2019-07-23T20:20:12.334Z,1563913212.334 [Supervisor](DEBUG): Initializing supervisor.
2019-07-23T20:20:12.338Z,1563913212.338 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2019-07-23T20:20:12.339Z,1563913212.339 [SyncHandler](INFO): Protected caller Thread ID is 1140
2019-07-23T20:20:12.339Z,1563913212.339 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2019-07-23T20:20:12.340Z,1563913212.340 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2019-07-23T20:20:12.340Z,1563913212.340 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 1141
2019-07-23T20:20:12.344Z,1563913212.344 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2019-07-23T20:20:12.357Z,1563913212.357 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2019-07-23T20:20:12.358Z,1563913212.358 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2019-07-23T20:20:12.358Z,1563913212.358 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 1142
2019-07-23T20:20:12.359Z,1563913212.359 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2019-07-23T20:20:12.360Z,1563913212.360 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2019-07-23T20:20:12.361Z,1563913212.361 [logger ThreadHandler](INFO): Protected caller Thread ID is 1143
2019-07-23T20:20:12.363Z,1563913212.363 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2019-07-23T20:20:12.363Z,1563913212.363 [Supervisor](INFO): Looking for Config files in directory: Config/
2019-07-23T20:20:12.365Z,1563913212.365 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2019-07-23T20:20:12.569Z,1563913212.569 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2019-07-23T20:20:12.570Z,1563913212.570 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2019-07-23T20:20:12.650Z,1563913212.650 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2019-07-23T20:20:13.091Z,1563913213.091 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2019-07-23T20:20:13.092Z,1563913213.092 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2019-07-23T20:20:13.437Z,1563913213.437 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2019-07-23T20:20:13.437Z,1563913213.437 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2019-07-23T20:20:13.533Z,1563913213.533 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2019-07-23T20:20:13.534Z,1563913213.534 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2019-07-23T20:20:13.837Z,1563913213.837 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2019-07-23T20:20:13.838Z,1563913213.838 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2019-07-23T20:20:14.036Z,1563913214.036 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2019-07-23T20:20:14.036Z,1563913214.036 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2019-07-23T20:20:14.495Z,1563913214.495 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2019-07-23T20:20:14.496Z,1563913214.496 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2019-07-23T20:20:14.601Z,1563913214.601 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2019-07-23T20:20:14.602Z,1563913214.602 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2019-07-23T20:20:14.702Z,1563913214.702 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2019-07-23T20:20:14.702Z,1563913214.702 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2019-07-23T20:20:15.314Z,1563913215.314 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2019-07-23T20:20:15.314Z,1563913215.314 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2019-07-23T20:20:15.707Z,1563913215.707 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2019-07-23T20:20:15.708Z,1563913215.708 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2019-07-23T20:20:15.908Z,1563913215.908 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2019-07-23T20:20:15.909Z,1563913215.909 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2019-07-23T20:20:16.055Z,1563913216.055 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2019-07-23T20:20:16.056Z,1563913216.056 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2019-07-23T20:20:16.207Z,1563913216.207 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2019-07-23T20:20:16.209Z,1563913216.209 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2019-07-23T20:20:16.210Z,1563913216.210 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Navigation.cfg
2019-07-23T20:20:16.301Z,1563913216.301 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2019-07-23T20:20:16.387Z,1563913216.387 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2019-07-23T20:20:16.491Z,1563913216.491 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/secure.cfg
2019-07-23T20:20:16.575Z,1563913216.575 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2019-07-23T20:20:16.688Z,1563913216.688 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2019-07-23T20:20:17.087Z,1563913217.087 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2019-07-23T20:20:17.539Z,1563913217.539 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/workSite.cfg
2019-07-23T20:20:17.675Z,1563913217.675 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2019-07-23T20:20:17.979Z,1563913217.979 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2019-07-23T20:20:18.262Z,1563913218.262 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2019-07-23T20:20:18.385Z,1563913218.385 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Battery.cfg
2019-07-23T20:20:18.617Z,1563913218.617 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2019-07-23T20:20:18.619Z,1563913218.619 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/root/
2019-07-23T20:20:18.619Z,1563913218.619 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2019-07-23T20:20:18.640Z,1563913218.640 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2019-07-23T20:20:18.707Z,1563913218.707 [VerticalControl](DEBUG): Construct VerticalControl.
2019-07-23T20:20:18.818Z,1563913218.818 [VerticalControl] Loaded
2019-07-23T20:20:18.818Z,1563913218.818 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2019-07-23T20:20:18.819Z,1563913218.819 [HorizontalControl](DEBUG): Construct HorizontalControl.
2019-07-23T20:20:18.887Z,1563913218.887 [HorizontalControl] Loaded
2019-07-23T20:20:18.888Z,1563913218.888 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2019-07-23T20:20:18.888Z,1563913218.888 [SpeedControl](DEBUG): Construct SpeedControl.
2019-07-23T20:20:18.894Z,1563913218.894 [SpeedControl] Loaded
2019-07-23T20:20:18.894Z,1563913218.894 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2019-07-23T20:20:18.895Z,1563913218.895 [LoopControl](DEBUG): Construct LoopControl.
2019-07-23T20:20:18.895Z,1563913218.895 [LoopControl] Loaded
2019-07-23T20:20:18.896Z,1563913218.896 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2019-07-23T20:20:18.896Z,1563913218.896 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2019-07-23T20:20:18.897Z,1563913218.897 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2019-07-23T20:20:18.910Z,1563913218.910 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2019-07-23T20:20:18.910Z,1563913218.910 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2019-07-23T20:20:19.008Z,1563913219.008 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2019-07-23T20:20:19.008Z,1563913219.008 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2019-07-23T20:20:19.134Z,1563913219.134 [BuoyancyServo] Loaded
2019-07-23T20:20:19.135Z,1563913219.135 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2019-07-23T20:20:19.146Z,1563913219.146 [ElevatorServo] Loaded
2019-07-23T20:20:19.146Z,1563913219.146 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2019-07-23T20:20:19.157Z,1563913219.157 [MassServo] Loaded
2019-07-23T20:20:19.157Z,1563913219.157 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2019-07-23T20:20:19.168Z,1563913219.168 [RudderServo] Loaded
2019-07-23T20:20:19.169Z,1563913219.169 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2019-07-23T20:20:19.180Z,1563913219.180 [ThrusterServo] Loaded
2019-07-23T20:20:19.180Z,1563913219.180 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2019-07-23T20:20:19.180Z,1563913219.180 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2019-07-23T20:20:19.181Z,1563913219.181 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2019-07-23T20:20:19.287Z,1563913219.287 [DeadReckonUsingMultipleVelocitySources] Loaded
2019-07-23T20:20:19.287Z,1563913219.287 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2019-07-23T20:20:19.308Z,1563913219.308 [NavChart] Loaded
2019-07-23T20:20:19.308Z,1563913219.309 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2019-07-23T20:20:19.312Z,1563913219.312 [UniversalFixResidualReporter] Loaded
2019-07-23T20:20:19.313Z,1563913219.313 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2019-07-23T20:20:19.313Z,1563913219.313 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2019-07-23T20:20:19.314Z,1563913219.314 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2019-07-23T20:20:19.384Z,1563913219.384 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2019-07-23T20:20:19.384Z,1563913219.384 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2019-07-23T20:20:19.723Z,1563913219.723 [DataOverHttps] Loaded
2019-07-23T20:20:19.724Z,1563913219.724 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2019-07-23T20:20:19.725Z,1563913219.725 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 4087D4E0
2019-07-23T20:20:19.725Z,1563913219.725 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 1225
2019-07-23T20:20:19.738Z,1563913219.738 [Depth_Keller] Loaded
2019-07-23T20:20:19.739Z,1563913219.739 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2019-07-23T20:20:19.834Z,1563913219.834 [NAL9602] Loaded
2019-07-23T20:20:19.834Z,1563913219.834 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2019-07-23T20:20:19.851Z,1563913219.851 [Onboard] Loaded
2019-07-23T20:20:19.851Z,1563913219.851 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2019-07-23T20:20:19.854Z,1563913219.854 [Radio_Surface] Loaded
2019-07-23T20:20:19.855Z,1563913219.855 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2019-07-23T20:20:19.856Z,1563913219.856 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 408AD4E0
2019-07-23T20:20:19.856Z,1563913219.856 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 1226
2019-07-23T20:20:21.341Z,1563913221.341 [BPC1] Loaded
2019-07-23T20:20:21.341Z,1563913221.341 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2019-07-23T20:20:21.342Z,1563913221.342 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2019-07-23T20:20:21.342Z,1563913221.342 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2019-07-23T20:20:21.382Z,1563913221.382 [DepthRateCalculator] Loaded
2019-07-23T20:20:21.383Z,1563913221.383 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2019-07-23T20:20:21.388Z,1563913221.388 [PitchRateCalculator] Loaded
2019-07-23T20:20:21.388Z,1563913221.388 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2019-07-23T20:20:21.400Z,1563913221.400 [SpeedCalculator] Loaded
2019-07-23T20:20:21.400Z,1563913221.400 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2019-07-23T20:20:21.422Z,1563913221.422 [TempGradientCalculator] Loaded
2019-07-23T20:20:21.422Z,1563913221.422 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2019-07-23T20:20:21.427Z,1563913221.427 [YawRateCalculator] Loaded
2019-07-23T20:20:21.427Z,1563913221.427 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2019-07-23T20:20:21.457Z,1563913221.457 [ElevatorOffsetCalculator] Loaded
2019-07-23T20:20:21.457Z,1563913221.457 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2019-07-23T20:20:21.458Z,1563913221.458 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2019-07-23T20:20:21.458Z,1563913221.458 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2019-07-23T20:20:21.652Z,1563913221.652 [ESPComponent] Loaded
2019-07-23T20:20:21.652Z,1563913221.652 [ComponentRegistry](DEBUG): SyncComponent "ESPComponent" handled in the control thread.
2019-07-23T20:20:21.666Z,1563913221.666 [PAR_Licor] Loaded
2019-07-23T20:20:21.667Z,1563913221.667 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2019-07-23T20:20:21.668Z,1563913221.668 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2019-07-23T20:20:21.668Z,1563913221.668 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2019-07-23T20:20:21.700Z,1563913221.700 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2019-07-23T20:20:21.701Z,1563913221.701 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2019-07-23T20:20:22.111Z,1563913222.111 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2019-07-23T20:20:22.112Z,1563913222.112 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2019-07-23T20:20:22.242Z,1563913222.242 [SBIT](DEBUG): Construct Startup Built In Test.
2019-07-23T20:20:22.254Z,1563913222.254 [SBIT] Loaded
2019-07-23T20:20:22.254Z,1563913222.254 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2019-07-23T20:20:22.255Z,1563913222.255 [IBIT](DEBUG): Construct Initiated Built In Test.
2019-07-23T20:20:22.266Z,1563913222.266 [IBIT] Loaded
2019-07-23T20:20:22.267Z,1563913222.267 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2019-07-23T20:20:22.270Z,1563913222.270 [CBIT](DEBUG): Construct Continuous Built In Test.
2019-07-23T20:20:22.407Z,1563913222.407 [CBIT] Loaded
2019-07-23T20:20:22.407Z,1563913222.407 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2019-07-23T20:20:22.408Z,1563913222.408 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2019-07-23T20:20:22.412Z,1563913222.412 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2019-07-23T20:20:22.413Z,1563913222.413 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2019-07-23T20:20:22.419Z,1563913222.419 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2019-07-23T20:20:22.421Z,1563913222.421 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40A7E4E0
2019-07-23T20:20:22.421Z,1563913222.421 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 1227
2019-07-23T20:20:22.426Z,1563913222.426 [Supervisor](INFO): Main Thread ID is 802
2019-07-23T20:20:22.426Z,1563913222.426 [Supervisor](DEBUG): Running supervisor.
2019-07-23T20:20:22.427Z,1563913222.427 [CommandLine ThreadHandler](INFO): Handler Thread ID is 1228
2019-07-23T20:20:22.429Z,1563913222.429 [controlThread ThreadHandler](INFO): Handler Thread ID is 1229
2019-07-23T20:20:22.430Z,1563913222.430 [controlThread](DEBUG): Initializing ControlThread
2019-07-23T20:20:22.431Z,1563913222.431 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2019-07-23T20:20:22.432Z,1563913222.432 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2019-07-23T20:20:22.433Z,1563913222.433 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2019-07-23T20:20:22.434Z,1563913222.434 [LoopControl](DEBUG): Initialize LoopControlComponent.
2019-07-23T20:20:22.435Z,1563913222.435 [NavChart](DEBUG): Initialize NavChart Navigation.
2019-07-23T20:20:22.436Z,1563913222.436 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2019-07-23T20:20:22.438Z,1563913222.438 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2019-07-23T20:20:22.438Z,1563913222.438 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2019-07-23T20:20:22.438Z,1563913222.438 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2019-07-23T20:20:22.439Z,1563913222.439 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2019-07-23T20:20:22.439Z,1563913222.439 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2019-07-23T20:20:22.439Z,1563913222.439 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2019-07-23T20:20:22.445Z,1563913222.445 [SBIT](INFO): Initialize SBIT Component.
2019-07-23T20:20:22.446Z,1563913222.446 [SBIT](IMPORTANT): git: 2019-07-16
2019-07-23T20:20:22.446Z,1563913222.446 [SBIT](INFO): git hash: 5dde538a58d6fd4f55501de4ce986b4d4d3b120b
2019-07-23T20:20:22.446Z,1563913222.446 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2019-07-23T20:20:22.447Z,1563913222.447 [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
2019-07-23T20:20:22.448Z,1563913222.448 [SBIT](INFO): Beginning SBIT in 29.000000 seconds.
2019-07-23T20:20:22.449Z,1563913222.449 [IBIT](INFO): Initialize IBIT Component.
2019-07-23T20:20:22.450Z,1563913222.450 [CBIT](DEBUG): Initialize CBIT Component.
2019-07-23T20:20:22.451Z,1563913222.451 [logger ThreadHandler](INFO): Handler Thread ID is 1230
2019-07-23T20:20:22.461Z,1563913222.461 [CBIT](DEBUG): Initialized mux pins.
2019-07-23T20:20:22.461Z,1563913222.461 [CBIT](DEBUG): Initializing the watchdog timer.
2019-07-23T20:20:22.469Z,1563913222.469 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 1231
2019-07-23T20:20:22.470Z,1563913222.470 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2019-07-23T20:20:22.481Z,1563913222.481 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 1232
2019-07-23T20:20:22.485Z,1563913222.485 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2019-07-23T20:20:22.485Z,1563913222.485 [CBIT](DEBUG): Initializing heartbeat.
2019-07-23T20:20:22.493Z,1563913222.493 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 1233
2019-07-23T20:20:22.497Z,1563913222.497 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2019-07-23T20:20:22.497Z,1563913222.497 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2019-07-23T20:20:22.497Z,1563913222.497 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2019-07-23T20:20:22.497Z,1563913222.497 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2019-07-23T20:20:22.497Z,1563913222.497 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2019-07-23T20:20:22.498Z,1563913222.498 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2019-07-23T20:20:22.498Z,1563913222.498 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2019-07-23T20:20:22.498Z,1563913222.498 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2019-07-23T20:20:22.498Z,1563913222.498 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2019-07-23T20:20:22.498Z,1563913222.498 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2019-07-23T20:20:22.498Z,1563913222.498 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2019-07-23T20:20:22.498Z,1563913222.498 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2019-07-23T20:20:22.499Z,1563913222.499 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2019-07-23T20:20:22.499Z,1563913222.499 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2019-07-23T20:20:22.499Z,1563913222.499 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2019-07-23T20:20:22.499Z,1563913222.499 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2019-07-23T20:20:22.557Z,1563913222.557 [CBIT](DEBUG): Deactivating GF circuits.
2019-07-23T20:20:22.557Z,1563913222.557 [CBIT](DEBUG): Deactivating emergency mode.
2019-07-23T20:20:22.593Z,1563913222.593 [CBIT](DEBUG): Backplane powered.
2019-07-23T20:20:22.594Z,1563913222.594 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2019-07-23T20:20:22.605Z,1563913222.605 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2019-07-23T20:20:22.616Z,1563913222.616 [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>


