2018-09-11T11:26:54.079Z,1536665214.079 [Supervisor](DEBUG): Initializing supervisor.
2018-09-11T11:26:54.082Z,1536665214.082 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2018-09-11T11:26:54.082Z,1536665214.082 [SyncHandler](INFO): Protected caller Thread ID is 954
2018-09-11T11:26:54.083Z,1536665214.083 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2018-09-11T11:26:54.084Z,1536665214.084 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2018-09-11T11:26:54.084Z,1536665214.084 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 955
2018-09-11T11:26:54.087Z,1536665214.087 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2018-09-11T11:26:54.098Z,1536665214.098 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2018-09-11T11:26:54.099Z,1536665214.099 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2018-09-11T11:26:54.100Z,1536665214.100 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 956
2018-09-11T11:26:54.100Z,1536665214.100 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2018-09-11T11:26:54.101Z,1536665214.101 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2018-09-11T11:26:54.102Z,1536665214.102 [logger ThreadHandler](INFO): Protected caller Thread ID is 957
2018-09-11T11:26:54.104Z,1536665214.104 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2018-09-11T11:26:54.104Z,1536665214.104 [Supervisor](INFO): Looking for Config files in directory: Config/
2018-09-11T11:26:54.106Z,1536665214.106 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2018-09-11T11:26:54.457Z,1536665214.457 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2018-09-11T11:26:54.458Z,1536665214.458 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2018-09-11T11:26:54.666Z,1536665214.666 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2018-09-11T11:26:54.667Z,1536665214.667 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2018-09-11T11:26:54.967Z,1536665214.967 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2018-09-11T11:26:54.968Z,1536665214.968 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2018-09-11T11:26:55.110Z,1536665215.110 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2018-09-11T11:26:55.111Z,1536665215.111 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2018-09-11T11:26:55.209Z,1536665215.209 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2018-09-11T11:26:55.210Z,1536665215.210 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2018-09-11T11:26:55.692Z,1536665215.692 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2018-09-11T11:26:55.692Z,1536665215.692 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2018-09-11T11:26:56.130Z,1536665216.130 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2018-09-11T11:26:56.131Z,1536665216.131 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2018-09-11T11:26:56.612Z,1536665216.612 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2018-09-11T11:26:56.613Z,1536665216.613 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2018-09-11T11:26:56.719Z,1536665216.719 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2018-09-11T11:26:56.719Z,1536665216.719 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2018-09-11T11:26:56.818Z,1536665216.818 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2018-09-11T11:26:56.818Z,1536665216.818 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2018-09-11T11:26:57.030Z,1536665217.030 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2018-09-11T11:26:57.031Z,1536665217.031 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2018-09-11T11:26:57.246Z,1536665217.246 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2018-09-11T11:26:57.247Z,1536665217.247 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2018-09-11T11:26:57.606Z,1536665217.606 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2018-09-11T11:26:57.606Z,1536665217.606 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2018-09-11T11:26:57.751Z,1536665217.751 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2018-09-11T11:26:57.752Z,1536665217.752 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2018-09-11T11:26:57.834Z,1536665217.834 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2018-09-11T11:26:57.835Z,1536665217.835 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2018-09-11T11:26:57.939Z,1536665217.939 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2018-09-11T11:26:58.060Z,1536665218.060 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2018-09-11T11:26:58.155Z,1536665218.155 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2018-09-11T11:26:58.241Z,1536665218.241 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2018-09-11T11:26:58.402Z,1536665218.402 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2018-09-11T11:26:58.583Z,1536665218.583 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/workSite.cfg
2018-09-11T11:26:58.658Z,1536665218.658 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Battery.cfg
2018-09-11T11:26:58.893Z,1536665218.893 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2018-09-11T11:26:58.894Z,1536665218.894 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/secure.cfg
2018-09-11T11:26:58.977Z,1536665218.977 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Navigation.cfg
2018-09-11T11:26:59.190Z,1536665219.190 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2018-09-11T11:26:59.327Z,1536665219.327 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2018-09-11T11:26:59.711Z,1536665219.711 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2018-09-11T11:26:59.727Z,1536665219.727 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2018-09-11T11:27:00.002Z,1536665220.002 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2018-09-11T11:27:00.002Z,1536665220.002 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2018-09-11T11:27:00.208Z,1536665220.208 [DepthRateCalculator] Loaded
2018-09-11T11:27:00.208Z,1536665220.208 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2018-09-11T11:27:00.215Z,1536665220.215 [PitchRateCalculator] Loaded
2018-09-11T11:27:00.215Z,1536665220.215 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2018-09-11T11:27:00.231Z,1536665220.231 [SpeedCalculator] Loaded
2018-09-11T11:27:00.231Z,1536665220.231 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2018-09-11T11:27:00.253Z,1536665220.253 [TempGradientCalculator] Loaded
2018-09-11T11:27:00.253Z,1536665220.253 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2018-09-11T11:27:00.268Z,1536665220.268 [VerticalTemperatureHomogeneityIndexCalculator] Loaded
2018-09-11T11:27:00.268Z,1536665220.268 [ComponentRegistry](DEBUG): SyncComponent "VerticalTemperatureHomogeneityIndexCalculator" handled in the control thread.
2018-09-11T11:27:00.274Z,1536665220.274 [YawRateCalculator] Loaded
2018-09-11T11:27:00.274Z,1536665220.274 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2018-09-11T11:27:00.314Z,1536665220.314 [ElevatorOffsetCalculator] Loaded
2018-09-11T11:27:00.315Z,1536665220.315 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2018-09-11T11:27:00.315Z,1536665220.315 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2018-09-11T11:27:00.316Z,1536665220.316 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2018-09-11T11:27:00.380Z,1536665220.380 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2018-09-11T11:27:00.381Z,1536665220.381 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2018-09-11T11:27:00.492Z,1536665220.492 [BuoyancyServo] Loaded
2018-09-11T11:27:00.492Z,1536665220.492 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2018-09-11T11:27:00.506Z,1536665220.506 [ThrusterServo] Loaded
2018-09-11T11:27:00.507Z,1536665220.507 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2018-09-11T11:27:00.507Z,1536665220.507 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2018-09-11T11:27:00.508Z,1536665220.508 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2018-09-11T11:27:00.520Z,1536665220.520 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2018-09-11T11:27:00.521Z,1536665220.521 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2018-09-11T11:27:00.621Z,1536665220.621 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2018-09-11T11:27:00.622Z,1536665220.622 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2018-09-11T11:27:00.901Z,1536665220.901 [DataOverHttps] Loaded
2018-09-11T11:27:00.901Z,1536665220.901 [ComponentRegistry](DEBUG): SyncComponent "DataOverHttps" handled in the control thread.
2018-09-11T11:27:00.915Z,1536665220.915 [Depth_Keller] Loaded
2018-09-11T11:27:00.916Z,1536665220.916 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2018-09-11T11:27:00.920Z,1536665220.920 [DropWeight] Loaded
2018-09-11T11:27:00.921Z,1536665220.921 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2018-09-11T11:27:01.019Z,1536665221.019 [NAL9602] Loaded
2018-09-11T11:27:01.019Z,1536665221.019 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2018-09-11T11:27:01.035Z,1536665221.035 [Onboard] Loaded
2018-09-11T11:27:01.036Z,1536665221.036 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2018-09-11T11:27:01.046Z,1536665221.046 [Radio_Surface] Loaded
2018-09-11T11:27:01.047Z,1536665221.047 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2018-09-11T11:27:01.048Z,1536665221.048 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 408864E0
2018-09-11T11:27:01.048Z,1536665221.048 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 1039
2018-09-11T11:27:01.096Z,1536665221.096 [PNI_TCM] Loaded
2018-09-11T11:27:01.097Z,1536665221.097 [ComponentRegistry](DEBUG): SyncComponent "PNI_TCM" handled in the control thread.
2018-09-11T11:27:01.157Z,1536665221.157 [Rowe_600LCM] Loaded
2018-09-11T11:27:01.157Z,1536665221.157 [ComponentRegistry](DEBUG): Component "Rowe_600LCM" handled in its own thread.
2018-09-11T11:27:01.158Z,1536665221.158 [Rowe_600LCM ThreadHandler](DEBUG): Created PCaller Thread at 408B64E0
2018-09-11T11:27:01.159Z,1536665221.159 [Rowe_600LCM ThreadHandler](INFO): Protected caller Thread ID is 1040
2018-09-11T11:27:02.940Z,1536665222.940 [BPC1] Loaded
2018-09-11T11:27:02.940Z,1536665222.940 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2018-09-11T11:27:02.941Z,1536665222.941 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2018-09-11T11:27:02.941Z,1536665222.941 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2018-09-11T11:27:03.071Z,1536665223.071 [SBIT](DEBUG): Construct Startup Built In Test.
2018-09-11T11:27:03.094Z,1536665223.094 [SBIT] Loaded
2018-09-11T11:27:03.094Z,1536665223.094 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2018-09-11T11:27:03.095Z,1536665223.095 [IBIT](DEBUG): Construct Initiated Built In Test.
2018-09-11T11:27:03.106Z,1536665223.106 [IBIT] Loaded
2018-09-11T11:27:03.107Z,1536665223.107 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2018-09-11T11:27:03.110Z,1536665223.110 [CBIT](DEBUG): Construct Continuous Built In Test.
