2020-01-14T00:30:18.843Z,1578961818.843 [Supervisor](DEBUG): Initializing supervisor.
2020-01-14T00:30:18.846Z,1578961818.846 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2020-01-14T00:30:18.847Z,1578961818.847 [SyncHandler](INFO): Protected caller Thread ID is 6203
2020-01-14T00:30:18.847Z,1578961818.847 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2020-01-14T00:30:18.848Z,1578961818.848 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2020-01-14T00:30:18.849Z,1578961818.849 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 6204
2020-01-14T00:30:18.852Z,1578961818.852 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2020-01-14T00:30:18.864Z,1578961818.864 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2020-01-14T00:30:18.865Z,1578961818.865 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2020-01-14T00:30:18.865Z,1578961818.865 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 6205
2020-01-14T00:30:18.866Z,1578961818.866 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2020-01-14T00:30:18.867Z,1578961818.867 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2020-01-14T00:30:18.867Z,1578961818.867 [logger ThreadHandler](INFO): Protected caller Thread ID is 6206
2020-01-14T00:30:18.869Z,1578961818.869 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2020-01-14T00:30:18.869Z,1578961818.869 [Supervisor](INFO): Looking for Config files in directory: Config/
2020-01-14T00:30:18.871Z,1578961818.871 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2020-01-14T00:30:19.298Z,1578961819.298 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2020-01-14T00:30:19.299Z,1578961819.299 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2020-01-14T00:30:19.393Z,1578961819.393 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2020-01-14T00:30:19.394Z,1578961819.394 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2020-01-14T00:30:19.695Z,1578961819.695 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2020-01-14T00:30:19.696Z,1578961819.696 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2020-01-14T00:30:19.829Z,1578961819.829 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2020-01-14T00:30:19.830Z,1578961819.830 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2020-01-14T00:30:20.012Z,1578961820.012 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2020-01-14T00:30:20.012Z,1578961820.012 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2020-01-14T00:30:20.463Z,1578961820.463 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2020-01-14T00:30:20.464Z,1578961820.464 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2020-01-14T00:30:20.668Z,1578961820.668 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2020-01-14T00:30:20.668Z,1578961820.668 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2020-01-14T00:30:20.808Z,1578961820.808 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2020-01-14T00:30:20.808Z,1578961820.808 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2020-01-14T00:30:20.988Z,1578961820.988 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2020-01-14T00:30:20.988Z,1578961820.988 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2020-01-14T00:30:21.082Z,1578961821.082 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2020-01-14T00:30:21.082Z,1578961821.082 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2020-01-14T00:30:21.372Z,1578961821.372 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2020-01-14T00:30:21.372Z,1578961821.372 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2020-01-14T00:30:21.451Z,1578961821.451 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2020-01-14T00:30:21.551Z,1578961821.551 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2020-01-14T00:30:21.551Z,1578961821.551 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2020-01-14T00:30:22.171Z,1578961822.171 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2020-01-14T00:30:22.172Z,1578961822.172 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2020-01-14T00:30:22.570Z,1578961822.570 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2020-01-14T00:30:22.572Z,1578961822.572 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/
2020-01-14T00:30:22.573Z,1578961822.573 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/vehicle.cfg
2020-01-14T00:30:22.770Z,1578961822.770 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Control.cfg
2020-01-14T00:30:22.871Z,1578961822.871 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/BIT.cfg
2020-01-14T00:30:22.965Z,1578961822.965 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Battery.cfg
2020-01-14T00:30:23.188Z,1578961823.188 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2020-01-14T00:30:23.188Z,1578961823.188 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Simulator.cfg
2020-01-14T00:30:23.270Z,1578961823.270 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Navigation.cfg
2020-01-14T00:30:23.360Z,1578961823.360 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/logger.cfg
2020-01-14T00:30:23.460Z,1578961823.460 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/secure.cfg
2020-01-14T00:30:23.540Z,1578961823.540 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Servo.cfg
2020-01-14T00:30:23.647Z,1578961823.647 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Sensor.cfg
2020-01-14T00:30:23.851Z,1578961823.851 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Science.cfg
2020-01-14T00:30:24.137Z,1578961824.137 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/root/
2020-01-14T00:30:24.138Z,1578961824.138 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2020-01-14T00:30:24.152Z,1578961824.152 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2020-01-14T00:30:24.671Z,1578961824.671 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_orientation
2020-01-14T00:30:24.690Z,1578961824.690 [AHRS_M2](INFO): created writer for : platform_orientation
2020-01-14T00:30:24.691Z,1578961824.691 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_magnetic_orientation
2020-01-14T00:30:24.709Z,1578961824.709 [AHRS_M2](INFO): created writer for : platform_magnetic_orientation
2020-01-14T00:30:24.709Z,1578961824.709 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_pitch_angle
2020-01-14T00:30:24.753Z,1578961824.753 [AHRS_M2](INFO): created writer for : platform_pitch_angle
2020-01-14T00:30:24.761Z,1578961824.761 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_roll_angle
2020-01-14T00:30:24.766Z,1578961824.766 [AHRS_M2](INFO): created writer for : platform_roll_angle
2020-01-14T00:30:25.047Z,1578961825.047 [AHRS_M2] Loaded
2020-01-14T00:30:25.047Z,1578961825.047 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2020-01-14T00:30:25.125Z,1578961825.125 [DataOverHttps] Loaded
2020-01-14T00:30:25.125Z,1578961825.125 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2020-01-14T00:30:25.126Z,1578961825.126 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 4076F4E0
2020-01-14T00:30:25.126Z,1578961825.126 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 6285
2020-01-14T00:30:25.150Z,1578961825.150 [DDM] Loaded
2020-01-14T00:30:25.151Z,1578961825.151 [ComponentRegistry](DEBUG): SyncComponent "DDM" handled in the control thread.
2020-01-14T00:30:25.163Z,1578961825.163 [Depth_Keller] Loaded
2020-01-14T00:30:25.164Z,1578961825.164 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2020-01-14T00:30:25.168Z,1578961825.168 [DropWeight] Loaded
2020-01-14T00:30:25.169Z,1578961825.169 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2020-01-14T00:30:25.230Z,1578961825.230 [DUSBL_Hydroid] Loaded
