2019-03-25T22:41:51.701Z,1553553711.701 [Supervisor](DEBUG): Initializing supervisor.
2019-03-25T22:41:51.703Z,1553553711.703 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2019-03-25T22:41:51.704Z,1553553711.704 [SyncHandler](INFO): Protected caller Thread ID is 806
2019-03-25T22:41:51.704Z,1553553711.704 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2019-03-25T22:41:51.705Z,1553553711.705 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2019-03-25T22:41:51.706Z,1553553711.706 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 807
2019-03-25T22:41:51.708Z,1553553711.708 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2019-03-25T22:41:51.720Z,1553553711.720 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2019-03-25T22:41:51.721Z,1553553711.721 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2019-03-25T22:41:51.721Z,1553553711.721 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 808
2019-03-25T22:41:51.722Z,1553553711.722 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2019-03-25T22:41:51.723Z,1553553711.723 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2019-03-25T22:41:51.723Z,1553553711.723 [logger ThreadHandler](INFO): Protected caller Thread ID is 809
2019-03-25T22:41:51.725Z,1553553711.725 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2019-03-25T22:41:51.726Z,1553553711.726 [Supervisor](INFO): Looking for Config files in directory: Config/
2019-03-25T22:41:51.729Z,1553553711.729 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2019-03-25T22:41:52.150Z,1553553712.150 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2019-03-25T22:41:52.152Z,1553553712.152 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2019-03-25T22:41:52.251Z,1553553712.251 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2019-03-25T22:41:52.253Z,1553553712.253 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2019-03-25T22:41:52.598Z,1553553712.598 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2019-03-25T22:41:52.600Z,1553553712.600 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2019-03-25T22:41:52.742Z,1553553712.742 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2019-03-25T22:41:52.744Z,1553553712.744 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2019-03-25T22:41:52.937Z,1553553712.937 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2019-03-25T22:41:52.938Z,1553553712.938 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2019-03-25T22:41:53.401Z,1553553713.401 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2019-03-25T22:41:53.402Z,1553553713.402 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2019-03-25T22:41:53.614Z,1553553713.614 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2019-03-25T22:41:53.616Z,1553553713.616 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2019-03-25T22:41:53.763Z,1553553713.763 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2019-03-25T22:41:53.763Z,1553553713.763 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2019-03-25T22:41:53.960Z,1553553713.960 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2019-03-25T22:41:53.961Z,1553553713.961 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2019-03-25T22:41:54.057Z,1553553714.057 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2019-03-25T22:41:54.058Z,1553553714.058 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2019-03-25T22:41:54.368Z,1553553714.368 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2019-03-25T22:41:54.368Z,1553553714.368 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2019-03-25T22:41:54.450Z,1553553714.450 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2019-03-25T22:41:54.556Z,1553553714.556 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2019-03-25T22:41:54.557Z,1553553714.557 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2019-03-25T22:41:55.080Z,1553553715.080 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2019-03-25T22:41:55.080Z,1553553715.080 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2019-03-25T22:41:56.352Z,1553553716.352 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2019-03-25T22:41:56.354Z,1553553716.354 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/
2019-03-25T22:41:56.358Z,1553553716.358 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/vehicle.cfg
2019-03-25T22:41:56.568Z,1553553716.568 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Control.cfg
2019-03-25T22:41:56.669Z,1553553716.669 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/BIT.cfg
2019-03-25T22:41:56.768Z,1553553716.768 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Battery.cfg
2019-03-25T22:41:56.996Z,1553553716.996 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2019-03-25T22:41:56.996Z,1553553716.996 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Simulator.cfg
2019-03-25T22:41:57.083Z,1553553717.083 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Navigation.cfg
2019-03-25T22:41:57.177Z,1553553717.177 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/logger.cfg
2019-03-25T22:41:57.276Z,1553553717.276 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/secure.cfg
2019-03-25T22:41:57.359Z,1553553717.359 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Servo.cfg
2019-03-25T22:41:57.468Z,1553553717.468 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Sensor.cfg
2019-03-25T22:41:57.642Z,1553553717.642 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Science.cfg
2019-03-25T22:41:57.775Z,1553553717.775 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2019-03-25T22:41:57.787Z,1553553717.787 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2019-03-25T22:41:58.392Z,1553553718.392 [DataOverHttps] Loaded
2019-03-25T22:41:58.392Z,1553553718.392 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2019-03-25T22:41:58.393Z,1553553718.393 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 407564E0
2019-03-25T22:41:58.393Z,1553553718.393 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 888
2019-03-25T22:41:58.430Z,1553553718.430 [Depth_Keller] Loaded
2019-03-25T22:41:58.430Z,1553553718.430 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2019-03-25T22:41:58.435Z,1553553718.435 [DropWeight] Loaded
2019-03-25T22:41:58.435Z,1553553718.435 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2019-03-25T22:41:58.488Z,1553553718.488 [DUSBL_Hydroid] Loaded
2019-03-25T22:41:58.488Z,1553553718.488 [ComponentRegistry](DEBUG): SyncComponent "DUSBL_Hydroid" handled in the control thread.
2019-03-25T22:41:58.528Z,1553553718.528 [Micromodem] Loaded
2019-03-25T22:41:58.528Z,1553553718.528 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2019-03-25T22:41:58.624Z,1553553718.624 [NAL9602] Loaded
2019-03-25T22:41:58.624Z,1553553718.624 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2019-03-25T22:41:58.640Z,1553553718.640 [Onboard] Loaded
2019-03-25T22:41:58.640Z,1553553718.640 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2019-03-25T22:41:58.646Z,1553553718.646 [Radio_Surface] Loaded
2019-03-25T22:41:58.647Z,1553553718.647 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2019-03-25T22:41:58.648Z,1553553718.648 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 407864E0
2019-03-25T22:41:58.648Z,1553553718.648 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 889
2019-03-25T22:41:58.707Z,1553553718.707 [RDI_Pathfinder] Loaded
2019-03-25T22:41:58.708Z,1553553718.708 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2019-03-25T22:41:58.729Z,1553553718.729 [RDI_PathfinderUp] Loaded
2019-03-25T22:41:58.729Z,1553553718.729 [ComponentRegistry](DEBUG): SyncComponent "RDI_PathfinderUp" handled in the control thread.
2019-03-25T22:42:00.194Z,1553553720.194 [BPC1] Loaded
2019-03-25T22:42:00.194Z,1553553720.194 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2019-03-25T22:42:00.194Z,1553553720.194 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2019-03-25T22:42:00.196Z,1553553720.196 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2019-03-25T22:42:00.261Z,1553553720.261 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2019-03-25T22:42:00.587Z,1553553720.587 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2019-03-25T22:42:00.717Z,1553553720.717 [DeadReckonUsingMultipleVelocitySources] Loaded
2019-03-25T22:42:00.718Z,1553553720.718 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2019-03-25T22:42:00.776Z,1553553720.776 [DeadReckonUsingSpeedCalculator] Loaded
2019-03-25T22:42:00.777Z,1553553720.777 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingSpeedCalculator" handled in the control thread.
2019-03-25T22:42:00.835Z,1553553720.835 [DeadReckonWithRespectToSeafloor] Loaded
2019-03-25T22:42:00.835Z,1553553720.835 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonWithRespectToSeafloor" handled in the control thread.
2019-03-25T22:42:00.856Z,1553553720.856 [NavChart] Loaded
2019-03-25T22:42:00.856Z,1553553720.856 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2019-03-25T22:42:00.860Z,1553553720.860 [UniversalFixResidualReporter] Loaded
2019-03-25T22:42:00.860Z,1553553720.860 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2019-03-25T22:42:00.861Z,1553553720.861 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2019-03-25T22:42:00.861Z,1553553720.861 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2019-03-25T22:42:00.984Z,1553553720.984 [BuoyancyServo] Loaded
2019-03-25T22:42:00.984Z,1553553720.984 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2019-03-25T22:42:00.999Z,1553553720.999 [ElevatorServo] Loaded
2019-03-25T22:42:00.999Z,1553553720.999 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2019-03-25T22:42:01.014Z,1553553721.014 [MassServo] Loaded
2019-03-25T22:42:01.014Z,1553553721.014 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2019-03-25T22:42:01.029Z,1553553721.029 [RudderServo] Loaded
2019-03-25T22:42:01.030Z,1553553721.030 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2019-03-25T22:42:01.044Z,1553553721.044 [ThrusterServo] Loaded
2019-03-25T22:42:01.045Z,1553553721.045 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2019-03-25T22:42:01.045Z,1553553721.045 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2019-03-25T22:42:01.047Z,1553553721.047 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2019-03-25T22:42:01.366Z,1553553721.366 [CTD_NeilBrown] Loaded
2019-03-25T22:42:01.366Z,1553553721.366 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2019-03-25T22:42:01.368Z,1553553721.368 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 408CB4E0
2019-03-25T22:42:01.368Z,1553553721.368 [CTD_NeilBrown ThreadHandler](INFO): Protected caller Thread ID is 890
2019-03-25T22:42:01.413Z,1553553721.413 [WetLabsSeaOWL_UV_A] Loaded
2019-03-25T22:42:01.413Z,1553553721.413 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2019-03-25T22:42:01.414Z,1553553721.414 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 408FB4E0
2019-03-25T22:42:01.414Z,1553553721.414 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 891
2019-03-25T22:42:01.415Z,1553553721.415 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2019-03-25T22:42:01.416Z,1553553721.416 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2019-03-25T22:42:01.730Z,1553553721.730 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2019-03-25T22:42:01.732Z,1553553721.732 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2019-03-25T22:42:01.786Z,1553553721.786 [DepthRateCalculator] Loaded
2019-03-25T22:42:01.786Z,1553553721.786 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2019-03-25T22:42:01.792Z,1553553721.792 [PitchRateCalculator] Loaded
2019-03-25T22:42:01.792Z,1553553721.792 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2019-03-25T22:42:01.805Z,1553553721.805 [SpeedCalculator] Loaded
2019-03-25T22:42:01.805Z,1553553721.805 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2019-03-25T22:42:01.826Z,1553553721.826 [TempGradientCalculator] Loaded
2019-03-25T22:42:01.826Z,1553553721.826 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2019-03-25T22:42:01.832Z,1553553721.832 [YawRateCalculator] Loaded
2019-03-25T22:42:01.832Z,1553553721.832 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2019-03-25T22:42:01.872Z,1553553721.872 [ElevatorOffsetCalculator] Loaded
2019-03-25T22:42:01.872Z,1553553721.872 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2019-03-25T22:42:01.873Z,1553553721.873 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2019-03-25T22:42:01.875Z,1553553721.875 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2019-03-25T22:42:02.031Z,1553553722.031 [SBIT](DEBUG): Construct Startup Built In Test.
2019-03-25T22:42:02.054Z,1553553722.054 [SBIT] Loaded
2019-03-25T22:42:02.054Z,1553553722.054 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2019-03-25T22:42:02.055Z,1553553722.055 [IBIT](DEBUG): Construct Initiated Built In Test.
2019-03-25T22:42:02.066Z,1553553722.066 [IBIT] Loaded
2019-03-25T22:42:02.067Z,1553553722.067 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2019-03-25T22:42:02.070Z,1553553722.070 [CBIT](DEBUG): Construct Continuous Built In Test.
2019-03-25T22:42:02.209Z,1553553722.209 [CBIT] Loaded
2019-03-25T22:42:02.209Z,1553553722.209 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2019-03-25T22:42:02.210Z,1553553722.210 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2019-03-25T22:42:02.212Z,1553553722.212 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2019-03-25T22:42:02.322Z,1553553722.322 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2019-03-25T22:42:02.323Z,1553553722.323 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2019-03-25T22:42:02.445Z,1553553722.445 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2019-03-25T22:42:02.445Z,1553553722.445 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2019-03-25T22:42:02.531Z,1553553722.531 [VerticalControl](DEBUG): Construct VerticalControl.
2019-03-25T22:42:02.615Z,1553553722.615 [VerticalControl] Loaded
2019-03-25T22:42:02.615Z,1553553722.615 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2019-03-25T22:42:02.616Z,1553553722.616 [HorizontalControl](DEBUG): Construct HorizontalControl.
2019-03-25T22:42:02.674Z,1553553722.674 [HorizontalControl] Loaded
2019-03-25T22:42:02.674Z,1553553722.674 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2019-03-25T22:42:02.675Z,1553553722.675 [SpeedControl](DEBUG): Construct SpeedControl.
2019-03-25T22:42:02.677Z,1553553722.677 [SpeedControl] Loaded
2019-03-25T22:42:02.677Z,1553553722.677 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2019-03-25T22:42:02.678Z,1553553722.678 [LoopControl](DEBUG): Construct LoopControl.
2019-03-25T22:42:02.678Z,1553553722.678 [LoopControl] Loaded
2019-03-25T22:42:02.678Z,1553553722.678 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2019-03-25T22:42:02.679Z,1553553722.679 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2019-03-25T22:42:02.679Z,1553553722.679 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2019-03-25T22:42:02.721Z,1553553722.721 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2019-03-25T22:42:02.724Z,1553553722.724 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2019-03-25T22:42:02.725Z,1553553722.725 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2019-03-25T22:42:02.732Z,1553553722.732 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2019-03-25T22:42:02.733Z,1553553722.733 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40ACA4E0
2019-03-25T22:42:02.733Z,1553553722.733 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 892
2019-03-25T22:42:02.738Z,1553553722.738 [Supervisor](INFO): Main Thread ID is 802
2019-03-25T22:42:02.738Z,1553553722.738 [Supervisor](DEBUG): Running supervisor.
2019-03-25T22:42:02.739Z,1553553722.739 [CommandLine ThreadHandler](INFO): Handler Thread ID is 893
2019-03-25T22:42:02.741Z,1553553722.741 [controlThread ThreadHandler](INFO): Handler Thread ID is 894
2019-03-25T22:42:02.742Z,1553553722.742 [controlThread](DEBUG): Initializing ControlThread
2019-03-25T22:42:02.750Z,1553553722.750 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-25T22:42:02.750Z,1553553722.750 [NavChart](DEBUG): Initialize NavChart Navigation.
2019-03-25T22:42:02.751Z,1553553722.751 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2019-03-25T22:42:02.752Z,1553553722.752 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2019-03-25T22:42:02.752Z,1553553722.752 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2019-03-25T22:42:02.752Z,1553553722.752 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2019-03-25T22:42:02.753Z,1553553722.753 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2019-03-25T22:42:02.753Z,1553553722.753 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2019-03-25T22:42:02.753Z,1553553722.753 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2019-03-25T22:42:02.754Z,1553553722.754 [SBIT](INFO): Initialize SBIT Component.
2019-03-25T22:42:02.755Z,1553553722.755 [SBIT](IMPORTANT): git: 2019-03-18-23-g65e543b
2019-03-25T22:42:02.755Z,1553553722.755 [SBIT](INFO): git hash: 65e543b90c80aeeecc86c4125e453bf1af92ed2c
2019-03-25T22:42:02.755Z,1553553722.755 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2019-03-25T22:42:02.755Z,1553553722.755 [SBIT](IMPORTANT): Kernel Version:#2 PREEMPT Thu Jan 11 20:13:48 PST 2018
2019-03-25T22:42:02.757Z,1553553722.757 [SBIT](INFO): Beginning SBIT in 28.000000 seconds.
2019-03-25T22:42:02.757Z,1553553722.757 [IBIT](INFO): Initialize IBIT Component.
2019-03-25T22:42:02.758Z,1553553722.758 [CBIT](DEBUG): Initialize CBIT Component.
2019-03-25T22:42:02.759Z,1553553722.759 [logger ThreadHandler](INFO): Handler Thread ID is 895
2019-03-25T22:42:02.770Z,1553553722.770 [CBIT](DEBUG): Initialized mux pins.
2019-03-25T22:42:02.770Z,1553553722.770 [CBIT](DEBUG): Initializing the watchdog timer.
2019-03-25T22:42:02.779Z,1553553722.779 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 896
2019-03-25T22:42:02.780Z,1553553722.780 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2019-03-25T22:42:02.791Z,1553553722.791 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 897
2019-03-25T22:42:02.794Z,1553553722.794 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2019-03-25T22:42:02.794Z,1553553722.794 [CBIT](DEBUG): Initializing heartbeat.
2019-03-25T22:42:02.803Z,1553553722.803 [CTD_NeilBrown ThreadHandler](INFO): Handler Thread ID is 898
2019-03-25T22:42:02.804Z,1553553722.804 [CTD_NeilBrown](INFO): Powering down
2019-03-25T22:42:02.831Z,1553553722.831 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 899
2019-03-25T22:42:02.832Z,1553553722.832 [WetLabsSeaOWL_UV_A](INFO): Powering down
2019-03-25T22:42:02.863Z,1553553722.863 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 900
2019-03-25T22:42:02.866Z,1553553722.866 [CBIT](DEBUG): Deactivating GF circuits.
2019-03-25T22:42:02.866Z,1553553722.866 [CBIT](DEBUG): Deactivating emergency mode.
2019-03-25T22:42:02.872Z,1553553722.872 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2019-03-25T22:42:02.872Z,1553553722.872 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2019-03-25T22:42:02.872Z,1553553722.872 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2019-03-25T22:42:02.872Z,1553553722.872 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2019-03-25T22:42:02.872Z,1553553722.872 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2019-03-25T22:42:02.872Z,1553553722.872 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2019-03-25T22:42:02.873Z,1553553722.873 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2019-03-25T22:42:02.873Z,1553553722.873 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2019-03-25T22:42:02.873Z,1553553722.873 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2019-03-25T22:42:02.873Z,1553553722.873 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2019-03-25T22:42:02.873Z,1553553722.873 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2019-03-25T22:42:02.873Z,1553553722.873 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2019-03-25T22:42:02.874Z,1553553722.874 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2019-03-25T22:42:02.874Z,1553553722.874 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2019-03-25T22:42:02.874Z,1553553722.874 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2019-03-25T22:42:02.874Z,1553553722.874 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2019-03-25T22:42:02.902Z,1553553722.902 [CBIT](DEBUG): Backplane powered.
2019-03-25T22:42:02.903Z,1553553722.903 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2019-03-25T22:42:02.904Z,1553553722.904 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2019-03-25T22:42:02.905Z,1553553722.905 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2019-03-25T22:42:02.906Z,1553553722.906 [LoopControl](DEBUG): Initialize LoopControlComponent.
2019-03-25T22:42:02.907Z,1553553722.907 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2019-03-25T22:42:02.929Z,1553553722.929 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2019-03-25T22:42:02.956Z,1553553722.956 [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>


