2021-03-30T18:40:15.857Z,1617129615.857 [Supervisor](DEBUG): Initializing supervisor.
2021-03-30T18:40:15.862Z,1617129615.862 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2021-03-30T18:40:15.862Z,1617129615.862 [SyncHandler](INFO): Protected caller Thread ID is 1589
2021-03-30T18:40:15.863Z,1617129615.863 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2021-03-30T18:40:15.864Z,1617129615.864 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2021-03-30T18:40:15.864Z,1617129615.864 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 1590
2021-03-30T18:40:15.868Z,1617129615.868 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2021-03-30T18:40:15.888Z,1617129615.888 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2021-03-30T18:40:15.889Z,1617129615.889 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2021-03-30T18:40:15.889Z,1617129615.889 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 1591
2021-03-30T18:40:15.891Z,1617129615.891 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2021-03-30T18:40:15.892Z,1617129615.892 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2021-03-30T18:40:15.893Z,1617129615.893 [logger ThreadHandler](INFO): Protected caller Thread ID is 1592
2021-03-30T18:40:15.897Z,1617129615.897 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2021-03-30T18:40:15.897Z,1617129615.897 [Supervisor](INFO): Looking for Config files in directory: Config/
2021-03-30T18:40:15.898Z,1617129615.898 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2021-03-30T18:40:16.296Z,1617129616.296 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2021-03-30T18:40:16.297Z,1617129616.297 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2021-03-30T18:40:16.506Z,1617129616.506 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2021-03-30T18:40:16.506Z,1617129616.506 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2021-03-30T18:40:16.703Z,1617129616.703 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2021-03-30T18:40:16.704Z,1617129616.704 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2021-03-30T18:40:16.804Z,1617129616.804 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2021-03-30T18:40:16.804Z,1617129616.804 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2021-03-30T18:40:17.157Z,1617129617.157 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2021-03-30T18:40:17.158Z,1617129617.158 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2021-03-30T18:40:17.538Z,1617129617.538 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2021-03-30T18:40:17.538Z,1617129617.538 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2021-03-30T18:40:17.669Z,1617129617.669 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2021-03-30T18:40:17.669Z,1617129617.669 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2021-03-30T18:40:17.817Z,1617129617.817 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2021-03-30T18:40:17.818Z,1617129617.818 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2021-03-30T18:40:18.341Z,1617129618.341 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2021-03-30T18:40:18.341Z,1617129618.341 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2021-03-30T18:40:18.697Z,1617129618.697 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2021-03-30T18:40:18.698Z,1617129618.698 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2021-03-30T18:40:18.778Z,1617129618.778 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2021-03-30T18:40:18.983Z,1617129618.983 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2021-03-30T18:40:18.983Z,1617129618.983 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2021-03-30T18:40:19.109Z,1617129619.109 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2021-03-30T18:40:19.109Z,1617129619.109 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2021-03-30T18:40:19.759Z,1617129619.759 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2021-03-30T18:40:19.759Z,1617129619.759 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2021-03-30T18:40:19.838Z,1617129619.838 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2021-03-30T18:40:20.085Z,1617129620.085 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2021-03-30T18:40:20.087Z,1617129620.087 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-galene/
2021-03-30T18:40:20.088Z,1617129620.088 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/vehicle.cfg
2021-03-30T18:40:20.257Z,1617129620.257 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/logger.cfg
2021-03-30T18:40:20.351Z,1617129620.351 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Servo.cfg
2021-03-30T18:40:20.461Z,1617129620.461 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Control.cfg
2021-03-30T18:40:20.615Z,1617129620.615 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/secure.cfg
2021-03-30T18:40:20.906Z,1617129620.906 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Simulator.cfg
2021-03-30T18:40:20.999Z,1617129620.999 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Science.cfg
2021-03-30T18:40:21.240Z,1617129621.240 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/BIT.cfg
2021-03-30T18:40:21.409Z,1617129621.409 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Sensor.cfg
2021-03-30T18:40:21.643Z,1617129621.643 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Battery.cfg
2021-03-30T18:40:21.964Z,1617129621.964 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2021-03-30T18:40:21.964Z,1617129621.964 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Navigation.cfg
2021-03-30T18:40:22.058Z,1617129622.058 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-galene/root/
2021-03-30T18:40:22.058Z,1617129622.058 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2021-03-30T18:40:22.067Z,1617129622.067 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2021-03-30T18:40:22.396Z,1617129622.396 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2021-03-30T18:40:22.397Z,1617129622.397 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2021-03-30T18:40:22.478Z,1617129622.478 [DeadReckonUsingMultipleVelocitySources] Loaded
2021-03-30T18:40:22.478Z,1617129622.478 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2021-03-30T18:40:22.512Z,1617129622.512 [DeadReckonUsingSpeedCalculator] Loaded
2021-03-30T18:40:22.512Z,1617129622.512 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingSpeedCalculator" handled in the control thread.
2021-03-30T18:40:22.525Z,1617129622.525 [NavChart] Loaded
2021-03-30T18:40:22.525Z,1617129622.525 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2021-03-30T18:40:22.531Z,1617129622.531 [UniversalFixResidualReporter] Loaded
2021-03-30T18:40:22.531Z,1617129622.531 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2021-03-30T18:40:22.531Z,1617129622.531 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2021-03-30T18:40:22.532Z,1617129622.532 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2021-03-30T18:40:22.543Z,1617129622.543 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2021-03-30T18:40:22.544Z,1617129622.544 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2021-03-30T18:40:22.661Z,1617129622.661 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2021-03-30T18:40:22.661Z,1617129622.661 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2021-03-30T18:40:22.714Z,1617129622.714 [VerticalControl](DEBUG): Construct VerticalControl.
2021-03-30T18:40:22.775Z,1617129622.775 [VerticalControl] Loaded
2021-03-30T18:40:22.776Z,1617129622.776 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2021-03-30T18:40:22.778Z,1617129622.778 [HorizontalControl](DEBUG): Construct HorizontalControl.
2021-03-30T18:40:22.816Z,1617129622.816 [HorizontalControl] Loaded
2021-03-30T18:40:22.817Z,1617129622.817 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2021-03-30T18:40:22.819Z,1617129622.819 [SpeedControl](DEBUG): Construct SpeedControl.
2021-03-30T18:40:22.822Z,1617129622.822 [SpeedControl] Loaded
2021-03-30T18:40:22.822Z,1617129622.822 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2021-03-30T18:40:22.825Z,1617129622.825 [LoopControl](DEBUG): Construct LoopControl.
2021-03-30T18:40:22.825Z,1617129622.825 [LoopControl] Loaded
2021-03-30T18:40:22.826Z,1617129622.826 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2021-03-30T18:40:22.826Z,1617129622.826 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2021-03-30T18:40:22.827Z,1617129622.827 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2021-03-30T18:40:22.868Z,1617129622.868 [DepthRateCalculator] Loaded
2021-03-30T18:40:22.869Z,1617129622.869 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2021-03-30T18:40:22.873Z,1617129622.873 [PitchRateCalculator] Loaded
2021-03-30T18:40:22.873Z,1617129622.873 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2021-03-30T18:40:22.883Z,1617129622.883 [SpeedCalculator] Loaded
2021-03-30T18:40:22.883Z,1617129622.883 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2021-03-30T18:40:22.896Z,1617129622.896 [TempGradientCalculator] Loaded
2021-03-30T18:40:22.897Z,1617129622.897 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2021-03-30T18:40:22.901Z,1617129622.901 [YawRateCalculator] Loaded
2021-03-30T18:40:22.901Z,1617129622.901 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2021-03-30T18:40:22.918Z,1617129622.918 [ElevatorOffsetCalculator] Loaded
2021-03-30T18:40:22.918Z,1617129622.918 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2021-03-30T18:40:22.919Z,1617129622.919 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2021-03-30T18:40:22.919Z,1617129622.919 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2021-03-30T18:40:23.017Z,1617129623.017 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2021-03-30T18:40:23.017Z,1617129623.017 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2021-03-30T18:40:23.074Z,1617129623.074 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2021-03-30T18:40:23.075Z,1617129623.075 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2021-03-30T18:40:23.198Z,1617129623.198 [BuoyancyServo] Loaded
2021-03-30T18:40:23.199Z,1617129623.199 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2021-03-30T18:40:23.218Z,1617129623.218 [ElevatorServo] Loaded
2021-03-30T18:40:23.218Z,1617129623.218 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2021-03-30T18:40:23.242Z,1617129623.242 [DockingServo] Loaded
