2019-11-21T19:26:56.062Z,1574364416.062 [Supervisor](DEBUG): Initializing supervisor. 2019-11-21T19:26:56.065Z,1574364416.065 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0 2019-11-21T19:26:56.066Z,1574364416.066 [SyncHandler](INFO): Protected caller Thread ID is 1714 2019-11-21T19:26:56.067Z,1574364416.067 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread. 2019-11-21T19:26:56.068Z,1574364416.068 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0 2019-11-21T19:26:56.068Z,1574364416.068 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 1715 2019-11-21T19:26:56.071Z,1574364416.071 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread. 2019-11-21T19:26:56.083Z,1574364416.083 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread. 2019-11-21T19:26:56.084Z,1574364416.084 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0 2019-11-21T19:26:56.084Z,1574364416.084 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 1716 2019-11-21T19:26:56.085Z,1574364416.085 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread. 2019-11-21T19:26:56.086Z,1574364416.086 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0 2019-11-21T19:26:56.086Z,1574364416.086 [logger ThreadHandler](INFO): Protected caller Thread ID is 1717 2019-11-21T19:26:56.088Z,1574364416.088 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread. 2019-11-21T19:26:56.088Z,1574364416.088 [Supervisor](INFO): Looking for Config files in directory: Config/ 2019-11-21T19:26:56.090Z,1574364416.090 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg 2019-11-21T19:26:56.503Z,1574364416.503 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle 2019-11-21T19:26:56.504Z,1574364416.504 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg 2019-11-21T19:26:56.600Z,1574364416.600 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample 2019-11-21T19:26:56.601Z,1574364416.601 [Supervisor](INFO): Opening Config file at: Config/Control.cfg 2019-11-21T19:26:56.905Z,1574364416.905 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control 2019-11-21T19:26:56.905Z,1574364416.905 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg 2019-11-21T19:26:57.044Z,1574364417.044 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation 2019-11-21T19:26:57.045Z,1574364417.045 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg 2019-11-21T19:26:57.228Z,1574364417.228 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT 2019-11-21T19:26:57.229Z,1574364417.229 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg 2019-11-21T19:26:57.664Z,1574364417.664 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator 2019-11-21T19:26:57.665Z,1574364417.665 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg 2019-11-21T19:26:57.865Z,1574364417.865 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation 2019-11-21T19:26:57.866Z,1574364417.866 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg 2019-11-21T19:26:58.006Z,1574364418.006 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation 2019-11-21T19:26:58.007Z,1574364418.007 [Supervisor](INFO): Opening Config file at: Config/logger.cfg 2019-11-21T19:26:58.190Z,1574364418.190 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger 2019-11-21T19:26:58.190Z,1574364418.190 [Supervisor](INFO): Opening Config file at: Config/secure.cfg 2019-11-21T19:26:58.285Z,1574364418.285 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure 2019-11-21T19:26:58.286Z,1574364418.286 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg 2019-11-21T19:26:58.578Z,1574364418.578 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo 2019-11-21T19:26:58.578Z,1574364418.578 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg 2019-11-21T19:26:58.658Z,1574364418.658 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg 2019-11-21T19:26:58.759Z,1574364418.759 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite 2019-11-21T19:26:58.759Z,1574364418.759 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg 2019-11-21T19:26:59.392Z,1574364419.392 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor 2019-11-21T19:26:59.392Z,1574364419.392 [Supervisor](INFO): Opening Config file at: Config/Science.cfg 2019-11-21T19:26:59.793Z,1574364419.793 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science 2019-11-21T19:26:59.794Z,1574364419.794 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/ 2019-11-21T19:26:59.795Z,1574364419.795 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/vehicle.cfg 2019-11-21T19:26:59.996Z,1574364419.996 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Control.cfg 2019-11-21T19:27:00.158Z,1574364420.158 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/BIT.cfg 2019-11-21T19:27:00.289Z,1574364420.289 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Battery.cfg 2019-11-21T19:27:00.731Z,1574364420.731 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery 2019-11-21T19:27:00.732Z,1574364420.732 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Simulator.cfg 2019-11-21T19:27:00.816Z,1574364420.816 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Navigation.cfg 2019-11-21T19:27:00.908Z,1574364420.908 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/logger.cfg 2019-11-21T19:27:01.002Z,1574364421.002 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/secure.cfg 2019-11-21T19:27:01.084Z,1574364421.084 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Servo.cfg 2019-11-21T19:27:01.189Z,1574364421.189 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Sensor.cfg 2019-11-21T19:27:01.365Z,1574364421.365 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Science.cfg 2019-11-21T19:27:01.492Z,1574364421.492 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/root/ 2019-11-21T19:27:01.492Z,1574364421.492 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg 2019-11-21T19:27:01.508Z,1574364421.508 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so 2019-11-21T19:27:01.812Z,1574364421.812 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_orientation 2019-11-21T19:27:01.817Z,1574364421.817 [AHRS_M2](INFO): created writer for : platform_orientation 2019-11-21T19:27:01.819Z,1574364421.819 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_magnetic_orientation 2019-11-21T19:27:01.824Z,1574364421.824 [AHRS_M2](INFO): created writer for : platform_magnetic_orientation 2019-11-21T19:27:01.825Z,1574364421.825 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_pitch_angle 2019-11-21T19:27:01.830Z,1574364421.830 [AHRS_M2](INFO): created writer for : platform_pitch_angle 2019-11-21T19:27:01.831Z,1574364421.831 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_roll_angle 2019-11-21T19:27:01.836Z,1574364421.836 [AHRS_M2](INFO): created writer for : platform_roll_angle 2019-11-21T19:27:01.906Z,1574364421.906 [AHRS_M2] Loaded 2019-11-21T19:27:01.906Z,1574364421.906 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread. 2019-11-21T19:27:01.984Z,1574364421.984 [DataOverHttps] Loaded 2019-11-21T19:27:01.984Z,1574364421.984 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread. 2019-11-21T19:27:01.985Z,1574364421.985 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 4076A4E0 2019-11-21T19:27:01.986Z,1574364421.986 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 1796 2019-11-21T19:27:02.009Z,1574364422.009 [DDM] Loaded 2019-11-21T19:27:02.010Z,1574364422.010 [ComponentRegistry](DEBUG): SyncComponent "DDM" handled in the control thread. 2019-11-21T19:27:02.022Z,1574364422.022 [Depth_Keller] Loaded 2019-11-21T19:27:02.023Z,1574364422.023 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread. 2019-11-21T19:27:02.028Z,1574364422.028 [DropWeight] Loaded 2019-11-21T19:27:02.028Z,1574364422.028 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread. 2019-11-21T19:27:02.089Z,1574364422.089 [DUSBL_Hydroid] Loaded 2019-11-21T19:27:02.089Z,1574364422.089 [ComponentRegistry](DEBUG): SyncComponent "DUSBL_Hydroid" handled in the control thread. 2019-11-21T19:27:02.136Z,1574364422.136 [Micromodem] Loaded 2019-11-21T19:27:02.136Z,1574364422.136 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread. 2019-11-21T19:27:02.232Z,1574364422.232 [NAL9602] Loaded 2019-11-21T19:27:02.232Z,1574364422.232 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread. 2019-11-21T19:27:02.247Z,1574364422.247 [Onboard] Loaded 2019-11-21T19:27:02.248Z,1574364422.248 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread. 2019-11-21T19:27:02.253Z,1574364422.253 [PowerOnly] Loaded 2019-11-21T19:27:02.254Z,1574364422.254 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread. 2019-11-21T19:27:02.260Z,1574364422.260 [Radio_Surface] Loaded 2019-11-21T19:27:02.260Z,1574364422.260 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread. 2019-11-21T19:27:02.261Z,1574364422.261 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 4079A4E0 2019-11-21T19:27:02.262Z,1574364422.262 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 1797 2019-11-21T19:27:02.304Z,1574364422.304 [RDI_Pathfinder] Loaded 2019-11-21T19:27:02.304Z,1574364422.304 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread. 2019-11-21T19:27:03.780Z,1574364423.780 [BPC1] Loaded 2019-11-21T19:27:03.780Z,1574364423.780 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread. 2019-11-21T19:27:03.781Z,1574364423.781 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components) 2019-11-21T19:27:03.781Z,1574364423.781 [Module Loader](DEBUG): Loading Module at Modules/Sample.so 2019-11-21T19:27:03.794Z,1574364423.794 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components) 2019-11-21T19:27:03.794Z,1574364423.794 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so 2019-11-21T19:27:03.896Z,1574364423.896 [DeadReckonUsingMultipleVelocitySources] Loaded 2019-11-21T19:27:03.896Z,1574364423.896 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread. 2019-11-21T19:27:03.916Z,1574364423.916 [NavChart] Loaded 2019-11-21T19:27:03.916Z,1574364423.916 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread. 2019-11-21T19:27:03.920Z,1574364423.920 [UniversalFixResidualReporter] Loaded 2019-11-21T19:27:03.920Z,1574364423.920 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread. 2019-11-21T19:27:03.921Z,1574364423.921 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components) 2019-11-21T19:27:03.921Z,1574364423.921 [Module Loader](DEBUG): Loading Module at Modules/Servo.so 2019-11-21T19:27:04.027Z,1574364424.027 [BuoyancyServo] Loaded 2019-11-21T19:27:04.027Z,1574364424.027 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread. 2019-11-21T19:27:04.042Z,1574364424.042 [ElevatorServo] Loaded 2019-11-21T19:27:04.043Z,1574364424.043 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread. 2019-11-21T19:27:04.057Z,1574364424.057 [MassServo] Loaded 2019-11-21T19:27:04.057Z,1574364424.057 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread. 2019-11-21T19:27:04.072Z,1574364424.072 [RudderServo] Loaded 2019-11-21T19:27:04.072Z,1574364424.072 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread. 2019-11-21T19:27:04.086Z,1574364424.086 [ThrusterServo] Loaded 2019-11-21T19:27:04.087Z,1574364424.087 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread. 2019-11-21T19:27:04.087Z,1574364424.087 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers) 2019-11-21T19:27:04.088Z,1574364424.088 [Module Loader](DEBUG): Loading Module at Modules/Science.so 2019-11-21T19:27:04.339Z,1574364424.339 [CTD_NeilBrown] Loaded 2019-11-21T19:27:04.339Z,1574364424.339 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread. 2019-11-21T19:27:04.340Z,1574364424.340 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 408E54E0 2019-11-21T19:27:04.340Z,1574364424.340 [CTD_NeilBrown ThreadHandler](INFO): Protected caller Thread ID is 1798 2019-11-21T19:27:04.355Z,1574364424.355 [PAR_Licor] Loaded 2019-11-21T19:27:04.355Z,1574364424.355 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread. 2019-11-21T19:27:04.398Z,1574364424.398 [WetLabsSeaOWL_UV_A] Loaded 2019-11-21T19:27:04.398Z,1574364424.398 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread. 2019-11-21T19:27:04.399Z,1574364424.399 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 409154E0 2019-11-21T19:27:04.399Z,1574364424.399 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 1799 2019-11-21T19:27:04.400Z,1574364424.400 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components) 2019-11-21T19:27:04.400Z,1574364424.400 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so 2019-11-21T19:27:04.702Z,1574364424.702 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands) 2019-11-21T19:27:04.703Z,1574364424.703 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so 2019-11-21T19:27:04.742Z,1574364424.742 [DepthRateCalculator] Loaded 2019-11-21T19:27:04.742Z,1574364424.742 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread. 2019-11-21T19:27:04.748Z,1574364424.748 [PitchRateCalculator] Loaded 2019-11-21T19:27:04.748Z,1574364424.748 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread. 2019-11-21T19:27:04.760Z,1574364424.760 [SpeedCalculator] Loaded 2019-11-21T19:27:04.760Z,1574364424.760 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread. 2019-11-21T19:27:04.781Z,1574364424.781 [TempGradientCalculator] Loaded 2019-11-21T19:27:04.781Z,1574364424.781 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread. 2019-11-21T19:27:04.786Z,1574364424.786 [YawRateCalculator] Loaded 2019-11-21T19:27:04.787Z,1574364424.787 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread. 2019-11-21T19:27:04.826Z,1574364424.826 [ElevatorOffsetCalculator] Loaded 2019-11-21T19:27:04.826Z,1574364424.826 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread. 2019-11-21T19:27:04.826Z,1574364424.826 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components) 2019-11-21T19:27:04.827Z,1574364424.827 [Module Loader](DEBUG): Loading Module at Modules/BIT.so 2019-11-21T19:27:04.961Z,1574364424.961 [SBIT](DEBUG): Construct Startup Built In Test. 2019-11-21T19:27:04.983Z,1574364424.983 [SBIT] Loaded 2019-11-21T19:27:04.983Z,1574364424.983 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread. 2019-11-21T19:27:04.984Z,1574364424.984 [IBIT](DEBUG): Construct Initiated Built In Test. 2019-11-21T19:27:04.996Z,1574364424.996 [IBIT] Loaded 2019-11-21T19:27:04.996Z,1574364424.996 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread. 2019-11-21T19:27:04.999Z,1574364424.999 [CBIT](DEBUG): Construct Continuous Built In Test. 2019-11-21T19:27:05.196Z,1574364425.196 [CBIT] Loaded 2019-11-21T19:27:05.196Z,1574364425.196 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread. 2019-11-21T19:27:05.196Z,1574364425.196 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test) 2019-11-21T19:27:05.205Z,1574364425.205 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so 2019-11-21T19:27:05.433Z,1574364425.433 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components) 2019-11-21T19:27:05.434Z,1574364425.434 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so 2019-11-21T19:27:05.533Z,1574364425.533 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator) 2019-11-21T19:27:05.534Z,1574364425.534 [Module Loader](DEBUG): Loading Module at Modules/Control.so 2019-11-21T19:27:05.582Z,1574364425.582 [VerticalControl](DEBUG): Construct VerticalControl. 