2019-10-09T17:02:50.686Z,1570640570.686 [Supervisor](DEBUG): Initializing supervisor.
2019-10-09T17:02:50.689Z,1570640570.689 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2019-10-09T17:02:50.690Z,1570640570.690 [SyncHandler](INFO): Protected caller Thread ID is 5484
2019-10-09T17:02:50.690Z,1570640570.690 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2019-10-09T17:02:50.691Z,1570640570.691 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2019-10-09T17:02:50.691Z,1570640570.691 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 5485
2019-10-09T17:02:50.695Z,1570640570.695 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2019-10-09T17:02:50.706Z,1570640570.706 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2019-10-09T17:02:50.707Z,1570640570.707 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2019-10-09T17:02:50.707Z,1570640570.707 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 5486
2019-10-09T17:02:50.708Z,1570640570.708 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2019-10-09T17:02:50.709Z,1570640570.709 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2019-10-09T17:02:50.709Z,1570640570.709 [logger ThreadHandler](INFO): Protected caller Thread ID is 5487
2019-10-09T17:02:50.711Z,1570640570.711 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2019-10-09T17:02:50.712Z,1570640570.712 [Supervisor](INFO): Looking for Config files in directory: Config/
2019-10-09T17:02:50.713Z,1570640570.713 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2019-10-09T17:02:51.114Z,1570640571.114 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2019-10-09T17:02:51.114Z,1570640571.114 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2019-10-09T17:02:51.209Z,1570640571.209 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2019-10-09T17:02:51.210Z,1570640571.210 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2019-10-09T17:02:51.507Z,1570640571.507 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2019-10-09T17:02:51.507Z,1570640571.507 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2019-10-09T17:02:51.642Z,1570640571.642 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2019-10-09T17:02:51.643Z,1570640571.643 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2019-10-09T17:02:51.861Z,1570640571.861 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2019-10-09T17:02:51.862Z,1570640571.862 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2019-10-09T17:02:52.325Z,1570640572.325 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2019-10-09T17:02:52.325Z,1570640572.325 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2019-10-09T17:02:52.520Z,1570640572.520 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2019-10-09T17:02:52.521Z,1570640572.521 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2019-10-09T17:02:52.658Z,1570640572.658 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2019-10-09T17:02:52.658Z,1570640572.658 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2019-10-09T17:02:52.840Z,1570640572.840 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2019-10-09T17:02:52.840Z,1570640572.840 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2019-10-09T17:02:52.933Z,1570640572.933 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2019-10-09T17:02:52.933Z,1570640572.933 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2019-10-09T17:02:53.216Z,1570640573.216 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2019-10-09T17:02:53.217Z,1570640573.217 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2019-10-09T17:02:53.295Z,1570640573.295 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2019-10-09T17:02:53.393Z,1570640573.393 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2019-10-09T17:02:53.394Z,1570640573.394 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2019-10-09T17:02:53.971Z,1570640573.971 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2019-10-09T17:02:53.972Z,1570640573.972 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2019-10-09T17:02:54.350Z,1570640574.350 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2019-10-09T17:02:54.352Z,1570640574.352 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/
2019-10-09T17:02:54.353Z,1570640574.353 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/vehicle.cfg
2019-10-09T17:02:54.544Z,1570640574.544 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Control.cfg
2019-10-09T17:02:54.639Z,1570640574.639 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/BIT.cfg
2019-10-09T17:02:54.733Z,1570640574.733 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Battery.cfg
2019-10-09T17:02:54.954Z,1570640574.954 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2019-10-09T17:02:54.954Z,1570640574.954 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Simulator.cfg
2019-10-09T17:02:55.036Z,1570640575.036 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Navigation.cfg
2019-10-09T17:02:55.127Z,1570640575.127 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/logger.cfg
2019-10-09T17:02:55.220Z,1570640575.220 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/secure.cfg
2019-10-09T17:02:55.301Z,1570640575.301 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Servo.cfg
2019-10-09T17:02:55.439Z,1570640575.439 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Sensor.cfg
2019-10-09T17:02:55.653Z,1570640575.653 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Science.cfg
2019-10-09T17:02:55.957Z,1570640575.957 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/root/
2019-10-09T17:02:55.957Z,1570640575.957 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2019-10-09T17:02:56.193Z,1570640576.193 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2019-10-09T17:02:56.726Z,1570640576.726 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_orientation
2019-10-09T17:02:56.731Z,1570640576.731 [AHRS_M2](INFO): created writer for : platform_orientation
2019-10-09T17:02:56.734Z,1570640576.734 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_magnetic_orientation
2019-10-09T17:02:56.739Z,1570640576.739 [AHRS_M2](INFO): created writer for : platform_magnetic_orientation
2019-10-09T17:02:56.739Z,1570640576.739 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_pitch_angle
2019-10-09T17:02:56.745Z,1570640576.745 [AHRS_M2](INFO): created writer for : platform_pitch_angle
2019-10-09T17:02:56.745Z,1570640576.745 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_roll_angle
2019-10-09T17:02:56.750Z,1570640576.750 [AHRS_M2](INFO): created writer for : platform_roll_angle
2019-10-09T17:02:56.823Z,1570640576.823 [AHRS_M2] Loaded
2019-10-09T17:02:56.823Z,1570640576.823 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2019-10-09T17:02:56.894Z,1570640576.894 [DataOverHttps] Loaded
2019-10-09T17:02:56.895Z,1570640576.895 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2019-10-09T17:02:56.896Z,1570640576.896 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 4076E4E0
2019-10-09T17:02:56.896Z,1570640576.896 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 5567
2019-10-09T17:02:56.909Z,1570640576.909 [Depth_Keller] Loaded
2019-10-09T17:02:56.909Z,1570640576.909 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2019-10-09T17:02:56.914Z,1570640576.914 [DropWeight] Loaded
2019-10-09T17:02:56.914Z,1570640576.914 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2019-10-09T17:02:56.965Z,1570640576.965 [Micromodem] Loaded
2019-10-09T17:02:56.965Z,1570640576.965 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2019-10-09T17:02:57.064Z,1570640577.064 [NAL9602] Loaded
2019-10-09T17:02:57.064Z,1570640577.064 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2019-10-09T17:02:57.080Z,1570640577.080 [Onboard] Loaded
2019-10-09T17:02:57.080Z,1570640577.080 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2019-10-09T17:02:57.086Z,1570640577.086 [PowerOnly] Loaded
2019-10-09T17:02:57.086Z,1570640577.086 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2019-10-09T17:02:57.092Z,1570640577.092 [Radio_Surface] Loaded
2019-10-09T17:02:57.093Z,1570640577.093 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2019-10-09T17:02:57.094Z,1570640577.094 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 4079E4E0
2019-10-09T17:02:57.094Z,1570640577.094 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 5568
2019-10-09T17:02:57.138Z,1570640577.138 [RDI_Pathfinder] Loaded
2019-10-09T17:02:57.138Z,1570640577.138 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2019-10-09T17:02:58.629Z,1570640578.629 [BPC1] Loaded
2019-10-09T17:02:58.629Z,1570640578.629 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2019-10-09T17:02:58.630Z,1570640578.630 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2019-10-09T17:02:58.630Z,1570640578.630 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2019-10-09T17:02:58.644Z,1570640578.644 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2019-10-09T17:02:58.644Z,1570640578.644 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2019-10-09T17:02:58.751Z,1570640578.751 [DeadReckonUsingMultipleVelocitySources] Loaded
2019-10-09T17:02:58.751Z,1570640578.751 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2019-10-09T17:02:58.772Z,1570640578.772 [NavChart] Loaded
2019-10-09T17:02:58.772Z,1570640578.772 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2019-10-09T17:02:58.776Z,1570640578.776 [UniversalFixResidualReporter] Loaded
2019-10-09T17:02:58.776Z,1570640578.776 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2019-10-09T17:02:58.776Z,1570640578.776 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2019-10-09T17:02:58.777Z,1570640578.777 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2019-10-09T17:02:58.887Z,1570640578.887 [BuoyancyServo] Loaded
2019-10-09T17:02:58.887Z,1570640578.887 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2019-10-09T17:02:58.902Z,1570640578.902 [ElevatorServo] Loaded
2019-10-09T17:02:58.902Z,1570640578.902 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2019-10-09T17:02:58.917Z,1570640578.917 [MassServo] Loaded
2019-10-09T17:02:58.917Z,1570640578.917 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2019-10-09T17:02:58.932Z,1570640578.932 [RudderServo] Loaded
2019-10-09T17:02:58.932Z,1570640578.932 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2019-10-09T17:02:58.946Z,1570640578.946 [ThrusterServo] Loaded