2019-07-23T20:20:22.637Z,1563913222.637 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2019-07-23T20:20:22.709Z,1563913222.709 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2019-07-23T20:20:22.710Z,1563913222.710 [Default:A.Wait](DEBUG): Construct Wait.
2019-07-23T20:20:22.712Z,1563913222.712 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-07-23T20:20:22.755Z,1563913222.755 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2019-07-23T20:20:22.758Z,1563913222.758 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2019-07-23T20:20:22.772Z,1563913222.772 [Default:E.Execute](DEBUG): Construct Execute.
2019-07-23T20:20:22.775Z,1563913222.775 [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>


2019-07-23T20:20:22.785Z,1563913222.785 [controlThread](DEBUG): Component order: CycleStarter,Depth_Keller,NAL9602,Onboard,BPC1,ESPComponent,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2019-07-23T20:20:22.828Z,1563913222.828 [Depth_Keller](ERROR): Pressure reading out of range: 1831.023193 decibar
2019-07-23T20:20:22.885Z,1563913222.885 [Radio_Surface](INFO): Powering up
2019-07-23T20:20:22.945Z,1563913222.945 [DepthRateCalculator](ERROR): Depth measurement is not active
2019-07-23T20:20:22.963Z,1563913222.963 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2019-07-23T20:20:22.973Z,1563913222.973 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2019-07-23T20:20:22.974Z,1563913222.974 [ElevatorServo](DEBUG): Initializing EZServoServo.
2019-07-23T20:20:22.985Z,1563913222.985 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2019-07-23T20:20:22.986Z,1563913222.986 [MassServo](DEBUG): Initializing EZServoServo.
2019-07-23T20:20:22.997Z,1563913222.997 [MassServo](DEBUG): Initializing MassServo.
2019-07-23T20:20:22.998Z,1563913222.998 [RudderServo](DEBUG): Initializing EZServoServo.
2019-07-23T20:20:23.005Z,1563913223.005 [RudderServo](DEBUG): Initializing RudderServo.
2019-07-23T20:20:23.006Z,1563913223.006 [ThrusterServo](DEBUG): Initializing EZServoServo.
2019-07-23T20:20:23.013Z,1563913223.013 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2019-07-23T20:20:32.649Z,1563913232.649 [CBIT](CRITICAL): Environmental Failure. Press:14.773029 PSI. Humidity:37%. Temp:26 C. ABORTING MISSION
2019-07-23T20:20:32.649Z,1563913232.649 [Supervisor](INFO): Stop Mission called by CBIT::monitorEnvironmentals
2019-07-23T20:20:33.034Z,1563913233.034 [CommandLine](FAULT): Scheduling is paused
2019-07-23T20:20:33.035Z,1563913233.035 [CBIT](INFO): Critical error at 20190723T202032
2019-07-23T20:20:49.862Z,1563913249.862 [NAL9602](INFO): Powering up NAL9602
2019-07-23T20:20:51.998Z,1563913251.998 [SBIT](IMPORTANT): Beginning Startup BIT
2019-07-23T20:20:52.002Z,1563913252.002 [CBIT](IMPORTANT): Beginning ground fault scan
2019-07-23T20:21:00.922Z,1563913260.922 [NAL9602](INFO): NAL9602 initialized
2019-07-23T20:21:01.745Z,1563913261.745 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:21:03.109Z,1563913263.109 [CBIT](IMPORTANT): Ground fault detected
mA:
CHAN A0 (Batt): 4.657929
CHAN A1 (24V): -0.199091
CHAN A2 (12V): -0.001765
CHAN A3 (5V): -0.001315
CHAN B0 (3.3V): -0.000310
CHAN B1 (3.15aV): -0.000020
CHAN B2 (3.15bV): 0.000225
CHAN B3 (GND): -0.000341
OPEN: -0.000509
Full Scale Calc: 4.765 mA, -1.589 mA
2019-07-23T20:21:45.638Z,1563913305.638 [SBIT](IMPORTANT): SBIT PASSED
2019-07-23T20:21:45.678Z,1563913305.678 [CommandLine](IMPORTANT): got command configSet list
2019-07-23T20:21:45.678Z,1563913305.678 [CommandLine](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2019-07-23T20:21:45.679Z,1563913305.679 [CommandLine](IMPORTANT): AHRS_M2.loadAtStartup=0 bool;

2019-07-23T20:21:45.679Z,1563913305.679 [CommandLine](IMPORTANT): Aanderaa_O2.loadAtStartup=0 bool;

2019-07-23T20:21:45.679Z,1563913305.679 [CommandLine](IMPORTANT): BPC1.batteryMissingStickThreshold=0 count;

2019-07-23T20:21:45.679Z,1563913305.679 [CommandLine](IMPORTANT): BPC1.batterySamplingInterval=6 hour;

2019-07-23T20:21:45.679Z,1563913305.679 [CommandLine](IMPORTANT): CBIT.abortDepth=296 meter;

2019-07-23T20:21:45.679Z,1563913305.679 [CommandLine](IMPORTANT): CBIT.gf24Offset=172 microampere;

2019-07-23T20:21:45.679Z,1563913305.679 [CommandLine](IMPORTANT): CBIT.stopDepth=288 meter;

2019-07-23T20:21:45.680Z,1563913305.680 [CommandLine](IMPORTANT): CTD_NeilBrown.loadAtStartup=0 bool;

2019-07-23T20:21:45.680Z,1563913305.680 [CommandLine](IMPORTANT): CTD_Seabird.loadAtStartup=0 bool;

2019-07-23T20:21:45.680Z,1563913305.680 [CommandLine](IMPORTANT): DAT.ignoreElevationAngle=1 bool;

2019-07-23T20:21:45.680Z,1563913305.680 [CommandLine](IMPORTANT): DAT.loadAtStartup=0 bool;

2019-07-23T20:21:45.680Z,1563913305.680 [CommandLine](IMPORTANT): DVL_micro.loadAtStartup=0 bool;

2019-07-23T20:21:45.680Z,1563913305.680 [CommandLine](IMPORTANT): DropWeight.loadAtStartup=0 bool;

2019-07-23T20:21:45.680Z,1563913305.680 [CommandLine](IMPORTANT): ESPComponent.loadAtStartup=1 bool;

