2019-04-30T15:42:59.352Z,1556638979.352 [Supervisor](DEBUG): Initializing supervisor.
2019-04-30T15:42:59.354Z,1556638979.354 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2019-04-30T15:42:59.355Z,1556638979.355 [SyncHandler](INFO): Protected caller Thread ID is 3700
2019-04-30T15:42:59.355Z,1556638979.355 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2019-04-30T15:42:59.356Z,1556638979.356 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2019-04-30T15:42:59.356Z,1556638979.356 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 3701
2019-04-30T15:42:59.359Z,1556638979.359 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2019-04-30T15:42:59.371Z,1556638979.371 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2019-04-30T15:42:59.372Z,1556638979.372 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2019-04-30T15:42:59.373Z,1556638979.373 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 3702
2019-04-30T15:42:59.374Z,1556638979.374 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2019-04-30T15:42:59.375Z,1556638979.375 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2019-04-30T15:42:59.375Z,1556638979.375 [logger ThreadHandler](INFO): Protected caller Thread ID is 3703
2019-04-30T15:42:59.378Z,1556638979.378 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2019-04-30T15:42:59.378Z,1556638979.378 [Supervisor](INFO): Looking for Config files in directory: Config/
2019-04-30T15:42:59.380Z,1556638979.380 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2019-04-30T15:42:59.583Z,1556638979.583 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2019-04-30T15:42:59.583Z,1556638979.583 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2019-04-30T15:42:59.663Z,1556638979.663 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2019-04-30T15:43:00.100Z,1556638980.100 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2019-04-30T15:43:00.101Z,1556638980.101 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2019-04-30T15:43:00.437Z,1556638980.437 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2019-04-30T15:43:00.437Z,1556638980.437 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2019-04-30T15:43:00.533Z,1556638980.533 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2019-04-30T15:43:00.534Z,1556638980.534 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2019-04-30T15:43:00.832Z,1556638980.832 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2019-04-30T15:43:00.833Z,1556638980.833 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2019-04-30T15:43:01.029Z,1556638981.029 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2019-04-30T15:43:01.029Z,1556638981.029 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2019-04-30T15:43:01.482Z,1556638981.482 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2019-04-30T15:43:01.483Z,1556638981.483 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2019-04-30T15:43:01.588Z,1556638981.588 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2019-04-30T15:43:01.589Z,1556638981.589 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2019-04-30T15:43:01.689Z,1556638981.689 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2019-04-30T15:43:01.690Z,1556638981.690 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2019-04-30T15:43:02.264Z,1556638982.264 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2019-04-30T15:43:02.264Z,1556638982.264 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2019-04-30T15:43:02.656Z,1556638982.656 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2019-04-30T15:43:02.656Z,1556638982.656 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2019-04-30T15:43:02.852Z,1556638982.852 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2019-04-30T15:43:02.852Z,1556638982.852 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2019-04-30T15:43:02.998Z,1556638982.998 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2019-04-30T15:43:02.998Z,1556638982.998 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2019-04-30T15:43:03.147Z,1556638983.147 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2019-04-30T15:43:03.149Z,1556638983.149 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2019-04-30T15:43:03.150Z,1556638983.150 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Navigation.cfg
2019-04-30T15:43:03.241Z,1556638983.241 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2019-04-30T15:43:03.326Z,1556638983.326 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2019-04-30T15:43:03.431Z,1556638983.431 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/secure.cfg
2019-04-30T15:43:03.552Z,1556638983.552 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2019-04-30T15:43:03.695Z,1556638983.695 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2019-04-30T15:43:03.862Z,1556638983.862 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2019-04-30T15:43:04.491Z,1556638984.491 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/workSite.cfg
2019-04-30T15:43:04.571Z,1556638984.571 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2019-04-30T15:43:04.742Z,1556638984.742 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2019-04-30T15:43:04.878Z,1556638984.878 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2019-04-30T15:43:04.999Z,1556638984.999 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Battery.cfg
2019-04-30T15:43:05.228Z,1556638985.228 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2019-04-30T15:43:05.229Z,1556638985.229 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/root/
2019-04-30T15:43:05.230Z,1556638985.230 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2019-04-30T15:43:05.239Z,1556638985.239 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2019-04-30T15:43:05.303Z,1556638985.303 [VerticalControl](DEBUG): Construct VerticalControl.
2019-04-30T15:43:05.417Z,1556638985.417 [VerticalControl] Loaded
2019-04-30T15:43:05.418Z,1556638985.418 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2019-04-30T15:43:05.418Z,1556638985.418 [HorizontalControl](DEBUG): Construct HorizontalControl.
2019-04-30T15:43:05.488Z,1556638985.488 [HorizontalControl] Loaded
2019-04-30T15:43:05.488Z,1556638985.488 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2019-04-30T15:43:05.489Z,1556638985.489 [SpeedControl](DEBUG): Construct SpeedControl.
2019-04-30T15:43:05.494Z,1556638985.494 [SpeedControl] Loaded
2019-04-30T15:43:05.495Z,1556638985.495 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2019-04-30T15:43:05.495Z,1556638985.495 [LoopControl](DEBUG): Construct LoopControl.
2019-04-30T15:43:05.496Z,1556638985.496 [LoopControl] Loaded
2019-04-30T15:43:05.496Z,1556638985.496 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2019-04-30T15:43:05.497Z,1556638985.497 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2019-04-30T15:43:05.497Z,1556638985.497 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2019-04-30T15:43:05.510Z,1556638985.510 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2019-04-30T15:43:05.511Z,1556638985.511 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2019-04-30T15:43:05.608Z,1556638985.608 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2019-04-30T15:43:05.609Z,1556638985.609 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2019-04-30T15:43:05.735Z,1556638985.735 [BuoyancyServo] Loaded
2019-04-30T15:43:05.735Z,1556638985.735 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2019-04-30T15:43:05.746Z,1556638985.746 [ElevatorServo] Loaded
2019-04-30T15:43:05.747Z,1556638985.747 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2019-04-30T15:43:05.758Z,1556638985.758 [MassServo] Loaded
2019-04-30T15:43:05.758Z,1556638985.758 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2019-04-30T15:43:05.769Z,1556638985.769 [RudderServo] Loaded
2019-04-30T15:43:05.770Z,1556638985.770 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2019-04-30T15:43:05.781Z,1556638985.781 [ThrusterServo] Loaded
2019-04-30T15:43:05.781Z,1556638985.781 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2019-04-30T15:43:05.781Z,1556638985.781 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2019-04-30T15:43:05.782Z,1556638985.782 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2019-04-30T15:43:05.890Z,1556638985.890 [DeadReckonUsingMultipleVelocitySources] Loaded
2019-04-30T15:43:05.890Z,1556638985.890 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2019-04-30T15:43:05.911Z,1556638985.911 [NavChart] Loaded
2019-04-30T15:43:05.911Z,1556638985.911 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2019-04-30T15:43:05.915Z,1556638985.915 [UniversalFixResidualReporter] Loaded
2019-04-30T15:43:05.915Z,1556638985.915 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2019-04-30T15:43:05.916Z,1556638985.916 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2019-04-30T15:43:05.916Z,1556638985.916 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2019-04-30T15:43:05.985Z,1556638985.985 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2019-04-30T15:43:05.986Z,1556638985.986 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2019-04-30T15:43:06.333Z,1556638986.333 [AHRS_M2] Loaded
2019-04-30T15:43:06.334Z,1556638986.334 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2019-04-30T15:43:06.410Z,1556638986.410 [DataOverHttps] Loaded
2019-04-30T15:43:06.410Z,1556638986.410 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2019-04-30T15:43:06.411Z,1556638986.411 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 4087B4E0
2019-04-30T15:43:06.411Z,1556638986.411 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 3785
2019-04-30T15:43:06.425Z,1556638986.425 [Depth_Keller] Loaded
2019-04-30T15:43:06.425Z,1556638986.425 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2019-04-30T15:43:06.522Z,1556638986.522 [NAL9602] Loaded
2019-04-30T15:43:06.522Z,1556638986.522 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2019-04-30T15:43:06.538Z,1556638986.538 [Onboard] Loaded
2019-04-30T15:43:06.539Z,1556638986.539 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2019-04-30T15:43:06.542Z,1556638986.542 [Radio_Surface] Loaded
2019-04-30T15:43:06.542Z,1556638986.542 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2019-04-30T15:43:06.543Z,1556638986.543 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 408AB4E0
2019-04-30T15:43:06.543Z,1556638986.543 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 3786
2019-04-30T15:43:08.026Z,1556638988.026 [BPC1] Loaded
2019-04-30T15:43:08.027Z,1556638988.027 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2019-04-30T15:43:08.027Z,1556638988.027 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2019-04-30T15:43:08.028Z,1556638988.028 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2019-04-30T15:43:08.067Z,1556638988.067 [DepthRateCalculator] Loaded
2019-04-30T15:43:08.068Z,1556638988.068 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2019-04-30T15:43:08.073Z,1556638988.073 [PitchRateCalculator] Loaded
2019-04-30T15:43:08.074Z,1556638988.074 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2019-04-30T15:43:08.086Z,1556638988.086 [SpeedCalculator] Loaded
2019-04-30T15:43:08.086Z,1556638988.086 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2019-04-30T15:43:08.108Z,1556638988.108 [TempGradientCalculator] Loaded
2019-04-30T15:43:08.108Z,1556638988.108 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2019-04-30T15:43:08.113Z,1556638988.113 [YawRateCalculator] Loaded
2019-04-30T15:43:08.113Z,1556638988.113 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2019-04-30T15:43:08.143Z,1556638988.143 [ElevatorOffsetCalculator] Loaded
2019-04-30T15:43:08.143Z,1556638988.143 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2019-04-30T15:43:08.144Z,1556638988.144 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2019-04-30T15:43:08.144Z,1556638988.144 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2019-04-30T15:43:08.317Z,1556638988.317 [CANONSampler] Loaded
2019-04-30T15:43:08.317Z,1556638988.317 [ComponentRegistry](DEBUG): SyncComponent "CANONSampler" handled in the control thread.
2019-04-30T15:43:08.401Z,1556638988.401 [CTD_NeilBrown] Loaded
2019-04-30T15:43:08.401Z,1556638988.401 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2019-04-30T15:43:08.402Z,1556638988.402 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 409A54E0
2019-04-30T15:43:08.403Z,1556638988.403 [CTD_NeilBrown ThreadHandler](INFO): Protected caller Thread ID is 3787
2019-04-30T15:43:08.412Z,1556638988.412 [CTD_Seabird](DEBUG): LcmSlateWriter::add(): sea_water_density
2019-04-30T15:43:08.417Z,1556638988.417 [CTD_Seabird](INFO): created writer for : sea_water_density
2019-04-30T15:43:08.418Z,1556638988.418 [CTD_Seabird](DEBUG): LcmSlateWriter::add(): depth
2019-04-30T15:43:08.423Z,1556638988.423 [CTD_Seabird](INFO): created writer for : depth
2019-04-30T15:43:08.424Z,1556638988.424 [CTD_Seabird](DEBUG): LcmSlateWriter::add(): sea_water_pressure
2019-04-30T15:43:08.429Z,1556638988.429 [CTD_Seabird](INFO): created writer for : sea_water_pressure
2019-04-30T15:43:08.429Z,1556638988.429 [CTD_Seabird](DEBUG): LcmSlateWriter::add(): sea_water_salinity
2019-04-30T15:43:08.434Z,1556638988.434 [CTD_Seabird](INFO): created writer for : sea_water_salinity
2019-04-30T15:43:08.435Z,1556638988.435 [CTD_Seabird](DEBUG): LcmSlateWriter::add(): sea_water_temperature
2019-04-30T15:43:08.440Z,1556638988.440 [CTD_Seabird](INFO): created writer for : sea_water_temperature
2019-04-30T15:43:08.440Z,1556638988.440 [CTD_Seabird](DEBUG): LcmSlateWriter::add(): sea_water_electrical_conductivity
2019-04-30T15:43:08.445Z,1556638988.445 [CTD_Seabird](INFO): created writer for : sea_water_electrical_conductivity
2019-04-30T15:43:08.446Z,1556638988.446 [CTD_Seabird](DEBUG): LcmSlateWriter::add(): speed_of_sound_in_sea_water
2019-04-30T15:43:08.450Z,1556638988.450 [CTD_Seabird](INFO): created writer for : speed_of_sound_in_sea_water
2019-04-30T15:43:08.477Z,1556638988.477 [CTD_Seabird] Loaded
2019-04-30T15:43:08.477Z,1556638988.477 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2019-04-30T15:43:08.478Z,1556638988.478 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 409D54E0
2019-04-30T15:43:08.479Z,1556638988.479 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 3788
2019-04-30T15:43:08.494Z,1556638988.494 [PAR_Licor] Loaded
2019-04-30T15:43:08.494Z,1556638988.494 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2019-04-30T15:43:08.543Z,1556638988.543 [WetLabsBB2FL] Loaded
2019-04-30T15:43:08.543Z,1556638988.543 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2019-04-30T15:43:08.544Z,1556638988.544 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 40A054E0
2019-04-30T15:43:08.544Z,1556638988.544 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 3789
2019-04-30T15:43:08.545Z,1556638988.545 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2019-04-30T15:43:08.546Z,1556638988.546 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2019-04-30T15:43:08.651Z,1556638988.651 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2019-04-30T15:43:08.651Z,1556638988.651 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2019-04-30T15:43:09.094Z,1556638989.094 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2019-04-30T15:43:09.094Z,1556638989.094 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2019-04-30T15:43:09.227Z,1556638989.227 [SBIT](DEBUG): Construct Startup Built In Test.
2019-04-30T15:43:09.238Z,1556638989.238 [SBIT] Loaded
2019-04-30T15:43:09.238Z,1556638989.238 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2019-04-30T15:43:09.239Z,1556638989.239 [IBIT](DEBUG): Construct Initiated Built In Test.
2019-04-30T15:43:09.251Z,1556638989.251 [IBIT] Loaded
2019-04-30T15:43:09.251Z,1556638989.251 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2019-04-30T15:43:09.254Z,1556638989.254 [CBIT](DEBUG): Construct Continuous Built In Test.
2019-04-30T15:43:09.393Z,1556638989.393 [CBIT] Loaded
2019-04-30T15:43:09.394Z,1556638989.394 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2019-04-30T15:43:09.394Z,1556638989.394 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2019-04-30T15:43:09.398Z,1556638989.398 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2019-04-30T15:43:09.399Z,1556638989.399 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2019-04-30T15:43:09.405Z,1556638989.405 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2019-04-30T15:43:09.406Z,1556638989.406 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40B034E0
2019-04-30T15:43:09.407Z,1556638989.407 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 3790
2019-04-30T15:43:09.411Z,1556638989.411 [Supervisor](INFO): Main Thread ID is 803
2019-04-30T15:43:09.412Z,1556638989.412 [Supervisor](DEBUG): Running supervisor.
2019-04-30T15:43:09.412Z,1556638989.412 [CommandLine ThreadHandler](INFO): Handler Thread ID is 3791
2019-04-30T15:43:09.415Z,1556638989.415 [controlThread ThreadHandler](INFO): Handler Thread ID is 3792
2019-04-30T15:43:09.415Z,1556638989.415 [controlThread](DEBUG): Initializing ControlThread
2019-04-30T15:43:09.416Z,1556638989.416 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2019-04-30T15:43:09.418Z,1556638989.418 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2019-04-30T15:43:09.418Z,1556638989.418 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2019-04-30T15:43:09.419Z,1556638989.419 [LoopControl](DEBUG): Initialize LoopControlComponent.
2019-04-30T15:43:09.421Z,1556638989.421 [NavChart](DEBUG): Initialize NavChart Navigation.
2019-04-30T15:43:09.421Z,1556638989.421 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2019-04-30T15:43:09.426Z,1556638989.426 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2019-04-30T15:43:09.426Z,1556638989.426 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2019-04-30T15:43:09.426Z,1556638989.426 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2019-04-30T15:43:09.427Z,1556638989.427 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2019-04-30T15:43:09.427Z,1556638989.427 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2019-04-30T15:43:09.427Z,1556638989.427 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2019-04-30T15:43:09.429Z,1556638989.429 [SBIT](INFO): Initialize SBIT Component.
2019-04-30T15:43:09.430Z,1556638989.430 [SBIT](IMPORTANT): git: 2019-04-10-18-g571e8ed
2019-04-30T15:43:09.430Z,1556638989.430 [SBIT](INFO): git hash: 571e8ed2fb2fbb7faa627a269301c93ea33a1c20
2019-04-30T15:43:09.430Z,1556638989.430 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2019-04-30T15:43:09.431Z,1556638989.431 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #2 PREEMPT Thu Jan 11 20:13:48 PST 2018
Kernel Reported: #1 PREEMPT Tue Dec 18 21:19:28 PST 2018
2019-04-30T15:43:09.432Z,1556638989.432 [SBIT](INFO): Beginning SBIT in 23.000000 seconds.
2019-04-30T15:43:09.433Z,1556638989.433 [IBIT](INFO): Initialize IBIT Component.
2019-04-30T15:43:09.434Z,1556638989.434 [CBIT](DEBUG): Initialize CBIT Component.
2019-04-30T15:43:09.435Z,1556638989.435 [logger ThreadHandler](INFO): Handler Thread ID is 3793
2019-04-30T15:43:09.445Z,1556638989.445 [CBIT](DEBUG): Initialized mux pins.
2019-04-30T15:43:09.445Z,1556638989.445 [CBIT](DEBUG): Initializing the watchdog timer.
2019-04-30T15:43:09.453Z,1556638989.453 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 3794
2019-04-30T15:43:09.454Z,1556638989.454 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2019-04-30T15:43:09.465Z,1556638989.465 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 3795
2019-04-30T15:43:09.469Z,1556638989.469 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2019-04-30T15:43:09.469Z,1556638989.469 [CBIT](DEBUG): Initializing heartbeat.
2019-04-30T15:43:09.477Z,1556638989.477 [CTD_NeilBrown ThreadHandler](INFO): Handler Thread ID is 3796
2019-04-30T15:43:09.478Z,1556638989.478 [CTD_NeilBrown](INFO): Powering down
2019-04-30T15:43:09.505Z,1556638989.505 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 3797
2019-04-30T15:43:09.506Z,1556638989.506 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2019-04-30T15:43:09.513Z,1556638989.513 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 3799
2019-04-30T15:43:09.515Z,1556638989.515 [WetLabsBB2FL](INFO): Powering down
2019-04-30T15:43:09.533Z,1556638989.533 [CTD_Seabird](INFO): Opening uart, block timeout 10ths=20
2019-04-30T15:43:09.541Z,1556638989.541 [CBIT](DEBUG): Deactivating GF circuits.
2019-04-30T15:43:09.541Z,1556638989.541 [CBIT](DEBUG): Deactivating emergency mode.
2019-04-30T15:43:09.542Z,1556638989.542 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 3800
2019-04-30T15:43:09.545Z,1556638989.545 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2019-04-30T15:43:09.546Z,1556638989.546 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2019-04-30T15:43:09.546Z,1556638989.546 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2019-04-30T15:43:09.546Z,1556638989.546 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2019-04-30T15:43:09.546Z,1556638989.546 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2019-04-30T15:43:09.546Z,1556638989.546 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2019-04-30T15:43:09.547Z,1556638989.547 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2019-04-30T15:43:09.547Z,1556638989.547 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2019-04-30T15:43:09.547Z,1556638989.547 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2019-04-30T15:43:09.547Z,1556638989.547 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2019-04-30T15:43:09.547Z,1556638989.547 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2019-04-30T15:43:09.548Z,1556638989.548 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2019-04-30T15:43:09.548Z,1556638989.548 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2019-04-30T15:43:09.548Z,1556638989.548 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2019-04-30T15:43:09.548Z,1556638989.548 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2019-04-30T15:43:09.548Z,1556638989.548 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2019-04-30T15:43:09.577Z,1556638989.577 [CBIT](DEBUG): Backplane powered.
2019-04-30T15:43:09.578Z,1556638989.578 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2019-04-30T15:43:09.588Z,1556638989.588 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2019-04-30T15:43:09.598Z,1556638989.598 [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>