2019-03-25T22:42:02.957Z,1553553722.957 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2019-03-25T22:42:03.030Z,1553553723.030 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2019-03-25T22:42:03.031Z,1553553723.031 [Default:A.Wait](DEBUG): Construct Wait.
2019-03-25T22:42:03.033Z,1553553723.033 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-03-25T22:42:03.052Z,1553553723.052 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2019-03-25T22:42:03.077Z,1553553723.077 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2019-03-25T22:42:03.082Z,1553553723.082 [Default:E.Execute](DEBUG): Construct Execute.
2019-03-25T22:42:03.099Z,1553553723.099 [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>


2019-03-25T22:42:03.111Z,1553553723.111 [controlThread](DEBUG): Component order: CycleStarter,Depth_Keller,DropWeight,DUSBL_Hydroid,Micromodem,NAL9602,Onboard,RDI_Pathfinder,RDI_PathfinderUp,BPC1,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,DeadReckonUsingSpeedCalculator,DeadReckonWithRespectToSeafloor,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2019-03-25T22:42:03.147Z,1553553723.147 [Depth_Keller](ERROR): Pressure reading out of range: 1913.424561 decibar
2019-03-25T22:42:03.148Z,1553553723.148 [DUSBL_Hydroid](INFO): Powering up
2019-03-25T22:42:03.148Z,1553553723.148 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2019-03-25T22:42:03.194Z,1553553723.194 [Radio_Surface](INFO): Powering up
2019-03-25T22:42:03.227Z,1553553723.227 [DepthRateCalculator](ERROR): Depth measurement is not active
2019-03-25T22:42:03.590Z,1553553723.590 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2019-03-25T22:42:03.595Z,1553553723.595 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2019-03-25T22:42:03.595Z,1553553723.595 [ElevatorServo](DEBUG): Initializing EZServoServo.
2019-03-25T22:42:03.603Z,1553553723.603 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2019-03-25T22:42:03.604Z,1553553723.604 [MassServo](DEBUG): Initializing EZServoServo.
2019-03-25T22:42:03.611Z,1553553723.611 [MassServo](DEBUG): Initializing MassServo.
2019-03-25T22:42:03.611Z,1553553723.611 [RudderServo](DEBUG): Initializing EZServoServo.
2019-03-25T22:42:03.619Z,1553553723.619 [RudderServo](DEBUG): Initializing RudderServo.
2019-03-25T22:42:03.620Z,1553553723.620 [ThrusterServo](DEBUG): Initializing EZServoServo.
2019-03-25T22:42:03.627Z,1553553723.627 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2019-03-25T22:42:03.704Z,1553553723.704 [Micromodem](INFO): Powering up
2019-03-25T22:42:03.704Z,1553553723.704 [Micromodem](DEBUG): Initializing Micromodem.
2019-03-25T22:42:03.807Z,1553553723.807 [RDI_PathfinderUp](INFO): Powering down
2019-03-25T22:42:03.839Z,1553553723.839 [DepthRateCalculator](ERROR): Depth measurement is not active
2019-03-25T22:42:04.063Z,1553553724.063 [DepthRateCalculator](ERROR): Depth measurement is not active
2019-03-25T22:42:08.489Z,1553553728.489 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2019-03-25T22:42:16.594Z,1553553736.594 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2019-03-25T22:42:19.800Z,1553553739.800 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2019-03-25T22:42:21.012Z,1553553741.012 [DUSBL_Hydroid](INFO): DUSBL Version:O
2019-03-25T22:42:28.689Z,1553553748.689 [NAL9602](INFO): Powering up NAL9602
2019-03-25T22:42:31.112Z,1553553751.112 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2019-03-25T22:42:31.144Z,1553553751.144 [SBIT](IMPORTANT): Beginning Startup BIT
2019-03-25T22:42:31.148Z,1553553751.148 [CBIT](IMPORTANT): Beginning ground fault scan
2019-03-25T22:42:38.458Z,1553553758.458 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2019-03-25T22:42:39.660Z,1553553759.660 [NAL9602](INFO): NAL9602 initialized
2019-03-25T22:42:40.482Z,1553553760.482 [NAL9602](DEBUG): Fix Requested
2019-03-25T22:42:42.166Z,1553553762.166 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.018973
CHAN A1 (24V): -0.026687
CHAN A2 (12V): -0.007188
CHAN A3 (5V): -0.001959
CHAN B0 (3.3V): 0.000353
CHAN B1 (3.15aV): 0.000057
CHAN B2 (3.15bV): 0.000005
CHAN B3 (GND): 0.002430
OPEN: 0.007003
Full Scale Calc: 4.765 mA, -1.589 mA
2019-03-25T22:42:48.717Z,1553553768.717 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CAREV,224238,COPOC,0.1.0.464D
$CACFG,SRC,1*33

2019-03-25T22:42:49.524Z,1553553769.524 [Micromodem](ERROR): Nmea resend: $CCCFG,SRC,1*31

2019-03-25T22:42:58.816Z,1553553778.816 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2019-03-25T22:43:08.517Z,1553553788.517 [Micromodem](INFO): Nmea out: $CCCFG,BND,1*3B

2019-03-25T22:43:18.689Z,1553553798.689 [Micromodem](INFO): Nmea out: $CCTMS,2019-03-25T22:43:19Z,0*75

2019-03-25T22:43:21.122Z,1553553801.122 [Micromodem](FAULT): LCB 2 fault: 
2019-03-25T22:43:21.122Z,1553553801.122 [Micromodem] Hardware Fault, FailCount= 1
2019-03-25T22:43:21.122Z,1553553801.122 [Micromodem](ERROR): Hardware Fault
2019-03-25T22:43:21.122Z,1553553801.122 [Micromodem](INFO): Powering down
2019-03-25T22:43:21.276Z,1553553801.276 [CBIT](ERROR): Hardware Fault in component: Micromodem
2019-03-25T22:43:21.520Z,1553553801.520 [Micromodem](INFO): Powering down
2019-03-25T22:43:21.920Z,1553553801.920 [Micromodem](FAULT): LCB 2 fault:  Software Overcurrent.
2019-03-25T22:43:22.354Z,1553553802.354 [CBIT](INFO): Clearing failed state for component Micromodem
2019-03-25T22:43:22.354Z,1553553802.354 [Micromodem] No Fault, FailCount= 1
2019-03-25T22:43:24.794Z,1553553804.794 [SBIT](IMPORTANT): SBIT PASSED
2019-03-25T22:43:24.811Z,1553553804.811 [CommandLine](IMPORTANT): got command configSet list
2019-03-25T22:43:24.812Z,1553553804.812 [CommandLine](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2019-03-25T22:43:24.812Z,1553553804.812 [CommandLine](IMPORTANT): AHRS_M2.loadAtStartup=0 bool;

2019-03-25T22:43:24.813Z,1553553804.813 [CommandLine](IMPORTANT): Aanderaa_O2.loadAtStartup=0 bool;

2019-03-25T22:43:24.813Z,1553553804.813 [CommandLine](IMPORTANT): DUSBL_Hydroid.detectionThreshold=20 count;

2019-03-25T22:43:24.813Z,1553553804.813 [CommandLine](IMPORTANT): Express linearApproximation DUSBL_Hydroid.range 2.000000 meter;

2019-03-25T22:43:24.813Z,1553553804.813 [CommandLine](IMPORTANT): Express linearApproximation DUSBL_Hydroid.xAngle 2.000000 angular_degree;

2019-03-25T22:43:25.152Z,1553553805.152 [Micromodem](INFO): Powering up
2019-03-25T22:43:25.152Z,1553553805.152 [Micromodem](DEBUG): Initializing Micromodem.
2019-03-25T22:43:25.200Z,1553553805.200 [MissionManager](IMPORTANT): Started mission Startup
2019-03-25T22:43:25.200Z,1553553805.200 [Startup] Running Loop=1
2019-03-25T22:43:25.200Z,1553553805.200 [Startup](DEBUG): Aggregate::initialize Startup
2019-03-25T22:43:25.200Z,1553553805.200 [Startup:A.GoToSurface] Running Loop=1
2019-03-25T22:43:25.201Z,1553553805.201 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-03-25T22:43:25.201Z,1553553805.201 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-03-25T22:43:25.202Z,1553553805.202 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-03-25T22:43:25.202Z,1553553805.202 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-03-25T22:43:25.203Z,1553553805.203 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-03-25T22:43:25.203Z,1553553805.203 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-03-25T22:43:25.204Z,1553553805.204 [Startup:StartupSatComms] Running Loop=1
2019-03-25T22:43:25.204Z,1553553805.204 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2019-03-25T22:43:25.205Z,1553553805.205 [Startup:StartupSatComms:A] Running Loop=1
2019-03-25T22:43:25.598Z,1553553805.598 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2019-03-25T22:43:29.211Z,1553553809.211 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2019-03-25T22:43:29.000Z,1553553810.000 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2019-03-25T22:43:39.698Z,1553553819.698 [NAL9602](INFO): SBD MO Status=2, MOMSN=2444, MT Status=2, MTMSN=0
2019-03-25T22:43:39.698Z,1553553819.698 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-03-25T22:43:40.130Z,1553553820.130 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2019-03-25T22:43:41.316Z,1553553821.316 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2019-03-25T22:43:42.528Z,1553553822.528 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2019-03-25T22:43:51.025Z,1553553831.025 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2019-03-25T22:43:52.225Z,1553553832.225 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2019-03-25T22:44:02.325Z,1553553842.325 [Micromodem](INFO): Nmea out: $CCCFG,BND,1*3B

2019-03-25T22:44:02.346Z,1553553842.346 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2019-03-25T22:44:02.790Z,1553553842.790 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T22:44:02.790Z,1553553842.790 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2019-03-25T22:44:02.790Z,1553553842.790 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-25T22:44:02.792Z,1553553842.792 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T22:44:02.792Z,1553553842.792 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 1
2019-03-25T22:44:02.792Z,1553553842.792 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-25T22:44:02.794Z,1553553842.794 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T22:44:02.794Z,1553553842.794 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 1
2019-03-25T22:44:02.794Z,1553553842.794 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-25T22:44:02.804Z,1553553842.804 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-25T22:44:02.805Z,1553553842.805 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-25T22:44:02.805Z,1553553842.805 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-25T22:44:03.175Z,1553553843.175 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-25T22:44:03.175Z,1553553843.175 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2019-03-25T22:44:03.176Z,1553553843.176 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-25T22:44:03.176Z,1553553843.176 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 1
2019-03-25T22:44:03.176Z,1553553843.176 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-25T22:44:03.176Z,1553553843.176 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 1
2019-03-25T22:44:03.636Z,1553553843.636 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-25T22:44:05.558Z,1553553845.558 [Micromodem](INFO): Nmea out: $CCTMS,2019-03-25T22:44:06Z,0*7C

2019-03-25T22:44:05.957Z,1553553845.957 [Micromodem](ERROR): Response from modem unexpected: $CADQF,196,1*5E

2019-03-25T22:44:06.361Z,1553553846.361 [Micromodem](ERROR): Response from modem unexpected: $CAMSG,BAD_CRC,0*21

2019-03-25T22:44:06.773Z,1553553846.773 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CACST,6,1,20190325224403.998073,05,381,25,0095,0150,246,00,00,00,00,0,-01,-01,3,2,1,1,-999,-99.9,9.99,-999-999196,0.00,99,76,40*5D

