2019-05-24T20:33:47.754Z,1558730027.754 [Supervisor](DEBUG): Initializing supervisor.
2019-05-24T20:33:47.757Z,1558730027.757 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2019-05-24T20:33:47.757Z,1558730027.757 [SyncHandler](INFO): Protected caller Thread ID is 2331
2019-05-24T20:33:47.758Z,1558730027.758 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2019-05-24T20:33:47.759Z,1558730027.759 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2019-05-24T20:33:47.759Z,1558730027.759 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 2332
2019-05-24T20:33:47.762Z,1558730027.762 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2019-05-24T20:33:47.775Z,1558730027.775 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2019-05-24T20:33:47.776Z,1558730027.776 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2019-05-24T20:33:47.776Z,1558730027.776 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 2333
2019-05-24T20:33:47.777Z,1558730027.777 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2019-05-24T20:33:47.778Z,1558730027.778 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2019-05-24T20:33:47.778Z,1558730027.778 [logger ThreadHandler](INFO): Protected caller Thread ID is 2334
2019-05-24T20:33:47.780Z,1558730027.780 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2019-05-24T20:33:47.781Z,1558730027.781 [Supervisor](INFO): Looking for Config files in directory: Config/
2019-05-24T20:33:47.782Z,1558730027.782 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2019-05-24T20:33:47.875Z,1558730027.875 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2019-05-24T20:33:47.876Z,1558730027.876 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2019-05-24T20:33:48.489Z,1558730028.489 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2019-05-24T20:33:48.490Z,1558730028.490 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2019-05-24T20:33:48.587Z,1558730028.587 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2019-05-24T20:33:48.587Z,1558730028.587 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2019-05-24T20:33:48.724Z,1558730028.724 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2019-05-24T20:33:48.725Z,1558730028.725 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2019-05-24T20:33:48.803Z,1558730028.803 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2019-05-24T20:33:48.976Z,1558730028.976 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2019-05-24T20:33:48.976Z,1558730028.976 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2019-05-24T20:33:49.272Z,1558730029.272 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2019-05-24T20:33:49.273Z,1558730029.273 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2019-05-24T20:33:49.800Z,1558730029.800 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2019-05-24T20:33:49.801Z,1558730029.801 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2019-05-24T20:33:49.945Z,1558730029.945 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2019-05-24T20:33:49.945Z,1558730029.945 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2019-05-24T20:33:50.180Z,1558730030.180 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2019-05-24T20:33:50.181Z,1558730030.181 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2019-05-24T20:33:50.668Z,1558730030.668 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2019-05-24T20:33:50.669Z,1558730030.669 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2019-05-24T20:33:50.920Z,1558730030.920 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2019-05-24T20:33:50.921Z,1558730030.921 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2019-05-24T20:33:51.157Z,1558730031.157 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2019-05-24T20:33:51.158Z,1558730031.158 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2019-05-24T20:33:51.576Z,1558730031.576 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2019-05-24T20:33:51.577Z,1558730031.577 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2019-05-24T20:33:51.964Z,1558730031.964 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2019-05-24T20:33:51.966Z,1558730031.966 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-pontus/
2019-05-24T20:33:51.967Z,1558730031.967 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/secure.cfg
2019-05-24T20:33:52.048Z,1558730032.048 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Sensor.cfg
2019-05-24T20:33:52.237Z,1558730032.237 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Servo.cfg
2019-05-24T20:33:52.343Z,1558730032.343 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Simulator.cfg
2019-05-24T20:33:52.427Z,1558730032.427 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/logger.cfg
2019-05-24T20:33:52.591Z,1558730032.591 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/vehicle.cfg
2019-05-24T20:33:53.002Z,1558730033.002 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Battery.cfg
2019-05-24T20:33:53.489Z,1558730033.489 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2019-05-24T20:33:53.489Z,1558730033.489 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Navigation.cfg
2019-05-24T20:33:53.609Z,1558730033.609 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/BIT.cfg
2019-05-24T20:33:53.715Z,1558730033.715 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Science.cfg
2019-05-24T20:33:53.830Z,1558730033.830 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Control.cfg
2019-05-24T20:33:53.930Z,1558730033.930 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-pontus/root/
2019-05-24T20:33:53.931Z,1558730033.931 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2019-05-24T20:33:53.938Z,1558730033.938 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2019-05-24T20:33:54.041Z,1558730034.041 [VerticalControl](DEBUG): Construct VerticalControl.
2019-05-24T20:33:54.153Z,1558730034.153 [VerticalControl] Loaded
2019-05-24T20:33:54.154Z,1558730034.154 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2019-05-24T20:33:54.154Z,1558730034.154 [HorizontalControl](DEBUG): Construct HorizontalControl.
2019-05-24T20:33:54.221Z,1558730034.221 [HorizontalControl] Loaded
2019-05-24T20:33:54.222Z,1558730034.222 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2019-05-24T20:33:54.222Z,1558730034.222 [SpeedControl](DEBUG): Construct SpeedControl.
2019-05-24T20:33:54.228Z,1558730034.228 [SpeedControl] Loaded
2019-05-24T20:33:54.228Z,1558730034.228 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2019-05-24T20:33:54.229Z,1558730034.229 [LoopControl](DEBUG): Construct LoopControl.
2019-05-24T20:33:54.229Z,1558730034.229 [LoopControl] Loaded
