2020-01-13T17:56:06.401Z,1578938166.401 [Supervisor](DEBUG): Initializing supervisor.
2020-01-13T17:56:06.403Z,1578938166.403 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2020-01-13T17:56:06.404Z,1578938166.404 [SyncHandler](INFO): Protected caller Thread ID is 5388
2020-01-13T17:56:06.404Z,1578938166.404 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2020-01-13T17:56:06.405Z,1578938166.405 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2020-01-13T17:56:06.405Z,1578938166.405 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 5389
2020-01-13T17:56:06.408Z,1578938166.408 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2020-01-13T17:56:06.419Z,1578938166.419 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2020-01-13T17:56:06.420Z,1578938166.420 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2020-01-13T17:56:06.421Z,1578938166.421 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 5390
2020-01-13T17:56:06.422Z,1578938166.422 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2020-01-13T17:56:06.422Z,1578938166.422 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2020-01-13T17:56:06.423Z,1578938166.423 [logger ThreadHandler](INFO): Protected caller Thread ID is 5391
2020-01-13T17:56:06.425Z,1578938166.425 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2020-01-13T17:56:06.425Z,1578938166.425 [Supervisor](INFO): Looking for Config files in directory: Config/
2020-01-13T17:56:06.427Z,1578938166.427 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2020-01-13T17:56:06.863Z,1578938166.863 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2020-01-13T17:56:06.864Z,1578938166.864 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2020-01-13T17:56:06.959Z,1578938166.959 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2020-01-13T17:56:06.960Z,1578938166.960 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2020-01-13T17:56:07.272Z,1578938167.272 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2020-01-13T17:56:07.272Z,1578938167.272 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2020-01-13T17:56:07.409Z,1578938167.409 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2020-01-13T17:56:07.409Z,1578938167.409 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2020-01-13T17:56:07.662Z,1578938167.662 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2020-01-13T17:56:07.663Z,1578938167.663 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2020-01-13T17:56:08.108Z,1578938168.108 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2020-01-13T17:56:08.109Z,1578938168.109 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2020-01-13T17:56:08.317Z,1578938168.317 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2020-01-13T17:56:08.317Z,1578938168.317 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2020-01-13T17:56:08.459Z,1578938168.459 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2020-01-13T17:56:08.459Z,1578938168.459 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2020-01-13T17:56:08.645Z,1578938168.645 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2020-01-13T17:56:08.645Z,1578938168.645 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2020-01-13T17:56:08.739Z,1578938168.739 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2020-01-13T17:56:08.739Z,1578938168.739 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2020-01-13T17:56:09.034Z,1578938169.034 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2020-01-13T17:56:09.035Z,1578938169.035 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2020-01-13T17:56:09.114Z,1578938169.114 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2020-01-13T17:56:09.215Z,1578938169.215 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2020-01-13T17:56:09.216Z,1578938169.216 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2020-01-13T17:56:09.846Z,1578938169.846 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2020-01-13T17:56:09.847Z,1578938169.847 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2020-01-13T17:56:10.251Z,1578938170.251 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2020-01-13T17:56:10.253Z,1578938170.253 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/
2020-01-13T17:56:10.254Z,1578938170.254 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/vehicle.cfg
2020-01-13T17:56:10.455Z,1578938170.455 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Control.cfg
2020-01-13T17:56:10.558Z,1578938170.558 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/BIT.cfg
2020-01-13T17:56:10.654Z,1578938170.654 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Battery.cfg
2020-01-13T17:56:10.876Z,1578938170.876 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2020-01-13T17:56:10.877Z,1578938170.877 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Simulator.cfg
2020-01-13T17:56:10.960Z,1578938170.960 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Navigation.cfg
2020-01-13T17:56:11.051Z,1578938171.051 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/logger.cfg
2020-01-13T17:56:11.151Z,1578938171.151 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/secure.cfg
2020-01-13T17:56:11.232Z,1578938171.232 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Servo.cfg
2020-01-13T17:56:11.339Z,1578938171.339 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Sensor.cfg
2020-01-13T17:56:11.536Z,1578938171.536 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Science.cfg
2020-01-13T17:56:11.907Z,1578938171.907 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/root/
2020-01-13T17:56:11.908Z,1578938171.908 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2020-01-13T17:56:11.928Z,1578938171.928 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2020-01-13T17:56:12.760Z,1578938172.760 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_orientation
2020-01-13T17:56:12.765Z,1578938172.765 [AHRS_M2](INFO): created writer for : platform_orientation
2020-01-13T17:56:12.767Z,1578938172.767 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_magnetic_orientation
2020-01-13T17:56:12.772Z,1578938172.772 [AHRS_M2](INFO): created writer for : platform_magnetic_orientation
2020-01-13T17:56:12.772Z,1578938172.772 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_pitch_angle
2020-01-13T17:56:12.777Z,1578938172.777 [AHRS_M2](INFO): created writer for : platform_pitch_angle
2020-01-13T17:56:12.778Z,1578938172.778 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_roll_angle
2020-01-13T17:56:12.783Z,1578938172.783 [AHRS_M2](INFO): created writer for : platform_roll_angle
2020-01-13T17:56:12.850Z,1578938172.850 [AHRS_M2] Loaded
2020-01-13T17:56:12.850Z,1578938172.850 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2020-01-13T17:56:12.928Z,1578938172.928 [DataOverHttps] Loaded
2020-01-13T17:56:12.929Z,1578938172.929 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2020-01-13T17:56:12.930Z,1578938172.930 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 4076F4E0
2020-01-13T17:56:12.930Z,1578938172.930 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 5471
2020-01-13T17:56:12.953Z,1578938172.953 [DDM] Loaded
2020-01-13T17:56:12.953Z,1578938172.953 [ComponentRegistry](DEBUG): SyncComponent "DDM" handled in the control thread.
2020-01-13T17:56:12.966Z,1578938172.966 [Depth_Keller] Loaded
2020-01-13T17:56:12.966Z,1578938172.966 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2020-01-13T17:56:12.970Z,1578938172.970 [DropWeight] Loaded
2020-01-13T17:56:12.971Z,1578938172.971 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2020-01-13T17:56:13.029Z,1578938173.029 [DUSBL_Hydroid] Loaded
2020-01-13T17:56:13.029Z,1578938173.029 [ComponentRegistry](DEBUG): SyncComponent "DUSBL_Hydroid" handled in the control thread.
2020-01-13T17:56:13.075Z,1578938173.075 [Micromodem] Loaded
2020-01-13T17:56:13.075Z,1578938173.075 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2020-01-13T17:56:13.168Z,1578938173.168 [NAL9602] Loaded
2020-01-13T17:56:13.168Z,1578938173.168 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2020-01-13T17:56:13.204Z,1578938173.204 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/voltage_now
2020-01-13T17:56:13.204Z,1578938173.204 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/current_now
2020-01-13T17:56:13.205Z,1578938173.205 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/charge_now
2020-01-13T17:56:13.205Z,1578938173.205 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/charge_full
2020-01-13T17:56:13.206Z,1578938173.206 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/voltage_now
2020-01-13T17:56:13.206Z,1578938173.206 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/current_now
2020-01-13T17:56:13.207Z,1578938173.207 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/charge_now
2020-01-13T17:56:13.207Z,1578938173.207 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/charge_full
2020-01-13T17:56:13.207Z,1578938173.207 [Onboard] Loaded
2020-01-13T17:56:13.208Z,1578938173.208 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2020-01-13T17:56:13.213Z,1578938173.213 [PowerOnly] Loaded
2020-01-13T17:56:13.214Z,1578938173.214 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2020-01-13T17:56:13.220Z,1578938173.220 [Radio_Surface] Loaded
2020-01-13T17:56:13.220Z,1578938173.220 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2020-01-13T17:56:13.221Z,1578938173.221 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 4079F4E0
2020-01-13T17:56:13.222Z,1578938173.222 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 5472
2020-01-13T17:56:13.264Z,1578938173.264 [RDI_Pathfinder] Loaded
2020-01-13T17:56:13.264Z,1578938173.264 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2020-01-13T17:56:14.688Z,1578938174.688 [BPC1] Loaded
2020-01-13T17:56:14.688Z,1578938174.688 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2020-01-13T17:56:14.688Z,1578938174.688 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2020-01-13T17:56:14.689Z,1578938174.689 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2020-01-13T17:56:14.702Z,1578938174.702 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2020-01-13T17:56:14.702Z,1578938174.702 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2020-01-13T17:56:14.803Z,1578938174.803 [DeadReckonUsingMultipleVelocitySources] Loaded
2020-01-13T17:56:14.804Z,1578938174.804 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2020-01-13T17:56:14.823Z,1578938174.823 [NavChart] Loaded
2020-01-13T17:56:14.823Z,1578938174.823 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2020-01-13T17:56:14.827Z,1578938174.827 [UniversalFixResidualReporter] Loaded
2020-01-13T17:56:14.827Z,1578938174.827 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2020-01-13T17:56:14.828Z,1578938174.828 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2020-01-13T17:56:14.828Z,1578938174.828 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2020-01-13T17:56:14.933Z,1578938174.933 [BuoyancyServo] Loaded
2020-01-13T17:56:14.933Z,1578938174.933 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2020-01-13T17:56:14.948Z,1578938174.948 [ElevatorServo] Loaded
2020-01-13T17:56:14.948Z,1578938174.948 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2020-01-13T17:56:14.962Z,1578938174.962 [MassServo] Loaded
2020-01-13T17:56:14.962Z,1578938174.962 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2020-01-13T17:56:14.977Z,1578938174.977 [RudderServo] Loaded