2019-10-09T17:02:58.946Z,1570640578.946 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2019-10-09T17:02:58.947Z,1570640578.947 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2019-10-09T17:02:58.947Z,1570640578.947 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2019-10-09T17:02:59.137Z,1570640579.137 [PAR_Licor] Loaded
2019-10-09T17:02:59.137Z,1570640579.137 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2019-10-09T17:02:59.180Z,1570640579.180 [WetLabsSeaOWL_UV_A] Loaded
2019-10-09T17:02:59.180Z,1570640579.180 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2019-10-09T17:02:59.182Z,1570640579.182 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 408E94E0
2019-10-09T17:02:59.182Z,1570640579.182 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 5569
2019-10-09T17:02:59.182Z,1570640579.182 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2019-10-09T17:02:59.183Z,1570640579.183 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2019-10-09T17:02:59.485Z,1570640579.485 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2019-10-09T17:02:59.485Z,1570640579.485 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2019-10-09T17:02:59.527Z,1570640579.527 [DepthRateCalculator] Loaded
2019-10-09T17:02:59.527Z,1570640579.527 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2019-10-09T17:02:59.533Z,1570640579.533 [PitchRateCalculator] Loaded
2019-10-09T17:02:59.533Z,1570640579.533 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2019-10-09T17:02:59.545Z,1570640579.545 [SpeedCalculator] Loaded
2019-10-09T17:02:59.545Z,1570640579.545 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2019-10-09T17:02:59.566Z,1570640579.566 [TempGradientCalculator] Loaded
2019-10-09T17:02:59.566Z,1570640579.566 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2019-10-09T17:02:59.571Z,1570640579.571 [YawRateCalculator] Loaded
2019-10-09T17:02:59.572Z,1570640579.572 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2019-10-09T17:02:59.611Z,1570640579.611 [ElevatorOffsetCalculator] Loaded
2019-10-09T17:02:59.611Z,1570640579.611 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2019-10-09T17:02:59.611Z,1570640579.611 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2019-10-09T17:02:59.612Z,1570640579.612 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2019-10-09T17:02:59.750Z,1570640579.750 [SBIT](DEBUG): Construct Startup Built In Test.
2019-10-09T17:02:59.771Z,1570640579.771 [SBIT] Loaded
2019-10-09T17:02:59.772Z,1570640579.772 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2019-10-09T17:02:59.772Z,1570640579.772 [IBIT](DEBUG): Construct Initiated Built In Test.
2019-10-09T17:02:59.783Z,1570640579.783 [IBIT] Loaded
2019-10-09T17:02:59.783Z,1570640579.783 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2019-10-09T17:02:59.786Z,1570640579.786 [CBIT](DEBUG): Construct Continuous Built In Test.
2019-10-09T17:02:59.921Z,1570640579.921 [CBIT] Loaded
2019-10-09T17:02:59.921Z,1570640579.921 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2019-10-09T17:02:59.921Z,1570640579.921 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2019-10-09T17:02:59.922Z,1570640579.922 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2019-10-09T17:03:00.009Z,1570640580.009 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2019-10-09T17:03:00.010Z,1570640580.010 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2019-10-09T17:03:00.111Z,1570640580.111 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2019-10-09T17:03:00.112Z,1570640580.112 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2019-10-09T17:03:00.179Z,1570640580.179 [VerticalControl](DEBUG): Construct VerticalControl.
2019-10-09T17:03:00.260Z,1570640580.260 [VerticalControl] Loaded
2019-10-09T17:03:00.260Z,1570640580.260 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2019-10-09T17:03:00.261Z,1570640580.261 [HorizontalControl](DEBUG): Construct HorizontalControl.
2019-10-09T17:03:00.318Z,1570640580.318 [HorizontalControl] Loaded
2019-10-09T17:03:00.318Z,1570640580.318 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2019-10-09T17:03:00.319Z,1570640580.319 [SpeedControl](DEBUG): Construct SpeedControl.
2019-10-09T17:03:00.320Z,1570640580.320 [SpeedControl] Loaded
2019-10-09T17:03:00.320Z,1570640580.320 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2019-10-09T17:03:00.321Z,1570640580.321 [LoopControl](DEBUG): Construct LoopControl.
2019-10-09T17:03:00.322Z,1570640580.322 [LoopControl] Loaded
2019-10-09T17:03:00.322Z,1570640580.322 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2019-10-09T17:03:00.322Z,1570640580.322 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2019-10-09T17:03:00.323Z,1570640580.323 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2019-10-09T17:03:00.357Z,1570640580.357 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2019-10-09T17:03:00.360Z,1570640580.360 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2019-10-09T17:03:00.361Z,1570640580.361 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2019-10-09T17:03:00.368Z,1570640580.368 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2019-10-09T17:03:00.369Z,1570640580.369 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40AC64E0
2019-10-09T17:03:00.369Z,1570640580.369 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 5570
2019-10-09T17:03:00.374Z,1570640580.374 [Supervisor](INFO): Main Thread ID is 5483
2019-10-09T17:03:00.374Z,1570640580.374 [Supervisor](DEBUG): Running supervisor.
2019-10-09T17:03:00.375Z,1570640580.375 [CommandLine ThreadHandler](INFO): Handler Thread ID is 5571
2019-10-09T17:03:00.378Z,1570640580.378 [controlThread ThreadHandler](INFO): Handler Thread ID is 5572
2019-10-09T17:03:00.378Z,1570640580.378 [controlThread](DEBUG): Initializing ControlThread
2019-10-09T17:03:00.384Z,1570640580.384 [NavChart](DEBUG): Initialize NavChart Navigation.
2019-10-09T17:03:00.384Z,1570640580.384 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2019-10-09T17:03:00.389Z,1570640580.389 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2019-10-09T17:03:00.389Z,1570640580.389 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2019-10-09T17:03:00.390Z,1570640580.390 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2019-10-09T17:03:00.390Z,1570640580.390 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2019-10-09T17:03:00.390Z,1570640580.390 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2019-10-09T17:03:00.391Z,1570640580.391 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2019-10-09T17:03:00.391Z,1570640580.391 [SBIT](INFO): Initialize SBIT Component.
2019-10-09T17:03:00.392Z,1570640580.392 [SBIT](IMPORTANT): git: 2019-09-10-86-gaf99cf6
2019-10-09T17:03:00.392Z,1570640580.392 [SBIT](INFO): git hash: af99cf64ece592a51ce1cbc6b0f43757275de0ca
2019-10-09T17:03:00.392Z,1570640580.392 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2019-10-09T17:03:00.394Z,1570640580.394 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #2 PREEMPT Thu Jan 11 20:13:48 PST 2018
Kernel Reported: #2 PREEMPT Wed May 15 08:34:03 PDT 2019
2019-10-09T17:03:00.395Z,1570640580.395 [SBIT](INFO): Beginning SBIT in 28.000000 seconds.
2019-10-09T17:03:00.395Z,1570640580.395 [IBIT](INFO): Initialize IBIT Component.
2019-10-09T17:03:00.396Z,1570640580.396 [CBIT](DEBUG): Initialize CBIT Component.
2019-10-09T17:03:00.397Z,1570640580.397 [logger ThreadHandler](INFO): Handler Thread ID is 5573
2019-10-09T17:03:00.409Z,1570640580.409 [CBIT](DEBUG): Initialized mux pins.
2019-10-09T17:03:00.409Z,1570640580.409 [CBIT](DEBUG): Initializing the watchdog timer.
2019-10-09T17:03:00.417Z,1570640580.417 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 5574
2019-10-09T17:03:00.418Z,1570640580.418 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2019-10-09T17:03:00.429Z,1570640580.429 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 5575
2019-10-09T17:03:00.433Z,1570640580.433 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2019-10-09T17:03:00.433Z,1570640580.433 [CBIT](DEBUG): Initializing heartbeat.
2019-10-09T17:03:00.441Z,1570640580.441 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 5576
2019-10-09T17:03:00.442Z,1570640580.442 [WetLabsSeaOWL_UV_A](INFO): Powering down
2019-10-09T17:03:00.469Z,1570640580.469 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 5577
2019-10-09T17:03:00.473Z,1570640580.473 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2019-10-09T17:03:00.473Z,1570640580.473 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2019-10-09T17:03:00.474Z,1570640580.474 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2019-10-09T17:03:00.474Z,1570640580.474 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2019-10-09T17:03:00.474Z,1570640580.474 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2019-10-09T17:03:00.474Z,1570640580.474 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2019-10-09T17:03:00.474Z,1570640580.474 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2019-10-09T17:03:00.475Z,1570640580.475 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2019-10-09T17:03:00.475Z,1570640580.475 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2019-10-09T17:03:00.475Z,1570640580.475 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2019-10-09T17:03:00.475Z,1570640580.475 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2019-10-09T17:03:00.475Z,1570640580.475 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2019-10-09T17:03:00.476Z,1570640580.476 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2019-10-09T17:03:00.476Z,1570640580.476 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2019-10-09T17:03:00.476Z,1570640580.476 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2019-10-09T17:03:00.476Z,1570640580.476 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2019-10-09T17:03:00.505Z,1570640580.505 [CBIT](DEBUG): Deactivating GF circuits.
2019-10-09T17:03:00.505Z,1570640580.505 [CBIT](DEBUG): Deactivating emergency mode.
2019-10-09T17:03:00.541Z,1570640580.541 [CBIT](DEBUG): Backplane powered.
2019-10-09T17:03:00.541Z,1570640580.541 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2019-10-09T17:03:00.543Z,1570640580.543 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2019-10-09T17:03:00.544Z,1570640580.544 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2019-10-09T17:03:00.544Z,1570640580.544 [LoopControl](DEBUG): Initialize LoopControlComponent.
2019-10-09T17:03:00.545Z,1570640580.545 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2019-10-09T17:03:00.568Z,1570640580.568 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2019-10-09T17:03:00.620Z,1570640580.620 [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>