2021-03-30T18:40:23.242Z,1617129623.242 [ComponentRegistry](DEBUG): SyncComponent "DockingServo" handled in the control thread.
2021-03-30T18:40:23.260Z,1617129623.260 [RudderServo] Loaded
2021-03-30T18:40:23.260Z,1617129623.260 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2021-03-30T18:40:23.277Z,1617129623.277 [ThrusterServo] Loaded
2021-03-30T18:40:23.278Z,1617129623.278 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2021-03-30T18:40:23.278Z,1617129623.278 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2021-03-30T18:40:23.279Z,1617129623.279 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2021-03-30T18:40:23.383Z,1617129623.383 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2021-03-30T18:40:23.384Z,1617129623.384 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2021-03-30T18:40:23.733Z,1617129623.733 [AHRS_M2] Loaded
2021-03-30T18:40:23.733Z,1617129623.733 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2021-03-30T18:40:24.535Z,1617129624.535 [BPC1] Loaded
2021-03-30T18:40:24.536Z,1617129624.536 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2021-03-30T18:40:24.608Z,1617129624.608 [DataOverHttps] Loaded
2021-03-30T18:40:24.609Z,1617129624.609 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2021-03-30T18:40:24.610Z,1617129624.610 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 409AA4E0
2021-03-30T18:40:24.610Z,1617129624.610 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 1675
2021-03-30T18:40:24.630Z,1617129624.630 [Depth_Keller] Loaded
2021-03-30T18:40:24.630Z,1617129624.630 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2021-03-30T18:40:24.690Z,1617129624.690 [NAL9602] Loaded
2021-03-30T18:40:24.690Z,1617129624.690 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2021-03-30T18:40:24.716Z,1617129624.716 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/voltage_now
2021-03-30T18:40:24.717Z,1617129624.717 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/current_now
2021-03-30T18:40:24.717Z,1617129624.717 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/charge_now
2021-03-30T18:40:24.718Z,1617129624.718 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/charge_full
2021-03-30T18:40:24.718Z,1617129624.718 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/voltage_now
2021-03-30T18:40:24.719Z,1617129624.719 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/current_now
2021-03-30T18:40:24.719Z,1617129624.719 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/charge_now
2021-03-30T18:40:24.720Z,1617129624.720 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/charge_full
2021-03-30T18:40:24.720Z,1617129624.720 [Onboard] Loaded
2021-03-30T18:40:24.720Z,1617129624.720 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2021-03-30T18:40:24.721Z,1617129624.721 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 409DA4E0
2021-03-30T18:40:24.721Z,1617129624.721 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 1676
2021-03-30T18:40:24.734Z,1617129624.734 [Radio_Surface] Loaded
2021-03-30T18:40:24.735Z,1617129624.735 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2021-03-30T18:40:24.736Z,1617129624.736 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 40A0A4E0
2021-03-30T18:40:24.736Z,1617129624.736 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 1677
2021-03-30T18:40:24.737Z,1617129624.737 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2021-03-30T18:40:24.738Z,1617129624.738 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2021-03-30T18:40:24.889Z,1617129624.889 [SBIT](DEBUG): Construct Startup Built In Test.
2021-03-30T18:40:24.898Z,1617129624.898 [SBIT] Loaded
2021-03-30T18:40:24.898Z,1617129624.898 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2021-03-30T18:40:24.901Z,1617129624.901 [IBIT](DEBUG): Construct Initiated Built In Test.
2021-03-30T18:40:24.914Z,1617129624.914 [IBIT] Loaded
2021-03-30T18:40:24.914Z,1617129624.914 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2021-03-30T18:40:24.920Z,1617129624.920 [CBIT](DEBUG): Construct Continuous Built In Test.
2021-03-30T18:40:25.020Z,1617129625.020 [CBIT] Loaded
2021-03-30T18:40:25.020Z,1617129625.020 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2021-03-30T18:40:25.020Z,1617129625.020 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2021-03-30T18:40:25.021Z,1617129625.021 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2021-03-30T18:40:25.049Z,1617129625.049 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2021-03-30T18:40:25.055Z,1617129625.055 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2021-03-30T18:40:25.058Z,1617129625.058 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2021-03-30T18:40:25.069Z,1617129625.069 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2021-03-30T18:40:25.070Z,1617129625.070 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40A954E0
2021-03-30T18:40:25.070Z,1617129625.070 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 1678
2021-03-30T18:40:25.075Z,1617129625.075 [Supervisor](INFO): Main Thread ID is 1588
2021-03-30T18:40:25.075Z,1617129625.075 [Supervisor](DEBUG): Running supervisor.
2021-03-30T18:40:25.075Z,1617129625.075 [CommandLine ThreadHandler](INFO): Handler Thread ID is 1679
2021-03-30T18:40:25.078Z,1617129625.078 [controlThread ThreadHandler](INFO): Handler Thread ID is 1680
2021-03-30T18:40:25.078Z,1617129625.078 [controlThread](DEBUG): Initializing ControlThread
2021-03-30T18:40:25.080Z,1617129625.080 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2021-03-30T18:40:25.080Z,1617129625.080 [NavChart](DEBUG): Initialize NavChart Navigation.
2021-03-30T18:40:25.081Z,1617129625.081 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2021-03-30T18:40:25.081Z,1617129625.081 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2021-03-30T18:40:25.083Z,1617129625.083 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2021-03-30T18:40:25.083Z,1617129625.083 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2021-03-30T18:40:25.084Z,1617129625.084 [LoopControl](DEBUG): Initialize LoopControlComponent.
2021-03-30T18:40:25.084Z,1617129625.084 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2021-03-30T18:40:25.085Z,1617129625.085 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2021-03-30T18:40:25.085Z,1617129625.085 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2021-03-30T18:40:25.085Z,1617129625.085 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2021-03-30T18:40:25.086Z,1617129625.086 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2021-03-30T18:40:25.086Z,1617129625.086 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2021-03-30T18:40:25.092Z,1617129625.092 [SBIT](INFO): Initialize SBIT Component.
2021-03-30T18:40:25.093Z,1617129625.093 [SBIT](IMPORTANT): git: 2021-02-15-23-g3a852c62c
2021-03-30T18:40:25.093Z,1617129625.093 [SBIT](INFO): git hash: 3a852c62cd7a39cad2b788ae0015bb0a43866a82
2021-03-30T18:40:25.093Z,1617129625.093 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2021-03-30T18:40:25.095Z,1617129625.095 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #2 PREEMPT Thu Jan 11 20:13:48 PST 2018
Kernel Reported: #1 PREEMPT Thu Feb 21 11:17:40 PST 2019
2021-03-30T18:40:25.096Z,1617129625.096 [SBIT](INFO): Beginning SBIT in 24.000000 seconds.
2021-03-30T18:40:25.097Z,1617129625.097 [IBIT](INFO): Initialize IBIT Component.
2021-03-30T18:40:25.097Z,1617129625.097 [CBIT](DEBUG): Initialize CBIT Component.
2021-03-30T18:40:25.098Z,1617129625.098 [logger ThreadHandler](INFO): Handler Thread ID is 1681
2021-03-30T18:40:25.112Z,1617129625.112 [CBIT](DEBUG): Initialized mux pins.
2021-03-30T18:40:25.112Z,1617129625.112 [CBIT](DEBUG): Initializing the watchdog timer.
2021-03-30T18:40:25.116Z,1617129625.116 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 1682
2021-03-30T18:40:25.117Z,1617129625.117 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2021-03-30T18:40:25.125Z,1617129625.125 [Onboard ThreadHandler](INFO): Handler Thread ID is 1683
2021-03-30T18:40:25.136Z,1617129625.136 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2021-03-30T18:40:25.136Z,1617129625.136 [CBIT](DEBUG): Initializing heartbeat.
2021-03-30T18:40:25.140Z,1617129625.140 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 1684
2021-03-30T18:40:25.160Z,1617129625.160 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 1685
2021-03-30T18:40:25.163Z,1617129625.163 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2021-03-30T18:40:25.164Z,1617129625.164 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2021-03-30T18:40:25.164Z,1617129625.164 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2021-03-30T18:40:25.164Z,1617129625.164 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2021-03-30T18:40:25.164Z,1617129625.164 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2021-03-30T18:40:25.164Z,1617129625.164 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2021-03-30T18:40:25.165Z,1617129625.165 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2021-03-30T18:40:25.165Z,1617129625.165 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2021-03-30T18:40:25.165Z,1617129625.165 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2021-03-30T18:40:25.165Z,1617129625.165 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2021-03-30T18:40:25.165Z,1617129625.165 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2021-03-30T18:40:25.165Z,1617129625.165 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2021-03-30T18:40:25.166Z,1617129625.166 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2021-03-30T18:40:25.166Z,1617129625.166 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2021-03-30T18:40:25.166Z,1617129625.166 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2021-03-30T18:40:25.166Z,1617129625.166 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2021-03-30T18:40:25.208Z,1617129625.208 [CBIT](DEBUG): Deactivating GF circuits.
2021-03-30T18:40:25.208Z,1617129625.208 [CBIT](DEBUG): Deactivating emergency mode.
2021-03-30T18:40:25.244Z,1617129625.244 [CBIT](DEBUG): Backplane powered.
2021-03-30T18:40:25.245Z,1617129625.245 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2021-03-30T18:40:25.257Z,1617129625.257 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2021-03-30T18:40:25.276Z,1617129625.276 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="Startup">