2020-01-13T17:56:14.977Z,1578938174.977 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2020-01-13T17:56:14.992Z,1578938174.992 [ThrusterServo] Loaded
2020-01-13T17:56:14.992Z,1578938174.992 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2020-01-13T17:56:14.992Z,1578938174.992 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2020-01-13T17:56:14.993Z,1578938174.993 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2020-01-13T17:56:15.243Z,1578938175.243 [CTD_NeilBrown] Loaded
2020-01-13T17:56:15.243Z,1578938175.243 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2020-01-13T17:56:15.244Z,1578938175.244 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 408F34E0
2020-01-13T17:56:15.245Z,1578938175.245 [CTD_NeilBrown ThreadHandler](INFO): Protected caller Thread ID is 5473
2020-01-13T17:56:15.259Z,1578938175.259 [PAR_Licor] Loaded
2020-01-13T17:56:15.259Z,1578938175.259 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2020-01-13T17:56:15.302Z,1578938175.302 [WetLabsSeaOWL_UV_A] Loaded
2020-01-13T17:56:15.302Z,1578938175.302 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2020-01-13T17:56:15.303Z,1578938175.303 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 409234E0
2020-01-13T17:56:15.303Z,1578938175.303 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 5474
2020-01-13T17:56:15.304Z,1578938175.304 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2020-01-13T17:56:15.304Z,1578938175.304 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2020-01-13T17:56:15.606Z,1578938175.606 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2020-01-13T17:56:15.606Z,1578938175.606 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2020-01-13T17:56:15.646Z,1578938175.646 [DepthRateCalculator] Loaded
2020-01-13T17:56:15.646Z,1578938175.646 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2020-01-13T17:56:15.652Z,1578938175.652 [PitchRateCalculator] Loaded
2020-01-13T17:56:15.652Z,1578938175.652 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2020-01-13T17:56:15.664Z,1578938175.664 [SpeedCalculator] Loaded
2020-01-13T17:56:15.664Z,1578938175.664 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2020-01-13T17:56:15.684Z,1578938175.684 [TempGradientCalculator] Loaded
2020-01-13T17:56:15.685Z,1578938175.685 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2020-01-13T17:56:15.690Z,1578938175.690 [YawRateCalculator] Loaded
2020-01-13T17:56:15.690Z,1578938175.690 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2020-01-13T17:56:15.729Z,1578938175.729 [ElevatorOffsetCalculator] Loaded
2020-01-13T17:56:15.730Z,1578938175.730 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2020-01-13T17:56:15.730Z,1578938175.730 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2020-01-13T17:56:15.731Z,1578938175.731 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2020-01-13T17:56:15.864Z,1578938175.864 [SBIT](DEBUG): Construct Startup Built In Test.
2020-01-13T17:56:15.884Z,1578938175.884 [SBIT] Loaded
2020-01-13T17:56:15.884Z,1578938175.884 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2020-01-13T17:56:15.885Z,1578938175.885 [IBIT](DEBUG): Construct Initiated Built In Test.
2020-01-13T17:56:15.899Z,1578938175.899 [IBIT] Loaded
2020-01-13T17:56:15.899Z,1578938175.899 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2020-01-13T17:56:15.902Z,1578938175.902 [CBIT](DEBUG): Construct Continuous Built In Test.
2020-01-13T17:56:16.035Z,1578938176.035 [CBIT] Loaded
2020-01-13T17:56:16.036Z,1578938176.036 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2020-01-13T17:56:16.036Z,1578938176.036 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2020-01-13T17:56:16.037Z,1578938176.037 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2020-01-13T17:56:16.116Z,1578938176.116 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2020-01-13T17:56:16.116Z,1578938176.116 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2020-01-13T17:56:16.213Z,1578938176.213 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2020-01-13T17:56:16.213Z,1578938176.213 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2020-01-13T17:56:16.260Z,1578938176.260 [VerticalControl](DEBUG): Construct VerticalControl.
2020-01-13T17:56:16.340Z,1578938176.340 [VerticalControl] Loaded
2020-01-13T17:56:16.341Z,1578938176.341 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2020-01-13T17:56:16.341Z,1578938176.341 [HorizontalControl](DEBUG): Construct HorizontalControl.
2020-01-13T17:56:16.408Z,1578938176.408 [HorizontalControl] Loaded
2020-01-13T17:56:16.408Z,1578938176.408 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2020-01-13T17:56:16.409Z,1578938176.409 [SpeedControl](DEBUG): Construct SpeedControl.
2020-01-13T17:56:16.411Z,1578938176.411 [SpeedControl] Loaded
2020-01-13T17:56:16.411Z,1578938176.411 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2020-01-13T17:56:16.411Z,1578938176.411 [LoopControl](DEBUG): Construct LoopControl.
2020-01-13T17:56:16.412Z,1578938176.412 [LoopControl] Loaded
2020-01-13T17:56:16.412Z,1578938176.412 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2020-01-13T17:56:16.413Z,1578938176.413 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2020-01-13T17:56:16.413Z,1578938176.413 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2020-01-13T17:56:16.445Z,1578938176.445 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2020-01-13T17:56:16.448Z,1578938176.448 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2020-01-13T17:56:16.449Z,1578938176.449 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2020-01-13T17:56:16.456Z,1578938176.456 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2020-01-13T17:56:16.457Z,1578938176.457 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40B024E0
2020-01-13T17:56:16.457Z,1578938176.457 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 5475
2020-01-13T17:56:16.462Z,1578938176.462 [Supervisor](INFO): Main Thread ID is 5387
2020-01-13T17:56:16.462Z,1578938176.462 [Supervisor](DEBUG): Running supervisor.
2020-01-13T17:56:16.463Z,1578938176.463 [CommandLine ThreadHandler](INFO): Handler Thread ID is 5476
2020-01-13T17:56:16.465Z,1578938176.465 [controlThread ThreadHandler](INFO): Handler Thread ID is 5477
2020-01-13T17:56:16.466Z,1578938176.466 [controlThread](DEBUG): Initializing ControlThread
2020-01-13T17:56:16.472Z,1578938176.472 [NavChart](DEBUG): Initialize NavChart Navigation.
2020-01-13T17:56:16.472Z,1578938176.472 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2020-01-13T17:56:16.477Z,1578938176.477 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2020-01-13T17:56:16.477Z,1578938176.477 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2020-01-13T17:56:16.478Z,1578938176.478 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2020-01-13T17:56:16.478Z,1578938176.478 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2020-01-13T17:56:16.479Z,1578938176.479 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2020-01-13T17:56:16.479Z,1578938176.479 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2020-01-13T17:56:16.479Z,1578938176.479 [SBIT](INFO): Initialize SBIT Component.
2020-01-13T17:56:16.480Z,1578938176.480 [SBIT](IMPORTANT): git: 2019-12-03-34-g1420f60
2020-01-13T17:56:16.480Z,1578938176.480 [SBIT](INFO): git hash: 1420f6075bfd9e2317cf67bc08ebc33a04e592a5
2020-01-13T17:56:16.480Z,1578938176.480 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2020-01-13T17:56:16.481Z,1578938176.481 [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
2020-01-13T17:56:16.482Z,1578938176.482 [SBIT](INFO): Beginning SBIT in 39.000000 seconds.
2020-01-13T17:56:16.483Z,1578938176.483 [IBIT](INFO): Initialize IBIT Component.
2020-01-13T17:56:16.484Z,1578938176.484 [CBIT](DEBUG): Initialize CBIT Component.
2020-01-13T17:56:16.485Z,1578938176.485 [logger ThreadHandler](INFO): Handler Thread ID is 5478
2020-01-13T17:56:16.497Z,1578938176.497 [CBIT](DEBUG): Initialized mux pins.
2020-01-13T17:56:16.497Z,1578938176.497 [CBIT](DEBUG): Initializing the watchdog timer.
2020-01-13T17:56:16.505Z,1578938176.505 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 5479
2020-01-13T17:56:16.506Z,1578938176.506 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2020-01-13T17:56:16.517Z,1578938176.517 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 5480
2020-01-13T17:56:16.521Z,1578938176.521 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2020-01-13T17:56:16.521Z,1578938176.521 [CBIT](DEBUG): Initializing heartbeat.
2020-01-13T17:56:16.529Z,1578938176.529 [CTD_NeilBrown ThreadHandler](INFO): Handler Thread ID is 5481
2020-01-13T17:56:16.530Z,1578938176.530 [CTD_NeilBrown](INFO): Powering down
2020-01-13T17:56:16.549Z,1578938176.549 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 5482
2020-01-13T17:56:16.550Z,1578938176.550 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-01-13T17:56:16.585Z,1578938176.585 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 5483
2020-01-13T17:56:16.588Z,1578938176.588 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2020-01-13T17:56:16.588Z,1578938176.588 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2020-01-13T17:56:16.589Z,1578938176.589 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2020-01-13T17:56:16.590Z,1578938176.590 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2020-01-13T17:56:16.590Z,1578938176.590 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2020-01-13T17:56:16.590Z,1578938176.590 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2020-01-13T17:56:16.590Z,1578938176.590 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2020-01-13T17:56:16.590Z,1578938176.590 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2020-01-13T17:56:16.591Z,1578938176.591 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2020-01-13T17:56:16.591Z,1578938176.591 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2020-01-13T17:56:16.591Z,1578938176.591 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2020-01-13T17:56:16.591Z,1578938176.591 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2020-01-13T17:56:16.591Z,1578938176.591 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2020-01-13T17:56:16.591Z,1578938176.591 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2020-01-13T17:56:16.592Z,1578938176.592 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2020-01-13T17:56:16.592Z,1578938176.592 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2020-01-13T17:56:16.593Z,1578938176.593 [CBIT](DEBUG): Deactivating GF circuits.
2020-01-13T17:56:16.593Z,1578938176.593 [CBIT](DEBUG): Deactivating emergency mode.
2020-01-13T17:56:16.629Z,1578938176.629 [CBIT](DEBUG): Backplane powered.
2020-01-13T17:56:16.629Z,1578938176.629 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2020-01-13T17:56:16.631Z,1578938176.631 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2020-01-13T17:56:16.632Z,1578938176.632 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2020-01-13T17:56:16.632Z,1578938176.632 [LoopControl](DEBUG): Initialize LoopControlComponent.
2020-01-13T17:56:16.633Z,1578938176.633 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2020-01-13T17:56:16.643Z,1578938176.643 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2020-01-13T17:56:16.669Z,1578938176.669 [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>


