127807.611 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1617127808.000000 second
2021-03-30T18:10:09.634Z,1617127809.634 [ESPComponent](DEBUG): (612) Done with wait. Will continue with general power-up/connection sequence
2021-03-30T18:10:09.635Z,1617127809.635 [ESPComponent](DEBUG): Error in ESPComm::open: cannot open socket port: Could not bind socket to port due to error: Address already in use errno=98
2021-03-30T18:10:10.040Z,1617127810.040 [ESPComponent](DEBUG): (612) Will wait for 10.0000 before power-up/connection sequence
2021-03-30T18:10:20.138Z,1617127820.138 [ESPComponent](DEBUG): (612) Done with wait. Will continue with general power-up/connection sequence
2021-03-30T18:10:20.139Z,1617127820.139 [ESPComponent](DEBUG): Error in ESPComm::open: cannot open socket port: Could not bind socket to port due to error: Address already in use errno=98
2021-03-30T18:10:20.543Z,1617127820.543 [ESPComponent](DEBUG): (612) Will wait for 10.0000 before power-up/connection sequence
2021-03-30T18:10:26.199Z,1617127826.199 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2021-03-30T18:10:30.650Z,1617127830.650 [ESPComponent](DEBUG): (612) Done with wait. Will continue with general power-up/connection sequence
2021-03-30T18:10:30.651Z,1617127830.651 [ESPComponent](DEBUG): Error in ESPComm::open: cannot open socket port: Could not bind socket to port due to error: Address already in use errno=98
2021-03-30T18:10:31.071Z,1617127831.071 [ESPComponent](DEBUG): (612) Will wait for 10.0000 before power-up/connection sequence
2021-03-30T18:10:31.302Z,1617127831.302 [CommandLine](IMPORTANT): got command show stack
2021-03-30T18:10:31.303Z,1617127831.303 [CommandLine](IMPORTANT): Behavior Stack:

2021-03-30T18:10:31.303Z,1617127831.303 [sample](IMPORTANT): Priority 0: sample:A.AbortSample
2021-03-30T18:10:31.303Z,1617127831.303 [sample](IMPORTANT): Priority 1: sample:B.Pitch
2021-03-30T18:10:31.303Z,1617127831.303 [sample](IMPORTANT): Priority 2: sample:C.SetSpeed
2021-03-30T18:10:31.304Z,1617127831.304 [sample:SampleAtDepth:SampleWrapper](IMPORTANT): Priority 3: sample:SampleAtDepth:SampleWrapper:A.Pitch
2021-03-30T18:10:31.304Z,1617127831.304 [sample:SampleAtDepth:SampleWrapper:SampleESP](IMPORTANT): Priority 4: sample:SampleAtDepth:SampleWrapper:SampleESP:TriggerESP
2021-03-30T18:10:41.161Z,1617127841.161 [ESPComponent](DEBUG): (612) Done with wait. Will continue with general power-up/connection sequence
2021-03-30T18:10:41.162Z,1617127841.162 [ESPComponent](DEBUG): Error in ESPComm::open: cannot open socket port: Could not bind socket to port due to error: Address already in use errno=98
2021-03-30T18:10:41.541Z,1617127841.541 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.271175
2021-03-30T18:10:41.563Z,1617127841.563 [ESPComponent](DEBUG): (612) Will wait for 10.0000 before power-up/connection sequence
2021-03-30T18:10:46.545Z,1617127846.545 [Radio_Surface](INFO): Powering up
2021-03-30T18:10:47.975Z,1617127847.975 [CommandLine](IMPORTANT): got command maintain sensor Depth_Keller.depth 2.000000 meter
2021-03-30T18:10:51.657Z,1617127851.657 [ESPComponent](DEBUG): (612) Done with wait. Will continue with general power-up/connection sequence
2021-03-30T18:10:51.659Z,1617127851.659 [ESPComponent](DEBUG): Error in ESPComm::open: cannot open socket port: Could not bind socket to port due to error: Address already in use errno=98
2021-03-30T18:10:52.055Z,1617127852.055 [ESPComponent](DEBUG): (612) Will wait for 10.0000 before power-up/connection sequence
2021-03-30T18:10:52.605Z,1617127852.605 [Radio_Surface](INFO): Powering down
2021-03-30T18:10:53.287Z,1617127853.287 [CommandLine](IMPORTANT): got command maintain sensor Depth_Keller.depth 3.500000 meter
2021-03-30T18:10:56.502Z,1617127856.502 [DVL_micro](ERROR): only read 3 of 4 data items
2021-03-30T18:10:56.502Z,1617127856.502 [DVL_micro](ERROR): Failed to parse:
:BI,+00189,00321,+00000,I
2021-03-30T18:10:59.591Z,1617127859.591 [CommandLine](IMPORTANT): got command maintain sensor Depth_Keller.depth 3.000000 meter
2021-03-30T18:11:02.154Z,1617127862.154 [ESPComponent](DEBUG): (612) Done with wait. Will continue with general power-up/connection sequence
2021-03-30T18:11:02.155Z,1617127862.155 [ESPComponent](DEBUG): Error in ESPComm::open: cannot open socket port: Could not bind socket to port due to error: Address already in use errno=98
2021-03-30T18:11:02.563Z,1617127862.563 [ESPComponent](DEBUG): (612) Will wait for 10.0000 before power-up/connection sequence
2021-03-30T18:11:04.838Z,1617127864.838 [CommandLine](IMPORTANT): got command stop
2021-03-30T18:11:04.839Z,1617127864.839 [CommandLine](IMPORTANT): Scheduling is paused
2021-03-30T18:11:04.839Z,1617127864.839 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2021-03-30T18:11:04.000Z,1617127865.000 [MissionManager](INFO): MissionManager is completed.
2021-03-30T18:11:05.000Z,1617127865.000 [MissionManager](INFO): Uninitializing Mission sample
2021-03-30T18:11:05.000Z,1617127865.000 [sample] Stopped
2021-03-30T18:11:05.000Z,1617127865.000 [sample](DEBUG): Aggregate::uninitialize sample
2021-03-30T18:11:05.000Z,1617127865.000 [sample:A.AbortSample] Stopped
2021-03-30T18:11:05.000Z,1617127865.000 [sample:A.AbortSample](INFO): Uninitializing AbortSample.
2021-03-30T18:11:05.001Z,1617127865.001 [sample:B.Pitch] Stopped
2021-03-30T18:11:05.001Z,1617127865.001 [sample:C.SetSpeed] Stopped
2021-03-30T18:11:05.001Z,1617127865.001 [sample:C.SetSpeed](DEBUG): Uninitialize.
2021-03-30T18:11:05.001Z,1617127865.001 [sample:SampleAtDepth] Stopped
2021-03-30T18:11:05.001Z,1617127865.001 [sample:SampleAtDepth](DEBUG): Aggregate::uninitialize sample:SampleAtDepth
2021-03-30T18:11:05.001Z,1617127865.001 [sample:SampleAtDepth:SampleWrapper] Stopped
2021-03-30T18:11:05.001Z,1617127865.001 [sample:SampleAtDepth:SampleWrapper](DEBUG): Aggregate::uninitialize sample:SampleAtDepth:SampleWrapper
2021-03-30T18:11:05.001Z,1617127865.001 [sample:SampleAtDepth:SampleWrapper:A.Pitch] Stopped
2021-03-30T18:11:05.001Z,1617127865.001 [sample:SampleAtDepth:SampleWrapper:SampleESP] Stopped
2021-03-30T18:11:05.001Z,1617127865.001 [sample:SampleAtDepth:SampleWrapper:SampleESP](DEBUG): Aggregate::uninitialize sample:SampleAtDepth:SampleWrapper:SampleESP
2021-03-30T18:11:05.002Z,1617127865.002 [sample:SampleAtDepth:SampleWrapper:SampleESP:TriggerESP] Stopped
2021-03-30T18:11:05.002Z,1617127865.002 [sample:SampleRepeater] Stopped
2021-03-30T18:11:05.002Z,1617127865.002 [sample:SampleRepeater](DEBUG): Aggregate::uninitialize sample:SampleRepeater
2021-03-30T18:11:05.002Z,1617127865.002 [sample:SampleRepeater:Sample] Stopped
2021-03-30T18:11:05.002Z,1617127865.002 [sample:SampleRepeater:Sample](DEBUG): Aggregate::uninitialize sample:SampleRepeater:Sample
2021-03-30T18:11:05.402Z,1617127865.402 [MissionManager](IMPORTANT): Started mission Default
2021-03-30T18:11:05.402Z,1617127865.402 [Default] Running Loop=1
2021-03-30T18:11:05.402Z,1617127865.402 [Default](DEBUG): Aggregate::initialize Default
2021-03-30T18:11:05.402Z,1617127865.402 [Default:B.GoToSurface] Running Loop=1
2021-03-30T18:11:05.402Z,1617127865.402 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-03-30T18:11:05.403Z,1617127865.403 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-03-30T18:11:05.403Z,1617127865.403 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-03-30T18:11:05.403Z,1617127865.403 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-03-30T18:11:05.403Z,1617127865.403 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-03-30T18:11:05.404Z,1617127865.404 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-03-30T18:11:05.404Z,1617127865.404 [Default:A.Wait] Running Loop=1
2021-03-30T18:11:05.404Z,1617127865.404 [Default:A.Wait](DEBUG): Initialize Wait Component.
2021-03-30T18:11:05.802Z,1617127865.802 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -27.00 mm (1 active estimators).
2021-03-30T18:11:05.937Z,1617127865.937 [Radio_Surface](INFO): Powering up
2021-03-30T18:11:09.391Z,1617127869.391 [CommandLine](IMPORTANT): got command maintain sensor Depth_Keller.depth 0.000000 meter
2021-03-30T18:11:11.677Z,1617127871.677 [DataOverHttps](INFO): Radio surface powered ON.
2021-03-30T18:11:12.658Z,1617127872.658 [ESPComponent](DEBUG): (612) Done with wait. Will continue with general power-up/connection sequence
2021-03-30T18:11:12.660Z,1617127872.660 [ESPComponent](DEBUG): Error in ESPComm::open: cannot open socket port: Could not bind socket to port due to error: Address already in use errno=98
2021-03-30T18:11:13.467Z,1617127873.467 [ESPComponent](INFO): powering down ESP
2021-03-30T18:11:13.467Z,1617127873.467 [ESPComponent](INFO): powering down ESP secondary power supply
2021-03-30T18:11:18.731Z,1617127878.731 [Default:A.Wait](INFO): Done Waiting.
2021-03-30T18:11:18.732Z,1617127878.732 [Default:A.Wait] Stopped
2021-03-30T18:11:18.732Z,1617127878.732 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2021-03-30T18:11:19.176Z,1617127879.176 [Default:CheckIn] Running Loop=1
2021-03-30T18:11:19.176Z,1617127879.176 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2021-03-30T18:11:19.176Z,1617127879.176 [Default:CheckIn:Read_GPS] Running Loop=1
2021-03-30T18:11:19.548Z,1617127879.548 [BPC1](ERROR): Battery stick #6 (s/n: 00CA) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2021-03-30T18:11:19.549Z,1617127879.549 [BPC1](INFO): Calculating totals. Valid battery stick count: 55. Valid reserve battery stick count: 6.
2021-03-30T18:11:19.552Z,1617127879.552 [BPC1](INFO): Received data from all battery sticks.
2021-03-30T18:11:41.797Z,1617127901.797 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-03-30T18:11:51.846Z,1617127911.846 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2021-03-30T18:11:51.921Z,1617127911.921 [NAL9602](FAULT): received: 
+CSQ:0