2019-10-09T17:03:00.637Z,1570640580.637 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2019-10-09T17:03:00.709Z,1570640580.709 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2019-10-09T17:03:00.710Z,1570640580.710 [Default:A.Wait](DEBUG): Construct Wait.
2019-10-09T17:03:00.711Z,1570640580.711 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-10-09T17:03:00.758Z,1570640580.758 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2019-10-09T17:03:00.760Z,1570640580.760 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2019-10-09T17:03:00.775Z,1570640580.775 [Default:E.Execute](DEBUG): Construct Execute.
2019-10-09T17:03:00.785Z,1570640580.785 [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>


2019-10-09T17:03:00.813Z,1570640580.813 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,Depth_Keller,DropWeight,Micromodem,NAL9602,Onboard,PowerOnly,RDI_Pathfinder,BPC1,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2019-10-09T17:03:00.818Z,1570640580.818 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2019-10-09T17:03:00.833Z,1570640580.833 [Radio_Surface](INFO): Powering up
2019-10-09T17:03:01.104Z,1570640581.104 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2019-10-09T17:03:01.113Z,1570640581.113 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2019-10-09T17:03:01.114Z,1570640581.114 [ElevatorServo](DEBUG): Initializing EZServoServo.
2019-10-09T17:03:01.121Z,1570640581.121 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2019-10-09T17:03:01.122Z,1570640581.122 [MassServo](DEBUG): Initializing EZServoServo.
2019-10-09T17:03:01.129Z,1570640581.129 [MassServo](DEBUG): Initializing MassServo.
2019-10-09T17:03:01.130Z,1570640581.130 [RudderServo](DEBUG): Initializing EZServoServo.
2019-10-09T17:03:01.137Z,1570640581.137 [RudderServo](DEBUG): Initializing RudderServo.
2019-10-09T17:03:01.138Z,1570640581.138 [ThrusterServo](DEBUG): Initializing EZServoServo.
2019-10-09T17:03:01.145Z,1570640581.145 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2019-10-09T17:03:01.238Z,1570640581.238 [DropWeight](CRITICAL): DROP WEIGHT MISSING.