2019-04-30T15:43:09.599Z,1556638989.599 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2019-04-30T15:43:09.685Z,1556638989.685 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2019-04-30T15:43:09.686Z,1556638989.686 [Default:A.Wait](DEBUG): Construct Wait.
2019-04-30T15:43:09.688Z,1556638989.688 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-04-30T15:43:09.715Z,1556638989.715 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2019-04-30T15:43:09.718Z,1556638989.718 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2019-04-30T15:43:09.739Z,1556638989.739 [Default:E.Execute](DEBUG): Construct Execute.
2019-04-30T15:43:09.742Z,1556638989.742 [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>


2019-04-30T15:43:09.758Z,1556638989.758 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,Depth_Keller,NAL9602,Onboard,BPC1,CANONSampler,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,
2019-04-30T15:43:09.769Z,1556638989.769 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2019-04-30T15:43:09.814Z,1556638989.814 [Depth_Keller](ERROR): Pressure reading out of range: 1831.023193 decibar
2019-04-30T15:43:09.865Z,1556638989.865 [CANONSampler](INFO): Powering down
2019-04-30T15:43:09.869Z,1556638989.869 [Radio_Surface](INFO): Powering up
2019-04-30T15:43:09.941Z,1556638989.941 [DepthRateCalculator](ERROR): Depth measurement is not active
2019-04-30T15:43:09.971Z,1556638989.971 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2019-04-30T15:43:09.977Z,1556638989.977 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2019-04-30T15:43:09.978Z,1556638989.978 [ElevatorServo](DEBUG): Initializing EZServoServo.
2019-04-30T15:43:09.997Z,1556638989.997 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2019-04-30T15:43:09.998Z,1556638989.998 [MassServo](DEBUG): Initializing EZServoServo.
2019-04-30T15:43:10.005Z,1556638990.005 [MassServo](DEBUG): Initializing MassServo.
2019-04-30T15:43:10.006Z,1556638990.006 [RudderServo](DEBUG): Initializing EZServoServo.
2019-04-30T15:43:10.013Z,1556638990.013 [RudderServo](DEBUG): Initializing RudderServo.
2019-04-30T15:43:10.014Z,1556638990.014 [ThrusterServo](DEBUG): Initializing EZServoServo.
2019-04-30T15:43:10.021Z,1556638990.021 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2019-04-30T15:43:10.945Z,1556638990.945 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2019-04-30T15:43:10.945Z,1556638990.945 [RudderServo](FAULT): Rudder failed to initialize
2019-04-30T15:43:10.945Z,1556638990.945 [RudderServo] Communications Fault, FailCount= 1
2019-04-30T15:43:10.945Z,1556638990.945 [RudderServo](ERROR): Communications Fault
2019-04-30T15:43:11.056Z,1556638991.056 [CBIT](ERROR): Communications Fault in component: RudderServo
2019-04-30T15:43:11.294Z,1556638991.294 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2019-04-30T15:43:11.294Z,1556638991.294 [RudderServo](INFO): Powering down
2019-04-30T15:43:11.940Z,1556638991.940 [RudderServo](DEBUG): Initializing EZServoServo.
2019-04-30T15:43:12.074Z,1556638992.074 [RudderServo](DEBUG): Initializing RudderServo.
2019-04-30T15:43:12.078Z,1556638992.078 [CBIT](INFO): Clearing failed state for component RudderServo
2019-04-30T15:43:12.078Z,1556638992.078 [RudderServo] No Fault, FailCount= 1
2019-04-30T15:43:15.929Z,1556638995.929 [Radio_Surface](INFO): Powering down
2019-04-30T15:43:17.541Z,1556638997.541 [CTD_Seabird](ERROR): Device message queue exceeded the allowed limit.
2019-04-30T15:43:33.002Z,1556639013.002 [SBIT](IMPORTANT): Beginning Startup BIT
2019-04-30T15:43:33.006Z,1556639013.006 [CBIT](IMPORTANT): Beginning ground fault scan
2019-04-30T15:43:36.566Z,1556639016.566 [NAL9602](INFO): Powering up NAL9602
2019-04-30T15:43:40.157Z,1556639020.157 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2019-04-30T15:43:40.169Z,1556639020.169 [Radio_Surface](INFO): Powering up
2019-04-30T15:43:43.929Z,1556639023.929 [CBIT](IMPORTANT): Ground fault detected
mA:
CHAN A0 (Batt): 0.000461
CHAN A1 (24V): -0.132813
CHAN A2 (12V): -0.002245
CHAN A3 (5V): -0.001778
CHAN B0 (3.3V): -0.000122
CHAN B1 (3.15aV): -0.000245
CHAN B2 (3.15bV): 0.000239
CHAN B3 (GND): -0.000047
OPEN: -0.000315
Full Scale Calc: 4.765 mA, -1.589 mA
2019-04-30T15:43:45.813Z,1556639025.813 [DataOverHttps](INFO): Radio surface powered ON.
2019-04-30T15:43:46.331Z,1556639026.331 [SBIT](ERROR): Could not read massPosReader_.
2019-04-30T15:43:47.474Z,1556639027.474 [NAL9602](INFO): NAL9602 initialized
2019-04-30T15:43:48.293Z,1556639028.293 [NAL9602](DEBUG): Fix Requested
2019-04-30T15:44:13.011Z,1556639053.011 [SBIT](FAULT): Mass: EXPECTED:-0.007750 ACTUAL:-0.005505
2019-04-30T15:44:13.011Z,1556639053.011 [SBIT](FAULT): Control surface position failure.
2019-04-30T15:44:27.099Z,1556639067.099 [SBIT](CRITICAL): SBIT FAILED
2019-04-30T15:44:27.118Z,1556639067.118 [CommandLine](FAULT): Scheduling is paused
2019-04-30T15:44:27.119Z,1556639067.119 [CBIT](INFO): Critical error at 20190430T154427
2019-04-30T15:44:27.119Z,1556639067.119 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2019-04-30T15:44:27.162Z,1556639067.162 [CommandLine](IMPORTANT): got command configSet list
2019-04-30T15:44:27.163Z,1556639067.163 [CommandLine](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2019-04-30T15:44:27.163Z,1556639067.163 [CommandLine](IMPORTANT): Aanderaa_O2.loadAtStartup=0 bool;

2019-04-30T15:44:27.164Z,1556639067.164 [CommandLine](IMPORTANT): CANONSampler.loadAtStartup=1 bool;

2019-04-30T15:44:27.164Z,1556639067.164 [CommandLine](IMPORTANT): DVL_micro.loadAtStartup=0 bool;

2019-04-30T15:44:27.164Z,1556639067.164 [CommandLine](IMPORTANT): DeadReckonUsingSpeedCalculator.loadAtStartup=0 bool;

2019-04-30T15:44:27.164Z,1556639067.164 [CommandLine](IMPORTANT): DeadReckonWithRespectToSeafloor.loadAtStartup=0 bool;

2019-04-30T15:44:27.164Z,1556639067.164 [CommandLine](IMPORTANT): DropWeight.loadAtStartup=0 bool;

2019-04-30T15:44:27.164Z,1556639067.164 [CommandLine](IMPORTANT): ESPComponent.loadAtStartup=0 bool;

2019-04-30T15:44:27.164Z,1556639067.164 [CommandLine](IMPORTANT): RDI_Pathfinder.loadAtStartup=0 bool;

2019-04-30T15:44:27.164Z,1556639067.164 [CommandLine](IMPORTANT): Rowe_600LCM.loadAtStartup=0 bool;

2019-04-30T15:44:27.503Z,1556639067.503 [MissionManager](IMPORTANT): Started mission Startup
2019-04-30T15:44:27.504Z,1556639067.504 [Startup] Running Loop=1
2019-04-30T15:44:27.504Z,1556639067.504 [Startup](DEBUG): Aggregate::initialize Startup
2019-04-30T15:44:27.504Z,1556639067.504 [Startup:A.GoToSurface] Running Loop=1
2019-04-30T15:44:27.504Z,1556639067.504 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-04-30T15:44:27.505Z,1556639067.505 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-04-30T15:44:27.506Z,1556639067.506 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-04-30T15:44:27.506Z,1556639067.506 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-04-30T15:44:27.507Z,1556639067.507 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-04-30T15:44:27.507Z,1556639067.507 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-04-30T15:44:27.508Z,1556639067.508 [Startup:StartupSatComms] Running Loop=1
2019-04-30T15:44:27.508Z,1556639067.508 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2019-04-30T15:44:27.509Z,1556639067.509 [Startup:StartupSatComms:A] Running Loop=1
2019-04-30T15:44:27.914Z,1556639067.914 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2019-04-30T15:45:27.701Z,1556639127.701 [Startup:StartupSatComms:A](INFO): Timed out from 2019-04-30T15:44:27.5Z
2019-04-30T15:45:27.701Z,1556639127.701 [Startup:StartupSatComms:A] Stopped
2019-04-30T15:45:27.701Z,1556639127.701 [Startup:StartupSatComms:B] Running Loop=1
2019-04-30T15:45:28.099Z,1556639128.099 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-04-30T15:46:09.722Z,1556639169.722 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2019-04-30T15:46:09.722Z,1556639169.722 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-04-30T15:46:09.735Z,1556639169.735 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-04-30T15:46:10.143Z,1556639170.143 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-04-30T15:46:10.143Z,1556639170.143 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2019-04-30T15:46:27.894Z,1556639187.894 [Startup:StartupSatComms:B](INFO): Timed out from 2019-04-30T15:45:27.7Z
2019-04-30T15:46:27.894Z,1556639187.894 [Startup:StartupSatComms:B] Stopped
2019-04-30T15:46:27.894Z,1556639187.894 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2019-04-30T15:46:27.894Z,1556639187.894 [Startup:StartupSatComms] Stopped
2019-04-30T15:46:27.894Z,1556639187.894 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2019-04-30T15:46:27.895Z,1556639187.895 [Startup](INFO): Completed Startup
2019-04-30T15:46:27.895Z,1556639187.895 [MissionManager](INFO): Startup is completed.
2019-04-30T15:46:27.895Z,1556639187.895 [MissionManager](INFO): Uninitializing Mission Startup
2019-04-30T15:46:27.895Z,1556639187.895 [Startup] Stopped
2019-04-30T15:46:27.896Z,1556639187.896 [Startup](DEBUG): Aggregate::uninitialize Startup
2019-04-30T15:46:27.896Z,1556639187.896 [Startup:A.GoToSurface] Stopped
2019-04-30T15:46:27.896Z,1556639187.896 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-04-30T15:46:28.363Z,1556639188.363 [MissionManager](IMPORTANT): Started mission Default
2019-04-30T15:46:28.363Z,1556639188.363 [Default] Running Loop=1
2019-04-30T15:46:28.363Z,1556639188.363 [Default](DEBUG): Aggregate::initialize Default
2019-04-30T15:46:28.363Z,1556639188.363 [Default:B.GoToSurface] Running Loop=1
2019-04-30T15:46:28.363Z,1556639188.363 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-04-30T15:46:28.364Z,1556639188.364 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-04-30T15:46:28.364Z,1556639188.364 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-04-30T15:46:28.364Z,1556639188.364 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-04-30T15:46:28.364Z,1556639188.364 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-04-30T15:46:28.365Z,1556639188.365 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-04-30T15:46:28.365Z,1556639188.365 [Default:A.Wait] Running Loop=1
2019-04-30T15:46:28.365Z,1556639188.365 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-04-30T15:46:41.710Z,1556639201.710 [Default:A.Wait](INFO): Done Waiting.
2019-04-30T15:46:41.710Z,1556639201.710 [Default:A.Wait] Stopped
2019-04-30T15:46:41.710Z,1556639201.710 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-04-30T15:46:42.059Z,1556639202.059 [Default:CheckIn] Running Loop=1
2019-04-30T15:46:42.060Z,1556639202.060 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-04-30T15:46:42.060Z,1556639202.060 [Default:CheckIn:Read_GPS] Running Loop=1
2019-04-30T15:46:42.471Z,1556639202.471 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-04-30T15:47:16.455Z,1556639236.455 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004980
2019-04-30T15:47:55.799Z,1556639275.799 [DataOverHttps](IMPORTANT): SBD MTMSN=20190430T153336
2019-04-30T15:48:00.657Z,1556639280.657 [DataOverHttps](INFO): Received command:load Maintenance/sample.xml;set sample.MissionTimeout 45 minute;set sample.NumberOfSamples 3 count;set sample.WaitBeforeSample 30 second;set sample:SampleAtDepth.TargetDepth 7 meter;run 
2019-04-30T15:48:00.670Z,1556639280.670 [CommandLine](IMPORTANT): got command load ./Missions/Maintenance/sample.xml
2019-04-30T15:48:00.670Z,1556639280.670 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/sample.xml
2019-04-30T15:48:00.692Z,1556639280.692 [MissionManager](INFO): DefineArg sample.MissionTimeout = 90.000000 min
2019-04-30T15:48:00.723Z,1556639280.723 [MissionManager](INFO): DefineArg sample.Depth = 7.000000 m
2019-04-30T15:48:00.726Z,1556639280.726 [MissionManager](INFO): DefineArg sample.NumberOfSamples = 1.000000 count
2019-04-30T15:48:00.729Z,1556639280.729 [MissionManager](INFO): DefineArg sample.WaitBeforeSample = 3.000000 min
2019-04-30T15:48:00.730Z,1556639280.730 [sample:A.Pitch](DEBUG): Construct.
2019-04-30T15:48:00.748Z,1556639280.748 [sample:B.SetSpeed](DEBUG): Construct.
2019-04-30T15:48:00.752Z,1556639280.752 [MissionManager](INFO): Inserting Stack: Missions/Insert/SampleAtDepth.xml
2019-04-30T15:48:00.927Z,1556639280.927 [MissionManager](INFO): DefineArg sample:SampleAtDepth.TargetDepth = 5.000000 m
2019-04-30T15:48:00.930Z,1556639280.930 [MissionManager](INFO): DefineArg sample:SampleAtDepth.SettleTime = 10.000000 s
2019-04-30T15:48:00.941Z,1556639280.941 [MissionManager](INFO): DefineArg sample:SampleAtDepth.MaxWaitNotReachingDepth = 3.000000 h
2019-04-30T15:48:00.944Z,1556639280.944 [MissionManager](INFO): DefineArg sample:SampleAtDepth.RotateOnly = 0.000000 bool
2019-04-30T15:48:00.948Z,1556639280.948 [MissionManager](INFO): DefineArg sample:SampleAtDepth.UseCANONSampler = 1.000000 bool
2019-04-30T15:48:00.952Z,1556639280.952 [MissionManager](INFO): DefineArg sample:SampleAtDepth.UseESP = 0.000000 bool
2019-04-30T15:48:00.971Z,1556639280.971 [MissionManager](INFO): DefineArg sample:SampleAtDepth.CANONSamplerTriggerTimeout = 1.000000 min
2019-04-30T15:48:00.979Z,1556639280.979 [MissionManager](INFO): DefineArg sample:SampleAtDepth.CANONSamplerTimeout = 6.000000 min
2019-04-30T15:48:00.987Z,1556639280.987 [MissionManager](INFO): DefineArg sample:SampleAtDepth.BuoyancyNeutral = 315.000012 cc
2019-04-30T15:48:00.995Z,1556639280.995 [sample:SampleAtDepth:ApproachDepth:B.Pitch](DEBUG): Construct.
2019-04-30T15:48:01.004Z,1556639281.004 [sample:SampleAtDepth:ApproachDepth:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-04-30T15:48:01.015Z,1556639281.015 [sample:SampleAtDepth:SampleWrapper:A.Pitch](DEBUG): Construct.
2019-04-30T15:48:01.037Z,1556639281.037 [sample:SampleAtDepth:SampleWrapper:C.Wait](DEBUG): Construct Wait.
2019-04-30T15:48:01.051Z,1556639281.051 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:TriggerCANONSampler:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-04-30T15:48:01.071Z,1556639281.071 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:E:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-04-30T15:48:01.115Z,1556639281.115 [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: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/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="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"/>