2018-09-11T11:27:03.262Z,1536665223.262 [CBIT] Loaded
2018-09-11T11:27:03.263Z,1536665223.263 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2018-09-11T11:27:03.263Z,1536665223.263 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2018-09-11T11:27:03.264Z,1536665223.264 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2018-09-11T11:27:03.405Z,1536665223.405 [Aanderaa_O2] Loaded
2018-09-11T11:27:03.405Z,1536665223.405 [ComponentRegistry](DEBUG): SyncComponent "Aanderaa_O2" handled in the control thread.
2018-09-11T11:27:03.484Z,1536665223.484 [CTD_NeilBrown] Loaded
2018-09-11T11:27:03.484Z,1536665223.484 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2018-09-11T11:27:03.485Z,1536665223.485 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4097A4E0
2018-09-11T11:27:03.485Z,1536665223.485 [CTD_NeilBrown ThreadHandler](INFO): Protected caller Thread ID is 1041
2018-09-11T11:27:03.537Z,1536665223.537 [CTD_Seabird] Loaded
2018-09-11T11:27:03.537Z,1536665223.537 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2018-09-11T11:27:03.539Z,1536665223.539 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 409AA4E0
2018-09-11T11:27:03.539Z,1536665223.539 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 1042
2018-09-11T11:27:03.556Z,1536665223.556 [ESPComponent] Loaded
2018-09-11T11:27:03.556Z,1536665223.556 [ComponentRegistry](DEBUG): SyncComponent "ESPComponent" handled in the control thread.
2018-09-11T11:27:03.571Z,1536665223.571 [PAR_Licor] Loaded
2018-09-11T11:27:03.571Z,1536665223.571 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2018-09-11T11:27:03.621Z,1536665223.621 [WetLabsBB2FL] Loaded
2018-09-11T11:27:03.621Z,1536665223.621 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2018-09-11T11:27:03.622Z,1536665223.622 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 409DA4E0
2018-09-11T11:27:03.622Z,1536665223.622 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 1043
2018-09-11T11:27:03.623Z,1536665223.623 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2018-09-11T11:27:03.623Z,1536665223.623 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2018-09-11T11:27:03.691Z,1536665223.691 [VerticalControl](DEBUG): Construct VerticalControl.
2018-09-11T11:27:03.783Z,1536665223.783 [VerticalControl] Loaded
2018-09-11T11:27:03.783Z,1536665223.783 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2018-09-11T11:27:03.784Z,1536665223.784 [HorizontalControl](DEBUG): Construct HorizontalControl.
2018-09-11T11:27:03.845Z,1536665223.845 [HorizontalControl] Loaded
2018-09-11T11:27:03.845Z,1536665223.845 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2018-09-11T11:27:03.846Z,1536665223.846 [SpeedControl](DEBUG): Construct SpeedControl.
2018-09-11T11:27:03.848Z,1536665223.848 [SpeedControl] Loaded
2018-09-11T11:27:03.848Z,1536665223.848 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2018-09-11T11:27:03.849Z,1536665223.849 [LoopControl](DEBUG): Construct LoopControl.
2018-09-11T11:27:03.849Z,1536665223.849 [LoopControl] Loaded
2018-09-11T11:27:03.850Z,1536665223.850 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2018-09-11T11:27:03.850Z,1536665223.850 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2018-09-11T11:27:03.851Z,1536665223.851 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2018-09-11T11:27:03.875Z,1536665223.875 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2018-09-11T11:27:03.875Z,1536665223.875 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2018-09-11T11:27:03.966Z,1536665223.966 [DeadReckonUsingSpeedCalculator] Loaded
2018-09-11T11:27:03.967Z,1536665223.967 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingSpeedCalculator" handled in the control thread.
2018-09-11T11:27:03.983Z,1536665223.983 [NavChart] Loaded
2018-09-11T11:27:03.983Z,1536665223.983 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2018-09-11T11:27:03.987Z,1536665223.987 [UniversalFixResidualReporter] Loaded
2018-09-11T11:27:03.987Z,1536665223.987 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2018-09-11T11:27:03.988Z,1536665223.988 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2018-09-11T11:27:03.992Z,1536665223.992 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2018-09-11T11:27:03.992Z,1536665223.992 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2018-09-11T11:27:03.999Z,1536665223.999 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2018-09-11T11:27:04.000Z,1536665224.000 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40A664E0
2018-09-11T11:27:04.001Z,1536665224.001 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 1044
2018-09-11T11:27:04.005Z,1536665224.005 [Supervisor](INFO): Main Thread ID is 795
2018-09-11T11:27:04.005Z,1536665224.005 [Supervisor](DEBUG): Running supervisor.
2018-09-11T11:27:04.006Z,1536665224.006 [CommandLine ThreadHandler](INFO): Handler Thread ID is 1045
2018-09-11T11:27:04.008Z,1536665224.008 [controlThread ThreadHandler](INFO): Handler Thread ID is 1046
2018-09-11T11:27:04.009Z,1536665224.009 [controlThread](DEBUG): Initializing ControlThread
2018-09-11T11:27:04.010Z,1536665224.010 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2018-09-11T11:27:04.010Z,1536665224.010 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2018-09-11T11:27:04.010Z,1536665224.010 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2018-09-11T11:27:04.011Z,1536665224.011 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2018-09-11T11:27:04.011Z,1536665224.011 [VerticalTemperatureHomogeneityIndexCalculator](DEBUG): (re)initializing
2018-09-11T11:27:04.012Z,1536665224.012 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2018-09-11T11:27:04.012Z,1536665224.012 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2018-09-11T11:27:04.017Z,1536665224.017 [SBIT](INFO): Initialize SBIT Component.
2018-09-11T11:27:04.017Z,1536665224.017 [SBIT](IMPORTANT): git: 2018-09-04
2018-09-11T11:27:04.018Z,1536665224.018 [SBIT](INFO): git hash: ec53a78724503e2fb746f629f4029aa8924f623d
2018-09-11T11:27:04.018Z,1536665224.018 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2018-09-11T11:27:04.019Z,1536665224.019 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #639 PREEMPT Wed Mar 12 12:53:33 PDT 2014
Kernel Reported: #2 PREEMPT Thu Jan 11 20:13:48 PST 2018
2018-09-11T11:27:04.020Z,1536665224.020 [SBIT](INFO): Beginning SBIT in 53.000000 seconds.
2018-09-11T11:27:04.021Z,1536665224.021 [IBIT](INFO): Initialize IBIT Component.
2018-09-11T11:27:04.022Z,1536665224.022 [CBIT](DEBUG): Initialize CBIT Component.
2018-09-11T11:27:04.022Z,1536665224.022 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2018-09-11T11:27:04.023Z,1536665224.023 [logger ThreadHandler](INFO): Handler Thread ID is 1047
2018-09-11T11:27:04.043Z,1536665224.043 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 1048
2018-09-11T11:27:04.049Z,1536665224.049 [Radio_Surface](INFO): Powering up
2018-09-11T11:27:04.055Z,1536665224.055 [Rowe_600LCM ThreadHandler](INFO): Handler Thread ID is 1049
2018-09-11T11:27:04.055Z,1536665224.055 [Rowe_600LCM](INFO): Initializing
2018-09-11T11:27:04.056Z,1536665224.056 [Rowe_600LCM](INFO): Checking LCM
2018-09-11T11:27:04.065Z,1536665224.065 [Rowe_600LCM](INFO): LCM OK
2018-09-11T11:27:04.065Z,1536665224.065 [Rowe_600LCM](INFO): Powering up
2018-09-11T11:27:04.071Z,1536665224.071 [CTD_NeilBrown ThreadHandler](INFO): Handler Thread ID is 1050
2018-09-11T11:27:04.072Z,1536665224.072 [CTD_NeilBrown](INFO): Powering down
2018-09-11T11:27:04.099Z,1536665224.099 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 1051
2018-09-11T11:27:04.100Z,1536665224.100 [CTD_Seabird](INFO): Initializing
2018-09-11T11:27:04.100Z,1536665224.100 [CTD_Seabird](INFO): Checking LCM
2018-09-11T11:27:04.100Z,1536665224.100 [CTD_Seabird](INFO): LCM OK
2018-09-11T11:27:04.100Z,1536665224.100 [CTD_Seabird](INFO): Powering up
2018-09-11T11:27:04.111Z,1536665224.111 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 1052
2018-09-11T11:27:04.112Z,1536665224.112 [WetLabsBB2FL](INFO): Powering down
2018-09-11T11:27:04.139Z,1536665224.139 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2018-09-11T11:27:04.140Z,1536665224.141 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2018-09-11T11:27:04.141Z,1536665224.141 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2018-09-11T11:27:04.142Z,1536665224.142 [LoopControl](DEBUG): Initialize LoopControlComponent.
2018-09-11T11:27:04.142Z,1536665224.142 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2018-09-11T11:27:04.143Z,1536665224.143 [DeadReckonUsingSpeedCalculator](INFO): Will consider orientation measurement stale after 120s.
2018-09-11T11:27:04.143Z,1536665224.143 [DeadReckonUsingSpeedCalculator](INFO): Will consider velocity measurement stale after 20s.
2018-09-11T11:27:04.144Z,1536665224.144 [NavChart](DEBUG): Initialize NavChart Navigation.
2018-09-11T11:27:04.145Z,1536665224.145 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 1053
2018-09-11T11:27:04.148Z,1536665224.148 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2018-09-11T11:27:04.149Z,1536665224.149 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2018-09-11T11:27:04.149Z,1536665224.149 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2018-09-11T11:27:04.149Z,1536665224.149 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2018-09-11T11:27:04.149Z,1536665224.149 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2018-09-11T11:27:04.150Z,1536665224.150 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2018-09-11T11:27:04.150Z,1536665224.150 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2018-09-11T11:27:04.150Z,1536665224.150 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2018-09-11T11:27:04.151Z,1536665224.151 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2018-09-11T11:27:04.151Z,1536665224.151 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2018-09-11T11:27:04.151Z,1536665224.151 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2018-09-11T11:27:04.152Z,1536665224.152 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2018-09-11T11:27:04.152Z,1536665224.152 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2018-09-11T11:27:04.152Z,1536665224.152 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2018-09-11T11:27:04.152Z,1536665224.152 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2018-09-11T11:27:04.152Z,1536665224.152 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2018-09-11T11:27:04.163Z,1536665224.163 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2018-09-11T11:27:04.164Z,1536665224.164 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2018-09-11T11:27:04.190Z,1536665224.190 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2018-09-11T11:27:04.222Z,1536665224.222 [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>