2019-05-24T20:33:54.230Z,1558730034.230 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2019-05-24T20:33:54.230Z,1558730034.230 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2019-05-24T20:33:54.231Z,1558730034.231 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2019-05-24T20:33:54.270Z,1558730034.270 [DepthRateCalculator] Loaded
2019-05-24T20:33:54.271Z,1558730034.271 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2019-05-24T20:33:54.276Z,1558730034.276 [PitchRateCalculator] Loaded
2019-05-24T20:33:54.276Z,1558730034.276 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2019-05-24T20:33:54.311Z,1558730034.311 [SpeedCalculator] Loaded
2019-05-24T20:33:54.312Z,1558730034.312 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2019-05-24T20:33:54.349Z,1558730034.349 [TempGradientCalculator] Loaded
2019-05-24T20:33:54.350Z,1558730034.350 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2019-05-24T20:33:54.355Z,1558730034.355 [YawRateCalculator] Loaded
2019-05-24T20:33:54.355Z,1558730034.355 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2019-05-24T20:33:54.383Z,1558730034.383 [ElevatorOffsetCalculator] Loaded
2019-05-24T20:33:54.384Z,1558730034.384 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2019-05-24T20:33:54.384Z,1558730034.384 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2019-05-24T20:33:54.385Z,1558730034.385 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2019-05-24T20:33:54.411Z,1558730034.411 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2019-05-24T20:33:54.411Z,1558730034.411 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2019-05-24T20:33:54.477Z,1558730034.477 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2019-05-24T20:33:54.478Z,1558730034.478 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2019-05-24T20:33:54.799Z,1558730034.799 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2019-05-24T20:33:54.800Z,1558730034.800 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2019-05-24T20:33:54.895Z,1558730034.895 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2019-05-24T20:33:54.896Z,1558730034.896 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2019-05-24T20:33:55.272Z,1558730035.272 [DataOverHttps] Loaded
2019-05-24T20:33:55.272Z,1558730035.272 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2019-05-24T20:33:55.274Z,1558730035.274 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 408D04E0
2019-05-24T20:33:55.274Z,1558730035.274 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 2455
2019-05-24T20:33:55.287Z,1558730035.287 [Depth_Keller] Loaded
2019-05-24T20:33:55.287Z,1558730035.287 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2019-05-24T20:33:55.339Z,1558730035.339 [Micromodem] Loaded
2019-05-24T20:33:55.339Z,1558730035.339 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2019-05-24T20:33:55.472Z,1558730035.472 [NAL9602] Loaded
2019-05-24T20:33:55.473Z,1558730035.473 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2019-05-24T20:33:55.488Z,1558730035.488 [Onboard] Loaded
2019-05-24T20:33:55.488Z,1558730035.488 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2019-05-24T20:33:55.492Z,1558730035.492 [Radio_Surface] Loaded
2019-05-24T20:33:55.492Z,1558730035.492 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2019-05-24T20:33:55.493Z,1558730035.493 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 409004E0
2019-05-24T20:33:55.493Z,1558730035.493 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 2458
2019-05-24T20:33:57.142Z,1558730037.142 [BPC1] Loaded
2019-05-24T20:33:57.142Z,1558730037.142 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2019-05-24T20:33:57.143Z,1558730037.143 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2019-05-24T20:33:57.143Z,1558730037.143 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2019-05-24T20:33:57.253Z,1558730037.253 [DeadReckonUsingMultipleVelocitySources] Loaded
2019-05-24T20:33:57.254Z,1558730037.254 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2019-05-24T20:33:57.274Z,1558730037.274 [NavChart] Loaded
2019-05-24T20:33:57.274Z,1558730037.274 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2019-05-24T20:33:57.278Z,1558730037.278 [UniversalFixResidualReporter] Loaded
2019-05-24T20:33:57.279Z,1558730037.279 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2019-05-24T20:33:57.279Z,1558730037.279 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2019-05-24T20:33:57.280Z,1558730037.280 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2019-05-24T20:33:57.411Z,1558730037.411 [SBIT](DEBUG): Construct Startup Built In Test.
2019-05-24T20:33:57.422Z,1558730037.422 [SBIT] Loaded
2019-05-24T20:33:57.422Z,1558730037.422 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2019-05-24T20:33:57.423Z,1558730037.423 [IBIT](DEBUG): Construct Initiated Built In Test.
2019-05-24T20:33:57.434Z,1558730037.434 [IBIT] Loaded
2019-05-24T20:33:57.435Z,1558730037.435 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2019-05-24T20:33:57.438Z,1558730037.438 [CBIT](DEBUG): Construct Continuous Built In Test.
2019-05-24T20:33:57.609Z,1558730037.609 [CBIT] Loaded
2019-05-24T20:33:57.609Z,1558730037.609 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2019-05-24T20:33:57.610Z,1558730037.610 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2019-05-24T20:33:57.610Z,1558730037.610 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2019-05-24T20:33:57.850Z,1558730037.850 [BuoyancyServo] Loaded
2019-05-24T20:33:57.850Z,1558730037.850 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2019-05-24T20:33:57.870Z,1558730037.870 [ElevatorServo] Loaded
2019-05-24T20:33:57.870Z,1558730037.870 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2019-05-24T20:33:57.881Z,1558730037.881 [MassServo] Loaded
2019-05-24T20:33:57.881Z,1558730037.881 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2019-05-24T20:33:57.892Z,1558730037.892 [RudderServo] Loaded
2019-05-24T20:33:57.892Z,1558730037.892 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2019-05-24T20:33:57.903Z,1558730037.903 [ThrusterServo] Loaded
2019-05-24T20:33:57.903Z,1558730037.903 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2019-05-24T20:33:57.904Z,1558730037.904 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2019-05-24T20:33:57.904Z,1558730037.904 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2019-05-24T20:33:57.917Z,1558730037.917 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2019-05-24T20:33:57.917Z,1558730037.917 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2019-05-24T20:33:58.158Z,1558730038.158 [CTD_NeilBrown] Loaded
2019-05-24T20:33:58.158Z,1558730038.158 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2019-05-24T20:33:58.159Z,1558730038.159 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 40A7C4E0
