2020-01-10T19:57:20.811Z,1578686240.811 [Supervisor](DEBUG): Initializing supervisor.
2020-01-10T19:57:20.814Z,1578686240.814 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2020-01-10T19:57:20.815Z,1578686240.815 [SyncHandler](INFO): Protected caller Thread ID is 9572
2020-01-10T19:57:20.815Z,1578686240.815 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2020-01-10T19:57:20.816Z,1578686240.816 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2020-01-10T19:57:20.817Z,1578686240.817 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 9573
2020-01-10T19:57:20.820Z,1578686240.820 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2020-01-10T19:57:20.832Z,1578686240.832 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2020-01-10T19:57:20.833Z,1578686240.833 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2020-01-10T19:57:20.833Z,1578686240.833 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 9574
2020-01-10T19:57:20.834Z,1578686240.834 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2020-01-10T19:57:20.835Z,1578686240.835 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2020-01-10T19:57:20.835Z,1578686240.835 [logger ThreadHandler](INFO): Protected caller Thread ID is 9575
2020-01-10T19:57:20.837Z,1578686240.837 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2020-01-10T19:57:20.838Z,1578686240.838 [Supervisor](INFO): Looking for Config files in directory: Config/
2020-01-10T19:57:20.839Z,1578686240.839 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2020-01-10T19:57:21.278Z,1578686241.278 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2020-01-10T19:57:21.278Z,1578686241.278 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2020-01-10T19:57:21.374Z,1578686241.374 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2020-01-10T19:57:21.375Z,1578686241.375 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2020-01-10T19:57:21.919Z,1578686241.919 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2020-01-10T19:57:21.919Z,1578686241.919 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2020-01-10T19:57:22.056Z,1578686242.056 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2020-01-10T19:57:22.057Z,1578686242.057 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2020-01-10T19:57:22.245Z,1578686242.245 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2020-01-10T19:57:22.246Z,1578686242.246 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2020-01-10T19:57:22.704Z,1578686242.704 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2020-01-10T19:57:22.705Z,1578686242.705 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2020-01-10T19:57:22.971Z,1578686242.971 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2020-01-10T19:57:22.971Z,1578686242.971 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2020-01-10T19:57:23.278Z,1578686243.278 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2020-01-10T19:57:23.279Z,1578686243.279 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2020-01-10T19:57:23.672Z,1578686243.672 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2020-01-10T19:57:23.673Z,1578686243.673 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2020-01-10T19:57:23.768Z,1578686243.768 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2020-01-10T19:57:23.768Z,1578686243.768 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2020-01-10T19:57:24.070Z,1578686244.070 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2020-01-10T19:57:24.071Z,1578686244.071 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2020-01-10T19:57:24.150Z,1578686244.150 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2020-01-10T19:57:24.253Z,1578686244.253 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2020-01-10T19:57:24.253Z,1578686244.253 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2020-01-10T19:57:24.900Z,1578686244.900 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2020-01-10T19:57:24.901Z,1578686244.901 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2020-01-10T19:57:25.315Z,1578686245.315 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2020-01-10T19:57:25.317Z,1578686245.317 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/
2020-01-10T19:57:25.318Z,1578686245.318 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/vehicle.cfg
2020-01-10T19:57:25.524Z,1578686245.524 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Control.cfg
2020-01-10T19:57:25.622Z,1578686245.622 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/BIT.cfg
2020-01-10T19:57:25.718Z,1578686245.718 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Battery.cfg
2020-01-10T19:57:25.950Z,1578686245.950 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2020-01-10T19:57:25.951Z,1578686245.951 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Simulator.cfg
2020-01-10T19:57:26.034Z,1578686246.034 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Navigation.cfg
2020-01-10T19:57:26.126Z,1578686246.126 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/logger.cfg
2020-01-10T19:57:26.222Z,1578686246.222 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/secure.cfg
2020-01-10T19:57:26.303Z,1578686246.303 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Servo.cfg
2020-01-10T19:57:26.410Z,1578686246.410 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Sensor.cfg
2020-01-10T19:57:26.591Z,1578686246.591 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Science.cfg
2020-01-10T19:57:26.721Z,1578686246.721 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/root/
2020-01-10T19:57:26.721Z,1578686246.721 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2020-01-10T19:57:26.742Z,1578686246.742 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2020-01-10T19:57:27.076Z,1578686247.076 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_orientation
2020-01-10T19:57:27.082Z,1578686247.082 [AHRS_M2](INFO): created writer for : platform_orientation
2020-01-10T19:57:27.083Z,1578686247.083 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_magnetic_orientation
2020-01-10T19:57:27.088Z,1578686247.088 [AHRS_M2](INFO): created writer for : platform_magnetic_orientation
2020-01-10T19:57:27.089Z,1578686247.089 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_pitch_angle
2020-01-10T19:57:27.095Z,1578686247.095 [AHRS_M2](INFO): created writer for : platform_pitch_angle
2020-01-10T19:57:27.095Z,1578686247.095 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_roll_angle
2020-01-10T19:57:27.101Z,1578686247.101 [AHRS_M2](INFO): created writer for : platform_roll_angle
2020-01-10T19:57:27.174Z,1578686247.174 [AHRS_M2] Loaded
2020-01-10T19:57:27.175Z,1578686247.175 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2020-01-10T19:57:27.254Z,1578686247.254 [DataOverHttps] Loaded
2020-01-10T19:57:27.254Z,1578686247.254 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2020-01-10T19:57:27.255Z,1578686247.255 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 4076F4E0
2020-01-10T19:57:27.255Z,1578686247.255 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 9654
2020-01-10T19:57:27.281Z,1578686247.281 [DDM] Loaded
2020-01-10T19:57:27.281Z,1578686247.281 [ComponentRegistry](DEBUG): SyncComponent "DDM" handled in the control thread.
2020-01-10T19:57:27.295Z,1578686247.295 [Depth_Keller] Loaded
2020-01-10T19:57:27.295Z,1578686247.295 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2020-01-10T19:57:27.300Z,1578686247.300 [DropWeight] Loaded
2020-01-10T19:57:27.300Z,1578686247.300 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2020-01-10T19:57:27.364Z,1578686247.364 [DUSBL_Hydroid] Loaded