2018-09-11T11:27:04.239Z,1536665224.239 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2018-09-11T11:27:04.319Z,1536665224.319 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2018-09-11T11:27:04.320Z,1536665224.320 [Default:A.Wait](DEBUG): Construct Wait.
2018-09-11T11:27:04.322Z,1536665224.322 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2018-09-11T11:27:04.365Z,1536665224.365 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2018-09-11T11:27:04.368Z,1536665224.368 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2018-09-11T11:27:04.388Z,1536665224.388 [Default:E.Execute](DEBUG): Construct Execute.
2018-09-11T11:27:04.408Z,1536665224.408 [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>


2018-09-11T11:27:04.413Z,1536665224.413 [controlThread](DEBUG): Component order: CycleStarter,DataOverHttps,Depth_Keller,DropWeight,NAL9602,Onboard,PNI_TCM,BPC1,Aanderaa_O2,ESPComponent,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,VerticalTemperatureHomogeneityIndexCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingSpeedCalculator,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2018-09-11T11:27:04.438Z,1536665224.438 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2018-09-11T11:27:04.463Z,1536665224.463 [Depth_Keller](ERROR): Pressure reading out of range: 1831.023193 decibar
2018-09-11T11:27:04.848Z,1536665224.848 [DepthRateCalculator](ERROR): Depth measurement is not active
2018-09-11T11:27:04.934Z,1536665224.934 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2018-09-11T11:27:05.067Z,1536665225.067 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2018-09-11T11:27:05.075Z,1536665225.075 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2018-09-11T11:27:05.089Z,1536665225.089 [ThrusterServo](DEBUG): Initializing EZServoServo.
2018-09-11T11:27:05.095Z,1536665225.095 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2018-09-11T11:27:05.391Z,1536665225.391 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2018-09-11T11:27:05.631Z,1536665225.631 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2018-09-11T11:27:05.958Z,1536665225.958 [BuoyancyServo](ERROR): Buoyancy initialization uart error serial timeout
2018-09-11T11:27:05.959Z,1536665225.959 [BuoyancyServo](FAULT): Buoyancy failed to initialize
2018-09-11T11:27:05.959Z,1536665225.959 [BuoyancyServo] Communications Fault, FailCount= 1
2018-09-11T11:27:05.959Z,1536665225.959 [BuoyancyServo](ERROR): Communications Fault
2018-09-11T11:27:06.070Z,1536665226.070 [CBIT](ERROR): Communications Fault in component: BuoyancyServo
2018-09-11T11:27:06.150Z,1536665226.150 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2018-09-11T11:27:06.164Z,1536665226.164 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2018-09-11T11:27:06.166Z,1536665226.166 [BuoyancyServo](INFO): Powering down
2018-09-11T11:27:06.544Z,1536665226.544 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2018-09-11T11:27:06.950Z,1536665226.950 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2018-09-11T11:27:07.354Z,1536665227.354 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2018-09-11T11:27:07.834Z,1536665227.834 [Aanderaa_O2](INFO): Powering down
2018-09-11T11:27:07.950Z,1536665227.950 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2018-09-11T11:27:08.246Z,1536665228.246 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2018-09-11T11:27:08.246Z,1536665228.246 [BuoyancyServo] No Fault, FailCount= 1
2018-09-11T11:27:08.323Z,1536665228.323 [Rowe_600LCM](INFO): Stopping potential previous instance(s) of Rowe LCM interface
2018-09-11T11:27:08.409Z,1536665228.409 [Rowe_600LCM](INFO): Started Rowe LCM interface with command:nohup ./lrauv-framework/onboard/bin/roweadcp -ldir /mnt/mmc/LRAUV/Logs/latest/ -dev /dev/ttyB4 -b 9600 >& /dev/null &
2018-09-11T11:27:08.451Z,1536665228.451 [Rowe_600LCM](INFO): LCM subscribed to channel:Rowe_600LCM.adcp_dvl.bottom_track
2018-09-11T11:27:08.452Z,1536665228.452 [Rowe_600LCM](INFO): LCM subscribed to channel:Rowe_600LCM.adcp_dvl.vehicle_water_velocity
2018-09-11T11:27:08.453Z,1536665228.453 [Rowe_600LCM](INFO): LCM subscribed to channel:rowe_dvl.rowe
2018-09-11T11:27:08.597Z,1536665228.597 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2018-09-11T11:27:08.597Z,1536665228.597 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2018-09-11T11:27:09.673Z,1536665229.673 [CTD_Seabird](INFO): Stopping potential previous instance(s) of CTD_Seabird LCM interface
2018-09-11T11:27:09.981Z,1536665229.981 [CTD_Seabird](INFO): Started Seabird LCM interface with command:nohup ./lrauv-framework/onboard/bin/gpctd -ldir /mnt/mmc/LRAUV/Logs/latest/ -dev /dev/ttyC6 -b 9600 >& /dev/null &
2018-09-11T11:27:09.984Z,1536665229.984 [CTD_Seabird](INFO): LCM subscribed to channel:seabird_gpctd_t.seabird-gpctd
2018-09-11T11:27:10.685Z,1536665230.685 [CTD_Seabird](INFO): Stopping potential previous instance(s) of CTD_Seabird LCM interface
2018-09-11T11:27:10.685Z,1536665230.685 [CTD_Seabird](INFO): Powering down
2018-09-11T11:27:31.369Z,1536665251.369 [NAL9602](INFO): Powering up NAL9602
2018-09-11T11:27:42.168Z,1536665262.168 [NAL9602](INFO): NAL9602 initialized
2018-09-11T11:27:57.450Z,1536665277.450 [SBIT](IMPORTANT): Beginning Startup BIT
2018-09-11T11:27:57.470Z,1536665277.470 [CBIT](IMPORTANT): Beginning ground fault scan
2018-09-11T11:28:08.266Z,1536665288.266 [CBIT](IMPORTANT): Ground fault detected
mA:
CHAN A0 (Batt): -0.043887
CHAN A1 (24V): -0.045608
CHAN A2 (12V): -0.007253
CHAN A3 (5V): -0.001413
CHAN B0 (3.3V): -0.000343
CHAN B1 (3.15aV): -0.000685
CHAN B2 (3.15bV): 0.000034
CHAN B3 (GND): -0.000163
OPEN: -0.000323
Full Scale Calc: 4.765 mA, -1.589 mA
2018-09-11T11:28:08.970Z,1536665288.970 [NAL9602](INFO): SBD MO Status=0, MOMSN=9785, MT Status=0, MTMSN=0
2018-09-11T11:28:08.970Z,1536665288.970 [NAL9602](INFO): No messages in MT queue
2018-09-11T11:28:10.674Z,1536665290.674 [SBIT](ERROR): Could not read elevatorAngleReader_.
2018-09-11T11:28:10.674Z,1536665290.674 [SBIT](ERROR): Could not read rudderAngleReader_.
2018-09-11T11:28:10.674Z,1536665290.674 [SBIT](ERROR): Could not read massPosReader_.
2018-09-11T11:28:37.453Z,1536665317.453 [SBIT](ERROR): Could not read elevatorAngleReader_.
2018-09-11T11:28:37.453Z,1536665317.453 [SBIT](ERROR): Could not read rudderAngleReader_.
2018-09-11T11:28:37.453Z,1536665317.453 [SBIT](ERROR): Could not read massPosReader_.
2018-09-11T11:28:37.453Z,1536665317.453 [SBIT](FAULT): Control surface position failure.
2018-09-11T11:28:51.032Z,1536665331.032 [SBIT](ERROR): Could not read elevatorAngleReader_.
2018-09-11T11:28:51.033Z,1536665331.033 [SBIT](ERROR): Could not read rudderAngleReader_.
2018-09-11T11:28:51.033Z,1536665331.033 [SBIT](ERROR): Could not read massPosReader_.
2018-09-11T11:28:51.033Z,1536665331.033 [SBIT](FAULT): Control surface position failure.
2018-09-11T11:28:51.448Z,1536665331.448 [SBIT](CRITICAL): SBIT FAILED
2018-09-11T11:28:51.486Z,1536665331.486 [CommandLine](FAULT): Scheduling is paused
2018-09-11T11:28:51.487Z,1536665331.487 [CBIT](INFO): Critical error at 20180911T112851
2018-09-11T11:28:51.487Z,1536665331.487 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2018-09-11T11:28:51.539Z,1536665331.539 [CommandLine](IMPORTANT): got command configSet list
2018-09-11T11:28:51.539Z,1536665331.539 [CommandLine](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2018-09-11T11:28:51.541Z,1536665331.541 [CommandLine](IMPORTANT): DAT.loadAtStartup=0 bool;