2019-10-09T17:03:01.238Z,1570640581.238 [DropWeight] Hardware Fault, FailCount= 1
2019-10-09T17:03:01.239Z,1570640581.239 [DropWeight](ERROR): Hardware Fault
2019-10-09T17:03:01.239Z,1570640581.239 [Micromodem](INFO): Powering up
2019-10-09T17:03:01.240Z,1570640581.240 [Micromodem](DEBUG): Initializing Micromodem.
2019-10-09T17:03:01.298Z,1570640581.298 [CommandLine](FAULT): Scheduling is paused
2019-10-09T17:03:01.298Z,1570640581.298 [CBIT](INFO): Critical error at 20191009T170301
2019-10-09T17:03:01.299Z,1570640581.299 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2019-10-09T17:03:01.301Z,1570640581.301 [CBIT](ERROR): Hardware Fault in component: DropWeight
2019-10-09T17:03:01.302Z,1570640581.302 [CBIT](CRITICAL): Hardware Fault in component: DropWeight
2019-10-09T17:03:02.001Z,1570640582.001 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2019-10-09T17:03:02.001Z,1570640582.001 [RudderServo](FAULT): Rudder failed to initialize
2019-10-09T17:03:02.001Z,1570640582.001 [RudderServo] Communications Fault, FailCount= 1
2019-10-09T17:03:02.001Z,1570640582.001 [RudderServo](ERROR): Communications Fault
2019-10-09T17:03:02.110Z,1570640582.110 [CBIT](INFO): Critical error at 20191009T170301
2019-10-09T17:03:02.113Z,1570640582.113 [CBIT](ERROR): Communications Fault in component: RudderServo
2019-10-09T17:03:02.322Z,1570640582.322 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2019-10-09T17:03:02.322Z,1570640582.322 [RudderServo](INFO): Powering down
2019-10-09T17:03:02.986Z,1570640582.986 [RudderServo](DEBUG): Initializing EZServoServo.
2019-10-09T17:03:03.106Z,1570640583.106 [RudderServo](DEBUG): Initializing RudderServo.
2019-10-09T17:03:03.110Z,1570640583.110 [CBIT](INFO): Clearing failed state for component RudderServo
2019-10-09T17:03:03.110Z,1570640583.110 [RudderServo] No Fault, FailCount= 1
2019-10-09T17:03:06.200Z,1570640586.200 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2019-10-09T17:03:06.603Z,1570640586.603 [Micromodem](INFO): Nmea in: $CATMG,2019-10-09T17:03:06.496513Z,RTC,RTC*5D

2019-10-09T17:03:06.603Z,1570640586.603 [Micromodem](ERROR): CFG response from modem unexpected: $CATMG,2019-10-09T17:03:06.496513Z,RTC,RTC*5D

2019-10-09T17:03:06.893Z,1570640586.893 [Radio_Surface](INFO): Powering down
2019-10-09T17:03:07.130Z,1570640587.130 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2019-10-09T17:03:07.131Z,1570640587.131 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2019-10-09T17:03:07.542Z,1570640587.542 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2019-10-09T17:03:07.542Z,1570640587.542 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2019-10-09T17:03:07.939Z,1570640587.939 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2019-10-09T17:03:07.939Z,1570640587.939 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2019-10-09T17:03:08.343Z,1570640588.343 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2019-10-09T17:03:08.343Z,1570640588.343 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2019-10-09T17:03:08.754Z,1570640588.754 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2019-10-09T17:03:08.754Z,1570640588.754 [Micromodem](INFO): Nmea out: $CCCFG,FC0,10000*46

2019-10-09T17:03:09.138Z,1570640589.138 [Micromodem](INFO): Nmea in: $CACFG,FC0,10000*44

2019-10-09T17:03:09.139Z,1570640589.139 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2019-10-09T17:03:09.562Z,1570640589.562 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2019-10-09T17:03:09.563Z,1570640589.563 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2019-10-09T17:03:09.936Z,1570640589.936 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2019-10-09T17:03:09.937Z,1570640589.937 [Micromodem](INFO): Nmea out: $CCCLK,2019,10,09,17,03,10*42

2019-10-09T17:03:10.368Z,1570640590.368 [Micromodem](INFO): Nmea in: $CACLK,2019,10,9,17,3,10*40

2019-10-09T17:03:10.743Z,1570640590.743 [Micromodem](INFO): Nmea in: $CATMS,0,2019-10-09T17:03:11Z*71

2019-10-09T17:03:10.744Z,1570640590.744 [Micromodem](INFO): Nmea in: $CATMG,2019-10-09T17:03:11.028603Z,USER_CMD,RTC*19

2019-10-09T17:03:14.392Z,1570640594.392 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2019-10-09T17:03:27.307Z,1570640607.307 [NAL9602](INFO): Powering up NAL9602
2019-10-09T17:03:28.973Z,1570640608.973 [SBIT](IMPORTANT): Beginning Startup BIT
2019-10-09T17:03:28.981Z,1570640608.981 [CBIT](IMPORTANT): Beginning ground fault scan
2019-10-09T17:03:31.521Z,1570640611.521 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2019-10-09T17:03:38.297Z,1570640618.297 [NAL9602](INFO): NAL9602 initialized
2019-10-09T17:03:39.129Z,1570640619.129 [NAL9602](DEBUG): Fix Requested
2019-10-09T17:03:40.030Z,1570640620.030 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.006551
CHAN A1 (24V): -0.023768
CHAN A2 (12V): -0.004854
CHAN A3 (5V): -0.001937
CHAN B0 (3.3V): -0.000169
CHAN B1 (3.15aV): 0.000125
CHAN B2 (3.15bV): 0.000213
CHAN B3 (GND): 0.001382
OPEN: 0.008195
Full Scale Calc: 4.765 mA, -1.589 mA
2019-10-09T17:03:57.492Z,1570640637.492 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-10-09T17:03:57.492Z,1570640637.492 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,  89.43,  94.42,   0.00
2019-10-09T17:04:22.256Z,1570640662.256 [SBIT](IMPORTANT): SBIT PASSED
2019-10-09T17:04:22.296Z,1570640662.296 [CommandLine](IMPORTANT): got command configSet list
2019-10-09T17:04:22.296Z,1570640662.296 [CommandLine](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2019-10-09T17:04:22.297Z,1570640662.297 [CommandLine](IMPORTANT): Aanderaa_O2.loadAtStartup=0 bool;

2019-10-09T17:04:22.297Z,1570640662.297 [CommandLine](IMPORTANT): CTD_NeilBrown.loadAtStartup=0 bool;