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

    <Aggregate Id="StartupSatComms">

        <Sequence/>

        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:latitude_fix/>
        </ReadDatum>

        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:platform_communications/>
        </ReadDatum>

    </Aggregate>

</Mission>


2021-03-30T18:40:25.277Z,1617129625.277 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2021-03-30T18:40:25.353Z,1617129625.353 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2021-03-30T18:40:25.354Z,1617129625.354 [Default:A.Wait](DEBUG): Construct Wait.
2021-03-30T18:40:25.356Z,1617129625.356 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-03-30T18:40:25.404Z,1617129625.404 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2021-03-30T18:40:25.406Z,1617129625.406 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2021-03-30T18:40:25.432Z,1617129625.432 [Default:E.Execute](DEBUG): Construct Execute.
2021-03-30T18:40:25.435Z,1617129625.435 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
         xmlns="Tethys"
         xmlns:Units="Tethys/Units"
         xmlns:Guidance="Tethys/Guidance"
         xmlns:Universal="Tethys/Universal"
         xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                             Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                             Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                             Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
         Id="Default">

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

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

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

    <Aggregate Id="CheckIn">

        <Sequence Repeat="288"/>

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

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

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

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

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

    </Aggregate>

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

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

</Mission>


2021-03-30T18:40:25.457Z,1617129625.457 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,Depth_Keller,NAL9602,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,DeadReckonUsingSpeedCalculator,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,DockingServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2021-03-30T18:40:25.468Z,1617129625.468 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2021-03-30T18:40:25.544Z,1617129625.544 [Radio_Surface](INFO): Powering up
2021-03-30T18:40:25.555Z,1617129625.555 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-03-30T18:40:25.556Z,1617129625.556 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-03-30T18:40:25.558Z,1617129625.558 [ElevatorServo](DEBUG): Initializing EZServoServo.
2021-03-30T18:40:25.564Z,1617129625.564 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2021-03-30T18:40:25.565Z,1617129625.565 [DockingServo](INFO): Start
2021-03-30T18:40:25.566Z,1617129625.566 [DockingServo](DEBUG): Initializing EZServoServo.
2021-03-30T18:40:25.572Z,1617129625.572 [DockingServo](DEBUG): Initializing DockingServo.
2021-03-30T18:40:25.573Z,1617129625.573 [RudderServo](DEBUG): Initializing EZServoServo.
2021-03-30T18:40:25.580Z,1617129625.580 [RudderServo](DEBUG): Initializing RudderServo.
2021-03-30T18:40:25.581Z,1617129625.581 [ThrusterServo](DEBUG): Initializing EZServoServo.
2021-03-30T18:40:25.588Z,1617129625.588 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2021-03-30T18:40:25.890Z,1617129625.890 [DockingServo](INFO): Starting
2021-03-30T18:40:26.283Z,1617129626.283 [DockingServo](INFO): Starting
2021-03-30T18:40:26.816Z,1617129626.816 [DockingServo](INFO): Starting
2021-03-30T18:40:27.091Z,1617129627.091 [DockingServo](INFO): Starting
2021-03-30T18:40:27.496Z,1617129627.496 [DockingServo](INFO): Starting
2021-03-30T18:40:27.908Z,1617129627.908 [DockingServo](INFO): Starting
2021-03-30T18:40:28.356Z,1617129628.356 [DockingServo](INFO): Starting
2021-03-30T18:40:28.776Z,1617129628.776 [DockingServo](INFO): Runnable
2021-03-30T18:40:29.210Z,1617129629.210 [DockingServo](INFO): Pause
2021-03-30T18:40:29.584Z,1617129629.584 [DockingServo](INFO): Paused
2021-03-30T18:40:30.013Z,1617129630.013 [DockingServo](INFO): Paused
2021-03-30T18:40:30.380Z,1617129630.380 [DockingServo](INFO): Paused
2021-03-30T18:40:30.769Z,1617129630.769 [DockingServo](INFO): Paused
2021-03-30T18:40:31.305Z,1617129631.305 [DockingServo](INFO): Paused
2021-03-30T18:40:31.577Z,1617129631.577 [DockingServo](INFO): Paused
2021-03-30T18:40:31.981Z,1617129631.981 [DockingServo](INFO): Paused
2021-03-30T18:40:32.400Z,1617129632.400 [DockingServo](INFO): Paused
2021-03-30T18:40:32.797Z,1617129632.797 [DockingServo](INFO): Paused
2021-03-30T18:40:33.208Z,1617129633.208 [DockingServo](INFO): Paused
2021-03-30T18:40:33.597Z,1617129633.597 [DockingServo](INFO): Paused
2021-03-30T18:40:34.010Z,1617129634.010 [DockingServo](INFO): Paused
2021-03-30T18:40:34.394Z,1617129634.394 [DockingServo](INFO): Paused
2021-03-30T18:40:34.826Z,1617129634.826 [DockingServo](INFO): Paused
2021-03-30T18:40:35.226Z,1617129635.226 [DockingServo](INFO): Paused
2021-03-30T18:40:35.610Z,1617129635.610 [DockingServo](INFO): Paused
2021-03-30T18:40:36.030Z,1617129636.030 [DockingServo](INFO): Paused
2021-03-30T18:40:36.418Z,1617129636.418 [DockingServo](INFO): Paused
2021-03-30T18:40:36.830Z,1617129636.830 [DockingServo](INFO): Paused
2021-03-30T18:40:37.286Z,1617129637.286 [DockingServo](INFO): Paused
2021-03-30T18:40:37.667Z,1617129637.667 [DockingServo](INFO): Paused
2021-03-30T18:40:38.094Z,1617129638.094 [DockingServo](INFO): Paused
2021-03-30T18:40:38.506Z,1617129638.506 [DockingServo](INFO): Paused
2021-03-30T18:40:38.911Z,1617129638.911 [DockingServo](INFO): Paused
2021-03-30T18:40:39.106Z,1617129639.106 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004719
2021-03-30T18:40:39.319Z,1617129639.319 [DockingServo](INFO): Paused
2021-03-30T18:40:39.730Z,1617129639.730 [DockingServo](INFO): Paused