2019-03-25T22:44:13.249Z,1553553853.249 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2019-03-25T22:44:14.847Z,1553553854.847 [NAL9602](INFO): SBD MO Status=2, MOMSN=2444, MT Status=2, MTMSN=0
2019-03-25T22:44:14.847Z,1553553854.847 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-03-25T22:44:24.959Z,1553553864.959 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2019-03-25T22:44:25.384Z,1553553865.384 [Startup:StartupSatComms:A](INFO): Timed out from 2019-03-25T22:43:25.2Z
2019-03-25T22:44:25.384Z,1553553865.384 [Startup:StartupSatComms:A] Stopped
2019-03-25T22:44:25.385Z,1553553865.385 [Startup:StartupSatComms:B] Running Loop=1
2019-03-25T22:44:25.821Z,1553553865.821 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-03-25T22:44:26.781Z,1553553866.781 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.005036
2019-03-25T22:44:32.421Z,1553553872.421 [DataOverHttps](INFO): Sending 25 bytes from file Logs/20190325T210248/Courier0034.lzma
2019-03-25T22:44:33.220Z,1553553873.220 [DataOverHttps](INFO): Moved sent file to Logs/20190325T210248/Courier0034.lzma.bak
2019-03-25T22:44:33.220Z,1553553873.220 [DataOverHttps](INFO): SBD MOMSN=10243432
2019-03-25T22:44:35.853Z,1553553875.853 [NAL9602](INFO): SBD MO Status=2, MOMSN=2444, MT Status=2, MTMSN=0
2019-03-25T22:44:35.854Z,1553553875.854 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-03-25T22:44:36.286Z,1553553876.286 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2019-03-25T22:44:44.652Z,1553553884.652 [DataOverHttps](INFO): Sending 391 bytes from file Logs/20190325T210248/Express0035.lzma
2019-03-25T22:44:45.456Z,1553553885.456 [DataOverHttps](INFO): Moved sent file to Logs/20190325T210248/Express0035.lzma.bak
2019-03-25T22:44:45.456Z,1553553885.456 [DataOverHttps](INFO): SBD MOMSN=10243434
2019-03-25T22:44:47.600Z,1553553887.600 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2019-03-25T22:44:57.047Z,1553553897.047 [DataOverHttps](INFO): Sending 946 bytes from file Logs/20190325T224151/Express0001.lzma
2019-03-25T22:44:57.852Z,1553553897.852 [DataOverHttps](INFO): Moved sent file to Logs/20190325T224151/Express0001.lzma.bak
2019-03-25T22:44:57.852Z,1553553897.852 [DataOverHttps](INFO): SBD MOMSN=10243451
2019-03-25T22:44:58.525Z,1553553898.525 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2019-03-25T22:44:59.351Z,1553553899.351 [Startup:StartupSatComms:B] Stopped
2019-03-25T22:44:59.351Z,1553553899.351 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2019-03-25T22:44:59.351Z,1553553899.351 [Startup:StartupSatComms] Stopped
2019-03-25T22:44:59.351Z,1553553899.351 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2019-03-25T22:44:59.352Z,1553553899.352 [Startup](INFO): Completed Startup
2019-03-25T22:44:59.352Z,1553553899.352 [MissionManager](INFO): Startup is completed.
2019-03-25T22:44:59.352Z,1553553899.352 [MissionManager](INFO): Uninitializing Mission Startup
2019-03-25T22:44:59.352Z,1553553899.352 [Startup] Stopped
2019-03-25T22:44:59.352Z,1553553899.352 [Startup](DEBUG): Aggregate::uninitialize Startup
2019-03-25T22:44:59.352Z,1553553899.352 [Startup:A.GoToSurface] Stopped
2019-03-25T22:44:59.352Z,1553553899.352 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-03-25T22:44:59.734Z,1553553899.734 [MissionManager](IMPORTANT): Started mission Default
2019-03-25T22:44:59.734Z,1553553899.734 [Default] Running Loop=1
2019-03-25T22:44:59.734Z,1553553899.734 [Default](DEBUG): Aggregate::initialize Default
2019-03-25T22:44:59.735Z,1553553899.735 [Default:B.GoToSurface] Running Loop=1
2019-03-25T22:44:59.735Z,1553553899.735 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-03-25T22:44:59.735Z,1553553899.735 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-03-25T22:44:59.735Z,1553553899.735 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-03-25T22:44:59.735Z,1553553899.735 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-03-25T22:44:59.736Z,1553553899.736 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-03-25T22:44:59.736Z,1553553899.736 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-03-25T22:44:59.736Z,1553553899.736 [Default:A.Wait] Running Loop=1
2019-03-25T22:44:59.736Z,1553553899.736 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-03-25T22:45:09.419Z,1553553909.419 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2019-03-25T22:45:13.048Z,1553553913.048 [Default:A.Wait](INFO): Done Waiting.
2019-03-25T22:45:13.048Z,1553553913.048 [Default:A.Wait] Stopped
2019-03-25T22:45:13.048Z,1553553913.048 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-03-25T22:45:13.468Z,1553553913.468 [Default:CheckIn] Running Loop=1
2019-03-25T22:45:13.468Z,1553553913.468 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-03-25T22:45:13.468Z,1553553913.468 [Default:CheckIn:Read_GPS] Running Loop=1
2019-03-25T22:45:13.856Z,1553553913.856 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-03-25T22:45:20.739Z,1553553920.739 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2019-03-25T22:45:31.648Z,1553553931.648 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2019-03-25T22:45:42.540Z,1553553942.540 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2019-03-25T22:46:04.012Z,1553553964.012 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T22:46:04.012Z,1553553964.012 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2019-03-25T22:46:04.012Z,1553553964.012 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-25T22:46:04.014Z,1553553964.014 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T22:46:04.014Z,1553553964.014 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 2
2019-03-25T22:46:04.014Z,1553553964.014 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-25T22:46:04.016Z,1553553964.016 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T22:46:04.016Z,1553553964.016 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 2
2019-03-25T22:46:04.016Z,1553553964.016 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-25T22:46:04.027Z,1553553964.027 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-25T22:46:04.027Z,1553553964.027 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-25T22:46:04.027Z,1553553964.027 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-25T22:46:04.368Z,1553553964.368 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-25T22:46:04.368Z,1553553964.368 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2019-03-25T22:46:04.369Z,1553553964.369 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-25T22:46:04.369Z,1553553964.369 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 2
2019-03-25T22:46:04.370Z,1553553964.370 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-25T22:46:04.370Z,1553553964.370 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 2
2019-03-25T22:46:04.781Z,1553553964.781 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-25T22:47:42.504Z,1553554062.504 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-03-25T22:47:43.322Z,1553554063.322 [NAL9602](DEBUG): Fix Requested
2019-03-25T22:47:46.150Z,1553554066.150 [NAL9602](DEBUG): Fix Requested
2019-03-25T22:47:46.547Z,1553554066.547 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,224048.00,A,3648.16730,N,12147.27968,W,0.292,308.75,250319,,,A*71
2019-03-25T22:47:46.550Z,1553554066.550 [NAL9602](INFO): GPS fix at 20190325T224048: (36.802788, -121.787995)
2019-03-25T22:47:46.625Z,1553554066.625 [Default:CheckIn:Read_GPS] Stopped
2019-03-25T22:47:46.625Z,1553554066.625 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-03-25T22:47:46.993Z,1553554066.993 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-03-25T22:47:57.080Z,1553554077.080 [DataOverHttps](INFO): Sending 212 bytes from file Logs/20190325T224151/Courier0004.lzma
2019-03-25T22:47:57.885Z,1553554077.885 [DataOverHttps](INFO): Moved sent file to Logs/20190325T224151/Courier0004.lzma.bak
2019-03-25T22:47:57.886Z,1553554077.886 [DataOverHttps](INFO): SBD MOMSN=10243475
2019-03-25T22:48:04.863Z,1553554084.863 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T22:48:04.863Z,1553554084.863 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2019-03-25T22:48:04.863Z,1553554084.863 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-25T22:48:04.865Z,1553554084.865 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T22:48:04.866Z,1553554084.866 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 1
2019-03-25T22:48:04.866Z,1553554084.866 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-25T22:48:04.875Z,1553554084.875 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T22:48:04.875Z,1553554084.875 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 1
2019-03-25T22:48:04.875Z,1553554084.875 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-25T22:48:04.892Z,1553554084.892 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-25T22:48:04.893Z,1553554084.893 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-25T22:48:04.893Z,1553554084.893 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-25T22:48:05.260Z,1553554085.260 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-25T22:48:05.260Z,1553554085.260 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2019-03-25T22:48:05.260Z,1553554085.260 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-25T22:48:05.260Z,1553554085.260 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 1
2019-03-25T22:48:05.261Z,1553554085.261 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-25T22:48:05.261Z,1553554085.261 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 1
2019-03-25T22:48:05.629Z,1553554085.629 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-25T22:48:16.532Z,1553554096.532 [BPC1](INFO): Calculating totals. Valid battery stick count: 55. Valid reserve battery stick count: 6.
2019-03-25T22:48:16.539Z,1553554096.539 [BPC1](INFO): Received data from all battery sticks.
2019-03-25T22:48:17.210Z,1553554097.210 [DataOverHttps](INFO): Sending 383 bytes from file Logs/20190325T224151/Express0005.lzma
2019-03-25T22:48:18.016Z,1553554098.016 [DataOverHttps](INFO): Moved sent file to Logs/20190325T224151/Express0005.lzma.bak
2019-03-25T22:48:18.016Z,1553554098.016 [DataOverHttps](INFO): SBD MOMSN=10243478
2019-03-25T22:48:18.916Z,1553554098.916 [NAL9602](INFO): Powering down
2019-03-25T22:48:19.345Z,1553554099.345 [Default:CheckIn:Read_Iridium] Stopped
2019-03-25T22:48:19.345Z,1553554099.345 [Default:CheckIn:C.Wait] Running Loop=1
2019-03-25T22:48:19.346Z,1553554099.346 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-03-25T22:48:39.116Z,1553554119.116 [Micromodem](FAULT): LCB 2 fault: 
2019-03-25T22:48:39.116Z,1553554119.116 [Micromodem] Hardware Fault, FailCount= 2
2019-03-25T22:48:39.116Z,1553554119.116 [Micromodem](ERROR): Hardware Fault
2019-03-25T22:48:39.116Z,1553554119.116 [Micromodem](INFO): Powering down
2019-03-25T22:48:39.242Z,1553554119.242 [CBIT](ERROR): Hardware Fault in component: Micromodem
2019-03-25T22:48:39.520Z,1553554119.520 [Micromodem](INFO): Powering down
2019-03-25T22:48:39.924Z,1553554119.924 [Micromodem](FAULT): LCB 2 fault:  Software Overcurrent.
2019-03-25T22:48:40.359Z,1553554120.359 [CBIT](INFO): Clearing failed state for component Micromodem
2019-03-25T22:48:40.359Z,1553554120.359 [Micromodem] No Fault, FailCount= 2
2019-03-25T22:48:43.160Z,1553554123.160 [Micromodem](INFO): Powering up
2019-03-25T22:48:43.160Z,1553554123.160 [Micromodem](DEBUG): Initializing Micromodem.
2019-03-25T22:48:48.005Z,1553554128.005 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2019-03-25T22:48:57.296Z,1553554137.296 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2019-03-25T22:49:07.397Z,1553554147.397 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2019-03-25T22:49:07.822Z,1553554147.822 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-03-25T22:49:07.822Z,1553554147.822 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-03-25T22:49:17.094Z,1553554157.094 [Micromodem](INFO): Nmea out: $CCCFG,BND,1*3B

2019-03-25T22:49:27.189Z,1553554167.189 [Micromodem](INFO): Nmea out: $CCTMS,2019-03-25T22:49:28Z,0*7D

2019-03-25T22:50:05.999Z,1553554205.999 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T22:50:05.999Z,1553554205.999 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2019-03-25T22:50:05.999Z,1553554205.999 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-25T22:50:06.001Z,1553554206.001 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T22:50:06.001Z,1553554206.001 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 2
2019-03-25T22:50:06.001Z,1553554206.001 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-25T22:50:06.003Z,1553554206.003 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T22:50:06.003Z,1553554206.003 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 2
2019-03-25T22:50:06.003Z,1553554206.003 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-25T22:50:06.030Z,1553554206.030 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-25T22:50:06.031Z,1553554206.031 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-25T22:50:06.031Z,1553554206.031 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-25T22:50:06.456Z,1553554206.456 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-25T22:50:06.456Z,1553554206.456 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2019-03-25T22:50:06.456Z,1553554206.456 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-25T22:50:06.456Z,1553554206.456 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 2
2019-03-25T22:50:06.457Z,1553554206.457 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-25T22:50:06.457Z,1553554206.457 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 2
2019-03-25T22:50:06.812Z,1553554206.812 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-25T22:52:00.712Z,1553554320.712 [Micromodem](FAULT): LCB 2 fault: 
2019-03-25T22:52:00.712Z,1553554320.712 [Micromodem] Hardware Fault, FailCount= 3
2019-03-25T22:52:00.712Z,1553554320.712 [Micromodem](ERROR): Hardware Fault
2019-03-25T22:52:00.712Z,1553554320.712 [Micromodem](INFO): Powering down
2019-03-25T22:52:00.877Z,1553554320.877 [CBIT](ERROR): Hardware Fault in component: Micromodem
2019-03-25T22:52:01.115Z,1553554321.115 [Micromodem](INFO): Powering down
2019-03-25T22:52:01.519Z,1553554321.519 [Micromodem](FAULT): LCB 2 fault:  Software Overcurrent.
2019-03-25T22:52:01.962Z,1553554321.962 [CBIT](INFO): Clearing failed state for component Micromodem
2019-03-25T22:52:01.962Z,1553554321.962 [Micromodem] No Fault, FailCount= 3
2019-03-25T22:52:04.748Z,1553554324.748 [Micromodem](INFO): Powering up
2019-03-25T22:52:04.748Z,1553554324.748 [Micromodem](DEBUG): Initializing Micromodem.
2019-03-25T22:52:07.190Z,1553554327.190 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T22:52:07.190Z,1553554327.190 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 3
2019-03-25T22:52:07.190Z,1553554327.190 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-25T22:52:07.192Z,1553554327.192 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T22:52:07.193Z,1553554327.193 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 3
2019-03-25T22:52:07.193Z,1553554327.193 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-25T22:52:07.207Z,1553554327.207 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T22:52:07.207Z,1553554327.207 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 3
2019-03-25T22:52:07.207Z,1553554327.207 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-25T22:52:07.223Z,1553554327.223 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-25T22:52:07.223Z,1553554327.223 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-25T22:52:07.224Z,1553554327.224 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-25T22:52:07.636Z,1553554327.636 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-25T22:52:07.636Z,1553554327.636 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 3
2019-03-25T22:52:07.637Z,1553554327.637 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-25T22:52:07.637Z,1553554327.637 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 3
2019-03-25T22:52:07.637Z,1553554327.637 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-25T22:52:07.637Z,1553554327.637 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 3
2019-03-25T22:52:08.009Z,1553554328.009 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-25T22:52:09.596Z,1553554329.596 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2019-03-25T22:52:20.909Z,1553554340.909 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2019-03-25T22:52:31.016Z,1553554351.016 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2019-03-25T22:52:41.108Z,1553554361.108 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2019-03-25T22:52:50.806Z,1553554370.806 [Micromodem](INFO): Nmea out: $CCCFG,BND,1*3B

2019-03-25T22:52:54.050Z,1553554374.050 [Micromodem](INFO): Nmea out: $CCTMS,2019-03-25T22:52:55Z,0*7D

2019-03-25T22:52:54.449Z,1553554374.449 [Micromodem](ERROR): Response from modem unexpected: $CADQF,190,1*58

2019-03-25T22:52:54.845Z,1553554374.845 [Micromodem](ERROR): Response from modem unexpected: $CAMSG,BAD_CRC,0*21

2019-03-25T22:52:55.257Z,1553554375.257 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,1,20190325225253.224200,05,421,26,0090,0150,246,00,00,00,00,0,-01,-01,3,2,1,1,-999,-99.9,-9.99,-999,-9.99,190,0.05,-999,9760,4000*5D

2019-03-25T22:53:19.925Z,1553554399.925 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-03-25T22:53:19.925Z,1553554399.925 [Default:CheckIn:C.Wait] Stopped
2019-03-25T22:53:19.925Z,1553554399.925 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-03-25T22:53:19.925Z,1553554399.925 [Default:CheckIn:D] Running Loop=1
2019-03-25T22:53:20.320Z,1553554400.320 [Default:CheckIn:D] Stopped
2019-03-25T22:53:20.320Z,1553554400.320 [Default:CheckIn:E] Running Loop=1
2019-03-25T22:53:20.736Z,1553554400.736 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 8.343089 min 
2019-03-25T22:53:20.736Z,1553554400.736 [Default:CheckIn:E] Stopped
2019-03-25T22:53:20.736Z,1553554400.736 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-03-25T22:53:20.736Z,1553554400.736 [Default:CheckIn] Stopped
2019-03-25T22:53:20.737Z,1553554400.737 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-03-25T22:53:20.737Z,1553554400.737 [Default:CheckIn](INFO): Running loop #2
2019-03-25T22:53:20.737Z,1553554400.737 [Default:CheckIn] Running Loop=2
2019-03-25T22:53:20.737Z,1553554400.737 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-03-25T22:53:20.737Z,1553554400.737 [Default:CheckIn:Read_GPS] Running Loop=1
2019-03-25T22:53:21.518Z,1553554401.518 [NAL9602](INFO): Powering up
2019-03-25T22:53:32.430Z,1553554412.430 [NAL9602](INFO): NAL9602 initialized
2019-03-25T22:53:33.242Z,1553554413.242 [NAL9602](DEBUG): Fix Requested
2019-03-25T22:53:51.224Z,1553554431.224 [CommandLine](IMPORTANT): got command maintain control VerticalControl.massPositionAction 2.000000 centimeter
2019-03-25T22:53:51.226Z,1553554431.226 [ComponentRegistry](DEBUG): SyncComponent "Maintain_VerticalControl.massPositionAction" handled in the control thread.
2019-03-25T22:53:51.479Z,1553554431.479 [controlThread](DEBUG): Component order: CycleStarter,Depth_Keller,DropWeight,DUSBL_Hydroid,Micromodem,NAL9602,Onboard,RDI_Pathfinder,RDI_PathfinderUp,BPC1,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,DeadReckonUsingSpeedCalculator,DeadReckonWithRespectToSeafloor,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,Maintain_VerticalControl.massPositionAction,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2019-03-25T22:54:04.376Z,1553554444.376 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2019-03-25T22:54:04.458Z,1553554444.458 [NAL9602](FAULT): received: 
+CSQ:0