2018-09-11T11:28:51.541Z,1536665331.541 [CommandLine](IMPORTANT): ESPComponent.loadAtStartup=1 bool;

2018-09-11T11:28:51.541Z,1536665331.541 [CommandLine](IMPORTANT): ESPComponent.sampleTimeout=10 minute;

2018-09-11T11:28:51.541Z,1536665331.541 [CommandLine](IMPORTANT): ESPComponent.simulateHardware=1 bool;

2018-09-11T11:28:51.543Z,1536665331.543 [CommandLine](IMPORTANT): ElevatorServo.loadAtStartup=0 bool;

2018-09-11T11:28:51.544Z,1536665331.544 [CommandLine](IMPORTANT): Express none CTD_NeilBrown.bin_mean_sea_water_salinity;

2018-09-11T11:28:51.544Z,1536665331.544 [CommandLine](IMPORTANT): Express none CTD_NeilBrown.bin_mean_sea_water_temperature;

2018-09-11T11:28:51.544Z,1536665331.544 [CommandLine](IMPORTANT): Express none CTD_NeilBrown.bin_median_sea_water_temperature;

2018-09-11T11:28:51.544Z,1536665331.544 [CommandLine](IMPORTANT): Express none CTD_Seabird.bin_median_sea_water_salinity;

2018-09-11T11:28:51.544Z,1536665331.544 [CommandLine](IMPORTANT): Express none Rowe_600LCM.height_above_sea_floor;

2018-09-11T11:28:51.544Z,1536665331.544 [CommandLine](IMPORTANT): Express none VerticalTemperatureHomogeneityIndexCalculator.vertical_temperature_homogeneity_index;

2018-09-11T11:28:51.544Z,1536665331.544 [CommandLine](IMPORTANT): Express linearApproximation height_above_sea_floor 5.000000 meter;

2018-09-11T11:28:51.544Z,1536665331.544 [CommandLine](IMPORTANT): IBIT.batteryMissingStickThreshold=16 count;

2018-09-11T11:28:51.545Z,1536665331.545 [CommandLine](IMPORTANT): MassServo.loadAtStartup=0 bool;

2018-09-11T11:28:51.545Z,1536665331.545 [CommandLine](IMPORTANT): Rowe_600LCM.loadAtStartup=1 bool;

2018-09-11T11:28:51.545Z,1536665331.545 [CommandLine](IMPORTANT): RudderServo.loadAtStartup=0 bool;

2018-09-11T11:28:51.545Z,1536665331.545 [CommandLine](IMPORTANT): StratificationFrontDetector.loadAtStartup=0 bool;

2018-09-11T11:28:51.545Z,1536665331.545 [CommandLine](IMPORTANT): VerticalControl.buoyancyNeutral=497.852 cubic_centimeter;

2018-09-11T11:28:51.545Z,1536665331.545 [CommandLine](IMPORTANT): VerticalControl.massDefault=-8.35745 millimeter;