2020-01-13T17:56:16.670Z,1578938176.670 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2020-01-13T17:56:16.728Z,1578938176.728 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2020-01-13T17:56:16.741Z,1578938176.741 [Default:A.Wait](DEBUG): Construct Wait.
2020-01-13T17:56:16.743Z,1578938176.743 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2020-01-13T17:56:16.779Z,1578938176.779 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2020-01-13T17:56:16.781Z,1578938176.781 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2020-01-13T17:56:16.802Z,1578938176.802 [Default:E.Execute](DEBUG): Construct Execute.
2020-01-13T17:56:16.806Z,1578938176.806 [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>


2020-01-13T17:56:16.817Z,1578938176.817 [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,
2020-01-13T17:56:16.829Z,1578938176.829 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2020-01-13T17:56:16.879Z,1578938176.879 [DDM](INFO): Powering up
2020-01-13T17:56:16.879Z,1578938176.879 [DDM](DEBUG): Initializing DDM.
2020-01-13T17:56:16.903Z,1578938176.903 [DUSBL_Hydroid](INFO): Powering up
2020-01-13T17:56:16.903Z,1578938176.903 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2020-01-13T17:56:16.921Z,1578938176.921 [Radio_Surface](INFO): Powering up
2020-01-13T17:56:17.138Z,1578938177.138 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2020-01-13T17:56:17.145Z,1578938177.145 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2020-01-13T17:56:17.146Z,1578938177.146 [ElevatorServo](DEBUG): Initializing EZServoServo.
2020-01-13T17:56:17.153Z,1578938177.153 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2020-01-13T17:56:17.154Z,1578938177.154 [MassServo](DEBUG): Initializing EZServoServo.
2020-01-13T17:56:17.165Z,1578938177.165 [MassServo](DEBUG): Initializing MassServo.
2020-01-13T17:56:17.166Z,1578938177.166 [RudderServo](DEBUG): Initializing EZServoServo.
2020-01-13T17:56:17.173Z,1578938177.173 [RudderServo](DEBUG): Initializing RudderServo.
2020-01-13T17:56:17.174Z,1578938177.174 [ThrusterServo](DEBUG): Initializing EZServoServo.
2020-01-13T17:56:17.181Z,1578938177.181 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2020-01-13T17:56:17.262Z,1578938177.262 [DropWeight](CRITICAL): DROP WEIGHT MISSING.

2020-01-13T17:56:17.262Z,1578938177.262 [DropWeight] Hardware Fault, FailCount= 1
2020-01-13T17:56:17.262Z,1578938177.262 [DropWeight](ERROR): Hardware Fault
2020-01-13T17:56:17.264Z,1578938177.264 [Micromodem](INFO): Powering up
2020-01-13T17:56:17.264Z,1578938177.264 [Micromodem](DEBUG): Initializing Micromodem.
2020-01-13T17:56:17.328Z,1578938177.328 [CommandLine](FAULT): Scheduling is paused
2020-01-13T17:56:17.329Z,1578938177.329 [CBIT](INFO): Critical error at 20200113T175617
2020-01-13T17:56:17.329Z,1578938177.329 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2020-01-13T17:56:17.331Z,1578938177.331 [CBIT](ERROR): Hardware Fault in component: DropWeight
2020-01-13T17:56:17.332Z,1578938177.332 [CBIT](CRITICAL): Hardware Fault in component: DropWeight
2020-01-13T17:56:17.989Z,1578938177.989 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2020-01-13T17:56:17.989Z,1578938177.989 [RudderServo](FAULT): Rudder failed to initialize
2020-01-13T17:56:17.989Z,1578938177.989 [RudderServo] Communications Fault, FailCount= 1
2020-01-13T17:56:17.989Z,1578938177.989 [RudderServo](ERROR): Communications Fault
2020-01-13T17:56:18.122Z,1578938178.122 [CBIT](INFO): Critical error at 20200113T175617
2020-01-13T17:56:18.125Z,1578938178.125 [CBIT](ERROR): Communications Fault in component: RudderServo
2020-01-13T17:56:18.314Z,1578938178.314 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-01-13T17:56:18.314Z,1578938178.314 [RudderServo](INFO): Powering down
2020-01-13T17:56:18.994Z,1578938178.994 [RudderServo](DEBUG): Initializing EZServoServo.
2020-01-13T17:56:19.114Z,1578938179.114 [RudderServo](DEBUG): Initializing RudderServo.
2020-01-13T17:56:19.118Z,1578938179.118 [CBIT](INFO): Clearing failed state for component RudderServo
2020-01-13T17:56:19.118Z,1578938179.118 [RudderServo] No Fault, FailCount= 1
2020-01-13T17:56:22.213Z,1578938182.213 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2020-01-13T17:56:22.616Z,1578938182.616 [Micromodem](INFO): Nmea in: $CATMG,2020-01-13T17:56:22.031380Z,RTC,RTC*5F

2020-01-13T17:56:22.616Z,1578938182.616 [Micromodem](ERROR): CFG response from modem unexpected: $CATMG,2020-01-13T17:56:22.031380Z,RTC,RTC*5F

2020-01-13T17:56:23.035Z,1578938183.035 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2020-01-13T17:56:23.035Z,1578938183.035 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2020-01-13T17:56:23.451Z,1578938183.451 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2020-01-13T17:56:23.451Z,1578938183.451 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2020-01-13T17:56:23.847Z,1578938183.847 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2020-01-13T17:56:23.847Z,1578938183.847 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,3*2C

2020-01-13T17:56:24.247Z,1578938184.247 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,3*2E

2020-01-13T17:56:24.248Z,1578938184.248 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2020-01-13T17:56:24.655Z,1578938184.655 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2020-01-13T17:56:24.655Z,1578938184.655 [Micromodem](INFO): Nmea out: $CCCFG,FC0,10000*46

2020-01-13T17:56:25.043Z,1578938185.043 [Micromodem](INFO): Nmea in: $CACFG,FC0,10000*44

2020-01-13T17:56:25.043Z,1578938185.043 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2020-01-13T17:56:25.467Z,1578938185.467 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2020-01-13T17:56:25.467Z,1578938185.467 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2020-01-13T17:56:25.839Z,1578938185.839 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2020-01-13T17:56:25.840Z,1578938185.840 [Micromodem](INFO): Nmea out: $CCCLK,2020,01,13,17,56,26*46