2020-01-14T00:30:25.230Z,1578961825.230 [ComponentRegistry](DEBUG): SyncComponent "DUSBL_Hydroid" handled in the control thread.
2020-01-14T00:30:25.277Z,1578961825.277 [Micromodem] Loaded
2020-01-14T00:30:25.277Z,1578961825.277 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2020-01-14T00:30:25.374Z,1578961825.374 [NAL9602] Loaded
2020-01-14T00:30:25.374Z,1578961825.374 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2020-01-14T00:30:25.411Z,1578961825.411 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/voltage_now
2020-01-14T00:30:25.412Z,1578961825.412 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/current_now
2020-01-14T00:30:25.412Z,1578961825.412 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/charge_now
2020-01-14T00:30:25.413Z,1578961825.413 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/charge_full
2020-01-14T00:30:25.414Z,1578961825.414 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/voltage_now
2020-01-14T00:30:25.414Z,1578961825.414 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/current_now
2020-01-14T00:30:25.414Z,1578961825.414 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/charge_now
2020-01-14T00:30:25.415Z,1578961825.415 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/charge_full
2020-01-14T00:30:25.415Z,1578961825.415 [Onboard] Loaded
2020-01-14T00:30:25.415Z,1578961825.415 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2020-01-14T00:30:25.421Z,1578961825.421 [PowerOnly] Loaded
2020-01-14T00:30:25.422Z,1578961825.422 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2020-01-14T00:30:25.428Z,1578961825.428 [Radio_Surface] Loaded
2020-01-14T00:30:25.428Z,1578961825.428 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2020-01-14T00:30:25.429Z,1578961825.429 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 4079F4E0
2020-01-14T00:30:25.430Z,1578961825.430 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 6286
2020-01-14T00:30:25.473Z,1578961825.473 [RDI_Pathfinder] Loaded
2020-01-14T00:30:25.474Z,1578961825.474 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2020-01-14T00:30:26.942Z,1578961826.942 [BPC1] Loaded
2020-01-14T00:30:26.942Z,1578961826.942 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2020-01-14T00:30:26.943Z,1578961826.943 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2020-01-14T00:30:26.943Z,1578961826.943 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2020-01-14T00:30:26.956Z,1578961826.956 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2020-01-14T00:30:26.957Z,1578961826.957 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2020-01-14T00:30:27.062Z,1578961827.062 [DeadReckonUsingMultipleVelocitySources] Loaded
2020-01-14T00:30:27.062Z,1578961827.062 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2020-01-14T00:30:27.083Z,1578961827.083 [NavChart] Loaded
2020-01-14T00:30:27.083Z,1578961827.083 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2020-01-14T00:30:27.087Z,1578961827.087 [UniversalFixResidualReporter] Loaded
2020-01-14T00:30:27.087Z,1578961827.087 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2020-01-14T00:30:27.088Z,1578961827.088 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2020-01-14T00:30:27.088Z,1578961827.088 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2020-01-14T00:30:27.196Z,1578961827.196 [BuoyancyServo] Loaded
2020-01-14T00:30:27.197Z,1578961827.197 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2020-01-14T00:30:27.212Z,1578961827.212 [ElevatorServo] Loaded
2020-01-14T00:30:27.212Z,1578961827.212 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2020-01-14T00:30:27.227Z,1578961827.227 [MassServo] Loaded
2020-01-14T00:30:27.227Z,1578961827.227 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2020-01-14T00:30:27.242Z,1578961827.242 [RudderServo] Loaded
2020-01-14T00:30:27.242Z,1578961827.242 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2020-01-14T00:30:27.257Z,1578961827.257 [ThrusterServo] Loaded
2020-01-14T00:30:27.257Z,1578961827.257 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2020-01-14T00:30:27.258Z,1578961827.258 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2020-01-14T00:30:27.258Z,1578961827.258 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2020-01-14T00:30:27.516Z,1578961827.516 [CTD_NeilBrown] Loaded
2020-01-14T00:30:27.516Z,1578961827.516 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2020-01-14T00:30:27.517Z,1578961827.517 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 408F34E0
2020-01-14T00:30:27.517Z,1578961827.517 [CTD_NeilBrown ThreadHandler](INFO): Protected caller Thread ID is 6287
2020-01-14T00:30:27.532Z,1578961827.532 [PAR_Licor] Loaded
2020-01-14T00:30:27.532Z,1578961827.532 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2020-01-14T00:30:27.576Z,1578961827.576 [WetLabsSeaOWL_UV_A] Loaded
2020-01-14T00:30:27.576Z,1578961827.576 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2020-01-14T00:30:27.577Z,1578961827.577 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 409234E0
2020-01-14T00:30:27.578Z,1578961827.578 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 6288
2020-01-14T00:30:27.578Z,1578961827.578 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2020-01-14T00:30:27.579Z,1578961827.579 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2020-01-14T00:30:27.893Z,1578961827.893 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2020-01-14T00:30:27.894Z,1578961827.894 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2020-01-14T00:30:27.934Z,1578961827.934 [DepthRateCalculator] Loaded
2020-01-14T00:30:27.935Z,1578961827.935 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2020-01-14T00:30:27.940Z,1578961827.940 [PitchRateCalculator] Loaded
2020-01-14T00:30:27.941Z,1578961827.941 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2020-01-14T00:30:27.953Z,1578961827.953 [SpeedCalculator] Loaded
2020-01-14T00:30:27.953Z,1578961827.953 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2020-01-14T00:30:27.974Z,1578961827.974 [TempGradientCalculator] Loaded
2020-01-14T00:30:27.974Z,1578961827.974 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2020-01-14T00:30:27.980Z,1578961827.980 [YawRateCalculator] Loaded
2020-01-14T00:30:27.980Z,1578961827.980 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2020-01-14T00:30:28.021Z,1578961828.021 [ElevatorOffsetCalculator] Loaded
2020-01-14T00:30:28.021Z,1578961828.021 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2020-01-14T00:30:28.022Z,1578961828.022 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2020-01-14T00:30:28.022Z,1578961828.022 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2020-01-14T00:30:28.160Z,1578961828.160 [SBIT](DEBUG): Construct Startup Built In Test.
2020-01-14T00:30:28.182Z,1578961828.182 [SBIT] Loaded
2020-01-14T00:30:28.182Z,1578961828.182 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2020-01-14T00:30:28.183Z,1578961828.183 [IBIT](DEBUG): Construct Initiated Built In Test.
2020-01-14T00:30:28.195Z,1578961828.195 [IBIT] Loaded
2020-01-14T00:30:28.196Z,1578961828.196 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2020-01-14T00:30:28.199Z,1578961828.199 [CBIT](DEBUG): Construct Continuous Built In Test.
2020-01-14T00:30:28.338Z,1578961828.338 [CBIT] Loaded