OK44, 2, 0, 0, 0

OK
2019-03-25T22:54:04.458Z,1553554444.458 [NAL9602] Data Fault, FailCount= 1
2019-03-25T22:54:04.458Z,1553554444.458 [NAL9602](ERROR): Data Fault
2019-03-25T22:54:04.555Z,1553554444.555 [CBIT](ERROR): Data Fault in component: NAL9602
2019-03-25T22:54:04.776Z,1553554444.776 [NAL9602](INFO): Powering down
2019-03-25T22:54:05.663Z,1553554445.663 [CBIT](INFO): Clearing failed state for component NAL9602
2019-03-25T22:54:05.663Z,1553554445.663 [NAL9602] No Fault, FailCount= 1
2019-03-25T22:54:08.037Z,1553554448.037 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T22:54:08.037Z,1553554448.037 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 4
2019-03-25T22:54:08.037Z,1553554448.037 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-25T22:54:08.040Z,1553554448.040 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T22:54:08.040Z,1553554448.040 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 4
2019-03-25T22:54:08.040Z,1553554448.040 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-25T22:54:08.042Z,1553554448.042 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T22:54:08.042Z,1553554448.042 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 4
2019-03-25T22:54:08.042Z,1553554448.042 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-25T22:54:08.099Z,1553554448.099 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-25T22:54:08.099Z,1553554448.099 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-25T22:54:08.099Z,1553554448.099 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-25T22:54:08.519Z,1553554448.519 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-25T22:54:08.519Z,1553554448.519 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 4
2019-03-25T22:54:08.520Z,1553554448.520 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-25T22:54:08.520Z,1553554448.520 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 4
2019-03-25T22:54:08.520Z,1553554448.520 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-25T22:54:08.520Z,1553554448.520 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 4
2019-03-25T22:54:08.846Z,1553554448.846 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-25T22:54:35.076Z,1553554475.076 [NAL9602](INFO): Powering up NAL9602
2019-03-25T22:54:43.024Z,1553554483.024 [CommandLine](IMPORTANT): got command maintain control VerticalControl.massPositionAction 3.000000 centimeter
2019-03-25T22:54:46.008Z,1553554486.008 [NAL9602](INFO): NAL9602 initialized
2019-03-25T22:54:46.830Z,1553554486.830 [NAL9602](DEBUG): Fix Requested
2019-03-25T22:55:45.830Z,1553554545.830 [RDI_Pathfinder](ERROR): only read 3 of 5 data items
2019-03-25T22:55:45.830Z,1553554545.830 [RDI_Pathfinder](ERROR): Failed to parse:
:BI,   +17,   -1,-32768,A
2019-03-25T22:56:08.849Z,1553554568.849 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T22:56:08.849Z,1553554568.849 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 5
2019-03-25T22:56:08.849Z,1553554568.849 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-25T22:56:08.852Z,1553554568.852 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T22:56:08.852Z,1553554568.852 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 5
2019-03-25T22:56:08.852Z,1553554568.852 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-25T22:56:08.854Z,1553554568.854 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T22:56:08.854Z,1553554568.854 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 5
2019-03-25T22:56:08.854Z,1553554568.854 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-25T22:56:08.865Z,1553554568.865 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-25T22:56:08.866Z,1553554568.866 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-25T22:56:08.866Z,1553554568.866 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-25T22:56:09.263Z,1553554569.263 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-25T22:56:09.264Z,1553554569.264 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 5
2019-03-25T22:56:09.264Z,1553554569.264 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-25T22:56:09.264Z,1553554569.264 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 5
2019-03-25T22:56:09.265Z,1553554569.265 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-25T22:56:09.265Z,1553554569.265 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 5
2019-03-25T22:56:09.663Z,1553554569.663 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-25T22:58:10.049Z,1553554690.049 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T22:58:10.049Z,1553554690.049 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 6
2019-03-25T22:58:10.049Z,1553554690.049 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-25T22:58:10.052Z,1553554690.052 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T22:58:10.052Z,1553554690.052 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 6
2019-03-25T22:58:10.052Z,1553554690.052 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-25T22:58:10.054Z,1553554690.054 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T22:58:10.054Z,1553554690.054 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 6
2019-03-25T22:58:10.054Z,1553554690.054 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-25T22:58:10.066Z,1553554690.066 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-25T22:58:10.066Z,1553554690.066 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-25T22:58:10.066Z,1553554690.066 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-25T22:58:10.476Z,1553554690.476 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-25T22:58:10.476Z,1553554690.476 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 6
2019-03-25T22:58:10.476Z,1553554690.476 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-25T22:58:10.476Z,1553554690.476 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 6
2019-03-25T22:58:10.477Z,1553554690.477 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-25T22:58:10.477Z,1553554690.477 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 6
2019-03-25T22:58:10.861Z,1553554690.861 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-25T22:58:20.962Z,1553554700.962 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-03-25T22:53:20.7Z
2019-03-25T22:58:20.962Z,1553554700.962 [Default:CheckIn:Read_GPS] Stopped
2019-03-25T22:58:20.962Z,1553554700.962 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-03-25T22:58:21.337Z,1553554701.337 [NAL9602](INFO): SBD MO Status=2, MOMSN=2444, MT Status=2, MTMSN=0
2019-03-25T22:58:21.337Z,1553554701.337 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-03-25T22:58:26.786Z,1553554706.786 [DataOverHttps](INFO): Sending 187 bytes from file Logs/20190325T224151/Courier0007.lzma
2019-03-25T22:58:27.592Z,1553554707.592 [DataOverHttps](INFO): Moved sent file to Logs/20190325T224151/Courier0007.lzma.bak
2019-03-25T22:58:27.592Z,1553554707.592 [DataOverHttps](INFO): SBD MOMSN=10243530
2019-03-25T22:58:36.328Z,1553554716.328 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-03-25T22:58:39.437Z,1553554719.437 [DataOverHttps](INFO): Sending 452 bytes from file Logs/20190325T224151/Express0008.lzma
2019-03-25T22:58:40.236Z,1553554720.236 [DataOverHttps](INFO): Moved sent file to Logs/20190325T224151/Express0008.lzma.bak
2019-03-25T22:58:40.236Z,1553554720.236 [DataOverHttps](INFO): SBD MOMSN=10243535
2019-03-25T22:58:41.625Z,1553554721.625 [Default:CheckIn:Read_Iridium] Stopped
2019-03-25T22:58:41.625Z,1553554721.625 [Default:CheckIn:C.Wait] Running Loop=1
2019-03-25T22:58:41.625Z,1553554721.625 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-03-25T22:59:07.029Z,1553554747.029 [NAL9602](INFO): Powering down
2019-03-25T23:00:10.890Z,1553554810.890 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:00:10.890Z,1553554810.890 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 7
2019-03-25T23:00:10.890Z,1553554810.890 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-25T23:00:10.892Z,1553554810.892 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:00:10.892Z,1553554810.892 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 7
2019-03-25T23:00:10.892Z,1553554810.892 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-25T23:00:10.894Z,1553554810.894 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:00:10.894Z,1553554810.894 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 7
2019-03-25T23:00:10.894Z,1553554810.894 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-25T23:00:10.905Z,1553554810.905 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-25T23:00:10.905Z,1553554810.905 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-25T23:00:10.906Z,1553554810.906 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-25T23:00:11.297Z,1553554811.297 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-25T23:00:11.297Z,1553554811.297 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 7
2019-03-25T23:00:11.298Z,1553554811.298 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-25T23:00:11.298Z,1553554811.298 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 7
2019-03-25T23:00:11.310Z,1553554811.310 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-25T23:00:11.310Z,1553554811.310 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 7
2019-03-25T23:00:11.707Z,1553554811.707 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-25T23:00:30.116Z,1553554830.116 [CommandLine](IMPORTANT): got command get latitude
2019-03-25T23:00:30.117Z,1553554830.117 [CommandLine](IMPORTANT): latitude 36.802788 arcdeg
2019-03-25T23:00:30.117Z,1553554830.117 [CommandLine](IMPORTANT): got command get longitude
2019-03-25T23:00:30.117Z,1553554830.117 [CommandLine](IMPORTANT): longitude -121.787995 arcdeg
2019-03-25T23:00:38.340Z,1553554838.340 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHoming.xml
2019-03-25T23:00:38.340Z,1553554838.340 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureHoming.xml
2019-03-25T23:00:38.611Z,1553554838.611 [MissionManager](INFO): DefineArg lineCaptureHoming.MissionTimeout = 4.000000 h
2019-03-25T23:00:38.613Z,1553554838.613 [MissionManager](INFO): DefineArg lineCaptureHoming.NeedCommsTime = 120.000000 min
2019-03-25T23:00:38.616Z,1553554838.616 [MissionManager](INFO): DefineArg lineCaptureHoming.Repeat = 1.000000 count
2019-03-25T23:00:38.619Z,1553554838.619 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLat = nan arcdeg
2019-03-25T23:00:38.622Z,1553554838.622 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLon = nan arcdeg
2019-03-25T23:00:38.625Z,1553554838.625 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLat = nan arcdeg
2019-03-25T23:00:38.628Z,1553554838.628 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLon = nan arcdeg
2019-03-25T23:00:38.632Z,1553554838.632 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalRange = 650.000000 m
2019-03-25T23:00:38.635Z,1553554838.635 [MissionManager](INFO): DefineArg lineCaptureHoming.SCPIRange = 25.000000 m
2019-03-25T23:00:38.638Z,1553554838.638 [MissionManager](INFO): DefineArg lineCaptureHoming.DockRange = 4.000000 m
2019-03-25T23:00:38.641Z,1553554838.641 [MissionManager](INFO): DefineArg lineCaptureHoming.UpdateNav = 0.000000 bool
2019-03-25T23:00:38.644Z,1553554838.644 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalGuidanceTimeout = 30.000000 min
2019-03-25T23:00:38.647Z,1553554838.647 [MissionManager](INFO): DefineArg lineCaptureHoming.DockTimeout = 60.000000 s
2019-03-25T23:00:38.651Z,1553554838.651 [MissionManager](INFO): DefineArg lineCaptureHoming.RolloutTimeout = 12.000000 min
2019-03-25T23:00:38.655Z,1553554838.655 [MissionManager](INFO): DefineArg lineCaptureHoming.HoldAltitude = 7.000000 m
2019-03-25T23:00:38.657Z,1553554838.657 [MissionManager](INFO): DefineArg lineCaptureHoming.InvalidAltitudeTimeout = nan min
2019-03-25T23:00:38.660Z,1553554838.660 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepth = 30.000000 m
2019-03-25T23:00:38.664Z,1553554838.664 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 min
2019-03-25T23:00:38.667Z,1553554838.667 [MissionManager](INFO): DefineArg lineCaptureHoming.TransponderCode = 2.000000 count
2019-03-25T23:00:38.669Z,1553554838.669 [MissionManager](INFO): DefineArg lineCaptureHoming.NumberOfPings = 1.000000 count
2019-03-25T23:00:38.673Z,1553554838.673 [MissionManager](INFO): DefineArg lineCaptureHoming.EnabledDUSBL = 1.000000 bool
2019-03-25T23:00:38.676Z,1553554838.676 [MissionManager](INFO): DefineArg lineCaptureHoming.Speed = 1.000000 m/s
2019-03-25T23:00:38.699Z,1553554838.699 [MissionManager](INFO): DefineArg lineCaptureHoming.DepthDeadband = 0.000000 m
2019-03-25T23:00:38.702Z,1553554838.702 [MissionManager](INFO): DefineArg lineCaptureHoming.MinAltitude = 5.000000 m
2019-03-25T23:00:38.709Z,1553554838.709 [MissionManager](INFO): DefineArg lineCaptureHoming.MaxDepth = 205.000000 m
2019-03-25T23:00:38.776Z,1553554838.776 [MissionManager](INFO): DefineArg lineCaptureHoming.MinOffshore = 2.000000 km
2019-03-25T23:00:38.779Z,1553554838.779 [MissionManager](INFO): DefineOutput lineCaptureHoming.HomingActive = 1 bool
2019-03-25T23:00:38.782Z,1553554838.782 [MissionManager](INFO): DefineOutput lineCaptureHoming.SCPIRequested = 0 bool
2019-03-25T23:00:38.813Z,1553554838.813 [MissionManager](INFO): DefineOutput lineCaptureHoming.DoingComms = 0 bool
2019-03-25T23:00:38.815Z,1553554838.815 [MissionManager](INFO): DefineOutput lineCaptureHoming.StartFromSurface = 1 bool
2019-03-25T23:00:38.816Z,1553554838.816 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2019-03-25T23:00:38.870Z,1553554838.870 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m
2019-03-25T23:00:38.873Z,1553554838.873 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m
2019-03-25T23:00:38.900Z,1553554838.900 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m
2019-03-25T23:00:38.901Z,1553554838.901 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-03-25T23:00:38.913Z,1553554838.913 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-03-25T23:00:38.932Z,1553554838.932 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2019-03-25T23:00:38.971Z,1553554838.971 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-03-25T23:00:39.086Z,1553554839.086 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.DiveInterval = 3.000000 h
2019-03-25T23:00:39.106Z,1553554839.106 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min
2019-03-25T23:00:39.112Z,1553554839.112 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-03-25T23:00:39.128Z,1553554839.128 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s
2019-03-25T23:00:39.131Z,1553554839.131 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-03-25T23:00:39.170Z,1553554839.170 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min
2019-03-25T23:00:39.173Z,1553554839.173 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min
2019-03-25T23:00:39.196Z,1553554839.196 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-03-25T23:00:39.270Z,1553554839.270 [lineCaptureHoming:I.Mass](DEBUG): Construct.
2019-03-25T23:00:39.274Z,1553554839.274 [lineCaptureHoming:J.Buoyancy](DEBUG): Construct Buoyancy.
2019-03-25T23:00:39.311Z,1553554839.311 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed](DEBUG): Construct.
2019-03-25T23:00:39.319Z,1553554839.319 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch](DEBUG): Construct.
2019-03-25T23:00:39.352Z,1553554839.352 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Construct.
2019-03-25T23:00:39.356Z,1553554839.356 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](DEBUG): Construct.
2019-03-25T23:00:39.411Z,1553554839.411 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Construct Waypoint.
2019-03-25T23:00:39.440Z,1553554839.440 [lineCaptureHoming:Lap:TerminalGuidance:A.Point](DEBUG): Construct.
2019-03-25T23:00:39.463Z,1553554839.463 [lineCaptureHoming:Lap:TerminalGuidance:B.Wait](DEBUG): Construct Wait.
2019-03-25T23:00:39.482Z,1553554839.482 [lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav](DEBUG): Construct SetNav.
2019-03-25T23:00:39.520Z,1553554839.520 [lineCaptureHoming:Lap:Dock:B.Wait](DEBUG): Construct Wait.
2019-03-25T23:00:39.559Z,1553554839.559 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint](DEBUG): Construct Waypoint.
2019-03-25T23:00:39.586Z,1553554839.586 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait](DEBUG): Construct Wait.
2019-03-25T23:00:39.690Z,1553554839.690 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
    xmlns:Control="Tethys/Control"
    xmlns:Estimation="Tethys/Estimation"
    xmlns:Guidance="Tethys/Guidance"
    xmlns:Sensor="Tethys/Sensor"
    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/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.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="lineCaptureHoming">

    <Description>
        Home to transponder while maintaining altitude. The mission sequence:
        (*) Start (1) Midcourse guidance: nav to target WP while querying
        transponder (2) Terminal guidance: home to target using DUSBL tracking
        data, fire up SCPI when in range (4) Dock: final approach using fixed
        heading (5) Rollout: nav back to start wp or move away from the target
        at the last commanded heading (*) repeat Note: since there's a
        possibility that no altitude reading will be available form the surface
        (e.g., when the bottom is out of DVL range), the vehicle first descends
        from the surface to a commanded depth and then starts following the
        commanded altitude.
    </Description>

<!-- Define mission arguments -->

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

    <DefineArg Name="NeedCommsTime"><Description>
        How often to surface for commumications
    </Description><Units:minute/><Value>120</Value></DefineArg>

    <DefineArg Name="Repeat"><Description>
        Number of times the vehicle should try to cycle through the homing
        sequence.
    </Description><Units:count/><Value>1</Value></DefineArg>

    <DefineArg Name="DockLat"><Description>
        Latitude of docking station waypoint.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DockLon"><Description>
        Longitude of docking station waypoint.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="StartLat"><Description>
        Latitude of docking sequance start waypoint. The vehicle navigates back
        to this waypoint at the end of each homing attempt. If set to NaN, the
        vehicle moves away from the target at the last commanded heading until
        *RolloutTimeout* has passed.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="StartLon"><Description>
        Longitude of docking sequance start waypoint. The vehicle navigates back
        to this waypoint at the end of each homing attempt. If set to NaN, the
        vehicle moves away from the target at the last commanded heading until
        *RolloutTimeout* has passed.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TerminalRange"><Description>
        Range at which the vehicle should switch from navigating to the dock wp
        and start homing to the target using DUSBL tracking data. Max is ??
        meters due to DUSBL ???.
    </Description><Units:meter/><Value>650.0</Value></DefineArg>

    <DefineArg Name="SCPIRange"><Description>
        Range to activate the SCPI payload.
    </Description><Units:meter/><Value>25.0</Value></DefineArg>

    <DefineArg Name="DockRange"><Description>
        Minimum range to continue to update heading being driven.
    </Description><Units:meter/><Value>4.0</Value></DefineArg>

    <DefineArg Name="UpdateNav"><Description>
        When true, the mission updates the vehicle's position to DockLat/Lon
        when it comes within *DockRange* from the transponder.
    </Description><Units:bool/><Value><False/></Value></DefineArg>

    <DefineArg Name="TerminalGuidanceTimeout"><Description>
        Maximum time duration for running in terminal guidance mode.
    </Description><Units:minute/><Value>30</Value></DefineArg>

    <DefineArg Name="DockTimeout"><Description>
        Time duration for running in Dock mode.
    </Description><Units:second/><Value>60</Value></DefineArg>

    <DefineArg Name="RolloutTimeout"><Description>
        Drive on your last heading for this long after approaching within
        minimum (dock) range.
    </Description><Units:minute/><Value>12</Value></DefineArg>

    <DefineArg Name="HoldAltitude"><Description>
        Desired vehicle altitude to maintain.
    </Description><Units:meter/><Value>7</Value></DefineArg>

    <DefineArg Name="InvalidAltitudeTimeout"><Description>
        The mission will abort if no valid altitude readings are received within
        this specified time duration. Set this variable to NaN to disable this
        timeout functionality.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="InitDepth"><Description>
        Initial depth. The vehicle will dive to this depth when leaving the
        surface. Necessary if no altitude reading is available form the surface
        (e.g., when the bottom is out of DVL range).
    </Description><Units:meter/><Value>30</Value></DefineArg>

    <DefineArg Name="InitDepthTimeout"><Description>
        Maximum time duration for the vehicle to reach the initial depth. The
        vehicle will switch over to altitude following after the timeout is
        expired.
    </Description><Units:minute/><Value>30</Value></DefineArg>

    <DefineArg Name="TransponderCode"><Description>
        Transponder Address.
    </Description><Units:count/><Value>2</Value></DefineArg>

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

    <DefineArg Name="EnabledDUSBL"><Description>
        Automatically set to true if the DUSBL is enabled. Set to false to
        disable reading from the DUSBL.
    </Description><Science:DUSBL_Hydroid.loadAtStartup/></DefineArg>

    <DefineArg Name="Speed"><Description>
        Thruster speed for the entier mission.
    </Description><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="DepthDeadband"><Units:meter/><Value>0.0</Value></DefineArg>

    <DefineArg Name="MinAltitude"><Description>
        Minimum height above the sea floor for the entire mission.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>205</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Description>
        Minimum offshore distance for the entire mission.
    </Description><Units:kilometer/><Value>2</Value></DefineArg>

    <DefineOutput Name="HomingActive"><Description>
        Mission variable (don't change). The mission sets this to true when the
        vehicle is homing.
    </Description><True/></DefineOutput>

    <DefineOutput Name="SCPIRequested"><Description>
        Mission variable (don't change). The mission sets this to true after
        SCPI is requested (prevents multipul req).
    </Description><False/></DefineOutput>

    <DefineOutput Name="DoingComms"><Description>
        Mission variable (don't change). The mission sets this to true before
        the vehicle surfaces for comms.
    </Description><False/></DefineOutput>

    <DefineOutput Name="StartFromSurface"><Description>
        Mission variable (don't change). The mission sets this to true after
        surface comms are done.
    </Description><True/></DefineOutput>

<!-- Mission timeout -->

    <Timeout Duration="MissionTimeout"/>

<!-- Safety nets and surfacing behaviors -->

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

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

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

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

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

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

    <Assign><Sequence/><Arg Name="NeedComms:WaitForPitchUp"/><Units:minute/><Value>0</Value></Assign>