    <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>

    <Aggregate Id="SampleRepeater">

        <Sequence Repeat="NumberOfSamples"/>

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

    </Aggregate>

</Mission>


2019-04-30T15:48:01.116Z,1556639281.116 [CommandLine](IMPORTANT): Loaded ./Missions/Maintenance/sample.xml
2019-04-30T15:48:09.363Z,1556639289.363 [CommandLine](IMPORTANT): got command set sample.MissionTimeout 45.000000 minute
2019-04-30T15:48:09.364Z,1556639289.364 [CommandLine](IMPORTANT): got command set sample.NumberOfSamples 3.000000 count
2019-04-30T15:48:09.365Z,1556639289.365 [CommandLine](IMPORTANT): got command set sample.WaitBeforeSample 30.000000 second
2019-04-30T15:48:09.366Z,1556639289.366 [CommandLine](IMPORTANT): got command set sample:SampleAtDepth.TargetDepth 7.000000 meter
2019-04-30T15:48:09.367Z,1556639289.367 [CommandLine](IMPORTANT): got command run 
2019-04-30T15:48:09.369Z,1556639289.369 [CommandLine](IMPORTANT): Running 
2019-04-30T15:48:09.727Z,1556639289.727 [Default] Stopped
2019-04-30T15:48:09.727Z,1556639289.727 [Default](DEBUG): Aggregate::uninitialize Default
2019-04-30T15:48:09.727Z,1556639289.727 [Default:B.GoToSurface] Stopped
2019-04-30T15:48:09.727Z,1556639289.727 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-04-30T15:48:09.727Z,1556639289.727 [Default:CheckIn] Stopped
2019-04-30T15:48:09.727Z,1556639289.727 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-04-30T15:48:09.727Z,1556639289.727 [Default:CheckIn:Read_GPS] Stopped
2019-04-30T15:48:09.727Z,1556639289.727 [MissionManager](IMPORTANT): Started mission sample
2019-04-30T15:48:09.727Z,1556639289.727 [sample] Running Loop=1
2019-04-30T15:48:09.728Z,1556639289.728 [sample](DEBUG): Aggregate::initialize sample
2019-04-30T15:48:09.728Z,1556639289.728 [sample:A.Pitch] Running Loop=1
2019-04-30T15:48:09.728Z,1556639289.728 [sample:A.Pitch](DEBUG): Initialize.
2019-04-30T15:48:09.728Z,1556639289.728 [sample:B.SetSpeed] Running Loop=1
2019-04-30T15:48:09.728Z,1556639289.728 [sample:B.SetSpeed](DEBUG): Initialize.
2019-04-30T15:48:09.728Z,1556639289.728 [sample:D] Running Loop=1
2019-04-30T15:48:09.729Z,1556639289.729 [sample:D] Stopped
2019-04-30T15:48:09.729Z,1556639289.729 [sample:E] Running Loop=1
2019-04-30T15:48:09.729Z,1556639289.729 [sample:B.SetSpeed] Running Loop=1
2019-04-30T15:48:09.729Z,1556639289.729 [sample:A.Pitch] Running Loop=1
2019-04-30T15:48:10.119Z,1556639290.119 [sample:E] Stopped
2019-04-30T15:48:10.120Z,1556639290.120 [sample:SampleRepeater] Running Loop=1
2019-04-30T15:48:10.120Z,1556639290.120 [sample:SampleRepeater](DEBUG): Aggregate::initialize sample:SampleRepeater
2019-04-30T15:48:10.120Z,1556639290.120 [sample:SampleRepeater:Sample] Running Loop=1
2019-04-30T15:48:10.120Z,1556639290.120 [sample:SampleRepeater:Sample](DEBUG): Aggregate::initialize sample:SampleRepeater:Sample
2019-04-30T15:48:10.571Z,1556639290.571 [sample:SampleAtDepth] Running Loop=1
2019-04-30T15:48:10.571Z,1556639290.571 [sample:SampleAtDepth](DEBUG): Aggregate::initialize sample:SampleAtDepth
2019-04-30T15:48:10.572Z,1556639290.572 [sample:SampleAtDepth:ApproachDepth] Running Loop=1
2019-04-30T15:48:10.572Z,1556639290.572 [sample:SampleAtDepth:ApproachDepth](DEBUG): Aggregate::initialize sample:SampleAtDepth:ApproachDepth
2019-04-30T15:48:10.572Z,1556639290.572 [sample:SampleAtDepth:ApproachDepth:A] Running Loop=1
2019-04-30T15:48:10.572Z,1556639290.572 [sample:SampleAtDepth:ApproachDepth:A](INFO): Moving to 7.000000 m 
2019-04-30T15:48:10.572Z,1556639290.572 [sample:SampleAtDepth:ApproachDepth:A] Stopped
2019-04-30T15:48:10.573Z,1556639290.573 [sample:SampleAtDepth:ApproachDepth:B.Pitch] Running Loop=1
2019-04-30T15:48:10.573Z,1556639290.573 [sample:SampleAtDepth:ApproachDepth:B.Pitch](DEBUG): Initialize.
2019-04-30T15:48:54.115Z,1556639334.115 [NAL9602](INFO): SBD MO Status=2, MOMSN=11642, MT Status=2, MTMSN=0
2019-04-30T15:48:54.115Z,1556639334.115 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-04-30T15:48:54.514Z,1556639334.514 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-04-30T15:48:55.337Z,1556639335.337 [NAL9602](DEBUG): Fix Requested
2019-04-30T15:48:55.732Z,1556639335.732 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,153435.00,A,3648.16627,N,12147.28824,W,0.641,17.77,300419,,,A*4B
2019-04-30T15:48:55.735Z,1556639335.735 [NAL9602](INFO): GPS fix at 20190430T153435: (36.802771, -121.788137)
2019-04-30T15:49:26.705Z,1556639366.705 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-04-30T15:49:28.461Z,1556639368.461 [NAL9602](INFO): Powering down
2019-04-30T15:49:57.409Z,1556639397.409 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-04-30T15:50:08.817Z,1556639408.817 [Radio_Surface](INFO): Powering down
2019-04-30T15:50:28.113Z,1556639428.113 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-04-30T15:50:28.517Z,1556639428.517 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2019-04-30T15:50:48.158Z,1556639448.158 [CommandLine](IMPORTANT): got command configSet CBIT.gf24Offset 172.000000 microampere
2019-04-30T15:50:54.202Z,1556639454.202 [CommandLine](IMPORTANT): got command configSet CBIT.gf24Offset 172.000000 microampere persist
2019-04-30T15:50:57.574Z,1556639457.574 [CommandLine](IMPORTANT): got command gfscan
2019-04-30T15:50:57.786Z,1556639457.786 [CBIT](IMPORTANT): Beginning ground fault scan
2019-04-30T15:51:08.764Z,1556639468.764 [CBIT](IMPORTANT): Ground fault detected
mA:
CHAN A0 (Batt): 0.001012
CHAN A1 (24V): -0.198873
CHAN A2 (12V): -0.002220
CHAN A3 (5V): -0.001021
CHAN B0 (3.3V): -0.000224
CHAN B1 (3.15aV): -0.000287
CHAN B2 (3.15bV): -0.000484
CHAN B3 (GND): -0.000328
OPEN: -0.000291
Full Scale Calc: 4.765 mA, -1.589 mA
2019-04-30T15:51:25.357Z,1556639485.357 [CommandLine](IMPORTANT): got command show stack
2019-04-30T15:51:25.357Z,1556639485.357 [CommandLine](IMPORTANT): Behavior Stack:

2019-04-30T15:51:25.358Z,1556639485.358 [sample](IMPORTANT): Priority 0: sample:A.Pitch
2019-04-30T15:51:25.358Z,1556639485.358 [sample](IMPORTANT): Priority 1: sample:B.SetSpeed
2019-04-30T15:51:25.358Z,1556639485.358 [sample:SampleAtDepth:ApproachDepth](IMPORTANT): Priority 2: sample:SampleAtDepth:ApproachDepth:B.Pitch
2019-04-30T15:51:31.945Z,1556639491.945 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.183563
2019-04-30T15:51:35.755Z,1556639495.755 [CommandLine](IMPORTANT): got command get depth
2019-04-30T15:51:35.755Z,1556639495.755 [CommandLine](IMPORTANT): depth 5.413805 m
2019-04-30T15:51:54.126Z,1556639514.126 [CommandLine](IMPORTANT): got command get depth
2019-04-30T15:51:54.127Z,1556639514.127 [CommandLine](IMPORTANT): depth 5.854871 m
2019-04-30T15:52:24.155Z,1556639544.155 [CommandLine](IMPORTANT): got command get CBIT.gf24Offset
2019-04-30T15:52:24.156Z,1556639544.156 [CommandLine](IMPORTANT): CBIT.gf24Offset 172.000000 uA
2019-04-30T15:52:41.600Z,1556639561.600 [sample:SampleAtDepth:ApproachDepth:B.Pitch] Stopped
2019-04-30T15:52:41.600Z,1556639561.600 [sample:SampleAtDepth:ApproachDepth](INFO): Completed sample:SampleAtDepth:ApproachDepth
2019-04-30T15:52:41.600Z,1556639561.600 [sample:SampleAtDepth:ApproachDepth] Stopped
2019-04-30T15:52:41.601Z,1556639561.601 [sample:SampleAtDepth:ApproachDepth](DEBUG): Aggregate::uninitialize sample:SampleAtDepth:ApproachDepth
2019-04-30T15:52:41.601Z,1556639561.601 [sample:SampleAtDepth:SampleWrapper] Running Loop=1
2019-04-30T15:52:41.601Z,1556639561.601 [sample:SampleAtDepth:SampleWrapper](DEBUG): Aggregate::initialize sample:SampleAtDepth:SampleWrapper
2019-04-30T15:52:41.601Z,1556639561.601 [sample:SampleAtDepth:SampleWrapper:A.Pitch] Running Loop=1
2019-04-30T15:52:41.601Z,1556639561.601 [sample:SampleAtDepth:SampleWrapper:A.Pitch](DEBUG): Initialize.
2019-04-30T15:52:41.601Z,1556639561.601 [sample:SampleAtDepth:SampleWrapper:B] Running Loop=1
2019-04-30T15:52:42.026Z,1556639562.026 [sample:SampleAtDepth:SampleWrapper:B](IMPORTANT): At 7.007360 m , settling for 0.500000 min 
2019-04-30T15:52:42.026Z,1556639562.026 [sample:SampleAtDepth:SampleWrapper:B] Stopped
2019-04-30T15:52:42.026Z,1556639562.026 [sample:SampleAtDepth:SampleWrapper:C.Wait] Running Loop=1
2019-04-30T15:52:42.026Z,1556639562.026 [sample:SampleAtDepth:SampleWrapper:C.Wait](DEBUG): Initialize Wait Component.
2019-04-30T15:52:42.026Z,1556639562.026 [sample:SampleAtDepth:SampleWrapper:A.Pitch] Running Loop=1
2019-04-30T15:53:12.716Z,1556639592.716 [sample:SampleAtDepth:SampleWrapper:C.Wait](INFO): Done Waiting.
2019-04-30T15:53:12.716Z,1556639592.716 [sample:SampleAtDepth:SampleWrapper:C.Wait] Stopped
2019-04-30T15:53:12.716Z,1556639592.716 [sample:SampleAtDepth:SampleWrapper:C.Wait](DEBUG): Uninitialize Wait Component.
2019-04-30T15:53:12.716Z,1556639592.716 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler] Running Loop=1
2019-04-30T15:53:12.717Z,1556639592.717 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler](DEBUG): Aggregate::initialize sample:SampleAtDepth:SampleWrapper:SampleCANONSampler
2019-04-30T15:53:12.717Z,1556639592.717 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:A] Running Loop=1
2019-04-30T15:53:12.717Z,1556639592.717 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:B] Running Loop=1
2019-04-30T15:53:12.717Z,1556639592.717 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:TriggerCANONSampler] Running Loop=1
2019-04-30T15:53:13.113Z,1556639593.113 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:TriggerCANONSampler](DEBUG): Initialize ReadDataComponent to sense CANONSampler.sampling
2019-04-30T15:53:13.114Z,1556639593.114 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:B] Running Loop=1
2019-04-30T15:53:13.114Z,1556639593.114 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:A] Running Loop=1
2019-04-30T15:53:13.921Z,1556639593.921 [CANONSampler](INFO): Powering up
2019-04-30T15:53:45.017Z,1556639625.017 [CANONSampler](FAULT): Failed to receive prompt
2019-04-30T15:53:45.017Z,1556639625.017 [CANONSampler] Hardware Fault, FailCount= 1
2019-04-30T15:53:45.017Z,1556639625.017 [CANONSampler](ERROR): Hardware Fault
2019-04-30T15:53:45.070Z,1556639625.070 [CBIT](ERROR): Hardware Fault in component: CANONSampler
2019-04-30T15:53:45.421Z,1556639625.421 [CANONSampler](INFO): Powering down
2019-04-30T15:54:12.918Z,1556639652.918 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:TriggerCANONSampler](INFO): Timed out from 2019-04-30T15:53:12.7Z
2019-04-30T15:54:12.918Z,1556639652.918 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:TriggerCANONSampler:A_Timeout] Running Loop=1
2019-04-30T15:54:12.919Z,1556639652.919 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:TriggerCANONSampler:A_Timeout](DEBUG): Aggregate::initialize sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:TriggerCANONSampler:A_Timeout
2019-04-30T15:54:12.919Z,1556639652.919 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:TriggerCANONSampler:A_Timeout:A] Running Loop=1
2019-04-30T15:54:12.919Z,1556639652.919 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:TriggerCANONSampler:A_Timeout:A](IMPORTANT): Timed out triggering CANONSampler. Stopping mission.
2019-04-30T15:54:12.919Z,1556639652.919 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:TriggerCANONSampler:A_Timeout:A] Stopped
2019-04-30T15:54:12.919Z,1556639652.919 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:TriggerCANONSampler:A_Timeout:B.Execute] Running Loop=1
2019-04-30T15:54:13.312Z,1556639653.312 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:TriggerCANONSampler:A_Timeout:B.Execute](INFO): Executing command stop
2019-04-30T15:54:13.313Z,1556639653.313 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:TriggerCANONSampler:A_Timeout:B.Execute] Stopped
2019-04-30T15:54:13.313Z,1556639653.313 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:TriggerCANONSampler:A_Timeout](INFO): Completed sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:TriggerCANONSampler:A_Timeout
2019-04-30T15:54:13.313Z,1556639653.313 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:TriggerCANONSampler] Stopped
2019-04-30T15:54:13.314Z,1556639653.314 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:D] Running Loop=1
2019-04-30T15:54:13.416Z,1556639653.416 [CommandLine](IMPORTANT): got command stop
2019-04-30T15:54:13.416Z,1556639653.416 [CommandLine](IMPORTANT): Scheduling is paused
2019-04-30T15:54:13.416Z,1556639653.416 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-04-30T15:54:13.721Z,1556639653.721 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:D](ERROR): data element is not active.
2019-04-30T15:54:13.721Z,1556639653.721 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:D](ERROR): data element is not active.
2019-04-30T15:54:13.722Z,1556639653.722 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:D](IMPORTANT): CANONSampler sampling at 7.691051 m in nan degC water with nan ug/l chlorophyll fluorescence.
2019-04-30T15:54:13.722Z,1556639653.722 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:D] Stopped
2019-04-30T15:54:13.722Z,1556639653.722 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:E] Running Loop=1
2019-04-30T15:54:13.723Z,1556639653.723 [MissionManager](INFO): MissionManager is completed.
2019-04-30T15:54:13.723Z,1556639653.723 [MissionManager](INFO): Uninitializing Mission sample
2019-04-30T15:54:13.723Z,1556639653.723 [sample] Stopped
2019-04-30T15:54:13.724Z,1556639653.724 [sample](DEBUG): Aggregate::uninitialize sample
2019-04-30T15:54:13.724Z,1556639653.724 [sample:A.Pitch] Stopped
2019-04-30T15:54:13.724Z,1556639653.724 [sample:B.SetSpeed] Stopped
2019-04-30T15:54:13.724Z,1556639653.724 [sample:B.SetSpeed](DEBUG): Uninitialize.
2019-04-30T15:54:13.724Z,1556639653.724 [sample:SampleAtDepth] Stopped
2019-04-30T15:54:13.724Z,1556639653.724 [sample:SampleAtDepth](DEBUG): Aggregate::uninitialize sample:SampleAtDepth
2019-04-30T15:54:13.724Z,1556639653.724 [sample:SampleAtDepth:SampleWrapper] Stopped
2019-04-30T15:54:13.724Z,1556639653.724 [sample:SampleAtDepth:SampleWrapper](DEBUG): Aggregate::uninitialize sample:SampleAtDepth:SampleWrapper
2019-04-30T15:54:13.724Z,1556639653.724 [sample:SampleAtDepth:SampleWrapper:A.Pitch] Stopped
2019-04-30T15:54:13.724Z,1556639653.724 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler] Stopped
2019-04-30T15:54:13.724Z,1556639653.724 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler](DEBUG): Aggregate::uninitialize sample:SampleAtDepth:SampleWrapper:SampleCANONSampler
2019-04-30T15:54:13.724Z,1556639653.724 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:A] Stopped
2019-04-30T15:54:13.724Z,1556639653.724 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:B] Stopped
2019-04-30T15:54:13.724Z,1556639653.724 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:E] Stopped
2019-04-30T15:54:13.725Z,1556639653.725 [sample:SampleRepeater] Stopped
2019-04-30T15:54:13.725Z,1556639653.725 [sample:SampleRepeater](DEBUG): Aggregate::uninitialize sample:SampleRepeater
2019-04-30T15:54:13.725Z,1556639653.725 [sample:SampleRepeater:Sample] Stopped
2019-04-30T15:54:13.725Z,1556639653.725 [sample:SampleRepeater:Sample](DEBUG): Aggregate::uninitialize sample:SampleRepeater:Sample
2019-04-30T15:54:14.126Z,1556639654.126 [MissionManager](IMPORTANT): Started mission Default
2019-04-30T15:54:14.126Z,1556639654.126 [Default] Running Loop=1
2019-04-30T15:54:14.126Z,1556639654.126 [Default](DEBUG): Aggregate::initialize Default
2019-04-30T15:54:14.126Z,1556639654.126 [Default:B.GoToSurface] Running Loop=1
2019-04-30T15:54:14.126Z,1556639654.126 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-04-30T15:54:14.127Z,1556639654.127 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-04-30T15:54:14.127Z,1556639654.127 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-04-30T15:54:14.127Z,1556639654.127 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-04-30T15:54:14.128Z,1556639654.128 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-04-30T15:54:14.128Z,1556639654.128 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-04-30T15:54:14.128Z,1556639654.128 [Default:A.Wait] Running Loop=1
2019-04-30T15:54:14.128Z,1556639654.128 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-04-30T15:54:14.547Z,1556639654.547 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -35.00 mm (1 active estimators).
2019-04-30T15:54:14.853Z,1556639654.853 [Radio_Surface](INFO): Powering up
2019-04-30T15:54:16.437Z,1556639656.437 [CBIT](INFO): Clearing failed state for component CANONSampler
2019-04-30T15:54:16.437Z,1556639656.437 [CANONSampler] No Fault, FailCount= 1
2019-04-30T15:54:16.649Z,1556639656.649 [CANONSampler](INFO): Powering up
2019-04-30T15:54:17.869Z,1556639657.869 [CANONSampler](INFO): Powering down
2019-04-30T15:54:20.413Z,1556639660.413 [DataOverHttps](INFO): Radio surface powered ON.
2019-04-30T15:54:27.166Z,1556639667.166 [Default:A.Wait](INFO): Done Waiting.
2019-04-30T15:54:27.166Z,1556639667.166 [Default:A.Wait] Stopped
2019-04-30T15:54:27.166Z,1556639667.166 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-04-30T15:54:42.539Z,1556639682.539 [CommandLine](IMPORTANT): got command show dependencies
2019-04-30T15:54:42.539Z,1556639682.539 [CommandLine](FAULT): Incomplete syntax. Try: help show
2019-04-30T15:54:50.738Z,1556639690.738 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-04-30T15:55:21.449Z,1556639721.449 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-04-30T15:55:33.266Z,1556639733.266 [CommandLine](IMPORTANT): got command ! echo i > /dev/loadB2
2019-04-30T15:55:42.306Z,1556639742.306 [CommandLine](IMPORTANT): got command gfscan
2019-04-30T15:55:42.469Z,1556639742.469 [CBIT](IMPORTANT): Beginning ground fault scan
2019-04-30T15:55:52.153Z,1556639752.153 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-04-30T15:55:53.276Z,1556639753.276 [CBIT](IMPORTANT): Ground fault detected
mA:
CHAN A0 (Batt): -0.001566
CHAN A1 (24V): -0.199321
CHAN A2 (12V): -0.002104
CHAN A3 (5V): -0.001397
CHAN B0 (3.3V): -0.000118
CHAN B1 (3.15aV): -0.000105
CHAN B2 (3.15bV): -0.000669
CHAN B3 (GND): 0.000090
OPEN: -0.000253
Full Scale Calc: 4.765 mA, -1.589 mA
2019-04-30T15:56:14.079Z,1556639774.079 [CommandLine](IMPORTANT): got command show stack
2019-04-30T15:56:14.079Z,1556639774.079 [CommandLine](IMPORTANT): Behavior Stack:

2019-04-30T15:56:14.079Z,1556639774.079 [Default](IMPORTANT): Priority 0: Default:B.GoToSurface
2019-04-30T15:56:22.865Z,1556639782.865 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-04-30T15:56:53.569Z,1556639813.569 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-04-30T15:57:12.745Z,1556639832.745 [ThrusterServo](FAULT): getVelocity uart error serial timeout
2019-04-30T15:57:12.745Z,1556639832.745 [ThrusterServo](FAULT): Thruster uart error: serial timeout
2019-04-30T15:57:12.745Z,1556639832.745 [ThrusterServo] Communications Fault, FailCount= 1
2019-04-30T15:57:12.745Z,1556639832.745 [ThrusterServo](ERROR): Communications Fault
2019-04-30T15:57:12.749Z,1556639832.749 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2019-04-30T15:57:12.828Z,1556639832.828 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2019-04-30T15:57:12.828Z,1556639832.828 [ThrusterServo](INFO): Powering down
2019-04-30T15:57:13.620Z,1556639833.620 [ThrusterServo](DEBUG): Initializing EZServoServo.
2019-04-30T15:57:13.734Z,1556639833.734 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2019-04-30T15:57:13.738Z,1556639833.738 [CBIT](INFO): Clearing failed state for component ThrusterServo
2019-04-30T15:57:13.738Z,1556639833.738 [ThrusterServo] No Fault, FailCount= 1
2019-04-30T15:57:24.273Z,1556639844.273 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-04-30T15:57:54.977Z,1556639874.977 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-04-30T15:58:25.681Z,1556639905.681 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-04-30T15:58:56.385Z,1556639936.385 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-04-30T15:59:27.105Z,1556639967.105 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-04-30T15:59:57.809Z,1556639997.809 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-04-30T16:00:28.513Z,1556640028.513 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-04-30T16:00:59.217Z,1556640059.217 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-04-30T16:01:15.208Z,1556640075.208 [VerticalControl](CRITICAL): Failure to ascend, stopping mission after 300.161530 seconds, depthRate=-0.000265 m/s, pitch=51.046646 deg.
2019-04-30T16:01:15.247Z,1556640075.247 [CommandLine](FAULT): Scheduling is paused
2019-04-30T16:01:15.247Z,1556640075.247 [CBIT](INFO): Critical error at 20190430T160115
2019-04-30T16:01:29.921Z,1556640089.921 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-04-30T16:02:00.625Z,1556640120.625 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-04-30T16:02:31.329Z,1556640151.329 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-04-30T16:03:02.033Z,1556640182.033 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-04-30T16:03:32.737Z,1556640212.737 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-04-30T16:04:03.441Z,1556640243.441 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-04-30T16:04:34.145Z,1556640274.145 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-04-30T16:05:04.849Z,1556640304.849 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-04-30T16:05:35.553Z,1556640335.553 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-04-30T16:06:06.258Z,1556640366.258 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-04-30T16:06:15.386Z,1556640375.386 [VerticalControl](CRITICAL): Failure to ascend, dropping drop weight after 300.177185 seconds, depthRate=0.000758 m/s, pitch=51.056339 deg.
2019-04-30T16:06:15.439Z,1556640375.439 [CBIT](INFO): Critical error at 20190430T160615
2019-04-30T16:06:36.965Z,1556640396.965 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-04-30T16:07:07.669Z,1556640427.669 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-04-30T16:07:38.373Z,1556640458.373 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-04-30T16:08:09.077Z,1556640489.077 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-04-30T16:08:39.785Z,1556640519.785 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-04-30T16:09:10.489Z,1556640550.489 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-04-30T16:09:41.195Z,1556640581.195 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-04-30T16:10:11.897Z,1556640611.897 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-04-30T16:10:42.601Z,1556640642.601 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-04-30T16:10:54.165Z,1556640654.165 [Default:B.GoToSurface](CRITICAL): Surfacing timeout. Returning calc satisfied.
2019-04-30T16:10:54.167Z,1556640654.167 [Default:CheckIn] Running Loop=1
2019-04-30T16:10:54.167Z,1556640654.167 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-04-30T16:10:54.167Z,1556640654.167 [Default:CheckIn:Read_GPS] Running Loop=1
2019-04-30T16:10:54.207Z,1556640654.207 [CBIT](INFO): Critical error at 20190430T161054
2019-04-30T16:10:54.945Z,1556640654.945 [NAL9602](INFO): Powering up
2019-04-30T16:11:05.910Z,1556640665.910 [NAL9602](INFO): NAL9602 initialized
2019-04-30T16:11:06.737Z,1556640666.737 [NAL9602](DEBUG): Fix Requested
2019-04-30T16:11:13.323Z,1556640673.323 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-04-30T16:11:44.041Z,1556640704.041 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-04-30T16:12:11.402Z,1556640731.402 [BPC1](ERROR): BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-32 in onboard configuration file).
2019-04-30T16:12:14.745Z,1556640734.745 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-04-30T16:12:45.449Z,1556640765.449 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-04-30T16:13:16.153Z,1556640796.153 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-04-30T16:13:46.857Z,1556640826.857 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-04-30T16:14:10.153Z,1556640850.153 [BPC1](INFO): Calculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 5.
2019-04-30T16:14:10.156Z,1556640850.156 [BPC1](ERROR): Failed to receive data from all sticks prior to timeout. Will not retry this scan cycle.
2019-04-30T16:14:17.561Z,1556640857.561 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-04-30T16:14:48.265Z,1556640888.265 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-04-30T16:15:00.235Z,1556640900.235 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=11642, MT Status=1, MTMSN=1646
2019-04-30T16:15:00.235Z,1556640900.235 [NAL9602](INFO): Data available in MT queue
2019-04-30T16:15:00.913Z,1556640900.913 [NAL9602](INFO): Received command:load Maintenance/sample.xml;set sample.MissionTimeout 45 minute;set sample.NumberOfSamples 3 count;set sample.WaitBeforeSample 30 second;set sample:SampleAtDepth.TargetDepth 7 meter;run 
2019-04-30T16:15:00.927Z,1556640900.927 [CommandLine](IMPORTANT): got command load ./Missions/Maintenance/sample.xml
2019-04-30T16:15:00.927Z,1556640900.927 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/sample.xml
2019-04-30T16:15:00.950Z,1556640900.950 [MissionManager](INFO): DefineArg sample.MissionTimeout = 90.000000 min
2019-04-30T16:15:00.952Z,1556640900.952 [MissionManager](INFO): DefineArg sample.Depth = 7.000000 m
2019-04-30T16:15:00.954Z,1556640900.954 [MissionManager](INFO): DefineArg sample.NumberOfSamples = 1.000000 count
2019-04-30T16:15:00.956Z,1556640900.956 [MissionManager](INFO): DefineArg sample.WaitBeforeSample = 3.000000 min
2019-04-30T16:15:00.957Z,1556640900.957 [sample:A.Pitch](DEBUG): Construct.
2019-04-30T16:15:00.962Z,1556640900.962 [sample:B.SetSpeed](DEBUG): Construct.
2019-04-30T16:15:00.964Z,1556640900.964 [MissionManager](INFO): Inserting Stack: Missions/Insert/SampleAtDepth.xml
2019-04-30T16:15:01.059Z,1556640901.059 [MissionManager](INFO): DefineArg sample:SampleAtDepth.TargetDepth = 5.000000 m
2019-04-30T16:15:01.061Z,1556640901.061 [MissionManager](INFO): DefineArg sample:SampleAtDepth.SettleTime = 10.000000 s
2019-04-30T16:15:01.063Z,1556640901.063 [MissionManager](INFO): DefineArg sample:SampleAtDepth.MaxWaitNotReachingDepth = 3.000000 h
2019-04-30T16:15:01.065Z,1556640901.065 [MissionManager](INFO): DefineArg sample:SampleAtDepth.RotateOnly = 0.000000 bool
2019-04-30T16:15:01.068Z,1556640901.068 [MissionManager](INFO): DefineArg sample:SampleAtDepth.UseCANONSampler = 1.000000 bool
2019-04-30T16:15:01.095Z,1556640901.095 [MissionManager](INFO): DefineArg sample:SampleAtDepth.UseESP = 0.000000 bool
2019-04-30T16:15:01.097Z,1556640901.097 [MissionManager](INFO): DefineArg sample:SampleAtDepth.CANONSamplerTriggerTimeout = 1.000000 min
2019-04-30T16:15:01.099Z,1556640901.099 [MissionManager](INFO): DefineArg sample:SampleAtDepth.CANONSamplerTimeout = 6.000000 min
2019-04-30T16:15:01.101Z,1556640901.101 [MissionManager](INFO): DefineArg sample:SampleAtDepth.BuoyancyNeutral = 315.000012 cc
2019-04-30T16:15:01.104Z,1556640901.104 [sample:SampleAtDepth:ApproachDepth:B.Pitch](DEBUG): Construct.
2019-04-30T16:15:01.112Z,1556640901.112 [sample:SampleAtDepth:ApproachDepth:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-04-30T16:15:01.115Z,1556640901.115 [sample:SampleAtDepth:SampleWrapper:A.Pitch](DEBUG): Construct.
2019-04-30T16:15:01.120Z,1556640901.120 [sample:SampleAtDepth:SampleWrapper:C.Wait](DEBUG): Construct Wait.
2019-04-30T16:15:01.127Z,1556640901.127 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:TriggerCANONSampler:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-04-30T16:15:01.133Z,1556640901.133 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:E:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-04-30T16:15:01.149Z,1556640901.149 [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: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/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="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"/>