2020-01-14T00:30:28.338Z,1578961828.338 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2020-01-14T00:30:28.339Z,1578961828.339 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2020-01-14T00:30:28.339Z,1578961828.339 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2020-01-14T00:30:28.421Z,1578961828.421 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2020-01-14T00:30:28.421Z,1578961828.421 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2020-01-14T00:30:28.519Z,1578961828.519 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2020-01-14T00:30:28.520Z,1578961828.520 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2020-01-14T00:30:28.568Z,1578961828.568 [VerticalControl](DEBUG): Construct VerticalControl.
2020-01-14T00:30:28.652Z,1578961828.652 [VerticalControl] Loaded
2020-01-14T00:30:28.652Z,1578961828.652 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2020-01-14T00:30:28.653Z,1578961828.653 [HorizontalControl](DEBUG): Construct HorizontalControl.
2020-01-14T00:30:28.723Z,1578961828.723 [HorizontalControl] Loaded
2020-01-14T00:30:28.723Z,1578961828.723 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2020-01-14T00:30:28.724Z,1578961828.724 [SpeedControl](DEBUG): Construct SpeedControl.
2020-01-14T00:30:28.725Z,1578961828.725 [SpeedControl] Loaded
2020-01-14T00:30:28.726Z,1578961828.726 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2020-01-14T00:30:28.726Z,1578961828.726 [LoopControl](DEBUG): Construct LoopControl.
2020-01-14T00:30:28.727Z,1578961828.727 [LoopControl] Loaded
2020-01-14T00:30:28.727Z,1578961828.727 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2020-01-14T00:30:28.727Z,1578961828.727 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2020-01-14T00:30:28.728Z,1578961828.728 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2020-01-14T00:30:28.760Z,1578961828.760 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2020-01-14T00:30:28.764Z,1578961828.764 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2020-01-14T00:30:28.765Z,1578961828.765 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2020-01-14T00:30:28.771Z,1578961828.771 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2020-01-14T00:30:28.772Z,1578961828.772 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40B024E0
2020-01-14T00:30:28.773Z,1578961828.773 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 6289
2020-01-14T00:30:28.777Z,1578961828.777 [Supervisor](INFO): Main Thread ID is 6202
2020-01-14T00:30:28.777Z,1578961828.777 [Supervisor](DEBUG): Running supervisor.
2020-01-14T00:30:28.778Z,1578961828.778 [CommandLine ThreadHandler](INFO): Handler Thread ID is 6290
2020-01-14T00:30:28.780Z,1578961828.780 [controlThread ThreadHandler](INFO): Handler Thread ID is 6291
2020-01-14T00:30:28.781Z,1578961828.781 [controlThread](DEBUG): Initializing ControlThread
2020-01-14T00:30:28.789Z,1578961828.789 [NavChart](DEBUG): Initialize NavChart Navigation.
2020-01-14T00:30:28.789Z,1578961828.789 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2020-01-14T00:30:28.793Z,1578961828.793 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2020-01-14T00:30:28.793Z,1578961828.793 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2020-01-14T00:30:28.794Z,1578961828.794 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2020-01-14T00:30:28.794Z,1578961828.794 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2020-01-14T00:30:28.794Z,1578961828.794 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2020-01-14T00:30:28.795Z,1578961828.795 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2020-01-14T00:30:28.795Z,1578961828.795 [SBIT](INFO): Initialize SBIT Component.
2020-01-14T00:30:28.796Z,1578961828.796 [SBIT](IMPORTANT): git: 2019-12-03-34-g1420f60
2020-01-14T00:30:28.796Z,1578961828.796 [SBIT](INFO): git hash: 1420f6075bfd9e2317cf67bc08ebc33a04e592a5
2020-01-14T00:30:28.796Z,1578961828.796 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2020-01-14T00:30:28.798Z,1578961828.798 [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
2020-01-14T00:30:28.799Z,1578961828.799 [SBIT](INFO): Beginning SBIT in 39.000000 seconds.
2020-01-14T00:30:28.799Z,1578961828.799 [IBIT](INFO): Initialize IBIT Component.
2020-01-14T00:30:28.800Z,1578961828.800 [CBIT](DEBUG): Initialize CBIT Component.
2020-01-14T00:30:28.801Z,1578961828.801 [logger ThreadHandler](INFO): Handler Thread ID is 6292
2020-01-14T00:30:28.813Z,1578961828.813 [CBIT](DEBUG): Initialized mux pins.
2020-01-14T00:30:28.813Z,1578961828.813 [CBIT](DEBUG): Initializing the watchdog timer.
2020-01-14T00:30:28.821Z,1578961828.821 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 6293
2020-01-14T00:30:28.822Z,1578961828.822 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2020-01-14T00:30:28.833Z,1578961828.833 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 6294
2020-01-14T00:30:28.837Z,1578961828.837 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2020-01-14T00:30:28.837Z,1578961828.837 [CBIT](DEBUG): Initializing heartbeat.
2020-01-14T00:30:28.845Z,1578961828.845 [CTD_NeilBrown ThreadHandler](INFO): Handler Thread ID is 6295
2020-01-14T00:30:28.846Z,1578961828.846 [CTD_NeilBrown](INFO): Powering down
2020-01-14T00:30:28.873Z,1578961828.873 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 6296
2020-01-14T00:30:28.874Z,1578961828.874 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-01-14T00:30:28.906Z,1578961828.906 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 6297
2020-01-14T00:30:28.909Z,1578961828.909 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2020-01-14T00:30:28.909Z,1578961828.909 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2020-01-14T00:30:28.909Z,1578961828.909 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2020-01-14T00:30:28.909Z,1578961828.909 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2020-01-14T00:30:28.910Z,1578961828.910 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2020-01-14T00:30:28.910Z,1578961828.910 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2020-01-14T00:30:28.910Z,1578961828.910 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2020-01-14T00:30:28.910Z,1578961828.910 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2020-01-14T00:30:28.910Z,1578961828.910 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2020-01-14T00:30:28.911Z,1578961828.911 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2020-01-14T00:30:28.911Z,1578961828.911 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2020-01-14T00:30:28.911Z,1578961828.911 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2020-01-14T00:30:28.911Z,1578961828.911 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2020-01-14T00:30:28.911Z,1578961828.911 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2020-01-14T00:30:28.911Z,1578961828.911 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2020-01-14T00:30:28.912Z,1578961828.912 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2020-01-14T00:30:28.917Z,1578961828.917 [CBIT](DEBUG): Deactivating GF circuits.
2020-01-14T00:30:28.917Z,1578961828.917 [CBIT](DEBUG): Deactivating emergency mode.
2020-01-14T00:30:28.953Z,1578961828.953 [CBIT](DEBUG): Backplane powered.
2020-01-14T00:30:28.953Z,1578961828.953 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2020-01-14T00:30:28.955Z,1578961828.955 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2020-01-14T00:30:28.955Z,1578961828.955 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2020-01-14T00:30:28.956Z,1578961828.956 [LoopControl](DEBUG): Initialize LoopControlComponent.
2020-01-14T00:30:28.957Z,1578961828.957 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2020-01-14T00:30:28.966Z,1578961828.966 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2020-01-14T00:30:28.977Z,1578961828.977 [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>