2019-11-21T19:27:05.663Z,1574364425.663 [VerticalControl] Loaded 2019-11-21T19:27:05.663Z,1574364425.663 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread. 2019-11-21T19:27:05.664Z,1574364425.664 [HorizontalControl](DEBUG): Construct HorizontalControl. 2019-11-21T19:27:05.732Z,1574364425.732 [HorizontalControl] Loaded 2019-11-21T19:27:05.732Z,1574364425.732 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread. 2019-11-21T19:27:05.733Z,1574364425.733 [SpeedControl](DEBUG): Construct SpeedControl. 2019-11-21T19:27:05.735Z,1574364425.735 [SpeedControl] Loaded 2019-11-21T19:27:05.735Z,1574364425.735 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread. 2019-11-21T19:27:05.736Z,1574364425.736 [LoopControl](DEBUG): Construct LoopControl. 2019-11-21T19:27:05.736Z,1574364425.736 [LoopControl] Loaded 2019-11-21T19:27:05.736Z,1574364425.736 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread. 2019-11-21T19:27:05.737Z,1574364425.737 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control) 2019-11-21T19:27:05.738Z,1574364425.738 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so 2019-11-21T19:27:05.769Z,1574364425.769 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions) 2019-11-21T19:27:05.773Z,1574364425.773 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread. 2019-11-21T19:27:05.774Z,1574364425.774 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread. 2019-11-21T19:27:05.780Z,1574364425.780 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread. 2019-11-21T19:27:05.781Z,1574364425.781 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40AF14E0 2019-11-21T19:27:05.781Z,1574364425.781 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 1800 2019-11-21T19:27:05.786Z,1574364425.786 [Supervisor](INFO): Main Thread ID is 803 2019-11-21T19:27:05.786Z,1574364425.786 [Supervisor](DEBUG): Running supervisor. 2019-11-21T19:27:05.787Z,1574364425.787 [CommandLine ThreadHandler](INFO): Handler Thread ID is 1801 2019-11-21T19:27:05.789Z,1574364425.789 [controlThread ThreadHandler](INFO): Handler Thread ID is 1802 2019-11-21T19:27:05.789Z,1574364425.789 [controlThread](DEBUG): Initializing ControlThread 2019-11-21T19:27:05.796Z,1574364425.796 [NavChart](DEBUG): Initialize NavChart Navigation. 2019-11-21T19:27:05.796Z,1574364425.796 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component. 2019-11-21T19:27:05.801Z,1574364425.801 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator. 2019-11-21T19:27:05.801Z,1574364425.801 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator. 2019-11-21T19:27:05.802Z,1574364425.802 [SpeedCalculator](DEBUG): Initializing SpeedCalculator. 2019-11-21T19:27:05.802Z,1574364425.802 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator. 2019-11-21T19:27:05.802Z,1574364425.802 [YawRateCalculator](DEBUG): Initializing YawRateCalculator. 2019-11-21T19:27:05.803Z,1574364425.803 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator. 2019-11-21T19:27:05.803Z,1574364425.803 [SBIT](INFO): Initialize SBIT Component. 2019-11-21T19:27:05.804Z,1574364425.804 [SBIT](IMPORTANT): git: 2019-11-13-85-gc67ce3a 2019-11-21T19:27:05.804Z,1574364425.804 [SBIT](INFO): git hash: c67ce3ac27a257a408f25d52f73f6bbe44bae52b 2019-11-21T19:27:05.804Z,1574364425.804 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8 2019-11-21T19:27:05.805Z,1574364425.805 [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 2019-11-21T19:27:05.807Z,1574364425.807 [SBIT](INFO): Beginning SBIT in 34.000000 seconds. 2019-11-21T19:27:05.807Z,1574364425.807 [IBIT](INFO): Initialize IBIT Component. 2019-11-21T19:27:05.808Z,1574364425.808 [CBIT](DEBUG): Initialize CBIT Component. 2019-11-21T19:27:05.809Z,1574364425.809 [logger ThreadHandler](INFO): Handler Thread ID is 1803 2019-11-21T19:27:05.821Z,1574364425.821 [CBIT](DEBUG): Initialized mux pins. 2019-11-21T19:27:05.821Z,1574364425.821 [CBIT](DEBUG): Initializing the watchdog timer. 2019-11-21T19:27:05.829Z,1574364425.829 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 1804 2019-11-21T19:27:05.830Z,1574364425.830 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP 2019-11-21T19:27:05.841Z,1574364425.841 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 1805 2019-11-21T19:27:05.845Z,1574364425.845 [CBIT](INFO): Last reboot was NOT due to watchdog timer. 2019-11-21T19:27:05.845Z,1574364425.845 [CBIT](DEBUG): Initializing heartbeat. 2019-11-21T19:27:05.853Z,1574364425.853 [CTD_NeilBrown ThreadHandler](INFO): Handler Thread ID is 1806 2019-11-21T19:27:05.854Z,1574364425.854 [CTD_NeilBrown](INFO): Powering down 2019-11-21T19:27:05.881Z,1574364425.881 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 1807 2019-11-21T19:27:05.882Z,1574364425.882 [WetLabsSeaOWL_UV_A](INFO): Powering down 2019-11-21T19:27:05.909Z,1574364425.909 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 1808 2019-11-21T19:27:05.912Z,1574364425.912 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000 2019-11-21T19:27:05.912Z,1574364425.912 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000 2019-11-21T19:27:05.913Z,1574364425.913 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000 2019-11-21T19:27:05.913Z,1574364425.913 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000 2019-11-21T19:27:05.913Z,1574364425.913 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000 2019-11-21T19:27:05.913Z,1574364425.913 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000 2019-11-21T19:27:05.914Z,1574364425.914 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000 2019-11-21T19:27:05.914Z,1574364425.914 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000 2019-11-21T19:27:05.914Z,1574364425.914 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000 2019-11-21T19:27:05.914Z,1574364425.914 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000 2019-11-21T19:27:05.914Z,1574364425.914 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000 2019-11-21T19:27:05.915Z,1574364425.915 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000 2019-11-21T19:27:05.915Z,1574364425.915 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000 2019-11-21T19:27:05.915Z,1574364425.915 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000 2019-11-21T19:27:05.915Z,1574364425.915 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000 2019-11-21T19:27:05.915Z,1574364425.915 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000 2019-11-21T19:27:05.917Z,1574364425.917 [CBIT](DEBUG): Deactivating GF circuits. 2019-11-21T19:27:05.917Z,1574364425.917 [CBIT](DEBUG): Deactivating emergency mode. 2019-11-21T19:27:05.953Z,1574364425.953 [CBIT](DEBUG): Backplane powered. 2019-11-21T19:27:05.953Z,1574364425.953 [VerticalControl](DEBUG): Initialize VerticalControlComponent. 2019-11-21T19:27:05.955Z,1574364425.955 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent. 2019-11-21T19:27:05.955Z,1574364425.955 [SpeedControl](DEBUG): Initialize SpeedControlComponent. 2019-11-21T19:27:05.956Z,1574364425.956 [LoopControl](DEBUG): Initialize LoopControlComponent. 2019-11-21T19:27:05.957Z,1574364425.957 [MissionManager](INFO): Loading Mission: Missions/Startup.xml 2019-11-21T19:27:05.967Z,1574364425.967 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface. 2019-11-21T19:27:05.993Z,1574364425.993 [MissionManager](DEBUG): 2019-11-21T19:27:05.994Z,1574364425.994 [MissionManager](INFO): Loading Mission: Missions/Default.xml 2019-11-21T19:27:06.065Z,1574364426.065 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min 2019-11-21T19:27:06.066Z,1574364426.066 [Default:A.Wait](DEBUG): Construct Wait. 2019-11-21T19:27:06.068Z,1574364426.068 [Default:B.GoToSurface](DEBUG): Construct GoToSurface. 2019-11-21T19:27:06.103Z,1574364426.103 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute. 2019-11-21T19:27:06.106Z,1574364426.106 [Default:CheckIn:C.Wait](DEBUG): Construct Wait. 2019-11-21T19:27:06.127Z,1574364426.127 [Default:E.Execute](DEBUG): Construct Execute. 2019-11-21T19:27:06.131Z,1574364426.131 [MissionManager](DEBUG): 0 Wait a moment to see if the scheduler starts a new mission before starting to actually run Default. 13 Burn on Dropped weight due to communications timeout. 5 Default mission has been running for Restarting logs and Default mission. restart logs 2019-11-21T19:27:06.144Z,1574364426.144 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,DDM,Depth_Keller,DropWeight,DUSBL_Hydroid,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, 2019-11-21T19:27:06.168Z,1574364426.168 [AHRS_M2](DEBUG): Initializing AHRS_M2. 2019-11-21T19:27:06.206Z,1574364426.206 [DDM](INFO): Powering up 2019-11-21T19:27:06.206Z,1574364426.206 [DDM](DEBUG): Initializing DDM. 2019-11-21T19:27:06.231Z,1574364426.231 [DUSBL_Hydroid](INFO): Powering up 2019-11-21T19:27:06.231Z,1574364426.231 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid. 2019-11-21T19:27:06.245Z,1574364426.245 [Radio_Surface](INFO): Powering up 2019-11-21T19:27:06.407Z,1574364426.407 [BuoyancyServo](DEBUG): Initializing EZServoServo. 2019-11-21T19:27:06.413Z,1574364426.413 [BuoyancyServo](DEBUG): Initializing BuoyancyServo. 2019-11-21T19:27:06.414Z,1574364426.414 [ElevatorServo](DEBUG): Initializing EZServoServo. 2019-11-21T19:27:06.421Z,1574364426.421 [ElevatorServo](DEBUG): Initializing ElevatorServo. 2019-11-21T19:27:06.422Z,1574364426.422 [MassServo](DEBUG): Initializing EZServoServo. 2019-11-21T19:27:06.429Z,1574364426.429 [MassServo](DEBUG): Initializing MassServo. 2019-11-21T19:27:06.430Z,1574364426.430 [RudderServo](DEBUG): Initializing EZServoServo. 2019-11-21T19:27:06.437Z,1574364426.437 [RudderServo](DEBUG): Initializing RudderServo. 2019-11-21T19:27:06.438Z,1574364426.438 [ThrusterServo](DEBUG): Initializing EZServoServo. 2019-11-21T19:27:06.445Z,1574364426.445 [ThrusterServo](DEBUG): Initializing ThrusterServo. 2019-11-21T19:27:06.572Z,1574364426.572 [Micromodem](INFO): Powering up 2019-11-21T19:27:06.572Z,1574364426.572 [Micromodem](DEBUG): Initializing Micromodem. 2019-11-21T19:27:07.333Z,1574364427.333 [RudderServo](ERROR): Rudder initialization uart error serial timeout 2019-11-21T19:27:07.333Z,1574364427.333 [RudderServo](FAULT): Rudder failed to initialize 2019-11-21T19:27:07.333Z,1574364427.333 [RudderServo] Communications Fault, FailCount= 1 2019-11-21T19:27:07.333Z,1574364427.333 [RudderServo](ERROR): Communications Fault 2019-11-21T19:27:07.444Z,1574364427.444 [CBIT](ERROR): Communications Fault in component: RudderServo 2019-11-21T19:27:07.602Z,1574364427.602 [RudderServo](DEBUG): Uninitialize Rudder Servo. 2019-11-21T19:27:07.602Z,1574364427.602 [RudderServo](INFO): Powering down 2019-11-21T19:27:08.333Z,1574364428.333 [RudderServo](DEBUG): Initializing EZServoServo. 2019-11-21T19:27:08.454Z,1574364428.454 [RudderServo](DEBUG): Initializing RudderServo. 2019-11-21T19:27:08.458Z,1574364428.458 [CBIT](INFO): Clearing failed state for component RudderServo 2019-11-21T19:27:08.458Z,1574364428.458 [RudderServo] No Fault, FailCount= 1 2019-11-21T19:27:11.534Z,1574364431.534 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33 2019-11-21T19:27:11.936Z,1574364431.936 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CAREV,192712,INIT,2.0.3231*4D expected 7A 2019-11-21T19:27:11.936Z,1574364431.936 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33 2019-11-21T19:27:13.560Z,1574364433.560 [Micromodem](INFO): Nmea in: $CATMG,2019-11-21T19:27:12.573470Z,RTC,RTC*55 2019-11-21T19:27:13.560Z,1574364433.560 [Micromodem](ERROR): CFG response from modem unexpected: $CATMG,2019-11-21T19:27:12.573470Z,RTC,RTC*55 2019-11-21T19:27:13.975Z,1574364433.975 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31 2019-11-21T19:27:13.975Z,1574364433.975 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31 2019-11-21T19:27:14.355Z,1574364434.355 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31 2019-11-21T19:27:14.355Z,1574364434.355 [Micromodem](ERROR): CFG response from modem unexpected: $CACFG,ALL,0*31 2019-11-21T19:27:14.783Z,1574364434.783 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33 2019-11-21T19:27:14.783Z,1574364434.783 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64 2019-11-21T19:27:15.151Z,1574364435.151 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66 2019-11-21T19:27:15.151Z,1574364435.151 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F 2019-11-21T19:27:15.588Z,1574364435.588 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D 2019-11-21T19:27:15.588Z,1574364435.588 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E 2019-11-21T19:27:15.955Z,1574364435.955 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C 2019-11-21T19:27:15.955Z,1574364435.955 [Micromodem](INFO): Nmea out: $CCCFG,FC0,10000*46 2019-11-21T19:27:16.359Z,1574364436.359 [Micromodem](INFO): Nmea in: $CACFG,FC0,10000*44 2019-11-21T19:27:16.359Z,1574364436.359 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63 2019-11-21T19:27:16.785Z,1574364436.785 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1 2019-11-21T19:27:16.899Z,1574364436.899 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61 2019-11-21T19:27:16.899Z,1574364436.899 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A 2019-11-21T19:27:17.163Z,1574364437.163 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38 2019-11-21T19:27:17.164Z,1574364437.164 [Micromodem](INFO): Nmea out: $CCCLK,2019,11,21,19,27,18*49 2019-11-21T19:27:17.591Z,1574364437.591 [Micromodem](INFO): Nmea in: $CACLK,2019,11,21,19,27,18*4B 2019-11-21T19:27:18.383Z,1574364438.383 [Micromodem](INFO): Nmea in: $CATMS,0,2019-11-21T19:27:19Z*7A 2019-11-21T19:27:18.395Z,1574364438.395 [Micromodem](INFO): Nmea in: $CATMG,2019-11-21T19:27:19.027601Z,USER_CMD,RTC*1F 2019-11-21T19:27:19.666Z,1574364439.666 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder 2019-11-21T19:27:24.439Z,1574364444.439 [DUSBL_Hydroid](INFO): DUSBL Version:O 2019-11-21T19:27:32.519Z,1574364452.519 [NAL9602](INFO): Powering up NAL9602 2019-11-21T19:27:35.769Z,1574364455.769 [RDI_Pathfinder](ERROR): Failed to parse: :RA, 0.00, 0.00, 0.00, 0.00, 0.00 2019-11-21T19:27:40.250Z,1574364460.250 [SBIT](IMPORTANT): Beginning Startup BIT 2019-11-21T19:27:40.258Z,1574364460.258 [CBIT](IMPORTANT): Beginning ground fault scan 2019-11-21T19:27:43.527Z,1574364463.527 [NAL9602](INFO): NAL9602 initialized 2019-11-21T19:27:51.309Z,1574364471.309 [CBIT](IMPORTANT): No ground fault detected mA: CHAN A0 (Batt): 0.000600 CHAN A1 (24V): -0.028940 CHAN A2 (12V): -0.007292 CHAN A3 (5V): -0.002204 CHAN B0 (3.3V): -0.001382 CHAN B1 (3.15aV): 0.000030 CHAN B2 (3.15bV): 0.000178 CHAN B3 (GND): 0.002131 OPEN: 0.004914 Full Scale Calc: 4.765 mA, -1.589 mA 2019-11-21T19:27:58.715Z,1574364478.715 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2019-11-21T19:27:58.716Z,1574364478.716 [RDI_Pathfinder](ERROR): Failed to parse: :BS,-3268,-32768,V 2019-11-21T19:28:17.615Z,1574364497.615 [CommandLine](IMPORTANT): got command show stack 2019-11-21T19:28:17.615Z,1574364497.615 [CommandLine](IMPORTANT): Behavior Stack: 2019-11-21T19:28:17.615Z,1574364497.615 [MissionManager](IMPORTANT): Mission loaded, but not running. 