    <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>

    <Aggregate Id="SampleRepeater">

        <Sequence Repeat="NumberOfSamples"/>

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

    </Aggregate>

</Mission>


2019-04-30T16:15:01.149Z,1556640901.149 [CommandLine](IMPORTANT): Loaded ./Missions/Maintenance/sample.xml
2019-04-30T16:15:06.848Z,1556640906.848 [CommandLine](IMPORTANT): got command set sample.MissionTimeout 45.000000 minute
2019-04-30T16:15:06.848Z,1556640906.848 [CommandLine](IMPORTANT): got command set sample.NumberOfSamples 3.000000 count
2019-04-30T16:15:06.850Z,1556640906.850 [CommandLine](IMPORTANT): got command set sample.WaitBeforeSample 30.000000 second
2019-04-30T16:15:06.851Z,1556640906.851 [CommandLine](IMPORTANT): got command set sample:SampleAtDepth.TargetDepth 7.000000 meter
2019-04-30T16:15:06.851Z,1556640906.851 [CommandLine](IMPORTANT): got command run 
2019-04-30T16:15:06.853Z,1556640906.853 [CommandLine](IMPORTANT): Running 
2019-04-30T16:15:06.877Z,1556640906.877 [Default] Stopped
2019-04-30T16:15:06.877Z,1556640906.877 [Default](DEBUG): Aggregate::uninitialize Default
2019-04-30T16:15:06.877Z,1556640906.877 [Default:B.GoToSurface] Stopped
2019-04-30T16:15:06.877Z,1556640906.877 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-04-30T16:15:06.877Z,1556640906.877 [Default:CheckIn] Stopped
2019-04-30T16:15:06.877Z,1556640906.877 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-04-30T16:15:06.877Z,1556640906.877 [Default:CheckIn:Read_GPS] Stopped
2019-04-30T16:15:06.878Z,1556640906.878 [MissionManager](IMPORTANT): Started mission sample
2019-04-30T16:15:06.878Z,1556640906.878 [sample] Running Loop=1
2019-04-30T16:15:06.878Z,1556640906.878 [sample](DEBUG): Aggregate::initialize sample
2019-04-30T16:15:06.878Z,1556640906.878 [sample:A.Pitch] Running Loop=1
2019-04-30T16:15:06.878Z,1556640906.878 [sample:A.Pitch](DEBUG): Initialize.
2019-04-30T16:15:06.878Z,1556640906.878 [sample:B.SetSpeed] Running Loop=1
2019-04-30T16:15:06.878Z,1556640906.878 [sample:B.SetSpeed](DEBUG): Initialize.
2019-04-30T16:15:06.879Z,1556640906.879 [sample:D] Running Loop=1
2019-04-30T16:15:06.879Z,1556640906.879 [sample:D] Stopped
2019-04-30T16:15:06.879Z,1556640906.879 [sample:E] Running Loop=1
2019-04-30T16:15:06.879Z,1556640906.879 [sample:B.SetSpeed] Running Loop=1
2019-04-30T16:15:06.879Z,1556640906.879 [sample:A.Pitch] Running Loop=1
2019-04-30T16:15:07.002Z,1556640907.002 [sample:E] Stopped
2019-04-30T16:15:07.002Z,1556640907.002 [sample:SampleRepeater] Running Loop=1
2019-04-30T16:15:07.003Z,1556640907.003 [sample:SampleRepeater](DEBUG): Aggregate::initialize sample:SampleRepeater
2019-04-30T16:15:07.003Z,1556640907.003 [sample:SampleRepeater:Sample] Running Loop=1
2019-04-30T16:15:07.003Z,1556640907.003 [sample:SampleRepeater:Sample](DEBUG): Aggregate::initialize sample:SampleRepeater:Sample
2019-04-30T16:15:07.349Z,1556640907.349 [sample:SampleAtDepth] Running Loop=1
2019-04-30T16:15:07.349Z,1556640907.349 [sample:SampleAtDepth](DEBUG): Aggregate::initialize sample:SampleAtDepth
2019-04-30T16:15:07.349Z,1556640907.349 [sample:SampleAtDepth:ApproachDepth] Running Loop=1
2019-04-30T16:15:07.349Z,1556640907.349 [sample:SampleAtDepth:ApproachDepth](DEBUG): Aggregate::initialize sample:SampleAtDepth:ApproachDepth
2019-04-30T16:15:07.350Z,1556640907.350 [sample:SampleAtDepth:ApproachDepth:A] Running Loop=1
2019-04-30T16:15:07.350Z,1556640907.350 [sample:SampleAtDepth:ApproachDepth:A](INFO): Moving to 7.000000 m 
2019-04-30T16:15:07.350Z,1556640907.350 [sample:SampleAtDepth:ApproachDepth:A] Stopped
2019-04-30T16:15:07.350Z,1556640907.350 [sample:SampleAtDepth:ApproachDepth:B.Pitch] Running Loop=1
2019-04-30T16:15:07.350Z,1556640907.350 [sample:SampleAtDepth:ApproachDepth:B.Pitch](DEBUG): Initialize.
2019-04-30T16:15:18.969Z,1556640918.969 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-04-30T16:15:37.199Z,1556640937.199 [NAL9602](INFO): Powering down
2019-04-30T16:15:38.150Z,1556640938.150 [CommandLine](IMPORTANT): got command run ./Missions/Maintenance/sample.xml
2019-04-30T16:15:38.151Z,1556640938.151 [MissionManager](INFO): Uninitializing Mission sample
2019-04-30T16:15:38.151Z,1556640938.151 [sample] Stopped
2019-04-30T16:15:38.151Z,1556640938.151 [sample](DEBUG): Aggregate::uninitialize sample
2019-04-30T16:15:38.151Z,1556640938.151 [sample:A.Pitch] Stopped
2019-04-30T16:15:38.151Z,1556640938.151 [sample:B.SetSpeed] Stopped
2019-04-30T16:15:38.151Z,1556640938.151 [sample:B.SetSpeed](DEBUG): Uninitialize.
2019-04-30T16:15:38.151Z,1556640938.151 [sample:SampleAtDepth] Stopped
2019-04-30T16:15:38.151Z,1556640938.151 [sample:SampleAtDepth](DEBUG): Aggregate::uninitialize sample:SampleAtDepth
2019-04-30T16:15:38.151Z,1556640938.151 [sample:SampleAtDepth:ApproachDepth] Stopped
2019-04-30T16:15:38.151Z,1556640938.151 [sample:SampleAtDepth:ApproachDepth](DEBUG): Aggregate::uninitialize sample:SampleAtDepth:ApproachDepth
2019-04-30T16:15:38.152Z,1556640938.152 [sample:SampleAtDepth:ApproachDepth:B.Pitch] Stopped
2019-04-30T16:15:38.152Z,1556640938.152 [sample:SampleRepeater] Stopped
2019-04-30T16:15:38.152Z,1556640938.152 [sample:SampleRepeater](DEBUG): Aggregate::uninitialize sample:SampleRepeater
2019-04-30T16:15:38.152Z,1556640938.152 [sample:SampleRepeater:Sample] Stopped
2019-04-30T16:15:38.152Z,1556640938.152 [sample:SampleRepeater:Sample](DEBUG): Aggregate::uninitialize sample:SampleRepeater:Sample
2019-04-30T16:15:38.175Z,1556640938.175 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/sample.xml
2019-04-30T16:15:38.223Z,1556640938.223 [MissionManager](INFO): DefineArg sample.MissionTimeout = 90.000000 min
2019-04-30T16:15:38.255Z,1556640938.255 [MissionManager](INFO): DefineArg sample.Depth = 7.000000 m
2019-04-30T16:15:38.257Z,1556640938.257 [MissionManager](INFO): DefineArg sample.NumberOfSamples = 1.000000 count
2019-04-30T16:15:38.259Z,1556640938.259 [MissionManager](INFO): DefineArg sample.WaitBeforeSample = 3.000000 min
2019-04-30T16:15:38.260Z,1556640938.260 [sample:A.Pitch](DEBUG): Construct.
2019-04-30T16:15:38.273Z,1556640938.273 [sample:B.SetSpeed](DEBUG): Construct.
2019-04-30T16:15:38.275Z,1556640938.275 [MissionManager](INFO): Inserting Stack: Missions/Insert/SampleAtDepth.xml
2019-04-30T16:15:38.346Z,1556640938.346 [MissionManager](INFO): DefineArg sample:SampleAtDepth.TargetDepth = 5.000000 m
2019-04-30T16:15:38.348Z,1556640938.348 [MissionManager](INFO): DefineArg sample:SampleAtDepth.SettleTime = 10.000000 s
2019-04-30T16:15:38.350Z,1556640938.350 [MissionManager](INFO): DefineArg sample:SampleAtDepth.MaxWaitNotReachingDepth = 3.000000 h
2019-04-30T16:15:38.352Z,1556640938.352 [MissionManager](INFO): DefineArg sample:SampleAtDepth.RotateOnly = 0.000000 bool
2019-04-30T16:15:38.355Z,1556640938.355 [MissionManager](INFO): DefineArg sample:SampleAtDepth.UseCANONSampler = 1.000000 bool
2019-04-30T16:15:38.357Z,1556640938.357 [MissionManager](INFO): DefineArg sample:SampleAtDepth.UseESP = 0.000000 bool
2019-04-30T16:15:38.359Z,1556640938.359 [MissionManager](INFO): DefineArg sample:SampleAtDepth.CANONSamplerTriggerTimeout = 1.000000 min
2019-04-30T16:15:38.362Z,1556640938.362 [MissionManager](INFO): DefineArg sample:SampleAtDepth.CANONSamplerTimeout = 6.000000 min
2019-04-30T16:15:38.445Z,1556640938.445 [MissionManager](INFO): DefineArg sample:SampleAtDepth.BuoyancyNeutral = 315.000012 cc
2019-04-30T16:15:38.447Z,1556640938.447 [sample:SampleAtDepth:ApproachDepth:B.Pitch](DEBUG): Construct.
2019-04-30T16:15:38.464Z,1556640938.464 [sample:SampleAtDepth:ApproachDepth:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-04-30T16:15:38.476Z,1556640938.476 [sample:SampleAtDepth:SampleWrapper:A.Pitch](DEBUG): Construct.
2019-04-30T16:15:38.506Z,1556640938.506 [sample:SampleAtDepth:SampleWrapper:C.Wait](DEBUG): Construct Wait.
2019-04-30T16:15:38.542Z,1556640938.542 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:TriggerCANONSampler:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-04-30T16:15:38.562Z,1556640938.562 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:E:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-04-30T16:15:38.599Z,1556640938.599 [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: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/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="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"/>

    <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>

    <Aggregate Id="SampleRepeater">

        <Sequence Repeat="NumberOfSamples"/>

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

    </Aggregate>

</Mission>


2019-04-30T16:15:38.601Z,1556640938.601 [CommandLine](IMPORTANT): Running ./Missions/Maintenance/sample.xml
2019-04-30T16:15:38.849Z,1556640938.849 [MissionManager](IMPORTANT): Started mission sample
2019-04-30T16:15:38.849Z,1556640938.849 [sample] Running Loop=1
2019-04-30T16:15:38.849Z,1556640938.849 [sample](DEBUG): Aggregate::initialize sample
2019-04-30T16:15:38.849Z,1556640938.849 [sample:A.Pitch] Running Loop=1
2019-04-30T16:15:38.849Z,1556640938.849 [sample:A.Pitch](DEBUG): Initialize.
2019-04-30T16:15:38.850Z,1556640938.850 [sample:B.SetSpeed] Running Loop=1
2019-04-30T16:15:38.850Z,1556640938.850 [sample:B.SetSpeed](DEBUG): Initialize.
2019-04-30T16:15:38.850Z,1556640938.850 [sample:D] Running Loop=1
2019-04-30T16:15:38.850Z,1556640938.850 [sample:D] Stopped
2019-04-30T16:15:38.850Z,1556640938.850 [sample:E] Running Loop=1
2019-04-30T16:15:38.850Z,1556640938.850 [sample:B.SetSpeed] Running Loop=1
2019-04-30T16:15:38.851Z,1556640938.851 [sample:A.Pitch] Running Loop=1
2019-04-30T16:15:39.253Z,1556640939.253 [sample:E] Stopped
2019-04-30T16:15:39.253Z,1556640939.253 [sample:SampleRepeater] Running Loop=1
2019-04-30T16:15:39.253Z,1556640939.253 [sample:SampleRepeater](DEBUG): Aggregate::initialize sample:SampleRepeater
2019-04-30T16:15:39.253Z,1556640939.253 [sample:SampleRepeater:Sample] Running Loop=1
2019-04-30T16:15:39.253Z,1556640939.253 [sample:SampleRepeater:Sample](DEBUG): Aggregate::initialize sample:SampleRepeater:Sample
2019-04-30T16:15:39.652Z,1556640939.652 [sample:SampleAtDepth] Running Loop=1
2019-04-30T16:15:39.652Z,1556640939.652 [sample:SampleAtDepth](DEBUG): Aggregate::initialize sample:SampleAtDepth
2019-04-30T16:15:39.652Z,1556640939.652 [sample:SampleAtDepth:ApproachDepth] Running Loop=1
2019-04-30T16:15:39.652Z,1556640939.652 [sample:SampleAtDepth:ApproachDepth](DEBUG): Aggregate::initialize sample:SampleAtDepth:ApproachDepth
2019-04-30T16:15:39.652Z,1556640939.652 [sample:SampleAtDepth:ApproachDepth:A] Running Loop=1
2019-04-30T16:15:39.653Z,1556640939.653 [sample:SampleAtDepth:ApproachDepth:A](INFO): Moving to 7.000000 m 
2019-04-30T16:15:39.653Z,1556640939.653 [sample:SampleAtDepth:ApproachDepth:A] Stopped
2019-04-30T16:15:39.653Z,1556640939.653 [sample:SampleAtDepth:ApproachDepth:B.Pitch] Running Loop=1
2019-04-30T16:15:39.653Z,1556640939.653 [sample:SampleAtDepth:ApproachDepth:B.Pitch](DEBUG): Initialize.
2019-04-30T16:15:48.511Z,1556640948.511 [CommandLine](IMPORTANT): got command stop
2019-04-30T16:15:48.511Z,1556640948.511 [CommandLine](IMPORTANT): Scheduling is paused
2019-04-30T16:15:48.511Z,1556640948.511 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-04-30T16:15:48.644Z,1556640948.644 [MissionManager](INFO): MissionManager is completed.
2019-04-30T16:15:48.644Z,1556640948.644 [MissionManager](INFO): Uninitializing Mission sample
2019-04-30T16:15:48.644Z,1556640948.644 [sample] Stopped
2019-04-30T16:15:48.644Z,1556640948.644 [sample](DEBUG): Aggregate::uninitialize sample
2019-04-30T16:15:48.644Z,1556640948.644 [sample:A.Pitch] Stopped
2019-04-30T16:15:48.644Z,1556640948.644 [sample:B.SetSpeed] Stopped
2019-04-30T16:15:48.653Z,1556640948.653 [sample:B.SetSpeed](DEBUG): Uninitialize.
2019-04-30T16:15:48.653Z,1556640948.653 [sample:SampleAtDepth] Stopped
2019-04-30T16:15:48.653Z,1556640948.653 [sample:SampleAtDepth](DEBUG): Aggregate::uninitialize sample:SampleAtDepth
2019-04-30T16:15:48.653Z,1556640948.653 [sample:SampleAtDepth:ApproachDepth] Stopped
2019-04-30T16:15:48.653Z,1556640948.653 [sample:SampleAtDepth:ApproachDepth](DEBUG): Aggregate::uninitialize sample:SampleAtDepth:ApproachDepth
2019-04-30T16:15:48.653Z,1556640948.653 [sample:SampleAtDepth:ApproachDepth:B.Pitch] Stopped
2019-04-30T16:15:48.653Z,1556640948.653 [sample:SampleRepeater] Stopped
2019-04-30T16:15:48.653Z,1556640948.653 [sample:SampleRepeater](DEBUG): Aggregate::uninitialize sample:SampleRepeater
2019-04-30T16:15:48.653Z,1556640948.653 [sample:SampleRepeater:Sample] Stopped
2019-04-30T16:15:48.654Z,1556640948.654 [sample:SampleRepeater:Sample](DEBUG): Aggregate::uninitialize sample:SampleRepeater:Sample
2019-04-30T16:15:48.962Z,1556640948.962 [MissionManager](IMPORTANT): Started mission Default
2019-04-30T16:15:48.962Z,1556640948.962 [Default] Running Loop=1
2019-04-30T16:15:48.962Z,1556640948.962 [Default](DEBUG): Aggregate::initialize Default
2019-04-30T16:15:48.962Z,1556640948.962 [Default:B.GoToSurface] Running Loop=1
2019-04-30T16:15:48.962Z,1556640948.962 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-04-30T16:15:48.963Z,1556640948.963 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-04-30T16:15:48.963Z,1556640948.963 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-04-30T16:15:48.963Z,1556640948.963 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-04-30T16:15:48.963Z,1556640948.963 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-04-30T16:15:48.964Z,1556640948.964 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-04-30T16:15:48.964Z,1556640948.964 [Default:A.Wait] Running Loop=1
2019-04-30T16:15:48.964Z,1556640948.964 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-04-30T16:15:49.673Z,1556640949.673 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-04-30T16:15:54.210Z,1556640954.210 [CommandLine](IMPORTANT): got command load ./Missions/Maintenance/sample.xml
2019-04-30T16:15:54.210Z,1556640954.210 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/sample.xml
2019-04-30T16:15:54.280Z,1556640954.280 [MissionManager](INFO): DefineArg sample.MissionTimeout = 90.000000 min
2019-04-30T16:15:54.283Z,1556640954.283 [MissionManager](INFO): DefineArg sample.Depth = 7.000000 m
2019-04-30T16:15:54.297Z,1556640954.297 [MissionManager](INFO): DefineArg sample.NumberOfSamples = 1.000000 count
2019-04-30T16:15:54.300Z,1556640954.300 [MissionManager](INFO): DefineArg sample.WaitBeforeSample = 3.000000 min
2019-04-30T16:15:54.309Z,1556640954.309 [sample:A.Pitch](DEBUG): Construct.
2019-04-30T16:15:54.319Z,1556640954.319 [sample:B.SetSpeed](DEBUG): Construct.
2019-04-30T16:15:54.330Z,1556640954.330 [MissionManager](INFO): Inserting Stack: Missions/Insert/SampleAtDepth.xml
2019-04-30T16:15:54.427Z,1556640954.427 [MissionManager](INFO): DefineArg sample:SampleAtDepth.TargetDepth = 5.000000 m
2019-04-30T16:15:54.429Z,1556640954.429 [MissionManager](INFO): DefineArg sample:SampleAtDepth.SettleTime = 10.000000 s
2019-04-30T16:15:54.431Z,1556640954.431 [MissionManager](INFO): DefineArg sample:SampleAtDepth.MaxWaitNotReachingDepth = 3.000000 h
2019-04-30T16:15:54.434Z,1556640954.434 [MissionManager](INFO): DefineArg sample:SampleAtDepth.RotateOnly = 0.000000 bool
2019-04-30T16:15:54.436Z,1556640954.436 [MissionManager](INFO): DefineArg sample:SampleAtDepth.UseCANONSampler = 1.000000 bool
2019-04-30T16:15:54.438Z,1556640954.438 [MissionManager](INFO): DefineArg sample:SampleAtDepth.UseESP = 0.000000 bool
2019-04-30T16:15:54.440Z,1556640954.440 [MissionManager](INFO): DefineArg sample:SampleAtDepth.CANONSamplerTriggerTimeout = 1.000000 min
2019-04-30T16:15:54.443Z,1556640954.443 [MissionManager](INFO): DefineArg sample:SampleAtDepth.CANONSamplerTimeout = 6.000000 min
2019-04-30T16:15:54.445Z,1556640954.445 [MissionManager](INFO): DefineArg sample:SampleAtDepth.BuoyancyNeutral = 315.000012 cc
2019-04-30T16:15:54.448Z,1556640954.448 [sample:SampleAtDepth:ApproachDepth:B.Pitch](DEBUG): Construct.
2019-04-30T16:15:54.452Z,1556640954.452 [sample:SampleAtDepth:ApproachDepth:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-04-30T16:15:54.455Z,1556640954.455 [sample:SampleAtDepth:SampleWrapper:A.Pitch](DEBUG): Construct.
2019-04-30T16:15:54.460Z,1556640954.460 [sample:SampleAtDepth:SampleWrapper:C.Wait](DEBUG): Construct Wait.
2019-04-30T16:15:54.467Z,1556640954.467 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:TriggerCANONSampler:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-04-30T16:15:54.473Z,1556640954.473 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:E:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-04-30T16:15:54.489Z,1556640954.489 [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: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/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="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"/>