2020-01-10T19:57:27.364Z,1578686247.364 [ComponentRegistry](DEBUG): SyncComponent "DUSBL_Hydroid" handled in the control thread.
2020-01-10T19:57:27.413Z,1578686247.413 [Micromodem] Loaded
2020-01-10T19:57:27.413Z,1578686247.413 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2020-01-10T19:57:27.515Z,1578686247.515 [NAL9602] Loaded
2020-01-10T19:57:27.515Z,1578686247.515 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2020-01-10T19:57:27.554Z,1578686247.554 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/voltage_now
2020-01-10T19:57:27.555Z,1578686247.555 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/current_now
2020-01-10T19:57:27.555Z,1578686247.555 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/charge_now
2020-01-10T19:57:27.556Z,1578686247.556 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/charge_full
2020-01-10T19:57:27.557Z,1578686247.557 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/voltage_now
2020-01-10T19:57:27.557Z,1578686247.557 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/current_now
2020-01-10T19:57:27.558Z,1578686247.558 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/charge_now
2020-01-10T19:57:27.558Z,1578686247.558 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/charge_full
2020-01-10T19:57:27.558Z,1578686247.558 [Onboard] Loaded
2020-01-10T19:57:27.559Z,1578686247.559 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2020-01-10T19:57:27.565Z,1578686247.565 [PowerOnly] Loaded
2020-01-10T19:57:27.565Z,1578686247.565 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2020-01-10T19:57:27.572Z,1578686247.572 [Radio_Surface] Loaded
2020-01-10T19:57:27.572Z,1578686247.572 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2020-01-10T19:57:27.573Z,1578686247.573 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 4079F4E0
2020-01-10T19:57:27.573Z,1578686247.573 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 9655
2020-01-10T19:57:27.619Z,1578686247.619 [RDI_Pathfinder] Loaded
2020-01-10T19:57:27.619Z,1578686247.619 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2020-01-10T19:57:29.182Z,1578686249.182 [BPC1] Loaded
2020-01-10T19:57:29.182Z,1578686249.182 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2020-01-10T19:57:29.183Z,1578686249.183 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2020-01-10T19:57:29.183Z,1578686249.183 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2020-01-10T19:57:29.226Z,1578686249.226 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2020-01-10T19:57:29.227Z,1578686249.227 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2020-01-10T19:57:29.578Z,1578686249.578 [DeadReckonUsingMultipleVelocitySources] Loaded
2020-01-10T19:57:29.579Z,1578686249.579 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2020-01-10T19:57:29.600Z,1578686249.600 [NavChart] Loaded
2020-01-10T19:57:29.600Z,1578686249.600 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2020-01-10T19:57:29.604Z,1578686249.604 [UniversalFixResidualReporter] Loaded
2020-01-10T19:57:29.605Z,1578686249.605 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2020-01-10T19:57:29.605Z,1578686249.605 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2020-01-10T19:57:29.606Z,1578686249.606 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2020-01-10T19:57:29.850Z,1578686249.850 [BuoyancyServo] Loaded
2020-01-10T19:57:29.850Z,1578686249.850 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2020-01-10T19:57:29.866Z,1578686249.866 [ElevatorServo] Loaded
2020-01-10T19:57:29.866Z,1578686249.866 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2020-01-10T19:57:29.881Z,1578686249.881 [MassServo] Loaded
2020-01-10T19:57:29.881Z,1578686249.881 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2020-01-10T19:57:29.897Z,1578686249.897 [RudderServo] Loaded
2020-01-10T19:57:29.898Z,1578686249.898 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2020-01-10T19:57:29.912Z,1578686249.912 [ThrusterServo] Loaded
2020-01-10T19:57:29.913Z,1578686249.913 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2020-01-10T19:57:30.012Z,1578686250.012 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2020-01-10T19:57:30.012Z,1578686250.012 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2020-01-10T19:57:30.283Z,1578686250.283 [CTD_NeilBrown] Loaded
2020-01-10T19:57:30.283Z,1578686250.283 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2020-01-10T19:57:30.284Z,1578686250.284 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 408F34E0
2020-01-10T19:57:30.284Z,1578686250.284 [CTD_NeilBrown ThreadHandler](INFO): Protected caller Thread ID is 9656
2020-01-10T19:57:30.299Z,1578686250.299 [PAR_Licor] Loaded
2020-01-10T19:57:30.300Z,1578686250.300 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2020-01-10T19:57:30.345Z,1578686250.345 [WetLabsSeaOWL_UV_A] Loaded
2020-01-10T19:57:30.345Z,1578686250.345 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2020-01-10T19:57:30.346Z,1578686250.346 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 409234E0
2020-01-10T19:57:30.347Z,1578686250.347 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 9657
2020-01-10T19:57:30.347Z,1578686250.347 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2020-01-10T19:57:30.348Z,1578686250.348 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2020-01-10T19:57:30.674Z,1578686250.674 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2020-01-10T19:57:30.674Z,1578686250.674 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2020-01-10T19:57:30.716Z,1578686250.716 [DepthRateCalculator] Loaded
2020-01-10T19:57:30.717Z,1578686250.717 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2020-01-10T19:57:30.723Z,1578686250.723 [PitchRateCalculator] Loaded
2020-01-10T19:57:30.723Z,1578686250.723 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2020-01-10T19:57:30.735Z,1578686250.735 [SpeedCalculator] Loaded
2020-01-10T19:57:30.736Z,1578686250.736 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2020-01-10T19:57:30.757Z,1578686250.757 [TempGradientCalculator] Loaded
2020-01-10T19:57:30.758Z,1578686250.758 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2020-01-10T19:57:30.763Z,1578686250.763 [YawRateCalculator] Loaded
2020-01-10T19:57:30.764Z,1578686250.764 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2020-01-10T19:57:30.805Z,1578686250.805 [ElevatorOffsetCalculator] Loaded
2020-01-10T19:57:30.806Z,1578686250.806 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2020-01-10T19:57:30.806Z,1578686250.806 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2020-01-10T19:57:30.807Z,1578686250.807 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2020-01-10T19:57:30.950Z,1578686250.950 [SBIT](DEBUG): Construct Startup Built In Test.
2020-01-10T19:57:30.973Z,1578686250.973 [SBIT] Loaded
2020-01-10T19:57:30.973Z,1578686250.973 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2020-01-10T19:57:30.974Z,1578686250.974 [IBIT](DEBUG): Construct Initiated Built In Test.
2020-01-10T19:57:30.986Z,1578686250.986 [IBIT] Loaded
2020-01-10T19:57:30.987Z,1578686250.987 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2020-01-10T19:57:30.990Z,1578686250.990 [CBIT](DEBUG): Construct Continuous Built In Test.
2020-01-10T19:57:31.133Z,1578686251.133 [CBIT] Loaded