    <Aggregate Id="SurfaceComms">

        <When>
            <Called/>
            <Or><Elapsed><Universal:time_fix/></Elapsed><Gt><Arg Name="NeedCommsTime"/></Gt></Or>
        </When>

        <Assign><Sequence/><Arg Name="DoingComms"/><True/></Assign>

        <Call RefId="NeedComms"/>

        <Assign><Sequence/><Arg Name="DoingComms"/><False/></Assign>

        <Assign><Sequence/><Arg Name="StartFromSurface"/><True/></Assign>

    </Aggregate>

<!-- Set default mass and VBS positions -->

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

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

<!-- Request desired engineering data -->

    <ReadData Strategy="MinError">
        <Universal:height_above_sea_floor/>
    </ReadData>

    <ReadData Strategy="AllDevices">
        <Universal:platform_orientation/>
    </ReadData>

    <ReadData>
        <While>
            <Arg Name="EnabledDUSBL"/>
        </While>
        <Sensor:DUSBL_Hydroid.range/>
        <Sensor:DUSBL_Hydroid.direction/>
    </ReadData>

<!-- Callable aggregates (priority matters, so these are done below important safety directives like StandardEnvelopes). -->

    <Aggregate Id="DiveCmd">

        <Description>
            Called when the vehicle should be underwater. Arbitrates between 2
            dive modes: 1) descend from the surface to initial depth. 2) follow
            commanded altitude.
<!-- TODO: move to an insert -->
        </Description>

        <When>
            <Called/>
        </When>

        <Aggregate Id="InitialDive">

            <Description>
                Descend from the surface to initial depth. Necessary when no
                altitude reading is available form the surface.
            </Description>

            <While>
                <Arg Name="StartFromSurface"/>
                <And><Not><Arg Name="DoingComms"/></Not></And>
            </While>

            <Aggregate Id="dive">

                <Sequence/>

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

                <Guidance:Pitch>
                    <Sequence/>
                    <Timeout Duration="InitDepthTimeout">
                        <Syslog Severity="Important">Timed out at current depth of <Universal:depth/><Units:meter/>. Switching to altitude servo.</Syslog>
                    </Timeout>
                </Guidance:Pitch>

                <Assign><Sequence/><Arg Name="StartFromSurface"/><False/></Assign>

            </Aggregate>

        </Aggregate>

        <Aggregate Id="AltitudeServo">

            <Description>
                Follow commanded altitude.
            </Description>

            <While>
                <Not><Arg Name="StartFromSurface"/></Not>
                <And><Not><Arg Name="DoingComms"/></Not></And>
            </While>

            <Aggregate Id="dive">

                <Parallel/>

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

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

                <Guidance:AltitudeServo>
                    <Parallel/>
                    <Setting><Guidance:AltitudeServo.targetAltitude/><Arg Name="HoldAltitude"/></Setting>
                    <Setting><Guidance:AltitudeServo.invalidAltitudeTimeout/><Arg Name="InvalidAltitudeTimeout"/></Setting>
                </Guidance:AltitudeServo>

            </Aggregate>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="RequestPing">

        <Description>
            Request a ping form the dock transponder.
<!-- TODO: move to an insert that abstracts the use of DAT/DUSBL -->
        </Description>

        <When>
            <Called/>
        </When>

        <Assign><Parallel/><Sensor:DUSBL_Hydroid.transponderCode/><Arg Name="TransponderCode"/></Assign>

        <Assign><Parallel/><Sensor:DUSBL_Hydroid.numberOfPingsRequested/><Arg Name="NumberOfPings"/></Assign>

    </Aggregate>

<!-- Start mission sequence. -->

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

    <Aggregate Id="Lap">

        <Sequence Repeat="Repeat"/>

        <Aggregate Id="Dive">

            <While>
                <Not><Arg Name="DoingComms"/></Not>
            </While>

            <Call RefId="DiveCmd"/>

        </Aggregate>

        <Aggregate Id="PingTransponder">

            <While>
                <Arg Name="HomingActive"/>
                <And><Estimation:TrackAcousticContact.range_to_contact/><Gt><Arg Name="DockRange"/></Gt></And>
            </While>

            <Call RefId="RequestPing"/>

        </Aggregate>

<!-- Start the homing sequence -->

        <Assign><Sequence/><Arg Name="HomingActive"/><True/></Assign>

        <Aggregate Id="MidcourseGuidance">

            <Description>
                Navigate toward the dock waypoint while querying the dock
                transponder. Continue until you approach within *TerminalRange*,
                then move on to the next aggregate.
            </Description>

            <Sequence/>

            <Break>
                <Estimation:TrackAcousticContact.range_to_contact/>
                <Lt><Arg Name="TerminalRange"/></Lt>
            </Break>

            <Guidance:Waypoint>
                <Sequence/>
                <Setting><Guidance:Waypoint.latitude/><Arg Name="DockLat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="DockLon"/></Setting>
            </Guidance:Waypoint>

        </Aggregate>

        <Aggregate Id="TerminalGuidance">

            <Description>
                Move toward the target using DUSBL tracking data and update the
                commanded heading with each cycle, activate SCPI when in range.
                Continue until you're within *DockRange*, then move on to the
                next aggregate.
            </Description>

            <Sequence/>

            <Break>
                <Estimation:TrackAcousticContact.range_to_contact/>
                <Lt><Arg Name="DockRange"/></Lt>
            </Break>

            <Guidance:Point>
                <Parallel/>
                <Setting><Guidance:Point.heading/><Sensor:TrackAcousticContact.azimuth_to_contact_vehicle_frame/></Setting>
            </Guidance:Point>

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

            <Aggregate Id="ActivateSCPI">

                <When>
                    <Not><Arg Name="SCPIRequested"/></Not>
                    <And><Estimation:.range_to_contact/><Le><Arg Name="SCPIRange"/></Le></And>
                </When>

                <ReadData Strategy="MinError">
                    <Sensor:SCPI.sampleSCPI/>
                </ReadData>

                <Assign><Sequence/><Arg Name="SCPIRequested"/><True/></Assign>

            </Aggregate>

        </Aggregate>

        <Aggregate Id="Dock">

            <Description>
                Final approach. Close in on the target at the last commanded
                heading until *DockTimeout* has passed. No DUSBL heading
                updates.
            </Description>

            <Sequence/>

            <Aggregate Id="UpdateNav">

                <Sequence/>

                <Break>
                    <Not><Arg Name="UpdateNav"/></Not>
                </Break>

                <Guidance:SetNav>
                    <Sequence/>
                    <Setting><Guidance:SetNav.latitude/><Arg Name="DockLat"/></Setting>
                    <Setting><Guidance:SetNav.longitude/><Arg Name="DockLon"/></Setting>
                </Guidance:SetNav>

            </Aggregate>

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

            <Assign><Sequence/><Arg Name="SCPIRequested"/><False/></Assign>

            <Assign><Sequence/><Arg Name="HomingActive"/><False/></Assign>

        </Aggregate>

        <Aggregate Id="Rollout">

            <Description>
                Navigate back to the start waypoint or move away from the target
                at the last commanded heading until *RolloutTimeout* has passed.
            </Description>

            <Sequence/>

            <Aggregate Id="NavToStart">

                <Sequence/>

                <Break>
                    <IsNaN><Arg Name="StartLat"/>
                    </IsNaN>
                    <Or><IsNaN><Arg Name="StartLon"/>
                    </IsNaN></Or>
                </Break>

                <Guidance:Waypoint>
                    <Sequence/>
                    <Setting><Guidance:Waypoint.latitude/><Arg Name="StartLat"/></Setting>
                    <Setting><Guidance:Waypoint.longitude/><Arg Name="StartLon"/></Setting>
                </Guidance:Waypoint>

            </Aggregate>

            <Aggregate Id="MaintainHeading">

                <Sequence/>

                <Break>
                    <Not><IsNaN><Arg Name="StartLat"/>
                    </IsNaN></Not>
                    <Or><Not><IsNaN><Arg Name="StartLon"/>
                    </IsNaN></Not></Or>
                </Break>