2018-09-11T11:28:51.842Z,1536665331.842 [MissionManager](IMPORTANT): Started mission Startup
2018-09-11T11:28:51.842Z,1536665331.842 [Startup] Running Loop=1
2018-09-11T11:28:51.842Z,1536665331.842 [Startup](DEBUG): Aggregate::initialize Startup
2018-09-11T11:28:51.843Z,1536665331.843 [Startup:A.GoToSurface] Running Loop=1
2018-09-11T11:28:51.843Z,1536665331.843 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2018-09-11T11:28:51.843Z,1536665331.843 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2018-09-11T11:28:51.844Z,1536665331.844 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2018-09-11T11:28:51.844Z,1536665331.844 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2018-09-11T11:28:51.845Z,1536665331.845 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2018-09-11T11:28:51.845Z,1536665331.845 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2018-09-11T11:28:51.852Z,1536665331.852 [Startup:StartupSatComms] Running Loop=1
2018-09-11T11:28:51.852Z,1536665331.852 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2018-09-11T11:28:51.852Z,1536665331.852 [Startup:StartupSatComms:A] Running Loop=1
2018-09-11T11:28:52.249Z,1536665332.249 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2018-09-11T11:29:52.229Z,1536665392.229 [Startup:StartupSatComms:A](INFO): Timed out from 2018-09-11T11:28:51.9Z
2018-09-11T11:29:52.229Z,1536665392.229 [Startup:StartupSatComms:A] Stopped
2018-09-11T11:29:52.229Z,1536665392.229 [Startup:StartupSatComms:B] Running Loop=1
2018-09-11T11:29:52.633Z,1536665392.633 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2018-09-11T11:30:04.309Z,1536665404.309 [DeadReckonUsingSpeedCalculator](ERROR): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2018-09-11T11:30:04.309Z,1536665404.309 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 1
2018-09-11T11:30:04.310Z,1536665404.310 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2018-09-11T11:30:04.322Z,1536665404.322 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2018-09-11T11:30:04.725Z,1536665404.725 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2018-09-11T11:30:04.725Z,1536665404.725 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 1
2018-09-11T11:30:05.103Z,1536665405.103 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2018-09-11T11:30:05.103Z,1536665405.103 [DeadReckonUsingSpeedCalculator](INFO): Will consider orientation measurement stale after 120s.
2018-09-11T11:30:05.104Z,1536665405.104 [DeadReckonUsingSpeedCalculator](INFO): Will consider velocity measurement stale after 20s.
2018-09-11T11:30:10.654Z,1536665410.654 [NAL9602](INFO): SBD MO Status=1, MOMSN=9786, MT Status=0, MTMSN=0
2018-09-11T11:30:10.703Z,1536665410.703 [NAL9602](INFO): Sent 25 bytes from file Logs/20180911T111701/Courier0013.lzma
2018-09-11T11:30:10.703Z,1536665410.703 [NAL9602](INFO): Packets left to send: 0
2018-09-11T11:30:10.705Z,1536665410.705 [NAL9602](DEBUG): Stored copy of sent data in Logs/20180911T111701/Courier0013.lzma.parts/0000.sbd
2018-09-11T11:30:10.705Z,1536665410.705 [NAL9602](DEBUG): Completed sending Logs/20180911T111701/Courier0013.lzma
2018-09-11T11:30:26.031Z,1536665426.031 [NAL9602](INFO): SBD MO Status=1, MOMSN=9787, MT Status=0, MTMSN=0
2018-09-11T11:30:26.079Z,1536665426.079 [NAL9602](INFO): Sent 220 bytes from file Logs/20180911T112653/Courier0000.lzma
2018-09-11T11:30:26.079Z,1536665426.079 [NAL9602](INFO): Packets left to send: 0
2018-09-11T11:30:26.081Z,1536665426.081 [NAL9602](DEBUG): Stored copy of sent data in Logs/20180911T112653/Courier0000.lzma.parts/0000.sbd
2018-09-11T11:30:26.081Z,1536665426.081 [NAL9602](DEBUG): Completed sending Logs/20180911T112653/Courier0000.lzma
2018-09-11T11:30:44.198Z,1536665444.198 [NAL9602](INFO): SBD MO Status=2, MOMSN=9788, MT Status=2, MTMSN=0
2018-09-11T11:30:44.198Z,1536665444.198 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2018-09-11T11:30:45.401Z,1536665445.401 [NAL9602](INFO): GPS fix at 20180911T112943: (36.914509, -122.406374)
2018-09-11T11:30:52.343Z,1536665452.343 [Startup:StartupSatComms:B](INFO): Timed out from 2018-09-11T11:29:52.2Z
2018-09-11T11:30:52.343Z,1536665452.343 [Startup:StartupSatComms:B] Stopped
2018-09-11T11:30:52.344Z,1536665452.344 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2018-09-11T11:30:52.344Z,1536665452.344 [Startup:StartupSatComms] Stopped
2018-09-11T11:30:52.344Z,1536665452.344 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2018-09-11T11:30:52.345Z,1536665452.345 [Startup](INFO): Completed Startup
2018-09-11T11:30:52.345Z,1536665452.345 [MissionManager](INFO): Startup is completed.
2018-09-11T11:30:52.345Z,1536665452.345 [MissionManager](INFO): Uninitializing Mission Startup
2018-09-11T11:30:52.345Z,1536665452.345 [Startup] Stopped
2018-09-11T11:30:52.345Z,1536665452.345 [Startup](DEBUG): Aggregate::uninitialize Startup
2018-09-11T11:30:52.346Z,1536665452.346 [Startup:A.GoToSurface] Stopped
2018-09-11T11:30:52.346Z,1536665452.346 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2018-09-11T11:30:52.480Z,1536665452.480 [MissionManager](IMPORTANT): Started mission Default
2018-09-11T11:30:52.480Z,1536665452.480 [Default] Running Loop=1
2018-09-11T11:30:52.480Z,1536665452.480 [Default](DEBUG): Aggregate::initialize Default
2018-09-11T11:30:52.480Z,1536665452.480 [Default:B.GoToSurface] Running Loop=1
2018-09-11T11:30:52.480Z,1536665452.480 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2018-09-11T11:30:52.480Z,1536665452.480 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2018-09-11T11:30:52.481Z,1536665452.481 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2018-09-11T11:30:52.481Z,1536665452.481 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2018-09-11T11:30:52.482Z,1536665452.482 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2018-09-11T11:30:52.482Z,1536665452.482 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2018-09-11T11:30:52.487Z,1536665452.487 [Default:A.Wait] Running Loop=1
2018-09-11T11:30:52.487Z,1536665452.487 [Default:A.Wait](DEBUG): Initialize Wait Component.
2018-09-11T11:31:05.630Z,1536665465.630 [Default:A.Wait](INFO): Done Waiting.
2018-09-11T11:31:05.631Z,1536665465.631 [Default:A.Wait] Stopped
2018-09-11T11:31:05.631Z,1536665465.631 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2018-09-11T11:31:06.044Z,1536665466.044 [Default:CheckIn] Running Loop=1
2018-09-11T11:31:06.044Z,1536665466.044 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2018-09-11T11:31:06.044Z,1536665466.044 [Default:CheckIn:Read_GPS] Running Loop=1
2018-09-11T11:31:06.437Z,1536665466.437 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2018-09-11T11:31:07.181Z,1536665467.181 [NAL9602](INFO): SBD MO Status=1, MOMSN=9788, MT Status=0, MTMSN=0
2018-09-11T11:31:07.231Z,1536665467.231 [NAL9602](INFO): Sent 253 bytes from file Logs/20180911T111701/Express0014.lzma
2018-09-11T11:31:07.231Z,1536665467.231 [NAL9602](INFO): Packets left to send: 0
2018-09-11T11:31:07.232Z,1536665467.232 [NAL9602](DEBUG): Stored copy of sent data in Logs/20180911T111701/Express0014.lzma.parts/0000.sbd
2018-09-11T11:31:07.233Z,1536665467.233 [NAL9602](DEBUG): Completed sending Logs/20180911T111701/Express0014.lzma
2018-09-11T11:31:08.385Z,1536665468.385 [NAL9602](INFO): GPS fix at 20180911T113006: (36.914487, -122.406485)
2018-09-11T11:31:08.454Z,1536665468.454 [Default:CheckIn:Read_GPS] Stopped
2018-09-11T11:31:08.454Z,1536665468.454 [Default:CheckIn:Read_Iridium] Running Loop=1
2018-09-11T11:31:08.845Z,1536665468.845 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2018-09-11T11:31:34.872Z,1536665494.872 [DataOverHttps](INFO): Exceeded connection timeout, disconnecting.
2018-09-11T11:31:39.685Z,1536665499.685 [NAL9602](INFO): SBD MO Status=2, MOMSN=9789, MT Status=2, MTMSN=0
2018-09-11T11:31:39.685Z,1536665499.685 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2018-09-11T11:32:04.978Z,1536665524.978 [NAL9602](INFO): SBD MO Status=2, MOMSN=9789, MT Status=2, MTMSN=0
2018-09-11T11:32:04.978Z,1536665524.978 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2018-09-11T11:32:18.728Z,1536665538.728 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003358
2018-09-11T11:32:28.638Z,1536665548.638 [NAL9602](INFO): SBD MO Status=1, MOMSN=9789, MT Status=0, MTMSN=0
2018-09-11T11:32:28.691Z,1536665548.691 [NAL9602](INFO): Sent 215 bytes from file Logs/20180911T112653/Courier0004.lzma
2018-09-11T11:32:28.691Z,1536665548.691 [NAL9602](INFO): Packets left to send: 0
2018-09-11T11:32:28.693Z,1536665548.693 [NAL9602](DEBUG): Stored copy of sent data in Logs/20180911T112653/Courier0004.lzma.parts/0000.sbd
2018-09-11T11:32:28.693Z,1536665548.693 [NAL9602](DEBUG): Completed sending Logs/20180911T112653/Courier0004.lzma
2018-09-11T11:32:28.789Z,1536665548.789 [Default:CheckIn:Read_Iridium] Stopped
2018-09-11T11:32:28.789Z,1536665548.789 [Default:CheckIn:C.Wait] Running Loop=1