2019-11-21T19:28:33.149Z,1574364513.149 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2019-11-21T19:28:33.548Z,1574364513.548 [SBIT](IMPORTANT): SBIT PASSED 2019-11-21T19:28:33.626Z,1574364513.626 [CommandLine](IMPORTANT): got command configSet list 2019-11-21T19:28:33.626Z,1574364513.626 [CommandLine](IMPORTANT): Listing configuration overrides from Data/persisted.cfg 2019-11-21T19:28:33.627Z,1574364513.627 [CommandLine](IMPORTANT): DDM.loadAtStartup=1 bool; 2019-11-21T19:28:33.627Z,1574364513.627 [CommandLine](IMPORTANT): DDM.verbosity=3 count; 2019-11-21T19:28:33.627Z,1574364513.627 [CommandLine](IMPORTANT): DUSBL_Hydroid.detectionThreshold=75 count; 2019-11-21T19:28:33.628Z,1574364513.628 [CommandLine](IMPORTANT): DUSBL_Hydroid.transmitLockout=40 millisecond; 2019-11-21T19:28:33.628Z,1574364513.628 [CommandLine](IMPORTANT): Express linearApproximation DUSBL_Hydroid.acoustic_contact_range 1.000000 meter; 2019-11-21T19:28:33.628Z,1574364513.628 [CommandLine](IMPORTANT): Express linearApproximation DUSBL_Hydroid.xAngle 2.000000 degree; 2019-11-21T19:28:33.628Z,1574364513.628 [CommandLine](IMPORTANT): Express linearApproximation RDI_Pathfinder.height_above_sea_floor 2.000000 meter; 2019-11-21T19:28:33.628Z,1574364513.628 [CommandLine](IMPORTANT): Express linearApproximation platform_orientation 5.000000 degree; 2019-11-21T19:28:33.628Z,1574364513.628 [CommandLine](IMPORTANT): Express linearApproximation platform_x_velocity_wrt_ground 0.100000 meter_per_second; 2019-11-21T19:28:33.628Z,1574364513.628 [CommandLine](IMPORTANT): Express linearApproximation platform_y_velocity_wrt_ground 0.100000 meter_per_second; 2019-11-21T19:28:33.628Z,1574364513.628 [CommandLine](IMPORTANT): HorizontalControl.kiHeading=0.002 reciprocal_second; 2019-11-21T19:28:33.628Z,1574364513.628 [CommandLine](IMPORTANT): HorizontalControl.kpHeading=0.8 none; 2019-11-21T19:28:33.629Z,1574364513.629 [CommandLine](IMPORTANT): HorizontalControl.rudDeadband=0.05 degree; 2019-11-21T19:28:33.629Z,1574364513.629 [CommandLine](IMPORTANT): PowerOnly.sampleTime=90 second; 2019-11-21T19:28:33.629Z,1574364513.629 [CommandLine](IMPORTANT): RDI_Pathfinder.loadAtStartup=1 bool; 2019-11-21T19:28:33.629Z,1574364513.629 [CommandLine](IMPORTANT): VerticalControl.buoyancyNeutral=350 cubic_centimeter; 2019-11-21T19:28:33.629Z,1574364513.629 [CommandLine](IMPORTANT): VerticalControl.massDefault=3.6 millimeter; 2019-11-21T19:28:33.938Z,1574364513.938 [MissionManager](IMPORTANT): Started mission Startup 2019-11-21T19:28:33.938Z,1574364513.938 [Startup] Running Loop=1 2019-11-21T19:28:33.938Z,1574364513.938 [Startup](DEBUG): Aggregate::initialize Startup 2019-11-21T19:28:33.938Z,1574364513.938 [Startup:A.GoToSurface] Running Loop=1 2019-11-21T19:28:33.938Z,1574364513.938 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2019-11-21T19:28:33.939Z,1574364513.939 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s. 2019-11-21T19:28:33.939Z,1574364513.939 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees. 2019-11-21T19:28:33.940Z,1574364513.940 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s. 2019-11-21T19:28:33.940Z,1574364513.940 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2019-11-21T19:28:33.940Z,1574364513.940 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2019-11-21T19:28:33.943Z,1574364513.943 [Startup:StartupSatComms] Running Loop=1 2019-11-21T19:28:33.943Z,1574364513.943 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms 2019-11-21T19:28:33.943Z,1574364513.943 [Startup:StartupSatComms:A] Running Loop=1 2019-11-21T19:28:34.327Z,1574364514.327 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix 2019-11-21T19:28:39.451Z,1574364519.451 [CommandLine](IMPORTANT): got command report mod DDM.whiskerState 2019-11-21T19:28:39.452Z,1574364519.452 [CommandLine](IMPORTANT): got command report mod DDM.latchState 2019-11-21T19:28:39.453Z,1574364519.453 [CommandLine](IMPORTANT): got command report mod DDM.cablePresent 2019-11-21T19:28:39.454Z,1574364519.454 [CommandLine](IMPORTANT): got command report mod DDM.DDMMode 2019-11-21T19:28:39.455Z,1574364519.455 [CommandLine](IMPORTANT): got command report touch acoustic_contact_range 2019-11-21T19:28:39.456Z,1574364519.456 [CommandLine](IMPORTANT): got command report touch DDM.DDMModeCmd 2019-11-21T19:28:39.602Z,1574364519.602 [Reporter](INFO): DDM.whiskerState no_value 2019-11-21T19:28:39.602Z,1574364519.602 [Reporter](INFO): DDM.latchState no_value 2019-11-21T19:28:39.603Z,1574364519.603 [Reporter](INFO): DDM.cablePresent no_value 2019-11-21T19:28:39.603Z,1574364519.603 [Reporter](INFO): DDM.DDMMode no_value 2019-11-21T19:28:54.502Z,1574364534.502 [RDI_Pathfinder](ERROR): Failed to parse: :RA, 0.00, 0.00, 0.00, 0.00, 0.00 2019-11-21T19:28:55.871Z,1574364535.871 [CommandLine](IMPORTANT): got command show stack 2019-11-21T19:28:55.871Z,1574364535.871 [CommandLine](IMPORTANT): Behavior Stack: 2019-11-21T19:28:55.871Z,1574364535.871 [Startup](IMPORTANT): Priority 0: Startup:A.GoToSurface 2019-11-21T19:28:55.871Z,1574364535.871 [Startup:StartupSatComms](IMPORTANT): Priority 1: Startup:StartupSatComms:A 2019-11-21T19:28:59.576Z,1574364539.576 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.latitude_fix 36.799999 degree 2019-11-21T19:28:59.578Z,1574364539.578 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.latitude_fix" handled in the control thread. 2019-11-21T19:28:59.579Z,1574364539.579 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.longitude_fix -121.889999 degree 2019-11-21T19:28:59.580Z,1574364539.580 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.longitude_fix" handled in the control thread. 2019-11-21T19:28:59.783Z,1574364539.783 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,DDM,Depth_Keller,DropWeight,DUSBL_Hydroid,Micromodem,NAL9602,Onboard,PowerOnly,RDI_Pathfinder,BPC1,PAR_Licor,Depth_Keller,PAR_Licor,Maintain_NAL9602.latitude_fix,Maintain_NAL9602.longitude_fix,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter, 2019-11-21T19:29:00.179Z,1574364540.179 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan 2019-11-21T19:29:00.179Z,1574364540.179 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1 2019-11-21T19:29:00.179Z,1574364540.179 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault 2019-11-21T19:29:00.180Z,1574364540.180 [Startup:StartupSatComms:A] Stopped 2019-11-21T19:29:00.180Z,1574364540.180 [Startup:StartupSatComms:B] Running Loop=1 2019-11-21T19:29:00.189Z,1574364540.189 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources 2019-11-21T19:29:00.596Z,1574364540.596 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications 2019-11-21T19:29:00.606Z,1574364540.606 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources 2019-11-21T19:29:00.607Z,1574364540.607 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1 2019-11-21T19:29:01.400Z,1574364541.400 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan 2019-11-21T19:29:01.400Z,1574364541.400 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2 2019-11-21T19:29:01.400Z,1574364541.400 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault 2019-11-21T19:29:01.434Z,1574364541.434 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources 2019-11-21T19:29:01.817Z,1574364541.817 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources 2019-11-21T19:29:01.817Z,1574364541.817 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2 2019-11-21T19:29:02.605Z,1574364542.605 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan 2019-11-21T19:29:02.606Z,1574364542.606 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 3 2019-11-21T19:29:02.606Z,1574364542.606 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault 2019-11-21T19:29:02.657Z,1574364542.657 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources 2019-11-21T19:29:03.014Z,1574364543.014 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources 2019-11-21T19:29:03.014Z,1574364543.014 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 3 2019-11-21T19:29:03.837Z,1574364543.837 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan 2019-11-21T19:29:03.837Z,1574364543.837 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 4 2019-11-21T19:29:03.837Z,1574364543.837 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault 2019-11-21T19:29:03.854Z,1574364543.854 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources 2019-11-21T19:29:04.255Z,1574364544.255 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources 2019-11-21T19:29:04.255Z,1574364544.255 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 4 2019-11-21T19:29:05.088Z,1574364545.088 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan 2019-11-21T19:29:05.088Z,1574364545.088 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 5 2019-11-21T19:29:05.089Z,1574364545.089 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault 2019-11-21T19:29:05.098Z,1574364545.098 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources 2019-11-21T19:29:05.478Z,1574364545.478 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources 2019-11-21T19:29:05.478Z,1574364545.478 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 5 2019-11-21T19:29:06.255Z,1574364546.255 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan 2019-11-21T19:29:06.255Z,1574364546.255 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 6 2019-11-21T19:29:06.255Z,1574364546.255 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault 2019-11-21T19:29:06.301Z,1574364546.301 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources 2019-11-21T19:29:06.665Z,1574364546.665 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources 2019-11-21T19:29:06.669Z,1574364546.669 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 6 2019-11-21T19:29:07.446Z,1574364547.446 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan 2019-11-21T19:29:07.446Z,1574364547.446 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 7 2019-11-21T19:29:07.446Z,1574364547.446 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault 2019-11-21T19:29:07.456Z,1574364547.456 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources 2019-11-21T19:29:07.946Z,1574364547.946 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources 2019-11-21T19:29:07.946Z,1574364547.946 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 7 2019-11-21T19:29:08.699Z,1574364548.699 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan 2019-11-21T19:29:08.699Z,1574364548.699 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 8 2019-11-21T19:29:08.699Z,1574364548.699 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault 2019-11-21T19:29:08.725Z,1574364548.725 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources 2019-11-21T19:29:09.155Z,1574364549.155 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources 2019-11-21T19:29:09.155Z,1574364549.155 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 8 2019-11-21T19:29:09.894Z,1574364549.894 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan 2019-11-21T19:29:09.894Z,1574364549.894 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 9 2019-11-21T19:29:09.894Z,1574364549.894 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault 2019-11-21T19:29:09.904Z,1574364549.904 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources 2019-11-21T19:29:10.295Z,1574364550.295 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources 2019-11-21T19:29:10.295Z,1574364550.295 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 9 2019-11-21T19:29:10.590Z,1574364550.590 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1574364544.000000 second 2019-11-21T19:29:19.919Z,1574364559.919 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool 2019-11-21T19:29:19.993Z,1574364559.993 [Startup:StartupSatComms:B] Stopped 2019-11-21T19:29:19.993Z,1574364559.993 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms 2019-11-21T19:29:19.994Z,1574364559.994 [Startup:StartupSatComms] Stopped 2019-11-21T19:29:19.994Z,1574364559.994 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms 2019-11-21T19:29:19.994Z,1574364559.994 [Startup](INFO): Completed Startup 2019-11-21T19:29:19.995Z,1574364559.995 [MissionManager](INFO): Startup is completed. 2019-11-21T19:29:19.995Z,1574364559.995 [MissionManager](INFO): Uninitializing Mission Startup 2019-11-21T19:29:19.995Z,1574364559.995 [Startup] Stopped 2019-11-21T19:29:19.995Z,1574364559.995 [Startup](DEBUG): Aggregate::uninitialize Startup 2019-11-21T19:29:19.995Z,1574364559.995 [Startup:A.GoToSurface] Stopped 2019-11-21T19:29:19.995Z,1574364559.995 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2019-11-21T19:29:20.404Z,1574364560.404 [MissionManager](IMPORTANT): Started mission Default 2019-11-21T19:29:20.404Z,1574364560.404 [Default] Running Loop=1 2019-11-21T19:29:20.404Z,1574364560.404 [Default](DEBUG): Aggregate::initialize Default 2019-11-21T19:29:20.404Z,1574364560.404 [Default:B.GoToSurface] Running Loop=1 2019-11-21T19:29:20.404Z,1574364560.404 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2019-11-21T19:29:20.404Z,1574364560.404 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s. 2019-11-21T19:29:20.405Z,1574364560.405 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees. 2019-11-21T19:29:20.405Z,1574364560.405 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s. 2019-11-21T19:29:20.406Z,1574364560.406 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2019-11-21T19:29:20.406Z,1574364560.406 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2019-11-21T19:29:20.406Z,1574364560.406 [Default:A.Wait] Running Loop=1 2019-11-21T19:29:20.406Z,1574364560.406 [Default:A.Wait](DEBUG): Initialize Wait Component. 2019-11-21T19:29:33.716Z,1574364573.716 [Default:A.Wait](INFO): Done Waiting. 2019-11-21T19:29:33.717Z,1574364573.717 [Default:A.Wait] Stopped 2019-11-21T19:29:33.717Z,1574364573.717 [Default:A.Wait](DEBUG): Uninitialize Wait Component. 