2020-01-14T00:30:28.978Z,1578961828.978 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2020-01-14T00:30:29.041Z,1578961829.041 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2020-01-14T00:30:29.042Z,1578961829.042 [Default:A.Wait](DEBUG): Construct Wait.
2020-01-14T00:30:29.044Z,1578961829.044 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2020-01-14T00:30:29.074Z,1578961829.074 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2020-01-14T00:30:29.076Z,1578961829.076 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2020-01-14T00:30:29.098Z,1578961829.098 [Default:E.Execute](DEBUG): Construct Execute.
2020-01-14T00:30:29.117Z,1578961829.117 [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>


2020-01-14T00:30:29.122Z,1578961829.122 [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,
2020-01-14T00:30:29.133Z,1578961829.133 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2020-01-14T00:30:29.165Z,1578961829.165 [DDM](INFO): Powering up
2020-01-14T00:30:29.165Z,1578961829.165 [DDM](DEBUG): Initializing DDM.
2020-01-14T00:30:29.191Z,1578961829.191 [DUSBL_Hydroid](INFO): Powering up
2020-01-14T00:30:29.191Z,1578961829.191 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2020-01-14T00:30:29.237Z,1578961829.237 [Radio_Surface](INFO): Powering up
2020-01-14T00:30:29.426Z,1578961829.426 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2020-01-14T00:30:29.433Z,1578961829.433 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2020-01-14T00:30:29.434Z,1578961829.434 [ElevatorServo](DEBUG): Initializing EZServoServo.
2020-01-14T00:30:29.441Z,1578961829.441 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2020-01-14T00:30:29.442Z,1578961829.442 [MassServo](DEBUG): Initializing EZServoServo.
2020-01-14T00:30:29.449Z,1578961829.449 [MassServo](DEBUG): Initializing MassServo.
2020-01-14T00:30:29.450Z,1578961829.450 [RudderServo](DEBUG): Initializing EZServoServo.
2020-01-14T00:30:29.457Z,1578961829.457 [RudderServo](DEBUG): Initializing RudderServo.
2020-01-14T00:30:29.458Z,1578961829.458 [ThrusterServo](DEBUG): Initializing EZServoServo.
2020-01-14T00:30:29.465Z,1578961829.465 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2020-01-14T00:30:29.549Z,1578961829.549 [DropWeight](CRITICAL): DROP WEIGHT MISSING.