OK
2021-03-30T18:11:51.921Z,1617127911.921 [NAL9602] Data Fault, FailCount= 1
2021-03-30T18:11:51.921Z,1617127911.921 [NAL9602](ERROR): Data Fault
2021-03-30T18:11:51.982Z,1617127911.982 [CBIT](ERROR): Data Fault in component: NAL9602
2021-03-30T18:11:52.250Z,1617127912.250 [NAL9602](INFO): Powering down
2021-03-30T18:11:53.133Z,1617127913.133 [CBIT](INFO): Clearing failed state for component NAL9602
2021-03-30T18:11:53.133Z,1617127913.133 [NAL9602] No Fault, FailCount= 1
2021-03-30T18:12:16.961Z,1617127936.961 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-03-30T18:12:22.548Z,1617127942.548 [NAL9602](INFO): Powering up NAL9602
2021-03-30T18:12:33.468Z,1617127953.468 [NAL9602](INFO): NAL9602 initialized
2021-03-30T18:12:52.101Z,1617127972.101 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-03-30T18:13:27.241Z,1617128007.241 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-03-30T18:13:40.349Z,1617128020.349 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003338
2021-03-30T18:15:33.205Z,1617128133.205 [CommandLine](IMPORTANT): got command maintain
2021-03-30T18:15:33.206Z,1617128133.206 [Maintain_NAL9602.latitude_fix](INFO): NAL9602.latitude_fix maintaining 36.799999 arcdeg
2021-03-30T18:15:33.206Z,1617128133.206 [Maintain_NAL9602.longitude_fix](INFO): NAL9602.longitude_fix maintaining -122.800003 arcdeg
2021-03-30T18:15:33.207Z,1617128133.207 [Maintain_Depth_Keller.depth](INFO): Depth_Keller.depth maintaining 0.000000 m
2021-03-30T18:15:49.414Z,1617128149.414 [DVL_micro](ERROR): Failed to parse:
9.99,+9999.99,+9999.99,+9999.99
2021-03-30T18:16:02.527Z,1617128162.527 [DataOverHttps](IMPORTANT): SBD MTMSN=20210330T181619
2021-03-30T18:16:10.401Z,1617128170.401 [DataOverHttps](INFO): Received command:load Maintenance/sample.xml;set sample.MissionTimeout 120 minute;set sample.Depth 3 meter;set sample.CartridgeType -6 count;set sample.NumberOfSamples 2 count;set sample.WaitBeforeSample 10 second;run
2021-03-30T18:16:10.448Z,1617128170.448 [CommandLine](IMPORTANT): got command load ./Missions/Maintenance/sample.xml
2021-03-30T18:16:10.448Z,1617128170.448 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/sample.xml
2021-03-30T18:16:10.511Z,1617128170.511 [MissionManager](INFO): DefineArg sample.MissionTimeout = 90.000000 min
2021-03-30T18:16:10.513Z,1617128170.513 [MissionManager](INFO): DefineArg sample.Depth = 7.000000 m
2021-03-30T18:16:10.515Z,1617128170.515 [MissionManager](INFO): DefineArg sample.CartridgeType = -4.000000 count
2021-03-30T18:16:10.517Z,1617128170.517 [MissionManager](INFO): DefineArg sample.NumberOfSamples = 1.000000 count
2021-03-30T18:16:10.519Z,1617128170.519 [MissionManager](INFO): DefineArg sample.WaitBeforeSample = 3.000000 min
2021-03-30T18:16:10.521Z,1617128170.521 [sample:A.AbortSample](DEBUG): Construct.
2021-03-30T18:16:10.522Z,1617128170.522 [sample:B.Pitch](DEBUG): Construct.
2021-03-30T18:16:10.527Z,1617128170.527 [sample:C.SetSpeed](DEBUG): Construct.
2021-03-30T18:16:10.554Z,1617128170.554 [MissionManager](INFO): Inserting Stack: Missions/Insert/SampleAtDepth.xml
2021-03-30T18:16:10.642Z,1617128170.642 [MissionManager](INFO): DefineArg sample:SampleAtDepth.TargetDepth = 5.000000 m
2021-03-30T18:16:10.644Z,1617128170.644 [MissionManager](INFO): DefineArg sample:SampleAtDepth.SettleTime = 10.000000 s
2021-03-30T18:16:10.646Z,1617128170.646 [MissionManager](INFO): DefineArg sample:SampleAtDepth.MaxWaitNotReachingDepth = 3.000000 h
2021-03-30T18:16:10.648Z,1617128170.648 [MissionManager](INFO): DefineArg sample:SampleAtDepth.RotateOnly = 0.000000 bool
2021-03-30T18:16:10.651Z,1617128170.651 [MissionManager](INFO): DefineArg sample:SampleAtDepth.UseCANONSampler = 0.000000 bool
2021-03-30T18:16:10.654Z,1617128170.654 [MissionManager](INFO): DefineArg sample:SampleAtDepth.UseESP = 1.000000 bool
2021-03-30T18:16:10.656Z,1617128170.656 [MissionManager](INFO): DefineArg sample:SampleAtDepth.ESPCartridgeType = nan count
2021-03-30T18:16:10.658Z,1617128170.658 [MissionManager](INFO): DefineArg sample:SampleAtDepth.CANONSamplerTriggerTimeout = 1.000000 min
2021-03-30T18:16:10.660Z,1617128170.660 [MissionManager](INFO): DefineArg sample:SampleAtDepth.CANONSamplerTimeout = 6.000000 min
2021-03-30T18:16:10.664Z,1617128170.664 [MissionManager](INFO): DefineArg sample:SampleAtDepth.BuoyancyNeutral = 194.331966 cc
2021-03-30T18:16:10.670Z,1617128170.670 [sample:SampleAtDepth:ApproachDepth:B.Pitch](DEBUG): Construct.
2021-03-30T18:16:10.675Z,1617128170.675 [sample:SampleAtDepth:ApproachDepth:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2021-03-30T18:16:10.678Z,1617128170.678 [sample:SampleAtDepth:SampleWrapper:A.Pitch](DEBUG): Construct.
2021-03-30T18:16:10.684Z,1617128170.684 [sample:SampleAtDepth:SampleWrapper:C.Wait](DEBUG): Construct Wait.
2021-03-30T18:16:10.748Z,1617128170.748 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:TriggerCANONSampler:A_Timeout:B.Execute](DEBUG): Construct Execute.
2021-03-30T18:16:10.773Z,1617128170.773 [MissionManager](ERROR): Slate does not contain CTD_NeilBrown.bin_mean_sea_water_temperature
2021-03-30T18:16:10.773Z,1617128170.773 [MissionManager](ERROR): Slate does not contain celsius
2021-03-30T18:16:10.779Z,1617128170.779 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:E:A_Timeout:B.Execute](DEBUG): Construct Execute.
2021-03-30T18:16:10.791Z,1617128170.791 [sample:SampleAtDepth:SampleWrapper:SampleESP:SelectESPCartridge:A.ESPCartridgeSelect](DEBUG): Construct.
2021-03-30T18:16:10.875Z,1617128170.875 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<!-- ====================
     Generated by TethysL
     ==================== -->
<Mission xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
         xmlns="Tethys"
         xmlns:Units="Tethys/Units"
         xmlns:Guidance="Tethys/Guidance"
         xmlns:Sample="Tethys/Sample"
         xmlns:Control="Tethys/Control"
         xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                             Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                             Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                             Tethys/Sample http://okeanids.mbari.org/tethys/Xml/Sample.xsd
                             Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd"
       Id="sample">