2019-07-23T20:21:45.680Z,1563913305.680 [CommandLine](IMPORTANT): Express linearApproximation DAT.range 5.000000 meter;

2019-07-23T20:21:45.680Z,1563913305.680 [CommandLine](IMPORTANT): Express linearApproximation acoustic_contact_range 10.000000 meter;

2019-07-23T20:21:45.681Z,1563913305.681 [CommandLine](IMPORTANT): Express linearApproximation depth 5.000000 meter;

2019-07-23T20:21:45.681Z,1563913305.681 [CommandLine](IMPORTANT): Express linearApproximation latitude 0.005000 degree;

2019-07-23T20:21:45.681Z,1563913305.681 [CommandLine](IMPORTANT): Express linearApproximation longitude 0.005000 degree;

2019-07-23T20:21:45.681Z,1563913305.681 [CommandLine](IMPORTANT): NAL9602.fastGPSFix=1 bool;

2019-07-23T20:21:45.681Z,1563913305.681 [CommandLine](IMPORTANT): VerticalControl.buoyancyNeutral=274 cubic_centimeter;

2019-07-23T20:21:45.681Z,1563913305.681 [CommandLine](IMPORTANT): VerticalControl.massDefault=-2.3 millimeter;

2019-07-23T20:21:45.681Z,1563913305.681 [CommandLine](IMPORTANT): VerticalControl.massPositionLimitAft=-31 millimeter;

2019-07-23T20:21:45.681Z,1563913305.681 [CommandLine](IMPORTANT): VerticalControl.massPositionLimitFwd=30 millimeter;

2019-07-23T20:21:45.682Z,1563913305.682 [CommandLine](IMPORTANT): WetLabsBB2FL.loadAtStartup=0 bool;