2019-05-24T20:33:58.160Z,1558730038.160 [CTD_NeilBrown ThreadHandler](INFO): Protected caller Thread ID is 2473
2019-05-24T20:33:58.211Z,1558730038.211 [PAR_Licor] Loaded
2019-05-24T20:33:58.211Z,1558730038.211 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2019-05-24T20:33:58.258Z,1558730038.258 [WetLabsBB2FL] Loaded
2019-05-24T20:33:58.259Z,1558730038.259 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2019-05-24T20:33:58.260Z,1558730038.260 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 40AAC4E0
2019-05-24T20:33:58.260Z,1558730038.260 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 2476
2019-05-24T20:33:58.261Z,1558730038.261 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2019-05-24T20:33:58.264Z,1558730038.264 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2019-05-24T20:33:58.265Z,1558730038.265 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2019-05-24T20:33:58.272Z,1558730038.272 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2019-05-24T20:33:58.273Z,1558730038.273 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40ADC4E0
2019-05-24T20:33:58.273Z,1558730038.273 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 2477
2019-05-24T20:33:58.278Z,1558730038.278 [Supervisor](INFO): Main Thread ID is 2328
2019-05-24T20:33:58.278Z,1558730038.278 [Supervisor](DEBUG): Running supervisor.
2019-05-24T20:33:58.279Z,1558730038.279 [CommandLine ThreadHandler](INFO): Handler Thread ID is 2478
2019-05-24T20:33:58.281Z,1558730038.281 [controlThread ThreadHandler](INFO): Handler Thread ID is 2479
2019-05-24T20:33:58.281Z,1558730038.281 [controlThread](DEBUG): Initializing ControlThread
2019-05-24T20:33:58.282Z,1558730038.282 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2019-05-24T20:33:58.284Z,1558730038.284 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2019-05-24T20:33:58.285Z,1558730038.285 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2019-05-24T20:33:58.285Z,1558730038.285 [LoopControl](DEBUG): Initialize LoopControlComponent.
2019-05-24T20:33:58.286Z,1558730038.286 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2019-05-24T20:33:58.286Z,1558730038.286 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2019-05-24T20:33:58.286Z,1558730038.286 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2019-05-24T20:33:58.287Z,1558730038.287 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2019-05-24T20:33:58.287Z,1558730038.287 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2019-05-24T20:33:58.287Z,1558730038.287 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2019-05-24T20:33:58.290Z,1558730038.290 [NavChart](DEBUG): Initialize NavChart Navigation.
2019-05-24T20:33:58.291Z,1558730038.291 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2019-05-24T20:33:58.291Z,1558730038.291 [SBIT](INFO): Initialize SBIT Component.
2019-05-24T20:33:58.291Z,1558730038.291 [SBIT](IMPORTANT): git: 2019-05-01-19-g6ef4ecc
2019-05-24T20:33:58.292Z,1558730038.292 [SBIT](INFO): git hash: 6ef4ecc926d3cc84e5878e2d73d98fd38ff7dcf7
2019-05-24T20:33:58.292Z,1558730038.292 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2019-05-24T20:33:58.292Z,1558730038.292 [SBIT](IMPORTANT): Kernel Version:#1 PREEMPT Thu Feb 21 11:17:40 PST 2019
2019-05-24T20:33:58.293Z,1558730038.293 [SBIT](INFO): Beginning SBIT in 28.000000 seconds.
2019-05-24T20:33:58.294Z,1558730038.294 [IBIT](INFO): Initialize IBIT Component.
2019-05-24T20:33:58.295Z,1558730038.295 [CBIT](DEBUG): Initialize CBIT Component.
2019-05-24T20:33:58.296Z,1558730038.296 [logger ThreadHandler](INFO): Handler Thread ID is 2480
2019-05-24T20:33:58.309Z,1558730038.309 [CBIT](DEBUG): Initialized mux pins.
2019-05-24T20:33:58.309Z,1558730038.309 [CBIT](DEBUG): Initializing the watchdog timer.
2019-05-24T20:33:58.313Z,1558730038.313 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 2481
2019-05-24T20:33:58.314Z,1558730038.314 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2019-05-24T20:33:58.321Z,1558730038.321 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 2482
2019-05-24T20:33:58.329Z,1558730038.329 [CTD_NeilBrown ThreadHandler](INFO): Handler Thread ID is 2483
2019-05-24T20:33:58.333Z,1558730038.333 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2019-05-24T20:33:58.333Z,1558730038.333 [CBIT](DEBUG): Initializing heartbeat.
2019-05-24T20:33:58.341Z,1558730038.341 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 2484
2019-05-24T20:33:58.342Z,1558730038.342 [WetLabsBB2FL](INFO): Powering down
2019-05-24T20:33:58.365Z,1558730038.365 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 2485
2019-05-24T20:33:58.368Z,1558730038.368 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2019-05-24T20:33:58.368Z,1558730038.368 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2019-05-24T20:33:58.369Z,1558730038.369 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2019-05-24T20:33:58.369Z,1558730038.369 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2019-05-24T20:33:58.369Z,1558730038.369 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2019-05-24T20:33:58.370Z,1558730038.370 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2019-05-24T20:33:58.370Z,1558730038.370 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2019-05-24T20:33:58.370Z,1558730038.370 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2019-05-24T20:33:58.370Z,1558730038.370 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2019-05-24T20:33:58.370Z,1558730038.370 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2019-05-24T20:33:58.370Z,1558730038.370 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2019-05-24T20:33:58.371Z,1558730038.371 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2019-05-24T20:33:58.371Z,1558730038.371 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2019-05-24T20:33:58.371Z,1558730038.371 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2019-05-24T20:33:58.371Z,1558730038.371 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2019-05-24T20:33:58.371Z,1558730038.371 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2019-05-24T20:33:58.405Z,1558730038.405 [CBIT](DEBUG): Deactivating GF circuits.
2019-05-24T20:33:58.405Z,1558730038.405 [CBIT](DEBUG): Deactivating emergency mode.
2019-05-24T20:33:58.441Z,1558730038.441 [CBIT](DEBUG): Backplane powered.
2019-05-24T20:33:58.446Z,1558730038.446 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2019-05-24T20:33:58.459Z,1558730038.459 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2019-05-24T20:33:58.495Z,1558730038.495 [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>