2018-09-11T11:32:28.789Z,1536665548.789 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2018-09-11T11:32:29.434Z,1536665549.434 [DataOverHttps](IMPORTANT): Could not stat file Logs/20180911T112653/Courier0004.lzma
2018-09-11T11:32:29.434Z,1536665549.434 [DataOverHttps](CRITICAL): Could not open file Logs/20180911T112653/Courier0004.lzma
2018-09-11T11:32:29.556Z,1536665549.556 [CBIT](INFO): Critical error at 20180911T113229
2018-09-11T11:32:44.913Z,1536665564.913 [DataOverHttps](IMPORTANT): Could not stat file Logs/20180911T112653/Courier0004.lzma
2018-09-11T11:32:44.914Z,1536665564.914 [DataOverHttps](CRITICAL): Could not open file Logs/20180911T112653/Courier0004.lzma
2018-09-11T11:32:45.008Z,1536665565.008 [CBIT](INFO): Critical error at 20180911T113244
2018-09-11T11:32:59.316Z,1536665579.316 [NAL9602](INFO): Powering down
2018-09-11T11:33:45.109Z,1536665625.109 [DataOverHttps](IMPORTANT): Could not stat file Logs/20180911T112653/Courier0004.lzma
2018-09-11T11:33:45.110Z,1536665625.110 [DataOverHttps](CRITICAL): Could not open file Logs/20180911T112653/Courier0004.lzma
2018-09-11T11:33:45.209Z,1536665625.209 [CBIT](INFO): Critical error at 20180911T113345
2018-09-11T11:34:11.867Z,1536665651.867 [CommandLine](IMPORTANT): got command failComponent
2018-09-11T11:34:11.867Z,1536665651.867 [CommandLine](IMPORTANT): Failed components:
2018-09-11T11:34:11.867Z,1536665651.867 [CommandLine](IMPORTANT): No failed Components.
2018-09-11T11:34:43.876Z,1536665683.876 [DataOverHttps](IMPORTANT): Could not stat file Logs/20180911T112653/Courier0004.lzma
2018-09-11T11:34:43.877Z,1536665683.877 [DataOverHttps](CRITICAL): Could not open file Logs/20180911T112653/Courier0004.lzma
2018-09-11T11:34:44.008Z,1536665684.008 [CBIT](INFO): Critical error at 20180911T113443
2018-09-11T11:35:48.235Z,1536665748.235 [DataOverHttps](IMPORTANT): Could not stat file Logs/20180911T112653/Courier0004.lzma
2018-09-11T11:35:48.236Z,1536665748.236 [DataOverHttps](CRITICAL): Could not open file Logs/20180911T112653/Courier0004.lzma
2018-09-11T11:35:48.417Z,1536665748.417 [CBIT](INFO): Critical error at 20180911T113548
2018-09-11T11:37:03.831Z,1536665823.831 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2018-09-11T11:37:29.493Z,1536665849.493 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2018-09-11T11:37:29.493Z,1536665849.493 [Default:CheckIn:C.Wait] Stopped
2018-09-11T11:37:29.493Z,1536665849.493 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2018-09-11T11:37:29.493Z,1536665849.493 [Default:CheckIn:D] Running Loop=1
2018-09-11T11:37:30.018Z,1536665850.018 [Default:CheckIn:D] Stopped
2018-09-11T11:37:30.018Z,1536665850.018 [Default:CheckIn:E] Running Loop=1
2018-09-11T11:37:30.293Z,1536665850.293 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 6.625601 min 
2018-09-11T11:37:30.303Z,1536665850.303 [Default:CheckIn:E] Stopped
2018-09-11T11:37:30.303Z,1536665850.303 [Default:CheckIn](INFO): Completed Default:CheckIn
2018-09-11T11:37:30.303Z,1536665850.303 [Default:CheckIn] Stopped
2018-09-11T11:37:30.303Z,1536665850.303 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2018-09-11T11:37:30.303Z,1536665850.303 [Default:CheckIn](INFO): Running loop #2
2018-09-11T11:37:30.304Z,1536665850.304 [Default:CheckIn] Running Loop=2
2018-09-11T11:37:30.304Z,1536665850.304 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2018-09-11T11:37:30.304Z,1536665850.304 [Default:CheckIn:Read_GPS] Running Loop=1
2018-09-11T11:37:31.036Z,1536665851.036 [NAL9602](INFO): Powering up
2018-09-11T11:37:40.530Z,1536665860.530 [DataOverHttps](IMPORTANT): Could not stat file Logs/20180911T112653/Courier0004.lzma
2018-09-11T11:37:40.530Z,1536665860.530 [DataOverHttps](CRITICAL): Could not open file Logs/20180911T112653/Courier0004.lzma
2018-09-11T11:37:40.609Z,1536665860.609 [CBIT](INFO): Critical error at 20180911T113740
2018-09-11T11:37:42.132Z,1536665862.132 [NAL9602](INFO): NAL9602 initialized
2018-09-11T11:37:43.729Z,1536665863.729 [DataOverHttps](IMPORTANT): SBD MTMSN=20180911T113640
2018-09-11T11:37:59.066Z,1536665879.066 [NAL9602](INFO): SBD MO Status=0, MOMSN=9790, MT Status=0, MTMSN=0
2018-09-11T11:37:59.066Z,1536665879.066 [NAL9602](INFO): No messages in MT queue
2018-09-11T11:38:00.374Z,1536665880.374 [DataOverHttps](IMPORTANT): Could not stat file Logs/20180911T112653/Courier0004.lzma
2018-09-11T11:38:00.374Z,1536665880.374 [DataOverHttps](CRITICAL): Could not open file Logs/20180911T112653/Courier0004.lzma
2018-09-11T11:38:00.385Z,1536665880.385 [DataOverHttps](INFO): Received command:load Transport/keepstation.xml;set keepstation.NeedCommsTime 90 minute;set keepstation.Speed .5 meter_per_second;set keepstation.Radius 1000 meter;run 
2018-09-11T11:38:00.412Z,1536665880.412 [CommandLine](IMPORTANT): got command load ./Missions/Transport/keepstation.xml
2018-09-11T11:38:00.412Z,1536665880.412 [MissionManager](INFO): Loading Mission: ./Missions/Transport/keepstation.xml
2018-09-11T11:38:00.565Z,1536665880.565 [MissionManager](INFO): DefineArg keepstation.MissionTimeout = 4.000000 h
2018-09-11T11:38:00.569Z,1536665880.569 [MissionManager](INFO): DefineArg keepstation.NeedCommsTime = 45.000000 min
2018-09-11T11:38:00.571Z,1536665880.571 [MissionManager](INFO): DefineArg keepstation.Latitude = nan arcdeg
2018-09-11T11:38:00.621Z,1536665880.621 [MissionManager](INFO): DefineArg keepstation.Longitude = nan arcdeg
2018-09-11T11:38:00.625Z,1536665880.625 [MissionManager](INFO): DefineArg keepstation.Depth = 30.000000 m
2018-09-11T11:38:00.644Z,1536665880.644 [MissionManager](INFO): DefineArg keepstation.ApproachDepth = 15.000000 m
2018-09-11T11:38:00.659Z,1536665880.659 [MissionManager](INFO): DefineArg keepstation.DepthDeadband = 4.000000 m
2018-09-11T11:38:00.662Z,1536665880.662 [MissionManager](INFO): DefineArg keepstation.Speed = 0.750000 m/s
2018-09-11T11:38:00.684Z,1536665880.684 [MissionManager](INFO): DefineArg keepstation.Radius = 200.000000 m
2018-09-11T11:38:00.687Z,1536665880.687 [MissionManager](INFO): DefineArg keepstation.MaxDepth = 45.000000 m
2018-09-11T11:38:00.708Z,1536665880.708 [MissionManager](INFO): DefineArg keepstation.MinOffshore = 2.000000 km
2018-09-11T11:38:00.709Z,1536665880.709 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2018-09-11T11:38:00.840Z,1536665880.840 [MissionManager](INFO): DefineArg keepstation:NeedComms.DiveInterval = 3.000000 h
2018-09-11T11:38:00.863Z,1536665880.863 [MissionManager](INFO): DefineArg keepstation:NeedComms.WaitForPitchUp = 10.000000 min
2018-09-11T11:38:00.878Z,1536665880.878 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacePitch = 20.000000 arcdeg
2018-09-11T11:38:00.881Z,1536665880.881 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceDepthRate = nan m/s
2018-09-11T11:38:00.884Z,1536665880.884 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceSpeed = 1.000000 m/s
2018-09-11T11:38:00.908Z,1536665880.908 [MissionManager](INFO): DefineArg keepstation:NeedComms.GPSTimeout = 7.000000 min
2018-09-11T11:38:00.911Z,1536665880.911 [MissionManager](INFO): DefineArg keepstation:NeedComms.CommsTimeout = 30.000000 min
2018-09-11T11:38:00.933Z,1536665880.933 [keepstation:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2018-09-11T11:38:00.985Z,1536665880.985 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2018-09-11T11:38:01.048Z,1536665881.048 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinAltitude = 5.000000 m
2018-09-11T11:38:01.056Z,1536665881.056 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepth = 200.000000 m
2018-09-11T11:38:01.078Z,1536665881.078 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinOffshore = 2000.000000 m
2018-09-11T11:38:01.080Z,1536665881.080 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2018-09-11T11:38:01.104Z,1536665881.104 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2018-09-11T11:38:01.136Z,1536665881.136 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2018-09-11T11:38:01.183Z,1536665881.183 [keepstation:F.Pitch](DEBUG): Construct.
2018-09-11T11:38:01.207Z,1536665881.207 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Construct Buoyancy.
2018-09-11T11:38:01.220Z,1536665881.220 [keepstation:TransitToStation:B.Pitch](DEBUG): Construct.
2018-09-11T11:38:01.242Z,1536665881.242 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Construct.
2018-09-11T11:38:01.245Z,1536665881.245 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2018-09-11T11:38:01.271Z,1536665881.271 [keepstation:KeepStation:B.Pitch](DEBUG): Construct.
2018-09-11T11:38:01.284Z,1536665881.284 [keepstation:KeepStation:C.KeepStation](DEBUG): Construct KeepStation.
2018-09-11T11:38:01.289Z,1536665881.289 [keepstation:KeepStation:D.Wait](DEBUG): Construct Wait.
2018-09-11T11:38:01.343Z,1536665881.343 [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="keepstation">