    <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>

    <Aggregate Id="SampleRepeater">

        <Sequence Repeat="NumberOfSamples"/>

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

    </Aggregate>

</Mission>


2019-04-30T16:15:54.489Z,1556640954.489 [CommandLine](IMPORTANT): Loaded ./Missions/Maintenance/sample.xml
2019-04-30T16:16:02.281Z,1556640962.281 [Default:A.Wait](INFO): Done Waiting.
2019-04-30T16:16:02.281Z,1556640962.281 [Default:A.Wait] Stopped
2019-04-30T16:16:02.281Z,1556640962.281 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-04-30T16:16:02.662Z,1556640962.662 [CommandLine](IMPORTANT): got command set sample.Depth 0.000000 meter
2019-04-30T16:16:02.689Z,1556640962.689 [Default:CheckIn] Running Loop=1
2019-04-30T16:16:02.690Z,1556640962.690 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-04-30T16:16:02.690Z,1556640962.690 [Default:CheckIn:Read_GPS] Running Loop=1
2019-04-30T16:16:03.462Z,1556640963.462 [NAL9602](INFO): Powering up
2019-04-30T16:16:09.319Z,1556640969.319 [CommandLine](IMPORTANT): got command maintain sensor Depth_Keller.depth 0.000000 meter
2019-04-30T16:16:09.320Z,1556640969.320 [ComponentRegistry](DEBUG): SyncComponent "Maintain_Depth_Keller.depth" handled in the control thread.
2019-04-30T16:16:09.602Z,1556640969.602 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,Depth_Keller,NAL9602,Onboard,BPC1,CANONSampler,PAR_Licor,Depth_Keller,PAR_Licor,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,
2019-04-30T16:16:10.594Z,1556640970.594 [CommandLine](IMPORTANT): got command get depth
2019-04-30T16:16:10.594Z,1556640970.594 [CommandLine](IMPORTANT): depth 0.000000 m
2019-04-30T16:16:11.738Z,1556640971.738 [CommandLine](IMPORTANT): got command run
2019-04-30T16:16:11.740Z,1556640971.740 [CommandLine](IMPORTANT): Running 
2019-04-30T16:16:11.976Z,1556640971.976 [Default] Stopped
2019-04-30T16:16:11.977Z,1556640971.977 [Default](DEBUG): Aggregate::uninitialize Default
2019-04-30T16:16:11.977Z,1556640971.977 [Default:B.GoToSurface] Stopped
2019-04-30T16:16:11.977Z,1556640971.977 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-04-30T16:16:11.977Z,1556640971.977 [Default:CheckIn] Stopped
2019-04-30T16:16:11.977Z,1556640971.977 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-04-30T16:16:11.978Z,1556640971.978 [Default:CheckIn:Read_GPS] Stopped
2019-04-30T16:16:11.978Z,1556640971.978 [MissionManager](IMPORTANT): Started mission sample
2019-04-30T16:16:11.978Z,1556640971.978 [sample] Running Loop=1
2019-04-30T16:16:11.978Z,1556640971.978 [sample](DEBUG): Aggregate::initialize sample
2019-04-30T16:16:11.978Z,1556640971.978 [sample:A.Pitch] Running Loop=1
2019-04-30T16:16:11.978Z,1556640971.978 [sample:A.Pitch](DEBUG): Initialize.
2019-04-30T16:16:11.978Z,1556640971.978 [sample:B.SetSpeed] Running Loop=1
2019-04-30T16:16:11.978Z,1556640971.978 [sample:B.SetSpeed](DEBUG): Initialize.
2019-04-30T16:16:11.979Z,1556640971.979 [sample:D] Running Loop=1
2019-04-30T16:16:11.979Z,1556640971.979 [sample:D] Stopped
2019-04-30T16:16:11.979Z,1556640971.979 [sample:E] Running Loop=1
2019-04-30T16:16:11.979Z,1556640971.979 [sample:B.SetSpeed] Running Loop=1
2019-04-30T16:16:11.979Z,1556640971.979 [sample:A.Pitch] Running Loop=1
2019-04-30T16:16:12.386Z,1556640972.386 [sample:E] Stopped
2019-04-30T16:16:12.387Z,1556640972.387 [sample:SampleRepeater] Running Loop=1
2019-04-30T16:16:12.387Z,1556640972.387 [sample:SampleRepeater](DEBUG): Aggregate::initialize sample:SampleRepeater
2019-04-30T16:16:12.387Z,1556640972.387 [sample:SampleRepeater:Sample] Running Loop=1
2019-04-30T16:16:12.387Z,1556640972.387 [sample:SampleRepeater:Sample](DEBUG): Aggregate::initialize sample:SampleRepeater:Sample
2019-04-30T16:16:12.789Z,1556640972.789 [sample:SampleAtDepth] Running Loop=1
2019-04-30T16:16:12.790Z,1556640972.790 [sample:SampleAtDepth](DEBUG): Aggregate::initialize sample:SampleAtDepth
2019-04-30T16:16:12.790Z,1556640972.790 [sample:SampleAtDepth:ApproachDepth] Running Loop=1
2019-04-30T16:16:12.790Z,1556640972.790 [sample:SampleAtDepth:ApproachDepth](DEBUG): Aggregate::initialize sample:SampleAtDepth:ApproachDepth
2019-04-30T16:16:12.790Z,1556640972.790 [sample:SampleAtDepth:ApproachDepth:A] Running Loop=1
2019-04-30T16:16:12.790Z,1556640972.790 [sample:SampleAtDepth:ApproachDepth:A](INFO): Moving to 0.000000 m 
2019-04-30T16:16:12.791Z,1556640972.791 [sample:SampleAtDepth:ApproachDepth:A] Stopped
2019-04-30T16:16:12.791Z,1556640972.791 [sample:SampleAtDepth:ApproachDepth:B.Pitch] Running Loop=1
2019-04-30T16:16:12.791Z,1556640972.791 [sample:SampleAtDepth:ApproachDepth:B.Pitch](DEBUG): Initialize.
2019-04-30T16:16:13.197Z,1556640973.197 [sample:SampleAtDepth:ApproachDepth:B.Pitch] Stopped
2019-04-30T16:16:13.197Z,1556640973.197 [sample:SampleAtDepth:ApproachDepth](INFO): Completed sample:SampleAtDepth:ApproachDepth
2019-04-30T16:16:13.197Z,1556640973.197 [sample:SampleAtDepth:ApproachDepth] Stopped
2019-04-30T16:16:13.198Z,1556640973.198 [sample:SampleAtDepth:ApproachDepth](DEBUG): Aggregate::uninitialize sample:SampleAtDepth:ApproachDepth
2019-04-30T16:16:13.198Z,1556640973.198 [sample:SampleAtDepth:SampleWrapper] Running Loop=1
2019-04-30T16:16:13.198Z,1556640973.198 [sample:SampleAtDepth:SampleWrapper](DEBUG): Aggregate::initialize sample:SampleAtDepth:SampleWrapper
2019-04-30T16:16:13.198Z,1556640973.198 [sample:SampleAtDepth:SampleWrapper:A.Pitch] Running Loop=1
2019-04-30T16:16:13.198Z,1556640973.198 [sample:SampleAtDepth:SampleWrapper:A.Pitch](DEBUG): Initialize.
2019-04-30T16:16:13.198Z,1556640973.198 [sample:SampleAtDepth:SampleWrapper:B] Running Loop=1
2019-04-30T16:16:13.594Z,1556640973.594 [sample:SampleAtDepth:SampleWrapper:B](IMPORTANT): At 0.000000 m , settling for 3.000000 min 
2019-04-30T16:16:13.594Z,1556640973.594 [sample:SampleAtDepth:SampleWrapper:B] Stopped
2019-04-30T16:16:13.594Z,1556640973.594 [sample:SampleAtDepth:SampleWrapper:C.Wait] Running Loop=1
2019-04-30T16:16:13.594Z,1556640973.594 [sample:SampleAtDepth:SampleWrapper:C.Wait](DEBUG): Initialize Wait Component.
2019-04-30T16:16:13.594Z,1556640973.594 [sample:SampleAtDepth:SampleWrapper:A.Pitch] Running Loop=1
2019-04-30T16:16:14.375Z,1556640974.375 [NAL9602](INFO): NAL9602 initialized
2019-04-30T16:16:16.986Z,1556640976.986 [CommandLine](IMPORTANT): got command stop
2019-04-30T16:16:16.987Z,1556640976.987 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-04-30T16:16:17.224Z,1556640977.224 [MissionManager](INFO): MissionManager is completed.
2019-04-30T16:16:17.224Z,1556640977.224 [MissionManager](INFO): Uninitializing Mission sample
2019-04-30T16:16:17.224Z,1556640977.224 [sample] Stopped
2019-04-30T16:16:17.224Z,1556640977.224 [sample](DEBUG): Aggregate::uninitialize sample
2019-04-30T16:16:17.225Z,1556640977.225 [sample:A.Pitch] Stopped
2019-04-30T16:16:17.225Z,1556640977.225 [sample:B.SetSpeed] Stopped
2019-04-30T16:16:17.225Z,1556640977.225 [sample:B.SetSpeed](DEBUG): Uninitialize.
2019-04-30T16:16:17.225Z,1556640977.225 [sample:SampleAtDepth] Stopped
2019-04-30T16:16:17.225Z,1556640977.225 [sample:SampleAtDepth](DEBUG): Aggregate::uninitialize sample:SampleAtDepth
2019-04-30T16:16:17.225Z,1556640977.225 [sample:SampleAtDepth:SampleWrapper] Stopped
2019-04-30T16:16:17.225Z,1556640977.225 [sample:SampleAtDepth:SampleWrapper](DEBUG): Aggregate::uninitialize sample:SampleAtDepth:SampleWrapper
2019-04-30T16:16:17.225Z,1556640977.225 [sample:SampleAtDepth:SampleWrapper:A.Pitch] Stopped
2019-04-30T16:16:17.225Z,1556640977.225 [sample:SampleAtDepth:SampleWrapper:C.Wait] Stopped
2019-04-30T16:16:17.225Z,1556640977.225 [sample:SampleAtDepth:SampleWrapper:C.Wait](DEBUG): Uninitialize Wait Component.
2019-04-30T16:16:17.226Z,1556640977.226 [sample:SampleRepeater] Stopped
2019-04-30T16:16:17.226Z,1556640977.226 [sample:SampleRepeater](DEBUG): Aggregate::uninitialize sample:SampleRepeater
2019-04-30T16:16:17.226Z,1556640977.226 [sample:SampleRepeater:Sample] Stopped
2019-04-30T16:16:17.226Z,1556640977.226 [sample:SampleRepeater:Sample](DEBUG): Aggregate::uninitialize sample:SampleRepeater:Sample
2019-04-30T16:16:17.633Z,1556640977.633 [MissionManager](IMPORTANT): Started mission Default
2019-04-30T16:16:17.633Z,1556640977.633 [Default] Running Loop=1
2019-04-30T16:16:17.633Z,1556640977.633 [Default](DEBUG): Aggregate::initialize Default
2019-04-30T16:16:17.633Z,1556640977.633 [Default:B.GoToSurface] Running Loop=1
2019-04-30T16:16:17.633Z,1556640977.633 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-04-30T16:16:17.634Z,1556640977.634 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-04-30T16:16:17.634Z,1556640977.634 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-04-30T16:16:17.634Z,1556640977.634 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-04-30T16:16:17.635Z,1556640977.635 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-04-30T16:16:17.635Z,1556640977.635 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-04-30T16:16:17.635Z,1556640977.635 [Default:A.Wait] Running Loop=1
2019-04-30T16:16:17.635Z,1556640977.635 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-04-30T16:16:20.397Z,1556640980.397 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-04-30T16:16:24.614Z,1556640984.614 [CommandLine](IMPORTANT): got command load ./Missions/Maintenance/sample.xml
2019-04-30T16:16:24.615Z,1556640984.615 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/sample.xml
2019-04-30T16:16:24.654Z,1556640984.654 [MissionManager](INFO): DefineArg sample.MissionTimeout = 90.000000 min
2019-04-30T16:16:24.656Z,1556640984.656 [MissionManager](INFO): DefineArg sample.Depth = 7.000000 m
2019-04-30T16:16:24.659Z,1556640984.659 [MissionManager](INFO): DefineArg sample.NumberOfSamples = 1.000000 count
2019-04-30T16:16:24.661Z,1556640984.661 [MissionManager](INFO): DefineArg sample.WaitBeforeSample = 3.000000 min
2019-04-30T16:16:24.662Z,1556640984.662 [sample:A.Pitch](DEBUG): Construct.
2019-04-30T16:16:24.666Z,1556640984.666 [sample:B.SetSpeed](DEBUG): Construct.
2019-04-30T16:16:24.668Z,1556640984.668 [MissionManager](INFO): Inserting Stack: Missions/Insert/SampleAtDepth.xml
2019-04-30T16:16:24.726Z,1556640984.726 [MissionManager](INFO): DefineArg sample:SampleAtDepth.TargetDepth = 5.000000 m
2019-04-30T16:16:24.729Z,1556640984.729 [MissionManager](INFO): DefineArg sample:SampleAtDepth.SettleTime = 10.000000 s
2019-04-30T16:16:24.731Z,1556640984.731 [MissionManager](INFO): DefineArg sample:SampleAtDepth.MaxWaitNotReachingDepth = 3.000000 h
2019-04-30T16:16:24.769Z,1556640984.769 [MissionManager](INFO): DefineArg sample:SampleAtDepth.RotateOnly = 0.000000 bool
2019-04-30T16:16:24.771Z,1556640984.771 [MissionManager](INFO): DefineArg sample:SampleAtDepth.UseCANONSampler = 1.000000 bool
2019-04-30T16:16:24.774Z,1556640984.774 [MissionManager](INFO): DefineArg sample:SampleAtDepth.UseESP = 0.000000 bool
2019-04-30T16:16:24.776Z,1556640984.776 [MissionManager](INFO): DefineArg sample:SampleAtDepth.CANONSamplerTriggerTimeout = 1.000000 min
2019-04-30T16:16:24.778Z,1556640984.778 [MissionManager](INFO): DefineArg sample:SampleAtDepth.CANONSamplerTimeout = 6.000000 min
2019-04-30T16:16:24.793Z,1556640984.793 [MissionManager](INFO): DefineArg sample:SampleAtDepth.BuoyancyNeutral = 315.000012 cc
2019-04-30T16:16:24.795Z,1556640984.795 [sample:SampleAtDepth:ApproachDepth:B.Pitch](DEBUG): Construct.
2019-04-30T16:16:24.800Z,1556640984.800 [sample:SampleAtDepth:ApproachDepth:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-04-30T16:16:24.802Z,1556640984.802 [sample:SampleAtDepth:SampleWrapper:A.Pitch](DEBUG): Construct.
2019-04-30T16:16:24.808Z,1556640984.808 [sample:SampleAtDepth:SampleWrapper:C.Wait](DEBUG): Construct Wait.
2019-04-30T16:16:24.814Z,1556640984.814 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:TriggerCANONSampler:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-04-30T16:16:24.837Z,1556640984.837 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:E:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-04-30T16:16:24.972Z,1556640984.972 [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: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/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="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"/>