2019-11-21T19:29:34.122Z,1574364574.122 [Default:CheckIn] Running Loop=1 2019-11-21T19:29:34.122Z,1574364574.122 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn 2019-11-21T19:29:34.122Z,1574364574.122 [Default:CheckIn:Read_GPS] Running Loop=1 2019-11-21T19:29:34.397Z,1574364574.397 [CommandLine](IMPORTANT): got command get DDM.verbosity 2019-11-21T19:29:34.398Z,1574364574.398 [CommandLine](IMPORTANT): DDM.verbosity 3 count 2019-11-21T19:29:34.529Z,1574364574.529 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix 2019-11-21T19:29:41.759Z,1574364581.759 [CommandLine](IMPORTANT): got command configSet DDM.verbosity 3.000000 count persist 2019-11-21T19:29:48.918Z,1574364588.918 [CommandLine](IMPORTANT): got command get DDM.verbosity 2019-11-21T19:29:48.919Z,1574364588.919 [CommandLine](IMPORTANT): DDM.verbosity 3 count 2019-11-21T19:29:53.579Z,1574364593.579 [CommandLine](IMPORTANT): got command failComponent hardware DDM 2019-11-21T19:29:53.579Z,1574364593.579 [DDM] Hardware Fault, FailCount= 1 2019-11-21T19:29:53.579Z,1574364593.579 [DDM](ERROR): Hardware Fault 2019-11-21T19:29:53.579Z,1574364593.579 [CommandLine](IMPORTANT): DDM failureMode is Hardware Fault 2019-11-21T19:29:53.870Z,1574364593.870 [DDM](INFO): Powering down 2019-11-21T19:29:54.106Z,1574364594.106 [CBIT](ERROR): Hardware Fault in component: DDM 2019-11-21T19:29:54.830Z,1574364594.830 [CBIT](INFO): Clearing failed state for component DDM 2019-11-21T19:29:54.830Z,1574364594.830 [DDM] No Fault, FailCount= 1 2019-11-21T19:29:57.103Z,1574364597.103 [DDM](INFO): Powering up 2019-11-21T19:29:57.103Z,1574364597.103 [DDM](DEBUG): Initializing DDM. 2019-11-21T19:30:07.607Z,1574364607.607 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1 2019-11-21T19:30:07.829Z,1574364607.829 [Reporter](INFO): DDM.whiskerState 2 count 2019-11-21T19:30:07.830Z,1574364607.830 [Reporter](INFO): DDM.latchState 1 count 2019-11-21T19:30:07.830Z,1574364607.830 [Reporter](INFO): DDM.cablePresent 0 bool 2019-11-21T19:30:07.831Z,1574364607.831 [Reporter](INFO): DDM.DDMMode 0 enum 2019-11-21T19:30:08.108Z,1574364608.108 [Reporter](INFO): DDM.whiskerState no_value 2019-11-21T19:30:08.108Z,1574364608.108 [Reporter](INFO): DDM.latchState no_value 2019-11-21T19:30:08.108Z,1574364608.108 [Reporter](INFO): DDM.cablePresent no_value 2019-11-21T19:30:08.118Z,1574364608.118 [Reporter](INFO): DDM.DDMMode no_value 2019-11-21T19:30:09.782Z,1574364609.782 [CommandLine](IMPORTANT): got command run ./Missions/Maintenance/line_capture_homing_lab.xml 2019-11-21T19:30:09.783Z,1574364609.783 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/line_capture_homing_lab.xml 2019-11-21T19:30:09.925Z,1574364609.925 [MissionManager](INFO): DefineArg lineCaptureHomingLab.MissionTimeout = 4.000000 h 2019-11-21T19:30:09.928Z,1574364609.928 [MissionManager](INFO): DefineArg lineCaptureHomingLab.NeedCommsTime = 60.000000 min 2019-11-21T19:30:09.931Z,1574364609.931 [MissionManager](INFO): DefineArg lineCaptureHomingLab.Repeat = 1.000000 count 2019-11-21T19:30:09.934Z,1574364609.934 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DockLat = 36.743600 arcdeg 2019-11-21T19:30:09.943Z,1574364609.943 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DockLon = -121.880000 arcdeg 2019-11-21T19:30:09.946Z,1574364609.946 [MissionManager](INFO): DefineArg lineCaptureHomingLab.StartLat = nan arcdeg 2019-11-21T19:30:09.949Z,1574364609.949 [MissionManager](INFO): DefineArg lineCaptureHomingLab.StartLon = nan arcdeg 2019-11-21T19:30:09.952Z,1574364609.952 [MissionManager](INFO): DefineArg lineCaptureHomingLab.TerminalRange = 650.000000 m 2019-11-21T19:30:09.955Z,1574364609.955 [MissionManager](INFO): DefineArg lineCaptureHomingLab.ArmRange = 40.000000 m 2019-11-21T19:30:09.958Z,1574364609.958 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DockRange = 1.000000 m 2019-11-21T19:30:09.961Z,1574364609.961 [MissionManager](INFO): DefineArg lineCaptureHomingLab.UpdateNav = 0 bool 2019-11-21T19:30:09.964Z,1574364609.964 [MissionManager](INFO): DefineArg lineCaptureHomingLab.TerminalGuidanceTimeout = 30.000000 min 2019-11-21T19:30:09.967Z,1574364609.967 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DockTimeout = 60.000000 s 2019-11-21T19:30:09.990Z,1574364609.990 [MissionManager](INFO): DefineArg lineCaptureHomingLab.RolloutDistance = 150.000000 m 2019-11-21T19:30:09.992Z,1574364609.992 [MissionManager](INFO): DefineArg lineCaptureHomingLab.RolloutTime = 2.000000 min 2019-11-21T19:30:10.007Z,1574364610.007 [MissionManager](INFO): DefineArg lineCaptureHomingLab.HoldAltitude = 7.000000 m 2019-11-21T19:30:10.010Z,1574364610.010 [MissionManager](INFO): DefineArg lineCaptureHomingLab.InvalidAltitudeTimeout = 15.000000 min 2019-11-21T19:30:10.049Z,1574364610.049 [MissionManager](INFO): DefineArg lineCaptureHomingLab.InitDepth = 20.000000 m 2019-11-21T19:30:10.063Z,1574364610.063 [MissionManager](INFO): DefineArg lineCaptureHomingLab.InitDepthTimeout = 30.000000 min 2019-11-21T19:30:10.067Z,1574364610.067 [MissionManager](INFO): DefineArg lineCaptureHomingLab.TransponderCode = 2.000000 count 2019-11-21T19:30:10.078Z,1574364610.078 [MissionManager](INFO): DefineArg lineCaptureHomingLab.TrackingUpdatePeriod = 2.500000 s 2019-11-21T19:30:10.085Z,1574364610.085 [MissionManager](INFO): DefineArg lineCaptureHomingLab.NumberOfPings = 1.000000 count 2019-11-21T19:30:10.133Z,1574364610.133 [MissionManager](INFO): DefineArg lineCaptureHomingLab.Speed = 1.000000 m/s 2019-11-21T19:30:10.136Z,1574364610.136 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DepthDeadband = 0.010000 m 2019-11-21T19:30:10.147Z,1574364610.147 [MissionManager](INFO): DefineArg lineCaptureHomingLab.KpHeading = 0.800000 n/a 2019-11-21T19:30:10.174Z,1574364610.174 [MissionManager](INFO): DefineArg lineCaptureHomingLab.KiHeading = 0.002000 1/s 2019-11-21T19:30:10.180Z,1574364610.180 [MissionManager](INFO): DefineArg lineCaptureHomingLab.KpHeadingFinal = 0.800000 n/a 2019-11-21T19:30:10.183Z,1574364610.183 [MissionManager](INFO): DefineArg lineCaptureHomingLab.KiHeadingFinal = 0.002000 1/s 2019-11-21T19:30:10.201Z,1574364610.201 [MissionManager](INFO): DefineArg lineCaptureHomingLab.RudderDeadband = 0.050000 arcdeg 2019-11-21T19:30:10.204Z,1574364610.204 [MissionManager](INFO): DefineArg lineCaptureHomingLab.MinAltitude = 5.000000 m 2019-11-21T19:30:10.221Z,1574364610.221 [MissionManager](INFO): DefineArg lineCaptureHomingLab.MaxDepth = 205.000000 m 2019-11-21T19:30:10.224Z,1574364610.224 [MissionManager](INFO): DefineArg lineCaptureHomingLab.MinOffshore = 2.000000 km 2019-11-21T19:30:10.241Z,1574364610.241 [MissionManager](INFO): DefineArg lineCaptureHomingLab.Verbose = 1 bool 2019-11-21T19:30:10.244Z,1574364610.244 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.HomingActive = 1 bool 2019-11-21T19:30:10.251Z,1574364610.251 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.Docked = 0 bool 2019-11-21T19:30:10.256Z,1574364610.256 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.DiveMode = 0.000000 count 2019-11-21T19:30:10.267Z,1574364610.267 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.DoingComms = 0.000000 count 2019-11-21T19:30:10.271Z,1574364610.271 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.InitialDive = 1.000000 count 2019-11-21T19:30:10.286Z,1574364610.286 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.MaintainAltitude = 2.000000 count 2019-11-21T19:30:10.292Z,1574364610.292 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.DetachFromDock = 3.000000 count 2019-11-21T19:30:10.598Z,1574364610.598 [lineCaptureHomingLab:B.Mass](DEBUG): Construct. 2019-11-21T19:30:10.621Z,1574364610.621 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Construct Waypoint. 2019-11-21T19:30:10.649Z,1574364610.649 [lineCaptureHomingLab:Lap:TerminalGuidance:D.LineCapture](DEBUG): Construct. 2019-11-21T19:30:10.696Z,1574364610.696 [lineCaptureHomingLab:Lap:TerminalGuidance:Dock:UpdateNav:A.SetNav](DEBUG): Construct SetNav. 2019-11-21T19:30:10.786Z,1574364610.786 [MissionManager](DEBUG): 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: break off from dock, then 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. Maximum length of mission 4 How often to surface for commumications 60 Number of times the vehicle should try to cycle through the homing sequence. 1 Latitude of docking station waypoint. 36.7436 Longitude of docking station waypoint. -121.8800 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 *RolloutTime* has passed. NaN 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 *RolloutTime* has passed. NaN 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 ???. 650.0 Range to to deploy the whiskers, open the latch, and activate the camera. 40.0 Range from dock to stop commanding heading. 1.0 When true, the mission updates the vehicle's position to DockLat/Lon when it comes within *DockRange* from the transponder. Maximum time duration for running in terminal guidance mode. 30 Maximum time duration for running in Dock mode. 60 Distance to move away from the target (rollout) in response to missing the target. 150 Drive on your last heading for this long after detaching from the dock. This argument is *ignored* if start Lat/Lon are specified. 2 Desired vehicle altitude to maintain. 7 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. 15 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). 20 Maximum time duration for the vehicle to reach the initial depth. The vehicle will switch over to altitude following after the timeout is expired. 30 Transponder Address. 2 How long to wait between acoustic queries. 2.5 Number of pings requested each time. 1 Thruster speed for the entier mission. 1 Vertical drift from the specified depth that's allowed during altitude keeping (alt. is projected to depth). 0.01 Heading proportional gain to use during Terminal Homing. 0.8 Heading Integral gain to use during Terminal Homing. 0.002 Heading proportional gain to use during Final Approach. 0.8 Heading Integral gain to use during Final Approach. 0.002 Degree of rounding in rudder command output values to use during Terminal Homing. 0.05 Minimum height above the sea floor for the entire mission. 5 Maximum depth for the entire mission. 205 Minimum offshore distance for the entire mission. 2 Send LineCapture syslog messages to shore. Mission variable (don't change). The mission sets this to true when the vehicle is homing. Mission variable (don't change). The mission sets this to true when docked. Mission variable (don't change). The mission sets this variable to switch between dive modes. 0 Mission variable (don't change). The mission will run in this to mode when running surface comms. 0 Mission variable (don't change). The mission will run in this mode when surface comms are done to dive the vehicle to DVL bottom range. 1 Mission variable (don't change). The mission will run in this mode to dive the vehicle at a commanded altitude. 2 Mission variable (don't change). The mission will run in this mode to drift away from the dock after is unlatches. 3 Initiating homing sequence. Navigate toward the dock waypoint while querying the dock transponder. Continue until you approach within *TerminalRange*, then move on to the next aggregate. 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. Terminal guidance at range: . Timed out while trying to dock at range: . 2019-11-21T19:30:10.793Z,1574364610.793 [CommandLine](IMPORTANT): Running ./Missions/Maintenance/line_capture_homing_lab.xml 2019-11-21T19:30:10.894Z,1574364610.894 [Default] Stopped 2019-11-21T19:30:10.894Z,1574364610.894 [Default](DEBUG): Aggregate::uninitialize Default 2019-11-21T19:30:10.894Z,1574364610.894 [Default:B.GoToSurface] Stopped 2019-11-21T19:30:10.894Z,1574364610.894 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2019-11-21T19:30:10.895Z,1574364610.895 [Default:CheckIn] Stopped 2019-11-21T19:30:10.895Z,1574364610.895 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn 2019-11-21T19:30:10.895Z,1574364610.895 [Default:CheckIn:Read_GPS] Stopped 2019-11-21T19:30:10.895Z,1574364610.895 [MissionManager](IMPORTANT): Started mission lineCaptureHomingLab 2019-11-21T19:30:10.895Z,1574364610.895 [lineCaptureHomingLab] Running Loop=1 2019-11-21T19:30:10.895Z,1574364610.895 [lineCaptureHomingLab](DEBUG): Aggregate::initialize lineCaptureHomingLab 2019-11-21T19:30:10.895Z,1574364610.895 [lineCaptureHomingLab:TrackTransponder] Running Loop=1 2019-11-21T19:30:10.895Z,1574364610.895 [lineCaptureHomingLab:TrackTransponder](DEBUG): Aggregate::initialize lineCaptureHomingLab:TrackTransponder 2019-11-21T19:30:10.896Z,1574364610.896 [lineCaptureHomingLab:TrackTransponder:A.] Running Loop=1 2019-11-21T19:30:10.896Z,1574364610.896 [lineCaptureHomingLab:TrackTransponder:A.](INFO): Initializing TrackAcousticContact. 2019-11-21T19:30:10.896Z,1574364610.896 [lineCaptureHomingLab:B.Mass] Running Loop=1 2019-11-21T19:30:10.896Z,1574364610.896 [lineCaptureHomingLab:B.Mass](DEBUG): Initialize. 2019-11-21T19:30:10.901Z,1574364610.901 [lineCaptureHomingLab:Lap] Running Loop=1 2019-11-21T19:30:10.901Z,1574364610.901 [lineCaptureHomingLab:Lap](DEBUG): Aggregate::initialize lineCaptureHomingLab:Lap 2019-11-21T19:30:10.901Z,1574364610.901 [lineCaptureHomingLab:Lap:A] Running Loop=1 2019-11-21T19:30:10.902Z,1574364610.902 [lineCaptureHomingLab:Lap:A](IMPORTANT): Initiating homing sequence. 2019-11-21T19:30:10.902Z,1574364610.902 [lineCaptureHomingLab:Lap:A] Stopped 2019-11-21T19:30:10.902Z,1574364610.902 [lineCaptureHomingLab:Lap:B] Running Loop=1 2019-11-21T19:30:10.902Z,1574364610.902 [lineCaptureHomingLab:B.Mass] Running Loop=1 2019-11-21T19:30:10.903Z,1574364610.903 [lineCaptureHomingLab:TrackTransponder] Running Loop=1 2019-11-21T19:30:10.903Z,1574364610.903 [lineCaptureHomingLab:TrackTransponder:A.] Running Loop=1 2019-11-21T19:30:11.280Z,1574364611.280 [lineCaptureHomingLab:Lap:B] Stopped 2019-11-21T19:30:11.280Z,1574364611.280 [lineCaptureHomingLab:Lap:MidcourseGuidance] Running Loop=1 2019-11-21T19:30:11.285Z,1574364611.285 [lineCaptureHomingLab:Lap:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHomingLab:Lap:MidcourseGuidance 2019-11-21T19:30:11.285Z,1574364611.285 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint] Running Loop=1 2019-11-21T19:30:11.285Z,1574364611.285 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent. 2019-11-21T19:30:12.139Z,1574364612.139 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004580 2019-11-21T19:30:13.716Z,1574364613.716 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact *** 2019-11-21T19:30:14.494Z,1574364614.494 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E 2019-11-21T19:30:14.888Z,1574364614.888 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23 2019-11-21T19:30:15.443Z,1574364615.443 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2019-11-21T19:30:15.550Z,1574364615.550 [Reporter](INFO): acoustic_contact_range 1.679999 m 2019-11-21T19:30:15.730Z,1574364615.730 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193015.65*52 2019-11-21T19:30:15.837Z,1574364615.837 [lineCaptureHomingLab:Lap:MidcourseGuidance] Stopped 2019-11-21T19:30:15.837Z,1574364615.837 [lineCaptureHomingLab:Lap:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHomingLab:Lap:MidcourseGuidance 2019-11-21T19:30:15.837Z,1574364615.837 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint] Stopped 2019-11-21T19:30:15.837Z,1574364615.837 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Uninitialize WaypointComponent. 2019-11-21T19:30:15.838Z,1574364615.838 [lineCaptureHomingLab:Lap:TerminalGuidance] Running Loop=1 2019-11-21T19:30:15.838Z,1574364615.838 [lineCaptureHomingLab:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHomingLab:Lap:TerminalGuidance 2019-11-21T19:30:15.838Z,1574364615.838 [lineCaptureHomingLab:Lap:TerminalGuidance:A] Running Loop=1 2019-11-21T19:30:15.838Z,1574364615.838 [lineCaptureHomingLab:Lap:TerminalGuidance:B] Running Loop=1 2019-11-21T19:30:16.169Z,1574364616.169 [lineCaptureHomingLab:Lap:TerminalGuidance:B](IMPORTANT): Terminal guidance at range: 1.679999 m . 