2020-01-13T17:56:26.281Z,1578938186.281 [Micromodem](INFO): Nmea in: $CACLK,2020,1,13,17,56,26*74

2020-01-13T17:56:26.282Z,1578938186.282 [Micromodem](INFO): Nmea in: $CATMS,0,2020-01-13T17:56:27Z*75

2020-01-13T17:56:26.284Z,1578938186.284 [Micromodem](INFO): Nmea in: $CATMG,2020-01-13T17:56:27.027593Z,USER_CMD,RTC*18

2020-01-13T17:56:27.452Z,1578938187.452 [DDM](INFO): Dynamic Docking Module:F
2020-01-13T17:56:30.300Z,1578938190.300 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2020-01-13T17:56:31.727Z,1578938191.727 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004747
2020-01-13T17:56:34.730Z,1578938194.730 [DUSBL_Hydroid](INFO): DUSBL Version:O
2020-01-13T17:56:43.211Z,1578938203.211 [NAL9602](INFO): Powering up NAL9602
2020-01-13T17:56:54.123Z,1578938214.123 [NAL9602](INFO): NAL9602 initialized
2020-01-13T17:56:56.261Z,1578938216.261 [SBIT](IMPORTANT): Beginning Startup BIT
2020-01-13T17:56:56.277Z,1578938216.277 [CBIT](IMPORTANT): Beginning ground fault scan
2020-01-13T17:57:07.313Z,1578938227.313 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.026613
CHAN A1 (24V): -0.028510
CHAN A2 (12V): -0.007336
CHAN A3 (5V): -0.002322
CHAN B0 (3.3V): -0.000266
CHAN B1 (3.15aV): 0.000261
CHAN B2 (3.15bV): 0.000502
CHAN B3 (GND): 0.001997
OPEN: 0.005389
Full Scale Calc: 4.765 mA, -1.589 mA
2020-01-13T17:57:09.291Z,1578938229.291 [SBIT](FAULT): Rudder: EXPECTED:15.000000 ACTUAL:15.008821
2020-01-13T17:57:15.598Z,1578938235.598 [CommandLine](IMPORTANT): got command show variable range
2020-01-13T17:57:15.600Z,1578938235.600 [CommandLine](IMPORTANT): acoustic_contact_range (unknown)
2020-01-13T17:57:15.739Z,1578938235.739 [CommandLine](IMPORTANT): BR_Ping1D.minRange (meter)
2020-01-13T17:57:15.739Z,1578938235.739 [CommandLine](IMPORTANT): BR_Ping1D.maxRange (meter)
2020-01-13T17:57:15.813Z,1578938235.813 [CommandLine](IMPORTANT): DUSBL_Hydroid.acoustic_contact_range (meter)
2020-01-13T17:57:15.833Z,1578938235.833 [CommandLine](IMPORTANT): Micromodem.range_request (count)
2020-01-13T17:57:15.834Z,1578938235.834 [CommandLine](IMPORTANT): Micromodem.range (meter)
2020-01-13T17:57:15.888Z,1578938235.888 [CommandLine](IMPORTANT): RDI_Pathfinder.Beam1Range (meter)
2020-01-13T17:57:15.893Z,1578938235.893 [CommandLine](IMPORTANT): RDI_Pathfinder.Beam2Range (meter)
2020-01-13T17:57:15.894Z,1578938235.894 [CommandLine](IMPORTANT): RDI_Pathfinder.Beam3Range (meter)
2020-01-13T17:57:15.894Z,1578938235.894 [CommandLine](IMPORTANT): RDI_Pathfinder.Beam4Range (meter)
2020-01-13T17:57:26.975Z,1578938246.975 [CommandLine](IMPORTANT): got command report touch DUSBL_Hydroid.acoustic_contact_range
2020-01-13T17:57:28.755Z,1578938248.755 [CommandLine](IMPORTANT): got command show stack
2020-01-13T17:57:28.755Z,1578938248.755 [CommandLine](IMPORTANT): Behavior Stack:

2020-01-13T17:57:28.755Z,1578938248.755 [MissionManager](IMPORTANT): Mission loaded, but not running.
2020-01-13T17:57:50.307Z,1578938270.307 [SBIT](CRITICAL): SBIT FAILED
2020-01-13T17:57:50.347Z,1578938270.347 [CBIT](INFO): Critical error at 20200113T175750
2020-01-13T17:57:50.381Z,1578938270.381 [CommandLine](IMPORTANT): got command configSet list
2020-01-13T17:57:50.382Z,1578938270.382 [CommandLine](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2020-01-13T17:57:50.383Z,1578938270.383 [CommandLine](IMPORTANT): DDM.loadAtStartup=1 bool;

2020-01-13T17:57:50.383Z,1578938270.383 [CommandLine](IMPORTANT): DDM.verbosity=3 count;

2020-01-13T17:57:50.383Z,1578938270.383 [CommandLine](IMPORTANT): DUSBL_Hydroid.detectionThreshold=75 count;

2020-01-13T17:57:50.383Z,1578938270.383 [CommandLine](IMPORTANT): DUSBL_Hydroid.transmitLockout=40 millisecond;

2020-01-13T17:57:50.383Z,1578938270.383 [CommandLine](IMPORTANT): Express linearApproximation DDM.DDMMode 1.000000 count;

2020-01-13T17:57:50.383Z,1578938270.383 [CommandLine](IMPORTANT): Express all DDM.cablePresent;

2020-01-13T17:57:50.383Z,1578938270.383 [CommandLine](IMPORTANT): Express linearApproximation DDM.latchState 1.000000 count;

2020-01-13T17:57:50.383Z,1578938270.383 [CommandLine](IMPORTANT): Express linearApproximation DDM.whiskerState 1.000000 count;

2020-01-13T17:57:50.383Z,1578938270.383 [CommandLine](IMPORTANT): Express linearApproximation DUSBL_Hydroid.acoustic_contact_range 1.000000 meter;

2020-01-13T17:57:50.384Z,1578938270.384 [CommandLine](IMPORTANT): Express linearApproximation DUSBL_Hydroid.xAngle 2.000000 degree;

2020-01-13T17:57:50.384Z,1578938270.384 [CommandLine](IMPORTANT): Express linearApproximation RDI_Pathfinder.height_above_sea_floor 2.000000 meter;

2020-01-13T17:57:50.384Z,1578938270.384 [CommandLine](IMPORTANT): Express linearApproximation platform_orientation 5.000000 degree;

2020-01-13T17:57:50.384Z,1578938270.384 [CommandLine](IMPORTANT): Express linearApproximation platform_x_velocity_wrt_ground 0.100000 meter_per_second;

2020-01-13T17:57:50.384Z,1578938270.384 [CommandLine](IMPORTANT): Express linearApproximation platform_y_velocity_wrt_ground 0.100000 meter_per_second;

2020-01-13T17:57:50.384Z,1578938270.384 [CommandLine](IMPORTANT): HorizontalControl.kiHeading=0.002 reciprocal_second;

2020-01-13T17:57:50.384Z,1578938270.384 [CommandLine](IMPORTANT): HorizontalControl.kpHeading=0.8 none;

2020-01-13T17:57:50.384Z,1578938270.384 [CommandLine](IMPORTANT): HorizontalControl.rudDeadband=0.05 degree;

2020-01-13T17:57:50.385Z,1578938270.385 [CommandLine](IMPORTANT): Micromodem.destinationAddress=12 enum;

2020-01-13T17:57:50.386Z,1578938270.386 [CommandLine](IMPORTANT): Micromodem.pwrampTXLevel=3 enum;

2020-01-13T17:57:50.386Z,1578938270.386 [CommandLine](IMPORTANT): Micromodem.surfaceThreshold=0 meter;

2020-01-13T17:57:50.386Z,1578938270.386 [CommandLine](IMPORTANT): PowerOnly.sampleTime=90 second;

2020-01-13T17:57:50.386Z,1578938270.386 [CommandLine](IMPORTANT): RudderServo.deviationAngle=0.0001 degree;

2020-01-13T17:57:50.386Z,1578938270.386 [CommandLine](IMPORTANT): VerticalControl.buoyancyNeutral=105 cubic_centimeter;

2020-01-13T17:57:50.386Z,1578938270.386 [CommandLine](IMPORTANT): VerticalControl.massDefault=-5 millimeter;