2020-01-10T19:57:31.133Z,1578686251.133 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2020-01-10T19:57:31.134Z,1578686251.134 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2020-01-10T19:57:31.134Z,1578686251.134 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2020-01-10T19:57:31.220Z,1578686251.220 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2020-01-10T19:57:31.221Z,1578686251.221 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2020-01-10T19:57:31.322Z,1578686251.322 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2020-01-10T19:57:31.323Z,1578686251.323 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2020-01-10T19:57:31.372Z,1578686251.372 [VerticalControl](DEBUG): Construct VerticalControl.
2020-01-10T19:57:31.458Z,1578686251.458 [VerticalControl] Loaded
2020-01-10T19:57:31.458Z,1578686251.458 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2020-01-10T19:57:31.459Z,1578686251.459 [HorizontalControl](DEBUG): Construct HorizontalControl.
2020-01-10T19:57:31.532Z,1578686251.532 [HorizontalControl] Loaded
2020-01-10T19:57:31.533Z,1578686251.533 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2020-01-10T19:57:31.533Z,1578686251.533 [SpeedControl](DEBUG): Construct SpeedControl.
2020-01-10T19:57:31.535Z,1578686251.535 [SpeedControl] Loaded
2020-01-10T19:57:31.535Z,1578686251.535 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2020-01-10T19:57:31.536Z,1578686251.536 [LoopControl](DEBUG): Construct LoopControl.
2020-01-10T19:57:31.537Z,1578686251.537 [LoopControl] Loaded
2020-01-10T19:57:31.537Z,1578686251.537 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2020-01-10T19:57:31.537Z,1578686251.537 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2020-01-10T19:57:31.538Z,1578686251.538 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2020-01-10T19:57:31.571Z,1578686251.571 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2020-01-10T19:57:31.575Z,1578686251.575 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2020-01-10T19:57:31.575Z,1578686251.575 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2020-01-10T19:57:31.582Z,1578686251.582 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2020-01-10T19:57:31.583Z,1578686251.583 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40B024E0
2020-01-10T19:57:31.584Z,1578686251.584 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 9658
2020-01-10T19:57:31.588Z,1578686251.588 [Supervisor](INFO): Main Thread ID is 9028
2020-01-10T19:57:31.588Z,1578686251.588 [Supervisor](DEBUG): Running supervisor.
2020-01-10T19:57:31.589Z,1578686251.589 [CommandLine ThreadHandler](INFO): Handler Thread ID is 9659
2020-01-10T19:57:31.591Z,1578686251.591 [controlThread ThreadHandler](INFO): Handler Thread ID is 9660
2020-01-10T19:57:31.592Z,1578686251.592 [controlThread](DEBUG): Initializing ControlThread
2020-01-10T19:57:31.600Z,1578686251.600 [NavChart](DEBUG): Initialize NavChart Navigation.
2020-01-10T19:57:31.600Z,1578686251.600 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2020-01-10T19:57:31.605Z,1578686251.605 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2020-01-10T19:57:31.605Z,1578686251.605 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2020-01-10T19:57:31.606Z,1578686251.606 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2020-01-10T19:57:31.606Z,1578686251.606 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2020-01-10T19:57:31.606Z,1578686251.606 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2020-01-10T19:57:31.607Z,1578686251.607 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2020-01-10T19:57:31.607Z,1578686251.607 [SBIT](INFO): Initialize SBIT Component.
2020-01-10T19:57:31.608Z,1578686251.608 [SBIT](IMPORTANT): git: 2019-12-03-17-g4812c94
2020-01-10T19:57:31.608Z,1578686251.608 [SBIT](INFO): git hash: 4812c9429720da7730f61311b178b42396aebb36
2020-01-10T19:57:31.608Z,1578686251.608 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2020-01-10T19:57:31.610Z,1578686251.610 [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
2020-01-10T19:57:31.611Z,1578686251.611 [SBIT](INFO): Beginning SBIT in 39.000000 seconds.
2020-01-10T19:57:31.612Z,1578686251.612 [IBIT](INFO): Initialize IBIT Component.
2020-01-10T19:57:31.613Z,1578686251.613 [CBIT](DEBUG): Initialize CBIT Component.
2020-01-10T19:57:31.614Z,1578686251.614 [logger ThreadHandler](INFO): Handler Thread ID is 9661
2020-01-10T19:57:31.625Z,1578686251.625 [CBIT](DEBUG): Initialized mux pins.
2020-01-10T19:57:31.625Z,1578686251.625 [CBIT](DEBUG): Initializing the watchdog timer.
2020-01-10T19:57:31.633Z,1578686251.633 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 9662
2020-01-10T19:57:31.634Z,1578686251.634 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2020-01-10T19:57:31.645Z,1578686251.645 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 9663
2020-01-10T19:57:31.649Z,1578686251.649 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2020-01-10T19:57:31.649Z,1578686251.649 [CBIT](DEBUG): Initializing heartbeat.
2020-01-10T19:57:31.657Z,1578686251.657 [CTD_NeilBrown ThreadHandler](INFO): Handler Thread ID is 9664
2020-01-10T19:57:31.658Z,1578686251.658 [CTD_NeilBrown](INFO): Powering down
2020-01-10T19:57:31.685Z,1578686251.685 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 9665
2020-01-10T19:57:31.686Z,1578686251.686 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-01-10T19:57:31.713Z,1578686251.713 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 9666
2020-01-10T19:57:31.716Z,1578686251.716 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2020-01-10T19:57:31.717Z,1578686251.717 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2020-01-10T19:57:31.717Z,1578686251.717 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2020-01-10T19:57:31.717Z,1578686251.717 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2020-01-10T19:57:31.717Z,1578686251.717 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2020-01-10T19:57:31.717Z,1578686251.717 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2020-01-10T19:57:31.718Z,1578686251.718 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2020-01-10T19:57:31.718Z,1578686251.718 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2020-01-10T19:57:31.718Z,1578686251.718 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2020-01-10T19:57:31.718Z,1578686251.718 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2020-01-10T19:57:31.719Z,1578686251.719 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2020-01-10T19:57:31.719Z,1578686251.719 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2020-01-10T19:57:31.719Z,1578686251.719 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2020-01-10T19:57:31.719Z,1578686251.719 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2020-01-10T19:57:31.719Z,1578686251.719 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2020-01-10T19:57:31.719Z,1578686251.719 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2020-01-10T19:57:31.721Z,1578686251.721 [CBIT](DEBUG): Deactivating GF circuits.
2020-01-10T19:57:31.721Z,1578686251.721 [CBIT](DEBUG): Deactivating emergency mode.
2020-01-10T19:57:31.757Z,1578686251.757 [CBIT](DEBUG): Backplane powered.
2020-01-10T19:57:31.757Z,1578686251.757 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2020-01-10T19:57:31.759Z,1578686251.759 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2020-01-10T19:57:31.759Z,1578686251.759 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2020-01-10T19:57:31.760Z,1578686251.760 [LoopControl](DEBUG): Initialize LoopControlComponent.
2020-01-10T19:57:31.761Z,1578686251.761 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2020-01-10T19:57:31.771Z,1578686251.771 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2020-01-10T19:57:31.790Z,1578686251.790 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="Startup">