2019-11-21T19:30:16.169Z,1574364616.169 [lineCaptureHomingLab:Lap:TerminalGuidance:B] Stopped 2019-11-21T19:30:16.169Z,1574364616.169 [lineCaptureHomingLab:Lap:TerminalGuidance:C] Running Loop=1 2019-11-21T19:30:16.169Z,1574364616.169 [lineCaptureHomingLab:Lap:TerminalGuidance:A] Running Loop=1 2019-11-21T19:30:16.582Z,1574364616.582 [lineCaptureHomingLab:Lap:TerminalGuidance:C] Stopped 2019-11-21T19:30:16.582Z,1574364616.582 [lineCaptureHomingLab:Lap:TerminalGuidance:D.LineCapture] Running Loop=1 2019-11-21T19:30:16.582Z,1574364616.582 [lineCaptureHomingLab:Lap:TerminalGuidance:D.LineCapture](DEBUG): Initialize. 2019-11-21T19:30:17.877Z,1574364617.877 [Reporter](INFO): DDM.whiskerState 2 count 2019-11-21T19:30:17.878Z,1574364617.878 [Reporter](INFO): DDM.latchState 1 count 2019-11-21T19:30:17.879Z,1574364617.879 [Reporter](INFO): DDM.cablePresent 0 bool 2019-11-21T19:30:17.879Z,1574364617.879 [Reporter](INFO): DDM.DDMMode 0 enum 2019-11-21T19:30:18.145Z,1574364618.145 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact *** 2019-11-21T19:30:18.971Z,1574364618.971 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E 2019-11-21T19:30:19.692Z,1574364619.692 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23 2019-11-21T19:30:19.830Z,1574364619.830 [Reporter](INFO): acoustic_contact_range 1.679999 m 2019-11-21T19:30:20.156Z,1574364620.156 [Reporter](INFO): DDM.DDMModeCmd 1 enum 2019-11-21T19:30:20.406Z,1574364620.406 [DDM](INFO): Changing to mode: 1 2019-11-21T19:30:20.406Z,1574364620.406 [DDM](INFO): Extending Whiskers. 2019-11-21T19:30:20.429Z,1574364620.429 [DDM](INFO): Arming. Opening Latch 2019-11-21T19:30:20.478Z,1574364620.478 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193020.12*54 2019-11-21T19:30:20.510Z,1574364620.510 [PowerOnly](INFO): Powering up 2019-11-21T19:30:20.821Z,1574364620.821 [DDM](INFO): Extending Whiskers. 2019-11-21T19:30:20.850Z,1574364620.850 [DDM](INFO): Arming. Opening Latch 2019-11-21T19:30:21.215Z,1574364621.215 [DDM](INFO): Extending Whiskers. 2019-11-21T19:30:21.241Z,1574364621.241 [DDM](INFO): Arming. Opening Latch 2019-11-21T19:30:21.629Z,1574364621.629 [DDM](INFO): Extending Whiskers. 2019-11-21T19:30:21.653Z,1574364621.653 [DDM](INFO): Arming. Opening Latch 2019-11-21T19:30:22.022Z,1574364622.022 [DDM](INFO): Extending Whiskers. 2019-11-21T19:30:22.049Z,1574364622.049 [DDM](INFO): Arming. Opening Latch 2019-11-21T19:30:22.437Z,1574364622.437 [DDM](INFO): Extending Whiskers. 2019-11-21T19:30:22.472Z,1574364622.472 [DDM](INFO): Arming. Opening Latch 2019-11-21T19:30:22.554Z,1574364622.554 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact *** 2019-11-21T19:30:22.590Z,1574364622.590 [Reporter](INFO): DDM.whiskerState 0 count 2019-11-21T19:30:22.857Z,1574364622.857 [DDM](INFO): Arming. Opening Latch 2019-11-21T19:30:23.261Z,1574364623.261 [DDM](INFO): Arming. Opening Latch 2019-11-21T19:30:23.340Z,1574364623.340 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E 2019-11-21T19:30:23.502Z,1574364623.502 [Reporter](INFO): DDM.latchState 0 count 2019-11-21T19:30:23.705Z,1574364623.705 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23 2019-11-21T19:30:24.179Z,1574364624.179 [Reporter](INFO): acoustic_contact_range 1.679999 m 2019-11-21T19:30:24.528Z,1574364624.528 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193024.49*5E 2019-11-21T19:30:24.670Z,1574364624.670 [Reporter](INFO): DDM.latchState 2 count 2019-11-21T19:30:24.671Z,1574364624.671 [Reporter](INFO): DDM.DDMModeCmd 1 enum 2019-11-21T19:30:26.642Z,1574364626.642 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact *** 2019-11-21T19:30:27.318Z,1574364627.318 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E 2019-11-21T19:30:27.744Z,1574364627.744 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23 2019-11-21T19:30:27.871Z,1574364627.871 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2019-11-21T19:30:28.255Z,1574364628.255 [Reporter](INFO): acoustic_contact_range 1.619998 m 2019-11-21T19:30:28.546Z,1574364628.546 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193028.47*5C 2019-11-21T19:30:28.738Z,1574364628.738 [Reporter](INFO): DDM.DDMModeCmd 1 enum 2019-11-21T19:30:31.002Z,1574364631.002 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact *** 2019-11-21T19:30:31.762Z,1574364631.762 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E 2019-11-21T19:30:32.167Z,1574364632.167 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23 2019-11-21T19:30:32.667Z,1574364632.667 [Reporter](INFO): acoustic_contact_range 1.619998 m 2019-11-21T19:30:32.998Z,1574364632.998 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193032.91*5C 2019-11-21T19:30:33.065Z,1574364633.065 [Reporter](INFO): DDM.DDMModeCmd 1 enum 2019-11-21T19:30:33.750Z,1574364633.750 [CommandLine](IMPORTANT): got command stop 2019-11-21T19:30:33.751Z,1574364633.751 [CommandLine](IMPORTANT): Scheduling is paused 2019-11-21T19:30:33.751Z,1574364633.751 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop 2019-11-21T19:30:33.850Z,1574364633.850 [MissionManager](INFO): MissionManager is completed. 2019-11-21T19:30:33.850Z,1574364633.850 [MissionManager](INFO): Uninitializing Mission lineCaptureHomingLab 2019-11-21T19:30:33.850Z,1574364633.850 [lineCaptureHomingLab] Stopped 2019-11-21T19:30:33.850Z,1574364633.850 [lineCaptureHomingLab](DEBUG): Aggregate::uninitialize lineCaptureHomingLab 2019-11-21T19:30:33.851Z,1574364633.851 [lineCaptureHomingLab:TrackTransponder] Stopped 2019-11-21T19:30:33.851Z,1574364633.851 [lineCaptureHomingLab:TrackTransponder](DEBUG): Aggregate::uninitialize lineCaptureHomingLab:TrackTransponder 2019-11-21T19:30:33.851Z,1574364633.851 [lineCaptureHomingLab:TrackTransponder:A.] Stopped 2019-11-21T19:30:33.851Z,1574364633.851 [lineCaptureHomingLab:B.Mass] Stopped 2019-11-21T19:30:33.851Z,1574364633.851 [lineCaptureHomingLab:B.Mass](DEBUG): Uninitialize. 2019-11-21T19:30:33.851Z,1574364633.851 [lineCaptureHomingLab:Lap] Stopped 2019-11-21T19:30:33.851Z,1574364633.851 [lineCaptureHomingLab:Lap](DEBUG): Aggregate::uninitialize lineCaptureHomingLab:Lap 2019-11-21T19:30:33.851Z,1574364633.851 [lineCaptureHomingLab:Lap:TerminalGuidance] Stopped 2019-11-21T19:30:33.851Z,1574364633.851 [lineCaptureHomingLab:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHomingLab:Lap:TerminalGuidance 2019-11-21T19:30:33.851Z,1574364633.851 [lineCaptureHomingLab:Lap:TerminalGuidance:A] Stopped 2019-11-21T19:30:33.851Z,1574364633.851 [lineCaptureHomingLab:Lap:TerminalGuidance:D.LineCapture] Stopped 2019-11-21T19:30:33.970Z,1574364633.970 [Reporter](INFO): DDM.whiskerState 1 count 2019-11-21T19:30:33.971Z,1574364633.971 [Reporter](INFO): DDM.DDMMode 1 enum 2019-11-21T19:30:34.194Z,1574364634.194 [MissionManager](IMPORTANT): Started mission Default 2019-11-21T19:30:34.195Z,1574364634.195 [Default] Running Loop=1 2019-11-21T19:30:34.195Z,1574364634.195 [Default](DEBUG): Aggregate::initialize Default 2019-11-21T19:30:34.195Z,1574364634.195 [Default:B.GoToSurface] Running Loop=1 2019-11-21T19:30:34.195Z,1574364634.195 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2019-11-21T19:30:34.195Z,1574364634.195 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s. 2019-11-21T19:30:34.196Z,1574364634.196 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees. 2019-11-21T19:30:34.196Z,1574364634.196 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s. 2019-11-21T19:30:34.196Z,1574364634.196 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2019-11-21T19:30:34.196Z,1574364634.196 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2019-11-21T19:30:34.197Z,1574364634.197 [Default:A.Wait] Running Loop=1 2019-11-21T19:30:34.197Z,1574364634.197 [Default:A.Wait](DEBUG): Initialize Wait Component. 2019-11-21T19:30:34.245Z,1574364634.245 [Reporter](INFO): DDM.whiskerState no_value 2019-11-21T19:30:34.245Z,1574364634.245 [Reporter](INFO): DDM.latchState no_value 2019-11-21T19:30:34.245Z,1574364634.245 [Reporter](INFO): DDM.cablePresent no_value 2019-11-21T19:30:34.246Z,1574364634.246 [Reporter](INFO): DDM.DDMMode no_value 2019-11-21T19:30:34.546Z,1574364634.546 [DDM](INFO): Pause: Retracting whiskers 2019-11-21T19:30:34.950Z,1574364634.950 [DDM](INFO): Pausing: Retracting Whiskers 2019-11-21T19:30:34.981Z,1574364634.981 [DDM](INFO): Pausing: Closing Latch 2019-11-21T19:30:35.354Z,1574364635.354 [DDM](INFO): Pausing: Retracting Whiskers 2019-11-21T19:30:35.382Z,1574364635.382 [DDM](INFO): Pausing: Closing Latch 2019-11-21T19:30:35.760Z,1574364635.760 [DDM](INFO): Pausing: Retracting Whiskers 2019-11-21T19:30:35.785Z,1574364635.785 [DDM](INFO): Pausing: Closing Latch 2019-11-21T19:30:36.163Z,1574364636.163 [DDM](INFO): Pausing: Retracting Whiskers 2019-11-21T19:30:36.193Z,1574364636.193 [DDM](INFO): Pausing: Closing Latch 2019-11-21T19:30:36.566Z,1574364636.566 [DDM](INFO): Pausing: Retracting Whiskers 2019-11-21T19:30:47.546Z,1574364647.546 [Default:A.Wait](INFO): Done Waiting. 2019-11-21T19:30:47.546Z,1574364647.546 [Default:A.Wait] Stopped 2019-11-21T19:30:47.546Z,1574364647.546 [Default:A.Wait](DEBUG): Uninitialize Wait Component. 2019-11-21T19:30:47.998Z,1574364647.998 [Default:CheckIn] Running Loop=1 2019-11-21T19:30:47.998Z,1574364647.998 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn 2019-11-21T19:30:47.998Z,1574364647.998 [Default:CheckIn:Read_GPS] Running Loop=1 2019-11-21T19:30:59.367Z,1574364659.367 [CommandLine](IMPORTANT): got command show variable ModeCmd 2019-11-21T19:31:07.373Z,1574364667.373 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2019-11-21T19:31:09.935Z,1574364669.935 [CommandLine](IMPORTANT): got command report 2019-11-21T19:31:09.935Z,1574364669.935 [Reporter](INFO): DDM.whiskerState reporting changes 2019-11-21T19:31:09.935Z,1574364669.935 [Reporter](INFO): DDM.latchState reporting changes 2019-11-21T19:31:09.935Z,1574364669.935 [Reporter](INFO): DDM.cablePresent reporting changes 2019-11-21T19:31:09.935Z,1574364669.935 [Reporter](INFO): DDM.DDMMode reporting changes 2019-11-21T19:31:09.935Z,1574364669.935 [Reporter](INFO): acoustic_contact_range reporting when touched 2019-11-21T19:31:09.936Z,1574364669.936 [Reporter](INFO): DDM.DDMModeCmd reporting when touched 2019-11-21T19:31:19.094Z,1574364679.094 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2019-11-21T19:31:43.123Z,1574364703.123 [CommandLine](IMPORTANT): got command run ./Missions/Maintenance/line_capture_homing_lab.xml 2019-11-21T19:31:43.123Z,1574364703.123 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/line_capture_homing_lab.xml 2019-11-21T19:31:43.450Z,1574364703.450 [MissionManager](INFO): DefineArg lineCaptureHomingLab.MissionTimeout = 4.000000 h 2019-11-21T19:31:43.452Z,1574364703.452 [MissionManager](INFO): DefineArg lineCaptureHomingLab.NeedCommsTime = 60.000000 min 2019-11-21T19:31:43.459Z,1574364703.459 [MissionManager](INFO): DefineArg lineCaptureHomingLab.Repeat = 1.000000 count 2019-11-21T19:31:43.461Z,1574364703.461 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DockLat = 36.743600 arcdeg 2019-11-21T19:31:43.463Z,1574364703.463 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DockLon = -121.880000 arcdeg 2019-11-21T19:31:43.465Z,1574364703.465 [MissionManager](INFO): DefineArg lineCaptureHomingLab.StartLat = nan arcdeg 2019-11-21T19:31:43.467Z,1574364703.467 [MissionManager](INFO): DefineArg lineCaptureHomingLab.StartLon = nan arcdeg 2019-11-21T19:31:43.470Z,1574364703.470 [MissionManager](INFO): DefineArg lineCaptureHomingLab.TerminalRange = 650.000000 m 2019-11-21T19:31:43.472Z,1574364703.472 [MissionManager](INFO): DefineArg lineCaptureHomingLab.ArmRange = 40.000000 m 2019-11-21T19:31:43.474Z,1574364703.474 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DockRange = 1.000000 m 2019-11-21T19:31:43.476Z,1574364703.476 [MissionManager](INFO): DefineArg lineCaptureHomingLab.UpdateNav = 0 bool 2019-11-21T19:31:43.478Z,1574364703.478 [MissionManager](INFO): DefineArg lineCaptureHomingLab.TerminalGuidanceTimeout = 30.000000 min 2019-11-21T19:31:43.480Z,1574364703.480 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DockTimeout = 60.000000 s 2019-11-21T19:31:43.546Z,1574364703.546 [MissionManager](INFO): DefineArg lineCaptureHomingLab.RolloutDistance = 150.000000 m 2019-11-21T19:31:43.553Z,1574364703.553 [MissionManager](INFO): DefineArg lineCaptureHomingLab.RolloutTime = 2.000000 min 2019-11-21T19:31:43.555Z,1574364703.555 [MissionManager](INFO): DefineArg lineCaptureHomingLab.HoldAltitude = 7.000000 m 2019-11-21T19:31:43.578Z,1574364703.578 [MissionManager](INFO): DefineArg lineCaptureHomingLab.InvalidAltitudeTimeout = 15.000000 min 2019-11-21T19:31:43.580Z,1574364703.580 [MissionManager](INFO): DefineArg lineCaptureHomingLab.InitDepth = 20.000000 m 2019-11-21T19:31:43.601Z,1574364703.601 [MissionManager](INFO): DefineArg lineCaptureHomingLab.InitDepthTimeout = 30.000000 min 2019-11-21T19:31:43.603Z,1574364703.603 [MissionManager](INFO): DefineArg lineCaptureHomingLab.TransponderCode = 2.000000 count 2019-11-21T19:31:43.630Z,1574364703.630 [MissionManager](INFO): DefineArg lineCaptureHomingLab.TrackingUpdatePeriod = 2.500000 s 2019-11-21T19:31:43.632Z,1574364703.632 [MissionManager](INFO): DefineArg lineCaptureHomingLab.NumberOfPings = 1.000000 count 2019-11-21T19:31:43.647Z,1574364703.647 [MissionManager](INFO): DefineArg lineCaptureHomingLab.Speed = 1.000000 m/s 2019-11-21T19:31:43.655Z,1574364703.655 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DepthDeadband = 0.010000 m 2019-11-21T19:31:43.657Z,1574364703.657 [MissionManager](INFO): DefineArg lineCaptureHomingLab.KpHeading = 0.800000 n/a 2019-11-21T19:31:43.660Z,1574364703.660 [MissionManager](INFO): DefineArg lineCaptureHomingLab.KiHeading = 0.002000 1/s 2019-11-21T19:31:43.670Z,1574364703.670 [MissionManager](INFO): DefineArg lineCaptureHomingLab.KpHeadingFinal = 0.800000 n/a 2019-11-21T19:31:43.697Z,1574364703.697 [MissionManager](INFO): DefineArg lineCaptureHomingLab.KiHeadingFinal = 0.002000 1/s 2019-11-21T19:31:43.700Z,1574364703.700 [MissionManager](INFO): DefineArg lineCaptureHomingLab.RudderDeadband = 0.050000 arcdeg 2019-11-21T19:31:43.710Z,1574364703.710 [MissionManager](INFO): DefineArg lineCaptureHomingLab.MinAltitude = 5.000000 m 2019-11-21T19:31:43.712Z,1574364703.712 [MissionManager](INFO): DefineArg lineCaptureHomingLab.MaxDepth = 205.000000 m 2019-11-21T19:31:43.723Z,1574364703.723 [MissionManager](INFO): DefineArg lineCaptureHomingLab.MinOffshore = 2.000000 km 2019-11-21T19:31:43.733Z,1574364703.733 [MissionManager](INFO): DefineArg lineCaptureHomingLab.Verbose = 1 bool 2019-11-21T19:31:43.735Z,1574364703.735 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.HomingActive = 1 bool 2019-11-21T19:31:43.742Z,1574364703.742 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.Docked = 0 bool 2019-11-21T19:31:43.757Z,1574364703.757 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.DiveMode = 0.000000 count 2019-11-21T19:31:43.759Z,1574364703.759 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.DoingComms = 0.000000 count 2019-11-21T19:31:43.774Z,1574364703.774 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.InitialDive = 1.000000 count 2019-11-21T19:31:43.776Z,1574364703.776 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.MaintainAltitude = 2.000000 count 2019-11-21T19:31:43.791Z,1574364703.791 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.DetachFromDock = 3.000000 count 2019-11-21T19:31:43.829Z,1574364703.829 [lineCaptureHomingLab:B.Mass](DEBUG): Construct. 