2020-01-13T17:57:50.714Z,1578938270.714 [MissionManager](IMPORTANT): Started mission Startup
2020-01-13T17:57:50.715Z,1578938270.715 [Startup] Running Loop=1
2020-01-13T17:57:50.715Z,1578938270.715 [Startup](DEBUG): Aggregate::initialize Startup
2020-01-13T17:57:50.715Z,1578938270.715 [Startup:A.GoToSurface] Running Loop=1
2020-01-13T17:57:50.715Z,1578938270.715 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-13T17:57:50.715Z,1578938270.715 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-13T17:57:50.716Z,1578938270.716 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-13T17:57:50.716Z,1578938270.716 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-13T17:57:50.721Z,1578938270.721 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-13T17:57:50.721Z,1578938270.721 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-13T17:57:50.723Z,1578938270.723 [Startup:StartupSatComms] Running Loop=1
2020-01-13T17:57:50.723Z,1578938270.723 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2020-01-13T17:57:50.723Z,1578938270.723 [Startup:StartupSatComms:A] Running Loop=1
2020-01-13T17:57:51.130Z,1578938271.130 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2020-01-13T17:58:10.185Z,1578938290.185 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2020-01-13T17:58:10.185Z,1578938290.185 [RDI_Pathfinder] Communications Fault, FailCount= 1
2020-01-13T17:58:10.185Z,1578938290.185 [RDI_Pathfinder](ERROR): Communications Fault
2020-01-13T17:58:10.185Z,1578938290.185 [RDI_Pathfinder](ERROR): Failed to parse:
2020-01-13T17:58:10.249Z,1578938290.249 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2020-01-13T17:58:10.561Z,1578938290.561 [RDI_Pathfinder](INFO): Powering down
2020-01-13T17:58:11.319Z,1578938291.319 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2020-01-13T17:58:11.319Z,1578938291.319 [RDI_Pathfinder] No Fault, FailCount= 1
2020-01-13T17:58:24.627Z,1578938304.627 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2020-01-13T17:58:37.957Z,1578938317.957 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-13T17:58:37.957Z,1578938317.957 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2020-01-13T17:58:50.936Z,1578938330.936 [Startup:StartupSatComms:A](INFO): Timed out from 2020-01-13T17:57:50.7Z
2020-01-13T17:58:50.936Z,1578938330.936 [Startup:StartupSatComms:A] Stopped
2020-01-13T17:58:50.936Z,1578938330.936 [Startup:StartupSatComms:B] Running Loop=1
2020-01-13T17:58:51.322Z,1578938331.322 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2020-01-13T17:58:52.683Z,1578938332.683 [Micromodem](INFO): Outgoing frame #1, 64 bytes: C9AD1C5E000001005D000004005B0100000000000000151D80030C5669BF3148E2FA22188B6A388EEB0BC45C9E58EC1F659FAAC29EC6B6829A7CC0606A7B8EA6
2020-01-13T17:58:52.683Z,1578938332.683 [Micromodem](INFO): Outgoing frame #2, 64 bytes: AA422B2385EC73C0FABC6B0C6D70893EB78F88D46452A4A3C7E9D8907F12032C01CF700820374B1C8E5D82357819DDFA5B46F5DFA93FEDD106818297EE366BAA
2020-01-13T17:58:52.683Z,1578938332.683 [Micromodem](INFO): Outgoing frame #3, 64 bytes: AA00D29FDC65BFF52DC819E2BA221B06D6E2FEB39AE71943593FE570DD5144565F32B25CA101DA0A4B4807A4B4641DC7A5B1EDACB1B24955E8A044BF7F8A4E5D
2020-01-13T17:58:52.684Z,1578938332.684 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-13T17:58:52.839Z,1578938332.839 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-13T17:58:53.203Z,1578938333.203 [Micromodem](INFO): Nmea in: $CADRQ,175853,1,12,0,64,1*79

2020-01-13T17:58:53.203Z,1578938333.203 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,C9AD1C5E000001005D000004005B0100000000000000151D80030C5669BF3148E2FA22188B6A388EEB0BC45C9E58EC1F659FAAC29EC6B6829A7CC0606A7B8EA6*46

2020-01-13T17:58:53.610Z,1578938333.610 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-13T17:58:54.007Z,1578938334.007 [Micromodem](INFO): Nmea in: $CADRQ,175854,1,12,0,64,2*7D

2020-01-13T17:58:54.007Z,1578938334.007 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,AA422B2385EC73C0FABC6B0C6D70893EB78F88D46452A4A3C7E9D8907F12032C01CF700820374B1C8E5D82357819DDFA5B46F5DFA93FEDD106818297EE366BAA*49

2020-01-13T17:58:54.411Z,1578938334.411 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-13T17:58:54.824Z,1578938334.824 [Micromodem](INFO): Nmea in: $CADRQ,175854,1,12,0,64,3*7C

2020-01-13T17:58:54.826Z,1578938334.826 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,AA00D29FDC65BFF52DC819E2BA221B06D6E2FEB39AE71943593FE570DD5144565F32B25CA101DA0A4B4807A4B4641DC7A5B1EDACB1B24955E8A044BF7F8A4E5D*48

2020-01-13T17:58:55.219Z,1578938335.219 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-13T17:58:55.630Z,1578938335.630 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-13T17:58:59.263Z,1578938339.263 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2020-01-13T17:58:59.645Z,1578938339.645 [DataOverHttps](INFO): Sending 257 bytes from file Logs/20200113T175001/Courier0000.lzma
2020-01-13T17:58:59.678Z,1578938339.678 [Micromodem](INFO): Nmea in: $CAXST,6,20200113,175855.823131,3,0,200,4000,10000,1,1,12,1,3,3,3,192*78

2020-01-13T17:59:01.651Z,1578938341.651 [DataOverHttps](INFO): Moved sent file to Logs/20200113T175001/Courier0000.lzma.bak
2020-01-13T17:59:01.651Z,1578938341.651 [DataOverHttps](INFO): SBD MOMSN=12191278
2020-01-13T17:59:09.485Z,1578938349.485 [CommandLine](IMPORTANT): got command run ./Missions/Maintenance/DUSBL.xml
2020-01-13T17:59:09.486Z,1578938349.486 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/DUSBL.xml
2020-01-13T17:59:09.517Z,1578938349.517 [MissionManager](INFO): DefineArg DUSBL.MissionTimeout = 90.000000 min
2020-01-13T17:59:09.520Z,1578938349.520 [MissionManager](INFO): DefineArg DUSBL.NumberOfRequests = 10.000000 count
2020-01-13T17:59:09.587Z,1578938349.587 [MissionManager](INFO): DefineArg DUSBL.TransponderCode = 2.000000 count
2020-01-13T17:59:09.609Z,1578938349.609 [MissionManager](INFO): DefineArg DUSBL.NumberOfPings = 1.000000 count
2020-01-13T17:59:09.612Z,1578938349.612 [MissionManager](INFO): DefineArg DUSBL.EnabledDUSBL = DUSBL_Hydroid.loadAtStartup
2020-01-13T17:59:09.622Z,1578938349.622 [DUSBL:A.Pitch](DEBUG): Construct.
2020-01-13T17:59:09.650Z,1578938349.650 [DUSBL:B.SetSpeed](DEBUG): Construct.
2020-01-13T17:59:09.670Z,1578938349.670 [DUSBL:RequestRepeater:C.Wait](DEBUG): Construct Wait.
2020-01-13T17:59:09.678Z,1578938349.678 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<!-- ====================
     Generated by TethysL
     ==================== -->
<Mission xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
         xmlns="Tethys"
         xmlns:Units="Tethys/Units"
         xmlns:Guidance="Tethys/Guidance"
         xmlns:Control="Tethys/Control"
         xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                             Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                             Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                             Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd"
       Id="DUSBL">

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

    <DefineArg Name="MissionTimeout"><Description>
        How long to let the mission run.
    </Description><Units:minute/><Value>90</Value></DefineArg>

    <DefineArg Name="NumberOfRequests"><Description>
        Number of pings to requst.
    </Description><Units:count/><Value>10</Value></DefineArg>

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

    <DefineArg Name="NumberOfPings"><Description>
        Number of pings requested each time.
    </Description><Units:count/><Value>1</Value></DefineArg>      
    
    <DefineArg Name="EnabledDUSBL"><Description>
        Automatically set to true if the DUSBL is enabled. Set to false to disable
        reading from the DUSBL.
    </Description><Sensor:DUSBL_Hydroid.loadAtStartup/></DefineArg>    

    <Timeout Duration="MissionTimeout"/>

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

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

    <ReadData>
        <When>
            <Arg Name="EnabledDUSBL"/>
        </When>
            <Universal:acoustic_contact_range/>
            <Universal:acoustic_contact_direction_vehicle_frame/>
    </ReadData>
    
      <Aggregate Id="RequestRepeater">

        <Sequence Repeat="NumberOfRequests"/>
        <Assign><Parallel/><Sensor:DUSBL_Hydroid.transponderCode/><Arg Name="TransponderCode"/></Assign>
        <Assign><Parallel/><Sensor:DUSBL_Hydroid.pingRequested/><Arg Name="NumberOfPings"/></Assign>
          <Guidance:Wait>
            <Sequence/>
            <Setting><Guidance:Wait.duration/><Units:second/><Value>90</Value></Setting>
          </Guidance:Wait>
      </Aggregate>    
</Mission>