    <Description>
        Vehicle transits to desired waypoint (or stays put if none is commanded)
        and stays within the specified radius.
    </Description>

    <DefineArg Name="MissionTimeout"><Description>
        Maximum duration of mission
    </Description><Units:hour/><Value>4</Value></DefineArg>

    <DefineArg Name="NeedCommsTime"><Description>
        How often to surface for commumications
    </Description><Units:minute/><Value>45</Value></DefineArg>

    <DefineArg Name="Latitude"><Description>
        Latitude of waypoint to hold. If NaN, hold the latitude at start of
        mission.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Longitude"><Description>
        Longitude of waypoint to hold. If NaN, hold the longitude at start of
        mission.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Depth"><Description>
        Depth held during drift mode
    </Description><Units:meter/><Value>30</Value></DefineArg>

    <DefineArg Name="ApproachDepth"><Description>
        Depth for initial approach to station.
    </Description><Units:meter/><Value>15</Value></DefineArg>

    <DefineArg Name="DepthDeadband"><Description>
        How much vertical drift from the specified depth is allowed in drift
        mode
    </Description><Units:meter/><Value>4</Value></DefineArg>

    <DefineArg Name="Speed"><Description>
        Vehicle transit speed.
    </Description><Units:meter_per_second/><Value>0.75</Value></DefineArg>

    <DefineArg Name="Radius"><Description>
        Radius of circle around waypoint to hold.
    </Description><Units:meter/><Value>200</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum allowable depth during the mission.
    </Description><Units:meter/><Value>45</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Description>
        Minimum distance from the shoreline to maintain
    </Description><Units:kilometer/><Value>2</Value></DefineArg>

<!-- Missions should almost always start with a timeout and a NeedComms aggregate. -->

    <Timeout Duration="MissionTimeout"/>

    <Insert Filename="Insert/NeedComms.xml" Id="NeedComms"/>

    <Assign><Sequence/><Arg Name="NeedComms:DiveInterval"/><Arg Name="NeedCommsTime"/></Assign>

<!-- Missions should almost always start with standard safety envelopes; most missions should not expose the parameters of these envelopes. -->

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

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MaxDepth"/><Arg Name="MaxDepth"/></Assign>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MinOffshore"/><Arg Name="MinOffshore"/></Assign>

<!-- Most missions should not actively control mass or buoyancy. However, keepstation will want to control buoyancy, so only set mass here. -->

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

<!-- Check for additional instructions first. -->

    <Call Id="StartingMission" RefId="NeedComms"/>

<!-- Then transit to specified location. TODO: Consider encapsulating in a standard Insert/ApproachTransit.xml -->

    <Aggregate Id="TransitToStation">

        <Description>
            Need a separate aggregate for transit if we want to specify a
            different depth for the approach.
        </Description>

        <Sequence/>

        <Guidance:Buoyancy>
            <Parallel/>
            <Setting><Guidance:Buoyancy.position/><Control:VerticalControl.buoyancyNeutral/></Setting>
        </Guidance:Buoyancy>

        <Guidance:Pitch>
            <Parallel/>
            <Setting><Guidance:Pitch.depth/><Arg Name="ApproachDepth"/></Setting>
        </Guidance:Pitch>

        <Guidance:SetSpeed>
            <Parallel/>
            <Setting><Guidance:SetSpeed.speed/><Arg Name="Speed"/></Setting>
        </Guidance:SetSpeed>

        <Guidance:Waypoint Id="Wpt1">
            <Sequence/>
            <Setting><Guidance:Waypoint.latitude/><Arg Name="Latitude"/></Setting>
            <Setting><Guidance:Waypoint.longitude/><Arg Name="Longitude"/></Setting>
        </Guidance:Waypoint>

    </Aggregate>

    <Call Id="OnStation" RefId="NeedComms"/>

    <Aggregate Id="KeepStation">

        <Sequence/>

<!-- TODO: Consider making depth and depthDeadband into settings for the keepstation behavior. -->

        <Assign><Parallel/><Control:VerticalControl.depthDeadband/><Arg Name="DepthDeadband"/></Assign>

        <Guidance:Pitch>
            <Parallel/>
            <Setting><Guidance:Pitch.depth/><Arg Name="Depth"/></Setting>
        </Guidance:Pitch>

        <Guidance:KeepStation>
            <Parallel/>
            <Setting><Guidance:KeepStation.latitude/><Arg Name="Latitude"/></Setting>
            <Setting><Guidance:KeepStation.longitude/><Arg Name="Longitude"/></Setting>
            <Setting><Guidance:KeepStation.radius/><Arg Name="Radius"/></Setting>
            <Setting><Guidance:KeepStation.speed/><Arg Name="Speed"/></Setting>
        </Guidance:KeepStation>

        <Guidance:Wait>
            <Description>
                Due to the way the KeepStation behavior is currently
                implemented, we must run it in parallel and use a Wait to keep
                from completing the mission before the timeout expires. However,
                this new version of the mission uses a top-level timeout so that
                the entire mission will not run for longer then MissionTimeout.
            </Description>
            <Sequence/>
            <Setting><Guidance:Wait.duration/><Arg Name="MissionTimeout"/></Setting>
        </Guidance:Wait>