2021-03-30T18:40:40.123Z,1617129640.123 [DockingServo](INFO): Paused
2021-03-30T18:40:40.554Z,1617129640.554 [DockingServo](INFO): Paused
2021-03-30T18:40:40.954Z,1617129640.954 [DockingServo](INFO): Paused
2021-03-30T18:40:41.338Z,1617129641.338 [DockingServo](INFO): Paused
2021-03-30T18:40:41.754Z,1617129641.754 [DockingServo](INFO): Paused
2021-03-30T18:40:42.162Z,1617129642.162 [DockingServo](INFO): Paused
2021-03-30T18:40:42.570Z,1617129642.570 [DockingServo](INFO): Paused
2021-03-30T18:40:42.990Z,1617129642.990 [DockingServo](INFO): Paused
2021-03-30T18:40:43.398Z,1617129643.398 [DockingServo](INFO): Paused
2021-03-30T18:40:43.795Z,1617129643.795 [DockingServo](INFO): Paused
2021-03-30T18:40:44.221Z,1617129644.221 [DockingServo](INFO): Paused
2021-03-30T18:40:44.610Z,1617129644.610 [DockingServo](INFO): Paused
2021-03-30T18:40:45.018Z,1617129645.018 [DockingServo](INFO): Paused
2021-03-30T18:40:45.427Z,1617129645.427 [DockingServo](INFO): Paused
2021-03-30T18:40:45.802Z,1617129645.802 [DockingServo](INFO): Paused
2021-03-30T18:40:46.255Z,1617129646.255 [DockingServo](INFO): Paused
2021-03-30T18:40:46.651Z,1617129646.651 [DockingServo](INFO): Paused
2021-03-30T18:40:47.074Z,1617129647.074 [DockingServo](INFO): Paused
2021-03-30T18:40:47.479Z,1617129647.479 [DockingServo](INFO): Paused
2021-03-30T18:40:47.894Z,1617129647.894 [DockingServo](INFO): Paused
2021-03-30T18:40:48.294Z,1617129648.294 [DockingServo](INFO): Paused
2021-03-30T18:40:48.659Z,1617129648.659 [DockingServo](INFO): Paused
2021-03-30T18:40:49.087Z,1617129649.087 [DockingServo](INFO): Paused
2021-03-30T18:40:49.502Z,1617129649.502 [DockingServo](INFO): Paused
2021-03-30T18:40:49.903Z,1617129649.903 [DockingServo](INFO): Paused
2021-03-30T18:40:49.929Z,1617129649.929 [SBIT](IMPORTANT): Beginning Startup BIT
2021-03-30T18:40:49.949Z,1617129649.949 [CBIT](IMPORTANT): Beginning ground fault scan
2021-03-30T18:40:50.353Z,1617129650.353 [DockingServo](INFO): Paused
2021-03-30T18:40:50.741Z,1617129650.741 [DockingServo](INFO): Paused
2021-03-30T18:40:51.145Z,1617129651.145 [DockingServo](INFO): Paused
2021-03-30T18:40:51.529Z,1617129651.529 [DockingServo](INFO): Paused
2021-03-30T18:40:51.929Z,1617129651.929 [DockingServo](INFO): Paused
2021-03-30T18:40:52.373Z,1617129652.373 [DockingServo](INFO): Paused
2021-03-30T18:40:52.749Z,1617129652.749 [DockingServo](INFO): Paused
2021-03-30T18:40:53.205Z,1617129653.205 [DockingServo](INFO): Paused
2021-03-30T18:40:53.700Z,1617129653.700 [DockingServo](INFO): Paused
2021-03-30T18:40:53.973Z,1617129653.973 [DockingServo](INFO): Paused
2021-03-30T18:40:54.346Z,1617129654.346 [DockingServo](INFO): Paused
2021-03-30T18:40:54.717Z,1617129654.717 [NAL9602](INFO): Powering up NAL9602
2021-03-30T18:40:54.729Z,1617129654.729 [DockingServo](INFO): Paused
2021-03-30T18:40:55.139Z,1617129655.139 [DockingServo](INFO): Paused
2021-03-30T18:40:55.547Z,1617129655.547 [DockingServo](INFO): Paused
2021-03-30T18:40:55.938Z,1617129655.938 [DockingServo](INFO): Paused
2021-03-30T18:40:56.363Z,1617129656.363 [DockingServo](INFO): Paused
2021-03-30T18:40:56.756Z,1617129656.756 [DockingServo](INFO): Paused
2021-03-30T18:40:57.165Z,1617129657.165 [DockingServo](INFO): Paused
2021-03-30T18:40:57.553Z,1617129657.553 [DockingServo](INFO): Paused
2021-03-30T18:40:57.957Z,1617129657.957 [DockingServo](INFO): Paused
2021-03-30T18:40:58.369Z,1617129658.369 [DockingServo](INFO): Paused
2021-03-30T18:40:58.794Z,1617129658.794 [DockingServo](INFO): Paused
2021-03-30T18:40:59.199Z,1617129659.199 [DockingServo](INFO): Paused
2021-03-30T18:40:59.574Z,1617129659.574 [DockingServo](INFO): Paused
2021-03-30T18:40:59.981Z,1617129659.981 [DockingServo](INFO): Paused
2021-03-30T18:41:00.410Z,1617129660.410 [DockingServo](INFO): Paused
2021-03-30T18:41:00.794Z,1617129660.794 [DockingServo](INFO): Paused
2021-03-30T18:41:00.830Z,1617129660.830 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.027030
CHAN A1 (24V): 0.012439
CHAN A2 (12V): -0.005538
CHAN A3 (5V): -0.002846
CHAN B0 (3.3V): -0.000873
CHAN B1 (3.15aV): -0.001796
CHAN B2 (3.15bV): -0.002011
CHAN B3 (GND): -0.000151
OPEN: -0.001059
Full Scale Calc: 4.765 mA, -1.589 mA
2021-03-30T18:41:01.201Z,1617129661.201 [DockingServo](INFO): Paused
2021-03-30T18:41:01.602Z,1617129661.602 [DockingServo](INFO): Paused
2021-03-30T18:41:02.015Z,1617129662.015 [DockingServo](INFO): Paused
2021-03-30T18:41:02.409Z,1617129662.409 [DockingServo](INFO): Paused
2021-03-30T18:41:02.813Z,1617129662.813 [DockingServo](INFO): Paused
2021-03-30T18:41:03.235Z,1617129663.235 [DockingServo](INFO): Paused
2021-03-30T18:41:03.278Z,1617129663.278 [SBIT](ERROR): Could not read massPosReader_.
2021-03-30T18:41:03.654Z,1617129663.654 [DockingServo](INFO): Paused
2021-03-30T18:41:04.043Z,1617129664.043 [DockingServo](INFO): Paused
2021-03-30T18:41:04.477Z,1617129664.477 [DockingServo](INFO): Paused
2021-03-30T18:41:04.827Z,1617129664.827 [DockingServo](INFO): Paused
2021-03-30T18:41:05.369Z,1617129665.369 [DockingServo](INFO): Paused
2021-03-30T18:41:05.621Z,1617129665.621 [NAL9602](INFO): NAL9602 initialized
2021-03-30T18:41:05.690Z,1617129665.690 [DockingServo](INFO): Paused
2021-03-30T18:41:06.061Z,1617129666.061 [DockingServo](INFO): Paused
2021-03-30T18:41:06.494Z,1617129666.494 [DockingServo](INFO): Paused
2021-03-30T18:41:06.893Z,1617129666.893 [DockingServo](INFO): Paused
2021-03-30T18:41:07.305Z,1617129667.305 [DockingServo](INFO): Paused
2021-03-30T18:41:07.677Z,1617129667.677 [DockingServo](INFO): Paused
2021-03-30T18:41:08.093Z,1617129668.093 [DockingServo](INFO): Paused
2021-03-30T18:41:08.485Z,1617129668.485 [DockingServo](INFO): Paused
2021-03-30T18:41:08.905Z,1617129668.905 [DockingServo](INFO): Paused
2021-03-30T18:41:09.313Z,1617129669.313 [DockingServo](INFO): Paused
2021-03-30T18:41:09.725Z,1617129669.725 [DockingServo](INFO): Paused
2021-03-30T18:41:10.105Z,1617129670.105 [DockingServo](INFO): Paused
2021-03-30T18:41:10.557Z,1617129670.557 [DockingServo](INFO): Paused
2021-03-30T18:41:11.020Z,1617129671.020 [DockingServo](INFO): Paused
2021-03-30T18:41:11.320Z,1617129671.320 [DockingServo](INFO): Paused