2019-07-23T20:21:45.961Z,1563913305.961 [MissionManager](IMPORTANT): Started mission Startup
2019-07-23T20:21:45.962Z,1563913305.962 [Startup] Running Loop=1
2019-07-23T20:21:45.962Z,1563913305.962 [Startup](DEBUG): Aggregate::initialize Startup
2019-07-23T20:21:45.962Z,1563913305.962 [Startup:A.GoToSurface] Running Loop=1
2019-07-23T20:21:45.962Z,1563913305.962 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-07-23T20:21:45.963Z,1563913305.963 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-07-23T20:21:45.963Z,1563913305.963 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-07-23T20:21:45.963Z,1563913305.963 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-07-23T20:21:45.964Z,1563913305.964 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-07-23T20:21:45.964Z,1563913305.964 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-07-23T20:21:45.966Z,1563913305.966 [Startup:StartupSatComms] Running Loop=1
2019-07-23T20:21:45.966Z,1563913305.966 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2019-07-23T20:21:45.967Z,1563913305.967 [Startup:StartupSatComms:A] Running Loop=1
2019-07-23T20:21:46.370Z,1563913306.370 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2019-07-23T20:22:22.741Z,1563913342.741 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-23T20:22:22.741Z,1563913342.741 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2019-07-23T20:22:22.741Z,1563913342.741 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-23T20:22:22.813Z,1563913342.813 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-23T20:22:23.217Z,1563913343.217 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-23T20:22:23.217Z,1563913343.217 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2019-07-23T20:22:46.179Z,1563913366.179 [Startup:StartupSatComms:A](INFO): Timed out from 2019-07-23T20:21:45.0Z
2019-07-23T20:22:46.179Z,1563913366.179 [Startup:StartupSatComms:A] Stopped
2019-07-23T20:22:46.179Z,1563913366.179 [Startup:StartupSatComms:B] Running Loop=1
2019-07-23T20:22:46.564Z,1563913366.564 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-07-23T20:22:56.271Z,1563913376.271 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004782
2019-07-23T20:22:59.868Z,1563913379.868 [DataOverHttps](INFO): Sending 25 bytes from file Logs/20190723T165908/Courier0064.lzma
2019-07-23T20:22:59.971Z,1563913379.971 [DataOverHttps](INFO): Moved sent file to Logs/20190723T165908/Courier0064.lzma.bak
2019-07-23T20:22:59.971Z,1563913379.971 [DataOverHttps](INFO): SBD MOMSN=11466187
2019-07-23T20:23:07.384Z,1563913387.384 [DataOverHttps](INFO): Sending 143 bytes from file Logs/20190723T202012/Courier0000.lzma
2019-07-23T20:23:07.486Z,1563913387.486 [DataOverHttps](INFO): Moved sent file to Logs/20190723T202012/Courier0000.lzma.bak
2019-07-23T20:23:07.486Z,1563913387.486 [DataOverHttps](INFO): SBD MOMSN=11466189
2019-07-23T20:23:15.064Z,1563913395.064 [DataOverHttps](INFO): Sending 175 bytes from file Logs/20190723T165908/Express0062.lzma
2019-07-23T20:23:15.166Z,1563913395.166 [DataOverHttps](INFO): Moved sent file to Logs/20190723T165908/Express0062.lzma.bak
2019-07-23T20:23:15.166Z,1563913395.166 [DataOverHttps](INFO): SBD MOMSN=11466183
2019-07-23T20:23:23.088Z,1563913403.088 [DataOverHttps](INFO): Sending 152 bytes from file Logs/20190723T165908/Express0065.lzma
2019-07-23T20:23:23.190Z,1563913403.190 [DataOverHttps](INFO): Moved sent file to Logs/20190723T165908/Express0065.lzma.bak
2019-07-23T20:23:23.191Z,1563913403.191 [DataOverHttps](INFO): SBD MOMSN=11466194
2019-07-23T20:23:30.822Z,1563913410.822 [DataOverHttps](INFO): Sending 1135 bytes from file Logs/20190723T202012/Express0001.lzma
2019-07-23T20:23:30.974Z,1563913410.974 [DataOverHttps](INFO): Moved sent file to Logs/20190723T202012/Express0001.lzma.bak
2019-07-23T20:23:30.974Z,1563913410.974 [DataOverHttps](INFO): SBD MOMSN=11466198
2019-07-23T20:23:31.941Z,1563913411.941 [Startup:StartupSatComms:B] Stopped
2019-07-23T20:23:31.941Z,1563913411.941 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2019-07-23T20:23:31.941Z,1563913411.941 [Startup:StartupSatComms] Stopped
2019-07-23T20:23:31.941Z,1563913411.941 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2019-07-23T20:23:31.942Z,1563913411.942 [Startup](INFO): Completed Startup
2019-07-23T20:23:31.942Z,1563913411.942 [MissionManager](INFO): Startup is completed.
2019-07-23T20:23:31.942Z,1563913411.942 [MissionManager](INFO): Uninitializing Mission Startup
2019-07-23T20:23:31.942Z,1563913411.942 [Startup] Stopped
2019-07-23T20:23:31.942Z,1563913411.942 [Startup](DEBUG): Aggregate::uninitialize Startup
2019-07-23T20:23:31.942Z,1563913411.942 [Startup:A.GoToSurface] Stopped
2019-07-23T20:23:31.942Z,1563913411.942 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-07-23T20:23:32.242Z,1563913412.242 [MissionManager](IMPORTANT): Started mission Default
2019-07-23T20:23:32.242Z,1563913412.242 [Default] Running Loop=1
2019-07-23T20:23:32.242Z,1563913412.242 [Default](DEBUG): Aggregate::initialize Default
2019-07-23T20:23:32.243Z,1563913412.243 [Default:B.GoToSurface] Running Loop=1
2019-07-23T20:23:32.243Z,1563913412.243 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-07-23T20:23:32.243Z,1563913412.243 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-07-23T20:23:32.243Z,1563913412.243 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-07-23T20:23:32.244Z,1563913412.244 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-07-23T20:23:32.244Z,1563913412.244 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-07-23T20:23:32.244Z,1563913412.244 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-07-23T20:23:32.249Z,1563913412.249 [Default:A.Wait] Running Loop=1
2019-07-23T20:23:32.249Z,1563913412.249 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-07-23T20:23:45.662Z,1563913425.662 [Default:A.Wait](INFO): Done Waiting.
2019-07-23T20:23:45.663Z,1563913425.663 [Default:A.Wait] Stopped
2019-07-23T20:23:45.663Z,1563913425.663 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-07-23T20:23:45.997Z,1563913425.997 [Default:CheckIn] Running Loop=1
2019-07-23T20:23:45.997Z,1563913425.997 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-07-23T20:23:45.997Z,1563913425.997 [Default:CheckIn:Read_GPS] Running Loop=1
2019-07-23T20:23:46.410Z,1563913426.410 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-07-23T20:24:24.030Z,1563913464.030 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-23T20:24:24.030Z,1563913464.030 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2019-07-23T20:24:24.030Z,1563913464.030 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-23T20:24:24.041Z,1563913464.041 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-23T20:24:24.383Z,1563913464.383 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-23T20:24:24.383Z,1563913464.383 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2019-07-23T20:26:04.174Z,1563913564.174 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-07-23T20:26:04.993Z,1563913564.993 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:26:09.837Z,1563913569.837 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:26:12.665Z,1563913572.665 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:26:14.685Z,1563913574.685 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:26:17.917Z,1563913577.917 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:26:20.749Z,1563913580.749 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:26:23.977Z,1563913583.977 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:26:24.862Z,1563913584.862 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-23T20:26:24.862Z,1563913584.862 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 3
2019-07-23T20:26:24.862Z,1563913584.862 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-23T20:26:24.873Z,1563913584.873 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-23T20:26:25.218Z,1563913585.218 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-23T20:26:25.218Z,1563913585.218 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 3
2019-07-23T20:26:26.809Z,1563913586.809 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:26:30.045Z,1563913590.045 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:26:32.877Z,1563913592.877 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:26:35.709Z,1563913595.709 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:26:38.798Z,1563913598.798 [CommandLine](IMPORTANT): got command maintain control SpeedControl.propOmegaAction 0.000000 revolution_per_minute
2019-07-23T20:26:38.799Z,1563913598.799 [ComponentRegistry](DEBUG): SyncComponent "Maintain_SpeedControl.propOmegaAction" handled in the control thread.
2019-07-23T20:26:38.941Z,1563913598.941 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:26:39.030Z,1563913599.030 [controlThread](DEBUG): Component order: CycleStarter,Depth_Keller,NAL9602,Onboard,BPC1,ESPComponent,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,Maintain_SpeedControl.propOmegaAction,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2019-07-23T20:26:41.769Z,1563913601.769 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:26:45.009Z,1563913605.009 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:26:47.829Z,1563913607.829 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:26:51.065Z,1563913611.065 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:26:53.893Z,1563913613.893 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:26:56.717Z,1563913616.717 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:26:58.741Z,1563913618.741 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:27:00.757Z,1563913620.757 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:27:01.167Z,1563913621.167 [CommandLine](IMPORTANT): got command run ./Missions/Maintenance/depth_test.xml
2019-07-23T20:27:01.167Z,1563913621.167 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/depth_test.xml
2019-07-23T20:27:01.290Z,1563913621.290 [MissionManager](INFO): DefineArg depth_test.MissionTimeout = 30.000000 min
2019-07-23T20:27:01.294Z,1563913621.294 [MissionManager](INFO): DefineArg depth_test.Depth = 2.500000 m
2019-07-23T20:27:01.298Z,1563913621.298 [MissionManager](INFO): DefineArg depth_test.ApproachDepthTimeout = 10.000000 min
2019-07-23T20:27:01.301Z,1563913621.301 [MissionManager](INFO): DefineArg depth_test.DepthDeadband = 0.010000 m
2019-07-23T20:27:01.304Z,1563913621.304 [MissionManager](INFO): DefineArg depth_test.Speed = 0.000000 m/s
2019-07-23T20:27:01.304Z,1563913621.304 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2019-07-23T20:27:01.469Z,1563913621.469 [MissionManager](INFO): DefineArg depth_test:Science.SampleISUS = 0 bool
2019-07-23T20:27:01.472Z,1563913621.472 [MissionManager](INFO): DefineArg depth_test:Science.SampleISUSmaxPitch = 60.000000 arcdeg
2019-07-23T20:27:01.475Z,1563913621.475 [MissionManager](INFO): DefineArg depth_test:Science.SampleISUSminPitch = -60.000000 arcdeg
2019-07-23T20:27:01.478Z,1563913621.478 [MissionManager](INFO): DefineArg depth_test:Science.PeakDetectChlActive = 0 bool
2019-07-23T20:27:01.481Z,1563913621.481 [MissionManager](INFO): DefineArg depth_test:Science.TimeWindowPeakReport = nan min
2019-07-23T20:27:01.484Z,1563913621.484 [MissionManager](INFO): DefineArg depth_test:Science.HighestChlPeakReportActive = 0 bool
2019-07-23T20:27:01.487Z,1563913621.487 [MissionManager](INFO): DefineArg depth_test:Science.PatchTracking = 0 bool
2019-07-23T20:27:01.490Z,1563913621.490 [MissionManager](INFO): DefineArg depth_test:Science.FilterWidthHorizontal = 3.000000 count
2019-07-23T20:27:01.493Z,1563913621.493 [MissionManager](INFO): DefineArg depth_test:Science.NumProfilesSlidingwindow = 100.000000 count
2019-07-23T20:27:01.496Z,1563913621.496 [MissionManager](INFO): DefineArg depth_test:Science.OffPeakFractionHorizontal = 80.000000 %
2019-07-23T20:27:01.499Z,1563913621.499 [MissionManager](INFO): DefineArg depth_test:Science.PeakDetectNO3Active = 0 bool
2019-07-23T20:27:01.503Z,1563913621.503 [MissionManager](INFO): DefineArg depth_test:Science.PeakDetectOilActive = 0 bool
2019-07-23T20:27:01.506Z,1563913621.506 [MissionManager](INFO): DefineArg depth_test:Science.PeakDetectFDOMActive = 0 bool
2019-07-23T20:27:01.508Z,1563913621.508 [MissionManager](INFO): DefineArg depth_test:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2019-07-23T20:27:01.512Z,1563913621.512 [MissionManager](INFO): DefineArg depth_test:Science.EnabledAanderaaO2 = 0.000000 bool
2019-07-23T20:27:01.516Z,1563913621.516 [MissionManager](INFO): DefineArg depth_test:Science.EnabledNeilBrown = 0.000000 bool
2019-07-23T20:27:01.519Z,1563913621.519 [MissionManager](INFO): DefineArg depth_test:Science.EnabledSeabird = 0.000000 bool
2019-07-23T20:27:01.523Z,1563913621.523 [MissionManager](INFO): DefineArg depth_test:Science.EnabledTurbulence_NPS = 0.000000 bool
2019-07-23T20:27:01.526Z,1563913621.526 [MissionManager](INFO): DefineArg depth_test:Science.EnabledWetLabsBB2FL = 0.000000 bool
2019-07-23T20:27:01.530Z,1563913621.530 [MissionManager](INFO): DefineArg depth_test:Science.EnabledWetLabsSeaOWL_UV_A = 0.000000 bool
2019-07-23T20:27:01.533Z,1563913621.533 [MissionManager](INFO): DefineArg depth_test:Science.EnabledWetLabsUBAT = 0.000000 bool
2019-07-23T20:27:01.537Z,1563913621.537 [MissionManager](INFO): DefineArg depth_test:Science.EnabledISUS = 0.000000 bool
2019-07-23T20:27:01.540Z,1563913621.540 [MissionManager](INFO): DefineArg depth_test:Science.LowPassWindowLength = 20.000000 count
2019-07-23T20:27:01.543Z,1563913621.543 [MissionManager](INFO): DefineArg depth_test:Science.MedianFilterLen = 5.000000 count
2019-07-23T20:27:01.556Z,1563913621.556 [MissionManager](INFO): DefineArg depth_test:Science.PeakChlShallowBound = nan m
2019-07-23T20:27:01.559Z,1563913621.559 [MissionManager](INFO): DefineArg depth_test:Science.PeakChlDeepBound = nan m
2019-07-23T20:27:01.562Z,1563913621.562 [MissionManager](INFO): DefineArg depth_test:Science.PeakShallowBound = nan m
2019-07-23T20:27:01.565Z,1563913621.565 [MissionManager](INFO): DefineArg depth_test:Science.PeakDeepBound = nan m
2019-07-23T20:27:01.569Z,1563913621.569 [MissionManager](INFO): DefineOutput depth_test:Science.PeakChl = 0.000000 ug/l
2019-07-23T20:27:01.590Z,1563913621.590 [MissionManager](INFO): DefineOutput depth_test:Science.PeakChlDepth = 0.000000 m
2019-07-23T20:27:01.593Z,1563913621.593 [MissionManager](INFO): DefineOutput depth_test:Science.PeakChlTemperature = 0.000000 degC
2019-07-23T20:27:01.596Z,1563913621.596 [MissionManager](INFO): DefineOutput depth_test:Science.PeakChlLatitude = nan arcdeg
2019-07-23T20:27:01.599Z,1563913621.599 [MissionManager](INFO): DefineOutput depth_test:Science.PeakChlLongitude = nan arcdeg
2019-07-23T20:27:01.619Z,1563913621.619 [MissionManager](INFO): DefineOutput depth_test:Science.PeakNO3 = 0.000000 umol/l
2019-07-23T20:27:01.622Z,1563913621.622 [MissionManager](INFO): DefineOutput depth_test:Science.PeakNO3Depth = 0.000000 m
2019-07-23T20:27:01.625Z,1563913621.625 [MissionManager](INFO): DefineOutput depth_test:Science.PeakNO3Latitude = nan arcdeg
2019-07-23T20:27:01.628Z,1563913621.628 [MissionManager](INFO): DefineOutput depth_test:Science.PeakNO3Longitude = nan arcdeg
2019-07-23T20:27:01.633Z,1563913621.633 [MissionManager](INFO): DefineOutput depth_test:Science.PatchChl = 0.000000 m
2019-07-23T20:27:01.636Z,1563913621.636 [MissionManager](INFO): DefineOutput depth_test:Science.PatchChlDepth = 0.000000 m
2019-07-23T20:27:01.639Z,1563913621.639 [MissionManager](INFO): DefineOutput depth_test:Science.PatchChlLatitude = nan arcdeg
2019-07-23T20:27:01.643Z,1563913621.643 [MissionManager](INFO): DefineOutput depth_test:Science.PatchChlLongitude = nan arcdeg
2019-07-23T20:27:01.646Z,1563913621.646 [MissionManager](INFO): DefineOutput depth_test:Science.PatchChlDistance = nan m
2019-07-23T20:27:01.649Z,1563913621.649 [MissionManager](INFO): DefineOutput depth_test:Science.PeakOil = 0.000000 kg/m3
2019-07-23T20:27:01.652Z,1563913621.652 [MissionManager](INFO): DefineOutput depth_test:Science.PeakOilDepth = 0.000000 m
2019-07-23T20:27:01.655Z,1563913621.655 [MissionManager](INFO): DefineOutput depth_test:Science.PeakOilLatitude = nan arcdeg
2019-07-23T20:27:01.659Z,1563913621.659 [MissionManager](INFO): DefineOutput depth_test:Science.PeakOilLongitude = nan arcdeg
2019-07-23T20:27:01.662Z,1563913621.662 [MissionManager](INFO): DefineOutput depth_test:Science.PeakFDOM = 0.000000 ppb
2019-07-23T20:27:01.665Z,1563913621.665 [MissionManager](INFO): DefineOutput depth_test:Science.PeakFDOMDepth = 0.000000 m
2019-07-23T20:27:01.668Z,1563913621.668 [MissionManager](INFO): DefineOutput depth_test:Science.PeakFDOMLatitude = nan arcdeg
2019-07-23T20:27:01.672Z,1563913621.672 [MissionManager](INFO): DefineOutput depth_test:Science.PeakFDOMLongitude = nan arcdeg
2019-07-23T20:27:01.675Z,1563913621.675 [MissionManager](INFO): DefineOutput depth_test:Science.PatchFDOMDistance = nan m
2019-07-23T20:27:01.757Z,1563913621.757 [depth_test:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-23T20:27:01.784Z,1563913621.784 [depth_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2019-07-23T20:27:01.814Z,1563913621.814 [depth_test:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-23T20:27:01.845Z,1563913621.845 [depth_test:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-23T20:27:01.856Z,1563913621.856 [depth_test:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-23T20:27:01.903Z,1563913621.903 [depth_test:InitialDive:A.Mass](DEBUG): Construct.
2019-07-23T20:27:01.914Z,1563913621.914 [depth_test:InitialDive:B.Buoyancy](DEBUG): Construct Buoyancy.
2019-07-23T20:27:01.927Z,1563913621.927 [depth_test:InitialDive:C.Pitch](DEBUG): Construct.
2019-07-23T20:27:01.948Z,1563913621.948 [depth_test:InitialDive:C.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-07-23T20:27:01.992Z,1563913621.992 [depth_test:TargetDepth:B.SetSpeed](DEBUG): Construct.
2019-07-23T20:27:02.017Z,1563913622.017 [depth_test:TargetDepth:C.Pitch](DEBUG): Construct.
2019-07-23T20:27:02.034Z,1563913622.034 [depth_test:TargetDepth:D.Wait](DEBUG): Construct Wait.
2019-07-23T20:27:02.081Z,1563913622.081 [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: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="depth_test">

    <Description>
        Go to designated depth.
    </Description>

    <DefineArg Name="MissionTimeout"><Description>
        Maximum duration of mission
    </Description><Units:minute/><Value>30</Value></DefineArg>

    <DefineArg Name="Depth"><Description>
        Depth held during drift mode
    </Description><Units:meter/><Value>2.5</Value></DefineArg>

    <DefineArg Name="ApproachDepthTimeout"><Description>
        Maximum time duration for the vehicle to reach the approach depth
    </Description><Units:minute/><Value>10</Value></DefineArg>

    <DefineArg Name="DepthDeadband"><Description>
        How much vertical drift from the specified depth is allowed while sampling.
    </Description><Units:meter/><Value>0.01</Value></DefineArg>

    <DefineArg Name="Speed"><Description>
        Vehicle transit speed
    </Description><Units:meter_per_second/><Value>0</Value></DefineArg>