2019-11-21T19:31:43.840Z,1574364703.840 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Construct Waypoint. 2019-11-21T19:31:43.862Z,1574364703.862 [lineCaptureHomingLab:Lap:TerminalGuidance:D.LineCapture](DEBUG): Construct. 2019-11-21T19:31:43.893Z,1574364703.893 [lineCaptureHomingLab:Lap:TerminalGuidance:Dock:UpdateNav:A.SetNav](DEBUG): Construct SetNav. 2019-11-21T19:31:43.961Z,1574364703.961 [MissionManager](DEBUG): 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: break off from dock, then 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. Maximum length of mission 4 How often to surface for commumications 60 Number of times the vehicle should try to cycle through the homing sequence. 1 Latitude of docking station waypoint. 36.7436 Longitude of docking station waypoint. -121.8800 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 *RolloutTime* has passed. NaN 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 *RolloutTime* has passed. NaN 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 ???. 650.0 Range to to deploy the whiskers, open the latch, and activate the camera. 40.0 Range from dock to stop commanding heading. 1.0 When true, the mission updates the vehicle's position to DockLat/Lon when it comes within *DockRange* from the transponder. Maximum time duration for running in terminal guidance mode. 30 Maximum time duration for running in Dock mode. 60 Distance to move away from the target (rollout) in response to missing the target. 150 Drive on your last heading for this long after detaching from the dock. This argument is *ignored* if start Lat/Lon are specified. 2 Desired vehicle altitude to maintain. 7 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. 15 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). 20 Maximum time duration for the vehicle to reach the initial depth. The vehicle will switch over to altitude following after the timeout is expired. 30 Transponder Address. 2 How long to wait between acoustic queries. 2.5 Number of pings requested each time. 1 Thruster speed for the entier mission. 1 Vertical drift from the specified depth that's allowed during altitude keeping (alt. is projected to depth). 0.01 Heading proportional gain to use during Terminal Homing. 0.8 Heading Integral gain to use during Terminal Homing. 0.002 Heading proportional gain to use during Final Approach. 0.8 Heading Integral gain to use during Final Approach. 0.002 Degree of rounding in rudder command output values to use during Terminal Homing. 0.05 Minimum height above the sea floor for the entire mission. 5 Maximum depth for the entire mission. 205 Minimum offshore distance for the entire mission. 2 Send LineCapture syslog messages to shore. Mission variable (don't change). The mission sets this to true when the vehicle is homing. Mission variable (don't change). The mission sets this to true when docked. Mission variable (don't change). The mission sets this variable to switch between dive modes. 0 Mission variable (don't change). The mission will run in this to mode when running surface comms. 0 Mission variable (don't change). The mission will run in this mode when surface comms are done to dive the vehicle to DVL bottom range. 1 Mission variable (don't change). The mission will run in this mode to dive the vehicle at a commanded altitude. 2 Mission variable (don't change). The mission will run in this mode to drift away from the dock after is unlatches. 3 Initiating homing sequence. Navigate toward the dock waypoint while querying the dock transponder. Continue until you approach within *TerminalRange*, then move on to the next aggregate. 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. Terminal guidance at range: . Timed out while trying to dock at range: . 2019-11-21T19:31:43.963Z,1574364703.963 [CommandLine](IMPORTANT): Running ./Missions/Maintenance/line_capture_homing_lab.xml 2019-11-21T19:31:44.100Z,1574364704.100 [Default] Stopped 2019-11-21T19:31:44.100Z,1574364704.100 [Default](DEBUG): Aggregate::uninitialize Default 2019-11-21T19:31:44.100Z,1574364704.100 [Default:B.GoToSurface] Stopped 2019-11-21T19:31:44.100Z,1574364704.100 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2019-11-21T19:31:44.100Z,1574364704.100 [Default:CheckIn] Stopped 2019-11-21T19:31:44.105Z,1574364704.105 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn 2019-11-21T19:31:44.105Z,1574364704.105 [Default:CheckIn:Read_GPS] Stopped 2019-11-21T19:31:44.105Z,1574364704.105 [MissionManager](IMPORTANT): Started mission lineCaptureHomingLab 2019-11-21T19:31:44.106Z,1574364704.106 [lineCaptureHomingLab] Running Loop=1 2019-11-21T19:31:44.106Z,1574364704.106 [lineCaptureHomingLab](DEBUG): Aggregate::initialize lineCaptureHomingLab 2019-11-21T19:31:44.106Z,1574364704.106 [lineCaptureHomingLab:TrackTransponder] Running Loop=1 2019-11-21T19:31:44.106Z,1574364704.106 [lineCaptureHomingLab:TrackTransponder](DEBUG): Aggregate::initialize lineCaptureHomingLab:TrackTransponder 2019-11-21T19:31:44.106Z,1574364704.106 [lineCaptureHomingLab:TrackTransponder:A.] Running Loop=1 2019-11-21T19:31:44.106Z,1574364704.106 [lineCaptureHomingLab:TrackTransponder:A.](INFO): Initializing TrackAcousticContact. 2019-11-21T19:31:44.106Z,1574364704.106 [lineCaptureHomingLab:B.Mass] Running Loop=1 2019-11-21T19:31:44.106Z,1574364704.106 [lineCaptureHomingLab:B.Mass](DEBUG): Initialize. 2019-11-21T19:31:44.107Z,1574364704.107 [lineCaptureHomingLab:Lap] Running Loop=1 2019-11-21T19:31:44.107Z,1574364704.107 [lineCaptureHomingLab:Lap](DEBUG): Aggregate::initialize lineCaptureHomingLab:Lap 2019-11-21T19:31:44.107Z,1574364704.107 [lineCaptureHomingLab:Lap:A] Running Loop=1 2019-11-21T19:31:44.107Z,1574364704.107 [lineCaptureHomingLab:Lap:A](IMPORTANT): Initiating homing sequence. 2019-11-21T19:31:44.107Z,1574364704.107 [lineCaptureHomingLab:Lap:A] Stopped 2019-11-21T19:31:44.107Z,1574364704.107 [lineCaptureHomingLab:Lap:B] Running Loop=1 2019-11-21T19:31:44.108Z,1574364704.108 [lineCaptureHomingLab:B.Mass] Running Loop=1 2019-11-21T19:31:44.108Z,1574364704.108 [lineCaptureHomingLab:TrackTransponder] Running Loop=1 2019-11-21T19:31:44.108Z,1574364704.108 [lineCaptureHomingLab:TrackTransponder:A.] Running Loop=1 2019-11-21T19:31:44.506Z,1574364704.506 [lineCaptureHomingLab:Lap:B] Stopped 2019-11-21T19:31:44.506Z,1574364704.506 [lineCaptureHomingLab:Lap:MidcourseGuidance] Running Loop=1 2019-11-21T19:31:44.507Z,1574364704.507 [lineCaptureHomingLab:Lap:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHomingLab:Lap:MidcourseGuidance 2019-11-21T19:31:44.507Z,1574364704.507 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint] Running Loop=1 2019-11-21T19:31:44.507Z,1574364704.507 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent. 2019-11-21T19:31:44.904Z,1574364704.904 [lineCaptureHomingLab:Lap:MidcourseGuidance] Stopped 2019-11-21T19:31:44.904Z,1574364704.904 [lineCaptureHomingLab:Lap:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHomingLab:Lap:MidcourseGuidance 2019-11-21T19:31:44.904Z,1574364704.904 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint] Stopped 2019-11-21T19:31:44.904Z,1574364704.904 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Uninitialize WaypointComponent. 2019-11-21T19:31:44.905Z,1574364704.905 [lineCaptureHomingLab:Lap:TerminalGuidance] Running Loop=1 2019-11-21T19:31:44.905Z,1574364704.905 [lineCaptureHomingLab:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHomingLab:Lap:TerminalGuidance 2019-11-21T19:31:44.905Z,1574364704.905 [lineCaptureHomingLab:Lap:TerminalGuidance:A] Running Loop=1 2019-11-21T19:31:44.905Z,1574364704.905 [lineCaptureHomingLab:Lap:TerminalGuidance:B] Running Loop=1 2019-11-21T19:31:45.284Z,1574364705.284 [lineCaptureHomingLab:Lap:TerminalGuidance:B](IMPORTANT): Terminal guidance at range: 1.619998 m . 2019-11-21T19:31:45.284Z,1574364705.284 [lineCaptureHomingLab:Lap:TerminalGuidance:B] Stopped 2019-11-21T19:31:45.284Z,1574364705.284 [lineCaptureHomingLab:Lap:TerminalGuidance:C] Running Loop=1 2019-11-21T19:31:45.284Z,1574364705.284 [lineCaptureHomingLab:Lap:TerminalGuidance:A] Running Loop=1 2019-11-21T19:31:45.711Z,1574364705.711 [lineCaptureHomingLab:Lap:TerminalGuidance:C] Stopped 2019-11-21T19:31:45.711Z,1574364705.711 [lineCaptureHomingLab:Lap:TerminalGuidance:D.LineCapture] Running Loop=1 2019-11-21T19:31:45.711Z,1574364705.711 [lineCaptureHomingLab:Lap:TerminalGuidance:D.LineCapture](DEBUG): Initialize. 2019-11-21T19:31:47.016Z,1574364707.016 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact *** 2019-11-21T19:31:47.045Z,1574364707.045 [Reporter](INFO): DDM.whiskerState 2 count 2019-11-21T19:31:47.046Z,1574364707.046 [Reporter](INFO): DDM.latchState 1 count 2019-11-21T19:31:47.047Z,1574364707.047 [Reporter](INFO): DDM.cablePresent 0 bool 2019-11-21T19:31:47.047Z,1574364707.047 [Reporter](INFO): DDM.DDMMode 1 enum 2019-11-21T19:31:47.266Z,1574364707.266 [DDM](INFO): Extending Whiskers. 2019-11-21T19:31:47.297Z,1574364707.297 [DDM](INFO): Arming. Opening Latch 2019-11-21T19:31:47.685Z,1574364707.685 [DDM](INFO): Extending Whiskers. 2019-11-21T19:31:47.723Z,1574364707.723 [DDM](INFO): Arming. Opening Latch 2019-11-21T19:31:47.766Z,1574364707.766 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E 2019-11-21T19:31:48.076Z,1574364708.076 [DDM](INFO): Extending Whiskers. 2019-11-21T19:31:48.101Z,1574364708.101 [DDM](INFO): Arming. Opening Latch 2019-11-21T19:31:48.152Z,1574364708.152 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23 2019-11-21T19:31:48.478Z,1574364708.478 [DDM](INFO): Extending Whiskers. 2019-11-21T19:31:48.513Z,1574364708.513 [DDM](INFO): Arming. Opening Latch 2019-11-21T19:31:48.669Z,1574364708.669 [Reporter](INFO): DDM.latchState 0 count 2019-11-21T19:31:48.672Z,1574364708.672 [Reporter](INFO): acoustic_contact_range 1.739999 m 2019-11-21T19:31:48.886Z,1574364708.886 [DDM](INFO): Extending Whiskers. 2019-11-21T19:31:48.964Z,1574364708.964 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193148.91*50 2019-11-21T19:31:49.038Z,1574364709.038 [lineCaptureHomingLab:Lap:TerminalGuidance:D.LineCapture](IMPORTANT): Final approach. Armed for intercept at range: 1.74 m. 2019-11-21T19:31:49.082Z,1574364709.082 [Reporter](INFO): DDM.whiskerState 0 count 2019-11-21T19:31:49.083Z,1574364709.083 [Reporter](INFO): DDM.DDMModeCmd 1 enum 2019-11-21T19:31:49.842Z,1574364709.842 [Reporter](INFO): DDM.latchState 2 count 2019-11-21T19:31:51.434Z,1574364711.434 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact *** 2019-11-21T19:31:51.769Z,1574364711.769 [PowerOnly](INFO): Powering down 2019-11-21T19:31:52.147Z,1574364712.147 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E 2019-11-21T19:31:52.553Z,1574364712.553 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23 2019-11-21T19:31:53.067Z,1574364713.067 [Reporter](INFO): acoustic_contact_range 1.619998 m 2019-11-21T19:31:53.413Z,1574364713.413 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193153.30*51 2019-11-21T19:31:55.842Z,1574364715.842 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact *** 2019-11-21T19:31:56.599Z,1574364716.599 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E 2019-11-21T19:31:57.001Z,1574364717.001 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23 2019-11-21T19:31:57.527Z,1574364717.527 [Reporter](INFO): acoustic_contact_range 1.739999 m 2019-11-21T19:31:57.822Z,1574364717.822 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193157.75*54 2019-11-21T19:32:00.285Z,1574364720.285 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact *** 2019-11-21T19:32:00.362Z,1574364720.362 [Reporter](INFO): DDM.whiskerState 1 count 2019-11-21T19:32:01.039Z,1574364721.039 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E 2019-11-21T19:32:01.441Z,1574364721.441 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23 2019-11-21T19:32:01.982Z,1574364721.982 [Reporter](INFO): acoustic_contact_range 1.679999 m 2019-11-21T19:32:02.282Z,1574364722.282 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193202.19*5D 2019-11-21T19:32:04.730Z,1574364724.730 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact *** 2019-11-21T19:32:05.486Z,1574364725.486 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E 2019-11-21T19:32:05.888Z,1574364725.888 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23 2019-11-21T19:32:06.427Z,1574364726.427 [Reporter](INFO): acoustic_contact_range 1.619998 m 2019-11-21T19:32:06.714Z,1574364726.714 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193206.63*54 2019-11-21T19:32:09.173Z,1574364729.173 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact *** 2019-11-21T19:32:09.927Z,1574364729.927 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E 2019-11-21T19:32:10.364Z,1574364730.364 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23 2019-11-21T19:32:10.866Z,1574364730.866 [Reporter](INFO): acoustic_contact_range 1.679999 m 2019-11-21T19:32:11.169Z,1574364731.169 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193211.07*50 2019-11-21T19:32:13.631Z,1574364733.631 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact *** 2019-11-21T19:32:14.387Z,1574364734.387 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E 2019-11-21T19:32:14.780Z,1574364734.780 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23 2019-11-21T19:32:15.274Z,1574364735.274 [Reporter](INFO): acoustic_contact_range 1.619998 m 2019-11-21T19:32:15.601Z,1574364735.601 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193215.54*52 2019-11-21T19:32:18.056Z,1574364738.056 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact *** 2019-11-21T19:32:18.811Z,1574364738.811 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E 2019-11-21T19:32:19.231Z,1574364739.231 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23 2019-11-21T19:32:19.764Z,1574364739.764 [Reporter](INFO): acoustic_contact_range 1.619998 m 2019-11-21T19:32:20.042Z,1574364740.042 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193219.96*50 2019-11-21T19:32:22.499Z,1574364742.499 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact *** 2019-11-21T19:32:23.259Z,1574364743.259 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E 2019-11-21T19:32:23.664Z,1574364743.664 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23 2019-11-21T19:32:23.696Z,1574364743.696 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2019-11-21T19:32:23.697Z,1574364743.697 [RDI_Pathfinder](ERROR): Failed to parse: :RA, 0.00, 0.00, 0.00, I,-32768,-32768,-32768,-32768,V 2019-11-21T19:32:24.143Z,1574364744.143 [Reporter](INFO): acoustic_contact_range 1.679999 m 2019-11-21T19:32:24.498Z,1574364744.498 [Micromodem](INFO): Nmea in: $SNTTA,0.044610,,,,193224.40*4C 2019-11-21T19:32:26.956Z,1574364746.956 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact *** 2019-11-21T19:32:27.731Z,1574364747.731 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E 2019-11-21T19:32:28.105Z,1574364748.105 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23 