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

    <Aggregate Id="StartupSatComms">

        <Sequence/>

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

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

    </Aggregate>

</Mission>


2020-01-10T19:57:31.790Z,1578686251.790 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2020-01-10T19:57:31.864Z,1578686251.864 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2020-01-10T19:57:31.866Z,1578686251.866 [Default:A.Wait](DEBUG): Construct Wait.
2020-01-10T19:57:31.867Z,1578686251.867 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2020-01-10T19:57:31.915Z,1578686251.915 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2020-01-10T19:57:31.918Z,1578686251.918 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2020-01-10T19:57:31.938Z,1578686251.938 [Default:E.Execute](DEBUG): Construct Execute.
2020-01-10T19:57:31.961Z,1578686251.961 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
         xmlns="Tethys"
         xmlns:Units="Tethys/Units"
         xmlns:Guidance="Tethys/Guidance"
         xmlns:Universal="Tethys/Universal"
         xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                             Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                             Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                             Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
         Id="Default">

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

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

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

    <Aggregate Id="CheckIn">

        <Sequence Repeat="288"/>

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

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

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

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

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

    </Aggregate>

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

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

</Mission>


2020-01-10T19:57:31.970Z,1578686251.970 [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,
2020-01-10T19:57:31.992Z,1578686251.992 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2020-01-10T19:57:32.025Z,1578686252.025 [DDM](INFO): Powering up
2020-01-10T19:57:32.026Z,1578686252.026 [DDM](DEBUG): Initializing DDM.
2020-01-10T19:57:32.049Z,1578686252.049 [Radio_Surface](INFO): Powering up
2020-01-10T19:57:32.059Z,1578686252.059 [DUSBL_Hydroid](INFO): Powering up
2020-01-10T19:57:32.059Z,1578686252.059 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2020-01-10T19:57:32.238Z,1578686252.238 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2020-01-10T19:57:32.245Z,1578686252.245 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2020-01-10T19:57:32.246Z,1578686252.246 [ElevatorServo](DEBUG): Initializing EZServoServo.
2020-01-10T19:57:32.253Z,1578686252.253 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2020-01-10T19:57:32.254Z,1578686252.254 [MassServo](DEBUG): Initializing EZServoServo.
2020-01-10T19:57:32.265Z,1578686252.265 [MassServo](DEBUG): Initializing MassServo.
2020-01-10T19:57:32.266Z,1578686252.266 [RudderServo](DEBUG): Initializing EZServoServo.
2020-01-10T19:57:32.273Z,1578686252.273 [RudderServo](DEBUG): Initializing RudderServo.
2020-01-10T19:57:32.274Z,1578686252.274 [ThrusterServo](DEBUG): Initializing EZServoServo.
2020-01-10T19:57:32.281Z,1578686252.281 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2020-01-10T19:57:32.490Z,1578686252.490 [DropWeight](CRITICAL): DROP WEIGHT MISSING.