2019-05-24T20:33:58.496Z,1558730038.496 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2019-05-24T20:33:58.604Z,1558730038.604 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2019-05-24T20:33:58.606Z,1558730038.606 [Default:A.Wait](DEBUG): Construct Wait.
2019-05-24T20:33:58.607Z,1558730038.607 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-05-24T20:33:58.646Z,1558730038.646 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2019-05-24T20:33:58.649Z,1558730038.649 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2019-05-24T20:33:58.665Z,1558730038.665 [Default:E.Execute](DEBUG): Construct Execute.
2019-05-24T20:33:58.693Z,1558730038.693 [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>


2019-05-24T20:33:58.697Z,1558730038.697 [controlThread](DEBUG): Component order: CycleStarter,Depth_Keller,Micromodem,NAL9602,Onboard,BPC1,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,
2019-05-24T20:33:58.704Z,1558730038.704 [Depth_Keller](ERROR): Pressure reading out of range: 1925.893799 decibar
2019-05-24T20:33:58.725Z,1558730038.725 [Radio_Surface](INFO): Powering up
2019-05-24T20:33:58.782Z,1558730038.782 [DepthRateCalculator](ERROR): Depth measurement is not active
2019-05-24T20:33:58.827Z,1558730038.827 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2019-05-24T20:33:58.833Z,1558730038.833 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2019-05-24T20:33:58.834Z,1558730038.834 [ElevatorServo](DEBUG): Initializing EZServoServo.
2019-05-24T20:33:58.841Z,1558730038.841 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2019-05-24T20:33:58.842Z,1558730038.842 [MassServo](DEBUG): Initializing EZServoServo.
2019-05-24T20:33:58.857Z,1558730038.857 [MassServo](DEBUG): Initializing MassServo.
2019-05-24T20:33:58.858Z,1558730038.858 [RudderServo](DEBUG): Initializing EZServoServo.
2019-05-24T20:33:58.865Z,1558730038.865 [RudderServo](DEBUG): Initializing RudderServo.
2019-05-24T20:33:58.866Z,1558730038.866 [ThrusterServo](DEBUG): Initializing EZServoServo.
2019-05-24T20:33:58.873Z,1558730038.873 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2019-05-24T20:33:59.162Z,1558730039.162 [Micromodem](INFO): Powering up
2019-05-24T20:33:59.162Z,1558730039.162 [Micromodem](DEBUG): Initializing Micromodem.
2019-05-24T20:33:59.221Z,1558730039.221 [DepthRateCalculator](ERROR): Depth measurement is not active
2019-05-24T20:34:03.959Z,1558730043.959 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2019-05-24T20:34:04.785Z,1558730044.785 [Radio_Surface](INFO): Powering down
2019-05-24T20:34:05.979Z,1558730045.979 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2019-05-24T20:34:05.979Z,1558730045.979 [Micromodem](INFO): Nmea out: $CCCFG,SRC,7*37