2019-11-21T19:32:28.599Z,1574364748.599 [Reporter](INFO): acoustic_contact_range 1.619998 m 2019-11-21T19:32:28.923Z,1574364748.923 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193228.88*5D 2019-11-21T19:32:31.413Z,1574364751.413 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact *** 2019-11-21T19:32:32.148Z,1574364752.148 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E 2019-11-21T19:32:32.553Z,1574364752.553 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23 2019-11-21T19:32:33.086Z,1574364753.086 [Reporter](INFO): acoustic_contact_range 1.679999 m 2019-11-21T19:32:33.405Z,1574364753.405 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193233.30*54 2019-11-21T19:32:35.838Z,1574364755.838 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact *** 2019-11-21T19:32:36.592Z,1574364756.592 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E 2019-11-21T19:32:36.992Z,1574364756.992 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23 2019-11-21T19:32:37.468Z,1574364757.468 [Reporter](INFO): acoustic_contact_range 1.619998 m 2019-11-21T19:32:37.818Z,1574364757.818 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193237.74*50 2019-11-21T19:32:40.267Z,1574364760.267 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact *** 2019-11-21T19:32:41.035Z,1574364761.035 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E 2019-11-21T19:32:41.440Z,1574364761.440 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23 2019-11-21T19:32:41.937Z,1574364761.937 [Reporter](INFO): acoustic_contact_range 1.679999 m 2019-11-21T19:32:42.272Z,1574364762.272 [Micromodem](INFO): Nmea in: $SNTTA,,,0.136226,,193242.18*44 2019-11-21T19:32:44.389Z,1574364764.389 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2019-11-21T19:32:44.762Z,1574364764.762 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact *** 2019-11-21T19:32:45.479Z,1574364765.479 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E 2019-11-21T19:32:45.891Z,1574364765.891 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23 2019-11-21T19:32:46.383Z,1574364766.383 [Reporter](INFO): acoustic_contact_range 1.679999 m 2019-11-21T19:32:46.724Z,1574364766.724 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193246.63*50 2019-11-21T19:32:47.112Z,1574364767.112 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session. 2019-11-21T19:32:49.152Z,1574364769.152 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact *** 2019-11-21T19:32:49.920Z,1574364769.920 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E 2019-11-21T19:32:50.336Z,1574364770.336 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23 2019-11-21T19:32:50.783Z,1574364770.783 [Reporter](INFO): acoustic_contact_range 1.619998 m 2019-11-21T19:32:51.160Z,1574364771.160 [Micromodem](INFO): Nmea in: $SNTTA,0.074832,,,,193251.07*40 2019-11-21T19:32:53.634Z,1574364773.634 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact *** 2019-11-21T19:32:54.380Z,1574364774.380 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E 2019-11-21T19:32:54.769Z,1574364774.769 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23 2019-11-21T19:32:55.302Z,1574364775.302 [Reporter](INFO): acoustic_contact_range 1.619998 m 2019-11-21T19:32:55.598Z,1574364775.598 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193255.53*51 2019-11-21T19:32:58.051Z,1574364778.051 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact *** 2019-11-21T19:32:58.811Z,1574364778.811 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E 2019-11-21T19:32:59.212Z,1574364779.212 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23 2019-11-21T19:32:59.703Z,1574364779.703 [Reporter](INFO): acoustic_contact_range 1.619998 m 2019-11-21T19:33:00.055Z,1574364780.055 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193259.96*54 2019-11-21T19:33:02.530Z,1574364782.530 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact *** 2019-11-21T19:33:03.252Z,1574364783.252 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E 2019-11-21T19:33:03.660Z,1574364783.660 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23 2019-11-21T19:33:04.270Z,1574364784.270 [Reporter](INFO): acoustic_contact_range 1.679999 m 2019-11-21T19:33:04.478Z,1574364784.478 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193304.40*56 2019-11-21T19:33:05.810Z,1574364785.810 [Reporter](INFO): DDM.cablePresent 1 bool 2019-11-21T19:33:06.046Z,1574364786.046 [DDM](INFO): Retracting Whiskers 2019-11-21T19:33:06.077Z,1574364786.077 [DDM](INFO): Closing Latch 2019-11-21T19:33:06.450Z,1574364786.450 [DDM](INFO): Retracting Whiskers 2019-11-21T19:33:06.485Z,1574364786.485 [DDM](INFO): Closing Latch 2019-11-21T19:33:06.670Z,1574364786.670 [Reporter](INFO): DDM.latchState 0 count 2019-11-21T19:33:06.856Z,1574364786.856 [DDM](INFO): Retracting Whiskers 2019-11-21T19:33:06.978Z,1574364786.978 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact *** 2019-11-21T19:33:07.258Z,1574364787.258 [DDM](INFO): Retracting Whiskers 2019-11-21T19:33:07.667Z,1574364787.667 [DDM](INFO): Retracting Whiskers 2019-11-21T19:33:07.731Z,1574364787.731 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E 2019-11-21T19:33:07.895Z,1574364787.895 [Reporter](INFO): DDM.whiskerState 0 count 2019-11-21T19:33:07.896Z,1574364787.896 [Reporter](INFO): DDM.latchState 1 count 2019-11-21T19:33:08.104Z,1574364788.104 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23 2019-11-21T19:33:08.571Z,1574364788.571 [Reporter](INFO): acoustic_contact_range 1.560001 m 2019-11-21T19:33:08.923Z,1574364788.923 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193308.88*5E 2019-11-21T19:33:09.058Z,1574364789.058 [lineCaptureHomingLab:Lap:TerminalGuidance:D.LineCapture](IMPORTANT): Docking sequence complete. 2019-11-21T19:33:09.059Z,1574364789.059 [lineCaptureHomingLab:Lap:TerminalGuidance:D.LineCapture] Stopped 2019-11-21T19:33:09.059Z,1574364789.059 [lineCaptureHomingLab:Lap:TerminalGuidance:Dock] Running Loop=1 2019-11-21T19:33:09.059Z,1574364789.059 [lineCaptureHomingLab:Lap:TerminalGuidance:Dock](DEBUG): Aggregate::initialize lineCaptureHomingLab:Lap:TerminalGuidance:Dock 2019-11-21T19:33:09.059Z,1574364789.059 [lineCaptureHomingLab:Lap:TerminalGuidance:Dock:UpdateNav] Running Loop=1 2019-11-21T19:33:09.059Z,1574364789.059 [lineCaptureHomingLab:Lap:TerminalGuidance:Dock:UpdateNav](DEBUG): Aggregate::initialize lineCaptureHomingLab:Lap:TerminalGuidance:Dock:UpdateNav 2019-11-21T19:33:09.059Z,1574364789.059 [lineCaptureHomingLab:Lap:TerminalGuidance:Dock:UpdateNav:A.SetNav] Running Loop=1 2019-11-21T19:33:09.059Z,1574364789.059 [lineCaptureHomingLab:Lap:TerminalGuidance:Dock:UpdateNav:A.SetNav](DEBUG): Initialize SetNavComponent. 2019-11-21T19:33:09.379Z,1574364789.379 [lineCaptureHomingLab:Lap:TerminalGuidance:Dock:UpdateNav] Stopped 2019-11-21T19:33:09.379Z,1574364789.379 [lineCaptureHomingLab:Lap:TerminalGuidance:Dock:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureHomingLab:Lap:TerminalGuidance:Dock:UpdateNav 2019-11-21T19:33:09.379Z,1574364789.379 [lineCaptureHomingLab:Lap:TerminalGuidance:Dock:UpdateNav:A.SetNav] Stopped 2019-11-21T19:33:09.379Z,1574364789.379 [lineCaptureHomingLab:Lap:TerminalGuidance:Dock:UpdateNav:A.SetNav](DEBUG): Uninitialize SetNavComponent. 2019-11-21T19:33:09.379Z,1574364789.379 [lineCaptureHomingLab:Lap:TerminalGuidance:Dock](INFO): Completed lineCaptureHomingLab:Lap:TerminalGuidance:Dock 2019-11-21T19:33:09.379Z,1574364789.379 [lineCaptureHomingLab:Lap:TerminalGuidance:Dock] Stopped 2019-11-21T19:33:09.379Z,1574364789.379 [lineCaptureHomingLab:Lap:TerminalGuidance:Dock](DEBUG): Aggregate::uninitialize lineCaptureHomingLab:Lap:TerminalGuidance:Dock 2019-11-21T19:33:09.380Z,1574364789.380 [lineCaptureHomingLab:Lap:TerminalGuidance](INFO): Completed lineCaptureHomingLab:Lap:TerminalGuidance 2019-11-21T19:33:09.380Z,1574364789.380 [lineCaptureHomingLab:Lap:TerminalGuidance] Stopped 2019-11-21T19:33:09.380Z,1574364789.380 [lineCaptureHomingLab:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHomingLab:Lap:TerminalGuidance 2019-11-21T19:33:09.380Z,1574364789.380 [lineCaptureHomingLab:Lap:TerminalGuidance:A] Stopped 2019-11-21T19:33:09.380Z,1574364789.380 [lineCaptureHomingLab:Lap](INFO): Completed lineCaptureHomingLab:Lap 2019-11-21T19:33:09.380Z,1574364789.380 [lineCaptureHomingLab:Lap] Stopped 2019-11-21T19:33:09.380Z,1574364789.380 [lineCaptureHomingLab:Lap](DEBUG): Aggregate::uninitialize lineCaptureHomingLab:Lap 2019-11-21T19:33:09.382Z,1574364789.382 [lineCaptureHomingLab](INFO): Completed lineCaptureHomingLab 2019-11-21T19:33:09.382Z,1574364789.382 [MissionManager](INFO): lineCaptureHomingLab is completed. 2019-11-21T19:33:09.382Z,1574364789.382 [MissionManager](INFO): Uninitializing Mission lineCaptureHomingLab 2019-11-21T19:33:09.382Z,1574364789.382 [lineCaptureHomingLab] Stopped 2019-11-21T19:33:09.382Z,1574364789.382 [lineCaptureHomingLab](DEBUG): Aggregate::uninitialize lineCaptureHomingLab 2019-11-21T19:33:09.382Z,1574364789.382 [lineCaptureHomingLab:TrackTransponder] Stopped 2019-11-21T19:33:09.382Z,1574364789.382 [lineCaptureHomingLab:TrackTransponder](DEBUG): Aggregate::uninitialize lineCaptureHomingLab:TrackTransponder 2019-11-21T19:33:09.382Z,1574364789.382 [lineCaptureHomingLab:TrackTransponder:A.] Stopped 2019-11-21T19:33:09.382Z,1574364789.382 [lineCaptureHomingLab:B.Mass] Stopped 2019-11-21T19:33:09.382Z,1574364789.382 [lineCaptureHomingLab:B.Mass](DEBUG): Uninitialize. 2019-11-21T19:33:09.450Z,1574364789.450 [Reporter](INFO): DDM.whiskerState no_value 2019-11-21T19:33:09.450Z,1574364789.450 [Reporter](INFO): DDM.latchState no_value 2019-11-21T19:33:09.450Z,1574364789.450 [Reporter](INFO): DDM.cablePresent no_value 2019-11-21T19:33:09.451Z,1574364789.451 [Reporter](INFO): DDM.DDMMode no_value 2019-11-21T19:33:09.682Z,1574364789.682 [DDM](INFO): Pause: Retracting whiskers 2019-11-21T19:33:09.769Z,1574364789.769 [MissionManager](IMPORTANT): Started mission Default 2019-11-21T19:33:09.769Z,1574364789.769 [Default] Running Loop=1 2019-11-21T19:33:09.770Z,1574364789.770 [Default](DEBUG): Aggregate::initialize Default 2019-11-21T19:33:09.770Z,1574364789.770 [Default:B.GoToSurface] Running Loop=1 2019-11-21T19:33:09.770Z,1574364789.770 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2019-11-21T19:33:09.770Z,1574364789.770 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s. 2019-11-21T19:33:09.770Z,1574364789.770 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees. 2019-11-21T19:33:09.771Z,1574364789.771 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s. 2019-11-21T19:33:09.771Z,1574364789.771 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2019-11-21T19:33:09.771Z,1574364789.771 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2019-11-21T19:33:09.772Z,1574364789.772 [Default:A.Wait] Running Loop=1 2019-11-21T19:33:09.772Z,1574364789.772 [Default:A.Wait](DEBUG): Initialize Wait Component. 2019-11-21T19:33:17.799Z,1574364797.799 [NAL9602](INFO): Not Powering down - fast GPS 2019-11-21T19:33:20.708Z,1574364800.708 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2019-11-21T19:33:23.055Z,1574364803.055 [Default:A.Wait](INFO): Done Waiting. 2019-11-21T19:33:23.055Z,1574364803.055 [Default:A.Wait] Stopped 2019-11-21T19:33:23.055Z,1574364803.055 [Default:A.Wait](DEBUG): Uninitialize Wait Component. 2019-11-21T19:33:23.497Z,1574364803.497 [Default:CheckIn] Running Loop=1 2019-11-21T19:33:23.497Z,1574364803.497 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn 2019-11-21T19:33:23.497Z,1574364803.497 [Default:CheckIn:Read_GPS] Running Loop=1 2019-11-21T19:33:33.970Z,1574364813.970 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6. 2019-11-21T19:33:33.972Z,1574364813.972 [BPC1](INFO): Received data from all battery sticks. 2019-11-21T19:35:14.565Z,1574364914.565 [RDI_Pathfinder](ERROR): Failed to parse: :SA, +0.00, +0.00, 0.00 2019-11-21T19:36:14.442Z,1574364974.442 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout 2019-11-21T19:36:14.442Z,1574364974.442 [RDI_Pathfinder] Communications Fault, FailCount= 1 2019-11-21T19:36:14.442Z,1574364974.442 [RDI_Pathfinder](ERROR): Communications Fault 2019-11-21T19:36:14.444Z,1574364974.444 [RDI_Pathfinder](ERROR): Failed to parse: 2019-11-21T19:36:14.469Z,1574364974.469 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder 2019-11-21T19:36:14.829Z,1574364974.829 [RDI_Pathfinder](INFO): Powering down 2019-11-21T19:36:15.575Z,1574364975.575 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder 2019-11-21T19:36:15.575Z,1574364975.575 [RDI_Pathfinder] No Fault, FailCount= 1 2019-11-21T19:36:28.896Z,1574364988.896 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder 2019-11-21T19:36:44.235Z,1574365004.235 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2019-11-21T19:36:44.235Z,1574365004.235 [RDI_Pathfinder](ERROR): Failed to parse: :BS,-32768,-327 2019-11-21T19:37:19.369Z,1574365039.369 [NAL9602](INFO): SBD MO Status=2, MOMSN=9955, MT Status=2, MTMSN=0 2019-11-21T19:37:19.370Z,1574365039.370 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2019-11-21T19:37:23.859Z,1574365043.859 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2019-11-21T19:37:23.859Z,1574365043.859 [RDI_Pathfinder](ERROR): Failed to parse: :TS8,V 2019-11-21T19:37:42.901Z,1574365062.901 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout 2019-11-21T19:37:42.901Z,1574365062.901 [RDI_Pathfinder] Communications Fault, FailCount= 1 2019-11-21T19:37:42.901Z,1574365062.901 [RDI_Pathfinder](ERROR): Communications Fault 2019-11-21T19:37:42.901Z,1574365062.901 [RDI_Pathfinder](ERROR): Failed to parse: 2019-11-21T19:37:42.932Z,1574365062.932 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder 2019-11-21T19:37:43.297Z,1574365063.297 [RDI_Pathfinder](INFO): Powering down 2019-11-21T19:37:44.059Z,1574365064.059 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder 2019-11-21T19:37:44.059Z,1574365064.059 [RDI_Pathfinder] No Fault, FailCount= 1 2019-11-21T19:37:57.391Z,1574365077.391 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder 2019-11-21T19:38:23.686Z,1574365103.686 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T19:33:23.5Z 2019-11-21T19:38:23.686Z,1574365103.686 [Default:CheckIn:Read_GPS] Stopped 2019-11-21T19:38:23.687Z,1574365103.687 [Default:CheckIn:Read_Iridium] Running Loop=1 2019-11-21T19:38:24.085Z,1574365104.085 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications 2019-11-21T19:38:26.926Z,1574365106.926 [DataOverHttps](INFO): Sending 237 bytes from file Logs/20191121T192656/Courier0004.lzma 2019-11-21T19:38:28.221Z,1574365108.221 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session. 