2020-01-10T19:57:32.490Z,1578686252.490 [DropWeight] Hardware Fault, FailCount= 1
2020-01-10T19:57:32.490Z,1578686252.490 [DropWeight](ERROR): Hardware Fault
2020-01-10T19:57:32.492Z,1578686252.492 [Micromodem](INFO): Powering up
2020-01-10T19:57:32.492Z,1578686252.492 [Micromodem](DEBUG): Initializing Micromodem.
2020-01-10T19:57:32.578Z,1578686252.578 [CommandLine](FAULT): Scheduling is paused
2020-01-10T19:57:32.578Z,1578686252.578 [CBIT](INFO): Critical error at 20200110T195732
2020-01-10T19:57:32.578Z,1578686252.578 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2020-01-10T19:57:32.581Z,1578686252.581 [CBIT](ERROR): Hardware Fault in component: DropWeight
2020-01-10T19:57:32.581Z,1578686252.581 [CBIT](CRITICAL): Hardware Fault in component: DropWeight
2020-01-10T19:57:33.149Z,1578686253.149 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2020-01-10T19:57:33.149Z,1578686253.149 [RudderServo](FAULT): Rudder failed to initialize
2020-01-10T19:57:33.149Z,1578686253.149 [RudderServo] Communications Fault, FailCount= 1
2020-01-10T19:57:33.149Z,1578686253.149 [RudderServo](ERROR): Communications Fault
2020-01-10T19:57:33.258Z,1578686253.258 [CBIT](INFO): Critical error at 20200110T195732
2020-01-10T19:57:33.261Z,1578686253.261 [CBIT](ERROR): Communications Fault in component: RudderServo
2020-01-10T19:57:33.434Z,1578686253.434 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-01-10T19:57:33.434Z,1578686253.434 [RudderServo](INFO): Powering down
2020-01-10T19:57:34.131Z,1578686254.131 [RudderServo](DEBUG): Initializing EZServoServo.
2020-01-10T19:57:34.250Z,1578686254.250 [RudderServo](DEBUG): Initializing RudderServo.
2020-01-10T19:57:34.254Z,1578686254.254 [CBIT](INFO): Clearing failed state for component RudderServo
2020-01-10T19:57:34.254Z,1578686254.254 [RudderServo] No Fault, FailCount= 1
2020-01-10T19:57:37.347Z,1578686257.347 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2020-01-10T19:57:39.371Z,1578686259.371 [Micromodem](INFO): Nmea in: $CATMG,2020-01-10T19:57:38.392329Z,RTC,RTC*51

2020-01-10T19:57:39.372Z,1578686259.372 [Micromodem](ERROR): CFG response from modem unexpected: $CATMG,2020-01-10T19:57:38.392329Z,RTC,RTC*51

2020-01-10T19:57:42.577Z,1578686262.577 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2020-01-10T19:57:45.421Z,1578686265.421 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2020-01-10T19:57:48.627Z,1578686268.627 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-10T19:57:49.031Z,1578686269.031 [Micromodem](INFO): Nmea in: $CAERR,195749,NI  ,12,Unknown command*4B

2020-01-10T19:57:49.032Z,1578686269.032 [Micromodem](ERROR): Got error from modem: $CAERR,195749,NI  ,12,Unknown command*4B

2020-01-10T19:57:50.242Z,1578686270.242 [DUSBL_Hydroid](INFO): DUSBL Version:O
2020-01-10T19:57:57.515Z,1578686277.515 [NAL9602](INFO): Powering up NAL9602
2020-01-10T19:57:59.942Z,1578686279.942 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-10T19:58:00.339Z,1578686280.339 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2020-01-10T19:58:00.340Z,1578686280.340 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2020-01-10T19:58:00.751Z,1578686280.751 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2020-01-10T19:58:00.751Z,1578686280.751 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2020-01-10T19:58:01.147Z,1578686281.147 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2020-01-10T19:58:01.148Z,1578686281.148 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2020-01-10T19:58:01.555Z,1578686281.555 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2020-01-10T19:58:01.555Z,1578686281.555 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2020-01-10T19:58:01.958Z,1578686281.958 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2020-01-10T19:58:01.959Z,1578686281.959 [Micromodem](INFO): Nmea out: $CCCFG,FC0,10000*46

2020-01-10T19:58:02.386Z,1578686282.386 [Micromodem](INFO): Nmea in: $CACFG,FC0,10000*44

2020-01-10T19:58:02.386Z,1578686282.386 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2020-01-10T19:58:02.763Z,1578686282.763 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2020-01-10T19:58:02.763Z,1578686282.763 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2020-01-10T19:58:03.171Z,1578686283.171 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2020-01-10T19:58:03.171Z,1578686283.171 [Micromodem](INFO): Nmea out: $CCCLK,2020,01,10,19,58,04*45

2020-01-10T19:58:03.575Z,1578686283.575 [Micromodem](INFO): Nmea in: $CACLK,2020,1,10,19,58,4*47

2020-01-10T19:58:04.383Z,1578686284.383 [Micromodem](INFO): Nmea in: $CATMS,0,2020-01-10T19:58:05Z*76

2020-01-10T19:58:04.430Z,1578686284.430 [Micromodem](INFO): Nmea in: $CATMG,2020-01-10T19:58:05.026442Z,USER_CMD,RTC*17

2020-01-10T19:58:08.420Z,1578686288.420 [NAL9602](INFO): NAL9602 initialized
2020-01-10T19:58:11.366Z,1578686291.366 [SBIT](IMPORTANT): Beginning Startup BIT
2020-01-10T19:58:11.374Z,1578686291.374 [CBIT](IMPORTANT): Beginning ground fault scan
2020-01-10T19:58:16.618Z,1578686296.618 [Micromodem](INFO): Nmea in: $CACYC,1,12,1,1,0,2*6B