2019-05-24T20:34:16.099Z,1558730056.099 [Micromodem](INFO): Nmea in: $CACFG,SRC,7*35

2019-05-24T20:34:16.099Z,1558730056.099 [Micromodem](INFO): Nmea out: $CCCFG,BND,1*3B

2019-05-24T20:34:16.910Z,1558730056.910 [Micromodem](INFO): Nmea in: $CACFG,BND,1*39

2019-05-24T20:34:16.911Z,1558730056.911 [Micromodem](INFO): Nmea out: $CCCLK,2019,9-,5-,4T,0:,4:*26

2019-05-24T20:34:25.791Z,1558730065.791 [NAL9602](INFO): Powering up NAL9602
2019-05-24T20:34:26.699Z,1558730066.699 [SBIT](IMPORTANT): Beginning Startup BIT
2019-05-24T20:34:26.703Z,1558730066.703 [CBIT](IMPORTANT): Beginning ground fault scan
2019-05-24T20:34:27.411Z,1558730067.411 [Micromodem](INFO): Nmea in: $CACLK,2019,09,05,04,00,04*40

2019-05-24T20:34:28.849Z,1558730068.849 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2019-05-24T20:34:37.621Z,1558730077.621 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): 0.002239
CHAN A1 (24V): 0.003113
CHAN A2 (12V): -0.006785
CHAN A3 (5V): -0.002155
CHAN B0 (3.3V): 0.000672
CHAN B1 (3.15aV): -0.000249
CHAN B2 (3.15bV): -0.000547
CHAN B3 (GND): 0.001824
OPEN: -0.000529
Full Scale Calc: 4.765 mA, -1.589 mA
2019-05-24T20:34:40.047Z,1558730080.047 [SBIT](FAULT): Mass: EXPECTED:0.010000 ACTUAL:0.006792
2019-05-24T20:34:46.254Z,1558730086.254 [CommandLine](IMPORTANT): got command get depth
2019-05-24T20:34:46.254Z,1558730086.254 [CommandLine](IMPORTANT): depth 0.795345 m
2019-05-24T20:34:46.431Z,1558730086.431 [NAL9602](ERROR): NAL9602 initialization error.
2019-05-24T20:34:46.431Z,1558730086.431 [NAL9602] Communications Fault, FailCount= 1
2019-05-24T20:34:46.431Z,1558730086.431 [NAL9602](ERROR): Communications Fault
2019-05-24T20:34:46.578Z,1558730086.578 [CBIT](ERROR): Communications Fault in component: NAL9602
2019-05-24T20:34:46.831Z,1558730086.831 [NAL9602](INFO): Powering down
2019-05-24T20:34:48.014Z,1558730088.014 [CBIT](INFO): Clearing failed state for component NAL9602
2019-05-24T20:34:48.014Z,1558730088.014 [NAL9602] No Fault, FailCount= 1
2019-05-24T20:34:49.659Z,1558730089.659 [Micromodem](INFO): Nmea in: $CADQF,186,2*5C

2019-05-24T20:34:50.062Z,1558730090.062 [Micromodem](INFO): Nmea in: $CAMSG,BAD_CRC,2*23

2019-05-24T20:34:53.293Z,1558730093.293 [Micromodem](INFO): Nmea in: $CACST,1,040035.0000,1,162,-1,0110,0112,250,03,03,04,03,-1,-1,-1,0,2,1,1,-1,-1,-1,-1,00,186,0.0,-1*4E

2019-05-24T20:35:13.218Z,1558730113.218 [CommandLine](IMPORTANT): got command get VerticalControl.surfaceThreshold
2019-05-24T20:35:13.219Z,1558730113.219 [CommandLine](IMPORTANT): VerticalControl.surfaceThreshold 0.500000 m
2019-05-24T20:35:17.210Z,1558730117.210 [NAL9602](INFO): Powering up NAL9602
2019-05-24T20:35:19.507Z,1558730119.507 [CommandLine](IMPORTANT): got command get depth
2019-05-24T20:35:19.508Z,1558730119.508 [CommandLine](IMPORTANT): depth 0.807196 m
2019-05-24T20:35:20.891Z,1558730120.891 [SBIT](CRITICAL): SBIT FAILED
2019-05-24T20:35:20.940Z,1558730120.940 [CommandLine](IMPORTANT): got command configSet list
2019-05-24T20:35:20.940Z,1558730120.940 [CommandLine](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2019-05-24T20:35:20.942Z,1558730120.942 [CommandLine](IMPORTANT): AHRS_M2.loadAtStartup=0 bool;

2019-05-24T20:35:20.942Z,1558730120.942 [CommandLine](IMPORTANT): BPC1.batteryMissingStickThreshold=0 count;

2019-05-24T20:35:20.943Z,1558730120.943 [CommandLine](IMPORTANT): CBIT.vehicleOpen=1 bool;

2019-05-24T20:35:20.943Z,1558730120.943 [CommandLine](IMPORTANT): CTD_Seabird.loadAtStartup=0 bool;

2019-05-24T20:35:20.943Z,1558730120.943 [CommandLine](IMPORTANT): DropWeight.loadAtStartup=0 bool;

2019-05-24T20:35:20.943Z,1558730120.943 [CommandLine](IMPORTANT): PAR_Licor.loadAtStartup=1 bool;

2019-05-24T20:35:20.945Z,1558730120.945 [CommandLine](IMPORTANT): VerticalControl.surfaceThreshold=0.5 meter;

2019-05-24T20:35:20.951Z,1558730120.951 [CommandLine](FAULT): Scheduling is paused
2019-05-24T20:35:20.952Z,1558730120.952 [CBIT](INFO): Critical error at 20190524T203520
2019-05-24T20:35:20.952Z,1558730120.952 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2019-05-24T20:35:21.311Z,1558730121.311 [MissionManager](IMPORTANT): Started mission Startup
2019-05-24T20:35:21.311Z,1558730121.311 [Startup] Running Loop=1
2019-05-24T20:35:21.311Z,1558730121.311 [Startup](DEBUG): Aggregate::initialize Startup
2019-05-24T20:35:21.311Z,1558730121.311 [Startup:A.GoToSurface] Running Loop=1
2019-05-24T20:35:21.311Z,1558730121.311 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-05-24T20:35:21.312Z,1558730121.312 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-05-24T20:35:21.312Z,1558730121.312 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-05-24T20:35:21.313Z,1558730121.313 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-05-24T20:35:21.313Z,1558730121.313 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-05-24T20:35:21.314Z,1558730121.314 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-05-24T20:35:22.005Z,1558730122.005 [Radio_Surface](INFO): Powering up
2019-05-24T20:35:25.720Z,1558730125.720 [Micromodem](INFO): Nmea in: $CADQF,188,2*52