2021-03-30T18:41:11.694Z,1617129671.694 [DockingServo](INFO): Paused
2021-03-30T18:41:12.113Z,1617129672.113 [DockingServo](INFO): Paused
2021-03-30T18:41:12.526Z,1617129672.526 [DockingServo](INFO): Paused
2021-03-30T18:41:12.906Z,1617129672.906 [DockingServo](INFO): Paused
2021-03-30T18:41:13.321Z,1617129673.321 [DockingServo](INFO): Paused
2021-03-30T18:41:13.734Z,1617129673.734 [DockingServo](INFO): Paused
2021-03-30T18:41:14.134Z,1617129674.134 [DockingServo](INFO): Paused
2021-03-30T18:41:14.550Z,1617129674.550 [DockingServo](INFO): Paused
2021-03-30T18:41:14.938Z,1617129674.938 [DockingServo](INFO): Paused
2021-03-30T18:41:15.342Z,1617129675.342 [DockingServo](INFO): Paused
2021-03-30T18:41:15.758Z,1617129675.758 [DockingServo](INFO): Paused
2021-03-30T18:41:16.164Z,1617129676.164 [DockingServo](INFO): Paused
2021-03-30T18:41:16.542Z,1617129676.542 [DockingServo](INFO): Paused
2021-03-30T18:41:16.957Z,1617129676.957 [DockingServo](INFO): Paused
2021-03-30T18:41:17.370Z,1617129677.370 [DockingServo](INFO): Paused
2021-03-30T18:41:17.754Z,1617129677.754 [DockingServo](INFO): Paused
2021-03-30T18:41:18.169Z,1617129678.169 [DockingServo](INFO): Paused
2021-03-30T18:41:18.561Z,1617129678.561 [DockingServo](INFO): Paused
2021-03-30T18:41:18.990Z,1617129678.990 [DockingServo](INFO): Paused
2021-03-30T18:41:19.390Z,1617129679.390 [DockingServo](INFO): Paused
2021-03-30T18:41:19.786Z,1617129679.786 [DockingServo](INFO): Paused
2021-03-30T18:41:20.220Z,1617129680.220 [DockingServo](INFO): Paused
2021-03-30T18:41:20.609Z,1617129680.609 [DockingServo](INFO): Paused
2021-03-30T18:41:21.020Z,1617129681.020 [DockingServo](INFO): Paused
2021-03-30T18:41:21.389Z,1617129681.389 [DockingServo](INFO): Paused
2021-03-30T18:41:21.797Z,1617129681.797 [DockingServo](INFO): Paused
2021-03-30T18:41:22.229Z,1617129682.229 [DockingServo](INFO): Paused
2021-03-30T18:41:22.601Z,1617129682.601 [DockingServo](INFO): Paused
2021-03-30T18:41:23.018Z,1617129683.018 [DockingServo](INFO): Paused
2021-03-30T18:41:23.414Z,1617129683.414 [DockingServo](INFO): Paused
2021-03-30T18:41:23.826Z,1617129683.826 [DockingServo](INFO): Paused
2021-03-30T18:41:24.243Z,1617129684.243 [DockingServo](INFO): Paused
2021-03-30T18:41:24.658Z,1617129684.658 [DockingServo](INFO): Paused
2021-03-30T18:41:25.038Z,1617129685.038 [DockingServo](INFO): Paused
2021-03-30T18:41:25.450Z,1617129685.450 [DockingServo](INFO): Paused
2021-03-30T18:41:25.853Z,1617129685.853 [DockingServo](INFO): Paused
2021-03-30T18:41:26.290Z,1617129686.290 [DockingServo](INFO): Paused
2021-03-30T18:41:26.686Z,1617129686.686 [DockingServo](INFO): Paused
2021-03-30T18:41:27.077Z,1617129687.077 [DockingServo](INFO): Paused
2021-03-30T18:41:27.474Z,1617129687.474 [DockingServo](INFO): Paused
2021-03-30T18:41:27.854Z,1617129687.854 [DockingServo](INFO): Paused
2021-03-30T18:41:28.313Z,1617129688.313 [DockingServo](INFO): Paused
2021-03-30T18:41:28.686Z,1617129688.686 [DockingServo](INFO): Paused
2021-03-30T18:41:29.094Z,1617129689.094 [DockingServo](INFO): Paused
2021-03-30T18:41:29.500Z,1617129689.500 [DockingServo](INFO): Paused
2021-03-30T18:41:29.890Z,1617129689.890 [DockingServo](INFO): Paused
2021-03-30T18:41:29.891Z,1617129689.891 [SBIT](ERROR): Could not read massPosReader_.
2021-03-30T18:41:29.891Z,1617129689.891 [SBIT](FAULT): Control surface position failure.
2021-03-30T18:41:30.313Z,1617129690.313 [DockingServo](INFO): Paused
2021-03-30T18:41:30.707Z,1617129690.707 [DockingServo](INFO): Paused
2021-03-30T18:41:31.100Z,1617129691.100 [DockingServo](INFO): Paused
2021-03-30T18:41:31.494Z,1617129691.494 [DockingServo](INFO): Paused
2021-03-30T18:41:31.981Z,1617129691.981 [DockingServo](INFO): Paused
2021-03-30T18:41:32.345Z,1617129692.345 [DockingServo](INFO): Paused
2021-03-30T18:41:32.765Z,1617129692.765 [DockingServo](INFO): Paused
2021-03-30T18:41:33.157Z,1617129693.157 [DockingServo](INFO): Paused
2021-03-30T18:41:33.569Z,1617129693.569 [DockingServo](INFO): Paused
2021-03-30T18:41:33.973Z,1617129693.973 [DockingServo](INFO): Paused
2021-03-30T18:41:34.349Z,1617129694.349 [DockingServo](INFO): Paused
2021-03-30T18:41:34.825Z,1617129694.825 [DockingServo](INFO): Paused
2021-03-30T18:41:35.265Z,1617129695.265 [DockingServo](INFO): Paused
2021-03-30T18:41:35.550Z,1617129695.550 [DockingServo](INFO): Paused
2021-03-30T18:41:35.963Z,1617129695.963 [DockingServo](INFO): Paused
2021-03-30T18:41:36.341Z,1617129696.341 [DockingServo](INFO): Paused
2021-03-30T18:41:36.748Z,1617129696.748 [DockingServo](INFO): Paused
2021-03-30T18:41:37.168Z,1617129697.168 [DockingServo](INFO): Paused
2021-03-30T18:41:37.553Z,1617129697.553 [DockingServo](INFO): Paused
2021-03-30T18:41:37.977Z,1617129697.977 [DockingServo](INFO): Paused
2021-03-30T18:41:38.375Z,1617129698.375 [DockingServo](INFO): Paused
2021-03-30T18:41:38.794Z,1617129698.794 [DockingServo](INFO): Paused
2021-03-30T18:41:39.197Z,1617129699.197 [DockingServo](INFO): Paused
2021-03-30T18:41:39.615Z,1617129699.615 [DockingServo](INFO): Paused
2021-03-30T18:41:40.001Z,1617129700.001 [DockingServo](INFO): Paused
2021-03-30T18:41:40.405Z,1617129700.405 [DockingServo](INFO): Paused
2021-03-30T18:41:40.810Z,1617129700.810 [DockingServo](INFO): Paused
2021-03-30T18:41:41.201Z,1617129701.201 [DockingServo](INFO): Paused
2021-03-30T18:41:41.591Z,1617129701.591 [DockingServo](INFO): Paused
2021-03-30T18:41:42.012Z,1617129702.012 [DockingServo](INFO): Paused
2021-03-30T18:41:42.399Z,1617129702.399 [DockingServo](INFO): Paused
2021-03-30T18:41:42.808Z,1617129702.808 [DockingServo](INFO): Paused
2021-03-30T18:41:43.214Z,1617129703.214 [DockingServo](INFO): Paused
2021-03-30T18:41:43.622Z,1617129703.622 [DockingServo](INFO): Paused
2021-03-30T18:41:43.623Z,1617129703.623 [SBIT](ERROR): Could not read massPosReader_.
2021-03-30T18:41:43.624Z,1617129703.624 [SBIT](FAULT): Control surface position failure.
2021-03-30T18:41:44.038Z,1617129704.038 [DockingServo](INFO): Paused
2021-03-30T18:41:44.039Z,1617129704.039 [SBIT](CRITICAL): SBIT FAILED
2021-03-30T18:41:44.039Z,1617129704.039 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2021-03-30T18:41:44.044Z,1617129704.044 [SBIT](IMPORTANT): CTD_NeilBrown.loadAtStartup=0 bool;