2020-01-14T00:30:29.549Z,1578961829.549 [DropWeight] Hardware Fault, FailCount= 1
2020-01-14T00:30:29.549Z,1578961829.549 [DropWeight](ERROR): Hardware Fault
2020-01-14T00:30:29.551Z,1578961829.551 [Micromodem](INFO): Powering up
2020-01-14T00:30:29.551Z,1578961829.551 [Micromodem](DEBUG): Initializing Micromodem.
2020-01-14T00:30:29.640Z,1578961829.640 [CommandLine](FAULT): Scheduling is paused
2020-01-14T00:30:29.640Z,1578961829.640 [CBIT](INFO): Critical error at 20200114T003029
2020-01-14T00:30:29.649Z,1578961829.649 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2020-01-14T00:30:29.651Z,1578961829.651 [CBIT](ERROR): Hardware Fault in component: DropWeight
2020-01-14T00:30:29.651Z,1578961829.651 [CBIT](CRITICAL): Hardware Fault in component: DropWeight
2020-01-14T00:30:30.297Z,1578961830.297 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2020-01-14T00:30:30.297Z,1578961830.297 [RudderServo](FAULT): Rudder failed to initialize
2020-01-14T00:30:30.297Z,1578961830.297 [RudderServo] Communications Fault, FailCount= 1
2020-01-14T00:30:30.297Z,1578961830.297 [RudderServo](ERROR): Communications Fault
2020-01-14T00:30:30.406Z,1578961830.406 [CBIT](INFO): Critical error at 20200114T003029
2020-01-14T00:30:30.409Z,1578961830.409 [CBIT](ERROR): Communications Fault in component: RudderServo
2020-01-14T00:30:30.622Z,1578961830.622 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-01-14T00:30:30.622Z,1578961830.622 [RudderServo](INFO): Powering down
2020-01-14T00:30:31.283Z,1578961831.283 [RudderServo](DEBUG): Initializing EZServoServo.
2020-01-14T00:30:31.402Z,1578961831.402 [RudderServo](DEBUG): Initializing RudderServo.
2020-01-14T00:30:31.406Z,1578961831.406 [CBIT](INFO): Clearing failed state for component RudderServo
2020-01-14T00:30:31.406Z,1578961831.406 [RudderServo] No Fault, FailCount= 1
2020-01-14T00:30:34.501Z,1578961834.501 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2020-01-14T00:30:34.903Z,1578961834.903 [Micromodem](INFO): Nmea in: $CATMG,2020-01-14T00:30:34.310066Z,RTC,RTC*52