2020-01-13T17:59:09.680Z,1578938349.680 [CommandLine](IMPORTANT): Running ./Missions/Maintenance/DUSBL.xml
2020-01-13T17:59:16.717Z,1578938356.717 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2020-01-13T17:59:16.717Z,1578938356.717 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-13T17:59:16.752Z,1578938356.752 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-13T17:59:17.090Z,1578938357.090 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-13T17:59:17.090Z,1578938357.090 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2020-01-13T17:59:20.780Z,1578938360.780 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20200113T175001/Courier0004.lzma
2020-01-13T17:59:22.791Z,1578938362.791 [DataOverHttps](INFO): Moved sent file to Logs/20200113T175001/Courier0004.lzma.bak
2020-01-13T17:59:22.791Z,1578938362.791 [DataOverHttps](INFO): SBD MOMSN=12191284
2020-01-13T17:59:24.791Z,1578938364.791 [CommandLine](IMPORTANT): got command show stack
2020-01-13T17:59:24.791Z,1578938364.791 [CommandLine](IMPORTANT): Behavior Stack:

2020-01-13T17:59:24.791Z,1578938364.791 [Startup](IMPORTANT): Priority 0: Startup:A.GoToSurface
2020-01-13T17:59:24.791Z,1578938364.791 [Startup:StartupSatComms](IMPORTANT): Priority 1: Startup:StartupSatComms:B
2020-01-13T17:59:27.413Z,1578938367.413 [CommandLine](IMPORTANT): got command stop
2020-01-13T17:59:27.414Z,1578938367.414 [CommandLine](IMPORTANT): Scheduling is paused
2020-01-13T17:59:27.414Z,1578938367.414 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2020-01-13T17:59:40.233Z,1578938380.233 [DataOverHttps](INFO): Sending 255 bytes from file Logs/20200113T175606/Courier0000.lzma
2020-01-13T17:59:42.238Z,1578938382.238 [DataOverHttps](INFO): Moved sent file to Logs/20200113T175606/Courier0000.lzma.bak
2020-01-13T17:59:42.238Z,1578938382.238 [DataOverHttps](INFO): SBD MOMSN=12191286
2020-01-13T17:59:51.039Z,1578938391.039 [Startup:StartupSatComms:B](INFO): Timed out from 2020-01-13T17:58:50.9Z
2020-01-13T17:59:51.039Z,1578938391.039 [Startup:StartupSatComms:B] Stopped
2020-01-13T17:59:51.039Z,1578938391.039 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2020-01-13T17:59:51.039Z,1578938391.039 [Startup:StartupSatComms] Stopped
2020-01-13T17:59:51.040Z,1578938391.040 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2020-01-13T17:59:51.040Z,1578938391.040 [Startup](INFO): Completed Startup
2020-01-13T17:59:51.040Z,1578938391.040 [MissionManager](INFO): Startup is completed.
2020-01-13T17:59:51.065Z,1578938391.065 [MissionManager](INFO): Uninitializing Mission Startup
2020-01-13T17:59:51.065Z,1578938391.065 [Startup] Stopped
2020-01-13T17:59:51.065Z,1578938391.065 [Startup](DEBUG): Aggregate::uninitialize Startup
2020-01-13T17:59:51.065Z,1578938391.065 [Startup:A.GoToSurface] Stopped
2020-01-13T17:59:51.065Z,1578938391.065 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-13T17:59:51.431Z,1578938391.431 [MissionManager](IMPORTANT): Started mission DUSBL
2020-01-13T17:59:51.431Z,1578938391.431 [DUSBL] Running Loop=1
2020-01-13T17:59:51.431Z,1578938391.431 [DUSBL](DEBUG): Aggregate::initialize DUSBL
2020-01-13T17:59:51.431Z,1578938391.431 [DUSBL:A.Pitch] Running Loop=1
2020-01-13T17:59:51.431Z,1578938391.431 [DUSBL:A.Pitch](DEBUG): Initialize.
2020-01-13T17:59:51.431Z,1578938391.431 [DUSBL:B.SetSpeed] Running Loop=1
2020-01-13T17:59:51.432Z,1578938391.432 [DUSBL:B.SetSpeed](DEBUG): Initialize.
2020-01-13T17:59:51.432Z,1578938391.432 [DUSBL:C] Running Loop=1
2020-01-13T17:59:51.432Z,1578938391.432 [DUSBL:RequestRepeater] Running Loop=1
2020-01-13T17:59:51.432Z,1578938391.432 [DUSBL:RequestRepeater](DEBUG): Aggregate::initialize DUSBL:RequestRepeater
2020-01-13T17:59:51.432Z,1578938391.432 [DUSBL:RequestRepeater:A] Running Loop=1
2020-01-13T17:59:51.432Z,1578938391.432 [DUSBL:RequestRepeater:B] Running Loop=1
2020-01-13T17:59:51.432Z,1578938391.432 [DUSBL:RequestRepeater:C.Wait] Running Loop=1
2020-01-13T17:59:51.432Z,1578938391.432 [DUSBL:RequestRepeater:C.Wait](DEBUG): Initialize Wait Component.
2020-01-13T17:59:51.433Z,1578938391.433 [DUSBL:RequestRepeater:B] Running Loop=1
2020-01-13T17:59:51.433Z,1578938391.433 [DUSBL:RequestRepeater:A] Running Loop=1
2020-01-13T17:59:51.434Z,1578938391.434 [DUSBL:C](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_range
2020-01-13T17:59:51.435Z,1578938391.435 [DUSBL:C](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_direction_vehicle_frame
2020-01-13T17:59:51.435Z,1578938391.435 [DUSBL:B.SetSpeed] Running Loop=1
2020-01-13T17:59:51.435Z,1578938391.435 [DUSBL:A.Pitch] Running Loop=1
2020-01-13T17:59:51.435Z,1578938391.435 [MissionManager](INFO): MissionManager is completed.
2020-01-13T17:59:51.436Z,1578938391.436 [MissionManager](INFO): Uninitializing Mission DUSBL
2020-01-13T17:59:51.436Z,1578938391.436 [DUSBL] Stopped
2020-01-13T17:59:51.436Z,1578938391.436 [DUSBL](DEBUG): Aggregate::uninitialize DUSBL
2020-01-13T17:59:51.436Z,1578938391.436 [DUSBL:A.Pitch] Stopped
2020-01-13T17:59:51.436Z,1578938391.436 [DUSBL:B.SetSpeed] Stopped
2020-01-13T17:59:51.436Z,1578938391.436 [DUSBL:B.SetSpeed](DEBUG): Uninitialize.
2020-01-13T17:59:51.436Z,1578938391.436 [DUSBL:C] Stopped
2020-01-13T17:59:51.436Z,1578938391.436 [DUSBL:RequestRepeater] Stopped
2020-01-13T17:59:51.436Z,1578938391.436 [DUSBL:RequestRepeater](DEBUG): Aggregate::uninitialize DUSBL:RequestRepeater
2020-01-13T17:59:51.436Z,1578938391.436 [DUSBL:RequestRepeater:A] Stopped
2020-01-13T17:59:51.436Z,1578938391.436 [DUSBL:RequestRepeater:B] Stopped
2020-01-13T17:59:51.436Z,1578938391.436 [DUSBL:RequestRepeater:C.Wait] Stopped
2020-01-13T17:59:51.436Z,1578938391.436 [DUSBL:RequestRepeater:C.Wait](DEBUG): Uninitialize Wait Component.
2020-01-13T17:59:51.828Z,1578938391.828 [MissionManager](IMPORTANT): Started mission Default
2020-01-13T17:59:51.828Z,1578938391.828 [Default] Running Loop=1
2020-01-13T17:59:51.828Z,1578938391.828 [Default](DEBUG): Aggregate::initialize Default
2020-01-13T17:59:51.828Z,1578938391.828 [Default:B.GoToSurface] Running Loop=1
2020-01-13T17:59:51.833Z,1578938391.833 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-13T17:59:51.833Z,1578938391.833 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-13T17:59:51.833Z,1578938391.833 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-13T17:59:51.834Z,1578938391.834 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-13T17:59:51.834Z,1578938391.834 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-13T17:59:51.834Z,1578938391.834 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-13T17:59:51.834Z,1578938391.834 [Default:A.Wait] Running Loop=1
2020-01-13T17:59:51.835Z,1578938391.835 [Default:A.Wait](DEBUG): Initialize Wait Component.
2020-01-13T17:59:57.343Z,1578938397.343 [CommandLine](IMPORTANT): got command run ./Missions/Maintenance/DUSBL.xml
2020-01-13T17:59:57.343Z,1578938397.343 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/DUSBL.xml
2020-01-13T17:59:57.405Z,1578938397.405 [MissionManager](INFO): DefineArg DUSBL.MissionTimeout = 90.000000 min
2020-01-13T17:59:57.407Z,1578938397.407 [MissionManager](INFO): DefineArg DUSBL.NumberOfRequests = 10.000000 count
2020-01-13T17:59:57.414Z,1578938397.414 [MissionManager](INFO): DefineArg DUSBL.TransponderCode = 2.000000 count
2020-01-13T17:59:57.416Z,1578938397.416 [MissionManager](INFO): DefineArg DUSBL.NumberOfPings = 1.000000 count
2020-01-13T17:59:57.477Z,1578938397.477 [MissionManager](INFO): DefineArg DUSBL.EnabledDUSBL = DUSBL_Hydroid.loadAtStartup
2020-01-13T17:59:57.478Z,1578938397.478 [DUSBL:A.Pitch](DEBUG): Construct.
2020-01-13T17:59:57.489Z,1578938397.489 [DUSBL:B.SetSpeed](DEBUG): Construct.
2020-01-13T17:59:57.526Z,1578938397.526 [DUSBL:RequestRepeater:C.Wait](DEBUG): Construct Wait.
2020-01-13T17:59:57.573Z,1578938397.573 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<!-- ====================
     Generated by TethysL
     ==================== -->
<Mission xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
         xmlns="Tethys"
         xmlns:Units="Tethys/Units"
         xmlns:Guidance="Tethys/Guidance"
         xmlns:Control="Tethys/Control"
         xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                             Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                             Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                             Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd"
       Id="DUSBL">