2021-03-30T18:41:44.044Z,1617129704.044 [SBIT](IMPORTANT): CTD_Seabird.loadAtStartup=0 bool;

2021-03-30T18:41:44.044Z,1617129704.044 [SBIT](IMPORTANT): DropWeight.loadAtStartup=0 bool;

2021-03-30T18:41:44.044Z,1617129704.044 [SBIT](IMPORTANT): NAL9602.fastGPSFix=1 bool;

2021-03-30T18:41:44.044Z,1617129704.044 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=235 cubic_centimeter;

2021-03-30T18:41:44.044Z,1617129704.044 [SBIT](IMPORTANT): VerticalControl.massDefault=-1 millimeter;

2021-03-30T18:41:44.045Z,1617129704.045 [SBIT](IMPORTANT): WetLabsBB2FL.loadAtStartup=0 bool;

2021-03-30T18:41:44.045Z,1617129704.045 [SBIT](IMPORTANT): DockingServo.loadAtStartup=1 bool;

2021-03-30T18:41:44.045Z,1617129704.045 [SBIT](IMPORTANT): DockingServo.simulateHardware=0 bool;

2021-03-30T18:41:44.045Z,1617129704.045 [SBIT](IMPORTANT): MassServo.loadAtStartup=0 bool;

2021-03-30T18:41:44.046Z,1617129704.046 [CommandLine](FAULT): Scheduling is paused
2021-03-30T18:41:44.047Z,1617129704.047 [CBIT](INFO): Critical error at 20210330T184144
2021-03-30T18:41:44.047Z,1617129704.047 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2021-03-30T18:41:44.429Z,1617129704.429 [MissionManager](IMPORTANT): Started mission Startup
2021-03-30T18:41:44.430Z,1617129704.430 [Startup] Running Loop=1
2021-03-30T18:41:44.430Z,1617129704.430 [Startup](DEBUG): Aggregate::initialize Startup
2021-03-30T18:41:44.430Z,1617129704.430 [Startup:A.GoToSurface] Running Loop=1
2021-03-30T18:41:44.430Z,1617129704.430 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-03-30T18:41:44.431Z,1617129704.431 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-03-30T18:41:44.431Z,1617129704.431 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-03-30T18:41:44.431Z,1617129704.431 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-03-30T18:41:44.432Z,1617129704.432 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-03-30T18:41:44.433Z,1617129704.433 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-03-30T18:41:44.434Z,1617129704.434 [Startup:StartupSatComms] Running Loop=1
2021-03-30T18:41:44.434Z,1617129704.434 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2021-03-30T18:41:44.434Z,1617129704.434 [Startup:StartupSatComms:A] Running Loop=1
2021-03-30T18:41:44.439Z,1617129704.439 [DockingServo](INFO): Paused
2021-03-30T18:41:44.834Z,1617129704.834 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2021-03-30T18:41:44.839Z,1617129704.839 [DockingServo](INFO): Paused
2021-03-30T18:41:45.253Z,1617129705.253 [DockingServo](INFO): Paused
2021-03-30T18:41:45.666Z,1617129705.666 [DockingServo](INFO): Paused
2021-03-30T18:41:46.058Z,1617129706.058 [DockingServo](INFO): Paused
2021-03-30T18:41:46.583Z,1617129706.583 [DockingServo](INFO): Paused
2021-03-30T18:41:46.875Z,1617129706.875 [DockingServo](INFO): Paused
2021-03-30T18:41:47.282Z,1617129707.282 [DockingServo](INFO): Paused
2021-03-30T18:41:47.702Z,1617129707.702 [DockingServo](INFO): Paused
2021-03-30T18:41:48.062Z,1617129708.062 [DockingServo](INFO): Paused
2021-03-30T18:41:48.479Z,1617129708.479 [DockingServo](INFO): Paused
2021-03-30T18:41:48.868Z,1617129708.868 [DockingServo](INFO): Paused
2021-03-30T18:41:49.269Z,1617129709.269 [DockingServo](INFO): Paused
2021-03-30T18:41:49.678Z,1617129709.678 [DockingServo](INFO): Paused
2021-03-30T18:41:50.081Z,1617129710.081 [DockingServo](INFO): Paused
2021-03-30T18:41:50.507Z,1617129710.507 [DockingServo](INFO): Paused
2021-03-30T18:41:50.895Z,1617129710.895 [DockingServo](INFO): Paused
2021-03-30T18:41:51.306Z,1617129711.306 [DockingServo](INFO): Paused
2021-03-30T18:41:51.714Z,1617129711.714 [DockingServo](INFO): Paused
2021-03-30T18:41:52.096Z,1617129712.096 [DockingServo](INFO): Paused
2021-03-30T18:41:52.507Z,1617129712.507 [DockingServo](INFO): Paused
2021-03-30T18:41:52.916Z,1617129712.916 [DockingServo](INFO): Paused
2021-03-30T18:41:53.323Z,1617129713.323 [DockingServo](INFO): Paused
2021-03-30T18:41:53.717Z,1617129713.717 [DockingServo](INFO): Paused
2021-03-30T18:41:54.129Z,1617129714.129 [DockingServo](INFO): Paused
2021-03-30T18:41:54.528Z,1617129714.528 [DockingServo](INFO): Paused
2021-03-30T18:41:54.944Z,1617129714.944 [DockingServo](INFO): Paused
2021-03-30T18:41:55.338Z,1617129715.338 [DockingServo](INFO): Paused
2021-03-30T18:41:55.750Z,1617129715.750 [DockingServo](INFO): Paused
2021-03-30T18:41:56.159Z,1617129716.159 [DockingServo](INFO): Paused
2021-03-30T18:41:56.563Z,1617129716.563 [DockingServo](INFO): Paused
2021-03-30T18:41:56.972Z,1617129716.972 [DockingServo](INFO): Paused
2021-03-30T18:41:57.265Z,1617129717.265 [CommandLine](IMPORTANT): got command run ./Missions/Demo/DockingModeTest.xml
2021-03-30T18:41:57.265Z,1617129717.265 [MissionManager](INFO): Loading Mission: ./Missions/Demo/DockingModeTest.xml
2021-03-30T18:41:57.286Z,1617129717.286 [MissionManager](INFO): DefineArg DockingModeTest.TransponderCode = 2.000000 count
2021-03-30T18:41:57.293Z,1617129717.293 [MissionManager](INFO): DefineArg DockingModeTest.TrackingUpdatePeriod = 2.500000 s
2021-03-30T18:41:57.296Z,1617129717.296 [MissionManager](INFO): DefineArg DockingModeTest.NumberOfPings = 1.000000 count
2021-03-30T18:41:57.305Z,1617129717.305 [DockingModeTest:Test:A.](CRITICAL): No USBL component is enabled. Check vehicle configuration.
2021-03-30T18:41:57.383Z,1617129717.383 [DockingServo](INFO): Paused
2021-03-30T18:41:57.402Z,1617129717.402 [CBIT](INFO): Critical error at 20210330T184157
2021-03-30T18:41:57.415Z,1617129717.415 [DockingModeTest:Test:B.LineCapture](DEBUG): Construct.
2021-03-30T18:41:57.458Z,1617129717.458 [DockingModeTest:Test:B.LineCapture](DEBUG): Initializing internal variables to default values.
2021-03-30T18:41:57.458Z,1617129717.458 [DockingModeTest:Test:B.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-03-30T18:41:57.459Z,1617129717.459 [DockingModeTest:Test:C.Wait](DEBUG): Construct Wait.
2021-03-30T18:41:57.466Z,1617129717.466 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Sensor="Tethys/Sensor" 
       xmlns:Units="Tethys/Units"
       xmlns:Estimation="Tethys/Estimation"
       xmlns:Guidance="Tethys/Guidance"
       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/Sensor http://okeanids.mbari.org/tethys/Xml/Sensor.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="DockingModeTest">

    <DefineArg Name="TransponderCode"><Description>
        Transponder Address.
    </Description><Dock:Dock.transponderCode/></DefineArg>

    <DefineArg Name="TrackingUpdatePeriod"><Description>
        How long to wait between acoustic queries.
    </Description><Units:second/><Value>2.5</Value></DefineArg>

    <DefineArg Name="NumberOfPings"><Description>
        Number of pings requested each time.
    </Description><Units:count/><Value>1</Value></DefineArg>


    <Timeout Duration="P15M"/>

    <Aggregate Id="Test">

    <Estimation:TrackAcousticContact>
        <Parallel/>
        <Setting><Estimation:TrackAcousticContact.contactLabelSetting/><Arg Name="TransponderCode"/></Setting>
        <Setting><Estimation:TrackAcousticContact.numberOfSamplesSetting/><Arg Name="NumberOfPings"/></Setting>
        <Setting><Estimation:TrackAcousticContact.updatePeriodSetting/><Arg Name="TrackingUpdatePeriod"/></Setting>
    </Estimation:TrackAcousticContact>

                <Dock:LineCapture>
                    <Sequence/>
                </Dock:LineCapture>


        <Guidance:Wait>
            <Sequence/>
            <Setting><Guidance:Wait.duration/><Units:second/><Value>60</Value></Setting>
        </Guidance:Wait>