2020-01-14T00:30:34.904Z,1578961834.904 [Micromodem](ERROR): CFG response from modem unexpected: $CATMG,2020-01-14T00:30:34.310066Z,RTC,RTC*52

2020-01-14T00:30:35.307Z,1578961835.307 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2020-01-14T00:30:35.308Z,1578961835.308 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2020-01-14T00:30:35.723Z,1578961835.723 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2020-01-14T00:30:35.723Z,1578961835.723 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2020-01-14T00:30:36.119Z,1578961836.119 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2020-01-14T00:30:36.119Z,1578961836.119 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2020-01-14T00:30:36.523Z,1578961836.523 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2020-01-14T00:30:36.523Z,1578961836.523 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2020-01-14T00:30:36.935Z,1578961836.935 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2020-01-14T00:30:36.935Z,1578961836.935 [Micromodem](INFO): Nmea out: $CCCFG,FC0,10000*46

2020-01-14T00:30:37.323Z,1578961837.323 [Micromodem](INFO): Nmea in: $CACFG,FC0,10000*44

2020-01-14T00:30:37.323Z,1578961837.323 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2020-01-14T00:30:37.727Z,1578961837.727 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2020-01-14T00:30:37.727Z,1578961837.727 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2020-01-14T00:30:38.110Z,1578961838.110 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2020-01-14T00:30:38.111Z,1578961838.111 [Micromodem](INFO): Nmea out: $CCCLK,2020,01,14,00,30,39*49

2020-01-14T00:30:38.516Z,1578961838.516 [Micromodem](INFO): Nmea in: $CACLK,2020,1,14,0,30,39*4B

2020-01-14T00:30:38.538Z,1578961838.538 [Micromodem](INFO): Nmea in: $CATMS,0,2020-01-14T00:30:40Z*75

2020-01-14T00:30:38.540Z,1578961838.540 [Micromodem](INFO): Nmea in: $CATMG,2020-01-14T00:30:40.026684Z,USER_CMD,RTC*1C