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

            </Aggregate>

        </Aggregate>

    </Aggregate>

    <Call Id="PhoneHome" RefId="SurfaceComms"/>

</Mission>


2019-03-25T23:00:39.695Z,1553554839.695 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHoming.xml
2019-03-25T23:00:43.531Z,1553554843.531 [CommandLine](IMPORTANT): got command show variable UpdateNav
2019-03-25T23:00:43.719Z,1553554843.719 [CommandLine](IMPORTANT): lineCaptureHoming.UpdateNav (bool)
2019-03-25T23:00:43.723Z,1553554843.723 [CommandLine](IMPORTANT): lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav.latitude_fix (degree)
2019-03-25T23:00:43.723Z,1553554843.723 [CommandLine](IMPORTANT): lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav.longitude_fix (degree)
2019-03-25T23:00:43.724Z,1553554843.724 [CommandLine](IMPORTANT): lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav.time_fix (second)
2019-03-25T23:00:49.871Z,1553554849.871 [CommandLine](IMPORTANT): got command get lineCaptureHoming.UpdateNav
2019-03-25T23:00:49.871Z,1553554849.871 [CommandLine](IMPORTANT): lineCaptureHoming.UpdateNav 0.000000 bool
2019-03-25T23:02:12.097Z,1553554932.097 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:02:12.097Z,1553554932.097 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 8
2019-03-25T23:02:12.097Z,1553554932.097 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-25T23:02:12.099Z,1553554932.099 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:02:12.100Z,1553554932.100 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 8
2019-03-25T23:02:12.100Z,1553554932.100 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-25T23:02:12.101Z,1553554932.101 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:02:12.101Z,1553554932.101 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 8
2019-03-25T23:02:12.102Z,1553554932.102 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-25T23:02:12.113Z,1553554932.113 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-25T23:02:12.113Z,1553554932.113 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-25T23:02:12.113Z,1553554932.113 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-25T23:02:12.512Z,1553554932.512 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-25T23:02:12.512Z,1553554932.512 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 8
2019-03-25T23:02:12.513Z,1553554932.513 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-25T23:02:12.513Z,1553554932.513 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 8
2019-03-25T23:02:12.513Z,1553554932.513 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-25T23:02:12.514Z,1553554932.514 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 8
2019-03-25T23:02:12.897Z,1553554932.897 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-25T23:02:58.915Z,1553554978.915 [CommandLine](IMPORTANT): got command show variable initDepth
2019-03-25T23:02:59.384Z,1553554979.384 [CommandLine](IMPORTANT): lineCaptureHoming.InitDepth (meter)
2019-03-25T23:02:59.385Z,1553554979.385 [CommandLine](IMPORTANT): lineCaptureHoming.InitDepthTimeout (minute)
2019-03-25T23:03:15.995Z,1553554995.995 [CommandLine](IMPORTANT): got command show variable InitDepth
2019-03-25T23:03:16.132Z,1553554996.132 [CommandLine](IMPORTANT): lineCaptureHoming.InitDepth (meter)
2019-03-25T23:03:16.133Z,1553554996.133 [CommandLine](IMPORTANT): lineCaptureHoming.InitDepthTimeout (minute)
2019-03-25T23:03:28.619Z,1553555008.619 [CommandLine](IMPORTANT): got command set lineCaptureHoming.InitDepth 0.000000 meter
2019-03-25T23:03:42.175Z,1553555022.175 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-03-25T23:03:42.175Z,1553555022.175 [Default:CheckIn:C.Wait] Stopped
2019-03-25T23:03:42.175Z,1553555022.175 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-03-25T23:03:42.176Z,1553555022.176 [Default:CheckIn:D] Running Loop=1
2019-03-25T23:03:42.593Z,1553555022.593 [Default:CheckIn:D] Stopped
2019-03-25T23:03:42.593Z,1553555022.593 [Default:CheckIn:E] Running Loop=1
2019-03-25T23:03:42.993Z,1553555022.993 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 18.714311 min 
2019-03-25T23:03:42.994Z,1553555022.994 [Default:CheckIn:E] Stopped
2019-03-25T23:03:42.994Z,1553555022.994 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-03-25T23:03:42.994Z,1553555022.994 [Default:CheckIn] Stopped
2019-03-25T23:03:42.994Z,1553555022.994 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-03-25T23:03:42.994Z,1553555022.994 [Default:CheckIn](INFO): Running loop #3
2019-03-25T23:03:42.994Z,1553555022.994 [Default:CheckIn] Running Loop=3
2019-03-25T23:03:42.994Z,1553555022.994 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-03-25T23:03:42.995Z,1553555022.995 [Default:CheckIn:Read_GPS] Running Loop=1
2019-03-25T23:03:43.772Z,1553555023.772 [NAL9602](INFO): Powering up
2019-03-25T23:03:54.682Z,1553555034.682 [NAL9602](INFO): NAL9602 initialized
2019-03-25T23:03:55.489Z,1553555035.489 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-03-25T23:03:55.489Z,1553555035.489 [NAL9602] Data Fault, FailCount= 2
2019-03-25T23:03:55.489Z,1553555035.489 [NAL9602](ERROR): Data Fault
2019-03-25T23:03:55.565Z,1553555035.565 [CBIT](ERROR): Data Fault in component: NAL9602
2019-03-25T23:03:55.892Z,1553555035.892 [NAL9602](INFO): Powering down
2019-03-25T23:03:56.747Z,1553555036.747 [CBIT](INFO): Clearing failed state for component NAL9602
2019-03-25T23:03:56.747Z,1553555036.747 [NAL9602] No Fault, FailCount= 2
2019-03-25T23:04:13.286Z,1553555053.286 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:04:13.286Z,1553555053.286 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 9
2019-03-25T23:04:13.287Z,1553555053.287 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-25T23:04:13.289Z,1553555053.289 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:04:13.289Z,1553555053.289 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 9
2019-03-25T23:04:13.289Z,1553555053.289 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-25T23:04:13.291Z,1553555053.291 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:04:13.291Z,1553555053.291 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 9
2019-03-25T23:04:13.291Z,1553555053.291 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-25T23:04:13.302Z,1553555053.302 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-25T23:04:13.302Z,1553555053.302 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-25T23:04:13.302Z,1553555053.302 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-25T23:04:13.716Z,1553555053.716 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-25T23:04:13.716Z,1553555053.716 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 9
2019-03-25T23:04:13.716Z,1553555053.717 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-25T23:04:13.717Z,1553555053.717 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 9
2019-03-25T23:04:13.717Z,1553555053.717 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-25T23:04:13.717Z,1553555053.717 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 9
2019-03-25T23:04:14.094Z,1553555054.094 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-25T23:04:26.192Z,1553555066.192 [NAL9602](INFO): Powering up NAL9602
2019-03-25T23:04:32.500Z,1553555072.500 [CommandLine](IMPORTANT): got command show variable DUSBL
2019-03-25T23:04:32.540Z,1553555072.540 [CommandLine](IMPORTANT): DUSBL_Hydroid.loadAtStartup (bool)
2019-03-25T23:04:32.540Z,1553555072.540 [CommandLine](IMPORTANT): DUSBL_Hydroid.simulateHardware (bool)
2019-03-25T23:04:32.540Z,1553555072.540 [CommandLine](IMPORTANT): DUSBL_Hydroid.defaultTurnAroundTime (second)
2019-03-25T23:04:32.541Z,1553555072.541 [CommandLine](IMPORTANT): DUSBL_Hydroid.defaultSoundSpeed (meter_per_second)
2019-03-25T23:04:32.541Z,1553555072.541 [CommandLine](IMPORTANT): DUSBL_Hydroid.detectionThreshold (count)
2019-03-25T23:04:32.541Z,1553555072.541 [CommandLine](IMPORTANT): DUSBL_Hydroid.recieveTimeout (millisecond)
2019-03-25T23:04:32.542Z,1553555072.542 [CommandLine](IMPORTANT): DUSBL_Hydroid.transmitLockout (millisecond)
2019-03-25T23:04:32.542Z,1553555072.542 [CommandLine](IMPORTANT): DUSBL_Hydroid.transponderCode (enum)
2019-03-25T23:04:32.543Z,1553555072.543 [CommandLine](IMPORTANT): DUSBL_Hydroid.numberOfPingsRequested (count)
2019-03-25T23:04:32.543Z,1553555072.543 [CommandLine](IMPORTANT): DUSBL_Hydroid.verbosity (enum)
2019-03-25T23:04:32.543Z,1553555072.543 [CommandLine](IMPORTANT): DUSBL_Hydroid.xCenter (angular_degree)
2019-03-25T23:04:32.544Z,1553555072.544 [CommandLine](IMPORTANT): DUSBL_Hydroid.yCenter (angular_degree)
2019-03-25T23:04:32.556Z,1553555072.556 [CommandLine](IMPORTANT): DUSBL_Hydroid.loadControl (none)
2019-03-25T23:04:32.556Z,1553555072.556 [CommandLine](IMPORTANT): DUSBL_Hydroid.uart (none)
2019-03-25T23:04:32.556Z,1553555072.556 [CommandLine](IMPORTANT): DUSBL_Hydroid.baud (bit_per_second)
2019-03-25T23:04:32.560Z,1553555072.560 [CommandLine](IMPORTANT): Micromodem.dusblPingCode (enum)
2019-03-25T23:04:32.560Z,1553555072.560 [CommandLine](IMPORTANT): DUSBL_Hydroid.xAngle (angular_degree)
2019-03-25T23:04:32.560Z,1553555072.560 [CommandLine](IMPORTANT): DUSBL_Hydroid.yAngle (angular_degree)
2019-03-25T23:04:32.561Z,1553555072.561 [CommandLine](IMPORTANT): DUSBL_Hydroid.travelTime (microsecond)
2019-03-25T23:04:32.561Z,1553555072.561 [CommandLine](IMPORTANT): DUSBL_Hydroid.latency (microsecond)
2019-03-25T23:04:32.561Z,1553555072.561 [CommandLine](IMPORTANT): DUSBL_Hydroid.gain (ratio)
2019-03-25T23:04:32.562Z,1553555072.562 [CommandLine](IMPORTANT): DUSBL_Hydroid.inBandSignalToNoise (ratio)
2019-03-25T23:04:32.562Z,1553555072.562 [CommandLine](IMPORTANT): DUSBL_Hydroid.outBandSignalToNoise (ratio)
2019-03-25T23:04:32.563Z,1553555072.563 [CommandLine](IMPORTANT): DUSBL_Hydroid.acoustic_contact_address (meter)
2019-03-25T23:04:32.563Z,1553555072.563 [CommandLine](IMPORTANT): DUSBL_Hydroid.acoustic_contact_direction_vehicle_frame (none)
2019-03-25T23:04:32.563Z,1553555072.563 [CommandLine](IMPORTANT): DUSBL_Hydroid.acoustic_contact_range (enum)
2019-03-25T23:04:32.589Z,1553555072.589 [CommandLine](IMPORTANT): lineCaptureHoming.EnabledDUSBL (bool)
2019-03-25T23:04:37.101Z,1553555077.101 [NAL9602](INFO): NAL9602 initialized
2019-03-25T23:04:37.922Z,1553555077.922 [NAL9602](DEBUG): Fix Requested
2019-03-25T23:04:43.683Z,1553555083.683 [CommandLine](IMPORTANT): got command report touch DUSBL_Hydroid.xCenter
2019-03-25T23:05:04.589Z,1553555104.589 [CommandLine](IMPORTANT): got command report touch DUSBL_Hydroid.acoustic_contact_range
2019-03-25T23:05:07.823Z,1553555107.823 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-03-25T23:05:07.823Z,1553555107.823 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00, 100.42,  97.92,  93.93
2019-03-25T23:05:19.005Z,1553555119.005 [CommandLine](IMPORTANT): got command show variable trackAcoustic
2019-03-25T23:05:27.908Z,1553555127.908 [CommandLine](IMPORTANT): got command show variable TrackAcou
2019-03-25T23:05:37.132Z,1553555137.132 [CommandLine](IMPORTANT): got command run
2019-03-25T23:05:37.134Z,1553555137.134 [CommandLine](IMPORTANT): Running 
2019-03-25T23:05:37.329Z,1553555137.329 [Default] Stopped
2019-03-25T23:05:37.329Z,1553555137.329 [Default](DEBUG): Aggregate::uninitialize Default
2019-03-25T23:05:37.329Z,1553555137.329 [Default:B.GoToSurface] Stopped
2019-03-25T23:05:37.329Z,1553555137.329 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-03-25T23:05:37.330Z,1553555137.330 [Default:CheckIn] Stopped
2019-03-25T23:05:37.330Z,1553555137.330 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-03-25T23:05:37.330Z,1553555137.330 [Default:CheckIn:Read_GPS] Stopped
2019-03-25T23:05:37.330Z,1553555137.330 [MissionManager](IMPORTANT): Started mission lineCaptureHoming
2019-03-25T23:05:37.330Z,1553555137.330 [lineCaptureHoming] Running Loop=1
2019-03-25T23:05:37.331Z,1553555137.331 [lineCaptureHoming](DEBUG): Aggregate::initialize lineCaptureHoming
2019-03-25T23:05:37.331Z,1553555137.331 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-03-25T23:05:37.331Z,1553555137.331 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:StandardEnvelopes
2019-03-25T23:05:37.331Z,1553555137.331 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-03-25T23:05:37.331Z,1553555137.331 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-03-25T23:05:37.331Z,1553555137.331 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-03-25T23:05:37.331Z,1553555137.331 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-03-25T23:05:37.331Z,1553555137.331 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-03-25T23:05:37.332Z,1553555137.332 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2019-03-25T23:05:37.332Z,1553555137.332 [lineCaptureHoming:I.Mass] Running Loop=1
2019-03-25T23:05:37.332Z,1553555137.332 [lineCaptureHoming:I.Mass](DEBUG): Initialize.
2019-03-25T23:05:37.332Z,1553555137.332 [lineCaptureHoming:J.Buoyancy] Running Loop=1
2019-03-25T23:05:37.332Z,1553555137.332 [lineCaptureHoming:J.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-03-25T23:05:37.332Z,1553555137.332 [lineCaptureHoming:K] Running Loop=1
2019-03-25T23:05:37.332Z,1553555137.332 [lineCaptureHoming:L] Running Loop=1
2019-03-25T23:05:37.332Z,1553555137.332 [lineCaptureHoming:M] Running Loop=1
2019-03-25T23:05:37.332Z,1553555137.332 [lineCaptureHoming:B] Running Loop=1
2019-03-25T23:05:37.333Z,1553555137.333 [lineCaptureHoming:M] Running Loop=1
2019-03-25T23:05:37.333Z,1553555137.333 [lineCaptureHoming:M](CRITICAL): Unable to read non-existent URI:DUSBL_Hydroid.range
2019-03-25T23:05:37.334Z,1553555137.334 [lineCaptureHoming:M](CRITICAL): Unable to read non-existent data element: DUSBL_Hydroid.range
2019-03-25T23:05:37.334Z,1553555137.334 [lineCaptureHoming:M](CRITICAL): Unable to read non-existent URI:DUSBL_Hydroid.direction
2019-03-25T23:05:37.334Z,1553555137.334 [lineCaptureHoming:M](CRITICAL): Unable to read non-existent data element: DUSBL_Hydroid.direction
2019-03-25T23:05:37.334Z,1553555137.334 [lineCaptureHoming:L] Running Loop=1
2019-03-25T23:05:37.335Z,1553555137.335 [lineCaptureHoming:L](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2019-03-25T23:05:37.335Z,1553555137.335 [lineCaptureHoming:K] Running Loop=1
2019-03-25T23:05:37.336Z,1553555137.336 [lineCaptureHoming:K](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2019-03-25T23:05:37.336Z,1553555137.336 [lineCaptureHoming:J.Buoyancy] Running Loop=1
2019-03-25T23:05:37.336Z,1553555137.336 [lineCaptureHoming:I.Mass] Running Loop=1
2019-03-25T23:05:37.337Z,1553555137.337 [lineCaptureHoming:B] Stopped
2019-03-25T23:05:37.337Z,1553555137.337 [lineCaptureHoming:C] Running Loop=1
2019-03-25T23:05:37.337Z,1553555137.337 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-03-25T23:05:37.337Z,1553555137.337 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-03-25T23:05:37.344Z,1553555137.344 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-03-25T23:05:37.344Z,1553555137.344 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-03-25T23:05:37.352Z,1553555137.352 [CommandLine](FAULT): Scheduling is paused
2019-03-25T23:05:37.353Z,1553555137.353 [CBIT](INFO): Critical error at 20190325T230537
2019-03-25T23:05:37.353Z,1553555137.353 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2019-03-25T23:05:37.733Z,1553555137.733 [lineCaptureHoming:M](CRITICAL): Unable to read non-existent URI:DUSBL_Hydroid.range
2019-03-25T23:05:37.733Z,1553555137.733 [lineCaptureHoming:M](CRITICAL): Unable to read non-existent data element: DUSBL_Hydroid.range
2019-03-25T23:05:37.733Z,1553555137.733 [lineCaptureHoming:M](CRITICAL): Unable to read non-existent URI:DUSBL_Hydroid.direction
2019-03-25T23:05:37.733Z,1553555137.733 [lineCaptureHoming:M](CRITICAL): Unable to read non-existent data element: DUSBL_Hydroid.direction
2019-03-25T23:05:37.735Z,1553555137.735 [lineCaptureHoming:C] Stopped
2019-03-25T23:05:37.735Z,1553555137.735 [lineCaptureHoming:D] Running Loop=1
2019-03-25T23:05:37.741Z,1553555137.741 [MissionManager](INFO): MissionManager is completed.
2019-03-25T23:05:37.741Z,1553555137.741 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2019-03-25T23:05:37.741Z,1553555137.741 [lineCaptureHoming] Stopped
2019-03-25T23:05:37.741Z,1553555137.741 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2019-03-25T23:05:37.741Z,1553555137.741 [lineCaptureHoming:StandardEnvelopes] Stopped
2019-03-25T23:05:37.741Z,1553555137.741 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2019-03-25T23:05:37.741Z,1553555137.741 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2019-03-25T23:05:37.741Z,1553555137.741 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2019-03-25T23:05:37.742Z,1553555137.742 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2019-03-25T23:05:37.742Z,1553555137.742 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2019-03-25T23:05:37.742Z,1553555137.742 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2019-03-25T23:05:37.742Z,1553555137.742 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2019-03-25T23:05:37.742Z,1553555137.742 [lineCaptureHoming:D] Stopped
2019-03-25T23:05:37.742Z,1553555137.742 [lineCaptureHoming:I.Mass] Stopped
2019-03-25T23:05:37.742Z,1553555137.742 [lineCaptureHoming:I.Mass](DEBUG): Uninitialize.
2019-03-25T23:05:37.742Z,1553555137.742 [lineCaptureHoming:J.Buoyancy] Stopped
2019-03-25T23:05:37.742Z,1553555137.742 [lineCaptureHoming:J.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2019-03-25T23:05:37.742Z,1553555137.742 [lineCaptureHoming:K] Stopped
2019-03-25T23:05:37.742Z,1553555137.742 [lineCaptureHoming:L] Stopped
2019-03-25T23:05:37.742Z,1553555137.742 [lineCaptureHoming:M] Stopped
2019-03-25T23:05:37.769Z,1553555137.769 [CBIT](INFO): Critical error at 20190325T230537
2019-03-25T23:05:38.133Z,1553555138.133 [MissionManager](IMPORTANT): Started mission Default
2019-03-25T23:05:38.133Z,1553555138.133 [Default] Running Loop=1
2019-03-25T23:05:38.134Z,1553555138.134 [Default](DEBUG): Aggregate::initialize Default
2019-03-25T23:05:38.134Z,1553555138.134 [Default:B.GoToSurface] Running Loop=1
2019-03-25T23:05:38.134Z,1553555138.134 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-03-25T23:05:38.134Z,1553555138.134 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-03-25T23:05:38.135Z,1553555138.135 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-03-25T23:05:38.135Z,1553555138.135 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-03-25T23:05:38.135Z,1553555138.135 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-03-25T23:05:38.136Z,1553555138.136 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-03-25T23:05:38.136Z,1553555138.136 [Default:A.Wait] Running Loop=1
2019-03-25T23:05:38.136Z,1553555138.136 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-03-25T23:05:51.496Z,1553555151.496 [Default:A.Wait](INFO): Done Waiting.
2019-03-25T23:05:51.496Z,1553555151.496 [Default:A.Wait] Stopped
2019-03-25T23:05:51.496Z,1553555151.496 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-03-25T23:05:51.882Z,1553555151.882 [Default:CheckIn] Running Loop=1
2019-03-25T23:05:51.882Z,1553555151.882 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-03-25T23:05:51.883Z,1553555151.883 [Default:CheckIn:Read_GPS] Running Loop=1
2019-03-25T23:06:14.501Z,1553555174.501 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:06:14.501Z,1553555174.501 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 10
2019-03-25T23:06:14.501Z,1553555174.501 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-25T23:06:14.504Z,1553555174.504 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:06:14.504Z,1553555174.504 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 10
2019-03-25T23:06:14.504Z,1553555174.504 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-25T23:06:14.506Z,1553555174.506 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:06:14.506Z,1553555174.506 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 10
2019-03-25T23:06:14.506Z,1553555174.506 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-25T23:06:14.517Z,1553555174.517 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-25T23:06:14.518Z,1553555174.518 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-25T23:06:14.518Z,1553555174.518 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-25T23:06:14.898Z,1553555174.898 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-25T23:06:14.898Z,1553555174.898 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 10
2019-03-25T23:06:14.899Z,1553555174.899 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-25T23:06:14.899Z,1553555174.899 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 10
2019-03-25T23:06:14.900Z,1553555174.900 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-25T23:06:14.900Z,1553555174.900 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 10
2019-03-25T23:06:15.301Z,1553555175.301 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-25T23:07:41.325Z,1553555261.325 [NAL9602](INFO): SBD MO Status=2, MOMSN=2444, MT Status=2, MTMSN=0
2019-03-25T23:07:41.326Z,1553555261.326 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-03-25T23:07:58.698Z,1553555278.698 [NAL9602](INFO): SBD MO Status=2, MOMSN=2444, MT Status=2, MTMSN=0
2019-03-25T23:07:58.698Z,1553555278.698 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-03-25T23:08:07.590Z,1553555287.590 [NAL9602](INFO): SBD MO Status=0, MOMSN=2444, MT Status=0, MTMSN=0
2019-03-25T23:08:07.590Z,1553555287.590 [NAL9602](INFO): No messages in MT queue
2019-03-25T23:08:08.407Z,1553555288.407 [NAL9602](DEBUG): Fix Requested
2019-03-25T23:08:08.798Z,1553555288.798 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,230110.00,A,3648.16230,N,12147.27917,W,0.292,323.39,250319,,,A*74