2019-05-24T20:35:26.123Z,1558730126.123 [Micromodem](INFO): Nmea in: $CAMSG,BAD_CRC,2*23

2019-05-24T20:35:27.469Z,1558730127.469 [DataOverHttps](INFO): Radio surface powered ON.
2019-05-24T20:35:29.760Z,1558730129.760 [Micromodem](INFO): Nmea in: $CACST,1,040111.0000,1,306,-5,0114,0112,250,03,03,05,05,-1,-1,-1,0,2,1,1,-1,-1,-1,-1,00,188,-0.0,-1*6D

2019-05-24T20:35:37.839Z,1558730137.839 [NAL9602](ERROR): NAL9602 initialization error.
2019-05-24T20:35:37.839Z,1558730137.839 [NAL9602] Communications Fault, FailCount= 2
2019-05-24T20:35:37.839Z,1558730137.839 [NAL9602](ERROR): Communications Fault
2019-05-24T20:35:37.922Z,1558730137.922 [CBIT](ERROR): Communications Fault in component: NAL9602
2019-05-24T20:35:38.242Z,1558730138.242 [NAL9602](INFO): Powering down
2019-05-24T20:35:39.144Z,1558730139.144 [CBIT](INFO): Clearing failed state for component NAL9602
2019-05-24T20:35:39.145Z,1558730139.145 [NAL9602] No Fault, FailCount= 2
2019-05-24T20:35:58.497Z,1558730158.497 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-05-24T20:35:58.497Z,1558730158.497 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2019-05-24T20:35:58.498Z,1558730158.498 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-05-24T20:35:58.522Z,1558730158.522 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-05-24T20:35:58.923Z,1558730158.923 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-05-24T20:35:58.923Z,1558730158.923 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2019-05-24T20:36:05.266Z,1558730165.266 [CommandLine](IMPORTANT): got command run ./Missions/Insert/MicromodemComms.xml
2019-05-24T20:36:05.267Z,1558730165.267 [MissionManager](INFO): Loading Mission: ./Missions/Insert/MicromodemComms.xml
2019-05-24T20:36:05.284Z,1558730165.284 [MissionManager](INFO): DefineArg MicromodemComms.Timeout = 10.000000 min
2019-05-24T20:36:05.288Z,1558730165.288 [MissionManager](INFO): DefineArg MicromodemComms.CommsInterval = 5.000000 min
2019-05-24T20:36:05.293Z,1558730165.293 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Aggregate 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="MicromodemComms">
       
    <Description>
        Triggers periodic uModem comms.
    </Description>

    <DefineArg Name="Timeout"><Units:minute/><Value>10</Value></DefineArg>
    
    <DefineArg Name="CommsInterval"><Description>
        The timing is based on the variable Universal:platform_communications
    </Description><Units:minute/><Value>5</Value></DefineArg>
    
    <When>
        <Called/>
        <Or>
            <Elapsed><Universal:platform_communications/></Elapsed>
            <Gt>
                <Arg Name="CommsInterval"/>
            </Gt>
        </Or>
    </When>

    <Aggregate Id="CheckIn">

        <Sequence/>

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

    </Aggregate>

</Aggregate>


2019-05-24T20:36:05.295Z,1558730165.295 [CommandLine](IMPORTANT): Running ./Missions/Insert/MicromodemComms.xml
2019-05-24T20:36:08.550Z,1558730168.550 [NAL9602](INFO): Powering up NAL9602
2019-05-24T20:36:29.179Z,1558730189.179 [NAL9602](ERROR): NAL9602 initialization error.
2019-05-24T20:36:29.179Z,1558730189.179 [NAL9602] Communications Fault, FailCount= 3
2019-05-24T20:36:29.179Z,1558730189.179 [NAL9602](ERROR): Communications Fault
2019-05-24T20:36:29.270Z,1558730189.270 [CBIT](ERROR): Communications Fault in component: NAL9602
2019-05-24T20:36:29.595Z,1558730189.595 [NAL9602](INFO): Powering down
2019-05-24T20:36:30.434Z,1558730190.434 [CBIT](INFO): Clearing failed state for component NAL9602
2019-05-24T20:36:30.434Z,1558730190.434 [NAL9602] No Fault, FailCount= 3
2019-05-24T20:36:42.503Z,1558730202.503 [Micromodem](INFO): Nmea in: $CADQF,190,2*5B

2019-05-24T20:36:42.906Z,1558730202.906 [Micromodem](INFO): Nmea in: $CAMSG,BAD_CRC,2*23

2019-05-24T20:36:46.140Z,1558730206.140 [Micromodem](INFO): Nmea in: $CACST,1,040228.0000,1,305,-5,0109,0112,250,03,03,05,04,-1,-1,-1,0,2,1,1,-1,-1,-1,-1,00,190,0.0,-1*4E

2019-05-24T20:36:48.160Z,1558730208.160 [Micromodem](INFO): Nmea in: $CADQF,187,2*5D

2019-05-24T20:36:48.572Z,1558730208.572 [Micromodem](INFO): Nmea in: $CAMSG,BAD_CRC,2*23

2019-05-24T20:36:51.806Z,1558730211.806 [Micromodem](INFO): Nmea in: $CACST,1,040234.0000,1,86,-4,0108,0112,250,03,03,04,05,-1,-1,-1,0,2,1,1,-1,-1,-1,-1,00,187,-0.0,-1*50