2020-01-10T19:58:16.618Z,1578686296.618 [Micromodem](INFO): Have incoming data
2020-01-10T19:58:16.664Z,1578686296.664 [Micromodem](INFO): Nmea in: $CARXD,12,1,0,1,858A1AB878DB70DBE89704525FDC95B5C5FE9F4147C09B083E4A8CE30F9EA23DB7C2EC1A3F0C8416B2D6BA469C63028C955B1EDAD054116D0BA2C541AD2A74E9*5A

2020-01-10T19:58:16.664Z,1578686296.664 [Micromodem](INFO): Frame:1
2020-01-10T19:58:16.664Z,1578686296.664 [Micromodem](INFO): Frame Size:-18
2020-01-10T19:58:16.689Z,1578686296.689 [Micromodem](INFO): Data End:-2
2020-01-10T19:58:16.689Z,1578686296.689 [Micromodem](INFO): Data At:16
2020-01-10T19:58:17.024Z,1578686297.024 [Micromodem](INFO): Nmea in: $CARXD,12,1,0,2,4EEE1310BA042F91D0BD31A76379D458F2E8C122*52

2020-01-10T19:58:17.029Z,1578686297.029 [Micromodem](INFO): Frame:2
2020-01-10T19:58:17.029Z,1578686297.029 [Micromodem](INFO): Frame Size:41
2020-01-10T19:58:17.029Z,1578686297.029 [Micromodem](INFO): Data End:57
2020-01-10T19:58:17.030Z,1578686297.030 [Micromodem](INFO): Data At:16
2020-01-10T19:58:17.030Z,1578686297.030 [Micromodem](INFO): Deserialize. FrameCount:2
2020-01-10T19:58:17.030Z,1578686297.030 [Micromodem](INFO): Outer loop. Size:-18
2020-01-10T19:58:17.030Z,1578686297.030 [Micromodem](INFO): Outer loop. Size:41
2020-01-10T19:58:17.031Z,1578686297.031 [Micromodem](CRITICAL): CRC Error 0x22C1E8F2 != computed 0x-4B65D0F9
2020-01-10T19:58:17.037Z,1578686297.037 [Micromodem](CRITICAL): Failed to parse uplink message:4EEE1310BA042F91D0BD31A76379D458F2E8C122
2020-01-10T19:58:17.086Z,1578686297.086 [Micromodem](INFO): Nmea in: $CACST,6,0,20200110195814.350754,06,1868,32,0142,0150,59,02,02,00,03,1,012,001,0,3,2,0,150,26.2,8.00,00,-5.00,-01,-0.02,24,10000,4000*72

2020-01-10T19:58:17.291Z,1578686297.291 [CBIT](INFO): Critical error at 20200110T195817
2020-01-10T19:58:22.387Z,1578686302.387 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.013287
CHAN A1 (24V): -0.029006
CHAN A2 (12V): -0.007211
CHAN A3 (5V): -0.001898
CHAN B0 (3.3V): 0.000484
CHAN B1 (3.15aV): 0.000258
CHAN B2 (3.15bV): 0.000369
CHAN B3 (GND): 0.002294
OPEN: 0.005005
Full Scale Calc: 4.765 mA, -1.589 mA
2020-01-10T19:58:51.272Z,1578686331.272 [SBIT](FAULT): Rudder: EXPECTED:-15.000000 ACTUAL:-14.975829
2020-01-10T19:58:51.272Z,1578686331.272 [SBIT](FAULT): Control surface position failure.
2020-01-10T19:59:03.428Z,1578686343.428 [NAL9602](INFO): SBD MO Status=2, MOMSN=10156, MT Status=2, MTMSN=0
2020-01-10T19:59:03.428Z,1578686343.428 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2020-01-10T19:59:04.771Z,1578686344.771 [SBIT](FAULT): Rudder: EXPECTED:0.000000 ACTUAL:-0.017595
2020-01-10T19:59:04.771Z,1578686344.771 [SBIT](FAULT): Control surface position failure.
2020-01-10T19:59:05.138Z,1578686345.138 [SBIT](CRITICAL): SBIT FAILED
2020-01-10T19:59:05.174Z,1578686345.174 [CBIT](INFO): Critical error at 20200110T195905
2020-01-10T19:59:05.198Z,1578686345.198 [CommandLine](IMPORTANT): got command configSet list
2020-01-10T19:59:05.199Z,1578686345.199 [CommandLine](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2020-01-10T19:59:05.201Z,1578686345.201 [CommandLine](IMPORTANT): DDM.loadAtStartup=1 bool;

2020-01-10T19:59:05.202Z,1578686345.202 [CommandLine](IMPORTANT): DDM.verbosity=3 count;

2020-01-10T19:59:05.202Z,1578686345.202 [CommandLine](IMPORTANT): DUSBL_Hydroid.detectionThreshold=75 count;

2020-01-10T19:59:05.202Z,1578686345.202 [CommandLine](IMPORTANT): DUSBL_Hydroid.transmitLockout=40 millisecond;

2020-01-10T19:59:05.203Z,1578686345.203 [CommandLine](IMPORTANT): Express linearApproximation DDM.DDMMode 1.000000 count;

2020-01-10T19:59:05.203Z,1578686345.203 [CommandLine](IMPORTANT): Express all DDM.cablePresent;

2020-01-10T19:59:05.203Z,1578686345.203 [CommandLine](IMPORTANT): Express linearApproximation DDM.latchState 1.000000 count;

2020-01-10T19:59:05.203Z,1578686345.203 [CommandLine](IMPORTANT): Express linearApproximation DDM.whiskerState 1.000000 count;