2019-11-21T19:38:28.543Z,1574365108.543 [DataOverHttps](INFO): Moved sent file to Logs/20191121T192656/Courier0004.lzma.bak 2019-11-21T19:38:28.543Z,1574365108.543 [DataOverHttps](INFO): SBD MOMSN=12087762 2019-11-21T19:38:45.966Z,1574365125.966 [DataOverHttps](INFO): Sending 272 bytes from file Logs/20191121T184505/Express0014.lzma 2019-11-21T19:38:47.970Z,1574365127.970 [DataOverHttps](INFO): Moved sent file to Logs/20191121T184505/Express0014.lzma.bak 2019-11-21T19:38:47.971Z,1574365127.971 [DataOverHttps](INFO): SBD MOMSN=12087765 2019-11-21T19:38:58.927Z,1574365138.927 [NAL9602](INFO): Not Powering down - fast GPS 2019-11-21T19:39:05.514Z,1574365145.514 [DataOverHttps](INFO): Sending 1376 bytes from file Logs/20191121T192656/Express0001.lzma 2019-11-21T19:39:07.519Z,1574365147.519 [DataOverHttps](INFO): Moved sent file to Logs/20191121T192656/Express0001.lzma.bak 2019-11-21T19:39:07.519Z,1574365147.519 [DataOverHttps](INFO): SBD MOMSN=12087772 2019-11-21T19:39:26.098Z,1574365166.098 [DataOverHttps](INFO): Sending 1089 bytes from file Logs/20191121T192656/Express0005.lzma 2019-11-21T19:39:28.102Z,1574365168.102 [DataOverHttps](INFO): Moved sent file to Logs/20191121T192656/Express0005.lzma.bak 2019-11-21T19:39:28.102Z,1574365168.102 [DataOverHttps](INFO): SBD MOMSN=12087817 2019-11-21T19:39:30.069Z,1574365170.069 [Default:CheckIn:Read_Iridium] Stopped 2019-11-21T19:39:30.069Z,1574365170.069 [Default:CheckIn:C.Wait] Running Loop=1 2019-11-21T19:39:30.070Z,1574365170.070 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component. 2019-11-21T19:44:30.662Z,1574365470.662 [Default:CheckIn:C.Wait](INFO): Done Waiting. 2019-11-21T19:44:30.662Z,1574365470.662 [Default:CheckIn:C.Wait] Stopped 2019-11-21T19:44:30.662Z,1574365470.662 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component. 2019-11-21T19:44:30.662Z,1574365470.662 [Default:CheckIn:D] Running Loop=1 2019-11-21T19:44:31.062Z,1574365471.062 [Default:CheckIn:D] Stopped 2019-11-21T19:44:31.062Z,1574365471.062 [Default:CheckIn:E] Running Loop=1 2019-11-21T19:44:31.490Z,1574365471.490 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 11.354871 min 2019-11-21T19:44:31.491Z,1574365471.491 [Default:CheckIn:E] Stopped 2019-11-21T19:44:31.491Z,1574365471.491 [Default:CheckIn](INFO): Completed Default:CheckIn 2019-11-21T19:44:31.491Z,1574365471.491 [Default:CheckIn] Stopped 2019-11-21T19:44:31.491Z,1574365471.491 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn 2019-11-21T19:44:31.491Z,1574365471.491 [Default:CheckIn](INFO): Running loop #2 2019-11-21T19:44:31.491Z,1574365471.491 [Default:CheckIn] Running Loop=2 2019-11-21T19:44:31.491Z,1574365471.491 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn 2019-11-21T19:44:31.491Z,1574365471.491 [Default:CheckIn:Read_GPS] Running Loop=1 2019-11-21T19:44:33.039Z,1574365473.039 [NAL9602](FAULT): GPS failed to acquire within timeout. 2019-11-21T19:44:33.039Z,1574365473.039 [NAL9602] Data Fault, FailCount= 1 2019-11-21T19:44:33.039Z,1574365473.039 [NAL9602](ERROR): Data Fault 2019-11-21T19:44:33.077Z,1574365473.077 [CBIT](ERROR): Data Fault in component: NAL9602 2019-11-21T19:44:33.439Z,1574365473.439 [NAL9602](INFO): Powering down 2019-11-21T19:44:34.304Z,1574365474.304 [CBIT](INFO): Clearing failed state for component NAL9602 2019-11-21T19:44:34.304Z,1574365474.304 [NAL9602] No Fault, FailCount= 1 2019-11-21T19:45:03.759Z,1574365503.759 [NAL9602](INFO): Powering up NAL9602 2019-11-21T19:45:14.651Z,1574365514.651 [NAL9602](INFO): NAL9602 initialized 2019-11-21T19:49:31.653Z,1574365771.653 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T19:44:31.5Z 2019-11-21T19:49:31.653Z,1574365771.653 [Default:CheckIn:Read_GPS] Stopped 2019-11-21T19:49:31.654Z,1574365771.654 [Default:CheckIn:Read_Iridium] Running Loop=1 2019-11-21T19:49:39.845Z,1574365779.845 [DataOverHttps](INFO): Sending 260 bytes from file Logs/20191121T192656/Express0008.lzma 2019-11-21T19:49:41.850Z,1574365781.850 [DataOverHttps](INFO): Moved sent file to Logs/20191121T192656/Express0008.lzma.bak 2019-11-21T19:49:41.850Z,1574365781.850 [DataOverHttps](INFO): SBD MOMSN=12087860 2019-11-21T19:49:43.761Z,1574365783.761 [Default:CheckIn:Read_Iridium] Stopped 2019-11-21T19:49:43.761Z,1574365783.761 [Default:CheckIn:C.Wait] Running Loop=1 2019-11-21T19:49:43.761Z,1574365783.761 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component. 2019-11-21T19:49:44.557Z,1574365784.557 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2019-11-21T19:49:44.557Z,1574365784.557 [RDI_Pathfinder](ERROR): Failed to parse: :BS,-32768,-3276,V 2019-11-21T19:49:58.310Z,1574365798.310 [RDI_Pathfinder](ERROR): Failed to parse: :BI,-32768,-32768,-32768,-32768,V 2019-11-21T19:50:18.055Z,1574365818.055 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session. 2019-11-21T19:50:48.759Z,1574365848.759 [NAL9602](INFO): Not Powering down - fast GPS 2019-11-21T19:51:18.676Z,1574365878.676 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2019-11-21T19:51:18.676Z,1574365878.676 [RDI_Pathfinder](ERROR): Failed to parse: :BS,-3276,-32768,V 2019-11-21T19:52:14.482Z,1574365934.482 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2019-11-21T19:52:14.482Z,1574365934.482 [RDI_Pathfinder](ERROR): Failed to parse: :BS,-32768,-3768,V 2019-11-21T19:54:44.352Z,1574366084.352 [Default:CheckIn:C.Wait](INFO): Done Waiting. 2019-11-21T19:54:44.352Z,1574366084.352 [Default:CheckIn:C.Wait] Stopped 2019-11-21T19:54:44.352Z,1574366084.352 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component. 2019-11-21T19:54:44.352Z,1574366084.352 [Default:CheckIn:D] Running Loop=1 2019-11-21T19:54:44.783Z,1574366084.783 [Default:CheckIn:D] Stopped 2019-11-21T19:54:44.783Z,1574366084.783 [Default:CheckIn:E] Running Loop=1 2019-11-21T19:54:45.161Z,1574366085.161 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 21.583561 min 2019-11-21T19:54:45.161Z,1574366085.161 [Default:CheckIn:E] Stopped 2019-11-21T19:54:45.161Z,1574366085.161 [Default:CheckIn](INFO): Completed Default:CheckIn 2019-11-21T19:54:45.161Z,1574366085.161 [Default:CheckIn] Stopped 2019-11-21T19:54:45.161Z,1574366085.161 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn 2019-11-21T19:54:45.162Z,1574366085.162 [Default:CheckIn](INFO): Running loop #3 2019-11-21T19:54:45.162Z,1574366085.162 [Default:CheckIn] Running Loop=3 2019-11-21T19:54:45.162Z,1574366085.162 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn 2019-11-21T19:54:45.162Z,1574366085.162 [Default:CheckIn:Read_GPS] Running Loop=1 2019-11-21T19:55:17.847Z,1574366117.847 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check. 2019-11-21T19:55:17.925Z,1574366117.925 [NAL9602](FAULT): received: +CSQ:0 OK55, 2, 0, 0, 0 OK 2019-11-21T19:55:17.925Z,1574366117.925 [NAL9602] Data Fault, FailCount= 2 2019-11-21T19:55:17.925Z,1574366117.925 [NAL9602](ERROR): Data Fault 2019-11-21T19:55:17.995Z,1574366117.995 [CBIT](ERROR): Data Fault in component: NAL9602 2019-11-21T19:55:18.277Z,1574366118.277 [NAL9602](INFO): Powering down 2019-11-21T19:55:19.113Z,1574366119.113 [CBIT](INFO): Clearing failed state for component NAL9602 2019-11-21T19:55:19.113Z,1574366119.113 [NAL9602] No Fault, FailCount= 2 2019-11-21T19:55:48.559Z,1574366148.559 [NAL9602](INFO): Powering up NAL9602 2019-11-21T19:55:57.195Z,1574366157.195 [CommandLine](IMPORTANT): got command restart application 2019-11-21T19:55:58.201Z,1574366158.201 [Supervisor](INFO): Stop Mission called by Supervisor::terminate 2019-11-21T19:55:58.201Z,1574366158.201 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread. 2019-11-21T19:55:58.201Z,1574366158.201 [CommandLine ThreadHandler](INFO): Thread cancelled. 2019-11-21T19:55:58.393Z,1574366158.393 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup. Bye! 2019-11-21T19:55:58.393Z,1574366158.393 [CommandLine ThreadHandler](INFO): Thread cancelled. 2019-11-21T19:55:58.394Z,1574366158.394 [CommandLine](INFO): Join timeout helper Thread ID is 1899 2019-11-21T19:55:58.394Z,1574366158.394 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler 2019-11-21T19:55:58.394Z,1574366158.394 [NavChartDb ThreadHandler](INFO): Thread cancelled. 2019-11-21T19:55:58.395Z,1574366158.395 [NavChartDb](INFO): Join timeout helper Thread ID is 1900 2019-11-21T19:55:58.617Z,1574366158.617 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread. 2019-11-21T19:55:58.617Z,1574366158.617 [NavChartDb ThreadHandler](INFO): Thread cancelled. 2019-11-21T19:55:58.633Z,1574366158.633 [ComponentRegistry](INFO): Shutting down WetLabsSeaOWL_UV_A ThreadHandler 2019-11-21T19:55:58.633Z,1574366158.633 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled. 2019-11-21T19:55:58.633Z,1574366158.633 [WetLabsSeaOWL_UV_A](INFO): Join timeout helper Thread ID is 1901 2019-11-21T19:55:58.785Z,1574366158.785 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Uninitializing protected caller thread. 2019-11-21T19:55:58.785Z,1574366158.785 [WetLabsSeaOWL_UV_A](INFO): Powering down 2019-11-21T19:55:58.786Z,1574366158.786 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled. 2019-11-21T19:55:58.805Z,1574366158.805 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler 2019-11-21T19:55:58.805Z,1574366158.805 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled. 2019-11-21T19:55:58.805Z,1574366158.805 [CTD_NeilBrown](INFO): Join timeout helper Thread ID is 1902 2019-11-21T19:55:58.961Z,1574366158.961 [CTD_NeilBrown ThreadHandler](INFO): Uninitializing protected caller thread. 2019-11-21T19:55:58.961Z,1574366158.961 [CTD_NeilBrown](INFO): Powering down 2019-11-21T19:55:58.973Z,1574366158.973 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled. 2019-11-21T19:55:58.985Z,1574366158.985 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler 2019-11-21T19:55:58.985Z,1574366158.985 [Radio_Surface ThreadHandler](INFO): Thread cancelled. 2019-11-21T19:55:58.985Z,1574366158.985 [Radio_Surface](INFO): Join timeout helper Thread ID is 1903 2019-11-21T19:55:59.213Z,1574366159.213 [Radio_Surface](INFO): Powering down 2019-11-21T19:55:59.214Z,1574366159.214 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread. 2019-11-21T19:55:59.214Z,1574366159.214 [Radio_Surface ThreadHandler](INFO): Thread cancelled. 2019-11-21T19:55:59.226Z,1574366159.226 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler 2019-11-21T19:55:59.226Z,1574366159.226 [DataOverHttps ThreadHandler](INFO): Thread cancelled. 2019-11-21T19:55:59.226Z,1574366159.226 [DataOverHttps](INFO): Join timeout helper Thread ID is 1904 2019-11-21T19:55:59.472Z,1574366159.472 [NAL9602](INFO): NAL9602 initialized 2019-11-21T19:55:59.709Z,1574366159.709 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread. 2019-11-21T19:55:59.709Z,1574366159.709 [DataOverHttps ThreadHandler](INFO): Thread cancelled. 2019-11-21T19:55:59.729Z,1574366159.729 [ComponentRegistry](INFO): Shutting down logger ThreadHandler 2019-11-21T19:55:59.729Z,1574366159.729 [logger ThreadHandler](INFO): Thread cancelled. 2019-11-21T19:55:59.729Z,1574366159.729 [logger](INFO): Join timeout helper Thread ID is 1905 2019-11-21T19:55:59.777Z,1574366159.777 [logger ThreadHandler](INFO): Uninitializing protected caller thread. 2019-11-21T19:55:59.777Z,1574366159.777 [logger ThreadHandler](INFO): Thread cancelled. 2019-11-21T19:55:59.790Z,1574366159.790 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler 2019-11-21T19:55:59.790Z,1574366159.790 [CommandLine ThreadHandler](INFO): Thread cancelled. 2019-11-21T19:55:59.790Z,1574366159.790 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler 2019-11-21T19:55:59.790Z,1574366159.790 [controlThread ThreadHandler](INFO): Thread cancelled. 2019-11-21T19:55:59.790Z,1574366159.790 [controlThread](INFO): Join timeout helper Thread ID is 1906 2019-11-21T19:55:59.853Z,1574366159.853 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread. 2019-11-21T19:55:59.853Z,1574366159.853 [controlThread](DEBUG): Uninitializing ControlThread 2019-11-21T19:55:59.854Z,1574366159.854 [AHRS_M2](INFO): Powering down 2019-11-21T19:55:59.925Z,1574366159.925 [DDM](INFO): Powering down 2019-11-21T19:55:59.997Z,1574366159.997 [DUSBL_Hydroid](INFO): Powering down 2019-11-21T19:56:00.069Z,1574366160.069 [Micromodem](INFO): Powering down 2019-11-21T19:56:00.165Z,1574366160.165 [NAL9602](INFO): Powering down 2019-11-21T19:56:00.237Z,1574366160.237 [RDI_Pathfinder](INFO): Powering down 2019-11-21T19:56:00.239Z,1574366160.239 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator. 2019-11-21T19:56:00.240Z,1574366160.240 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator. 2019-11-21T19:56:00.240Z,1574366160.240 [NavChart](DEBUG): Uninitialize NavChart Navigation. 2019-11-21T19:56:00.240Z,1574366160.240 [MissionManager](INFO): Uninitializing Mission Default 2019-11-21T19:56:00.240Z,1574366160.240 [Default] Stopped 2019-11-21T19:56:00.241Z,1574366160.241 [Default](DEBUG): Aggregate::uninitialize Default 2019-11-21T19:56:00.241Z,1574366160.241 [Default:B.GoToSurface] Stopped 2019-11-21T19:56:00.241Z,1574366160.241 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2019-11-21T19:56:00.241Z,1574366160.241 [Default:CheckIn] Stopped 2019-11-21T19:56:00.241Z,1574366160.241 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn 2019-11-21T19:56:00.241Z,1574366160.241 [Default:CheckIn:Read_GPS] Stopped 2019-11-21T19:56:00.243Z,1574366160.243 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent. 2019-11-21T19:56:00.244Z,1574366160.244 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent. 2019-11-21T19:56:00.244Z,1574366160.244 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent. 2019-11-21T19:56:00.244Z,1574366160.244 [LoopControl](DEBUG): Uninitialize LoopControlComponent. 2019-11-21T19:56:00.244Z,1574366160.244 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo. 2019-11-21T19:56:00.245Z,1574366160.245 [BuoyancyServo](INFO): Powering down 2019-11-21T19:56:00.257Z,1574366160.257 [ElevatorServo](DEBUG): Uninitialize Elevator Servo. 2019-11-21T19:56:00.257Z,1574366160.257 [ElevatorServo](INFO): Powering down 2019-11-21T19:56:00.258Z,1574366160.258 [MassServo](DEBUG): Uninitialize Mass Servo. 2019-11-21T19:56:00.258Z,1574366160.258 [MassServo](INFO): Powering down 2019-11-21T19:56:00.259Z,1574366160.259 [RudderServo](DEBUG): Uninitialize Rudder Servo. 2019-11-21T19:56:00.259Z,1574366160.259 [RudderServo](INFO): Powering down 2019-11-21T19:56:00.259Z,1574366160.259 [ThrusterServo](DEBUG): Uninitialize Thruster Servo. 2019-11-21T19:56:00.259Z,1574366160.259 [ThrusterServo](INFO): Powering down 2019-11-21T19:56:00.260Z,1574366160.260 [SBIT](DEBUG): Uninitialize SBIT Component. 2019-11-21T19:56:00.260Z,1574366160.260 [IBIT](DEBUG): Uninitialize IBIT Component. 2019-11-21T19:56:00.261Z,1574366160.261 [CBIT](DEBUG): Uninitialize CBIT Component. 2019-11-21T19:56:00.261Z,1574366160.261 [CBIT](DEBUG): Powering off loads. 2019-11-21T19:56:00.273Z,1574366160.273 [CBIT](DEBUG): Disabling WDT. 2019-11-21T19:56:00.285Z,1574366160.285 [CBIT](DEBUG): Opening all GF detection circuits. 2019-11-21T19:56:00.286Z,1574366160.286 [controlThread ThreadHandler](INFO): Thread cancelled. 2019-11-21T19:56:00.328Z,1574366160.328 [Radio_Surface ThreadHandler](INFO): Thread cancelled. 2019-11-21T19:56:00.338Z,1574366160.338 [DataOverHttps ThreadHandler](INFO): Thread cancelled. 2019-11-21T19:56:00.384Z,1574366160.384 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled. 2019-11-21T19:56:00.387Z,1574366160.387 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled. 2019-11-21T19:56:00.448Z,1574366160.448 [NavChartDb ThreadHandler](INFO): Thread cancelled. 2019-11-21T19:56:00.508Z,1574366160.508 [logger ThreadHandler](INFO): Thread cancelled.