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

    <DefineArg Name="MissionTimeout"><Description>
        How long to let the mission run.
    </Description><Units:minute/><Value>90</Value></DefineArg>

    <DefineArg Name="NumberOfRequests"><Description>
        Number of pings to requst.
    </Description><Units:count/><Value>10</Value></DefineArg>

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

    <DefineArg Name="NumberOfPings"><Description>
        Number of pings requested each time.
    </Description><Units:count/><Value>1</Value></DefineArg>      
    
    <DefineArg Name="EnabledDUSBL"><Description>
        Automatically set to true if the DUSBL is enabled. Set to false to disable
        reading from the DUSBL.
    </Description><Sensor:DUSBL_Hydroid.loadAtStartup/></DefineArg>    

    <Timeout Duration="MissionTimeout"/>

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

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

    <ReadData>
        <When>
            <Arg Name="EnabledDUSBL"/>
        </When>
            <Universal:acoustic_contact_range/>
            <Universal:acoustic_contact_direction_vehicle_frame/>
    </ReadData>
    
      <Aggregate Id="RequestRepeater">

        <Sequence Repeat="NumberOfRequests"/>
        <Assign><Parallel/><Sensor:DUSBL_Hydroid.transponderCode/><Arg Name="TransponderCode"/></Assign>
        <Assign><Parallel/><Sensor:DUSBL_Hydroid.pingRequested/><Arg Name="NumberOfPings"/></Assign>
          <Guidance:Wait>
            <Sequence/>
            <Setting><Guidance:Wait.duration/><Units:second/><Value>90</Value></Setting>
          </Guidance:Wait>
      </Aggregate>    
</Mission>


2020-01-13T17:59:57.575Z,1578938397.575 [CommandLine](IMPORTANT): Running ./Missions/Maintenance/DUSBL.xml
2020-01-13T17:59:58.028Z,1578938398.028 [Default] Stopped
2020-01-13T17:59:58.028Z,1578938398.028 [Default](DEBUG): Aggregate::uninitialize Default
2020-01-13T17:59:58.028Z,1578938398.028 [Default:A.Wait] Stopped
2020-01-13T17:59:58.028Z,1578938398.028 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-13T17:59:58.028Z,1578938398.028 [Default:B.GoToSurface] Stopped
2020-01-13T17:59:58.028Z,1578938398.028 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-13T17:59:58.049Z,1578938398.049 [MissionManager](IMPORTANT): Started mission DUSBL
2020-01-13T17:59:58.050Z,1578938398.050 [DUSBL] Running Loop=1
2020-01-13T17:59:58.050Z,1578938398.050 [DUSBL](DEBUG): Aggregate::initialize DUSBL
2020-01-13T17:59:58.050Z,1578938398.050 [DUSBL:A.Pitch] Running Loop=1
2020-01-13T17:59:58.050Z,1578938398.050 [DUSBL:A.Pitch](DEBUG): Initialize.
2020-01-13T17:59:58.050Z,1578938398.050 [DUSBL:B.SetSpeed] Running Loop=1
2020-01-13T17:59:58.050Z,1578938398.050 [DUSBL:B.SetSpeed](DEBUG): Initialize.
2020-01-13T17:59:58.050Z,1578938398.050 [DUSBL:C] Running Loop=1
2020-01-13T17:59:58.051Z,1578938398.051 [DUSBL:RequestRepeater] Running Loop=1
2020-01-13T17:59:58.051Z,1578938398.051 [DUSBL:RequestRepeater](DEBUG): Aggregate::initialize DUSBL:RequestRepeater
2020-01-13T17:59:58.051Z,1578938398.051 [DUSBL:RequestRepeater:A] Running Loop=1
2020-01-13T17:59:58.051Z,1578938398.051 [DUSBL:RequestRepeater:B] Running Loop=1
2020-01-13T17:59:58.051Z,1578938398.051 [DUSBL:RequestRepeater:C.Wait] Running Loop=1
2020-01-13T17:59:58.051Z,1578938398.051 [DUSBL:RequestRepeater:C.Wait](DEBUG): Initialize Wait Component.
2020-01-13T17:59:58.052Z,1578938398.052 [DUSBL:RequestRepeater:B] Running Loop=1
2020-01-13T17:59:58.052Z,1578938398.052 [DUSBL:RequestRepeater:A] Running Loop=1
2020-01-13T17:59:58.053Z,1578938398.053 [DUSBL:C](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_range
2020-01-13T17:59:58.053Z,1578938398.053 [DUSBL:C](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_direction_vehicle_frame
2020-01-13T17:59:58.053Z,1578938398.053 [DUSBL:B.SetSpeed] Running Loop=1
2020-01-13T17:59:58.054Z,1578938398.054 [DUSBL:A.Pitch] Running Loop=1
2020-01-13T17:59:59.859Z,1578938399.859 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2020-01-13T18:00:00.308Z,1578938400.308 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2020-01-13T18:00:01.076Z,1578938401.076 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180000.82*5D

2020-01-13T18:00:02.459Z,1578938402.459 [DataOverHttps](INFO): Sending 341 bytes from file Logs/20200110T015429/Express0005.lzma
2020-01-13T18:00:03.494Z,1578938403.494 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T18:00:04.308Z,1578938404.308 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2020-01-13T18:00:04.462Z,1578938404.462 [DataOverHttps](INFO): Moved sent file to Logs/20200110T015429/Express0005.lzma.bak
2020-01-13T18:00:04.462Z,1578938404.462 [DataOverHttps](INFO): SBD MOMSN=12191292
2020-01-13T18:00:04.713Z,1578938404.713 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2020-01-13T18:00:05.532Z,1578938405.532 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180005.27*57

2020-01-13T18:00:07.942Z,1578938407.942 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T18:00:08.751Z,1578938408.751 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2020-01-13T18:00:09.160Z,1578938409.160 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2020-01-13T18:00:09.968Z,1578938409.968 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180009.71*58