    <!-- Mission timeout -->

    <Timeout Duration="MissionTimeout"/>

    
    <!-- Start mission sequence -->
    
    <Insert Filename="Insert/Science.xml"></Insert>

    <Aggregate Id="InitialDive">

        <Description>
            Descend from the surface to approach depth using the thruster, limit pitch
            and hold the rudder.
        </Description>

        <Sequence/>

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

        <Guidance:Pitch>
            <Sequence/>
            <Timeout Duration="ApproachDepthTimeout">
                <Syslog Severity="Important">Timed out while trying to reach approach depth at current depth of <Universal:depth/><Units:meter/>.</Syslog>
                <Guidance:Execute>
                    <Sequence/>
                    <Setting><Guidance:Execute.command/><String>stop</String></Setting>
                </Guidance:Execute>
            </Timeout>
            <Setting><Guidance:Pitch.depth/><Arg Name="Depth"/></Setting>
        </Guidance:Pitch>

    </Aggregate>


    <Aggregate Id="TargetDepth">

        <Description>
            Maintain target depth and acquire ESP samples.
        </Description>

        <Sequence/>

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

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

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

        <Guidance:Wait>
            <Sequence/>
            <Setting><Guidance:Wait.duration/><Arg Name="MissionTimeout"/></Setting>
        </Guidance:Wait>