    </Aggregate>

</Mission>


2021-03-30T18:41:57.473Z,1617129717.473 [CommandLine](IMPORTANT): Running ./Missions/Demo/DockingModeTest.xml
2021-03-30T18:41:57.763Z,1617129717.763 [DockingServo](INFO): Paused
2021-03-30T18:41:58.160Z,1617129718.160 [DockingServo](INFO): Paused
2021-03-30T18:41:58.568Z,1617129718.568 [DockingServo](INFO): Paused
2021-03-30T18:41:58.980Z,1617129718.980 [DockingServo](INFO): Paused
2021-03-30T18:41:59.372Z,1617129719.372 [DockingServo](INFO): Paused
2021-03-30T18:41:59.835Z,1617129719.835 [DockingServo](INFO): Paused
2021-03-30T18:42:00.283Z,1617129720.283 [DockingServo](INFO): Paused
2021-03-30T18:42:00.630Z,1617129720.630 [DockingServo](INFO): Paused
2021-03-30T18:42:01.030Z,1617129721.030 [DockingServo](INFO): Paused
2021-03-30T18:42:01.438Z,1617129721.438 [DockingServo](INFO): Paused
2021-03-30T18:42:01.810Z,1617129721.810 [DockingServo](INFO): Paused
2021-03-30T18:42:02.234Z,1617129722.234 [DockingServo](INFO): Paused
2021-03-30T18:42:02.605Z,1617129722.605 [DockingServo](INFO): Paused
2021-03-30T18:42:03.011Z,1617129723.011 [DockingServo](INFO): Paused
2021-03-30T18:42:03.426Z,1617129723.426 [DockingServo](INFO): Paused
2021-03-30T18:42:03.813Z,1617129723.813 [DockingServo](INFO): Paused
2021-03-30T18:42:04.218Z,1617129724.218 [DockingServo](INFO): Paused
2021-03-30T18:42:04.631Z,1617129724.631 [DockingServo](INFO): Paused
2021-03-30T18:42:04.809Z,1617129724.809 [CommandLine](IMPORTANT): got command get DAT.loadAtStartup
2021-03-30T18:42:04.809Z,1617129724.809 [CommandLine](IMPORTANT): DAT.loadAtStartup 0 bool
2021-03-30T18:42:05.040Z,1617129725.040 [DockingServo](INFO): Paused
2021-03-30T18:42:05.428Z,1617129725.428 [DockingServo](INFO): Paused
2021-03-30T18:42:05.836Z,1617129725.836 [DockingServo](INFO): Paused
2021-03-30T18:42:06.262Z,1617129726.262 [DockingServo](INFO): Paused
2021-03-30T18:42:06.658Z,1617129726.658 [DockingServo](INFO): Paused
2021-03-30T18:42:07.071Z,1617129727.071 [DockingServo](INFO): Paused
2021-03-30T18:42:07.466Z,1617129727.466 [DockingServo](INFO): Paused
2021-03-30T18:42:07.858Z,1617129727.858 [DockingServo](INFO): Paused
2021-03-30T18:42:08.272Z,1617129728.272 [DockingServo](INFO): Paused
2021-03-30T18:42:08.665Z,1617129728.665 [DockingServo](INFO): Paused
2021-03-30T18:42:09.061Z,1617129729.061 [DockingServo](INFO): Paused
2021-03-30T18:42:09.475Z,1617129729.475 [DockingServo](INFO): Paused
2021-03-30T18:42:09.891Z,1617129729.891 [DockingServo](INFO): Paused
2021-03-30T18:42:10.283Z,1617129730.283 [DockingServo](INFO): Paused
2021-03-30T18:42:10.686Z,1617129730.686 [DockingServo](INFO): Paused
2021-03-30T18:42:11.091Z,1617129731.091 [DockingServo](INFO): Paused
2021-03-30T18:42:11.511Z,1617129731.511 [DockingServo](INFO): Paused
2021-03-30T18:42:11.919Z,1617129731.919 [DockingServo](INFO): Paused
2021-03-30T18:42:12.333Z,1617129732.333 [DockingServo](INFO): Paused
2021-03-30T18:42:12.727Z,1617129732.727 [DockingServo](INFO): Paused
2021-03-30T18:42:13.124Z,1617129733.124 [DockingServo](INFO): Paused
2021-03-30T18:42:13.648Z,1617129733.648 [DockingServo](INFO): Paused
2021-03-30T18:42:14.067Z,1617129734.067 [DockingServo](INFO): Paused
2021-03-30T18:42:14.394Z,1617129734.394 [DockingServo](INFO): Paused
2021-03-30T18:42:14.787Z,1617129734.787 [DockingServo](INFO): Paused
2021-03-30T18:42:15.149Z,1617129735.149 [DockingServo](INFO): Paused
2021-03-30T18:42:15.542Z,1617129735.542 [DockingServo](INFO): Paused
2021-03-30T18:42:15.947Z,1617129735.947 [DockingServo](INFO): Paused
2021-03-30T18:42:16.351Z,1617129736.351 [DockingServo](INFO): Paused
2021-03-30T18:42:16.767Z,1617129736.767 [DockingServo](INFO): Paused
2021-03-30T18:42:17.162Z,1617129737.162 [DockingServo](INFO): Paused
2021-03-30T18:42:17.570Z,1617129737.570 [DockingServo](INFO): Paused
2021-03-30T18:42:17.970Z,1617129737.970 [DockingServo](INFO): Paused
2021-03-30T18:42:18.357Z,1617129738.357 [DockingServo](INFO): Paused
2021-03-30T18:42:18.767Z,1617129738.767 [DockingServo](INFO): Paused
2021-03-30T18:42:19.174Z,1617129739.174 [DockingServo](INFO): Paused
2021-03-30T18:42:19.585Z,1617129739.585 [DockingServo](INFO): Paused
2021-03-30T18:42:19.974Z,1617129739.974 [DockingServo](INFO): Paused
2021-03-30T18:42:20.382Z,1617129740.382 [DockingServo](INFO): Paused
2021-03-30T18:42:20.788Z,1617129740.788 [DockingServo](INFO): Paused
2021-03-30T18:42:21.191Z,1617129741.191 [DockingServo](INFO): Paused
2021-03-30T18:42:21.592Z,1617129741.592 [DockingServo](INFO): Paused
2021-03-30T18:42:22.034Z,1617129742.034 [DockingServo](INFO): Paused
2021-03-30T18:42:22.419Z,1617129742.419 [DockingServo](INFO): Paused
2021-03-30T18:42:22.831Z,1617129742.831 [DockingServo](INFO): Paused
2021-03-30T18:42:23.232Z,1617129743.232 [DockingServo](INFO): Paused
2021-03-30T18:42:23.613Z,1617129743.613 [DockingServo](INFO): Paused
2021-03-30T18:42:24.026Z,1617129744.026 [DockingServo](INFO): Paused
2021-03-30T18:42:24.431Z,1617129744.431 [DockingServo](INFO): Paused
2021-03-30T18:42:24.827Z,1617129744.827 [DockingServo](INFO): Paused
2021-03-30T18:42:25.228Z,1617129745.228 [DockingServo](INFO): Paused
2021-03-30T18:42:25.639Z,1617129745.639 [DockingServo](INFO): Paused
2021-03-30T18:42:26.055Z,1617129746.055 [DockingServo](INFO): Paused
2021-03-30T18:42:26.440Z,1617129746.440 [DockingServo](INFO): Paused
2021-03-30T18:42:26.902Z,1617129746.902 [DockingServo](INFO): Paused
2021-03-30T18:42:27.307Z,1617129747.307 [DockingServo](INFO): Paused
2021-03-30T18:42:27.751Z,1617129747.751 [DockingServo](INFO): Paused
2021-03-30T18:42:28.103Z,1617129748.103 [DockingServo](INFO): Paused
2021-03-30T18:42:28.511Z,1617129748.511 [DockingServo](INFO): Paused
2021-03-30T18:42:28.876Z,1617129748.876 [DockingServo](INFO): Paused
2021-03-30T18:42:29.269Z,1617129749.269 [DockingServo](INFO): Paused
2021-03-30T18:42:29.674Z,1617129749.674 [DockingServo](INFO): Paused
2021-03-30T18:42:30.079Z,1617129750.079 [DockingServo](INFO): Paused
2021-03-30T18:42:30.498Z,1617129750.498 [DockingServo](INFO): Paused
2021-03-30T18:42:30.882Z,1617129750.882 [DockingServo](INFO): Paused
2021-03-30T18:42:31.290Z,1617129751.290 [DockingServo](INFO): Paused
2021-03-30T18:42:31.417Z,1617129751.417 [CommandLine](IMPORTANT): got command configSet DAT.loadAtStartup 1.000000 bool persist
2021-03-30T18:42:31.418Z,1617129751.418 [CommandLine](IMPORTANT): configSet DAT.loadAtStartup requires a restart to take effect.
2021-03-30T18:42:31.702Z,1617129751.702 [DockingServo](INFO): Paused
2021-03-30T18:42:32.110Z,1617129752.110 [DockingServo](INFO): Paused
2021-03-30T18:42:32.528Z,1617129752.528 [DockingServo](INFO): Paused
2021-03-30T18:42:32.918Z,1617129752.918 [DockingServo](INFO): Paused
2021-03-30T18:42:33.330Z,1617129753.330 [DockingServo](INFO): Paused
2021-03-30T18:42:33.758Z,1617129753.758 [DockingServo](INFO): Paused
2021-03-30T18:42:34.113Z,1617129754.113 [DockingServo](INFO): Paused
2021-03-30T18:42:34.519Z,1617129754.519 [DockingServo](INFO): Paused
2021-03-30T18:42:34.934Z,1617129754.934 [DockingServo](INFO): Paused
2021-03-30T18:42:35.341Z,1617129755.341 [DockingServo](INFO): Paused
2021-03-30T18:42:35.360Z,1617129755.360 [CommandLine](IMPORTANT): got command restart application
2021-03-30T18:42:35.735Z,1617129755.735 [DockingServo](INFO): Paused
2021-03-30T18:42:36.136Z,1617129756.136 [DockingServo](INFO): Paused
2021-03-30T18:42:36.364Z,1617129756.364 [Supervisor](INFO): Stop Mission called by Supervisor::terminate
2021-03-30T18:42:36.366Z,1617129756.366 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2021-03-30T18:42:36.367Z,1617129756.367 [CommandLine ThreadHandler](INFO): Thread cancelled.