    <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>

    <Aggregate Id="SampleRepeater">

        <Sequence Repeat="NumberOfSamples"/>

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

    </Aggregate>

</Mission>


2019-04-30T16:16:24.972Z,1556640984.972 [CommandLine](IMPORTANT): Loaded ./Missions/Maintenance/sample.xml
2019-04-30T16:16:30.499Z,1556640990.499 [CommandLine](IMPORTANT): got command set sample.Depth 0.000000 meter
2019-04-30T16:16:30.966Z,1556640990.966 [Default:A.Wait](INFO): Done Waiting.
2019-04-30T16:16:30.966Z,1556640990.966 [Default:A.Wait] Stopped
2019-04-30T16:16:30.966Z,1556640990.966 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-04-30T16:16:31.374Z,1556640991.374 [Default:CheckIn] Running Loop=1
2019-04-30T16:16:31.375Z,1556640991.375 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-04-30T16:16:31.375Z,1556640991.375 [Default:CheckIn:Read_GPS] Running Loop=1
2019-04-30T16:16:32.985Z,1556640992.985 [NAL9602](DEBUG): Fix Requested
2019-04-30T16:16:39.111Z,1556640999.111 [CommandLine](IMPORTANT): got command set sample.WaitBeforeSample 1.000000 
2019-04-30T16:16:39.111Z,1556640999.111 [CommandLine](FAULT): Incomplete syntax. Try: help set
2019-04-30T16:16:51.101Z,1556641011.101 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-04-30T16:16:51.249Z,1556641011.249 [CommandLine](IMPORTANT): got command run
2019-04-30T16:16:51.251Z,1556641011.251 [CommandLine](IMPORTANT): Running 
2019-04-30T16:16:51.569Z,1556641011.569 [Default] Stopped
2019-04-30T16:16:51.569Z,1556641011.569 [Default](DEBUG): Aggregate::uninitialize Default
2019-04-30T16:16:51.569Z,1556641011.569 [Default:B.GoToSurface] Stopped
2019-04-30T16:16:51.569Z,1556641011.569 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-04-30T16:16:51.569Z,1556641011.569 [Default:CheckIn] Stopped
2019-04-30T16:16:51.569Z,1556641011.569 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-04-30T16:16:51.569Z,1556641011.569 [Default:CheckIn:Read_GPS] Stopped
2019-04-30T16:16:51.570Z,1556641011.570 [MissionManager](IMPORTANT): Started mission sample
2019-04-30T16:16:51.570Z,1556641011.570 [sample] Running Loop=1
2019-04-30T16:16:51.570Z,1556641011.570 [sample](DEBUG): Aggregate::initialize sample
2019-04-30T16:16:51.570Z,1556641011.570 [sample:A.Pitch] Running Loop=1
2019-04-30T16:16:51.570Z,1556641011.570 [sample:A.Pitch](DEBUG): Initialize.
2019-04-30T16:16:51.570Z,1556641011.570 [sample:B.SetSpeed] Running Loop=1
2019-04-30T16:16:51.570Z,1556641011.570 [sample:B.SetSpeed](DEBUG): Initialize.
2019-04-30T16:16:51.571Z,1556641011.571 [sample:D] Running Loop=1
2019-04-30T16:16:51.571Z,1556641011.571 [sample:D] Stopped
2019-04-30T16:16:51.571Z,1556641011.571 [sample:E] Running Loop=1
2019-04-30T16:16:51.571Z,1556641011.571 [sample:B.SetSpeed] Running Loop=1
2019-04-30T16:16:51.571Z,1556641011.571 [sample:A.Pitch] Running Loop=1
2019-04-30T16:16:51.978Z,1556641011.978 [sample:E] Stopped
2019-04-30T16:16:51.978Z,1556641011.978 [sample:SampleRepeater] Running Loop=1
2019-04-30T16:16:51.978Z,1556641011.978 [sample:SampleRepeater](DEBUG): Aggregate::initialize sample:SampleRepeater
2019-04-30T16:16:51.978Z,1556641011.978 [sample:SampleRepeater:Sample] Running Loop=1
2019-04-30T16:16:51.978Z,1556641011.978 [sample:SampleRepeater:Sample](DEBUG): Aggregate::initialize sample:SampleRepeater:Sample
2019-04-30T16:16:52.385Z,1556641012.385 [sample:SampleAtDepth] Running Loop=1
2019-04-30T16:16:52.386Z,1556641012.386 [sample:SampleAtDepth](DEBUG): Aggregate::initialize sample:SampleAtDepth
2019-04-30T16:16:52.386Z,1556641012.386 [sample:SampleAtDepth:ApproachDepth] Running Loop=1
2019-04-30T16:16:52.386Z,1556641012.386 [sample:SampleAtDepth:ApproachDepth](DEBUG): Aggregate::initialize sample:SampleAtDepth:ApproachDepth
2019-04-30T16:16:52.386Z,1556641012.386 [sample:SampleAtDepth:ApproachDepth:A] Running Loop=1
2019-04-30T16:16:52.386Z,1556641012.386 [sample:SampleAtDepth:ApproachDepth:A](INFO): Moving to 0.000000 m 
2019-04-30T16:16:52.387Z,1556641012.387 [sample:SampleAtDepth:ApproachDepth:A] Stopped
2019-04-30T16:16:52.387Z,1556641012.387 [sample:SampleAtDepth:ApproachDepth:B.Pitch] Running Loop=1
2019-04-30T16:16:52.387Z,1556641012.387 [sample:SampleAtDepth:ApproachDepth:B.Pitch](DEBUG): Initialize.
2019-04-30T16:16:52.796Z,1556641012.796 [sample:SampleAtDepth:ApproachDepth:B.Pitch] Stopped
2019-04-30T16:16:52.796Z,1556641012.796 [sample:SampleAtDepth:ApproachDepth](INFO): Completed sample:SampleAtDepth:ApproachDepth
2019-04-30T16:16:52.796Z,1556641012.796 [sample:SampleAtDepth:ApproachDepth] Stopped
2019-04-30T16:16:52.796Z,1556641012.796 [sample:SampleAtDepth:ApproachDepth](DEBUG): Aggregate::uninitialize sample:SampleAtDepth:ApproachDepth
2019-04-30T16:16:52.796Z,1556641012.796 [sample:SampleAtDepth:SampleWrapper] Running Loop=1
2019-04-30T16:16:52.796Z,1556641012.796 [sample:SampleAtDepth:SampleWrapper](DEBUG): Aggregate::initialize sample:SampleAtDepth:SampleWrapper
2019-04-30T16:16:52.796Z,1556641012.796 [sample:SampleAtDepth:SampleWrapper:A.Pitch] Running Loop=1
2019-04-30T16:16:52.797Z,1556641012.797 [sample:SampleAtDepth:SampleWrapper:A.Pitch](DEBUG): Initialize.
2019-04-30T16:16:52.797Z,1556641012.797 [sample:SampleAtDepth:SampleWrapper:B] Running Loop=1
2019-04-30T16:16:53.185Z,1556641013.185 [sample:SampleAtDepth:SampleWrapper:B](IMPORTANT): At 0.000000 m , settling for 3.000000 min 
2019-04-30T16:16:53.186Z,1556641013.186 [sample:SampleAtDepth:SampleWrapper:B] Stopped
2019-04-30T16:16:53.186Z,1556641013.186 [sample:SampleAtDepth:SampleWrapper:C.Wait] Running Loop=1
2019-04-30T16:16:53.186Z,1556641013.186 [sample:SampleAtDepth:SampleWrapper:C.Wait](DEBUG): Initialize Wait Component.
2019-04-30T16:16:53.186Z,1556641013.186 [sample:SampleAtDepth:SampleWrapper:A.Pitch] Running Loop=1
2019-04-30T16:16:56.791Z,1556641016.791 [NAL9602](INFO): SBD MO Status=2, MOMSN=11643, MT Status=2, MTMSN=0
2019-04-30T16:16:56.791Z,1556641016.791 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-04-30T16:17:04.782Z,1556641024.782 [CommandLine](IMPORTANT): got command stop
2019-04-30T16:17:04.783Z,1556641024.783 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-04-30T16:17:04.915Z,1556641024.915 [MissionManager](INFO): MissionManager is completed.
2019-04-30T16:17:04.915Z,1556641024.915 [MissionManager](INFO): Uninitializing Mission sample
2019-04-30T16:17:04.915Z,1556641024.915 [sample] Stopped
2019-04-30T16:17:04.915Z,1556641024.915 [sample](DEBUG): Aggregate::uninitialize sample
2019-04-30T16:17:04.915Z,1556641024.915 [sample:A.Pitch] Stopped
2019-04-30T16:17:04.915Z,1556641024.915 [sample:B.SetSpeed] Stopped
2019-04-30T16:17:04.915Z,1556641024.915 [sample:B.SetSpeed](DEBUG): Uninitialize.
2019-04-30T16:17:04.915Z,1556641024.915 [sample:SampleAtDepth] Stopped
2019-04-30T16:17:04.916Z,1556641024.916 [sample:SampleAtDepth](DEBUG): Aggregate::uninitialize sample:SampleAtDepth
2019-04-30T16:17:04.916Z,1556641024.916 [sample:SampleAtDepth:SampleWrapper] Stopped
2019-04-30T16:17:04.916Z,1556641024.916 [sample:SampleAtDepth:SampleWrapper](DEBUG): Aggregate::uninitialize sample:SampleAtDepth:SampleWrapper
2019-04-30T16:17:04.916Z,1556641024.916 [sample:SampleAtDepth:SampleWrapper:A.Pitch] Stopped
2019-04-30T16:17:04.916Z,1556641024.916 [sample:SampleAtDepth:SampleWrapper:C.Wait] Stopped
2019-04-30T16:17:04.916Z,1556641024.916 [sample:SampleAtDepth:SampleWrapper:C.Wait](DEBUG): Uninitialize Wait Component.
2019-04-30T16:17:04.916Z,1556641024.916 [sample:SampleRepeater] Stopped
2019-04-30T16:17:04.916Z,1556641024.916 [sample:SampleRepeater](DEBUG): Aggregate::uninitialize sample:SampleRepeater
2019-04-30T16:17:04.916Z,1556641024.916 [sample:SampleRepeater:Sample] Stopped
2019-04-30T16:17:04.916Z,1556641024.916 [sample:SampleRepeater:Sample](DEBUG): Aggregate::uninitialize sample:SampleRepeater:Sample
2019-04-30T16:17:05.300Z,1556641025.300 [MissionManager](IMPORTANT): Started mission Default
2019-04-30T16:17:05.300Z,1556641025.300 [Default] Running Loop=1
2019-04-30T16:17:05.300Z,1556641025.300 [Default](DEBUG): Aggregate::initialize Default
2019-04-30T16:17:05.300Z,1556641025.300 [Default:B.GoToSurface] Running Loop=1
2019-04-30T16:17:05.300Z,1556641025.300 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-04-30T16:17:05.300Z,1556641025.300 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-04-30T16:17:05.301Z,1556641025.301 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-04-30T16:17:05.301Z,1556641025.301 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-04-30T16:17:05.301Z,1556641025.301 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-04-30T16:17:05.302Z,1556641025.302 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-04-30T16:17:05.302Z,1556641025.302 [Default:A.Wait] Running Loop=1
2019-04-30T16:17:05.302Z,1556641025.302 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-04-30T16:17:18.641Z,1556641038.641 [Default:A.Wait](INFO): Done Waiting.
2019-04-30T16:17:18.641Z,1556641038.641 [Default:A.Wait] Stopped
2019-04-30T16:17:18.642Z,1556641038.642 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-04-30T16:17:19.040Z,1556641039.040 [Default:CheckIn] Running Loop=1
2019-04-30T16:17:19.040Z,1556641039.040 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-04-30T16:17:19.040Z,1556641039.040 [Default:CheckIn:Read_GPS] Running Loop=1
2019-04-30T16:17:21.805Z,1556641041.805 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-04-30T16:17:23.859Z,1556641043.859 [NAL9602](INFO): SBD MO Status=0, MOMSN=11643, MT Status=0, MTMSN=0
2019-04-30T16:17:23.860Z,1556641043.860 [NAL9602](INFO): No messages in MT queue
2019-04-30T16:17:24.681Z,1556641044.681 [NAL9602](DEBUG): Fix Requested
2019-04-30T16:17:27.105Z,1556641047.105 [NAL9602](DEBUG): Fix Requested
2019-04-30T16:17:30.337Z,1556641050.337 [NAL9602](DEBUG): Fix Requested
2019-04-30T16:17:33.161Z,1556641053.161 [NAL9602](DEBUG): Fix Requested
2019-04-30T16:17:36.397Z,1556641056.397 [NAL9602](DEBUG): Fix Requested
2019-04-30T16:17:39.229Z,1556641059.229 [NAL9602](DEBUG): Fix Requested
2019-04-30T16:17:42.049Z,1556641062.049 [NAL9602](DEBUG): Fix Requested
2019-04-30T16:17:45.285Z,1556641065.285 [NAL9602](DEBUG): Fix Requested
2019-04-30T16:17:48.109Z,1556641068.109 [NAL9602](DEBUG): Fix Requested
2019-04-30T16:17:51.341Z,1556641071.341 [NAL9602](DEBUG): Fix Requested
2019-04-30T16:17:51.744Z,1556641071.744 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,160329.00,A,3648.17419,N,12147.26864,W,0.214,0.00,300419,,,A*77
2019-04-30T16:17:51.751Z,1556641071.751 [NAL9602](INFO): GPS fix at 20190430T160329: (36.802903, -121.787811)
2019-04-30T16:17:51.777Z,1556641071.777 [UniversalFixResidualReporter](INFO): Fix residual: 84.2 %DT, over the last 634.4 m. Residual distance 534.1 m at bearing -158.7 degrees. Fix at (36.8029, -121.7878) with 32.6 m made good.
2019-04-30T16:17:51.778Z,1556641071.778 [Default:CheckIn:Read_GPS] Stopped
2019-04-30T16:17:51.779Z,1556641071.779 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-04-30T16:17:52.187Z,1556641072.187 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-04-30T16:17:52.509Z,1556641072.509 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-04-30T16:18:23.213Z,1556641103.213 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-04-30T16:18:31.395Z,1556641111.395 [NAL9602](INFO): SBD MO Status=2, MOMSN=11644, MT Status=2, MTMSN=0
2019-04-30T16:18:31.395Z,1556641111.395 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-04-30T16:18:38.560Z,1556641118.560 [CommandLine](IMPORTANT): got command load ./Missions/Maintenance/sample.xml
2019-04-30T16:18:38.561Z,1556641118.561 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/sample.xml
2019-04-30T16:18:38.585Z,1556641118.585 [MissionManager](INFO): DefineArg sample.MissionTimeout = 90.000000 min
2019-04-30T16:18:38.587Z,1556641118.587 [MissionManager](INFO): DefineArg sample.Depth = 7.000000 m
2019-04-30T16:18:38.589Z,1556641118.589 [MissionManager](INFO): DefineArg sample.NumberOfSamples = 1.000000 count
2019-04-30T16:18:38.591Z,1556641118.591 [MissionManager](INFO): DefineArg sample.WaitBeforeSample = 3.000000 min
2019-04-30T16:18:38.592Z,1556641118.592 [sample:A.Pitch](DEBUG): Construct.
2019-04-30T16:18:38.597Z,1556641118.597 [sample:B.SetSpeed](DEBUG): Construct.
2019-04-30T16:18:38.599Z,1556641118.599 [MissionManager](INFO): Inserting Stack: Missions/Insert/SampleAtDepth.xml
2019-04-30T16:18:38.700Z,1556641118.700 [MissionManager](INFO): DefineArg sample:SampleAtDepth.TargetDepth = 5.000000 m
2019-04-30T16:18:38.702Z,1556641118.702 [MissionManager](INFO): DefineArg sample:SampleAtDepth.SettleTime = 10.000000 s
2019-04-30T16:18:38.704Z,1556641118.704 [MissionManager](INFO): DefineArg sample:SampleAtDepth.MaxWaitNotReachingDepth = 3.000000 h
2019-04-30T16:18:38.707Z,1556641118.707 [MissionManager](INFO): DefineArg sample:SampleAtDepth.RotateOnly = 0.000000 bool
2019-04-30T16:18:38.746Z,1556641118.746 [MissionManager](INFO): DefineArg sample:SampleAtDepth.UseCANONSampler = 1.000000 bool
2019-04-30T16:18:38.748Z,1556641118.748 [MissionManager](INFO): DefineArg sample:SampleAtDepth.UseESP = 0.000000 bool
2019-04-30T16:18:38.750Z,1556641118.750 [MissionManager](INFO): DefineArg sample:SampleAtDepth.CANONSamplerTriggerTimeout = 1.000000 min
2019-04-30T16:18:38.753Z,1556641118.753 [MissionManager](INFO): DefineArg sample:SampleAtDepth.CANONSamplerTimeout = 6.000000 min
2019-04-30T16:18:38.755Z,1556641118.755 [MissionManager](INFO): DefineArg sample:SampleAtDepth.BuoyancyNeutral = 315.000012 cc
2019-04-30T16:18:38.762Z,1556641118.762 [sample:SampleAtDepth:ApproachDepth:B.Pitch](DEBUG): Construct.
2019-04-30T16:18:38.767Z,1556641118.767 [sample:SampleAtDepth:ApproachDepth:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-04-30T16:18:38.770Z,1556641118.770 [sample:SampleAtDepth:SampleWrapper:A.Pitch](DEBUG): Construct.
2019-04-30T16:18:38.776Z,1556641118.776 [sample:SampleAtDepth:SampleWrapper:C.Wait](DEBUG): Construct Wait.
2019-04-30T16:18:38.786Z,1556641118.786 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:TriggerCANONSampler:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-04-30T16:18:38.793Z,1556641118.793 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:E:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-04-30T16:18:38.810Z,1556641118.810 [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: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/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="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"/>