2019-10-09T17:04:22.655Z,1570640662.655 [MissionManager](IMPORTANT): Started mission Startup
2019-10-09T17:04:22.655Z,1570640662.655 [Startup] Running Loop=1
2019-10-09T17:04:22.655Z,1570640662.655 [Startup](DEBUG): Aggregate::initialize Startup
2019-10-09T17:04:22.655Z,1570640662.655 [Startup:A.GoToSurface] Running Loop=1
2019-10-09T17:04:22.656Z,1570640662.656 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-10-09T17:04:22.656Z,1570640662.656 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-10-09T17:04:22.657Z,1570640662.657 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-10-09T17:04:22.657Z,1570640662.657 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-10-09T17:04:22.658Z,1570640662.658 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-10-09T17:04:22.658Z,1570640662.658 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-10-09T17:04:23.040Z,1570640663.040 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -22.00 mm (1 active estimators).
2019-10-09T17:04:23.253Z,1570640663.253 [Radio_Surface](INFO): Powering up
2019-10-09T17:04:28.757Z,1570640668.757 [DataOverHttps](INFO): Radio surface powered ON.
2019-10-09T17:05:18.480Z,1570640718.480 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-10-09T17:05:18.490Z,1570640718.490 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19100910104571,35.0, -0.1,   0.0,1448.9,,  0.00,   0.00,   0.00,   0.00,   0.00
2019-10-09T17:06:00.514Z,1570640760.514 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2019-10-09T17:06:00.514Z,1570640760.514 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-10-09T17:06:00.577Z,1570640760.577 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-10-09T17:06:00.957Z,1570640760.957 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-10-09T17:06:00.957Z,1570640760.957 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2019-10-09T17:06:18.653Z,1570640778.653 [NAL9602](INFO): SBD MO Status=2, MOMSN=9085, MT Status=2, MTMSN=0
2019-10-09T17:06:18.653Z,1570640778.653 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-10-09T17:06:57.985Z,1570640817.985 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003452
2019-10-09T17:07:24.539Z,1570640844.539 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,  98.92,   0.00,  89.93,  89.93
2019-10-09T17:08:45.310Z,1570640925.310 [NAL9602](INFO): SBD MO Status=2, MOMSN=9085, MT Status=2, MTMSN=0
2019-10-09T17:08:45.310Z,1570640925.310 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-10-09T17:08:45.703Z,1570640925.703 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-10-09T17:08:46.529Z,1570640926.529 [NAL9602](DEBUG): Fix Requested
2019-10-09T17:08:49.353Z,1570640929.353 [NAL9602](DEBUG): Fix Requested
2019-10-09T17:08:52.589Z,1570640932.589 [NAL9602](DEBUG): Fix Requested
2019-10-09T17:08:55.417Z,1570640935.417 [NAL9602](DEBUG): Fix Requested
2019-10-09T17:08:58.649Z,1570640938.649 [NAL9602](DEBUG): Fix Requested
2019-10-09T17:09:01.094Z,1570640941.094 [BPC1](ERROR): BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-32 in onboard configuration file).
2019-10-09T17:09:01.485Z,1570640941.485 [NAL9602](DEBUG): Fix Requested
2019-10-09T17:09:01.541Z,1570640941.541 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2019-10-09T17:09:01.542Z,1570640941.542 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-10-09T17:09:01.589Z,1570640941.589 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-10-09T17:09:01.961Z,1570640941.961 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-10-09T17:09:01.961Z,1570640941.961 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2019-10-09T17:09:04.713Z,1570640944.713 [NAL9602](DEBUG): Fix Requested
2019-10-09T17:09:07.537Z,1570640947.537 [NAL9602](DEBUG): Fix Requested
2019-10-09T17:09:10.361Z,1570640950.361 [NAL9602](DEBUG): Fix Requested
2019-10-09T17:09:13.597Z,1570640953.597 [NAL9602](DEBUG): Fix Requested
2019-10-09T17:09:16.421Z,1570640956.421 [NAL9602](DEBUG): Fix Requested
2019-10-09T17:09:19.657Z,1570640959.657 [NAL9602](DEBUG): Fix Requested
2019-10-09T17:09:20.489Z,1570640960.489 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-10-09T17:09:20.489Z,1570640960.489 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-10-09T17:09:22.485Z,1570640962.485 [NAL9602](DEBUG): Fix Requested
2019-10-09T17:09:25.713Z,1570640965.713 [NAL9602](DEBUG): Fix Requested
2019-10-09T17:09:28.547Z,1570640968.547 [NAL9602](DEBUG): Fix Requested
2019-10-09T17:09:31.377Z,1570640971.377 [NAL9602](DEBUG): Fix Requested
2019-10-09T17:09:34.609Z,1570640974.609 [NAL9602](DEBUG): Fix Requested
2019-10-09T17:09:37.437Z,1570640977.437 [NAL9602](DEBUG): Fix Requested
2019-10-09T17:09:40.665Z,1570640980.665 [NAL9602](DEBUG): Fix Requested
2019-10-09T17:09:43.506Z,1570640983.506 [NAL9602](DEBUG): Fix Requested
2019-10-09T17:09:46.725Z,1570640986.725 [NAL9602](DEBUG): Fix Requested
2019-10-09T17:09:49.553Z,1570640989.553 [NAL9602](DEBUG): Fix Requested
2019-10-09T17:09:52.381Z,1570640992.381 [NAL9602](DEBUG): Fix Requested
2019-10-09T17:09:55.625Z,1570640995.625 [NAL9602](DEBUG): Fix Requested
2019-10-09T17:09:58.441Z,1570640998.441 [NAL9602](DEBUG): Fix Requested
2019-10-09T17:10:01.677Z,1570641001.677 [NAL9602](DEBUG): Fix Requested
2019-10-09T17:10:04.507Z,1570641004.507 [NAL9602](DEBUG): Fix Requested
2019-10-09T17:10:07.733Z,1570641007.733 [NAL9602](DEBUG): Fix Requested
2019-10-09T17:10:10.565Z,1570641010.565 [NAL9602](DEBUG): Fix Requested
2019-10-09T17:10:13.104Z,1570641013.104 [CommandLine](IMPORTANT): got command show variable range
2019-10-09T17:10:13.111Z,1570641013.111 [CommandLine](IMPORTANT): acoustic_contact_range (unknown)
2019-10-09T17:10:13.195Z,1570641013.195 [CommandLine](IMPORTANT): BR_Ping1D.minRange (meter)
2019-10-09T17:10:13.195Z,1570641013.195 [CommandLine](IMPORTANT): BR_Ping1D.maxRange (meter)
2019-10-09T17:10:13.211Z,1570641013.211 [CommandLine](IMPORTANT): Micromodem.range_request (count)
2019-10-09T17:10:13.211Z,1570641013.211 [CommandLine](IMPORTANT): Micromodem.range (meter)
2019-10-09T17:10:13.214Z,1570641013.214 [CommandLine](IMPORTANT): RDI_Pathfinder.Beam1Range (meter)
2019-10-09T17:10:13.214Z,1570641013.214 [CommandLine](IMPORTANT): RDI_Pathfinder.Beam2Range (meter)
2019-10-09T17:10:13.215Z,1570641013.215 [CommandLine](IMPORTANT): RDI_Pathfinder.Beam3Range (meter)
2019-10-09T17:10:13.215Z,1570641013.215 [CommandLine](IMPORTANT): RDI_Pathfinder.Beam4Range (meter)
2019-10-09T17:10:13.417Z,1570641013.417 [NAL9602](DEBUG): Fix Requested
2019-10-09T17:10:16.621Z,1570641016.621 [NAL9602](DEBUG): Fix Requested
2019-10-09T17:10:19.453Z,1570641019.453 [NAL9602](DEBUG): Fix Requested
2019-10-09T17:10:19.711Z,1570641019.711 [CommandLine](IMPORTANT): got command report touch Micromodem.range
2019-10-09T17:10:22.681Z,1570641022.681 [NAL9602](DEBUG): Fix Requested
2019-10-09T17:10:24.815Z,1570641024.815 [CommandLine](IMPORTANT): got command report touch acoustic_contact_range
2019-10-09T17:10:25.509Z,1570641025.509 [NAL9602](DEBUG): Fix Requested
2019-10-09T17:10:27.949Z,1570641027.949 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2019-10-09T17:10:27.952Z,1570641027.952 [BPC1](INFO): Received data from all battery sticks.
2019-10-09T17:10:28.341Z,1570641028.341 [NAL9602](DEBUG): Fix Requested
2019-10-09T17:10:31.573Z,1570641031.573 [NAL9602](DEBUG): Fix Requested
2019-10-09T17:10:33.807Z,1570641033.807 [CommandLine](IMPORTANT): got command run ./Missions/Maintenance/DUSBL_Tracking.xml
2019-10-09T17:10:33.807Z,1570641033.807 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/DUSBL_Tracking.xml
2019-10-09T17:10:33.832Z,1570641033.832 [MissionManager](INFO): DefineArg DUSBL.MissionTimeout = 10.000000 min
2019-10-09T17:10:33.835Z,1570641033.835 [MissionManager](INFO): DefineArg DUSBL.TransponderCode = 2.000000 count
2019-10-09T17:10:33.855Z,1570641033.855 [MissionManager](INFO): DefineArg DUSBL.TrackingUpdatePeriod = 4.000000 s
2019-10-09T17:10:33.859Z,1570641033.859 [MissionManager](INFO): DefineArg DUSBL.NumberOfPings = 1.000000 count
2019-10-09T17:10:33.870Z,1570641033.870 [MissionManager](INFO): DefineArg DUSBL.EnabledDUSBL = DUSBL_Hydroid.loadAtStartup
2019-10-09T17:10:33.871Z,1570641033.871 [DUSBL:A.Pitch](DEBUG): Construct.
2019-10-09T17:10:33.890Z,1570641033.890 [DUSBL:B.SetSpeed](DEBUG): Construct.
2019-10-09T17:10:34.144Z,1570641034.144 [DUSBL:RequestRepeater:A.Wait](DEBUG): Construct Wait.
2019-10-09T17:10:34.157Z,1570641034.157 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<!-- ====================
     Generated by TethysL
     ==================== -->
<Mission xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
         xmlns="Tethys"
         xmlns:Units="Tethys/Units"
         xmlns:Guidance="Tethys/Guidance"
         xmlns:Control="Tethys/Control"
         xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                             Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                             Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                             Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd"
       Id="DUSBL">