    </Aggregate>

</Mission>


2019-07-23T20:27:02.084Z,1563913622.084 [CommandLine](IMPORTANT): Running ./Missions/Maintenance/depth_test.xml
2019-07-23T20:27:02.394Z,1563913622.394 [Default] Stopped
2019-07-23T20:27:02.394Z,1563913622.394 [Default](DEBUG): Aggregate::uninitialize Default
2019-07-23T20:27:02.394Z,1563913622.394 [Default:B.GoToSurface] Stopped
2019-07-23T20:27:02.394Z,1563913622.394 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-07-23T20:27:02.394Z,1563913622.394 [Default:CheckIn] Stopped
2019-07-23T20:27:02.394Z,1563913622.394 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-07-23T20:27:02.395Z,1563913622.395 [Default:CheckIn:Read_GPS] Stopped
2019-07-23T20:27:02.395Z,1563913622.395 [MissionManager](IMPORTANT): Started mission depth_test
2019-07-23T20:27:02.395Z,1563913622.395 [depth_test] Running Loop=1
2019-07-23T20:27:02.395Z,1563913622.395 [depth_test](DEBUG): Aggregate::initialize depth_test
2019-07-23T20:27:02.395Z,1563913622.395 [depth_test:Science] Running Loop=1
2019-07-23T20:27:02.395Z,1563913622.395 [depth_test:Science](DEBUG): Aggregate::initialize depth_test:Science
2019-07-23T20:27:02.395Z,1563913622.395 [depth_test:Science:A] Running Loop=1
2019-07-23T20:27:02.395Z,1563913622.395 [depth_test:Science:B] Running Loop=1
2019-07-23T20:27:02.396Z,1563913622.396 [depth_test:Science:C] Running Loop=1
2019-07-23T20:27:02.396Z,1563913622.396 [depth_test:Science:D] Running Loop=1
2019-07-23T20:27:02.396Z,1563913622.396 [depth_test:Science:E] Running Loop=1
2019-07-23T20:27:02.396Z,1563913622.396 [depth_test:Science:F] Running Loop=1
2019-07-23T20:27:02.396Z,1563913622.396 [depth_test:Science:G] Running Loop=1
2019-07-23T20:27:02.396Z,1563913622.396 [depth_test:Science:H] Running Loop=1
2019-07-23T20:27:02.396Z,1563913622.396 [depth_test:Science:Read_Oil] Running Loop=1
2019-07-23T20:27:02.396Z,1563913622.396 [depth_test:Science:PeakDetectChl] Running Loop=1
2019-07-23T20:27:02.396Z,1563913622.396 [depth_test:Science:PeakDetectChl](DEBUG): Aggregate::initialize depth_test:Science:PeakDetectChl
2019-07-23T20:27:02.396Z,1563913622.396 [depth_test:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2019-07-23T20:27:02.396Z,1563913622.396 [depth_test:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-23T20:27:02.399Z,1563913622.399 [depth_test:Science:HighestChlPeakReport] Running Loop=1
2019-07-23T20:27:02.399Z,1563913622.399 [depth_test:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize depth_test:Science:HighestChlPeakReport
2019-07-23T20:27:02.399Z,1563913622.399 [depth_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2019-07-23T20:27:02.399Z,1563913622.399 [depth_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2019-07-23T20:27:02.399Z,1563913622.399 [depth_test:Science:PeakDetectNO3] Running Loop=1
2019-07-23T20:27:02.400Z,1563913622.400 [depth_test:Science:PeakDetectNO3](DEBUG): Aggregate::initialize depth_test:Science:PeakDetectNO3
2019-07-23T20:27:02.400Z,1563913622.400 [depth_test:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2019-07-23T20:27:02.400Z,1563913622.400 [depth_test:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-23T20:27:02.403Z,1563913622.403 [depth_test:Science:PeakDetectOil] Running Loop=1
2019-07-23T20:27:02.403Z,1563913622.403 [depth_test:Science:PeakDetectOil](DEBUG): Aggregate::initialize depth_test:Science:PeakDetectOil
2019-07-23T20:27:02.403Z,1563913622.403 [depth_test:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2019-07-23T20:27:02.403Z,1563913622.403 [depth_test:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-23T20:27:02.405Z,1563913622.405 [depth_test:Science:PeakDetectFDOM] Running Loop=1
2019-07-23T20:27:02.414Z,1563913622.414 [depth_test:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize depth_test:Science:PeakDetectFDOM
2019-07-23T20:27:02.414Z,1563913622.414 [depth_test:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2019-07-23T20:27:02.414Z,1563913622.414 [depth_test:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-23T20:27:02.416Z,1563913622.416 [depth_test:InitialDive] Running Loop=1
2019-07-23T20:27:02.416Z,1563913622.416 [depth_test:InitialDive](DEBUG): Aggregate::initialize depth_test:InitialDive
2019-07-23T20:27:02.416Z,1563913622.416 [depth_test:InitialDive:A.Mass] Running Loop=1
2019-07-23T20:27:02.416Z,1563913622.416 [depth_test:InitialDive:A.Mass](DEBUG): Initialize.
2019-07-23T20:27:02.417Z,1563913622.417 [depth_test:InitialDive:B.Buoyancy] Running Loop=1
2019-07-23T20:27:02.417Z,1563913622.417 [depth_test:InitialDive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-07-23T20:27:02.417Z,1563913622.417 [depth_test:InitialDive:C.Pitch] Running Loop=1
2019-07-23T20:27:02.417Z,1563913622.417 [depth_test:InitialDive:C.Pitch](DEBUG): Initialize.
2019-07-23T20:27:02.418Z,1563913622.418 [depth_test:InitialDive:B.Buoyancy] Running Loop=1
2019-07-23T20:27:02.419Z,1563913622.419 [depth_test:InitialDive:A.Mass] Running Loop=1
2019-07-23T20:27:02.419Z,1563913622.419 [depth_test:Science] Running Loop=1
2019-07-23T20:27:02.420Z,1563913622.420 [depth_test:Science:PeakDetectFDOM] Stopped
2019-07-23T20:27:02.420Z,1563913622.420 [depth_test:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize depth_test:Science:PeakDetectFDOM
2019-07-23T20:27:02.420Z,1563913622.420 [depth_test:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2019-07-23T20:27:02.420Z,1563913622.420 [depth_test:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-23T20:27:02.420Z,1563913622.420 [depth_test:Science:PeakDetectOil] Stopped
2019-07-23T20:27:02.421Z,1563913622.421 [depth_test:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize depth_test:Science:PeakDetectOil
2019-07-23T20:27:02.421Z,1563913622.421 [depth_test:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2019-07-23T20:27:02.421Z,1563913622.421 [depth_test:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-23T20:27:02.421Z,1563913622.421 [depth_test:Science:PeakDetectNO3] Stopped
2019-07-23T20:27:02.421Z,1563913622.421 [depth_test:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize depth_test:Science:PeakDetectNO3
2019-07-23T20:27:02.421Z,1563913622.421 [depth_test:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2019-07-23T20:27:02.421Z,1563913622.421 [depth_test:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-23T20:27:02.421Z,1563913622.421 [depth_test:Science:HighestChlPeakReport] Stopped
2019-07-23T20:27:02.421Z,1563913622.421 [depth_test:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize depth_test:Science:HighestChlPeakReport
2019-07-23T20:27:02.421Z,1563913622.421 [depth_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2019-07-23T20:27:02.421Z,1563913622.421 [depth_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2019-07-23T20:27:02.421Z,1563913622.421 [depth_test:Science:PeakDetectChl] Stopped
2019-07-23T20:27:02.421Z,1563913622.421 [depth_test:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize depth_test:Science:PeakDetectChl
2019-07-23T20:27:02.422Z,1563913622.422 [depth_test:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2019-07-23T20:27:02.422Z,1563913622.422 [depth_test:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-23T20:27:02.422Z,1563913622.422 [depth_test:Science:Read_Oil] Stopped
2019-07-23T20:27:02.422Z,1563913622.422 [depth_test:Science:H] Stopped
2019-07-23T20:27:02.422Z,1563913622.422 [depth_test:Science:G] Stopped
2019-07-23T20:27:02.422Z,1563913622.422 [depth_test:Science:F] Stopped
2019-07-23T20:27:02.422Z,1563913622.422 [depth_test:Science:E] Stopped
2019-07-23T20:27:02.422Z,1563913622.422 [depth_test:Science:D] Stopped
2019-07-23T20:27:02.422Z,1563913622.422 [depth_test:Science:C] Stopped
2019-07-23T20:27:02.422Z,1563913622.422 [depth_test:Science:B] Stopped
2019-07-23T20:27:02.422Z,1563913622.422 [depth_test:Science:A] Stopped
2019-07-23T20:27:03.993Z,1563913623.993 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:27:06.817Z,1563913626.817 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:27:10.053Z,1563913630.053 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:27:12.877Z,1563913632.877 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:27:16.109Z,1563913636.109 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:27:18.937Z,1563913638.937 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:27:21.391Z,1563913641.391 [CommandLine](IMPORTANT): got command maintain sensor Depth_Keller.depth 2.500000 meter
2019-07-23T20:27:21.393Z,1563913641.393 [ComponentRegistry](DEBUG): SyncComponent "Maintain_Depth_Keller.depth" handled in the control thread.
2019-07-23T20:27:21.462Z,1563913641.462 [controlThread](DEBUG): Component order: CycleStarter,Depth_Keller,NAL9602,Onboard,BPC1,ESPComponent,PAR_Licor,Depth_Keller,PAR_Licor,Maintain_Depth_Keller.depth,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,Maintain_SpeedControl.propOmegaAction,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2019-07-23T20:27:21.765Z,1563913641.765 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:27:21.806Z,1563913641.806 [depth_test:InitialDive:C.Pitch] Stopped
2019-07-23T20:27:21.807Z,1563913641.807 [depth_test:InitialDive](INFO): Completed depth_test:InitialDive
2019-07-23T20:27:21.807Z,1563913641.807 [depth_test:InitialDive] Stopped
2019-07-23T20:27:21.807Z,1563913641.807 [depth_test:InitialDive](DEBUG): Aggregate::uninitialize depth_test:InitialDive
2019-07-23T20:27:21.807Z,1563913641.807 [depth_test:InitialDive:A.Mass] Stopped
2019-07-23T20:27:21.807Z,1563913641.807 [depth_test:InitialDive:A.Mass](DEBUG): Uninitialize.
2019-07-23T20:27:21.807Z,1563913641.807 [depth_test:InitialDive:B.Buoyancy] Stopped
2019-07-23T20:27:21.808Z,1563913641.808 [depth_test:InitialDive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2019-07-23T20:27:21.808Z,1563913641.808 [depth_test:TargetDepth] Running Loop=1
2019-07-23T20:27:21.808Z,1563913641.808 [depth_test:TargetDepth](DEBUG): Aggregate::initialize depth_test:TargetDepth
2019-07-23T20:27:21.808Z,1563913641.808 [depth_test:TargetDepth:A] Running Loop=1
2019-07-23T20:27:21.808Z,1563913641.808 [depth_test:TargetDepth:B.SetSpeed] Running Loop=1
2019-07-23T20:27:21.808Z,1563913641.808 [depth_test:TargetDepth:B.SetSpeed](DEBUG): Initialize.
2019-07-23T20:27:21.808Z,1563913641.808 [depth_test:TargetDepth:C.Pitch] Running Loop=1
2019-07-23T20:27:21.808Z,1563913641.808 [depth_test:TargetDepth:C.Pitch](DEBUG): Initialize.
2019-07-23T20:27:21.809Z,1563913641.809 [depth_test:TargetDepth:D.Wait] Running Loop=1
2019-07-23T20:27:21.809Z,1563913641.809 [depth_test:TargetDepth:D.Wait](DEBUG): Initialize Wait Component.
2019-07-23T20:27:22.199Z,1563913642.199 [depth_test:TargetDepth:C.Pitch] Running Loop=1
2019-07-23T20:27:22.199Z,1563913642.199 [depth_test:TargetDepth:B.SetSpeed] Running Loop=1
2019-07-23T20:27:22.199Z,1563913642.199 [depth_test:TargetDepth:A] Running Loop=1
2019-07-23T20:27:23.789Z,1563913643.789 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:27:25.809Z,1563913645.809 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:27:29.037Z,1563913649.037 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:27:31.881Z,1563913651.881 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:27:35.109Z,1563913655.109 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:27:37.937Z,1563913657.937 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:27:41.173Z,1563913661.173 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:27:44.001Z,1563913664.001 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:27:46.825Z,1563913666.825 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:27:48.845Z,1563913668.845 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:27:52.081Z,1563913672.081 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:27:53.709Z,1563913673.709 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2019-07-23T20:27:53.712Z,1563913673.712 [BPC1](INFO): Received data from all battery sticks.
2019-07-23T20:27:54.909Z,1563913674.909 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:27:58.141Z,1563913678.141 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:28:00.965Z,1563913680.965 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:28:04.213Z,1563913684.213 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:28:07.025Z,1563913687.025 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:28:09.853Z,1563913689.853 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:28:11.873Z,1563913691.873 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:28:15.125Z,1563913695.125 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:28:17.957Z,1563913697.957 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:28:21.185Z,1563913701.185 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:28:21.769Z,1563913701.769 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2019-07-23T20:28:22.161Z,1563913702.161 [Radio_Surface](INFO): Powering down
2019-07-23T20:28:24.013Z,1563913704.013 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:28:25.641Z,1563913705.641 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-23T20:28:25.641Z,1563913705.641 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 4
2019-07-23T20:28:25.641Z,1563913705.641 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-23T20:28:25.717Z,1563913705.717 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-23T20:28:26.082Z,1563913706.082 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-23T20:28:26.082Z,1563913706.082 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 4
2019-07-23T20:28:27.245Z,1563913707.245 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:28:30.073Z,1563913710.073 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:28:32.905Z,1563913712.905 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:28:36.133Z,1563913716.133 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:28:38.965Z,1563913718.965 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:28:42.197Z,1563913722.197 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:28:45.037Z,1563913725.037 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:28:48.253Z,1563913728.253 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:28:51.105Z,1563913731.105 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:28:53.909Z,1563913733.909 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:28:55.949Z,1563913735.949 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:28:59.181Z,1563913739.181 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:29:02.009Z,1563913742.009 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:29:05.241Z,1563913745.241 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:29:08.069Z,1563913748.069 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:29:11.301Z,1563913751.301 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:29:14.133Z,1563913754.133 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:29:16.957Z,1563913756.957 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:29:18.981Z,1563913758.981 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:29:22.209Z,1563913762.209 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:29:25.037Z,1563913765.037 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:29:28.277Z,1563913768.277 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:29:31.097Z,1563913771.097 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:29:34.333Z,1563913774.333 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:29:37.177Z,1563913777.177 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:29:40.009Z,1563913780.009 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:29:43.237Z,1563913783.237 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:29:46.065Z,1563913786.065 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:29:49.297Z,1563913789.297 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:29:52.129Z,1563913792.129 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:29:55.357Z,1563913795.357 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:29:58.189Z,1563913798.189 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:30:01.017Z,1563913801.017 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:30:03.033Z,1563913803.033 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:30:05.053Z,1563913805.053 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:30:08.285Z,1563913808.285 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:30:11.113Z,1563913811.113 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:30:11.199Z,1563913811.199 [CommandLine](IMPORTANT): got command stop
2019-07-23T20:30:11.199Z,1563913811.199 [CommandLine](IMPORTANT): Scheduling is paused
2019-07-23T20:30:11.199Z,1563913811.199 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-07-23T20:30:11.547Z,1563913811.547 [MissionManager](INFO): MissionManager is completed.
2019-07-23T20:30:11.548Z,1563913811.548 [MissionManager](INFO): Uninitializing Mission depth_test
2019-07-23T20:30:11.548Z,1563913811.548 [depth_test] Stopped
2019-07-23T20:30:11.548Z,1563913811.548 [depth_test](DEBUG): Aggregate::uninitialize depth_test
2019-07-23T20:30:11.548Z,1563913811.548 [depth_test:Science] Stopped
2019-07-23T20:30:11.548Z,1563913811.548 [depth_test:Science](DEBUG): Aggregate::uninitialize depth_test:Science
2019-07-23T20:30:11.548Z,1563913811.548 [depth_test:TargetDepth] Stopped
2019-07-23T20:30:11.548Z,1563913811.548 [depth_test:TargetDepth](DEBUG): Aggregate::uninitialize depth_test:TargetDepth
2019-07-23T20:30:11.548Z,1563913811.548 [depth_test:TargetDepth:A] Stopped
2019-07-23T20:30:11.548Z,1563913811.548 [depth_test:TargetDepth:B.SetSpeed] Stopped
2019-07-23T20:30:11.548Z,1563913811.548 [depth_test:TargetDepth:B.SetSpeed](DEBUG): Uninitialize.
2019-07-23T20:30:11.549Z,1563913811.549 [depth_test:TargetDepth:C.Pitch] Stopped
2019-07-23T20:30:11.549Z,1563913811.549 [depth_test:TargetDepth:D.Wait] Stopped
2019-07-23T20:30:11.549Z,1563913811.549 [depth_test:TargetDepth:D.Wait](DEBUG): Uninitialize Wait Component.
2019-07-23T20:30:11.946Z,1563913811.946 [MissionManager](IMPORTANT): Started mission Default
2019-07-23T20:30:11.946Z,1563913811.946 [Default] Running Loop=1
2019-07-23T20:30:11.946Z,1563913811.946 [Default](DEBUG): Aggregate::initialize Default