2020-01-10T19:59:05.204Z,1578686345.204 [CommandLine](IMPORTANT): Express linearApproximation DUSBL_Hydroid.acoustic_contact_range 1.000000 meter;

2020-01-10T19:59:05.204Z,1578686345.204 [CommandLine](IMPORTANT): Express linearApproximation DUSBL_Hydroid.xAngle 2.000000 degree;

2020-01-10T19:59:05.204Z,1578686345.204 [CommandLine](IMPORTANT): Express linearApproximation RDI_Pathfinder.height_above_sea_floor 2.000000 meter;

2020-01-10T19:59:05.209Z,1578686345.209 [CommandLine](IMPORTANT): Express linearApproximation platform_orientation 5.000000 degree;

2020-01-10T19:59:05.209Z,1578686345.209 [CommandLine](IMPORTANT): Express linearApproximation platform_x_velocity_wrt_ground 0.100000 meter_per_second;

2020-01-10T19:59:05.210Z,1578686345.210 [CommandLine](IMPORTANT): Express linearApproximation platform_y_velocity_wrt_ground 0.100000 meter_per_second;

2020-01-10T19:59:05.210Z,1578686345.210 [CommandLine](IMPORTANT): HorizontalControl.kiHeading=0.002 reciprocal_second;

2020-01-10T19:59:05.210Z,1578686345.210 [CommandLine](IMPORTANT): HorizontalControl.kpHeading=0.8 none;

2020-01-10T19:59:05.211Z,1578686345.211 [CommandLine](IMPORTANT): HorizontalControl.rudDeadband=0.05 degree;

2020-01-10T19:59:05.211Z,1578686345.211 [CommandLine](IMPORTANT): Micromodem.destinationAddress=12 enum;

2020-01-10T19:59:05.212Z,1578686345.212 [CommandLine](IMPORTANT): Micromodem.surfaceThreshold=0 meter;

2020-01-10T19:59:05.212Z,1578686345.212 [CommandLine](IMPORTANT): PowerOnly.sampleTime=90 second;

2020-01-10T19:59:05.212Z,1578686345.212 [CommandLine](IMPORTANT): RudderServo.deviationAngle=0.0001 degree;

2020-01-10T19:59:05.236Z,1578686345.236 [CommandLine](IMPORTANT): VerticalControl.buoyancyNeutral=105 cubic_centimeter;

2020-01-10T19:59:05.236Z,1578686345.236 [CommandLine](IMPORTANT): VerticalControl.massDefault=-5 millimeter;