2019-05-24T20:36:59.875Z,1558730219.875 [NAL9602](INFO): Powering up NAL9602
2019-05-24T20:37:02.704Z,1558730222.704 [Micromodem](INFO): Nmea in: $CADQF,194,2*5F

2019-05-24T20:37:03.106Z,1558730223.106 [Micromodem](INFO): Nmea in: $CAMSG,BAD_CRC,2*23

2019-05-24T20:37:06.748Z,1558730226.748 [Micromodem](INFO): Nmea in: $CACST,1,040248.0000,1,368,-4,0110,0112,250,03,03,05,05,-1,-1,-1,0,2,1,1,-1,-1,-1,-1,00,194,0.0,-1*4F

2019-05-24T20:37:20.479Z,1558730240.479 [NAL9602](ERROR): NAL9602 initialization error.
2019-05-24T20:37:20.479Z,1558730240.479 [NAL9602] Communications Fault, FailCount= 4
2019-05-24T20:37:20.479Z,1558730240.479 [NAL9602](ERROR): Communications Fault
2019-05-24T20:37:20.600Z,1558730240.600 [CBIT](ERROR): Communications Fault in component: NAL9602
2019-05-24T20:37:20.883Z,1558730240.883 [NAL9602](INFO): Powering down
2019-05-24T20:37:21.730Z,1558730241.730 [CBIT](INFO): Clearing failed state for component NAL9602
2019-05-24T20:37:21.730Z,1558730241.730 [NAL9602] No Fault, FailCount= 4
2019-05-24T20:37:40.716Z,1558730260.716 [Micromodem](INFO): Nmea in: $CADQF,185,2*5F

2019-05-24T20:37:41.126Z,1558730261.126 [Micromodem](INFO): Nmea in: $CAMSG,BAD_CRC,2*23

2019-05-24T20:37:44.344Z,1558730264.344 [Micromodem](INFO): Nmea in: $CACST,1,040326.0000,1,312,-5,0113,0112,250,03,03,05,05,-1,-1,-1,0,2,1,1,-1,-1,-1,-1,00,185,0.0,-1*49

2019-05-24T20:37:51.212Z,1558730271.212 [Micromodem](INFO): Nmea in: $CADQF,186,2*5C

2019-05-24T20:37:51.212Z,1558730271.212 [NAL9602](INFO): Powering up NAL9602
2019-05-24T20:37:51.614Z,1558730271.614 [Micromodem](INFO): Nmea in: $CAMSG,BAD_CRC,2*23

2019-05-24T20:37:54.848Z,1558730274.848 [Micromodem](INFO): Nmea in: $CACST,1,040337.0000,1,369,-4,0111,0112,250,03,03,05,05,-1,-1,-1,0,2,1,1,-1,-1,-1,-1,00,186,0.0,-1*45