    <Description>
        This mission is designed to be run in the test tank only and samples
        whichever sampler is installed once the vehicle reaches the target
        depth.
    </Description>

    <DefineArg Name="MissionTimeout"><Description>
        How long to let the mission run.
    </Description><Units:minute/><Value>90</Value></DefineArg>

    <DefineArg Name="Depth"><Description>
        Depth to sample at.
    </Description><Units:meter/><Value>7</Value></DefineArg>

    <DefineArg Name="CartridgeType"><Description>
        Specifies ESP cartridge type code (defaults to archiveHiBiomass_bac: -4)
    </Description><Units:count/><Value>-4</Value></DefineArg>

    <DefineArg Name="NumberOfSamples"><Description>
        Number of samples to take.
    </Description><Units:count/><Value>1</Value></DefineArg>

    <DefineArg Name="WaitBeforeSample"><Description>
        How long to wait between samples. This starts *before* the first sample
        to exercise the SettleTime setting in the insert aggregate.
    </Description><Units:minute/><Value>3</Value></DefineArg>

    <Timeout Duration="MissionTimeout"/>

    <Sample:AbortSample>
        <Parallel/>
    </Sample:AbortSample>

    <Guidance:Pitch>
        <Parallel/>
        <Setting><Guidance:Pitch.massPosition/><Control:VerticalControl.massDefault/></Setting>
    </Guidance:Pitch>

    <Guidance:SetSpeed>
        <Parallel/>
        <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0</Value></Setting>
    </Guidance:SetSpeed>

    <Insert Filename="Insert/SampleAtDepth.xml"/>

    <Assign><Sequence/><Arg Name="SampleAtDepth:TargetDepth"/><Arg Name="Depth"/></Assign>

    <Assign><Sequence/><Arg Name="SampleAtDepth:SettleTime"/><Arg Name="WaitBeforeSample"/></Assign>

    <Assign><Sequence/><Arg Name="SampleAtDepth:ESPCartridgeType"/><Arg Name="CartridgeType"/></Assign>

    <Aggregate Id="SampleRepeater">

        <Sequence Repeat="NumberOfSamples"/>

        <Call Id="Sample" RefId="SampleAtDepth"/>

    </Aggregate>

</Mission>


2021-03-30T18:16:10.875Z,1617128170.875 [CommandLine](IMPORTANT): Loaded ./Missions/Maintenance/sample.xml
2021-03-30T18:16:17.792Z,1617128177.792 [CommandLine](IMPORTANT): got command set sample.MissionTimeout 120.000000 minute
2021-03-30T18:16:17.792Z,1617128177.792 [CommandLine](IMPORTANT): got command set sample.Depth 3.000000 meter
2021-03-30T18:16:17.793Z,1617128177.793 [CommandLine](IMPORTANT): got command set sample.CartridgeType -6.000000 count
2021-03-30T18:16:17.794Z,1617128177.794 [CommandLine](IMPORTANT): got command set sample.NumberOfSamples 2.000000 count
2021-03-30T18:16:17.795Z,1617128177.795 [CommandLine](IMPORTANT): got command set sample.WaitBeforeSample 10.000000 second
2021-03-30T18:16:17.795Z,1617128177.795 [CommandLine](IMPORTANT): got command run
2021-03-30T18:16:17.797Z,1617128177.797 [CommandLine](IMPORTANT): Running 
2021-03-30T18:16:18.099Z,1617128178.099 [Default] Stopped
2021-03-30T18:16:18.099Z,1617128178.099 [Default](DEBUG): Aggregate::uninitialize Default
2021-03-30T18:16:18.099Z,1617128178.099 [Default:B.GoToSurface] Stopped
2021-03-30T18:16:18.099Z,1617128178.099 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-03-30T18:16:18.099Z,1617128178.099 [Default:CheckIn] Stopped
2021-03-30T18:16:18.099Z,1617128178.099 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2021-03-30T18:16:18.099Z,1617128178.099 [Default:CheckIn:Read_GPS] Stopped
2021-03-30T18:16:18.100Z,1617128178.100 [MissionManager](IMPORTANT): Started mission sample
2021-03-30T18:16:18.100Z,1617128178.100 [sample] Running Loop=1
2021-03-30T18:16:18.100Z,1617128178.100 [sample](DEBUG): Aggregate::initialize sample
2021-03-30T18:16:18.100Z,1617128178.100 [sample:A.AbortSample] Running Loop=1
2021-03-30T18:16:18.100Z,1617128178.100 [sample:A.AbortSample](INFO): Initializing AbortSample.
2021-03-30T18:16:18.100Z,1617128178.100 [sample:B.Pitch] Running Loop=1
2021-03-30T18:16:18.100Z,1617128178.100 [sample:B.Pitch](DEBUG): Initialize.
2021-03-30T18:16:18.101Z,1617128178.101 [sample:C.SetSpeed] Running Loop=1
2021-03-30T18:16:18.101Z,1617128178.101 [sample:C.SetSpeed](DEBUG): Initialize.
2021-03-30T18:16:18.101Z,1617128178.101 [sample:E] Running Loop=1
2021-03-30T18:16:18.101Z,1617128178.101 [sample:E] Stopped
2021-03-30T18:16:18.102Z,1617128178.102 [sample:F] Running Loop=1
2021-03-30T18:16:18.102Z,1617128178.102 [sample:C.SetSpeed] Running Loop=1
2021-03-30T18:16:18.102Z,1617128178.102 [sample:B.Pitch] Running Loop=1
2021-03-30T18:16:18.102Z,1617128178.102 [sample:A.AbortSample] Running Loop=1
2021-03-30T18:16:18.518Z,1617128178.518 [sample:F] Stopped
2021-03-30T18:16:18.518Z,1617128178.518 [sample:G] Running Loop=1
2021-03-30T18:16:18.897Z,1617128178.897 [sample:G] Stopped
2021-03-30T18:16:18.898Z,1617128178.898 [sample:SampleRepeater] Running Loop=1
2021-03-30T18:16:18.898Z,1617128178.898 [sample:SampleRepeater](DEBUG): Aggregate::initialize sample:SampleRepeater
2021-03-30T18:16:18.898Z,1617128178.898 [sample:SampleRepeater:Sample] Running Loop=1
2021-03-30T18:16:18.898Z,1617128178.898 [sample:SampleRepeater:Sample](DEBUG): Aggregate::initialize sample:SampleRepeater:Sample
2021-03-30T18:16:19.308Z,1617128179.308 [sample:SampleAtDepth] Running Loop=1
2021-03-30T18:16:19.309Z,1617128179.309 [sample:SampleAtDepth](DEBUG): Aggregate::initialize sample:SampleAtDepth
2021-03-30T18:16:19.309Z,1617128179.309 [sample:SampleAtDepth:ApproachDepth] Running Loop=1
2021-03-30T18:16:19.309Z,1617128179.309 [sample:SampleAtDepth:ApproachDepth](DEBUG): Aggregate::initialize sample:SampleAtDepth:ApproachDepth
2021-03-30T18:16:19.309Z,1617128179.309 [sample:SampleAtDepth:ApproachDepth:A] Running Loop=1
2021-03-30T18:16:19.310Z,1617128179.310 [sample:SampleAtDepth:ApproachDepth:A](INFO): Moving to 3.000000 m 
2021-03-30T18:16:19.310Z,1617128179.310 [sample:SampleAtDepth:ApproachDepth:A] Stopped
2021-03-30T18:16:19.310Z,1617128179.310 [sample:SampleAtDepth:ApproachDepth:B.Pitch] Running Loop=1
2021-03-30T18:16:19.310Z,1617128179.310 [sample:SampleAtDepth:ApproachDepth:B.Pitch](DEBUG): Initialize.
2021-03-30T18:16:22.930Z,1617128182.930 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2021-03-30T18:16:47.638Z,1617128207.638 [CommandLine](IMPORTANT): got command maintain sensor Depth_Keller.depth 3.000000 meter
2021-03-30T18:16:47.998Z,1617128207.998 [sample:SampleAtDepth:ApproachDepth:B.Pitch] Stopped
2021-03-30T18:16:47.998Z,1617128207.998 [sample:SampleAtDepth:ApproachDepth](INFO): Completed sample:SampleAtDepth:ApproachDepth
2021-03-30T18:16:47.998Z,1617128207.998 [sample:SampleAtDepth:ApproachDepth] Stopped
2021-03-30T18:16:47.998Z,1617128207.998 [sample:SampleAtDepth:ApproachDepth](DEBUG): Aggregate::uninitialize sample:SampleAtDepth:ApproachDepth
2021-03-30T18:16:47.998Z,1617128207.998 [sample:SampleAtDepth:SampleWrapper] Running Loop=1
2021-03-30T18:16:47.998Z,1617128207.998 [sample:SampleAtDepth:SampleWrapper](DEBUG): Aggregate::initialize sample:SampleAtDepth:SampleWrapper
2021-03-30T18:16:47.998Z,1617128207.998 [sample:SampleAtDepth:SampleWrapper:A.Pitch] Running Loop=1
2021-03-30T18:16:47.999Z,1617128207.999 [sample:SampleAtDepth:SampleWrapper:A.Pitch](DEBUG): Initialize.
2021-03-30T18:16:47.999Z,1617128207.999 [sample:SampleAtDepth:SampleWrapper:B] Running Loop=1
2021-03-30T18:16:48.399Z,1617128208.399 [sample:SampleAtDepth:SampleWrapper:B](IMPORTANT): At 3.000000 m , settling for 0.166667 min 
2021-03-30T18:16:48.399Z,1617128208.399 [sample:SampleAtDepth:SampleWrapper:B] Stopped
2021-03-30T18:16:48.399Z,1617128208.399 [sample:SampleAtDepth:SampleWrapper:C.Wait] Running Loop=1
2021-03-30T18:16:48.400Z,1617128208.400 [sample:SampleAtDepth:SampleWrapper:C.Wait](DEBUG): Initialize Wait Component.
2021-03-30T18:16:48.400Z,1617128208.400 [sample:SampleAtDepth:SampleWrapper:A.Pitch] Running Loop=1
2021-03-30T18:16:53.634Z,1617128213.634 [NAL9602](INFO): Not Powering down - fast GPS
2021-03-30T18:16:58.896Z,1617128218.896 [sample:SampleAtDepth:SampleWrapper:C.Wait](INFO): Done Waiting.
2021-03-30T18:16:58.896Z,1617128218.896 [sample:SampleAtDepth:SampleWrapper:C.Wait] Stopped
2021-03-30T18:16:58.896Z,1617128218.896 [sample:SampleAtDepth:SampleWrapper:C.Wait](DEBUG): Uninitialize Wait Component.
2021-03-30T18:16:58.896Z,1617128218.896 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler] Running Loop=1
2021-03-30T18:16:58.896Z,1617128218.896 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler](DEBUG): Aggregate::initialize sample:SampleAtDepth:SampleWrapper:SampleCANONSampler
2021-03-30T18:16:58.896Z,1617128218.896 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:A] Running Loop=1
2021-03-30T18:16:58.896Z,1617128218.896 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:B] Running Loop=1
2021-03-30T18:16:58.897Z,1617128218.897 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:TriggerCANONSampler] Running Loop=1
2021-03-30T18:16:59.300Z,1617128219.300 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler] Stopped
2021-03-30T18:16:59.300Z,1617128219.300 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler](DEBUG): Aggregate::uninitialize sample:SampleAtDepth:SampleWrapper:SampleCANONSampler
2021-03-30T18:16:59.300Z,1617128219.300 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:A] Stopped
2021-03-30T18:16:59.300Z,1617128219.300 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:B] Stopped
2021-03-30T18:16:59.300Z,1617128219.300 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:TriggerCANONSampler] Stopped
2021-03-30T18:16:59.300Z,1617128219.300 [sample:SampleAtDepth:SampleWrapper:SampleESP] Running Loop=1
2021-03-30T18:16:59.300Z,1617128219.300 [sample:SampleAtDepth:SampleWrapper:SampleESP](DEBUG): Aggregate::initialize sample:SampleAtDepth:SampleWrapper:SampleESP
2021-03-30T18:16:59.301Z,1617128219.301 [sample:SampleAtDepth:SampleWrapper:SampleESP:SelectESPCartridge] Running Loop=1
2021-03-30T18:16:59.301Z,1617128219.301 [sample:SampleAtDepth:SampleWrapper:SampleESP:SelectESPCartridge](DEBUG): Aggregate::initialize sample:SampleAtDepth:SampleWrapper:SampleESP:SelectESPCartridge
2021-03-30T18:16:59.301Z,1617128219.301 [sample:SampleAtDepth:SampleWrapper:SampleESP:SelectESPCartridge:A.ESPCartridgeSelect] Running Loop=1
2021-03-30T18:16:59.301Z,1617128219.301 [sample:SampleAtDepth:SampleWrapper:SampleESP:SelectESPCartridge:A.ESPCartridgeSelect](INFO): Initializing ESPCartridgeSelect.
2021-03-30T18:16:59.710Z,1617128219.710 [sample:SampleAtDepth:SampleWrapper:SampleESP:SelectESPCartridge:A.ESPCartridgeSelect](INFO): Issuing request for ESP cartridge type: -6.
2021-03-30T18:16:59.710Z,1617128219.710 [sample:SampleAtDepth:SampleWrapper:SampleESP:SelectESPCartridge:A.ESPCartridgeSelect] Stopped
2021-03-30T18:16:59.710Z,1617128219.710 [sample:SampleAtDepth:SampleWrapper:SampleESP:SelectESPCartridge:A.ESPCartridgeSelect](INFO): Uninitializing ESPCartridgeSelect.
2021-03-30T18:16:59.710Z,1617128219.710 [sample:SampleAtDepth:SampleWrapper:SampleESP:SelectESPCartridge](INFO): Completed sample:SampleAtDepth:SampleWrapper:SampleESP:SelectESPCartridge
2021-03-30T18:16:59.710Z,1617128219.710 [sample:SampleAtDepth:SampleWrapper:SampleESP:SelectESPCartridge] Stopped
2021-03-30T18:16:59.710Z,1617128219.710 [sample:SampleAtDepth:SampleWrapper:SampleESP:SelectESPCartridge](DEBUG): Aggregate::uninitialize sample:SampleAtDepth:SampleWrapper:SampleESP:SelectESPCartridge
2021-03-30T18:16:59.710Z,1617128219.710 [sample:SampleAtDepth:SampleWrapper:SampleESP:TriggerESP] Running Loop=1
2021-03-30T18:17:00.119Z,1617128220.119 [sample:SampleAtDepth:SampleWrapper:SampleESP:TriggerESP](DEBUG): Initialize ReadDataComponent to sense ESPComponent.sampling
2021-03-30T18:17:00.904Z,1617128220.904 [ESPComponent](DEBUG): (612) Will wait for 10.0000 before power-up/connection sequence
2021-03-30T18:17:11.022Z,1617128231.022 [ESPComponent](DEBUG): (612) Done with wait. Will continue with general power-up/connection sequence
2021-03-30T18:17:11.023Z,1617128231.023 [ESPComponent](INFO): powering up ESP
2021-03-30T18:17:11.041Z,1617128231.041 [ESPComponent](INFO): powering up ESP secondary power supply
2021-03-30T18:17:11.057Z,1617128231.057 [ESPComponent](IMPORTANT): Starting PPPD with command:/sbin/pppd xonxoff asyncmap A0000 /dev/ttyTX1 linkname esp noauth local lock 115200 10.89.5.2:10.89.5.3 persist maxfail 0 holdoff 10 lcp-echo-interval 60 lcp-echo-failure 3 proxyarp ktune deflate 12 ms-dns 8.8.8.8
2021-03-30T18:17:11.198Z,1617128231.198 [ESPComponent](IMPORTANT): Waiting for ESP to connect (timeout=150.0000)
2021-03-30T18:17:11.473Z,1617128231.473 [ESPComponent](INFO): console:
2021-03-30T18:17:12.216Z,1617128232.216 [ESPComponent](INFO): console:

2021-03-30T18:17:12.623Z,1617128232.623 [ESPComponent](INFO): console:NAND:  256 MiB
2021-03-30T18:17:13.028Z,1617128233.028 [ESPComponent](INFO): console:
BOOTMODE: SPI
2021-03-30T18:17:13.447Z,1617128233.447 [ESPComponent](INFO): console:
reading SPI NOR..Done
2021-03-30T18:17:13.835Z,1617128233.835 [ESPComponent](INFO): console:

2021-03-30T18:17:14.239Z,1617128234.239 [ESPComponent](INFO): console:

2021-03-30T18:17:14.643Z,1617128234.643 [ESPComponent](INFO): console:
U-Boot 2009.11-mbariD (Oct 20 2020 - 11:20:51)
2021-03-30T18:17:15.044Z,1617128235.044 [ESPComponent](INFO): console:

2021-03-30T18:17:15.452Z,1617128235.452 [ESPComponent](INFO): console:
MBARI LPC31xx ESP 3G
2021-03-30T18:17:15.871Z,1617128235.871 [ESPComponent](INFO): console:
flash params are already written into flash
2021-03-30T18:17:16.259Z,1617128236.259 [ESPComponent](INFO): console:
DRAM:  64 MB
2021-03-30T18:17:16.663Z,1617128236.663 [ESPComponent](INFO): console:
In:    serial
2021-03-30T18:17:17.067Z,1617128237.067 [ESPComponent](INFO): console:
Out:   serial
2021-03-30T18:17:17.471Z,1617128237.471 [ESPComponent](INFO): console:
Err:   serial
2021-03-30T18:17:17.875Z,1617128237.875 [ESPComponent](INFO): console:
Net:   ks8851_mll
2021-03-30T18:17:18.294Z,1617128238.294 [ESPComponent](INFO): console:
Hit <ctrl-C> to stop autoboot:  1  0 
2021-03-30T18:17:18.709Z,1617128238.709 [ESPComponent](INFO): console:
4096 KiB S25FL032P at 0:0 is now current device
2021-03-30T18:17:19.088Z,1617128239.088 [ESPComponent](INFO): console:
Loading kernel from SPI flash...done
2021-03-30T18:17:19.492Z,1617128239.492 [ESPComponent](INFO): console:
## Booting kernel from Legacy Image at 31000000 ...
2021-03-30T18:17:19.902Z,1617128239.902 [ESPComponent](INFO): console:
   Image Name:   Linux-2.6.33-ea3131-mbari7
2021-03-30T18:17:20.300Z,1617128240.300 [ESPComponent](INFO): console:
   Image Type:   ARM Linux Kernel Image (uncompressed)
2021-03-30T18:17:20.703Z,1617128240.703 [ESPComponent](INFO): console:
   Data Size:    1681728 Bytes =  1.6 MB
2021-03-30T18:17:21.140Z,1617128241.140 [ESPComponent](INFO): console:
   Load Address: 30008000
2021-03-30T18:17:21.512Z,1617128241.512 [ESPComponent](INFO): console:
   Entry Point:  30008000
2021-03-30T18:17:21.919Z,1617128241.919 [ESPComponent](INFO): console:
   Verifying Checksum ... OK
2021-03-30T18:17:22.319Z,1617128242.319 [ESPComponent](INFO): console:
   Loading Kernel Image ... OK
2021-03-30T18:17:22.723Z,1617128242.723 [ESPComponent](INFO): console:
OK
2021-03-30T18:17:23.127Z,1617128243.127 [ESPComponent](INFO): console:

2021-03-30T18:17:23.546Z,1617128243.546 [ESPComponent](INFO): console:
Starting kernel ...
2021-03-30T18:17:23.935Z,1617128243.935 [ESPComponent](INFO): console:

2021-03-30T18:17:24.343Z,1617128244.343 [ESPComponent](INFO): console:
Uncompressing Linux... done, booting the kernel.
2021-03-30T18:17:24.743Z,1617128244.743 [ESPComponent](INFO): console:
[    0.00] CPU: ARM926EJ-S [41069265] revision 5 (ARMv5TEJ), cr=00053177
2021-03-30T18:17:25.148Z,1617128245.148 [ESPComponent](INFO): console:
[    0.00] CPU: VIVT data cache, VIVT instruction cache
2021-03-30T18:17:25.559Z,1617128245.559 [ESPComponent](INFO): console:
[    0.00] Machine: NXP EA313X
2021-03-30T18:17:25.978Z,1617128245.978 [ESPComponent](INFO): console:
[    0.00] Memory policy: ECC disabled, Data cache writeback
2021-03-30T18:17:26.365Z,1617128246.365 [ESPComponent](INFO): console:
[    0.00] Built 1 zonelists in Zone order, mobility grouping on.  Total pages: 16256
2021-03-30T18:17:26.771Z,1617128246.771 [ESPComponent](INFO): console:
[    0.24] Mount-cache hash table entries: 512
2021-03-30T18:17:27.171Z,1617128247.171 [ESPComponent](INFO): console:
[    0.29] MBARI ESP 3G
2021-03-30T18:17:27.573Z,1617128247.573 [ESPComponent](INFO): console:
[    0.39] bio: create slab <bio-0> at 0
2021-03-30T18:17:27.980Z,1617128247.980 [ESPComponent](INFO): console:
[    0.46] i2c i2c-0: Master timed out. stat = 2a00, cntrl = 000e. Resetting master...
2021-03-30T18:17:28.380Z,1617128248.380 [ESPComponent](INFO): console:
[    0.48] i2c i2c-0: Master timed out. stat = 2a00, cntrl = 000e. Resetting master...
2021-03-30T18:17:28.794Z,1617128248.794 [ESPComponent](INFO): console:
[    0.50] i2c i2c-0: Master timed out. stat = 2a00, cntrl = 000e. Resetting master...
2021-03-30T18:17:29.193Z,1617128249.193 [ESPComponent](INFO): console:
[    0.52] i2c i2c-0: Master timed out. stat = 2a00, cntrl = 000e. Resetting master...
2021-03-30T18:17:29.592Z,1617128249.592 [ESPComponent](INFO): console:
[    0.54] i2c i2c-0: Master timed out. stat = 2a00, cntrl = 000e. Resetting master...
2021-03-30T18:17:29.997Z,1617128249.997 [ESPComponent](INFO): console:
[    0.56] i2c i2c-0: Master timed out. stat = 2a00, cntrl = 000e. Resetting master...
2021-03-30T18:17:30.404Z,1617128250.404 [ESPComponent](INFO): console:
[    0.56] NetWinder Floating Point Emulator V0.97 (double precision)
2021-03-30T18:17:30.804Z,1617128250.804 [ESPComponent](INFO): console:
[    0.58] yaffs Aug  4 2020 18:36:40 Installing. 
2021-03-30T18:17:31.223Z,1617128251.223 [ESPComponent](INFO): console:
[    0.72] m25p80 spi0.3: m25p80 found s25sl032a flash
2021-03-30T18:17:31.612Z,1617128251.612 [ESPComponent](INFO): console:
[    1.02] yaffs: Attempting MTD mount on 31.2, "mtdblock2"
2021-03-30T18:17:32.015Z,1617128252.015 [ESPComponent](INFO): console:
[    1.03] yaffs: auto selecting yaffs2
2021-03-30T18:17:32.419Z,1617128252.419 [ESPComponent](INFO): console:
[    1.24] block 2044 is bad
2021-03-30T18:17:32.832Z,1617128252.832 [ESPComponent](INFO): console:
[    1.24] block 2045 is bad
2021-03-30T18:17:33.225Z,1617128253.225 [ESPComponent](INFO): console:
[    1.24] block 2046 is bad
2021-03-30T18:17:33.673Z,1617128253.673 [ESPComponent](INFO): console:
[    1.25] block 2047 is bad
2021-03-30T18:17:34.036Z,1617128254.036 [ESPComponent](INFO): console:
[    4.70] yaffs_read_super: isCheckpointed 0
2021-03-30T18:17:34.444Z,1617128254.444 [ESPComponent](INFO): console:
[    4.71] VFS: Mounted root (yaffs filesystem) readonly on device 31:2.
2021-03-30T18:17:34.843Z,1617128254.843 [ESPComponent](INFO): console:

2021-03-30T18:17:35.247Z,1617128255.247 [ESPComponent](INFO): console:INIT: version 2.85 booting
2021-03-30T18:17:35.651Z,1617128255.651 [ESPComponent](INFO): console:

2021-03-30T18:17:36.064Z,1617128256.064 [ESPComponent](INFO): console:MBARI ESP Embedded Linux    http://www.mbari.org   mailto:brent@mbari.org
2021-03-30T18:17:36.475Z,1617128256.475 [ESPComponent](INFO): console:
ESPmv1
2021-03-30T18:17:36.863Z,1617128256.863 [ESPComponent](INFO): console:

2021-03-30T18:17:37.268Z,1617128257.268 [ESPComponent](INFO): console:INIT: Entering runlevel: 3
2021-03-30T18:17:37.671Z,1617128257.671 [ESPComponent](INFO): console:

2021-03-30T18:17:38.075Z,1617128258.075 [ESPComponent](INFO): console:Loading kernel modules
2021-03-30T18:17:38.480Z,1617128258.480 [ESPComponent](INFO): console:
Mounting filesystems and adding swapfiles listed in /etc/fstab
2021-03-30T18:17:38.897Z,1617128258.897 [ESPComponent](INFO): console:
Starting device events handler
2021-03-30T18:17:39.287Z,1617128259.287 [ESPComponent](INFO): console:
Set system clock to:  Tue Mar 30 11:17:55 PDT 2021
2021-03-30T18:17:39.691Z,1617128259.691 [ESPComponent](INFO): console:
Starting syslogd klogd...
2021-03-30T18:17:40.095Z,1617128260.095 [ESPComponent](INFO): console:
stopped syslogd (pid 651)
2021-03-30T18:17:40.504Z,1617128260.504 [ESPComponent](INFO): console:
Bringing up lo ...
2021-03-30T18:17:40.903Z,1617128260.903 [ESPComponent](INFO): console:
lo IP=127.0.0.1
2021-03-30T18:17:41.345Z,1617128261.345 [ESPComponent](INFO): console:
Packet forwarding enabled
2021-03-30T18:17:41.732Z,1617128261.732 [ESPComponent](INFO): console:
Bringing up platform ...
2021-03-30T18:17:42.121Z,1617128262.121 [ESPComponent](INFO): console:
Bringing up WiFi ...
2021-03-30T18:17:42.519Z,1617128262.519 [ESPComponent](INFO): console:
Successfully initialized wpa_supplicant
2021-03-30T18:17:42.985Z,1617128262.985 [ESPComponent](INFO): console:

2021-03-30T18:17:44.135Z,1617128264.135 [ESPComponent](INFO): console:rfkill: Cannot open RFKILL control device
2021-03-30T18:17:44.609Z,1617128264.609 [ESPComponent](INFO): console:

2021-03-30T18:17:46.989Z,1617128266.989 [ESPComponent](INFO): console:Determining IP configuration for WiFi ...udhcpc (v1.11.2) started
2021-03-30T18:17:47.433Z,1617128267.433 [ESPComponent](INFO): console:

2021-03-30T18:17:48.579Z,1617128268.579 [ESPComponent](INFO): console:Sending discover...
2021-03-30T18:17:49.053Z,1617128269.053 [ESPComponent](INFO): console:

2021-03-30T18:17:51.851Z,1617128271.851 [ESPComponent](INFO): console:Sending discover...
2021-03-30T18:17:52.277Z,1617128272.277 [ESPComponent](INFO): console:

2021-03-30T18:17:54.639Z,1617128274.639 [ESPComponent](INFO): console:Sending discover...
2021-03-30T18:17:55.113Z,1617128275.113 [ESPComponent](INFO): console:

2021-03-30T18:17:57.871Z,1617128277.871 [ESPComponent](INFO): console:Sending discover...
2021-03-30T18:17:58.337Z,1617128278.337 [ESPComponent](INFO): console:

2021-03-30T18:18:00.703Z,1617128280.703 [ESPComponent](INFO): console:Sending discover...
2021-03-30T18:18:01.173Z,1617128281.173 [ESPComponent](INFO): console:

2021-03-30T18:18:03.931Z,1617128283.931 [ESPComponent](INFO): console:Sending discover...
2021-03-30T18:18:04.409Z,1617128284.409 [ESPComponent](INFO): console:

2021-03-30T18:18:06.794Z,1617128286.794 [ESPComponent](INFO): console:Sending discover...
2021-03-30T18:18:07.233Z,1617128287.233 [ESPComponent](INFO): console:

2021-03-30T18:18:09.598Z,1617128289.598 [ESPComponent](INFO): console:Sending discover...
2021-03-30T18:18:10.053Z,1617128290.053 [ESPComponent](INFO): console:

2021-03-30T18:18:11.757Z,1617128291.757 [Radio_Surface](INFO): Powering down
2021-03-30T18:18:12.029Z,1617128292.029 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2021-03-30T18:18:12.839Z,1617128292.839 [ESPComponent](INFO): console:Sending discover...
2021-03-30T18:18:13.227Z,1617128293.227 [ESPComponent](INFO): console:
Sending select for 134.89.112.186...
2021-03-30T18:18:13.641Z,1617128293.641 [ESPComponent](INFO): console:
Lease of 134.89.112.186 obtained, lease time 14400
2021-03-30T18:18:14.032Z,1617128294.032 [ESPComponent](INFO): console:
DHCP bound WiFi to 134.89.112.186 with DNS 134.89.10.10 134.89.12.35 134.89.10.32 134.89.12.87
2021-03-30T18:18:14.448Z,1617128294.448 [ESPComponent](INFO): console:
Starting portmap...
2021-03-30T18:18:14.845Z,1617128294.845 [ESPComponent](INFO): console:
Mounting nfs filesystems ...
2021-03-30T18:18:15.247Z,1617128295.247 [ESPComponent](INFO): console:
  mounting /tempbox 
2021-03-30T18:18:15.709Z,1617128295.709 [ESPComponent](INFO): console:

2021-03-30T18:18:16.455Z,1617128296.455 [ESPComponent](INFO): console:  mounting /engineering 
2021-03-30T18:18:16.866Z,1617128296.866 [ESPComponent](INFO): console:
  mounting /project 
2021-03-30T18:18:17.325Z,1617128297.325 [ESPComponent](INFO): console:

2021-03-30T18:18:17.667Z,1617128297.667 [ESPComponent](INFO): console:  mounting /ESP 
2021-03-30T18:18:18.113Z,1617128298.113 [ESPComponent](INFO): console:
  mounting /ftp 
2021-03-30T18:18:18.545Z,1617128298.545 [ESPComponent](INFO): console:

2021-03-30T18:18:18.879Z,1617128298.879 [ESPComponent](INFO): console:  mounting /bufflehead/home 
2021-03-30T18:18:19.353Z,1617128299.353 [ESPComponent](INFO): console:

2021-03-30T18:18:19.694Z,1617128299.694 [ESPComponent](INFO): console:  mounting /raven/home 
2021-03-30T18:18:20.149Z,1617128300.149 [ESPComponent](INFO): console:

2021-03-30T18:18:20.900Z,1617128300.900 [ESPComponent](INFO): console:NTP sycn'd with us.pool.ntp.org at Tue Mar 30 11:18:38 PDT 2021
2021-03-30T18:18:21.369Z,1617128301.369 [ESPComponent](INFO): console:

2021-03-30T18:18:22.919Z,1617128302.919 [ESPComponent](INFO): console:Starting thttpd...
2021-03-30T18:18:23.393Z,1617128303.393 [ESPComponent](INFO): console:

2021-03-30T18:18:24.545Z,1617128304.545 [ESPComponent](INFO): console:Starting dnsmasq...
2021-03-30T18:18:25.001Z,1617128305.001 [ESPComponent](INFO): console:

2021-03-30T18:18:28.575Z,1617128308.575 [ESPComponent](INFO): console:Bringing up wired ...
2021-03-30T18:18:28.979Z,1617128308.979 [ESPComponent](INFO): console:

2021-03-30T18:18:29.383Z,1617128309.383 [ESPComponent](INFO): console:

2021-03-30T18:18:29.803Z,1617128309.803 [ESPComponent](INFO): console:MBARI ESP Embedded Linux 2.65 -- 10/9/20 brent@mbari.org
2021-03-30T18:18:30.191Z,1617128310.191 [ESPComponent](INFO): console:

2021-03-30T18:18:30.596Z,1617128310.596 [ESPComponent](INFO): console:ESPmv1 login: Determining IP configuration for wired ...udhcpc (v1.11.2) started
2021-03-30T18:18:31.061Z,1617128311.061 [ESPComponent](INFO): console:

2021-03-30T18:18:32.220Z,1617128312.220 [ESPComponent](INFO): console:Sending discover...
2021-03-30T18:18:32.677Z,1617128312.677 [ESPComponent](INFO): console:

2021-03-30T18:18:35.048Z,1617128315.048 [ESPComponent](IMPORTANT): ESP has connected as client
2021-03-30T18:18:35.850Z,1617128315.850 [ESPComponent](IMPORTANT): [sample #1] Setting cartridge argument to -6
2021-03-30T18:18:35.850Z,1617128315.850 [ESPComponent](IMPORTANT): [sample #1] ESP sampling sequence starting. Sampling state: S_WAITING_INITIAL_PROMPT
2021-03-30T18:18:35.851Z,1617128315.851 [ESPComponent](DEBUG): Writing samplingActive=1, sampleNumber=1
2021-03-30T18:18:35.860Z,1617128315.860 [sample:SampleAtDepth:SampleWrapper:SampleESP:TriggerESP] Stopped
2021-03-30T18:18:35.885Z,1617128315.885 [sample:SampleAtDepth:SampleWrapper:SampleESP:C] Running Loop=1
2021-03-30T18:18:36.266Z,1617128316.266 [sample:SampleAtDepth:SampleWrapper:SampleESP:C](ERROR): data element is not active.
2021-03-30T18:18:36.266Z,1617128316.266 [sample:SampleAtDepth:SampleWrapper:SampleESP:C](ERROR): data element is not active.
2021-03-30T18:18:36.267Z,1617128316.267 [sample:SampleAtDepth:SampleWrapper:SampleESP:C](IMPORTANT): ESP sampling at 3.000000 m in nan degC water with nan ug/l chlorophyll fluorescence.
2021-03-30T18:18:36.267Z,1617128316.267 [sample:SampleAtDepth:SampleWrapper:SampleESP:C] Stopped
2021-03-30T18:18:36.267Z,1617128316.267 [sample:SampleAtDepth:SampleWrapper:SampleESP:WaitForESP] Running Loop=1
2021-03-30T18:18:36.673Z,1617128316.673 [sample:SampleAtDepth:SampleWrapper:SampleESP:WaitForESP](DEBUG): Initialize ReadDataComponent to sense ESPComponent.sample_number
2021-03-30T18:18:37.059Z,1617128317.059 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_PREPARING_SHOW_LOG
2021-03-30T18:18:37.472Z,1617128317.472 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_PREPARING_SHOW_STATUS
2021-03-30T18:18:39.079Z,1617128319.079 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_LOADING_CARTRIDGE
2021-03-30T18:18:58.257Z,1617128338.257 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.323170
2021-03-30T18:19:13.419Z,1617128353.419 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_WAITING_FOR_PRIMING (@60,archive_bac)
2021-03-30T18:19:15.035Z,1617128355.035 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_PRIMING (@100.0)
2021-03-30T18:19:15.843Z,1617128355.843 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_WAITING_FOR_FILTERING (@100.0)
2021-03-30T18:21:53.807Z,1617128513.807 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_FILTERING (@0.0)
2021-03-30T18:21:54.211Z,1617128514.211 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_WAITING_FOR_PAUSED (@0.0)
2021-03-30T18:23:09.760Z,1617128589.760 [DVL_micro](ERROR): Failed to parse:
:WI,-00257,+0437,+00000,A
2021-03-30T18:26:51.377Z,1617128811.377 [CommandLine](IMPORTANT): got command strobe off
2021-03-30T18:26:51.378Z,1617128811.378 [CommandLine](IMPORTANT): Deactivating strobe
2021-03-30T18:30:32.544Z,1617129032.544 [DVL_micro](ERROR): only read 0 of 1 data item for BIT error
2021-03-30T18:30:32.545Z,1617129032.545 [DVL_micro](ERROR): Failed to parse:
:TS,00000000000000,35.0,+19.,1489.0,000
2021-03-30T18:35:00.019Z,1617129300.019 [DVL_micro](ERROR): only read 3 of 4 data items
2021-03-30T18:35:00.019Z,1617129300.019 [DVL_micro](ERROR): Failed to parse:
:RD,+9999.99,+9999.99,+9999..99
2021-03-30T18:35:27.872Z,1617129327.872 [DVL_micro](ERROR): only read 0 of 4 data items
2021-03-30T18:35:27.872Z,1617129327.872 [DVL_micro](ERROR): Failed to parse:
:RD,,+9999.99,,+9999.99
2021-03-30T18:37:28.310Z,1617129448.310 [CommandLine](IMPORTANT): got command show stack
2021-03-30T18:37:28.311Z,1617129448.311 [CommandLine](IMPORTANT): Behavior Stack:

2021-03-30T18:37:28.311Z,1617129448.311 [sample](IMPORTANT): Priority 0: sample:A.AbortSample
2021-03-30T18:37:28.311Z,1617129448.311 [sample](IMPORTANT): Priority 1: sample:B.Pitch
2021-03-30T18:37:28.311Z,1617129448.311 [sample](IMPORTANT): Priority 2: sample:C.SetSpeed
2021-03-30T18:37:28.312Z,1617129448.312 [sample:SampleAtDepth:SampleWrapper](IMPORTANT): Priority 3: sample:SampleAtDepth:SampleWrapper:A.Pitch
2021-03-30T18:37:28.312Z,1617129448.312 [sample:SampleAtDepth:SampleWrapper:SampleESP](IMPORTANT): Priority 4: sample:SampleAtDepth:SampleWrapper:SampleESP:WaitForESP
2021-03-30T18:48:00.932Z,1617130080.932 [DVL_micro](ERROR): Failed to parse:99.99,,+9999.99,+9999.99
2021-03-30T18:48:25.567Z,1617130105.567 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_PAUSED (@1000.0)
2021-03-30T18:48:25.568Z,1617130105.568 [ESPComponent](DEBUG): Writing sampleVolume=1000.000000
2021-03-30T18:48:25.971Z,1617130105.971 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_PROCESSING (@1000.0)
2021-03-30T18:48:28.395Z,1617130108.395 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_WAITING_FOR_PROCESSED (@60,archive_bac)
2021-03-30T18:50:33.660Z,1617130233.660 [DVL_micro](ERROR): only read 0 of 1 data item for BIT error
2021-03-30T18:50:33.660Z,1617130233.660 [DVL_micro](ERROR): Failed to parse:
:TS,00000000000000,35,0000.0,14
2021-03-30T18:51:51.618Z,1617130311.618 [CommandLine](IMPORTANT): got command failComponent
2021-03-30T18:51:51.618Z,1617130311.618 [CommandLine](IMPORTANT): Failed components:
2021-03-30T18:51:51.618Z,1617130311.618 [CommandLine](IMPORTANT): No failed Components.
2021-03-30T18:51:54.465Z,1617130314.465 [CBIT](FAULT): WATER ALARM AUX.
2021-03-30T18:51:54.465Z,1617130314.465 [CBIT](ERROR): WATER DETECTED IN PRESSURE HULL. Alarm Count: 1
2021-03-30T18:51:54.896Z,1617130314.896 [CBIT](FAULT): WATER ALARM AUX.
2021-03-30T18:51:54.896Z,1617130314.896 [CBIT](ERROR): WATER DETECTED IN PRESSURE HULL. Alarm Count: 2
2021-03-30T18:51:55.298Z,1617130315.298 [CBIT](FAULT): WATER ALARM AUX.
2021-03-30T18:51:55.299Z,1617130315.299 [CBIT](ERROR): WATER DETECTED IN PRESSURE HULL. Alarm Count: 3
2021-03-30T18:52:16.733Z,1617130336.733 [CommandLine](IMPORTANT): got command failComponent
2021-03-30T18:52:16.734Z,1617130336.734 [CommandLine](IMPORTANT): Failed components:
2021-03-30T18:52:16.734Z,1617130336.734 [CommandLine](IMPORTANT): No failed Components.
2021-03-30T18:52:47.411Z,1617130367.411 [CBIT](FAULT): WATER ALARM AUX.
2021-03-30T18:52:47.411Z,1617130367.411 [CBIT](ERROR): WATER DETECTED IN PRESSURE HULL. Alarm Count: 1
2021-03-30T18:52:47.787Z,1617130367.787 [CBIT](FAULT): WATER ALARM AUX.
2021-03-30T18:52:47.787Z,1617130367.787 [CBIT](ERROR): WATER DETECTED IN PRESSURE HULL. Alarm Count: 2
2021-03-30T18:52:48.203Z,1617130368.203 [CBIT](FAULT): WATER ALARM AUX.
2021-03-30T18:52:48.203Z,1617130368.203 [CBIT](ERROR): WATER DETECTED IN PRESSURE HULL. Alarm Count: 3
2021-03-30T18:52:48.627Z,1617130368.627 [CBIT](FAULT): WATER ALARM AUX.
2021-03-30T18:52:48.641Z,1617130368.641 [CBIT](CRITICAL): WATER DETECTED IN PRESSURE HULL. BURNWIRE ACTIVATED
2021-03-30T18:52:48.641Z,1617130368.641 [Supervisor](INFO): Stop Mission called by CBIT::checkLeak
2021-03-30T18:52:48.643Z,1617130368.643 [CBIT](IMPORTANT): Powered off ESP with command: ! echo 0 > /dev/loadA6
2021-03-30T18:52:48.671Z,1617130368.671 [CommandLine](IMPORTANT): got command ! echo 0 > /dev/loadA6
2021-03-30T18:52:48.995Z,1617130368.995 [MissionManager](INFO): MissionManager is completed.
2021-03-30T18:52:48.996Z,1617130368.996 [MissionManager](INFO): Uninitializing Mission sample
2021-03-30T18:52:48.996Z,1617130368.996 [sample] Stopped
2021-03-30T18:52:48.996Z,1617130368.996 [sample](DEBUG): Aggregate::uninitialize sample
2021-03-30T18:52:48.996Z,1617130368.996 [sample:A.AbortSample] Stopped
2021-03-30T18:52:48.996Z,1617130368.996 [sample:A.AbortSample](INFO): Uninitializing AbortSample.
2021-03-30T18:52:48.996Z,1617130368.996 [sample:B.Pitch] Stopped
2021-03-30T18:52:48.996Z,1617130368.996 [sample:C.SetSpeed] Stopped
2021-03-30T18:52:48.997Z,1617130368.997 [sample:C.SetSpeed](DEBUG): Uninitialize.
2021-03-30T18:52:48.997Z,1617130368.997 [sample:SampleAtDepth] Stopped
2021-03-30T18:52:48.997Z,1617130368.997 [sample:SampleAtDepth](DEBUG): Aggregate::uninitialize sample:SampleAtDepth
2021-03-30T18:52:48.997Z,1617130368.997 [sample:SampleAtDepth:SampleWrapper] Stopped
2021-03-30T18:52:48.997Z,1617130368.997 [sample:SampleAtDepth:SampleWrapper](DEBUG): Aggregate::uninitialize sample:SampleAtDepth:SampleWrapper
2021-03-30T18:52:48.997Z,1617130368.997 [sample:SampleAtDepth:SampleWrapper:A.Pitch] Stopped
2021-03-30T18:52:48.997Z,1617130368.997 [sample:SampleAtDepth:SampleWrapper:SampleESP] Stopped
2021-03-30T18:52:48.998Z,1617130368.998 [sample:SampleAtDepth:SampleWrapper:SampleESP](DEBUG): Aggregate::uninitialize sample:SampleAtDepth:SampleWrapper:SampleESP
2021-03-30T18:52:48.998Z,1617130368.998 [sample:SampleAtDepth:SampleWrapper:SampleESP:WaitForESP] Stopped
2021-03-30T18:52:48.998Z,1617130368.998 [sample:SampleRepeater] Stopped
2021-03-30T18:52:48.998Z,1617130368.998 [sample:SampleRepeater](DEBUG): Aggregate::uninitialize sample:SampleRepeater
2021-03-30T18:52:48.998Z,1617130368.998 [sample:SampleRepeater:Sample] Stopped
2021-03-30T18:52:48.998Z,1617130368.998 [sample:SampleRepeater:Sample](DEBUG): Aggregate::uninitialize sample:SampleRepeater:Sample
2021-03-30T18:52:49.053Z,1617130369.053 [CommandLine](FAULT): Scheduling is paused
2021-03-30T18:52:49.054Z,1617130369.054 [CBIT](INFO): Critical error at 20210330T185248
2021-03-30T18:52:49.391Z,1617130369.391 [ESPComponent](DEBUG): Resetting stopSampling to false
2021-03-30T18:52:49.391Z,1617130369.391 [ESPComponent](IMPORTANT): [sample #1] Stop sampling requested.
2021-03-30T18:52:49.405Z,1617130369.405 [MissionManager](IMPORTANT): Started mission Default
2021-03-30T18:52:49.406Z,1617130369.406 [Default] Running Loop=1
2021-03-30T18:52:49.406Z,1617130369.406 [Default](DEBUG): Aggregate::initialize Default
2021-03-30T18:52:49.406Z,1617130369.406 [Default:B.GoToSurface] Running Loop=1
2021-03-30T18:52:49.406Z,1617130369.406 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-03-30T18:52:49.406Z,1617130369.406 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-03-30T18:52:49.407Z,1617130369.407 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-03-30T18:52:49.407Z,1617130369.407 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-03-30T18:52:49.407Z,1617130369.407 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-03-30T18:52:49.408Z,1617130369.408 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-03-30T18:52:49.408Z,1617130369.408 [Default:A.Wait] Running Loop=1
2021-03-30T18:52:49.408Z,1617130369.408 [Default:A.Wait](DEBUG): Initialize Wait Component.
2021-03-30T18:52:49.937Z,1617130369.937 [Radio_Surface](INFO): Powering up
2021-03-30T18:52:55.997Z,1617130375.997 [DataOverHttps](INFO): Radio surface powered ON.
2021-03-30T18:53:02.735Z,1617130382.735 [Default:A.Wait](INFO): Done Waiting.
2021-03-30T18:53:02.735Z,1617130382.735 [Default:A.Wait] Stopped
2021-03-30T18:53:02.735Z,1617130382.735 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2021-03-30T18:53:03.331Z,1617130383.331 [CommandLine](IMPORTANT): got command maintain clear
2021-03-30T18:53:03.674Z,1617130383.674 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,Depth_Keller,DVL_micro,NAL9602,ESPComponent,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2021-03-30T18:53:03.946Z,1617130383.946 [Default:CheckIn] Running Loop=1
2021-03-30T18:53:03.946Z,1617130383.946 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2021-03-30T18:53:03.946Z,1617130383.946 [Default:CheckIn:Read_GPS] Running Loop=1
2021-03-30T18:53:05.546Z,1617130385.546 [NAL9602](FAULT): GPS failed to acquire within timeout.
2021-03-30T18:53:05.546Z,1617130385.546 [NAL9602] Data Fault, FailCount= 2
2021-03-30T18:53:05.546Z,1617130385.546 [NAL9602](ERROR): Data Fault
2021-03-30T18:53:05.653Z,1617130385.653 [CBIT](ERROR): Data Fault in component: NAL9602
2021-03-30T18:53:05.950Z,1617130385.950 [NAL9602](INFO): Powering down
2021-03-30T18:53:06.845Z,1617130386.845 [CBIT](INFO): Clearing failed state for component NAL9602
2021-03-30T18:53:06.845Z,1617130386.845 [NAL9602] No Fault, FailCount= 2
2021-03-30T18:53:26.147Z,1617130406.147 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-03-30T18:53:36.247Z,1617130416.247 [NAL9602](INFO): Powering up NAL9602