2019-07-23T20:30:11.946Z,1563913811.946 [Default:B.GoToSurface] Running Loop=1
2019-07-23T20:30:11.946Z,1563913811.946 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-07-23T20:30:11.947Z,1563913811.947 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-07-23T20:30:11.947Z,1563913811.947 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-07-23T20:30:11.947Z,1563913811.947 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-07-23T20:30:11.948Z,1563913811.948 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-07-23T20:30:11.948Z,1563913811.948 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-07-23T20:30:11.948Z,1563913811.948 [Default:A.Wait] Running Loop=1
2019-07-23T20:30:11.948Z,1563913811.948 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-07-23T20:30:12.489Z,1563913812.489 [Radio_Surface](INFO): Powering up
2019-07-23T20:30:14.389Z,1563913814.389 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:30:15.911Z,1563913815.911 [CommandLine](IMPORTANT): got command maintain clear
2019-07-23T20:30:16.090Z,1563913816.090 [controlThread](DEBUG): Component order: CycleStarter,Depth_Keller,NAL9602,Onboard,BPC1,ESPComponent,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2019-07-23T20:30:17.217Z,1563913817.217 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:30:17.757Z,1563913817.757 [DataOverHttps](INFO): Radio surface powered ON.
2019-07-23T20:30:20.045Z,1563913820.045 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:30:22.069Z,1563913822.069 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:30:25.301Z,1563913825.301 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:30:25.347Z,1563913825.347 [Default:A.Wait](INFO): Done Waiting.
2019-07-23T20:30:25.347Z,1563913825.347 [Default:A.Wait] Stopped
2019-07-23T20:30:25.347Z,1563913825.347 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-07-23T20:30:25.731Z,1563913825.731 [Default:CheckIn] Running Loop=1
2019-07-23T20:30:25.731Z,1563913825.731 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-07-23T20:30:25.731Z,1563913825.731 [Default:CheckIn:Read_GPS] Running Loop=1
2019-07-23T20:30:26.521Z,1563913826.521 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-23T20:30:26.521Z,1563913826.521 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 5
2019-07-23T20:30:26.521Z,1563913826.521 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-23T20:30:26.557Z,1563913826.557 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-23T20:30:26.958Z,1563913826.958 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-23T20:30:26.958Z,1563913826.958 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 5
2019-07-23T20:30:28.125Z,1563913828.125 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:30:31.357Z,1563913831.357 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:30:34.185Z,1563913834.185 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:30:37.433Z,1563913837.433 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:30:38.499Z,1563913838.499 [CommandLine](IMPORTANT): got command report mod platform_communications
2019-07-23T20:30:38.686Z,1563913838.686 [Reporter](INFO): platform_communications 1 bool
2019-07-23T20:30:40.245Z,1563913840.245 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:30:43.073Z,1563913843.073 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:30:45.093Z,1563913845.093 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:30:47.801Z,1563913847.801 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-07-23T20:30:48.345Z,1563913848.345 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:30:51.173Z,1563913851.173 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:30:54.405Z,1563913854.405 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:30:57.233Z,1563913857.233 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:31:00.465Z,1563913860.465 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:31:03.278Z,1563913863.278 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-07-23T20:31:03.278Z,1563913863.278 [NAL9602] Data Fault, FailCount= 1
2019-07-23T20:31:03.279Z,1563913863.279 [NAL9602](ERROR): Data Fault
2019-07-23T20:31:03.333Z,1563913863.333 [CBIT](ERROR): Data Fault in component: NAL9602
2019-07-23T20:31:03.686Z,1563913863.686 [NAL9602](INFO): Powering down
2019-07-23T20:31:04.549Z,1563913864.549 [CBIT](INFO): Clearing failed state for component NAL9602
2019-07-23T20:31:04.549Z,1563913864.549 [NAL9602] No Fault, FailCount= 1
2019-07-23T20:31:10.029Z,1563913870.029 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.043610
2019-07-23T20:31:34.006Z,1563913894.006 [NAL9602](INFO): Powering up NAL9602
2019-07-23T20:31:44.918Z,1563913904.918 [NAL9602](INFO): NAL9602 initialized
2019-07-23T20:31:45.737Z,1563913905.737 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:31:47.873Z,1563913907.873 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-07-23T20:31:48.565Z,1563913908.565 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:31:51.389Z,1563913911.389 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:31:54.625Z,1563913914.625 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:31:57.453Z,1563913917.453 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:32:00.681Z,1563913920.681 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:32:03.513Z,1563913923.513 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:32:06.337Z,1563913926.337 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:32:08.357Z,1563913928.357 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:32:10.397Z,1563913930.397 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:32:13.629Z,1563913933.629 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:32:16.457Z,1563913936.457 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:32:17.929Z,1563913937.929 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-07-23T20:32:19.689Z,1563913939.689 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:32:22.517Z,1563913942.517 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:32:25.753Z,1563913945.753 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:32:27.381Z,1563913947.381 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-23T20:32:27.381Z,1563913947.381 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 6
2019-07-23T20:32:27.381Z,1563913947.381 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-23T20:32:27.425Z,1563913947.425 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-23T20:32:27.954Z,1563913947.954 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-23T20:32:27.954Z,1563913947.954 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 6
2019-07-23T20:32:28.589Z,1563913948.589 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:32:31.413Z,1563913951.413 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:32:33.425Z,1563913953.425 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:32:36.661Z,1563913956.661 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:32:39.493Z,1563913959.493 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:32:42.717Z,1563913962.717 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:32:45.545Z,1563913965.545 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:32:48.005Z,1563913968.005 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-07-23T20:32:48.777Z,1563913968.777 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:32:51.605Z,1563913971.605 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:32:52.309Z,1563913972.309 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003745
2019-07-23T20:32:54.449Z,1563913974.449 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:32:57.677Z,1563913977.677 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:33:00.509Z,1563913980.509 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:33:03.737Z,1563913983.737 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:33:06.569Z,1563913986.569 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:33:09.797Z,1563913989.797 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:33:12.629Z,1563913992.629 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:33:15.453Z,1563913995.453 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:33:17.473Z,1563913997.473 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:33:19.493Z,1563913999.493 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:33:22.725Z,1563914002.725 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:33:25.553Z,1563914005.553 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:33:28.801Z,1563914008.801 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:33:31.613Z,1563914011.613 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:33:34.869Z,1563914014.869 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:33:37.673Z,1563914017.673 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:33:40.513Z,1563914020.513 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:33:42.529Z,1563914022.529 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:33:45.761Z,1563914025.761 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:33:48.589Z,1563914028.589 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:33:51.821Z,1563914031.821 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:33:54.653Z,1563914034.653 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:33:57.881Z,1563914037.881 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:34:00.709Z,1563914040.709 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:34:03.541Z,1563914043.541 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:34:05.561Z,1563914045.561 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:34:07.577Z,1563914047.577 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:34:10.813Z,1563914050.813 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:34:13.637Z,1563914053.637 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:34:15.727Z,1563914055.727 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.latitude_fix 36.797001 degree
2019-07-23T20:34:15.729Z,1563914055.729 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.latitude_fix" handled in the control thread.
2019-07-23T20:34:15.730Z,1563914055.730 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.longitude_fix -121.847000 degree
2019-07-23T20:34:15.731Z,1563914055.731 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.longitude_fix" handled in the control thread.
2019-07-23T20:34:16.089Z,1563914056.089 [controlThread](DEBUG): Component order: CycleStarter,Depth_Keller,NAL9602,Onboard,BPC1,ESPComponent,PAR_Licor,Depth_Keller,PAR_Licor,Maintain_NAL9602.latitude_fix,Maintain_NAL9602.longitude_fix,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2019-07-23T20:34:16.486Z,1563914056.486 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2019-07-23T20:34:16.486Z,1563914056.486 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 7
2019-07-23T20:34:16.486Z,1563914056.486 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-23T20:34:16.495Z,1563914056.495 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-23T20:34:16.869Z,1563914056.869 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:34:16.906Z,1563914056.906 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-23T20:34:16.906Z,1563914056.906 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 7
2019-07-23T20:34:17.720Z,1563914057.720 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2019-07-23T20:34:17.721Z,1563914057.721 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 8
2019-07-23T20:34:17.721Z,1563914057.721 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-23T20:34:17.739Z,1563914057.739 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-23T20:34:18.106Z,1563914058.106 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-23T20:34:18.106Z,1563914058.106 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 8
2019-07-23T20:34:18.909Z,1563914058.909 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2019-07-23T20:34:18.909Z,1563914058.909 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 9
2019-07-23T20:34:18.909Z,1563914058.909 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-23T20:34:18.931Z,1563914058.931 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-23T20:34:19.349Z,1563914059.349 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-23T20:34:19.349Z,1563914059.349 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 9
2019-07-23T20:34:19.697Z,1563914059.697 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:34:20.157Z,1563914060.157 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2019-07-23T20:34:20.157Z,1563914060.157 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 10
2019-07-23T20:34:20.157Z,1563914060.157 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-23T20:34:20.183Z,1563914060.183 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-23T20:34:20.554Z,1563914060.554 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-23T20:34:20.554Z,1563914060.554 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 10
2019-07-23T20:34:21.345Z,1563914061.345 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2019-07-23T20:34:21.345Z,1563914061.345 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 11
2019-07-23T20:34:21.345Z,1563914061.345 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-23T20:34:21.363Z,1563914061.363 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-23T20:34:21.826Z,1563914061.826 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-23T20:34:21.826Z,1563914061.826 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 11
2019-07-23T20:34:22.525Z,1563914062.525 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:34:22.561Z,1563914062.561 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2019-07-23T20:34:22.561Z,1563914062.561 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 12
2019-07-23T20:34:22.561Z,1563914062.561 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-23T20:34:22.575Z,1563914062.575 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-23T20:34:22.961Z,1563914062.961 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-23T20:34:22.961Z,1563914062.961 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 12
2019-07-23T20:34:23.771Z,1563914063.771 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2019-07-23T20:34:23.771Z,1563914063.771 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 13
2019-07-23T20:34:23.771Z,1563914063.771 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-23T20:34:23.781Z,1563914063.781 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-23T20:34:24.163Z,1563914064.163 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-23T20:34:24.163Z,1563914064.163 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 13
2019-07-23T20:34:24.549Z,1563914064.549 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:34:24.986Z,1563914064.986 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2019-07-23T20:34:24.986Z,1563914064.986 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 14
2019-07-23T20:34:24.986Z,1563914064.986 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-23T20:34:24.996Z,1563914064.996 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-23T20:34:25.385Z,1563914065.385 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-23T20:34:25.386Z,1563914065.386 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 14
2019-07-23T20:34:26.174Z,1563914066.174 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2019-07-23T20:34:26.175Z,1563914066.175 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 15
2019-07-23T20:34:26.175Z,1563914066.175 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-23T20:34:26.184Z,1563914066.184 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-23T20:34:26.214Z,1563914066.214 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1563914112.000000 second
2019-07-23T20:34:26.565Z,1563914066.565 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:34:26.591Z,1563914066.591 [Default:CheckIn:Read_GPS] Stopped
2019-07-23T20:34:26.591Z,1563914066.591 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-07-23T20:34:26.599Z,1563914066.599 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-23T20:34:26.599Z,1563914066.599 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 15
2019-07-23T20:34:26.993Z,1563914066.993 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-07-23T20:34:31.120Z,1563914071.120 [DataOverHttps](INFO): Sending 236 bytes from file Logs/20190723T202012/Courier0004.lzma
2019-07-23T20:34:31.274Z,1563914071.274 [DataOverHttps](INFO): Moved sent file to Logs/20190723T202012/Courier0004.lzma.bak
2019-07-23T20:34:31.274Z,1563914071.274 [DataOverHttps](INFO): SBD MOMSN=11466237
2019-07-23T20:34:39.877Z,1563914079.877 [DataOverHttps](INFO): Sending 619 bytes from file Logs/20190723T202012/Express0005.lzma
2019-07-23T20:34:39.978Z,1563914079.978 [DataOverHttps](INFO): Moved sent file to Logs/20190723T202012/Express0005.lzma.bak
2019-07-23T20:34:39.978Z,1563914079.978 [DataOverHttps](INFO): SBD MOMSN=11466239
2019-07-23T20:34:40.918Z,1563914080.918 [Default:CheckIn:Read_Iridium] Stopped
2019-07-23T20:34:40.918Z,1563914080.918 [Default:CheckIn:C.Wait] Running Loop=1
2019-07-23T20:34:40.918Z,1563914080.918 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-07-23T20:34:59.418Z,1563914099.418 [NAL9602](INFO): Not Powering down - fast GPS
2019-07-23T20:35:49.406Z,1563914149.406 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1563914112.000000 second
2019-07-23T20:36:03.815Z,1563914163.815 [CommandLine](IMPORTANT): got command run ./Missions/Default.xml
2019-07-23T20:36:03.815Z,1563914163.815 [MissionManager](INFO): Loading Mission: ./Missions/Default.xml
2019-07-23T20:36:03.838Z,1563914163.838 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2019-07-23T20:36:03.838Z,1563914163.838 [Default:A.Wait](DEBUG): Construct Wait.
2019-07-23T20:36:03.840Z,1563914163.840 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-07-23T20:36:03.848Z,1563914163.848 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2019-07-23T20:36:03.850Z,1563914163.850 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2019-07-23T20:36:03.855Z,1563914163.855 [Default:E.Execute](DEBUG): Construct Execute.
2019-07-23T20:36:03.858Z,1563914163.858 [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>