2020-01-14T00:30:39.724Z,1578961839.724 [DDM](INFO): Dynamic Docking Module:ƒ’I
2020-01-14T00:30:42.580Z,1578961842.580 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2020-01-14T00:30:43.562Z,1578961843.562 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004415
2020-01-14T00:30:47.402Z,1578961847.402 [DUSBL_Hydroid](INFO): DUSBL Version:O
2020-01-14T00:30:55.471Z,1578961855.471 [NAL9602](INFO): Powering up NAL9602
2020-01-14T00:31:06.383Z,1578961866.383 [NAL9602](INFO): NAL9602 initialized
2020-01-14T00:31:08.521Z,1578961868.521 [SBIT](IMPORTANT): Beginning Startup BIT
2020-01-14T00:31:08.536Z,1578961868.536 [CBIT](IMPORTANT): Beginning ground fault scan
2020-01-14T00:31:19.620Z,1578961879.620 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.011161
CHAN A1 (24V): -0.029465
CHAN A2 (12V): -0.007291
CHAN A3 (5V): -0.002307
CHAN B0 (3.3V): 0.000317
CHAN B1 (3.15aV): -0.000122
CHAN B2 (3.15bV): 0.000207
CHAN B3 (GND): 0.001904
OPEN: 0.005229
Full Scale Calc: 4.765 mA, -1.589 mA
2020-01-14T00:31:21.571Z,1578961881.571 [SBIT](FAULT): Rudder: EXPECTED:15.000000 ACTUAL:15.008821
2020-01-14T00:31:30.936Z,1578961890.936 [NAL9602](INFO): SBD MO Status=2, MOMSN=10159, MT Status=2, MTMSN=0
2020-01-14T00:31:30.936Z,1578961890.936 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2020-01-14T00:31:46.720Z,1578961906.720 [NAL9602](INFO): SBD MO Status=2, MOMSN=10159, MT Status=2, MTMSN=0
2020-01-14T00:31:46.720Z,1578961906.720 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2020-01-14T00:31:47.115Z,1578961907.115 [CommandLine](IMPORTANT): got command failComponent hardware Micromodem
2020-01-14T00:31:47.115Z,1578961907.115 [Micromodem] Hardware Fault, FailCount= 1
2020-01-14T00:31:47.115Z,1578961907.115 [Micromodem](ERROR): Hardware Fault
2020-01-14T00:31:47.116Z,1578961907.116 [CommandLine](IMPORTANT): Micromodem failureMode is Hardware Fault
2020-01-14T00:31:47.126Z,1578961907.126 [Micromodem](INFO): Powering down
2020-01-14T00:31:47.362Z,1578961907.362 [CBIT](ERROR): Hardware Fault in component: Micromodem
2020-01-14T00:31:48.031Z,1578961908.031 [SBIT](FAULT): Rudder: EXPECTED:-15.000000 ACTUAL:-15.011020
2020-01-14T00:31:48.031Z,1578961908.031 [SBIT](FAULT): Control surface position failure.
2020-01-14T00:31:48.038Z,1578961908.038 [CBIT](INFO): Clearing failed state for component Micromodem
2020-01-14T00:31:48.038Z,1578961908.038 [Micromodem] No Fault, FailCount= 1
2020-01-14T00:31:50.874Z,1578961910.874 [Micromodem](INFO): Powering up
2020-01-14T00:31:50.874Z,1578961910.874 [Micromodem](DEBUG): Initializing Micromodem.
2020-01-14T00:31:55.720Z,1578961915.720 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2020-01-14T00:31:56.127Z,1578961916.127 [Micromodem](INFO): Nmea in: $CATMG,2020-01-14T00:31:56.623261Z,RTC,RTC*57

2020-01-14T00:31:56.127Z,1578961916.127 [Micromodem](ERROR): CFG response from modem unexpected: $CATMG,2020-01-14T00:31:56.623261Z,RTC,RTC*57

2020-01-14T00:31:56.527Z,1578961916.527 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2020-01-14T00:31:56.527Z,1578961916.527 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2020-01-14T00:31:56.931Z,1578961916.931 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2020-01-14T00:31:56.931Z,1578961916.931 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2020-01-14T00:31:57.342Z,1578961917.342 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2020-01-14T00:31:57.342Z,1578961917.342 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2020-01-14T00:31:57.748Z,1578961917.748 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2020-01-14T00:31:57.748Z,1578961917.748 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2020-01-14T00:31:57.773Z,1578961917.773 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-14T00:31:57.773Z,1578961917.773 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,200177,35.0, -0.1,   0.0,1448.9A,  0.00,   0.00,   0.00,   0.00
2020-01-14T00:31:58.147Z,1578961918.147 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2020-01-14T00:31:58.147Z,1578961918.147 [Micromodem](INFO): Nmea out: $CCCFG,FC0,10000*46

2020-01-14T00:31:58.547Z,1578961918.547 [Micromodem](INFO): Nmea in: $CACFG,FC0,10000*44

2020-01-14T00:31:58.547Z,1578961918.547 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2020-01-14T00:31:58.951Z,1578961918.951 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2020-01-14T00:31:58.951Z,1578961918.951 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2020-01-14T00:31:59.359Z,1578961919.359 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2020-01-14T00:31:59.359Z,1578961919.359 [Micromodem](INFO): Nmea out: $CCCLK,2020,01,14,00,32,00*41

2020-01-14T00:31:59.763Z,1578961919.763 [Micromodem](INFO): Nmea in: $CACLK,2020,1,14,0,32,0*73

2020-01-14T00:32:00.571Z,1578961920.571 [Micromodem](INFO): Nmea in: $CATMS,0,2020-01-14T00:32:01Z*72

2020-01-14T00:32:00.572Z,1578961920.572 [Micromodem](INFO): Nmea in: $CATMG,2020-01-14T00:32:01.027346Z,USER_CMD,RTC*11

2020-01-14T00:32:02.224Z,1578961922.224 [SBIT](CRITICAL): SBIT FAILED
2020-01-14T00:32:02.265Z,1578961922.265 [CommandLine](IMPORTANT): got command configSet list
2020-01-14T00:32:02.265Z,1578961922.265 [CommandLine](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2020-01-14T00:32:02.266Z,1578961922.266 [CommandLine](IMPORTANT): DDM.loadAtStartup=1 bool;

2020-01-14T00:32:02.266Z,1578961922.266 [CommandLine](IMPORTANT): DDM.verbosity=3 count;

2020-01-14T00:32:02.266Z,1578961922.266 [CommandLine](IMPORTANT): DUSBL_Hydroid.detectionThreshold=25 count;

2020-01-14T00:32:02.266Z,1578961922.266 [CommandLine](IMPORTANT): DUSBL_Hydroid.transmitLockout=40 millisecond;

2020-01-14T00:32:02.266Z,1578961922.266 [CommandLine](IMPORTANT): Express linearApproximation DDM.DDMMode 1.000000 count;

2020-01-14T00:32:02.266Z,1578961922.266 [CommandLine](IMPORTANT): Express all DDM.cablePresent;

2020-01-14T00:32:02.267Z,1578961922.267 [CommandLine](IMPORTANT): HorizontalControl.kiHeading=0.002 reciprocal_second;

2020-01-14T00:32:02.267Z,1578961922.267 [CommandLine](IMPORTANT): HorizontalControl.kpHeading=0.8 none;