2020-01-10T19:59:05.494Z,1578686345.494 [MissionManager](IMPORTANT): Started mission Startup
2020-01-10T19:59:05.495Z,1578686345.495 [Startup] Running Loop=1
2020-01-10T19:59:05.495Z,1578686345.495 [Startup](DEBUG): Aggregate::initialize Startup
2020-01-10T19:59:05.495Z,1578686345.495 [Startup:A.GoToSurface] Running Loop=1
2020-01-10T19:59:05.495Z,1578686345.495 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-10T19:59:05.496Z,1578686345.496 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-10T19:59:05.496Z,1578686345.496 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-10T19:59:05.496Z,1578686345.496 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-10T19:59:05.497Z,1578686345.497 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-10T19:59:05.498Z,1578686345.498 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-10T19:59:05.499Z,1578686345.499 [Startup:StartupSatComms] Running Loop=1
2020-01-10T19:59:05.499Z,1578686345.499 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2020-01-10T19:59:05.499Z,1578686345.499 [Startup:StartupSatComms:A] Running Loop=1
2020-01-10T19:59:06.016Z,1578686346.016 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2020-01-10T19:59:29.689Z,1578686369.689 [NAL9602](INFO): SBD MO Status=2, MOMSN=10156, MT Status=2, MTMSN=0
2020-01-10T19:59:29.689Z,1578686369.689 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2020-01-10T19:59:46.353Z,1578686386.353 [CommandLine](IMPORTANT): got command quit
2020-01-10T19:59:47.357Z,1578686387.357 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-10T19:59:47.357Z,1578686387.357 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-10T19:59:47.425Z,1578686387.425 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2020-01-10T19:59:47.425Z,1578686387.425 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-10T19:59:47.426Z,1578686387.426 [CommandLine](INFO): Join timeout helper Thread ID is 9685
2020-01-10T19:59:47.426Z,1578686387.426 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2020-01-10T19:59:47.426Z,1578686387.426 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-10T19:59:47.427Z,1578686387.427 [NavChartDb](INFO): Join timeout helper Thread ID is 9686
2020-01-10T19:59:47.541Z,1578686387.541 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-10T19:59:47.541Z,1578686387.541 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-10T19:59:47.549Z,1578686387.549 [ComponentRegistry](INFO): Shutting down WetLabsSeaOWL_UV_A ThreadHandler
2020-01-10T19:59:47.549Z,1578686387.549 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-10T19:59:47.549Z,1578686387.549 [WetLabsSeaOWL_UV_A](INFO): Join timeout helper Thread ID is 9687
2020-01-10T19:59:47.921Z,1578686387.921 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-10T19:59:47.921Z,1578686387.921 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-01-10T19:59:47.922Z,1578686387.922 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-10T19:59:47.929Z,1578686387.929 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2020-01-10T19:59:47.929Z,1578686387.929 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-10T19:59:47.929Z,1578686387.929 [CTD_NeilBrown](INFO): Join timeout helper Thread ID is 9688
2020-01-10T19:59:48.089Z,1578686388.089 [CTD_NeilBrown ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-10T19:59:48.089Z,1578686388.089 [CTD_NeilBrown](INFO): Powering down
2020-01-10T19:59:48.101Z,1578686388.101 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-10T19:59:48.113Z,1578686388.113 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2020-01-10T19:59:48.113Z,1578686388.113 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-01-10T19:59:48.113Z,1578686388.113 [Radio_Surface](INFO): Join timeout helper Thread ID is 9689
2020-01-10T19:59:48.225Z,1578686388.225 [Radio_Surface](INFO): Powering down
2020-01-10T19:59:48.226Z,1578686388.226 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-10T19:59:48.226Z,1578686388.226 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-01-10T19:59:48.229Z,1578686388.229 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2020-01-10T19:59:48.234Z,1578686388.234 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2020-01-10T19:59:48.234Z,1578686388.234 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-10T19:59:48.234Z,1578686388.234 [DataOverHttps](INFO): Join timeout helper Thread ID is 9690
2020-01-10T19:59:49.233Z,1578686389.233 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-10T19:59:49.233Z,1578686389.233 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-10T19:59:49.246Z,1578686389.246 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2020-01-10T19:59:49.246Z,1578686389.246 [logger ThreadHandler](INFO): Thread cancelled.
2020-01-10T19:59:49.246Z,1578686389.246 [logger](INFO): Join timeout helper Thread ID is 9691
2020-01-10T19:59:49.257Z,1578686389.257 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-10T19:59:49.257Z,1578686389.257 [logger ThreadHandler](INFO): Thread cancelled.
2020-01-10T19:59:49.265Z,1578686389.265 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2020-01-10T19:59:49.266Z,1578686389.266 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-10T19:59:49.266Z,1578686389.266 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2020-01-10T19:59:49.266Z,1578686389.266 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-01-10T19:59:49.266Z,1578686389.266 [controlThread](INFO): Join timeout helper Thread ID is 9692
2020-01-10T19:59:49.469Z,1578686389.469 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-10T19:59:49.469Z,1578686389.469 [controlThread](DEBUG): Uninitializing ControlThread
2020-01-10T19:59:49.470Z,1578686389.470 [AHRS_M2](INFO): Powering down
2020-01-10T19:59:49.541Z,1578686389.541 [DDM](INFO): Powering down
2020-01-10T19:59:49.634Z,1578686389.634 [DUSBL_Hydroid](INFO): Powering down
2020-01-10T19:59:49.725Z,1578686389.725 [Micromodem](INFO): Powering down
2020-01-10T19:59:49.821Z,1578686389.821 [NAL9602](INFO): Powering down
2020-01-10T19:59:49.893Z,1578686389.893 [RDI_Pathfinder](INFO): Powering down
2020-01-10T19:59:49.895Z,1578686389.895 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2020-01-10T19:59:49.896Z,1578686389.896 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2020-01-10T19:59:49.896Z,1578686389.896 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2020-01-10T19:59:49.897Z,1578686389.897 [MissionManager](INFO): Uninitializing Mission Default
2020-01-10T19:59:49.899Z,1578686389.899 [MissionManager](INFO): Uninitializing Mission Startup
2020-01-10T19:59:49.899Z,1578686389.899 [Startup] Stopped
2020-01-10T19:59:49.899Z,1578686389.899 [Startup](DEBUG): Aggregate::uninitialize Startup
2020-01-10T19:59:49.899Z,1578686389.899 [Startup:A.GoToSurface] Stopped
2020-01-10T19:59:49.899Z,1578686389.899 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-10T19:59:49.899Z,1578686389.899 [Startup:StartupSatComms] Stopped
2020-01-10T19:59:49.900Z,1578686389.900 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2020-01-10T19:59:49.900Z,1578686389.900 [Startup:StartupSatComms:A] Stopped
2020-01-10T19:59:49.901Z,1578686389.901 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2020-01-10T19:59:49.901Z,1578686389.901 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2020-01-10T19:59:49.901Z,1578686389.901 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2020-01-10T19:59:49.902Z,1578686389.902 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2020-01-10T19:59:49.902Z,1578686389.902 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2020-01-10T19:59:49.902Z,1578686389.902 [BuoyancyServo](INFO): Powering down
2020-01-10T19:59:49.917Z,1578686389.917 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2020-01-10T19:59:49.917Z,1578686389.917 [ElevatorServo](INFO): Powering down
2020-01-10T19:59:49.918Z,1578686389.918 [MassServo](DEBUG): Uninitialize Mass Servo.
2020-01-10T19:59:49.918Z,1578686389.918 [MassServo](INFO): Powering down
2020-01-10T19:59:49.919Z,1578686389.919 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-01-10T19:59:49.919Z,1578686389.919 [RudderServo](INFO): Powering down
2020-01-10T19:59:49.919Z,1578686389.919 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2020-01-10T19:59:49.919Z,1578686389.919 [ThrusterServo](INFO): Powering down
2020-01-10T19:59:49.920Z,1578686389.920 [SBIT](DEBUG): Uninitialize SBIT Component.
2020-01-10T19:59:49.921Z,1578686389.921 [IBIT](DEBUG): Uninitialize IBIT Component.
2020-01-10T19:59:49.921Z,1578686389.921 [CBIT](DEBUG): Uninitialize CBIT Component.
2020-01-10T19:59:49.921Z,1578686389.921 [CBIT](DEBUG): Powering off loads.
2020-01-10T19:59:49.933Z,1578686389.933 [CBIT](DEBUG): Disabling WDT.
2020-01-10T19:59:49.945Z,1578686389.945 [CBIT](DEBUG): Opening all GF detection circuits.
2020-01-10T19:59:49.946Z,1578686389.946 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-01-10T19:59:49.990Z,1578686389.990 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-01-10T19:59:50.000Z,1578686390.000 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-10T19:59:50.042Z,1578686390.042 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-10T19:59:50.045Z,1578686390.045 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-10T19:59:50.105Z,1578686390.105 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-10T19:59:50.167Z,1578686390.167 [logger ThreadHandler](INFO): Thread cancelled.