    </Aggregate>

</Mission>


2018-09-11T11:38:01.343Z,1536665881.343 [CommandLine](IMPORTANT): Loaded ./Missions/Transport/keepstation.xml
2018-09-11T11:38:12.132Z,1536665892.132 [CommandLine](IMPORTANT): got command set keepstation.NeedCommsTime 90.000000 minute
2018-09-11T11:38:12.133Z,1536665892.133 [CommandLine](IMPORTANT): got command set keepstation.Speed 0.500000 meter_per_second
2018-09-11T11:38:12.134Z,1536665892.134 [CommandLine](IMPORTANT): got command set keepstation.Radius 1000.000000 meter
2018-09-11T11:38:12.135Z,1536665892.135 [CommandLine](IMPORTANT): got command run 
2018-09-11T11:38:12.137Z,1536665892.137 [CommandLine](IMPORTANT): Running 
2018-09-11T11:38:12.280Z,1536665892.280 [Default] Stopped
2018-09-11T11:38:12.280Z,1536665892.280 [Default](DEBUG): Aggregate::uninitialize Default
2018-09-11T11:38:12.280Z,1536665892.280 [Default:B.GoToSurface] Stopped
2018-09-11T11:38:12.280Z,1536665892.280 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2018-09-11T11:38:12.280Z,1536665892.280 [Default:CheckIn] Stopped
2018-09-11T11:38:12.281Z,1536665892.281 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2018-09-11T11:38:12.281Z,1536665892.281 [Default:CheckIn:Read_GPS] Stopped
2018-09-11T11:38:12.281Z,1536665892.281 [MissionManager](IMPORTANT): Started mission keepstation
2018-09-11T11:38:12.281Z,1536665892.281 [keepstation] Running Loop=1
2018-09-11T11:38:12.281Z,1536665892.281 [keepstation](DEBUG): Aggregate::initialize keepstation
2018-09-11T11:38:12.281Z,1536665892.281 [keepstation:StandardEnvelopes] Running Loop=1
2018-09-11T11:38:12.282Z,1536665892.282 [keepstation:StandardEnvelopes](DEBUG): Aggregate::initialize keepstation:StandardEnvelopes
2018-09-11T11:38:12.282Z,1536665892.282 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2018-09-11T11:38:12.282Z,1536665892.282 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2018-09-11T11:38:12.282Z,1536665892.282 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2018-09-11T11:38:12.283Z,1536665892.283 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2018-09-11T11:38:12.284Z,1536665892.284 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2018-09-11T11:38:12.284Z,1536665892.284 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2018-09-11T11:38:12.284Z,1536665892.284 [keepstation:F.Pitch] Running Loop=1
2018-09-11T11:38:12.284Z,1536665892.284 [keepstation:F.Pitch](DEBUG): Initialize.
2018-09-11T11:38:12.284Z,1536665892.284 [keepstation:B] Running Loop=1
2018-09-11T11:38:12.285Z,1536665892.285 [keepstation:F.Pitch] Running Loop=1
2018-09-11T11:38:12.306Z,1536665892.306 [keepstation:StandardEnvelopes] Running Loop=1
2018-09-11T11:38:12.310Z,1536665892.310 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2018-09-11T11:38:12.328Z,1536665892.328 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2018-09-11T11:38:12.338Z,1536665892.338 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2018-09-11T11:38:12.361Z,1536665892.361 [keepstation:B] Stopped
2018-09-11T11:38:12.361Z,1536665892.361 [keepstation:D] Running Loop=1
2018-09-11T11:38:12.386Z,1536665892.386 [CBIT](INFO): Critical error at 20180911T113800
2018-09-11T11:38:12.386Z,1536665892.386 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2018-09-11T11:38:12.549Z,1536665892.549 [keepstation:D] Stopped
2018-09-11T11:38:12.549Z,1536665892.549 [keepstation:E] Running Loop=1
2018-09-11T11:38:12.563Z,1536665892.563 [MissionManager](INFO): MissionManager is completed.
2018-09-11T11:38:12.563Z,1536665892.563 [MissionManager](INFO): Uninitializing Mission keepstation
2018-09-11T11:38:12.563Z,1536665892.563 [keepstation] Stopped
2018-09-11T11:38:12.563Z,1536665892.563 [keepstation](DEBUG): Aggregate::uninitialize keepstation
2018-09-11T11:38:12.563Z,1536665892.563 [keepstation:StandardEnvelopes] Stopped
2018-09-11T11:38:12.564Z,1536665892.564 [keepstation:StandardEnvelopes](DEBUG): Aggregate::uninitialize keepstation:StandardEnvelopes
2018-09-11T11:38:12.564Z,1536665892.564 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2018-09-11T11:38:12.564Z,1536665892.564 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2018-09-11T11:38:12.564Z,1536665892.564 [keepstation:StandardEnvelopes:B.DepthEnvelope] Stopped
2018-09-11T11:38:12.564Z,1536665892.564 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2018-09-11T11:38:12.564Z,1536665892.564 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2018-09-11T11:38:12.564Z,1536665892.564 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2018-09-11T11:38:12.564Z,1536665892.564 [keepstation:E] Stopped
2018-09-11T11:38:12.564Z,1536665892.564 [keepstation:F.Pitch] Stopped
2018-09-11T11:38:12.906Z,1536665892.906 [MissionManager](IMPORTANT): Started mission Default
2018-09-11T11:38:12.907Z,1536665892.907 [Default] Running Loop=1
2018-09-11T11:38:12.907Z,1536665892.907 [Default](DEBUG): Aggregate::initialize Default
2018-09-11T11:38:12.907Z,1536665892.907 [Default:B.GoToSurface] Running Loop=1
2018-09-11T11:38:12.907Z,1536665892.907 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2018-09-11T11:38:12.907Z,1536665892.907 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2018-09-11T11:38:12.908Z,1536665892.908 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2018-09-11T11:38:12.908Z,1536665892.908 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2018-09-11T11:38:12.908Z,1536665892.908 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2018-09-11T11:38:12.909Z,1536665892.909 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2018-09-11T11:38:12.909Z,1536665892.909 [Default:A.Wait] Running Loop=1
2018-09-11T11:38:12.909Z,1536665892.909 [Default:A.Wait](DEBUG): Initialize Wait Component.
2018-09-11T11:38:26.105Z,1536665906.105 [Default:A.Wait](INFO): Done Waiting.
2018-09-11T11:38:26.105Z,1536665906.105 [Default:A.Wait] Stopped
2018-09-11T11:38:26.105Z,1536665906.105 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2018-09-11T11:38:26.484Z,1536665906.484 [Default:CheckIn] Running Loop=1
2018-09-11T11:38:26.484Z,1536665906.484 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2018-09-11T11:38:26.484Z,1536665906.484 [Default:CheckIn:Read_GPS] Running Loop=1
2018-09-11T11:38:58.653Z,1536665938.653 [DataOverHttps](IMPORTANT): Could not stat file Logs/20180911T112653/Courier0004.lzma
2018-09-11T11:38:58.654Z,1536665938.654 [DataOverHttps](CRITICAL): Could not open file Logs/20180911T112653/Courier0004.lzma
2018-09-11T11:38:58.757Z,1536665938.757 [CBIT](INFO): Critical error at 20180911T113858
2018-09-11T11:39:28.260Z,1536665968.260 [NAL9602](INFO): GPS fix at 20180911T113826: (36.914011, -122.407189)
2018-09-11T11:39:28.392Z,1536665968.392 [Default:CheckIn:Read_GPS] Stopped
2018-09-11T11:39:28.392Z,1536665968.392 [Default:CheckIn:Read_Iridium] Running Loop=1
2018-09-11T11:40:00.592Z,1536666000.592 [NAL9602](INFO): Powering down
2018-09-11T11:40:06.644Z,1536666006.644 [DataOverHttps](INFO): Sending 195 bytes from file Logs/20180911T112653/Courier0007.lzma
2018-09-11T11:40:11.441Z,1536666011.441 [DataOverHttps](INFO): Moved sent file to Logs/20180911T112653/Courier0007.lzma.bak
2018-09-11T11:40:11.441Z,1536666011.441 [DataOverHttps](IMPORTANT): SBD MOMSN=8515860, MTMSN=20180911T113910