    <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>

    <Aggregate Id="SampleRepeater">

        <Sequence Repeat="NumberOfSamples"/>

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

    </Aggregate>

</Mission>


2019-04-30T16:18:38.810Z,1556641118.810 [CommandLine](IMPORTANT): Loaded ./Missions/Maintenance/sample.xml
2019-04-30T16:18:49.491Z,1556641129.491 [CommandLine](IMPORTANT): got command set sample.Depth 0.000000 meter
2019-04-30T16:18:49.492Z,1556641129.492 [CommandLine](IMPORTANT): got command set sample.WaitBeforeSample 3.000000 second
2019-04-30T16:18:49.493Z,1556641129.493 [CommandLine](IMPORTANT): got command set sample:SampleAtDepth.TargetDepth 0.000000 meter
2019-04-30T16:18:51.353Z,1556641131.353 [CommandLine](IMPORTANT): got command run
2019-04-30T16:18:51.639Z,1556641131.639 [Default] Stopped
2019-04-30T16:18:51.639Z,1556641131.639 [Default](DEBUG): Aggregate::uninitialize Default
2019-04-30T16:18:51.639Z,1556641131.639 [Default:B.GoToSurface] Stopped
2019-04-30T16:18:51.639Z,1556641131.639 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-04-30T16:18:51.639Z,1556641131.639 [Default:CheckIn] Stopped
2019-04-30T16:18:51.639Z,1556641131.639 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-04-30T16:18:51.639Z,1556641131.639 [Default:CheckIn:Read_Iridium] Stopped
2019-04-30T16:18:51.639Z,1556641131.639 [MissionManager](IMPORTANT): Started mission sample
2019-04-30T16:18:51.640Z,1556641131.640 [sample] Running Loop=1
2019-04-30T16:18:51.640Z,1556641131.640 [sample](DEBUG): Aggregate::initialize sample
2019-04-30T16:18:51.640Z,1556641131.640 [sample:A.Pitch] Running Loop=1
2019-04-30T16:18:51.640Z,1556641131.640 [sample:A.Pitch](DEBUG): Initialize.
2019-04-30T16:18:51.640Z,1556641131.640 [sample:B.SetSpeed] Running Loop=1
2019-04-30T16:18:51.640Z,1556641131.640 [sample:B.SetSpeed](DEBUG): Initialize.
2019-04-30T16:18:51.640Z,1556641131.640 [sample:D] Running Loop=1
2019-04-30T16:18:51.661Z,1556641131.661 [sample:D] Stopped
2019-04-30T16:18:51.661Z,1556641131.661 [sample:E] Running Loop=1
2019-04-30T16:18:51.661Z,1556641131.661 [sample:B.SetSpeed] Running Loop=1
2019-04-30T16:18:51.661Z,1556641131.661 [sample:A.Pitch] Running Loop=1
2019-04-30T16:18:52.023Z,1556641132.023 [sample:E] Stopped
2019-04-30T16:18:52.023Z,1556641132.023 [sample:SampleRepeater] Running Loop=1
2019-04-30T16:18:52.023Z,1556641132.023 [sample:SampleRepeater](DEBUG): Aggregate::initialize sample:SampleRepeater
2019-04-30T16:18:52.023Z,1556641132.023 [sample:SampleRepeater:Sample] Running Loop=1
2019-04-30T16:18:52.024Z,1556641132.024 [sample:SampleRepeater:Sample](DEBUG): Aggregate::initialize sample:SampleRepeater:Sample
2019-04-30T16:18:52.126Z,1556641132.126 [CommandLine](IMPORTANT): Running 
2019-04-30T16:18:52.426Z,1556641132.426 [sample:SampleAtDepth] Running Loop=1
2019-04-30T16:18:52.426Z,1556641132.426 [sample:SampleAtDepth](DEBUG): Aggregate::initialize sample:SampleAtDepth
2019-04-30T16:18:52.426Z,1556641132.426 [sample:SampleAtDepth:ApproachDepth] Running Loop=1
2019-04-30T16:18:52.426Z,1556641132.426 [sample:SampleAtDepth:ApproachDepth](DEBUG): Aggregate::initialize sample:SampleAtDepth:ApproachDepth
2019-04-30T16:18:52.427Z,1556641132.427 [sample:SampleAtDepth:ApproachDepth:A] Running Loop=1
2019-04-30T16:18:52.427Z,1556641132.427 [sample:SampleAtDepth:ApproachDepth:A](INFO): Moving to 0.000000 m 
2019-04-30T16:18:52.427Z,1556641132.427 [sample:SampleAtDepth:ApproachDepth:A] Stopped
2019-04-30T16:18:52.427Z,1556641132.427 [sample:SampleAtDepth:ApproachDepth:B.Pitch] Running Loop=1
2019-04-30T16:18:52.427Z,1556641132.427 [sample:SampleAtDepth:ApproachDepth:B.Pitch](DEBUG): Initialize.
2019-04-30T16:18:52.838Z,1556641132.838 [sample:SampleAtDepth:ApproachDepth:B.Pitch] Stopped
2019-04-30T16:18:52.838Z,1556641132.838 [sample:SampleAtDepth:ApproachDepth](INFO): Completed sample:SampleAtDepth:ApproachDepth
2019-04-30T16:18:52.838Z,1556641132.838 [sample:SampleAtDepth:ApproachDepth] Stopped
2019-04-30T16:18:52.838Z,1556641132.838 [sample:SampleAtDepth:ApproachDepth](DEBUG): Aggregate::uninitialize sample:SampleAtDepth:ApproachDepth
2019-04-30T16:18:52.838Z,1556641132.838 [sample:SampleAtDepth:SampleWrapper] Running Loop=1
2019-04-30T16:18:52.838Z,1556641132.838 [sample:SampleAtDepth:SampleWrapper](DEBUG): Aggregate::initialize sample:SampleAtDepth:SampleWrapper
2019-04-30T16:18:52.838Z,1556641132.838 [sample:SampleAtDepth:SampleWrapper:A.Pitch] Running Loop=1
2019-04-30T16:18:52.839Z,1556641132.839 [sample:SampleAtDepth:SampleWrapper:A.Pitch](DEBUG): Initialize.
2019-04-30T16:18:52.839Z,1556641132.839 [sample:SampleAtDepth:SampleWrapper:B] Running Loop=1
2019-04-30T16:18:53.240Z,1556641133.240 [sample:SampleAtDepth:SampleWrapper:B](IMPORTANT): At 0.000000 m , settling for 0.050000 min 
2019-04-30T16:18:53.240Z,1556641133.240 [sample:SampleAtDepth:SampleWrapper:B] Stopped
2019-04-30T16:18:53.240Z,1556641133.240 [sample:SampleAtDepth:SampleWrapper:C.Wait] Running Loop=1
2019-04-30T16:18:53.240Z,1556641133.240 [sample:SampleAtDepth:SampleWrapper:C.Wait](DEBUG): Initialize Wait Component.
2019-04-30T16:18:53.240Z,1556641133.240 [sample:SampleAtDepth:SampleWrapper:A.Pitch] Running Loop=1
2019-04-30T16:18:53.921Z,1556641133.921 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-04-30T16:18:56.878Z,1556641136.878 [sample:SampleAtDepth:SampleWrapper:C.Wait](INFO): Done Waiting.
2019-04-30T16:18:56.878Z,1556641136.878 [sample:SampleAtDepth:SampleWrapper:C.Wait] Stopped
2019-04-30T16:18:56.878Z,1556641136.878 [sample:SampleAtDepth:SampleWrapper:C.Wait](DEBUG): Uninitialize Wait Component.
2019-04-30T16:18:56.879Z,1556641136.879 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler] Running Loop=1
2019-04-30T16:18:56.879Z,1556641136.879 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler](DEBUG): Aggregate::initialize sample:SampleAtDepth:SampleWrapper:SampleCANONSampler
2019-04-30T16:18:56.879Z,1556641136.879 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:A] Running Loop=1
2019-04-30T16:18:56.879Z,1556641136.879 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:B] Running Loop=1
2019-04-30T16:18:56.879Z,1556641136.879 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:TriggerCANONSampler] Running Loop=1
2019-04-30T16:18:57.251Z,1556641137.251 [NAL9602](INFO): SBD MO Status=2, MOMSN=11644, MT Status=2, MTMSN=0
2019-04-30T16:18:57.252Z,1556641137.252 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-04-30T16:18:57.310Z,1556641137.310 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:TriggerCANONSampler](DEBUG): Initialize ReadDataComponent to sense CANONSampler.sampling
2019-04-30T16:18:57.310Z,1556641137.310 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:B] Running Loop=1
2019-04-30T16:18:57.311Z,1556641137.311 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:A] Running Loop=1
2019-04-30T16:18:58.077Z,1556641138.077 [CANONSampler](INFO): Powering up
2019-04-30T16:19:24.625Z,1556641164.625 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-04-30T16:19:27.958Z,1556641167.958 [NAL9602](INFO): Powering down
2019-04-30T16:19:29.194Z,1556641169.194 [CANONSampler](FAULT): Failed to receive prompt
2019-04-30T16:19:29.194Z,1556641169.194 [CANONSampler] Hardware Fault, FailCount= 2
2019-04-30T16:19:29.194Z,1556641169.194 [CANONSampler](ERROR): Hardware Fault
2019-04-30T16:19:29.274Z,1556641169.274 [CBIT](ERROR): Hardware Fault in component: CANONSampler
2019-04-30T16:19:29.584Z,1556641169.584 [CANONSampler](INFO): Powering down
2019-04-30T16:19:34.798Z,1556641174.798 [CommandLine](IMPORTANT): got command stop
2019-04-30T16:19:34.799Z,1556641174.799 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-04-30T16:19:34.874Z,1556641174.874 [MissionManager](INFO): MissionManager is completed.
2019-04-30T16:19:34.874Z,1556641174.874 [MissionManager](INFO): Uninitializing Mission sample
2019-04-30T16:19:34.874Z,1556641174.874 [sample] Stopped
2019-04-30T16:19:34.874Z,1556641174.874 [sample](DEBUG): Aggregate::uninitialize sample
2019-04-30T16:19:34.874Z,1556641174.874 [sample:A.Pitch] Stopped
2019-04-30T16:19:34.874Z,1556641174.874 [sample:B.SetSpeed] Stopped
2019-04-30T16:19:34.874Z,1556641174.874 [sample:B.SetSpeed](DEBUG): Uninitialize.
2019-04-30T16:19:34.874Z,1556641174.874 [sample:SampleAtDepth] Stopped
2019-04-30T16:19:34.875Z,1556641174.875 [sample:SampleAtDepth](DEBUG): Aggregate::uninitialize sample:SampleAtDepth
2019-04-30T16:19:34.875Z,1556641174.875 [sample:SampleAtDepth:SampleWrapper] Stopped
2019-04-30T16:19:34.875Z,1556641174.875 [sample:SampleAtDepth:SampleWrapper](DEBUG): Aggregate::uninitialize sample:SampleAtDepth:SampleWrapper
2019-04-30T16:19:34.875Z,1556641174.875 [sample:SampleAtDepth:SampleWrapper:A.Pitch] Stopped
2019-04-30T16:19:34.875Z,1556641174.875 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler] Stopped
2019-04-30T16:19:34.875Z,1556641174.875 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler](DEBUG): Aggregate::uninitialize sample:SampleAtDepth:SampleWrapper:SampleCANONSampler
2019-04-30T16:19:34.875Z,1556641174.875 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:A] Stopped
2019-04-30T16:19:34.875Z,1556641174.875 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:B] Stopped
2019-04-30T16:19:34.875Z,1556641174.875 [sample:SampleAtDepth:SampleWrapper:SampleCANONSampler:TriggerCANONSampler] Stopped
2019-04-30T16:19:34.875Z,1556641174.875 [sample:SampleRepeater] Stopped
2019-04-30T16:19:34.875Z,1556641174.875 [sample:SampleRepeater](DEBUG): Aggregate::uninitialize sample:SampleRepeater
2019-04-30T16:19:34.875Z,1556641174.875 [sample:SampleRepeater:Sample] Stopped
2019-04-30T16:19:34.876Z,1556641174.876 [sample:SampleRepeater:Sample](DEBUG): Aggregate::uninitialize sample:SampleRepeater:Sample
2019-04-30T16:19:35.253Z,1556641175.253 [MissionManager](IMPORTANT): Started mission Default
2019-04-30T16:19:35.253Z,1556641175.253 [Default] Running Loop=1
2019-04-30T16:19:35.253Z,1556641175.253 [Default](DEBUG): Aggregate::initialize Default
2019-04-30T16:19:35.253Z,1556641175.253 [Default:B.GoToSurface] Running Loop=1
2019-04-30T16:19:35.254Z,1556641175.254 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-04-30T16:19:35.254Z,1556641175.254 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-04-30T16:19:35.254Z,1556641175.254 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-04-30T16:19:35.254Z,1556641175.254 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-04-30T16:19:35.255Z,1556641175.255 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-04-30T16:19:35.255Z,1556641175.255 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-04-30T16:19:35.256Z,1556641175.256 [Default:A.Wait] Running Loop=1
2019-04-30T16:19:35.256Z,1556641175.256 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-04-30T16:19:48.591Z,1556641188.591 [Default:A.Wait](INFO): Done Waiting.
2019-04-30T16:19:48.591Z,1556641188.591 [Default:A.Wait] Stopped
2019-04-30T16:19:48.591Z,1556641188.591 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-04-30T16:19:48.997Z,1556641188.997 [Default:CheckIn] Running Loop=1
2019-04-30T16:19:48.998Z,1556641188.998 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-04-30T16:19:48.998Z,1556641188.998 [Default:CheckIn:Read_GPS] Running Loop=1
2019-04-30T16:19:49.770Z,1556641189.770 [NAL9602](INFO): Powering up
2019-04-30T16:19:55.329Z,1556641195.329 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-04-30T16:20:00.362Z,1556641200.362 [CBIT](INFO): Clearing failed state for component CANONSampler
2019-04-30T16:20:00.362Z,1556641200.362 [CANONSampler] No Fault, FailCount= 2
2019-04-30T16:20:00.678Z,1556641200.678 [NAL9602](INFO): NAL9602 initialized
2019-04-30T16:20:00.694Z,1556641200.694 [CANONSampler](INFO): Powering up
2019-04-30T16:20:01.501Z,1556641201.501 [NAL9602](DEBUG): Fix Requested
2019-04-30T16:20:01.931Z,1556641201.931 [CANONSampler](INFO): Powering down
2019-04-30T16:20:26.033Z,1556641226.033 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-04-30T16:20:39.467Z,1556641239.467 [NAL9602](INFO): SBD MO Status=2, MOMSN=11644, MT Status=2, MTMSN=0
2019-04-30T16:20:39.467Z,1556641239.467 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-04-30T16:20:56.737Z,1556641256.737 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-04-30T16:21:27.441Z,1556641287.441 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-04-30T16:21:55.027Z,1556641315.027 [CommandLine](IMPORTANT): got command restart system
2019-04-30T16:21:57.189Z,1556641317.189 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2019-04-30T16:21:57.190Z,1556641317.190 [CommandLine ThreadHandler](INFO): Thread cancelled.
2019-04-30T16:21:57.321Z,1556641317.321 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2019-04-30T16:21:57.321Z,1556641317.321 [CommandLine ThreadHandler](INFO): Thread cancelled.
2019-04-30T16:21:57.322Z,1556641317.322 [CommandLine](INFO): Join timeout helper Thread ID is 3894
2019-04-30T16:21:57.322Z,1556641317.322 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2019-04-30T16:21:57.322Z,1556641317.322 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2019-04-30T16:21:57.323Z,1556641317.323 [NavChartDb](INFO): Join timeout helper Thread ID is 3895
2019-04-30T16:21:57.389Z,1556641317.389 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2019-04-30T16:21:57.389Z,1556641317.389 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2019-04-30T16:21:57.401Z,1556641317.401 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2019-04-30T16:21:57.401Z,1556641317.401 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2019-04-30T16:21:57.401Z,1556641317.401 [WetLabsBB2FL](INFO): Join timeout helper Thread ID is 3896
2019-04-30T16:21:57.713Z,1556641317.713 [WetLabsBB2FL ThreadHandler](INFO): Uninitializing protected caller thread.
2019-04-30T16:21:57.713Z,1556641317.713 [WetLabsBB2FL](INFO): Powering down
2019-04-30T16:21:57.714Z,1556641317.714 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2019-04-30T16:21:57.721Z,1556641317.721 [ComponentRegistry](INFO): Shutting down CTD_Seabird ThreadHandler
2019-04-30T16:21:57.721Z,1556641317.721 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2019-04-30T16:21:57.721Z,1556641317.721 [CTD_Seabird](INFO): Join timeout helper Thread ID is 3897
2019-04-30T16:21:58.145Z,1556641318.145 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-04-30T16:21:58.233Z,1556641318.233 [CTD_Seabird](INFO): Powering down
2019-04-30T16:21:58.245Z,1556641318.245 [CTD_Seabird ThreadHandler](INFO): Uninitializing protected caller thread.
2019-04-30T16:21:58.245Z,1556641318.245 [CTD_Seabird](INFO): Powering down
2019-04-30T16:21:58.258Z,1556641318.258 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2019-04-30T16:21:58.261Z,1556641318.261 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2019-04-30T16:21:58.261Z,1556641318.261 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2019-04-30T16:21:58.262Z,1556641318.262 [CTD_NeilBrown](INFO): Join timeout helper Thread ID is 3898
2019-04-30T16:21:58.262Z,1556641318.262 [CTD_NeilBrown ThreadHandler](INFO): Uninitializing protected caller thread.
2019-04-30T16:21:58.262Z,1556641318.262 [CTD_NeilBrown](INFO): Powering down
2019-04-30T16:21:58.277Z,1556641318.277 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2019-04-30T16:21:58.282Z,1556641318.282 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2019-04-30T16:21:58.282Z,1556641318.282 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2019-04-30T16:21:58.282Z,1556641318.282 [Radio_Surface](INFO): Join timeout helper Thread ID is 3899
2019-04-30T16:21:58.641Z,1556641318.641 [Radio_Surface](INFO): Powering down
2019-04-30T16:21:58.642Z,1556641318.642 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2019-04-30T16:21:58.642Z,1556641318.642 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2019-04-30T16:21:58.646Z,1556641318.646 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2019-04-30T16:21:58.646Z,1556641318.646 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2019-04-30T16:21:58.646Z,1556641318.646 [DataOverHttps](INFO): Join timeout helper Thread ID is 3900
2019-04-30T16:21:58.953Z,1556641318.953 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2019-04-30T16:21:58.953Z,1556641318.953 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2019-04-30T16:21:58.974Z,1556641318.974 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2019-04-30T16:21:58.974Z,1556641318.974 [logger ThreadHandler](INFO): Thread cancelled.
2019-04-30T16:21:58.974Z,1556641318.974 [logger](INFO): Join timeout helper Thread ID is 3901
2019-04-30T16:21:59.069Z,1556641319.069 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2019-04-30T16:21:59.069Z,1556641319.069 [logger ThreadHandler](INFO): Thread cancelled.
2019-04-30T16:21:59.074Z,1556641319.074 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2019-04-30T16:21:59.074Z,1556641319.074 [CommandLine ThreadHandler](INFO): Thread cancelled.
2019-04-30T16:21:59.074Z,1556641319.074 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2019-04-30T16:21:59.074Z,1556641319.074 [controlThread ThreadHandler](INFO): Thread cancelled.
2019-04-30T16:21:59.074Z,1556641319.074 [controlThread](INFO): Join timeout helper Thread ID is 3902
2019-04-30T16:21:59.086Z,1556641319.086 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2019-04-30T16:21:59.086Z,1556641319.086 [controlThread](DEBUG): Uninitializing ControlThread
2019-04-30T16:21:59.086Z,1556641319.086 [AHRS_M2](INFO): Powering down
2019-04-30T16:21:59.157Z,1556641319.157 [NAL9602](INFO): Powering down
2019-04-30T16:21:59.160Z,1556641319.160 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2019-04-30T16:21:59.161Z,1556641319.161 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2019-04-30T16:21:59.162Z,1556641319.162 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2019-04-30T16:21:59.162Z,1556641319.162 [MissionManager](INFO): Uninitializing Mission Default
2019-04-30T16:21:59.162Z,1556641319.162 [Default] Stopped
2019-04-30T16:21:59.163Z,1556641319.163 [Default](DEBUG): Aggregate::uninitialize Default
2019-04-30T16:21:59.163Z,1556641319.163 [Default:B.GoToSurface] Stopped
2019-04-30T16:21:59.163Z,1556641319.163 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-04-30T16:21:59.163Z,1556641319.163 [Default:CheckIn] Stopped
2019-04-30T16:21:59.163Z,1556641319.163 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-04-30T16:21:59.163Z,1556641319.163 [Default:CheckIn:Read_GPS] Stopped
2019-04-30T16:21:59.166Z,1556641319.166 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2019-04-30T16:21:59.166Z,1556641319.166 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2019-04-30T16:21:59.166Z,1556641319.166 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2019-04-30T16:21:59.167Z,1556641319.167 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2019-04-30T16:21:59.167Z,1556641319.167 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2019-04-30T16:21:59.167Z,1556641319.167 [BuoyancyServo](INFO): Powering down
2019-04-30T16:21:59.181Z,1556641319.181 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2019-04-30T16:21:59.181Z,1556641319.181 [ElevatorServo](INFO): Powering down
2019-04-30T16:21:59.182Z,1556641319.182 [MassServo](DEBUG): Uninitialize Mass Servo.
2019-04-30T16:21:59.182Z,1556641319.182 [MassServo](INFO): Powering down
2019-04-30T16:21:59.183Z,1556641319.183 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2019-04-30T16:21:59.183Z,1556641319.183 [RudderServo](INFO): Powering down
2019-04-30T16:21:59.184Z,1556641319.184 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2019-04-30T16:21:59.184Z,1556641319.184 [ThrusterServo](INFO): Powering down
2019-04-30T16:21:59.185Z,1556641319.185 [SBIT](DEBUG): Uninitialize SBIT Component.
2019-04-30T16:21:59.185Z,1556641319.185 [IBIT](DEBUG): Uninitialize IBIT Component.
2019-04-30T16:21:59.186Z,1556641319.186 [CBIT](DEBUG): Uninitialize CBIT Component.
2019-04-30T16:21:59.186Z,1556641319.186 [CBIT](DEBUG): Powering off loads.
2019-04-30T16:21:59.197Z,1556641319.197 [CBIT](DEBUG): Disabling WDT.
2019-04-30T16:21:59.209Z,1556641319.209 [CBIT](DEBUG): Opening all GF detection circuits.
2019-04-30T16:21:59.210Z,1556641319.210 [controlThread ThreadHandler](INFO): Thread cancelled.
2019-04-30T16:21:59.299Z,1556641319.299 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2019-04-30T16:21:59.305Z,1556641319.305 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2019-04-30T16:21:59.336Z,1556641319.336 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2019-04-30T16:21:59.339Z,1556641319.339 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2019-04-30T16:21:59.342Z,1556641319.342 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2019-04-30T16:21:59.380Z,1556641319.380 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2019-04-30T16:21:59.450Z,1556641319.450 [logger ThreadHandler](INFO): Thread cancelled.