2020-01-14T00:32:02.267Z,1578961922.267 [CommandLine](IMPORTANT): HorizontalControl.rudDeadband=0.05 degree;

2020-01-14T00:32:02.267Z,1578961922.267 [CommandLine](IMPORTANT): Micromodem.destinationAddress=12 enum;

2020-01-14T00:32:02.267Z,1578961922.267 [CommandLine](IMPORTANT): Micromodem.sendExpress=1 bool;

2020-01-14T00:32:02.267Z,1578961922.267 [CommandLine](IMPORTANT): Micromodem.surfaceThreshold=0 meter;

2020-01-14T00:32:02.267Z,1578961922.267 [CommandLine](IMPORTANT): PowerOnly.sampleTime=90 second;

2020-01-14T00:32:02.267Z,1578961922.267 [CommandLine](IMPORTANT): RudderServo.deviationAngle=0.0001 degree;

2020-01-14T00:32:02.267Z,1578961922.267 [CommandLine](IMPORTANT): VerticalControl.buoyancyNeutral=105 cubic_centimeter;

2020-01-14T00:32:02.268Z,1578961922.268 [CommandLine](IMPORTANT): VerticalControl.massDefault=-5 millimeter;

2020-01-14T00:32:02.273Z,1578961922.273 [CBIT](INFO): Critical error at 20200114T003202
2020-01-14T00:32:02.745Z,1578961922.745 [MissionManager](IMPORTANT): Started mission Startup
2020-01-14T00:32:02.746Z,1578961922.746 [Startup] Running Loop=1
2020-01-14T00:32:02.746Z,1578961922.746 [Startup](DEBUG): Aggregate::initialize Startup
2020-01-14T00:32:02.746Z,1578961922.746 [Startup:A.GoToSurface] Running Loop=1
2020-01-14T00:32:02.746Z,1578961922.746 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-14T00:32:02.747Z,1578961922.747 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-14T00:32:02.748Z,1578961922.748 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-14T00:32:02.748Z,1578961922.748 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-14T00:32:02.748Z,1578961922.748 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-14T00:32:02.749Z,1578961922.749 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-14T00:32:02.751Z,1578961922.751 [Startup:StartupSatComms] Running Loop=1
2020-01-14T00:32:02.751Z,1578961922.751 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2020-01-14T00:32:02.751Z,1578961922.751 [Startup:StartupSatComms:A] Running Loop=1
2020-01-14T00:32:03.043Z,1578961923.043 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2020-01-14T00:32:12.284Z,1578961932.284 [NAL9602](INFO): SBD MO Status=2, MOMSN=10159, MT Status=2, MTMSN=0
2020-01-14T00:32:12.285Z,1578961932.285 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2020-01-14T00:32:21.874Z,1578961941.874 [CommandLine](IMPORTANT): got command get depth
2020-01-14T00:32:21.874Z,1578961941.874 [CommandLine](IMPORTANT): depth 0.157049 m
2020-01-14T00:32:27.826Z,1578961947.826 [CommandLine](IMPORTANT): got command maintain sensor Depth_Keller.depth 0.000000 meter
2020-01-14T00:32:27.827Z,1578961947.827 [ComponentRegistry](DEBUG): SyncComponent "Maintain_Depth_Keller.depth" handled in the control thread.
2020-01-14T00:32:28.133Z,1578961948.133 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,DDM,Depth_Keller,DropWeight,DUSBL_Hydroid,Micromodem,NAL9602,Onboard,PowerOnly,RDI_Pathfinder,BPC1,PAR_Licor,Depth_Keller,PAR_Licor,Maintain_Depth_Keller.depth,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2020-01-14T00:32:31.734Z,1578961951.734 [NAL9602](INFO): SBD MO Status=0, MOMSN=10159, MT Status=0, MTMSN=0
2020-01-14T00:32:31.734Z,1578961951.734 [NAL9602](INFO): No messages in MT queue
2020-01-14T00:32:59.307Z,1578961979.307 [CommandLine](IMPORTANT): got command restart application
2020-01-14T00:33:00.317Z,1578961980.317 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-14T00:33:00.317Z,1578961980.317 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-14T00:33:00.345Z,1578961980.345 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2020-01-14T00:33:00.345Z,1578961980.345 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-14T00:33:00.345Z,1578961980.345 [CommandLine](INFO): Join timeout helper Thread ID is 6323
2020-01-14T00:33:00.346Z,1578961980.346 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2020-01-14T00:33:00.346Z,1578961980.346 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-14T00:33:00.346Z,1578961980.346 [NavChartDb](INFO): Join timeout helper Thread ID is 6324
2020-01-14T00:33:00.593Z,1578961980.593 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-14T00:33:00.593Z,1578961980.593 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-14T00:33:00.597Z,1578961980.597 [ComponentRegistry](INFO): Shutting down WetLabsSeaOWL_UV_A ThreadHandler
2020-01-14T00:33:00.597Z,1578961980.597 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-14T00:33:00.597Z,1578961980.597 [WetLabsSeaOWL_UV_A](INFO): Join timeout helper Thread ID is 6325
2020-01-14T00:33:00.929Z,1578961980.929 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-14T00:33:00.929Z,1578961980.929 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-01-14T00:33:00.930Z,1578961980.930 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-14T00:33:00.937Z,1578961980.937 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2020-01-14T00:33:00.937Z,1578961980.937 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-14T00:33:00.937Z,1578961980.937 [CTD_NeilBrown](INFO): Join timeout helper Thread ID is 6326
2020-01-14T00:33:01.073Z,1578961981.073 [CTD_NeilBrown ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-14T00:33:01.073Z,1578961981.073 [CTD_NeilBrown](INFO): Powering down
2020-01-14T00:33:01.085Z,1578961981.085 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-14T00:33:01.101Z,1578961981.101 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2020-01-14T00:33:01.101Z,1578961981.101 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-01-14T00:33:01.101Z,1578961981.101 [Radio_Surface](INFO): Join timeout helper Thread ID is 6327
2020-01-14T00:33:01.193Z,1578961981.193 [Radio_Surface](INFO): Powering down
2020-01-14T00:33:01.194Z,1578961981.194 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-14T00:33:01.194Z,1578961981.194 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-01-14T00:33:01.207Z,1578961981.207 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2020-01-14T00:33:01.207Z,1578961981.207 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-14T00:33:01.207Z,1578961981.207 [DataOverHttps](INFO): Join timeout helper Thread ID is 6328
2020-01-14T00:33:01.245Z,1578961981.245 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-14T00:33:01.249Z,1578961981.249 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-14T00:33:01.258Z,1578961981.258 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2020-01-14T00:33:01.258Z,1578961981.258 [logger ThreadHandler](INFO): Thread cancelled.
2020-01-14T00:33:01.258Z,1578961981.258 [logger](INFO): Join timeout helper Thread ID is 6329
2020-01-14T00:33:01.277Z,1578961981.277 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-14T00:33:01.277Z,1578961981.277 [logger ThreadHandler](INFO): Thread cancelled.
2020-01-14T00:33:01.281Z,1578961981.281 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2020-01-14T00:33:01.282Z,1578961981.282 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-14T00:33:01.282Z,1578961981.282 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2020-01-14T00:33:01.282Z,1578961981.282 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-01-14T00:33:01.282Z,1578961981.282 [controlThread](INFO): Join timeout helper Thread ID is 6330
2020-01-14T00:33:01.569Z,1578961981.569 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-14T00:33:01.569Z,1578961981.569 [controlThread](DEBUG): Uninitializing ControlThread
2020-01-14T00:33:01.569Z,1578961981.569 [AHRS_M2](INFO): Powering down
2020-01-14T00:33:01.641Z,1578961981.641 [DDM](INFO): Powering down
2020-01-14T00:33:01.730Z,1578961981.730 [DUSBL_Hydroid](INFO): Powering down
2020-01-14T00:33:01.821Z,1578961981.821 [Micromodem](INFO): Powering down
2020-01-14T00:33:01.917Z,1578961981.917 [NAL9602](INFO): Powering down
2020-01-14T00:33:01.989Z,1578961981.989 [RDI_Pathfinder](INFO): Powering down
2020-01-14T00:33:01.991Z,1578961981.991 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2020-01-14T00:33:01.992Z,1578961981.992 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2020-01-14T00:33:01.992Z,1578961981.992 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2020-01-14T00:33:01.993Z,1578961981.993 [MissionManager](INFO): Uninitializing Mission Default
2020-01-14T00:33:01.995Z,1578961981.995 [MissionManager](INFO): Uninitializing Mission Startup
2020-01-14T00:33:01.995Z,1578961981.995 [Startup] Stopped
2020-01-14T00:33:01.995Z,1578961981.995 [Startup](DEBUG): Aggregate::uninitialize Startup
2020-01-14T00:33:01.995Z,1578961981.995 [Startup:A.GoToSurface] Stopped
2020-01-14T00:33:01.995Z,1578961981.995 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-14T00:33:01.995Z,1578961981.995 [Startup:StartupSatComms] Stopped
2020-01-14T00:33:01.996Z,1578961981.996 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2020-01-14T00:33:01.996Z,1578961981.996 [Startup:StartupSatComms:A] Stopped
2020-01-14T00:33:01.997Z,1578961981.997 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2020-01-14T00:33:01.997Z,1578961981.997 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2020-01-14T00:33:01.997Z,1578961981.997 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2020-01-14T00:33:01.998Z,1578961981.998 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2020-01-14T00:33:01.998Z,1578961981.998 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2020-01-14T00:33:01.998Z,1578961981.998 [BuoyancyServo](INFO): Powering down
2020-01-14T00:33:02.013Z,1578961982.013 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2020-01-14T00:33:02.013Z,1578961982.013 [ElevatorServo](INFO): Powering down
2020-01-14T00:33:02.014Z,1578961982.014 [MassServo](DEBUG): Uninitialize Mass Servo.
2020-01-14T00:33:02.014Z,1578961982.014 [MassServo](INFO): Powering down
2020-01-14T00:33:02.015Z,1578961982.015 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-01-14T00:33:02.015Z,1578961982.015 [RudderServo](INFO): Powering down
2020-01-14T00:33:02.015Z,1578961982.015 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2020-01-14T00:33:02.015Z,1578961982.015 [ThrusterServo](INFO): Powering down
2020-01-14T00:33:02.016Z,1578961982.016 [SBIT](DEBUG): Uninitialize SBIT Component.
2020-01-14T00:33:02.017Z,1578961982.017 [IBIT](DEBUG): Uninitialize IBIT Component.
2020-01-14T00:33:02.017Z,1578961982.017 [CBIT](DEBUG): Uninitialize CBIT Component.
2020-01-14T00:33:02.017Z,1578961982.017 [CBIT](DEBUG): Powering off loads.
2020-01-14T00:33:02.029Z,1578961982.029 [CBIT](DEBUG): Disabling WDT.
2020-01-14T00:33:02.041Z,1578961982.041 [CBIT](DEBUG): Opening all GF detection circuits.
2020-01-14T00:33:02.042Z,1578961982.042 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-01-14T00:33:02.101Z,1578961982.101 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-01-14T00:33:02.110Z,1578961982.110 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-14T00:33:02.153Z,1578961982.153 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-14T00:33:02.156Z,1578961982.156 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-14T00:33:02.213Z,1578961982.213 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-14T00:33:02.272Z,1578961982.272 [logger ThreadHandler](INFO): Thread cancelled.