2019-03-25T23:08:08.800Z,1553555288.800 [NAL9602](INFO): GPS fix at 20190325T230110: (36.802705, -121.787986)
2019-03-25T23:08:08.832Z,1553555288.832 [Default:CheckIn:Read_GPS] Stopped
2019-03-25T23:08:08.833Z,1553555288.833 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-03-25T23:08:14.786Z,1553555294.786 [DataOverHttps](INFO): Sending 213 bytes from file Logs/20190325T224151/Courier0010.lzma
2019-03-25T23:08:15.592Z,1553555295.592 [DataOverHttps](INFO): Moved sent file to Logs/20190325T224151/Courier0010.lzma.bak
2019-03-25T23:08:15.592Z,1553555295.592 [DataOverHttps](INFO): SBD MOMSN=10243680
2019-03-25T23:08:15.728Z,1553555295.728 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:08:15.728Z,1553555295.728 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2019-03-25T23:08:15.728Z,1553555295.728 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-25T23:08:15.731Z,1553555295.731 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:08:15.732Z,1553555295.732 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 1
2019-03-25T23:08:15.732Z,1553555295.732 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-25T23:08:15.734Z,1553555295.734 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:08:15.734Z,1553555295.734 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 1
2019-03-25T23:08:15.735Z,1553555295.735 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-25T23:08:15.747Z,1553555295.747 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-25T23:08:15.747Z,1553555295.747 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-25T23:08:15.747Z,1553555295.747 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-25T23:08:16.130Z,1553555296.130 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-25T23:08:16.134Z,1553555296.134 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2019-03-25T23:08:16.136Z,1553555296.136 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-25T23:08:16.142Z,1553555296.142 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 1
2019-03-25T23:08:16.143Z,1553555296.143 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-25T23:08:16.143Z,1553555296.143 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 1
2019-03-25T23:08:16.535Z,1553555296.535 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-25T23:08:27.628Z,1553555307.628 [DataOverHttps](INFO): Sending 1206 bytes from file Logs/20190325T224151/Express0011.lzma
2019-03-25T23:08:28.433Z,1553555308.433 [DataOverHttps](INFO): Moved sent file to Logs/20190325T224151/Express0011.lzma.bak
2019-03-25T23:08:28.433Z,1553555308.433 [DataOverHttps](INFO): SBD MOMSN=10243691
2019-03-25T23:08:29.841Z,1553555309.841 [Default:CheckIn:Read_Iridium] Stopped
2019-03-25T23:08:29.842Z,1553555309.842 [Default:CheckIn:C.Wait] Running Loop=1
2019-03-25T23:08:29.842Z,1553555309.842 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-03-25T23:08:40.717Z,1553555320.717 [NAL9602](INFO): Powering down
2019-03-25T23:10:16.889Z,1553555416.889 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:10:16.889Z,1553555416.889 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2019-03-25T23:10:16.889Z,1553555416.889 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-25T23:10:16.892Z,1553555416.892 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:10:16.892Z,1553555416.892 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 2
2019-03-25T23:10:16.892Z,1553555416.892 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-25T23:10:16.894Z,1553555416.894 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:10:16.894Z,1553555416.894 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 2
2019-03-25T23:10:16.894Z,1553555416.894 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-25T23:10:16.905Z,1553555416.905 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-25T23:10:16.905Z,1553555416.905 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-25T23:10:16.905Z,1553555416.905 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-25T23:10:17.297Z,1553555417.297 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-25T23:10:17.297Z,1553555417.297 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2019-03-25T23:10:17.297Z,1553555417.297 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-25T23:10:17.298Z,1553555417.298 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 2
2019-03-25T23:10:17.298Z,1553555417.298 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-25T23:10:17.298Z,1553555417.298 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 2
2019-03-25T23:10:17.701Z,1553555417.701 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-25T23:11:09.824Z,1553555469.824 [CommandLine](IMPORTANT): got command show variable DUSBL
2019-03-25T23:11:09.874Z,1553555469.874 [CommandLine](IMPORTANT): DUSBL_Hydroid.loadAtStartup (bool)
2019-03-25T23:11:09.875Z,1553555469.875 [CommandLine](IMPORTANT): DUSBL_Hydroid.simulateHardware (bool)
2019-03-25T23:11:09.875Z,1553555469.875 [CommandLine](IMPORTANT): DUSBL_Hydroid.defaultTurnAroundTime (second)
2019-03-25T23:11:09.875Z,1553555469.875 [CommandLine](IMPORTANT): DUSBL_Hydroid.defaultSoundSpeed (meter_per_second)
2019-03-25T23:11:09.876Z,1553555469.876 [CommandLine](IMPORTANT): DUSBL_Hydroid.detectionThreshold (count)
2019-03-25T23:11:09.876Z,1553555469.876 [CommandLine](IMPORTANT): DUSBL_Hydroid.recieveTimeout (millisecond)
2019-03-25T23:11:09.876Z,1553555469.876 [CommandLine](IMPORTANT): DUSBL_Hydroid.transmitLockout (millisecond)
2019-03-25T23:11:09.877Z,1553555469.877 [CommandLine](IMPORTANT): DUSBL_Hydroid.transponderCode (enum)
2019-03-25T23:11:09.877Z,1553555469.877 [CommandLine](IMPORTANT): DUSBL_Hydroid.numberOfPingsRequested (count)
2019-03-25T23:11:09.877Z,1553555469.877 [CommandLine](IMPORTANT): DUSBL_Hydroid.verbosity (enum)
2019-03-25T23:11:09.878Z,1553555469.878 [CommandLine](IMPORTANT): DUSBL_Hydroid.xCenter (angular_degree)
2019-03-25T23:11:09.878Z,1553555469.878 [CommandLine](IMPORTANT): DUSBL_Hydroid.yCenter (angular_degree)
2019-03-25T23:11:09.890Z,1553555469.890 [CommandLine](IMPORTANT): DUSBL_Hydroid.loadControl (none)
2019-03-25T23:11:09.907Z,1553555469.907 [CommandLine](IMPORTANT): DUSBL_Hydroid.uart (none)
2019-03-25T23:11:09.907Z,1553555469.907 [CommandLine](IMPORTANT): DUSBL_Hydroid.baud (bit_per_second)
2019-03-25T23:11:09.914Z,1553555469.914 [CommandLine](IMPORTANT): Micromodem.dusblPingCode (enum)
2019-03-25T23:11:09.915Z,1553555469.915 [CommandLine](IMPORTANT): DUSBL_Hydroid.xAngle (angular_degree)
2019-03-25T23:11:09.915Z,1553555469.915 [CommandLine](IMPORTANT): DUSBL_Hydroid.yAngle (angular_degree)
2019-03-25T23:11:09.915Z,1553555469.915 [CommandLine](IMPORTANT): DUSBL_Hydroid.travelTime (microsecond)
2019-03-25T23:11:09.916Z,1553555469.916 [CommandLine](IMPORTANT): DUSBL_Hydroid.latency (microsecond)
2019-03-25T23:11:09.916Z,1553555469.916 [CommandLine](IMPORTANT): DUSBL_Hydroid.gain (ratio)
2019-03-25T23:11:09.916Z,1553555469.916 [CommandLine](IMPORTANT): DUSBL_Hydroid.inBandSignalToNoise (ratio)
2019-03-25T23:11:09.917Z,1553555469.917 [CommandLine](IMPORTANT): DUSBL_Hydroid.outBandSignalToNoise (ratio)
2019-03-25T23:11:09.917Z,1553555469.917 [CommandLine](IMPORTANT): DUSBL_Hydroid.acoustic_contact_address (meter)
2019-03-25T23:11:09.917Z,1553555469.917 [CommandLine](IMPORTANT): DUSBL_Hydroid.acoustic_contact_direction_vehicle_frame (none)
2019-03-25T23:11:09.918Z,1553555469.918 [CommandLine](IMPORTANT): DUSBL_Hydroid.acoustic_contact_range (enum)
2019-03-25T23:12:18.093Z,1553555538.093 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:12:18.093Z,1553555538.093 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 3
2019-03-25T23:12:18.093Z,1553555538.093 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-25T23:12:18.095Z,1553555538.095 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:12:18.096Z,1553555538.096 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 3
2019-03-25T23:12:18.096Z,1553555538.096 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-25T23:12:18.097Z,1553555538.097 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:12:18.097Z,1553555538.097 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 3
2019-03-25T23:12:18.098Z,1553555538.098 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-25T23:12:18.109Z,1553555538.109 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-25T23:12:18.109Z,1553555538.109 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-25T23:12:18.109Z,1553555538.109 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-25T23:12:18.515Z,1553555538.515 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-25T23:12:18.515Z,1553555538.515 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 3
2019-03-25T23:12:18.516Z,1553555538.516 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-25T23:12:18.516Z,1553555538.516 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 3
2019-03-25T23:12:18.517Z,1553555538.517 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-25T23:12:18.517Z,1553555538.517 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 3
2019-03-25T23:12:18.893Z,1553555538.893 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-25T23:13:23.405Z,1553555603.405 [CommandLine](IMPORTANT): got command show variable range_reading
2019-03-25T23:13:26.808Z,1553555606.808 [CommandLine](IMPORTANT): got command show variable RANGE_READING
2019-03-25T23:13:30.446Z,1553555610.446 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-03-25T23:13:30.446Z,1553555610.446 [Default:CheckIn:C.Wait] Stopped
2019-03-25T23:13:30.446Z,1553555610.446 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-03-25T23:13:30.447Z,1553555610.447 [Default:CheckIn:D] Running Loop=1
2019-03-25T23:13:30.833Z,1553555610.833 [Default:CheckIn:D] Stopped
2019-03-25T23:13:30.834Z,1553555610.834 [Default:CheckIn:E] Running Loop=1
2019-03-25T23:13:31.220Z,1553555611.220 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 7.878330 min 
2019-03-25T23:13:31.220Z,1553555611.220 [Default:CheckIn:E] Stopped
2019-03-25T23:13:31.220Z,1553555611.220 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-03-25T23:13:31.220Z,1553555611.220 [Default:CheckIn] Stopped
2019-03-25T23:13:31.220Z,1553555611.220 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-03-25T23:13:31.220Z,1553555611.220 [Default:CheckIn](INFO): Running loop #2
2019-03-25T23:13:31.220Z,1553555611.220 [Default:CheckIn] Running Loop=2
2019-03-25T23:13:31.220Z,1553555611.220 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-03-25T23:13:31.221Z,1553555611.221 [Default:CheckIn:Read_GPS] Running Loop=1
2019-03-25T23:13:32.008Z,1553555612.008 [NAL9602](INFO): Powering up
2019-03-25T23:13:42.916Z,1553555622.916 [NAL9602](INFO): NAL9602 initialized
2019-03-25T23:13:43.742Z,1553555623.742 [NAL9602](DEBUG): Fix Requested
2019-03-25T23:14:18.897Z,1553555658.897 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:14:18.897Z,1553555658.897 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 4
2019-03-25T23:14:18.897Z,1553555658.897 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-25T23:14:18.900Z,1553555658.900 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:14:18.900Z,1553555658.900 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 4
2019-03-25T23:14:18.900Z,1553555658.900 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-25T23:14:18.902Z,1553555658.902 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:14:18.902Z,1553555658.902 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 4
2019-03-25T23:14:18.902Z,1553555658.902 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-25T23:14:18.961Z,1553555658.961 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-25T23:14:18.961Z,1553555658.961 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-25T23:14:18.961Z,1553555658.961 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-25T23:14:19.315Z,1553555659.315 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-25T23:14:19.315Z,1553555659.315 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 4
2019-03-25T23:14:19.316Z,1553555659.316 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-25T23:14:19.316Z,1553555659.316 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 4
2019-03-25T23:14:19.317Z,1553555659.317 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-25T23:14:19.317Z,1553555659.317 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 4
2019-03-25T23:14:19.713Z,1553555659.713 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-25T23:16:04.721Z,1553555764.721 [NAL9602](INFO): SBD MO Status=2, MOMSN=2445, MT Status=2, MTMSN=0
2019-03-25T23:16:04.722Z,1553555764.722 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-03-25T23:16:20.097Z,1553555780.097 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:16:20.097Z,1553555780.097 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 5
2019-03-25T23:16:20.097Z,1553555780.097 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-25T23:16:20.100Z,1553555780.100 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:16:20.100Z,1553555780.100 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 5
2019-03-25T23:16:20.100Z,1553555780.100 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-25T23:16:20.102Z,1553555780.102 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:16:20.102Z,1553555780.102 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 5
2019-03-25T23:16:20.102Z,1553555780.102 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-25T23:16:20.113Z,1553555780.113 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-25T23:16:20.113Z,1553555780.113 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-25T23:16:20.114Z,1553555780.114 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-25T23:16:20.515Z,1553555780.515 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-25T23:16:20.515Z,1553555780.515 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 5
2019-03-25T23:16:20.516Z,1553555780.516 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-25T23:16:20.516Z,1553555780.516 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 5
2019-03-25T23:16:20.516Z,1553555780.516 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-25T23:16:20.516Z,1553555780.516 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 5
2019-03-25T23:16:20.921Z,1553555780.921 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-25T23:16:33.002Z,1553555793.002 [NAL9602](INFO): SBD MO Status=2, MOMSN=2445, MT Status=2, MTMSN=0
2019-03-25T23:16:33.002Z,1553555793.002 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-03-25T23:16:47.950Z,1553555807.950 [NAL9602](INFO): SBD MO Status=2, MOMSN=2445, MT Status=2, MTMSN=0
2019-03-25T23:16:47.950Z,1553555807.950 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-03-25T23:16:57.645Z,1553555817.645 [NAL9602](INFO): SBD MO Status=0, MOMSN=2445, MT Status=0, MTMSN=0
2019-03-25T23:16:57.646Z,1553555817.646 [NAL9602](INFO): No messages in MT queue
2019-03-25T23:16:58.466Z,1553555818.466 [NAL9602](DEBUG): Fix Requested
2019-03-25T23:16:58.858Z,1553555818.858 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,230959.00,A,3648.15973,N,12147.27565,W,1.555,308.27,250319,,,A*7C
2019-03-25T23:16:58.860Z,1553555818.860 [NAL9602](INFO): GPS fix at 20190325T230959: (36.802662, -121.787927)
2019-03-25T23:16:58.896Z,1553555818.896 [Default:CheckIn:Read_GPS] Stopped
2019-03-25T23:16:58.897Z,1553555818.897 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-03-25T23:17:04.658Z,1553555824.658 [DataOverHttps](INFO): Sending 63 bytes from file Logs/20190325T224151/Courier0013.lzma
2019-03-25T23:17:05.464Z,1553555825.464 [DataOverHttps](INFO): Moved sent file to Logs/20190325T224151/Courier0013.lzma.bak
2019-03-25T23:17:05.464Z,1553555825.464 [DataOverHttps](INFO): SBD MOMSN=10243849
2019-03-25T23:17:08.959Z,1553555828.959 [CommandLine](IMPORTANT): got command show variable TrackAcousticContact
2019-03-25T23:17:17.439Z,1553555837.439 [DataOverHttps](INFO): Sending 755 bytes from file Logs/20190325T224151/Express0014.lzma
2019-03-25T23:17:18.244Z,1553555838.244 [DataOverHttps](INFO): Moved sent file to Logs/20190325T224151/Express0014.lzma.bak
2019-03-25T23:17:18.244Z,1553555838.244 [DataOverHttps](INFO): SBD MOMSN=10243852
2019-03-25T23:17:19.561Z,1553555839.561 [Default:CheckIn:Read_Iridium] Stopped
2019-03-25T23:17:19.562Z,1553555839.562 [Default:CheckIn:C.Wait] Running Loop=1
2019-03-25T23:17:19.562Z,1553555839.562 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-03-25T23:17:30.824Z,1553555850.824 [NAL9602](INFO): Powering down
2019-03-25T23:18:20.943Z,1553555900.943 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:18:20.943Z,1553555900.943 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2019-03-25T23:18:20.943Z,1553555900.943 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-25T23:18:20.945Z,1553555900.945 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:18:20.945Z,1553555900.945 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 1
2019-03-25T23:18:20.946Z,1553555900.946 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-25T23:18:20.948Z,1553555900.948 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:18:20.948Z,1553555900.948 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 1
2019-03-25T23:18:20.948Z,1553555900.948 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-25T23:18:20.959Z,1553555900.959 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-25T23:18:20.959Z,1553555900.959 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-25T23:18:20.960Z,1553555900.960 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-25T23:18:21.363Z,1553555901.363 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-25T23:18:21.363Z,1553555901.363 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2019-03-25T23:18:21.364Z,1553555901.364 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-25T23:18:21.364Z,1553555901.364 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 1
2019-03-25T23:18:21.365Z,1553555901.365 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-25T23:18:21.365Z,1553555901.365 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 1
2019-03-25T23:18:21.765Z,1553555901.765 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-25T23:20:22.144Z,1553556022.144 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:20:22.144Z,1553556022.144 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2019-03-25T23:20:22.144Z,1553556022.144 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-25T23:20:22.146Z,1553556022.146 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:20:22.146Z,1553556022.146 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 2
2019-03-25T23:20:22.146Z,1553556022.146 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-25T23:20:22.148Z,1553556022.148 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:20:22.148Z,1553556022.148 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 2
2019-03-25T23:20:22.148Z,1553556022.148 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-25T23:20:22.160Z,1553556022.160 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-25T23:20:22.160Z,1553556022.160 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-25T23:20:22.160Z,1553556022.160 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-25T23:20:22.584Z,1553556022.584 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-25T23:20:22.584Z,1553556022.584 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2019-03-25T23:20:22.584Z,1553556022.584 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-25T23:20:22.584Z,1553556022.584 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 2
2019-03-25T23:20:22.585Z,1553556022.585 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-25T23:20:22.585Z,1553556022.585 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 2
2019-03-25T23:20:22.953Z,1553556022.953 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-25T23:22:20.121Z,1553556140.121 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-03-25T23:22:20.121Z,1553556140.121 [Default:CheckIn:C.Wait] Stopped
2019-03-25T23:22:20.122Z,1553556140.122 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-03-25T23:22:20.122Z,1553556140.122 [Default:CheckIn:D] Running Loop=1
2019-03-25T23:22:20.528Z,1553556140.528 [Default:CheckIn:D] Stopped
2019-03-25T23:22:20.528Z,1553556140.528 [Default:CheckIn:E] Running Loop=1
2019-03-25T23:22:20.930Z,1553556140.930 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 16.706567 min 
2019-03-25T23:22:20.930Z,1553556140.930 [Default:CheckIn:E] Stopped
2019-03-25T23:22:20.930Z,1553556140.930 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-03-25T23:22:20.930Z,1553556140.930 [Default:CheckIn] Stopped
2019-03-25T23:22:20.930Z,1553556140.930 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-03-25T23:22:20.931Z,1553556140.931 [Default:CheckIn](INFO): Running loop #3
2019-03-25T23:22:20.931Z,1553556140.931 [Default:CheckIn] Running Loop=3
2019-03-25T23:22:20.931Z,1553556140.931 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-03-25T23:22:20.931Z,1553556140.931 [Default:CheckIn:Read_GPS] Running Loop=1
2019-03-25T23:22:21.708Z,1553556141.708 [NAL9602](INFO): Powering up
2019-03-25T23:22:23.340Z,1553556143.340 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:22:23.340Z,1553556143.340 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 3
2019-03-25T23:22:23.340Z,1553556143.340 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-25T23:22:23.342Z,1553556143.342 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:22:23.342Z,1553556143.342 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 3
2019-03-25T23:22:23.342Z,1553556143.342 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-25T23:22:23.344Z,1553556143.344 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:22:23.344Z,1553556143.344 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 3