2019-07-23T20:36:03.860Z,1563914163.860 [CommandLine](IMPORTANT): Running ./Missions/Default.xml
2019-07-23T20:36:04.102Z,1563914164.102 [Default] Stopped
2019-07-23T20:36:04.102Z,1563914164.102 [Default](DEBUG): Aggregate::uninitialize Default
2019-07-23T20:36:04.102Z,1563914164.102 [Default:B.GoToSurface] Stopped
2019-07-23T20:36:04.102Z,1563914164.102 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-07-23T20:36:04.102Z,1563914164.102 [Default:CheckIn] Stopped
2019-07-23T20:36:04.102Z,1563914164.102 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-07-23T20:36:04.102Z,1563914164.102 [Default:CheckIn:C.Wait] Stopped
2019-07-23T20:36:04.102Z,1563914164.102 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-07-23T20:36:04.103Z,1563914164.103 [MissionManager](IMPORTANT): Started mission Default
2019-07-23T20:36:04.103Z,1563914164.103 [Default] Running Loop=1
2019-07-23T20:36:04.103Z,1563914164.103 [Default](DEBUG): Aggregate::initialize Default
2019-07-23T20:36:04.103Z,1563914164.103 [Default:B.GoToSurface] Running Loop=1
2019-07-23T20:36:04.103Z,1563914164.103 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-07-23T20:36:04.103Z,1563914164.103 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-07-23T20:36:04.104Z,1563914164.104 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-07-23T20:36:04.104Z,1563914164.104 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-07-23T20:36:04.104Z,1563914164.104 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-07-23T20:36:04.105Z,1563914164.105 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-07-23T20:36:04.105Z,1563914164.105 [Default:A.Wait] Running Loop=1
2019-07-23T20:36:04.105Z,1563914164.105 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-07-23T20:36:16.142Z,1563914176.142 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1563914112.000000 second
2019-07-23T20:36:17.443Z,1563914177.443 [Default:A.Wait](INFO): Done Waiting.
2019-07-23T20:36:17.443Z,1563914177.443 [Default:A.Wait] Stopped
2019-07-23T20:36:17.443Z,1563914177.443 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-07-23T20:36:17.859Z,1563914177.859 [Default:CheckIn] Running Loop=1
2019-07-23T20:36:17.859Z,1563914177.859 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-07-23T20:36:17.859Z,1563914177.859 [Default:CheckIn:Read_GPS] Running Loop=1
2019-07-23T20:36:18.258Z,1563914178.258 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-07-23T20:36:19.441Z,1563914179.441 [NAL9602](DEBUG): Fix Requested
2019-07-23T20:36:27.150Z,1563914187.150 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-23T20:36:27.150Z,1563914187.150 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2019-07-23T20:36:27.150Z,1563914187.150 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-23T20:36:27.161Z,1563914187.161 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-23T20:36:27.559Z,1563914187.559 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-23T20:36:27.559Z,1563914187.559 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2019-07-23T20:36:31.263Z,1563914191.263 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1563914240.000000 second
2019-07-23T20:36:31.579Z,1563914191.579 [Default:CheckIn:Read_GPS] Stopped
2019-07-23T20:36:31.580Z,1563914191.580 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-07-23T20:36:31.984Z,1563914191.984 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-07-23T20:36:36.008Z,1563914196.008 [DataOverHttps](INFO): Sending 42 bytes from file Logs/20190723T202012/Courier0007.lzma
2019-07-23T20:36:36.110Z,1563914196.110 [DataOverHttps](INFO): Moved sent file to Logs/20190723T202012/Courier0007.lzma.bak
2019-07-23T20:36:36.110Z,1563914196.110 [DataOverHttps](INFO): SBD MOMSN=11466262
2019-07-23T20:36:44.089Z,1563914204.089 [DataOverHttps](INFO): Sending 389 bytes from file Logs/20190723T202012/Express0008.lzma
2019-07-23T20:36:44.194Z,1563914204.194 [DataOverHttps](INFO): Moved sent file to Logs/20190723T202012/Express0008.lzma.bak
2019-07-23T20:36:44.194Z,1563914204.194 [DataOverHttps](INFO): SBD MOMSN=11466264
2019-07-23T20:36:45.411Z,1563914205.411 [Default:CheckIn:Read_Iridium] Stopped
2019-07-23T20:36:45.411Z,1563914205.411 [Default:CheckIn:C.Wait] Running Loop=1
2019-07-23T20:36:45.412Z,1563914205.412 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-07-23T20:36:54.163Z,1563914214.163 [CommandLine](IMPORTANT): got command restart application
2019-07-23T20:36:55.169Z,1563914215.169 [Supervisor](INFO): Stop Mission called by Supervisor::terminate
2019-07-23T20:36:55.169Z,1563914215.169 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2019-07-23T20:36:55.169Z,1563914215.169 [CommandLine ThreadHandler](INFO): Thread cancelled.
2019-07-23T20:36:55.361Z,1563914215.361 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2019-07-23T20:36:55.361Z,1563914215.361 [CommandLine ThreadHandler](INFO): Thread cancelled.
2019-07-23T20:36:55.362Z,1563914215.362 [CommandLine](INFO): Join timeout helper Thread ID is 1289
2019-07-23T20:36:55.362Z,1563914215.362 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2019-07-23T20:36:55.362Z,1563914215.362 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2019-07-23T20:36:55.363Z,1563914215.363 [NavChartDb](INFO): Join timeout helper Thread ID is 1290
2019-07-23T20:36:55.508Z,1563914215.508 [MissionManager](INFO): MissionManager is completed.
2019-07-23T20:36:55.509Z,1563914215.509 [MissionManager](INFO): Uninitializing Mission Default
2019-07-23T20:36:55.509Z,1563914215.509 [Default] Stopped
2019-07-23T20:36:55.509Z,1563914215.509 [Default](DEBUG): Aggregate::uninitialize Default
2019-07-23T20:36:55.509Z,1563914215.509 [Default:B.GoToSurface] Stopped
2019-07-23T20:36:55.509Z,1563914215.509 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-07-23T20:36:55.509Z,1563914215.509 [Default:CheckIn] Stopped
2019-07-23T20:36:55.509Z,1563914215.509 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-07-23T20:36:55.509Z,1563914215.509 [Default:CheckIn:C.Wait] Stopped
2019-07-23T20:36:55.509Z,1563914215.509 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-07-23T20:36:55.629Z,1563914215.629 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2019-07-23T20:36:55.629Z,1563914215.629 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2019-07-23T20:36:55.649Z,1563914215.649 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2019-07-23T20:36:55.649Z,1563914215.649 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2019-07-23T20:36:55.649Z,1563914215.649 [Radio_Surface](INFO): Join timeout helper Thread ID is 1291
2019-07-23T20:36:55.809Z,1563914215.809 [Radio_Surface](INFO): Powering down
2019-07-23T20:36:55.810Z,1563914215.810 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2019-07-23T20:36:55.810Z,1563914215.810 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2019-07-23T20:36:55.829Z,1563914215.829 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2019-07-23T20:36:55.829Z,1563914215.829 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2019-07-23T20:36:55.829Z,1563914215.829 [DataOverHttps](INFO): Join timeout helper Thread ID is 1292
2019-07-23T20:36:55.857Z,1563914215.857 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2019-07-23T20:36:55.857Z,1563914215.857 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2019-07-23T20:36:55.869Z,1563914215.869 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2019-07-23T20:36:55.869Z,1563914215.869 [logger ThreadHandler](INFO): Thread cancelled.
2019-07-23T20:36:55.869Z,1563914215.869 [logger](INFO): Join timeout helper Thread ID is 1293
2019-07-23T20:36:55.915Z,1563914215.915 [MissionManager](IMPORTANT): Started mission Default
2019-07-23T20:36:55.915Z,1563914215.915 [Default] Running Loop=1
2019-07-23T20:36:55.915Z,1563914215.915 [Default](DEBUG): Aggregate::initialize Default
2019-07-23T20:36:55.915Z,1563914215.915 [Default:B.GoToSurface] Running Loop=1
2019-07-23T20:36:55.915Z,1563914215.915 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-07-23T20:36:55.915Z,1563914215.915 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-07-23T20:36:55.916Z,1563914215.916 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-07-23T20:36:55.916Z,1563914215.916 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-07-23T20:36:55.916Z,1563914215.916 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-07-23T20:36:55.917Z,1563914215.917 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-07-23T20:36:55.917Z,1563914215.917 [Default:A.Wait] Running Loop=1
2019-07-23T20:36:55.917Z,1563914215.917 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-07-23T20:36:56.077Z,1563914216.077 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2019-07-23T20:36:56.077Z,1563914216.077 [logger ThreadHandler](INFO): Thread cancelled.
2019-07-23T20:36:56.094Z,1563914216.094 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2019-07-23T20:36:56.094Z,1563914216.094 [CommandLine ThreadHandler](INFO): Thread cancelled.
2019-07-23T20:36:56.094Z,1563914216.094 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2019-07-23T20:36:56.094Z,1563914216.094 [controlThread ThreadHandler](INFO): Thread cancelled.
2019-07-23T20:36:56.094Z,1563914216.094 [controlThread](INFO): Join timeout helper Thread ID is 1294
2019-07-23T20:36:56.285Z,1563914216.285 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2019-07-23T20:36:56.285Z,1563914216.285 [controlThread](DEBUG): Uninitializing ControlThread
2019-07-23T20:36:56.286Z,1563914216.286 [NAL9602](INFO): Powering down
2019-07-23T20:36:56.307Z,1563914216.307 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2019-07-23T20:36:56.308Z,1563914216.308 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2019-07-23T20:36:56.309Z,1563914216.309 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2019-07-23T20:36:56.310Z,1563914216.310 [MissionManager](INFO): Uninitializing Mission Default
2019-07-23T20:36:56.310Z,1563914216.310 [Default] Stopped
2019-07-23T20:36:56.310Z,1563914216.310 [Default](DEBUG): Aggregate::uninitialize Default
2019-07-23T20:36:56.310Z,1563914216.310 [Default:A.Wait] Stopped
2019-07-23T20:36:56.310Z,1563914216.310 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-07-23T20:36:56.310Z,1563914216.310 [Default:B.GoToSurface] Stopped
2019-07-23T20:36:56.310Z,1563914216.310 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-07-23T20:36:56.312Z,1563914216.312 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2019-07-23T20:36:56.313Z,1563914216.313 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2019-07-23T20:36:56.313Z,1563914216.313 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2019-07-23T20:36:56.313Z,1563914216.313 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2019-07-23T20:36:56.314Z,1563914216.314 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2019-07-23T20:36:56.314Z,1563914216.314 [BuoyancyServo](INFO): Powering down
2019-07-23T20:36:56.325Z,1563914216.325 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2019-07-23T20:36:56.325Z,1563914216.325 [ElevatorServo](INFO): Powering down
2019-07-23T20:36:56.326Z,1563914216.326 [MassServo](DEBUG): Uninitialize Mass Servo.
2019-07-23T20:36:56.326Z,1563914216.326 [MassServo](INFO): Powering down
2019-07-23T20:36:56.327Z,1563914216.327 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2019-07-23T20:36:56.327Z,1563914216.327 [RudderServo](INFO): Powering down
2019-07-23T20:36:56.328Z,1563914216.328 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2019-07-23T20:36:56.328Z,1563914216.328 [ThrusterServo](INFO): Powering down
2019-07-23T20:36:56.328Z,1563914216.328 [SBIT](DEBUG): Uninitialize SBIT Component.
2019-07-23T20:36:56.329Z,1563914216.329 [IBIT](DEBUG): Uninitialize IBIT Component.
2019-07-23T20:36:56.329Z,1563914216.329 [CBIT](DEBUG): Uninitialize CBIT Component.
2019-07-23T20:36:56.329Z,1563914216.329 [CBIT](DEBUG): Powering off loads.
2019-07-23T20:36:56.341Z,1563914216.341 [CBIT](DEBUG): Disabling WDT.
2019-07-23T20:36:56.353Z,1563914216.353 [CBIT](DEBUG): Opening all GF detection circuits.
2019-07-23T20:36:56.354Z,1563914216.354 [controlThread ThreadHandler](INFO): Thread cancelled.
2019-07-23T20:36:56.441Z,1563914216.441 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2019-07-23T20:36:56.446Z,1563914216.446 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2019-07-23T20:36:56.510Z,1563914216.510 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2019-07-23T20:36:56.567Z,1563914216.567 [logger ThreadHandler](INFO): Thread cancelled.