2021-03-30T18:42:36.524Z,1617129756.524 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2021-03-30T18:42:36.524Z,1617129756.524 [CommandLine ThreadHandler](INFO): Thread cancelled.
2021-03-30T18:42:36.525Z,1617129756.525 [CommandLine](INFO): Join timeout helper Thread ID is 1706
2021-03-30T18:42:36.535Z,1617129756.535 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2021-03-30T18:42:36.535Z,1617129756.535 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2021-03-30T18:42:36.535Z,1617129756.535 [NavChartDb](INFO): Join timeout helper Thread ID is 1707
2021-03-30T18:42:36.551Z,1617129756.551 [DockingServo](INFO): Paused
2021-03-30T18:42:36.692Z,1617129756.692 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2021-03-30T18:42:36.692Z,1617129756.692 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2021-03-30T18:42:36.704Z,1617129756.704 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2021-03-30T18:42:36.704Z,1617129756.704 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2021-03-30T18:42:36.704Z,1617129756.704 [Radio_Surface](INFO): Join timeout helper Thread ID is 1708
2021-03-30T18:42:36.956Z,1617129756.956 [DockingServo](INFO): Paused
2021-03-30T18:42:37.016Z,1617129757.016 [Radio_Surface](INFO): Powering down
2021-03-30T18:42:37.017Z,1617129757.017 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2021-03-30T18:42:37.017Z,1617129757.017 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2021-03-30T18:42:37.036Z,1617129757.036 [ComponentRegistry](INFO): Shutting down Onboard ThreadHandler
2021-03-30T18:42:37.036Z,1617129757.036 [Onboard ThreadHandler](INFO): Thread cancelled.
2021-03-30T18:42:37.036Z,1617129757.036 [Onboard](INFO): Join timeout helper Thread ID is 1709
2021-03-30T18:42:37.346Z,1617129757.346 [DockingServo](INFO): Paused
2021-03-30T18:42:37.636Z,1617129757.636 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2021-03-30T18:42:37.789Z,1617129757.789 [DockingServo](INFO): Paused
2021-03-30T18:42:38.175Z,1617129758.175 [DockingServo](INFO): Paused
2021-03-30T18:42:38.575Z,1617129758.575 [DockingServo](INFO): Paused
2021-03-30T18:42:38.987Z,1617129758.987 [DockingServo](INFO): Paused
2021-03-30T18:42:39.371Z,1617129759.371 [DockingServo](INFO): Paused
2021-03-30T18:42:39.783Z,1617129759.783 [DockingServo](INFO): Paused
2021-03-30T18:42:40.237Z,1617129760.237 [DockingServo](INFO): Paused
2021-03-30T18:42:40.272Z,1617129760.272 [Onboard ThreadHandler](INFO): Uninitializing protected caller thread.
2021-03-30T18:42:40.272Z,1617129760.272 [Onboard ThreadHandler](INFO): Thread cancelled.
2021-03-30T18:42:40.288Z,1617129760.288 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2021-03-30T18:42:40.288Z,1617129760.288 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2021-03-30T18:42:40.288Z,1617129760.288 [DataOverHttps](INFO): Join timeout helper Thread ID is 1710
2021-03-30T18:42:40.585Z,1617129760.585 [DockingServo](INFO): Paused
2021-03-30T18:42:40.648Z,1617129760.648 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2021-03-30T18:42:40.648Z,1617129760.648 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2021-03-30T18:42:40.665Z,1617129760.665 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2021-03-30T18:42:40.665Z,1617129760.665 [logger ThreadHandler](INFO): Thread cancelled.
2021-03-30T18:42:40.665Z,1617129760.665 [logger](INFO): Join timeout helper Thread ID is 1711
2021-03-30T18:42:40.692Z,1617129760.692 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2021-03-30T18:42:40.692Z,1617129760.692 [logger ThreadHandler](INFO): Thread cancelled.
2021-03-30T18:42:40.705Z,1617129760.705 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2021-03-30T18:42:40.705Z,1617129760.705 [CommandLine ThreadHandler](INFO): Thread cancelled.
2021-03-30T18:42:40.705Z,1617129760.705 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2021-03-30T18:42:40.705Z,1617129760.705 [controlThread ThreadHandler](INFO): Thread cancelled.
2021-03-30T18:42:40.705Z,1617129760.705 [controlThread](INFO): Join timeout helper Thread ID is 1712
2021-03-30T18:42:40.956Z,1617129760.956 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2021-03-30T18:42:40.956Z,1617129760.956 [controlThread](DEBUG): Uninitializing ControlThread
2021-03-30T18:42:40.957Z,1617129760.957 [AHRS_M2](INFO): Powering down
2021-03-30T18:42:41.029Z,1617129761.029 [NAL9602](INFO): Powering down
2021-03-30T18:42:41.030Z,1617129761.030 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2021-03-30T18:42:41.031Z,1617129761.031 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2021-03-30T18:42:41.032Z,1617129761.032 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2021-03-30T18:42:41.032Z,1617129761.032 [MissionManager](INFO): Uninitializing Mission Default
2021-03-30T18:42:41.035Z,1617129761.035 [MissionManager](INFO): Uninitializing Mission DockingModeTest
2021-03-30T18:42:41.039Z,1617129761.039 [MissionManager](INFO): Uninitializing Mission Startup
2021-03-30T18:42:41.039Z,1617129761.039 [Startup] Stopped
2021-03-30T18:42:41.039Z,1617129761.039 [Startup](DEBUG): Aggregate::uninitialize Startup
2021-03-30T18:42:41.040Z,1617129761.040 [Startup:A.GoToSurface] Stopped
2021-03-30T18:42:41.040Z,1617129761.040 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-03-30T18:42:41.040Z,1617129761.040 [Startup:StartupSatComms] Stopped
2021-03-30T18:42:41.040Z,1617129761.040 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2021-03-30T18:42:41.040Z,1617129761.040 [Startup:StartupSatComms:A] Stopped
2021-03-30T18:42:41.042Z,1617129761.042 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2021-03-30T18:42:41.042Z,1617129761.042 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2021-03-30T18:42:41.042Z,1617129761.042 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2021-03-30T18:42:41.042Z,1617129761.042 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2021-03-30T18:42:41.043Z,1617129761.043 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2021-03-30T18:42:41.043Z,1617129761.043 [BuoyancyServo](INFO): Powering down
2021-03-30T18:42:41.056Z,1617129761.056 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2021-03-30T18:42:41.056Z,1617129761.056 [ElevatorServo](INFO): Powering down
2021-03-30T18:42:41.057Z,1617129761.057 [DockingServo](DEBUG): Uninitialize Docking Servo.
2021-03-30T18:42:41.057Z,1617129761.057 [DockingServo](INFO): Powering down
2021-03-30T18:42:41.058Z,1617129761.058 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2021-03-30T18:42:41.058Z,1617129761.058 [RudderServo](INFO): Powering down
2021-03-30T18:42:41.059Z,1617129761.059 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2021-03-30T18:42:41.059Z,1617129761.059 [ThrusterServo](INFO): Powering down
2021-03-30T18:42:41.060Z,1617129761.060 [SBIT](DEBUG): Uninitialize SBIT Component.
2021-03-30T18:42:41.060Z,1617129761.060 [IBIT](DEBUG): Uninitialize IBIT Component.
2021-03-30T18:42:41.060Z,1617129761.060 [CBIT](DEBUG): Uninitialize CBIT Component.
2021-03-30T18:42:41.061Z,1617129761.061 [CBIT](DEBUG): Powering off loads.
2021-03-30T18:42:41.072Z,1617129761.072 [CBIT](DEBUG): Disabling WDT.
2021-03-30T18:42:41.084Z,1617129761.084 [CBIT](DEBUG): Opening all GF detection circuits.
2021-03-30T18:42:41.085Z,1617129761.085 [controlThread ThreadHandler](INFO): Thread cancelled.
2021-03-30T18:42:41.163Z,1617129761.163 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2021-03-30T18:42:41.166Z,1617129761.166 [Onboard ThreadHandler](INFO): Thread cancelled.
2021-03-30T18:42:41.171Z,1617129761.171 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2021-03-30T18:42:41.250Z,1617129761.250 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2021-03-30T18:42:41.309Z,1617129761.309 [logger ThreadHandler](INFO): Thread cancelled.