2019-05-24T20:37:57.798Z,1558730277.798 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.011982
2019-05-24T20:37:59.753Z,1558730279.753 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-05-24T20:37:59.753Z,1558730279.753 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2019-05-24T20:37:59.753Z,1558730279.753 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-05-24T20:37:59.765Z,1558730279.765 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-05-24T20:38:00.320Z,1558730280.320 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-05-24T20:38:00.320Z,1558730280.320 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2019-05-24T20:38:04.810Z,1558730284.810 [CommandLine](IMPORTANT): got command quit
2019-05-24T20:38:05.817Z,1558730285.817 [Supervisor](INFO): Stop Mission called by Supervisor::terminate
2019-05-24T20:38:05.817Z,1558730285.817 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2019-05-24T20:38:05.817Z,1558730285.817 [CommandLine ThreadHandler](INFO): Thread cancelled.
2019-05-24T20:38:06.017Z,1558730286.017 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2019-05-24T20:38:06.017Z,1558730286.017 [CommandLine ThreadHandler](INFO): Thread cancelled.
2019-05-24T20:38:06.018Z,1558730286.018 [CommandLine](INFO): Join timeout helper Thread ID is 3890
2019-05-24T20:38:06.018Z,1558730286.018 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2019-05-24T20:38:06.018Z,1558730286.018 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2019-05-24T20:38:06.019Z,1558730286.019 [NavChartDb](INFO): Join timeout helper Thread ID is 3891
2019-05-24T20:38:06.197Z,1558730286.197 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2019-05-24T20:38:06.197Z,1558730286.197 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2019-05-24T20:38:06.201Z,1558730286.201 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2019-05-24T20:38:06.201Z,1558730286.201 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2019-05-24T20:38:06.202Z,1558730286.202 [WetLabsBB2FL](INFO): Join timeout helper Thread ID is 3893
2019-05-24T20:38:06.577Z,1558730286.577 [WetLabsBB2FL ThreadHandler](INFO): Uninitializing protected caller thread.
2019-05-24T20:38:06.578Z,1558730286.578 [WetLabsBB2FL](INFO): Powering down
2019-05-24T20:38:06.578Z,1558730286.578 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2019-05-24T20:38:06.581Z,1558730286.581 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2019-05-24T20:38:06.581Z,1558730286.581 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2019-05-24T20:38:06.581Z,1558730286.581 [CTD_NeilBrown](INFO): Join timeout helper Thread ID is 3896
2019-05-24T20:38:06.757Z,1558730286.757 [CTD_NeilBrown ThreadHandler](INFO): Uninitializing protected caller thread.
2019-05-24T20:38:06.757Z,1558730286.757 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2019-05-24T20:38:06.765Z,1558730286.765 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2019-05-24T20:38:06.765Z,1558730286.765 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2019-05-24T20:38:06.765Z,1558730286.765 [Radio_Surface](INFO): Join timeout helper Thread ID is 3898
2019-05-24T20:38:06.865Z,1558730286.865 [Radio_Surface](INFO): Powering down
2019-05-24T20:38:06.866Z,1558730286.866 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2019-05-24T20:38:06.866Z,1558730286.866 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2019-05-24T20:38:06.886Z,1558730286.886 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2019-05-24T20:38:06.886Z,1558730286.886 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2019-05-24T20:38:06.887Z,1558730286.887 [DataOverHttps](INFO): Join timeout helper Thread ID is 3899
2019-05-24T20:38:07.105Z,1558730287.105 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2019-05-24T20:38:07.105Z,1558730287.105 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2019-05-24T20:38:07.126Z,1558730287.126 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2019-05-24T20:38:07.126Z,1558730287.126 [logger ThreadHandler](INFO): Thread cancelled.
2019-05-24T20:38:07.126Z,1558730287.126 [logger](INFO): Join timeout helper Thread ID is 3902
2019-05-24T20:38:07.189Z,1558730287.189 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2019-05-24T20:38:07.189Z,1558730287.189 [logger ThreadHandler](INFO): Thread cancelled.
2019-05-24T20:38:07.206Z,1558730287.206 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2019-05-24T20:38:07.206Z,1558730287.206 [CommandLine ThreadHandler](INFO): Thread cancelled.
2019-05-24T20:38:07.206Z,1558730287.206 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2019-05-24T20:38:07.206Z,1558730287.206 [controlThread ThreadHandler](INFO): Thread cancelled.
2019-05-24T20:38:07.206Z,1558730287.206 [controlThread](INFO): Join timeout helper Thread ID is 3903
2019-05-24T20:38:07.377Z,1558730287.377 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2019-05-24T20:38:07.377Z,1558730287.377 [controlThread](DEBUG): Uninitializing ControlThread
2019-05-24T20:38:07.378Z,1558730287.378 [Micromodem](INFO): Powering down
2019-05-24T20:38:07.473Z,1558730287.473 [NAL9602](INFO): Powering down
2019-05-24T20:38:07.475Z,1558730287.475 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2019-05-24T20:38:07.476Z,1558730287.476 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2019-05-24T20:38:07.477Z,1558730287.477 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2019-05-24T20:38:07.478Z,1558730287.478 [MissionManager](INFO): Uninitializing Mission Default
2019-05-24T20:38:07.480Z,1558730287.480 [MissionManager](INFO): Uninitializing Mission MicromodemComms
2019-05-24T20:38:07.481Z,1558730287.481 [MissionManager](INFO): Uninitializing Mission Startup
2019-05-24T20:38:07.481Z,1558730287.481 [Startup] Stopped
2019-05-24T20:38:07.481Z,1558730287.481 [Startup](DEBUG): Aggregate::uninitialize Startup
2019-05-24T20:38:07.481Z,1558730287.481 [Startup:A.GoToSurface] Stopped
2019-05-24T20:38:07.481Z,1558730287.481 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-05-24T20:38:07.482Z,1558730287.482 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2019-05-24T20:38:07.483Z,1558730287.483 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2019-05-24T20:38:07.483Z,1558730287.483 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2019-05-24T20:38:07.483Z,1558730287.483 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2019-05-24T20:38:07.483Z,1558730287.483 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2019-05-24T20:38:07.484Z,1558730287.484 [BuoyancyServo](INFO): Powering down
2019-05-24T20:38:07.497Z,1558730287.497 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2019-05-24T20:38:07.497Z,1558730287.497 [ElevatorServo](INFO): Powering down
2019-05-24T20:38:07.498Z,1558730287.498 [MassServo](DEBUG): Uninitialize Mass Servo.
2019-05-24T20:38:07.498Z,1558730287.498 [MassServo](INFO): Powering down
2019-05-24T20:38:07.499Z,1558730287.499 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2019-05-24T20:38:07.499Z,1558730287.499 [RudderServo](INFO): Powering down
2019-05-24T20:38:07.500Z,1558730287.500 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2019-05-24T20:38:07.500Z,1558730287.500 [ThrusterServo](INFO): Powering down
2019-05-24T20:38:07.500Z,1558730287.500 [SBIT](DEBUG): Uninitialize SBIT Component.
2019-05-24T20:38:07.501Z,1558730287.501 [IBIT](DEBUG): Uninitialize IBIT Component.
2019-05-24T20:38:07.501Z,1558730287.501 [CBIT](DEBUG): Uninitialize CBIT Component.
2019-05-24T20:38:07.501Z,1558730287.501 [CBIT](DEBUG): Powering off loads.
2019-05-24T20:38:07.513Z,1558730287.513 [CBIT](DEBUG): Disabling WDT.
2019-05-24T20:38:07.525Z,1558730287.525 [CBIT](DEBUG): Opening all GF detection circuits.
2019-05-24T20:38:07.526Z,1558730287.526 [controlThread ThreadHandler](INFO): Thread cancelled.
2019-05-24T20:38:07.614Z,1558730287.614 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2019-05-24T20:38:07.622Z,1558730287.622 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2019-05-24T20:38:07.708Z,1558730287.708 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2019-05-24T20:38:07.711Z,1558730287.711 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2019-05-24T20:38:07.720Z,1558730287.720 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2019-05-24T20:38:07.775Z,1558730287.775 [logger ThreadHandler](INFO): Thread cancelled.