    <Description>
        This mission is requests a DUSBL arming.
    </Description>

    <DefineArg Name="MissionTimeout"><Description>
        How long to let the mission run.
    </Description><Units:minute/><Value>10</Value></DefineArg>

    <DefineArg Name="TransponderCode"><Description>
        Transponder Address.
    </Description><Units:count/><Value>2</Value></DefineArg>
    
    <DefineArg Name="TrackingUpdatePeriod"><Description>
        How long to wait between acoustic queries
    </Description><Units:second/><Value>4</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><Sensor:DUSBL_Hydroid.loadAtStartup/></DefineArg>    

    <Timeout Duration="MissionTimeout"/>

    <Guidance:Pitch>
        <Parallel/>
        <Setting><Guidance:Pitch.massPosition/><Control:VerticalControl.massDefault/></Setting>
    </Guidance:Pitch>

    <Guidance:SetSpeed>
        <Parallel/>
        <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0</Value></Setting>
    </Guidance:SetSpeed>

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

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

</Mission>


2019-10-09T17:10:34.160Z,1570641034.160 [CommandLine](IMPORTANT): Running ./Missions/Maintenance/DUSBL_Tracking.xml
2019-10-09T17:10:34.397Z,1570641034.397 [NAL9602](DEBUG): Fix Requested
2019-10-09T17:10:37.737Z,1570641037.737 [NAL9602](DEBUG): Fix Requested
2019-10-09T17:10:40.557Z,1570641040.557 [NAL9602](DEBUG): Fix Requested
2019-10-09T17:10:43.377Z,1570641043.377 [NAL9602](DEBUG): Fix Requested
2019-10-09T17:10:46.609Z,1570641046.609 [NAL9602](DEBUG): Fix Requested
2019-10-09T17:10:49.441Z,1570641049.441 [NAL9602](DEBUG): Fix Requested
2019-10-09T17:10:52.673Z,1570641052.673 [NAL9602](DEBUG): Fix Requested
2019-10-09T17:10:55.067Z,1570641055.067 [CommandLine](IMPORTANT): got command show stack
2019-10-09T17:10:55.067Z,1570641055.067 [CommandLine](IMPORTANT): Behavior Stack:

2019-10-09T17:10:55.068Z,1570641055.068 [Startup](IMPORTANT): Priority 0: Startup:A.GoToSurface
2019-10-09T17:10:55.501Z,1570641055.501 [NAL9602](DEBUG): Fix Requested
2019-10-09T17:10:57.855Z,1570641057.855 [CommandLine](IMPORTANT): got command get depth
2019-10-09T17:10:57.855Z,1570641057.855 [CommandLine](IMPORTANT): depth 51.729282 m
2019-10-09T17:10:58.733Z,1570641058.733 [NAL9602](DEBUG): Fix Requested
2019-10-09T17:11:01.565Z,1570641061.565 [NAL9602](DEBUG): Fix Requested
2019-10-09T17:11:01.952Z,1570641061.952 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,170503.00,A,3648.15950,N,12147.28680,W,0.156,41.58,091019,,,A*42
2019-10-09T17:11:01.955Z,1570641061.955 [NAL9602](INFO): GPS fix at 20191009T170503: (36.802658, -121.788113)
2019-10-09T17:11:02.342Z,1570641062.342 [CommandLine](IMPORTANT): got command maintain
2019-10-09T17:11:16.478Z,1570641076.478 [CommandLine](IMPORTANT): got command show best depth
2019-10-09T17:11:16.478Z,1570641076.478 [CommandLine](IMPORTANT): depth best is Depth_Keller.depth
2019-10-09T17:11:18.687Z,1570641078.687 [CommandLine](IMPORTANT): got command get depth
2019-10-09T17:11:18.687Z,1570641078.687 [CommandLine](IMPORTANT): depth 51.704868 m
2019-10-09T17:11:34.282Z,1570641094.282 [NAL9602](INFO): Not Powering down - fast GPS
2019-10-09T17:11:55.732Z,1570641115.732 [Startup:StartupSatComms] Running Loop=1
2019-10-09T17:11:55.732Z,1570641115.732 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2019-10-09T17:11:55.732Z,1570641115.732 [Startup:StartupSatComms:A] Running Loop=1
2019-10-09T17:11:56.154Z,1570641116.154 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2019-10-09T17:11:57.321Z,1570641117.321 [NAL9602](DEBUG): Fix Requested
2019-10-09T17:11:57.714Z,1570641117.714 [CommandLine](IMPORTANT): got command get depth
2019-10-09T17:11:57.714Z,1570641117.714 [CommandLine](IMPORTANT): depth 0.294981 m
2019-10-09T17:11:57.822Z,1570641117.822 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,170559.00,A,3648.16018,N,12147.28794,W,0.097,41.58,091019,,,D*46
2019-10-09T17:11:57.825Z,1570641117.825 [NAL9602](INFO): GPS fix at 20191009T170559: (36.802670, -121.788132)
2019-10-09T17:11:57.874Z,1570641117.874 [Startup:StartupSatComms:A] Stopped
2019-10-09T17:11:57.874Z,1570641117.874 [Startup:StartupSatComms:B] Running Loop=1
2019-10-09T17:11:58.292Z,1570641118.292 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-10-09T17:12:02.224Z,1570641122.224 [Micromodem](INFO): Using rate 5 for 26 bytes.
2019-10-09T17:12:02.225Z,1570641122.225 [Micromodem](INFO): Outgoing frame #1, 26 bytes: 21B49C5D160000005D0000040000000000000000000000000000
2019-10-09T17:12:02.225Z,1570641122.225 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2019-10-09T17:12:02.569Z,1570641122.569 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2019-10-09T17:12:02.966Z,1570641122.966 [Micromodem](INFO): Nmea in: $CADRQ,171202,1,9,0,64,1*49

2019-10-09T17:12:02.967Z,1570641122.967 [Micromodem](ERROR): Received CADRQ with bad size: 64 expected <= 32
2019-10-09T17:12:06.185Z,1570641126.185 [Micromodem](INFO): Using rate 0 for 26 bytes.
2019-10-09T17:12:06.186Z,1570641126.186 [Micromodem](INFO): Outgoing frame #1, 26 bytes: 21B49C5D160000005D0000040000000000000000000000000000
2019-10-09T17:12:06.186Z,1570641126.186 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2019-10-09T17:12:06.452Z,1570641126.452 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2019-10-09T17:12:06.828Z,1570641126.828 [Micromodem](INFO): Nmea in: $CADRQ,171206,1,9,0,64,1*4D

2019-10-09T17:12:06.828Z,1570641126.828 [Micromodem](ERROR): Received CADRQ with bad size: 64 expected <= 32
2019-10-09T17:12:09.867Z,1570641129.867 [Micromodem](INFO): Using rate 0 for 26 bytes.
2019-10-09T17:12:09.868Z,1570641129.868 [Micromodem](INFO): Outgoing frame #1, 26 bytes: 21B49C5D160000005D0000040000000000000000000000000000
2019-10-09T17:12:09.868Z,1570641129.868 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2019-10-09T17:12:10.072Z,1570641130.072 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2019-10-09T17:12:10.316Z,1570641130.316 [DataOverHttps](INFO): Sending 18 bytes from file Logs/20191008T160657/Courier0022.lzma
2019-10-09T17:12:10.462Z,1570641130.462 [Micromodem](INFO): Nmea in: $CADRQ,171210,1,9,0,64,1*4A

2019-10-09T17:12:10.463Z,1570641130.463 [Micromodem](ERROR): Received CADRQ with bad size: 64 expected <= 32
2019-10-09T17:12:12.268Z,1570641132.268 [Micromodem](INFO): Using rate 0 for 26 bytes.
2019-10-09T17:12:12.269Z,1570641132.269 [Micromodem](INFO): Outgoing frame #1, 26 bytes: 21B49C5D160000005D0000040000000000000000000000000000
2019-10-09T17:12:12.269Z,1570641132.269 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2019-10-09T17:12:12.323Z,1570641132.323 [DataOverHttps](INFO): Moved sent file to Logs/20191008T160657/Courier0022.lzma.bak
2019-10-09T17:12:12.323Z,1570641132.323 [DataOverHttps](INFO): SBD MOMSN=11864143
2019-10-09T17:12:12.463Z,1570641132.463 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2019-10-09T17:12:12.852Z,1570641132.852 [Micromodem](INFO): Nmea in: $CADRQ,171212,1,9,0,64,1*48

2019-10-09T17:12:12.853Z,1570641132.853 [Micromodem](ERROR): Received CADRQ with bad size: 64 expected <= 32
2019-10-09T17:12:16.288Z,1570641136.288 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 64D59C5D000000005D00000400900000000000000000151D80030C5669BF31555EAE1409A708CE2489B0D24F922C4E73F3619C1A3D5DFEC97D4617D39DECC9F9
2019-10-09T17:12:16.301Z,1570641136.301 [Micromodem](INFO): Outgoing frame #2, 64 bytes: D5159010AF7DFFE3ECA1029743523CCC8F4964B2A734E899E3E97E739EB35D5DF090D127D806FA1FCD2CAC144AF8F0E6679EF4D89E4C8B926FFDBA0BDC2C73E6
2019-10-09T17:12:16.302Z,1570641136.302 [Micromodem](INFO): Outgoing frame #3, 11 bytes: 28133565B2ACF001144000
2019-10-09T17:12:16.302Z,1570641136.302 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,3*53

2019-10-09T17:12:16.590Z,1570641136.590 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,3*51

2019-10-09T17:12:16.954Z,1570641136.954 [Micromodem](INFO): Nmea in: $CADRQ,171216,1,9,0,64,1*4C

2019-10-09T17:12:16.955Z,1570641136.955 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,64D59C5D000000005D00000400900000000000000000151D80030C5669BF31555EAE1409A708CE2489B0D24F922C4E73F3619C1A3D5DFEC97D4617D39DECC9F9*71

2019-10-09T17:12:17.348Z,1570641137.348 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2019-10-09T17:12:17.755Z,1570641137.755 [Micromodem](INFO): Nmea in: $CADRQ,171217,1,9,0,64,2*4E

2019-10-09T17:12:17.755Z,1570641137.755 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,D5159010AF7DFFE3ECA1029743523CCC8F4964B2A734E899E3E97E739EB35D5DF090D127D806FA1FCD2CAC144AF8F0E6679EF4D89E4C8B926FFDBA0BDC2C73E6*09