2019-03-25T23:22:23.344Z,1553556143.344 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-25T23:22:23.369Z,1553556143.369 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-25T23:22:23.370Z,1553556143.370 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-25T23:22:23.378Z,1553556143.378 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-25T23:22:23.787Z,1553556143.787 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-25T23:22:23.787Z,1553556143.787 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 3
2019-03-25T23:22:23.787Z,1553556143.787 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-25T23:22:23.787Z,1553556143.787 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 3
2019-03-25T23:22:23.788Z,1553556143.788 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-25T23:22:23.788Z,1553556143.788 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 3
2019-03-25T23:22:24.157Z,1553556144.157 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-25T23:22:32.616Z,1553556152.616 [NAL9602](INFO): NAL9602 initialized
2019-03-25T23:22:33.442Z,1553556153.442 [NAL9602](DEBUG): Fix Requested
2019-03-25T23:24:24.565Z,1553556264.565 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:24:24.565Z,1553556264.565 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 4
2019-03-25T23:24:24.565Z,1553556264.565 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-25T23:24:24.568Z,1553556264.568 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:24:24.568Z,1553556264.568 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 4
2019-03-25T23:24:24.568Z,1553556264.568 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-25T23:24:24.569Z,1553556264.569 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:24:24.570Z,1553556264.570 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 4
2019-03-25T23:24:24.570Z,1553556264.570 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-25T23:24:24.581Z,1553556264.581 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-25T23:24:24.581Z,1553556264.581 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-25T23:24:24.582Z,1553556264.582 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-25T23:24:24.981Z,1553556264.981 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-25T23:24:24.981Z,1553556264.981 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 4
2019-03-25T23:24:24.981Z,1553556264.981 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-25T23:24:24.982Z,1553556264.982 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 4
2019-03-25T23:24:24.982Z,1553556264.982 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-25T23:24:24.982Z,1553556264.982 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 4
2019-03-25T23:24:25.355Z,1553556265.355 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-25T23:24:36.241Z,1553556276.241 [NAL9602](INFO): SBD MO Status=2, MOMSN=2446, MT Status=2, MTMSN=0
2019-03-25T23:24:36.241Z,1553556276.241 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-03-25T23:24:50.806Z,1553556290.806 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-03-25T23:24:50.806Z,1553556290.806 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,  95.42,  98.42
2019-03-25T23:25:06.541Z,1553556306.541 [NAL9602](INFO): SBD MO Status=2, MOMSN=2446, MT Status=2, MTMSN=0
2019-03-25T23:25:06.541Z,1553556306.541 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-03-25T23:25:44.521Z,1553556344.521 [NAL9602](INFO): SBD MO Status=0, MOMSN=2446, MT Status=0, MTMSN=0
2019-03-25T23:25:44.521Z,1553556344.521 [NAL9602](INFO): No messages in MT queue
2019-03-25T23:25:45.338Z,1553556345.338 [NAL9602](DEBUG): Fix Requested
2019-03-25T23:25:45.734Z,1553556345.734 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,231846.00,A,3648.15963,N,12147.28069,W,0.233,0.00,250319,,,A*7D
2019-03-25T23:25:45.736Z,1553556345.736 [NAL9602](INFO): GPS fix at 20190325T231846: (36.802661, -121.788011)
2019-03-25T23:25:45.804Z,1553556345.804 [Default:CheckIn:Read_GPS] Stopped
2019-03-25T23:25:45.804Z,1553556345.804 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-03-25T23:25:51.762Z,1553556351.762 [DataOverHttps](INFO): Sending 63 bytes from file Logs/20190325T224151/Courier0016.lzma
2019-03-25T23:25:52.568Z,1553556352.568 [DataOverHttps](INFO): Moved sent file to Logs/20190325T224151/Courier0016.lzma.bak
2019-03-25T23:25:52.568Z,1553556352.568 [DataOverHttps](INFO): SBD MOMSN=10243952
2019-03-25T23:26:04.782Z,1553556364.782 [DataOverHttps](INFO): Sending 299 bytes from file Logs/20190325T224151/Express0017.lzma
2019-03-25T23:26:05.588Z,1553556365.588 [DataOverHttps](INFO): Moved sent file to Logs/20190325T224151/Express0017.lzma.bak
2019-03-25T23:26:05.588Z,1553556365.588 [DataOverHttps](INFO): SBD MOMSN=10243956
2019-03-25T23:26:06.782Z,1553556366.782 [Default:CheckIn:Read_Iridium] Stopped
2019-03-25T23:26:06.782Z,1553556366.782 [Default:CheckIn:C.Wait] Running Loop=1
2019-03-25T23:26:06.782Z,1553556366.782 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-03-25T23:26:18.049Z,1553556378.049 [NAL9602](INFO): Powering down
2019-03-25T23:26:25.758Z,1553556385.758 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:26:25.758Z,1553556385.758 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2019-03-25T23:26:25.758Z,1553556385.758 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-25T23:26:25.760Z,1553556385.760 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:26:25.760Z,1553556385.760 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 1
2019-03-25T23:26:25.760Z,1553556385.760 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-25T23:26:25.762Z,1553556385.762 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:26:25.762Z,1553556385.762 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 1
2019-03-25T23:26:25.762Z,1553556385.762 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-25T23:26:25.774Z,1553556385.774 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-25T23:26:25.774Z,1553556385.774 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-25T23:26:25.775Z,1553556385.775 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-25T23:26:26.167Z,1553556386.167 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-25T23:26:26.168Z,1553556386.168 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2019-03-25T23:26:26.168Z,1553556386.168 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-25T23:26:26.168Z,1553556386.168 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 1
2019-03-25T23:26:26.169Z,1553556386.169 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-25T23:26:26.169Z,1553556386.169 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 1
2019-03-25T23:26:26.573Z,1553556386.573 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-25T23:28:26.940Z,1553556506.940 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:28:26.940Z,1553556506.940 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2019-03-25T23:28:26.940Z,1553556506.940 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-25T23:28:26.942Z,1553556506.942 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:28:26.942Z,1553556506.942 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 2
2019-03-25T23:28:26.942Z,1553556506.942 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-25T23:28:26.944Z,1553556506.944 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:28:26.944Z,1553556506.944 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 2
2019-03-25T23:28:26.944Z,1553556506.944 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-25T23:28:26.956Z,1553556506.956 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-25T23:28:26.956Z,1553556506.956 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-25T23:28:26.956Z,1553556506.956 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-25T23:28:27.365Z,1553556507.365 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-25T23:28:27.365Z,1553556507.365 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2019-03-25T23:28:27.367Z,1553556507.367 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-25T23:28:27.367Z,1553556507.367 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 2
2019-03-25T23:28:27.368Z,1553556507.368 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-25T23:28:27.368Z,1553556507.368 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 2
2019-03-25T23:28:27.767Z,1553556507.767 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-25T23:30:28.147Z,1553556628.147 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:30:28.147Z,1553556628.147 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 3
2019-03-25T23:30:28.147Z,1553556628.147 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-25T23:30:28.149Z,1553556628.149 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:30:28.149Z,1553556628.149 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 3
2019-03-25T23:30:28.149Z,1553556628.149 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-25T23:30:28.151Z,1553556628.151 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:30:28.151Z,1553556628.151 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 3
2019-03-25T23:30:28.152Z,1553556628.152 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-25T23:30:28.163Z,1553556628.163 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-25T23:30:28.163Z,1553556628.163 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-25T23:30:28.164Z,1553556628.164 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-25T23:30:28.567Z,1553556628.567 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-25T23:30:28.567Z,1553556628.567 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 3
2019-03-25T23:30:28.567Z,1553556628.567 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-25T23:30:28.567Z,1553556628.567 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 3
2019-03-25T23:30:28.568Z,1553556628.568 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-25T23:30:28.568Z,1553556628.568 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 3
2019-03-25T23:30:28.957Z,1553556628.957 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-25T23:31:07.338Z,1553556667.338 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-03-25T23:31:07.338Z,1553556667.338 [Default:CheckIn:C.Wait] Stopped
2019-03-25T23:31:07.338Z,1553556667.338 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-03-25T23:31:07.339Z,1553556667.339 [Default:CheckIn:D] Running Loop=1
2019-03-25T23:31:07.757Z,1553556667.757 [Default:CheckIn:D] Stopped
2019-03-25T23:31:07.757Z,1553556667.757 [Default:CheckIn:E] Running Loop=1
2019-03-25T23:31:08.143Z,1553556668.143 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 25.493730 min 
2019-03-25T23:31:08.143Z,1553556668.143 [Default:CheckIn:E] Stopped
2019-03-25T23:31:08.143Z,1553556668.143 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-03-25T23:31:08.143Z,1553556668.143 [Default:CheckIn] Stopped
2019-03-25T23:31:08.144Z,1553556668.144 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-03-25T23:31:08.144Z,1553556668.144 [Default:CheckIn](INFO): Running loop #4
2019-03-25T23:31:08.144Z,1553556668.144 [Default:CheckIn] Running Loop=4
2019-03-25T23:31:08.144Z,1553556668.144 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-03-25T23:31:08.144Z,1553556668.144 [Default:CheckIn:Read_GPS] Running Loop=1
2019-03-25T23:31:08.928Z,1553556668.928 [NAL9602](INFO): Powering up
2019-03-25T23:31:19.838Z,1553556679.838 [NAL9602](INFO): NAL9602 initialized
2019-03-25T23:31:20.658Z,1553556680.658 [NAL9602](DEBUG): Fix Requested
2019-03-25T23:32:29.348Z,1553556749.348 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:32:29.348Z,1553556749.348 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 4
2019-03-25T23:32:29.348Z,1553556749.348 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-25T23:32:29.350Z,1553556749.350 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:32:29.350Z,1553556749.350 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 4
2019-03-25T23:32:29.350Z,1553556749.350 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-25T23:32:29.352Z,1553556749.352 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:32:29.352Z,1553556749.352 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 4
2019-03-25T23:32:29.352Z,1553556749.352 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-25T23:32:29.365Z,1553556749.365 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-25T23:32:29.365Z,1553556749.365 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-25T23:32:29.366Z,1553556749.366 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-25T23:32:29.767Z,1553556749.767 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-25T23:32:29.767Z,1553556749.767 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 4
2019-03-25T23:32:29.768Z,1553556749.768 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-25T23:32:29.768Z,1553556749.768 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 4
2019-03-25T23:32:29.768Z,1553556749.768 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-25T23:32:29.768Z,1553556749.768 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 4
2019-03-25T23:32:30.161Z,1553556750.161 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-25T23:33:08.514Z,1553556788.514 [NAL9602](INFO): SBD MO Status=2, MOMSN=2447, MT Status=2, MTMSN=0
2019-03-25T23:33:08.514Z,1553556788.514 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-03-25T23:33:25.885Z,1553556805.885 [NAL9602](INFO): SBD MO Status=2, MOMSN=2447, MT Status=2, MTMSN=0
2019-03-25T23:33:25.885Z,1553556805.885 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-03-25T23:33:38.814Z,1553556818.814 [NAL9602](INFO): SBD MO Status=2, MOMSN=2447, MT Status=2, MTMSN=0
2019-03-25T23:33:38.814Z,1553556818.814 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-03-25T23:33:40.288Z,1553556820.288 [CommandLine](IMPORTANT): got command restart application
2019-03-25T23:33:41.299Z,1553556821.299 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2019-03-25T23:33:41.299Z,1553556821.299 [CommandLine ThreadHandler](INFO): Thread cancelled.
2019-03-25T23:33:41.346Z,1553556821.346 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2019-03-25T23:33:41.346Z,1553556821.346 [CommandLine ThreadHandler](INFO): Thread cancelled.
2019-03-25T23:33:41.347Z,1553556821.347 [CommandLine](INFO): Join timeout helper Thread ID is 993
2019-03-25T23:33:41.354Z,1553556821.354 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2019-03-25T23:33:41.355Z,1553556821.355 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2019-03-25T23:33:41.355Z,1553556821.355 [NavChartDb](INFO): Join timeout helper Thread ID is 994
2019-03-25T23:33:41.415Z,1553556821.415 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2019-03-25T23:33:41.416Z,1553556821.416 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2019-03-25T23:33:41.434Z,1553556821.434 [ComponentRegistry](INFO): Shutting down WetLabsSeaOWL_UV_A ThreadHandler
2019-03-25T23:33:41.434Z,1553556821.434 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2019-03-25T23:33:41.435Z,1553556821.435 [WetLabsSeaOWL_UV_A](INFO): Join timeout helper Thread ID is 995
2019-03-25T23:33:41.786Z,1553556821.786 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Uninitializing protected caller thread.
2019-03-25T23:33:41.787Z,1553556821.787 [WetLabsSeaOWL_UV_A](INFO): Powering down
2019-03-25T23:33:41.787Z,1553556821.787 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2019-03-25T23:33:41.788Z,1553556821.788 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2019-03-25T23:33:41.788Z,1553556821.788 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2019-03-25T23:33:41.788Z,1553556821.788 [CTD_NeilBrown](INFO): Join timeout helper Thread ID is 996
2019-03-25T23:33:41.918Z,1553556821.918 [CTD_NeilBrown ThreadHandler](INFO): Uninitializing protected caller thread.
2019-03-25T23:33:41.919Z,1553556821.919 [CTD_NeilBrown](INFO): Powering down
2019-03-25T23:33:41.930Z,1553556821.930 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2019-03-25T23:33:41.946Z,1553556821.946 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2019-03-25T23:33:41.946Z,1553556821.946 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2019-03-25T23:33:41.947Z,1553556821.947 [Radio_Surface](INFO): Join timeout helper Thread ID is 997
2019-03-25T23:33:42.202Z,1553556822.202 [Radio_Surface](INFO): Powering down
2019-03-25T23:33:42.203Z,1553556822.203 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2019-03-25T23:33:42.204Z,1553556822.204 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2019-03-25T23:33:42.215Z,1553556822.215 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2019-03-25T23:33:42.215Z,1553556822.215 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2019-03-25T23:33:42.216Z,1553556822.216 [DataOverHttps](INFO): Join timeout helper Thread ID is 998
2019-03-25T23:33:42.290Z,1553556822.290 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2019-03-25T23:33:42.291Z,1553556822.291 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2019-03-25T23:33:42.299Z,1553556822.299 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2019-03-25T23:33:42.299Z,1553556822.299 [logger ThreadHandler](INFO): Thread cancelled.
2019-03-25T23:33:42.300Z,1553556822.300 [logger](INFO): Join timeout helper Thread ID is 999
2019-03-25T23:33:42.374Z,1553556822.374 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2019-03-25T23:33:42.375Z,1553556822.375 [logger ThreadHandler](INFO): Thread cancelled.
2019-03-25T23:33:42.380Z,1553556822.380 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2019-03-25T23:33:42.381Z,1553556822.381 [CommandLine ThreadHandler](INFO): Thread cancelled.
2019-03-25T23:33:42.381Z,1553556822.381 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2019-03-25T23:33:42.381Z,1553556822.381 [controlThread ThreadHandler](INFO): Thread cancelled.
2019-03-25T23:33:42.382Z,1553556822.382 [controlThread](INFO): Join timeout helper Thread ID is 1000
2019-03-25T23:33:42.434Z,1553556822.434 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2019-03-25T23:33:42.435Z,1553556822.435 [controlThread](DEBUG): Uninitializing ControlThread
2019-03-25T23:33:42.435Z,1553556822.435 [DUSBL_Hydroid](INFO): Powering down
2019-03-25T23:33:42.527Z,1553556822.527 [Micromodem](INFO): Powering down
2019-03-25T23:33:42.623Z,1553556822.623 [NAL9602](INFO): Powering down
2019-03-25T23:33:42.694Z,1553556822.694 [RDI_Pathfinder](INFO): Powering down
2019-03-25T23:33:42.695Z,1553556822.695 [RDI_PathfinderUp](INFO): Powering down
2019-03-25T23:33:42.696Z,1553556822.696 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2019-03-25T23:33:42.697Z,1553556822.697 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2019-03-25T23:33:42.698Z,1553556822.698 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2019-03-25T23:33:42.699Z,1553556822.699 [MissionManager](INFO): Uninitializing Mission Default
2019-03-25T23:33:42.699Z,1553556822.699 [Default] Stopped
2019-03-25T23:33:42.699Z,1553556822.699 [Default](DEBUG): Aggregate::uninitialize Default
2019-03-25T23:33:42.699Z,1553556822.699 [Default:B.GoToSurface] Stopped
2019-03-25T23:33:42.699Z,1553556822.699 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-03-25T23:33:42.699Z,1553556822.699 [Default:CheckIn] Stopped
2019-03-25T23:33:42.699Z,1553556822.699 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-03-25T23:33:42.699Z,1553556822.699 [Default:CheckIn:Read_GPS] Stopped
2019-03-25T23:33:42.702Z,1553556822.702 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2019-03-25T23:33:42.702Z,1553556822.702 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2019-03-25T23:33:42.702Z,1553556822.702 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2019-03-25T23:33:42.703Z,1553556822.703 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2019-03-25T23:33:42.703Z,1553556822.703 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2019-03-25T23:33:42.703Z,1553556822.703 [BuoyancyServo](INFO): Powering down
2019-03-25T23:33:42.715Z,1553556822.715 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2019-03-25T23:33:42.715Z,1553556822.715 [ElevatorServo](INFO): Powering down
2019-03-25T23:33:42.715Z,1553556822.715 [MassServo](DEBUG): Uninitialize Mass Servo.
2019-03-25T23:33:42.716Z,1553556822.716 [MassServo](INFO): Powering down
2019-03-25T23:33:42.716Z,1553556822.716 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2019-03-25T23:33:42.716Z,1553556822.716 [RudderServo](INFO): Powering down
2019-03-25T23:33:42.717Z,1553556822.717 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2019-03-25T23:33:42.717Z,1553556822.717 [ThrusterServo](INFO): Powering down
2019-03-25T23:33:42.718Z,1553556822.718 [SBIT](DEBUG): Uninitialize SBIT Component.
2019-03-25T23:33:42.718Z,1553556822.718 [IBIT](DEBUG): Uninitialize IBIT Component.
2019-03-25T23:33:42.719Z,1553556822.719 [CBIT](DEBUG): Uninitialize CBIT Component.
2019-03-25T23:33:42.719Z,1553556822.719 [CBIT](DEBUG): Powering off loads.
2019-03-25T23:33:42.730Z,1553556822.730 [CBIT](DEBUG): Disabling WDT.
2019-03-25T23:33:42.742Z,1553556822.742 [CBIT](DEBUG): Opening all GF detection circuits.
2019-03-25T23:33:42.743Z,1553556822.743 [controlThread ThreadHandler](INFO): Thread cancelled.
2019-03-25T23:33:42.803Z,1553556822.803 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2019-03-25T23:33:42.812Z,1553556822.812 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2019-03-25T23:33:42.855Z,1553556822.855 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2019-03-25T23:33:42.857Z,1553556822.857 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2019-03-25T23:33:42.913Z,1553556822.913 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2019-03-25T23:33:42.983Z,1553556822.983 [logger ThreadHandler](INFO): Thread cancelled.