2021-03-30T18:53:36.441Z,1617130416.441 [CommandLine](IMPORTANT): got command quit
2021-03-30T18:53:37.453Z,1617130417.453 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2021-03-30T18:53:37.453Z,1617130417.453 [CommandLine ThreadHandler](INFO): Thread cancelled.
2021-03-30T18:53:37.497Z,1617130417.497 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2021-03-30T18:53:37.497Z,1617130417.497 [CommandLine ThreadHandler](INFO): Thread cancelled.
2021-03-30T18:53:37.498Z,1617130417.498 [CommandLine](INFO): Join timeout helper Thread ID is 6570
2021-03-30T18:53:37.498Z,1617130417.498 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2021-03-30T18:53:37.498Z,1617130417.498 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2021-03-30T18:53:37.499Z,1617130417.499 [NavChartDb](INFO): Join timeout helper Thread ID is 6571
2021-03-30T18:53:37.745Z,1617130417.745 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2021-03-30T18:53:37.745Z,1617130417.745 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2021-03-30T18:53:37.761Z,1617130417.761 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2021-03-30T18:53:37.761Z,1617130417.761 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2021-03-30T18:53:37.761Z,1617130417.761 [WetLabsBB2FL](INFO): Join timeout helper Thread ID is 6572
2021-03-30T18:53:37.805Z,1617130417.805 [WetLabsBB2FL ThreadHandler](INFO): Uninitializing protected caller thread.
2021-03-30T18:53:37.805Z,1617130417.805 [WetLabsBB2FL](INFO): Powering down
2021-03-30T18:53:37.806Z,1617130417.806 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2021-03-30T18:53:37.825Z,1617130417.825 [ComponentRegistry](INFO): Shutting down CTD_Seabird ThreadHandler
2021-03-30T18:53:37.825Z,1617130417.825 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2021-03-30T18:53:37.825Z,1617130417.825 [CTD_Seabird](INFO): Join timeout helper Thread ID is 6573
2021-03-30T18:53:37.937Z,1617130417.937 [CTD_Seabird](INFO): Powering down
2021-03-30T18:53:37.949Z,1617130417.949 [CTD_Seabird ThreadHandler](INFO): Uninitializing protected caller thread.
2021-03-30T18:53:37.949Z,1617130417.949 [CTD_Seabird](INFO): Powering down
2021-03-30T18:53:37.961Z,1617130417.961 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2021-03-30T18:53:37.981Z,1617130417.981 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2021-03-30T18:53:37.981Z,1617130417.981 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2021-03-30T18:53:37.981Z,1617130417.981 [Radio_Surface](INFO): Join timeout helper Thread ID is 6574
2021-03-30T18:53:38.013Z,1617130418.013 [Radio_Surface](INFO): Powering down
2021-03-30T18:53:38.014Z,1617130418.014 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2021-03-30T18:53:38.014Z,1617130418.014 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2021-03-30T18:53:38.022Z,1617130418.022 [ComponentRegistry](INFO): Shutting down Onboard ThreadHandler
2021-03-30T18:53:38.022Z,1617130418.022 [Onboard ThreadHandler](INFO): Thread cancelled.
2021-03-30T18:53:38.022Z,1617130418.022 [Onboard](INFO): Join timeout helper Thread ID is 6575
2021-03-30T18:53:38.533Z,1617130418.533 [Onboard ThreadHandler](INFO): Uninitializing protected caller thread.
2021-03-30T18:53:38.533Z,1617130418.533 [Onboard ThreadHandler](INFO): Thread cancelled.
2021-03-30T18:53:38.541Z,1617130418.541 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2021-03-30T18:53:38.542Z,1617130418.542 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2021-03-30T18:53:38.542Z,1617130418.542 [DataOverHttps](INFO): Join timeout helper Thread ID is 6576
2021-03-30T18:53:39.197Z,1617130419.197 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2021-03-30T18:53:39.197Z,1617130419.197 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2021-03-30T18:53:39.209Z,1617130419.209 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2021-03-30T18:53:39.210Z,1617130419.210 [logger ThreadHandler](INFO): Thread cancelled.
2021-03-30T18:53:39.210Z,1617130419.210 [logger](INFO): Join timeout helper Thread ID is 6577
2021-03-30T18:53:39.225Z,1617130419.225 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2021-03-30T18:53:39.225Z,1617130419.225 [logger ThreadHandler](INFO): Thread cancelled.
2021-03-30T18:53:39.229Z,1617130419.229 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2021-03-30T18:53:39.230Z,1617130419.230 [CommandLine ThreadHandler](INFO): Thread cancelled.
2021-03-30T18:53:39.230Z,1617130419.230 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2021-03-30T18:53:39.230Z,1617130419.230 [controlThread ThreadHandler](INFO): Thread cancelled.
2021-03-30T18:53:39.230Z,1617130419.230 [controlThread](INFO): Join timeout helper Thread ID is 6578
2021-03-30T18:53:39.465Z,1617130419.465 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2021-03-30T18:53:39.465Z,1617130419.465 [controlThread](DEBUG): Uninitializing ControlThread
2021-03-30T18:53:39.465Z,1617130419.465 [AHRS_M2](INFO): Powering down
2021-03-30T18:53:39.467Z,1617130419.467 [DVL_micro](INFO): Powering down
2021-03-30T18:53:39.467Z,1617130419.467 [NAL9602](INFO): Powering down
2021-03-30T18:53:39.470Z,1617130419.470 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2021-03-30T18:53:39.471Z,1617130419.471 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2021-03-30T18:53:39.471Z,1617130419.471 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2021-03-30T18:53:39.472Z,1617130419.472 [MissionManager](INFO): Uninitializing Mission Default
2021-03-30T18:53:39.472Z,1617130419.472 [Default] Stopped
2021-03-30T18:53:39.472Z,1617130419.472 [Default](DEBUG): Aggregate::uninitialize Default
2021-03-30T18:53:39.472Z,1617130419.472 [Default:B.GoToSurface] Stopped
2021-03-30T18:53:39.472Z,1617130419.472 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-03-30T18:53:39.472Z,1617130419.472 [Default:CheckIn] Stopped
2021-03-30T18:53:39.472Z,1617130419.472 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2021-03-30T18:53:39.472Z,1617130419.472 [Default:CheckIn:Read_GPS] Stopped
2021-03-30T18:53:39.475Z,1617130419.475 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2021-03-30T18:53:39.475Z,1617130419.475 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2021-03-30T18:53:39.476Z,1617130419.476 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2021-03-30T18:53:39.476Z,1617130419.476 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2021-03-30T18:53:39.476Z,1617130419.476 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2021-03-30T18:53:39.476Z,1617130419.476 [BuoyancyServo](INFO): Powering down
2021-03-30T18:53:39.489Z,1617130419.489 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2021-03-30T18:53:39.489Z,1617130419.489 [ElevatorServo](INFO): Powering down
2021-03-30T18:53:39.490Z,1617130419.490 [MassServo](DEBUG): Uninitialize Mass Servo.
2021-03-30T18:53:39.490Z,1617130419.490 [MassServo](INFO): Powering down
2021-03-30T18:53:39.491Z,1617130419.491 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2021-03-30T18:53:39.491Z,1617130419.491 [RudderServo](INFO): Powering down
2021-03-30T18:53:39.492Z,1617130419.492 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2021-03-30T18:53:39.492Z,1617130419.492 [ThrusterServo](INFO): Powering down
2021-03-30T18:53:39.493Z,1617130419.493 [SBIT](DEBUG): Uninitialize SBIT Component.
2021-03-30T18:53:39.493Z,1617130419.493 [IBIT](DEBUG): Uninitialize IBIT Component.
2021-03-30T18:53:39.493Z,1617130419.493 [CBIT](DEBUG): Uninitialize CBIT Component.
2021-03-30T18:53:39.494Z,1617130419.494 [CBIT](DEBUG): Powering off loads.
2021-03-30T18:53:39.505Z,1617130419.505 [CBIT](DEBUG): Disabling WDT.
2021-03-30T18:53:39.517Z,1617130419.517 [CBIT](DEBUG): Opening all GF detection circuits.
2021-03-30T18:53:39.518Z,1617130419.518 [controlThread ThreadHandler](INFO): Thread cancelled.
2021-03-30T18:53:39.571Z,1617130419.571 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2021-03-30T18:53:39.573Z,1617130419.573 [Onboard ThreadHandler](INFO): Thread cancelled.
2021-03-30T18:53:39.580Z,1617130419.580 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2021-03-30T18:53:39.670Z,1617130419.670 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2021-03-30T18:53:39.678Z,1617130419.678 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2021-03-30T18:53:39.700Z,1617130419.700 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2021-03-30T18:53:39.770Z,1617130419.770 [logger ThreadHandler](INFO): Thread cancelled.