2019-10-09T17:12:18.158Z,1570641138.158 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2019-10-09T17:12:18.560Z,1570641138.560 [Micromodem](INFO): Nmea in: $CADRQ,171218,1,9,0,64,3*40

2019-10-09T17:12:18.560Z,1570641138.560 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,28133565B2ACF001144000*78

2019-10-09T17:12:18.966Z,1570641138.966 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,11*73

2019-10-09T17:12:19.370Z,1570641139.370 [Micromodem](INFO): Nmea in: $CATXP,139*49

2019-10-09T17:12:23.007Z,1570641143.007 [Micromodem](INFO): Nmea in: $CATXF,139*5F

2019-10-09T17:12:23.412Z,1570641143.412 [Micromodem](INFO): Nmea in: $CAXST,6,20191009,171218.984810,3,0,200,4000,10000,1,1,9,1,3,3,3,139*43

2019-10-09T17:12:35.350Z,1570641155.350 [DataOverHttps](INFO): Sending 131 bytes from file Logs/20191008T182852/Courier0000.lzma
2019-10-09T17:12:37.358Z,1570641157.358 [DataOverHttps](INFO): Moved sent file to Logs/20191008T182852/Courier0000.lzma.bak
2019-10-09T17:12:37.358Z,1570641157.358 [DataOverHttps](INFO): SBD MOMSN=11864145
2019-10-09T17:12:56.949Z,1570641176.949 [DataOverHttps](INFO): Sending 393 bytes from file Logs/20191009T170250/Courier0000.lzma
2019-10-09T17:12:58.192Z,1570641178.192 [Startup:StartupSatComms:B](INFO): Timed out from 2019-10-09T17:11:57.9Z
2019-10-09T17:12:58.192Z,1570641178.192 [Startup:StartupSatComms:B] Stopped
2019-10-09T17:12:58.193Z,1570641178.193 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2019-10-09T17:12:58.193Z,1570641178.193 [Startup:StartupSatComms] Stopped
2019-10-09T17:12:58.193Z,1570641178.193 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2019-10-09T17:12:58.194Z,1570641178.194 [Startup](INFO): Completed Startup
2019-10-09T17:12:58.194Z,1570641178.194 [MissionManager](INFO): Startup is completed.
2019-10-09T17:12:58.194Z,1570641178.194 [MissionManager](INFO): Uninitializing Mission Startup
2019-10-09T17:12:58.194Z,1570641178.194 [Startup] Stopped
2019-10-09T17:12:58.195Z,1570641178.195 [Startup](DEBUG): Aggregate::uninitialize Startup
2019-10-09T17:12:58.195Z,1570641178.195 [Startup:A.GoToSurface] Stopped
2019-10-09T17:12:58.195Z,1570641178.195 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-10-09T17:12:58.597Z,1570641178.597 [MissionManager](IMPORTANT): Started mission DUSBL
2019-10-09T17:12:58.597Z,1570641178.597 [DUSBL] Running Loop=1
2019-10-09T17:12:58.597Z,1570641178.597 [DUSBL](DEBUG): Aggregate::initialize DUSBL
2019-10-09T17:12:58.597Z,1570641178.597 [DUSBL:A.Pitch] Running Loop=1
2019-10-09T17:12:58.597Z,1570641178.597 [DUSBL:A.Pitch](DEBUG): Initialize.
2019-10-09T17:12:58.598Z,1570641178.598 [DUSBL:B.SetSpeed] Running Loop=1
2019-10-09T17:12:58.598Z,1570641178.598 [DUSBL:B.SetSpeed](DEBUG): Initialize.
2019-10-09T17:12:58.598Z,1570641178.598 [DUSBL:C.] Running Loop=1
2019-10-09T17:12:58.598Z,1570641178.598 [DUSBL:C.](INFO): Initializing TrackAcousticContact.
2019-10-09T17:12:58.598Z,1570641178.598 [DUSBL:RequestRepeater] Running Loop=1
2019-10-09T17:12:58.598Z,1570641178.598 [DUSBL:RequestRepeater](DEBUG): Aggregate::initialize DUSBL:RequestRepeater
2019-10-09T17:12:58.599Z,1570641178.599 [DUSBL:RequestRepeater:A.Wait] Running Loop=1
2019-10-09T17:12:58.599Z,1570641178.599 [DUSBL:RequestRepeater:A.Wait](DEBUG): Initialize Wait Component.
2019-10-09T17:12:58.599Z,1570641178.599 [DUSBL:C.] Running Loop=1
2019-10-09T17:12:58.600Z,1570641178.600 [DUSBL:B.SetSpeed] Running Loop=1
2019-10-09T17:12:58.600Z,1570641178.600 [DUSBL:A.Pitch] Running Loop=1
2019-10-09T17:12:58.954Z,1570641178.954 [DataOverHttps](INFO): Moved sent file to Logs/20191009T170250/Courier0000.lzma.bak
2019-10-09T17:12:58.954Z,1570641178.954 [DataOverHttps](INFO): SBD MOMSN=11864150
2019-10-09T17:13:02.648Z,1570641182.648 [DUSBL:C.](INFO): *** querying acoustic contact ***
2019-10-09T17:13:02.714Z,1570641182.714 [MissionManager](CRITICAL): SIGSEGV: address not mapped to object
2019-10-09T17:13:02.714Z,1570641182.714 [MissionManager](CRITICAL): Bad address: 0x20202020
2019-10-09T17:13:02.715Z,1570641182.715 [MissionManager](CRITICAL): Backtrace: 
./bin/LRAUV(_ZN7PCaller20DefaultSignalHandlerEiP7siginfoPv+0x20) [0x17b6b0]
Modules/Estimation.so(_ZN20TrackAcousticContact3runEv+0x230) [0x409f4ce4]
./bin/LRAUV(_ZN9Component7executeEv+0x1f8) [0xd726c]
./bin/LRAUV(_ZN11MissionItem3runEv+0x224) [0x164978]
./bin/LRAUV(_ZN9Aggregate3runEv+0x31c) [0x1552d8]
./bin/LRAUV(_ZN9Aggregate7executeEv+0x10) [0x155dc4]
./bin/LRAUV(_ZN14MissionManager3runEv+0x260) [0x16628c]
./bin/LRAUV(_ZN9Component7executeEv+0x1f8) [0xd726c]
./bin/LRAUV(_ZN7PCaller10PThreadRunEPv+0xc8) [0x17b230]

2019-10-09T17:13:02.715Z,1570641182.715 [MissionManager] Software Fault, FailCount= 1
2019-10-09T17:13:02.716Z,1570641182.716 [MissionManager](ERROR): Software Fault
2019-10-09T17:13:02.753Z,1570641182.753 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2019-10-09T17:13:02.753Z,1570641182.753 [SyncHandler](INFO): Protected caller Thread ID is 5609
2019-10-09T17:13:02.759Z,1570641182.759 [CBIT](INFO): Critical error at 20191009T171302
2019-10-09T17:13:02.760Z,1570641182.760 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2019-10-