2020-01-13T18:00:12.086Z,1578938412.086 [CommandLine](IMPORTANT): got command stop
2020-01-13T18:00:12.086Z,1578938412.086 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2020-01-13T18:00:12.388Z,1578938412.388 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T18:00:12.448Z,1578938412.448 [MissionManager](INFO): MissionManager is completed.
2020-01-13T18:00:12.448Z,1578938412.448 [MissionManager](INFO): Uninitializing Mission DUSBL
2020-01-13T18:00:12.448Z,1578938412.448 [DUSBL] Stopped
2020-01-13T18:00:12.448Z,1578938412.448 [DUSBL](DEBUG): Aggregate::uninitialize DUSBL
2020-01-13T18:00:12.448Z,1578938412.448 [DUSBL:A.Pitch] Stopped
2020-01-13T18:00:12.448Z,1578938412.448 [DUSBL:B.SetSpeed] Stopped
2020-01-13T18:00:12.448Z,1578938412.448 [DUSBL:B.SetSpeed](DEBUG): Uninitialize.
2020-01-13T18:00:12.448Z,1578938412.448 [DUSBL:C] Stopped
2020-01-13T18:00:12.448Z,1578938412.448 [DUSBL:RequestRepeater] Stopped
2020-01-13T18:00:12.448Z,1578938412.448 [DUSBL:RequestRepeater](DEBUG): Aggregate::uninitialize DUSBL:RequestRepeater
2020-01-13T18:00:12.448Z,1578938412.448 [DUSBL:RequestRepeater:A] Stopped
2020-01-13T18:00:12.453Z,1578938412.453 [DUSBL:RequestRepeater:B] Stopped
2020-01-13T18:00:12.453Z,1578938412.453 [DUSBL:RequestRepeater:C.Wait] Stopped
2020-01-13T18:00:12.453Z,1578938412.453 [DUSBL:RequestRepeater:C.Wait](DEBUG): Uninitialize Wait Component.
2020-01-13T18:00:12.823Z,1578938412.823 [MissionManager](IMPORTANT): Started mission Default
2020-01-13T18:00:12.823Z,1578938412.823 [Default] Running Loop=1
2020-01-13T18:00:12.823Z,1578938412.823 [Default](DEBUG): Aggregate::initialize Default
2020-01-13T18:00:12.823Z,1578938412.823 [Default:B.GoToSurface] Running Loop=1
2020-01-13T18:00:12.823Z,1578938412.823 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-13T18:00:12.824Z,1578938412.824 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-13T18:00:12.824Z,1578938412.824 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-13T18:00:12.824Z,1578938412.824 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-13T18:00:12.824Z,1578938412.824 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-13T18:00:12.829Z,1578938412.829 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-13T18:00:12.829Z,1578938412.829 [Default:A.Wait] Running Loop=1
2020-01-13T18:00:12.829Z,1578938412.829 [Default:A.Wait](DEBUG): Initialize Wait Component.
2020-01-13T18:00:13.607Z,1578938413.607 [CommandLine](IMPORTANT): got command quit
2020-01-13T18:00:14.613Z,1578938414.613 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-13T18:00:14.613Z,1578938414.613 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-13T18:00:14.805Z,1578938414.805 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2020-01-13T18:00:14.805Z,1578938414.805 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-13T18:00:14.806Z,1578938414.806 [CommandLine](INFO): Join timeout helper Thread ID is 5508
2020-01-13T18:00:14.810Z,1578938414.810 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2020-01-13T18:00:14.810Z,1578938414.810 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-13T18:00:14.812Z,1578938414.812 [NavChartDb](INFO): Join timeout helper Thread ID is 5509
2020-01-13T18:00:14.913Z,1578938414.913 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-13T18:00:14.913Z,1578938414.913 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-13T18:00:14.921Z,1578938414.921 [ComponentRegistry](INFO): Shutting down WetLabsSeaOWL_UV_A ThreadHandler
2020-01-13T18:00:14.921Z,1578938414.921 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-13T18:00:14.921Z,1578938414.921 [WetLabsSeaOWL_UV_A](INFO): Join timeout helper Thread ID is 5510
2020-01-13T18:00:15.013Z,1578938415.013 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-13T18:00:15.013Z,1578938415.013 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-01-13T18:00:15.014Z,1578938415.014 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-13T18:00:15.021Z,1578938415.021 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2020-01-13T18:00:15.021Z,1578938415.021 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-13T18:00:15.021Z,1578938415.021 [CTD_NeilBrown](INFO): Join timeout helper Thread ID is 5511
2020-01-13T18:00:15.213Z,1578938415.213 [CTD_NeilBrown ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-13T18:00:15.214Z,1578938415.214 [CTD_NeilBrown](INFO): Powering down
2020-01-13T18:00:15.225Z,1578938415.225 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-13T18:00:15.226Z,1578938415.226 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2020-01-13T18:00:15.227Z,1578938415.227 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-01-13T18:00:15.227Z,1578938415.227 [Radio_Surface](INFO): Join timeout helper Thread ID is 5512
2020-01-13T18:00:15.385Z,1578938415.385 [Radio_Surface](INFO): Powering down
2020-01-13T18:00:15.386Z,1578938415.386 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-13T18:00:15.386Z,1578938415.386 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-01-13T18:00:15.394Z,1578938415.394 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2020-01-13T18:00:15.394Z,1578938415.394 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-13T18:00:15.394Z,1578938415.394 [DataOverHttps](INFO): Join timeout helper Thread ID is 5513
2020-01-13T18:00:15.505Z,1578938415.505 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-13T18:00:15.506Z,1578938415.506 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-13T18:00:15.517Z,1578938415.517 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2020-01-13T18:00:15.517Z,1578938415.517 [logger ThreadHandler](INFO): Thread cancelled.
2020-01-13T18:00:15.519Z,1578938415.519 [logger](INFO): Join timeout helper Thread ID is 5514
2020-01-13T18:00:15.558Z,1578938415.558 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-13T18:00:15.558Z,1578938415.558 [logger ThreadHandler](INFO): Thread cancelled.
2020-01-13T18:00:15.577Z,1578938415.577 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2020-01-13T18:00:15.578Z,1578938415.578 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-13T18:00:15.578Z,1578938415.578 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2020-01-13T18:00:15.578Z,1578938415.578 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-01-13T18:00:15.578Z,1578938415.578 [controlThread](INFO): Join timeout helper Thread ID is 5515
2020-01-13T18:00:15.601Z,1578938415.601 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-13T18:00:15.601Z,1578938415.601 [controlThread](DEBUG): Uninitializing ControlThread
2020-01-13T18:00:15.602Z,1578938415.602 [AHRS_M2](INFO): Powering down
2020-01-13T18:00:15.673Z,1578938415.673 [DDM](INFO): Powering down
2020-01-13T18:00:15.762Z,1578938415.762 [DUSBL_Hydroid](INFO): Powering down
2020-01-13T18:00:15.833Z,1578938415.833 [Micromodem](INFO): Powering down
2020-01-13T18:00:15.929Z,1578938415.929 [NAL9602](INFO): Powering down
2020-01-13T18:00:16.001Z,1578938416.001 [RDI_Pathfinder](INFO): Powering down
2020-01-13T18:00:16.003Z,1578938416.003 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2020-01-13T18:00:16.004Z,1578938416.004 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2020-01-13T18:00:16.004Z,1578938416.004 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2020-01-13T18:00:16.005Z,1578938416.005 [MissionManager](INFO): Uninitializing Mission Default
2020-01-13T18:00:16.005Z,1578938416.005 [Default] Stopped
2020-01-13T18:00:16.005Z,1578938416.005 [Default](DEBUG): Aggregate::uninitialize Default
2020-01-13T18:00:16.005Z,1578938416.005 [Default:A.Wait] Stopped
2020-01-13T18:00:16.005Z,1578938416.005 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-13T18:00:16.005Z,1578938416.005 [Default:B.GoToSurface] Stopped
2020-01-13T18:00:16.005Z,1578938416.005 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-13T18:00:16.007Z,1578938416.007 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2020-01-13T18:00:16.008Z,1578938416.008 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2020-01-13T18:00:16.008Z,1578938416.008 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2020-01-13T18:00:16.008Z,1578938416.008 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2020-01-13T18:00:16.009Z,1578938416.009 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2020-01-13T18:00:16.009Z,1578938416.009 [BuoyancyServo](INFO): Powering down
2020-01-13T18:00:16.021Z,1578938416.021 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2020-01-13T18:00:16.021Z,1578938416.021 [ElevatorServo](INFO): Powering down
2020-01-13T18:00:16.022Z,1578938416.022 [MassServo](DEBUG): Uninitialize Mass Servo.
2020-01-13T18:00:16.022Z,1578938416.022 [MassServo](INFO): Powering down
2020-01-13T18:00:16.023Z,1578938416.023 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-01-13T18:00:16.023Z,1578938416.023 [RudderServo](INFO): Powering down
2020-01-13T18:00:16.023Z,1578938416.023 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2020-01-13T18:00:16.024Z,1578938416.024 [ThrusterServo](INFO): Powering down
2020-01-13T18:00:16.024Z,1578938416.024 [SBIT](DEBUG): Uninitialize SBIT Component.
2020-01-13T18:00:16.025Z,1578938416.025 [IBIT](DEBUG): Uninitialize IBIT Component.
2020-01-13T18:00:16.025Z,1578938416.025 [CBIT](DEBUG): Uninitialize CBIT Component.
2020-01-13T18:00:16.025Z,1578938416.025 [CBIT](DEBUG): Powering off loads.
2020-01-13T18:00:16.037Z,1578938416.037 [CBIT](DEBUG): Disabling WDT.
2020-01-13T18:00:16.049Z,1578938416.049 [CBIT](DEBUG): Opening all GF detection circuits.
2020-01-13T18:00:16.050Z,1578938416.050 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-01-13T18:00:16.097Z,1578938416.097 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-01-13T18:00:16.107Z,1578938416.107 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-13T18:00:16.148Z,1578938416.148 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-13T18:00:16.151Z,1578938416.151 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-13T18:00:16.208Z,1578938416.208 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-13T18:00:16.267Z,1578938416.267 [logger ThreadHandler](INFO): Thread cancelled.