2020-01-15T22:56:26.187Z,1579128986.187 [Supervisor](DEBUG): Initializing supervisor.
2020-01-15T22:56:26.189Z,1579128986.189 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2020-01-15T22:56:26.190Z,1579128986.190 [SyncHandler](INFO): Protected caller Thread ID is 5420
2020-01-15T22:56:26.190Z,1579128986.190 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2020-01-15T22:56:26.191Z,1579128986.191 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2020-01-15T22:56:26.191Z,1579128986.191 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 5421
2020-01-15T22:56:26.194Z,1579128986.194 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2020-01-15T22:56:26.205Z,1579128986.205 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2020-01-15T22:56:26.206Z,1579128986.206 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2020-01-15T22:56:26.206Z,1579128986.206 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 5422
2020-01-15T22:56:26.207Z,1579128986.207 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2020-01-15T22:56:26.208Z,1579128986.208 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2020-01-15T22:56:26.208Z,1579128986.208 [logger ThreadHandler](INFO): Protected caller Thread ID is 5423
2020-01-15T22:56:26.210Z,1579128986.210 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2020-01-15T22:56:26.211Z,1579128986.211 [Supervisor](INFO): Looking for Config files in directory: Config/
2020-01-15T22:56:26.212Z,1579128986.212 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2020-01-15T22:56:26.636Z,1579128986.636 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2020-01-15T22:56:26.637Z,1579128986.637 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2020-01-15T22:56:26.731Z,1579128986.731 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2020-01-15T22:56:26.732Z,1579128986.732 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2020-01-15T22:56:27.032Z,1579128987.032 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2020-01-15T22:56:27.032Z,1579128987.032 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2020-01-15T22:56:27.166Z,1579128987.166 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2020-01-15T22:56:27.167Z,1579128987.167 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2020-01-15T22:56:27.348Z,1579128987.348 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2020-01-15T22:56:27.348Z,1579128987.348 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2020-01-15T22:56:27.778Z,1579128987.778 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2020-01-15T22:56:27.778Z,1579128987.778 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2020-01-15T22:56:27.982Z,1579128987.982 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2020-01-15T22:56:27.982Z,1579128987.982 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2020-01-15T22:56:28.122Z,1579128988.122 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2020-01-15T22:56:28.122Z,1579128988.122 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2020-01-15T22:56:28.301Z,1579128988.301 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2020-01-15T22:56:28.302Z,1579128988.302 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2020-01-15T22:56:28.395Z,1579128988.395 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2020-01-15T22:56:28.395Z,1579128988.395 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2020-01-15T22:56:28.683Z,1579128988.683 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2020-01-15T22:56:28.684Z,1579128988.684 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2020-01-15T22:56:28.763Z,1579128988.763 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2020-01-15T22:56:28.864Z,1579128988.864 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2020-01-15T22:56:28.864Z,1579128988.864 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2020-01-15T22:56:29.484Z,1579128989.484 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2020-01-15T22:56:29.485Z,1579128989.485 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2020-01-15T22:56:29.884Z,1579128989.884 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2020-01-15T22:56:29.886Z,1579128989.886 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/
2020-01-15T22:56:29.887Z,1579128989.887 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/vehicle.cfg
2020-01-15T22:56:30.083Z,1579128990.083 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Control.cfg
2020-01-15T22:56:30.178Z,1579128990.178 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/BIT.cfg
2020-01-15T22:56:30.273Z,1579128990.273 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Battery.cfg
2020-01-15T22:56:30.494Z,1579128990.494 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2020-01-15T22:56:30.495Z,1579128990.495 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Simulator.cfg
2020-01-15T22:56:30.577Z,1579128990.577 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Navigation.cfg
2020-01-15T22:56:30.667Z,1579128990.667 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/logger.cfg
2020-01-15T22:56:30.763Z,1579128990.763 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/secure.cfg
2020-01-15T22:56:30.844Z,1579128990.844 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Servo.cfg
2020-01-15T22:56:30.966Z,1579128990.966 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Sensor.cfg
2020-01-15T22:56:31.681Z,1579128991.681 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Science.cfg
2020-01-15T22:56:31.814Z,1579128991.814 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2020-01-15T22:56:31.830Z,1579128991.830 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2020-01-15T22:56:32.114Z,1579128992.114 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_orientation
2020-01-15T22:56:32.119Z,1579128992.119 [AHRS_M2](INFO): created writer for : platform_orientation
2020-01-15T22:56:32.121Z,1579128992.121 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_magnetic_orientation
2020-01-15T22:56:32.126Z,1579128992.126 [AHRS_M2](INFO): created writer for : platform_magnetic_orientation
2020-01-15T22:56:32.126Z,1579128992.126 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_pitch_angle
2020-01-15T22:56:32.131Z,1579128992.131 [AHRS_M2](INFO): created writer for : platform_pitch_angle
2020-01-15T22:56:32.132Z,1579128992.132 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_roll_angle
2020-01-15T22:56:32.137Z,1579128992.137 [AHRS_M2](INFO): created writer for : platform_roll_angle
2020-01-15T22:56:32.206Z,1579128992.206 [AHRS_M2] Loaded
2020-01-15T22:56:32.206Z,1579128992.206 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2020-01-15T22:56:32.294Z,1579128992.294 [DataOverHttps] Loaded
2020-01-15T22:56:32.294Z,1579128992.294 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2020-01-15T22:56:32.295Z,1579128992.295 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 4076F4E0
2020-01-15T22:56:32.296Z,1579128992.296 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 5502
2020-01-15T22:56:32.319Z,1579128992.319 [DDM] Loaded
2020-01-15T22:56:32.319Z,1579128992.319 [ComponentRegistry](DEBUG): SyncComponent "DDM" handled in the control thread.
2020-01-15T22:56:32.332Z,1579128992.332 [Depth_Keller] Loaded
2020-01-15T22:56:32.332Z,1579128992.332 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2020-01-15T22:56:32.337Z,1579128992.337 [DropWeight] Loaded
2020-01-15T22:56:32.337Z,1579128992.337 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2020-01-15T22:56:32.397Z,1579128992.397 [DUSBL_Hydroid] Loaded
2020-01-15T22:56:32.397Z,1579128992.397 [ComponentRegistry](DEBUG): SyncComponent "DUSBL_Hydroid" handled in the control thread.
2020-01-15T22:56:32.445Z,1579128992.445 [Micromodem] Loaded
2020-01-15T22:56:32.445Z,1579128992.445 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2020-01-15T22:56:32.539Z,1579128992.539 [NAL9602] Loaded
2020-01-15T22:56:32.539Z,1579128992.539 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2020-01-15T22:56:32.576Z,1579128992.576 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/voltage_now
2020-01-15T22:56:32.577Z,1579128992.577 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/current_now
2020-01-15T22:56:32.577Z,1579128992.577 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/charge_now
2020-01-15T22:56:32.578Z,1579128992.578 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/charge_full
2020-01-15T22:56:32.578Z,1579128992.578 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/voltage_now
2020-01-15T22:56:32.579Z,1579128992.579 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/current_now
2020-01-15T22:56:32.579Z,1579128992.579 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/charge_now
2020-01-15T22:56:32.580Z,1579128992.580 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/charge_full
2020-01-15T22:56:32.580Z,1579128992.580 [Onboard] Loaded
2020-01-15T22:56:32.580Z,1579128992.580 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2020-01-15T22:56:32.586Z,1579128992.586 [PowerOnly] Loaded
2020-01-15T22:56:32.586Z,1579128992.586 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2020-01-15T22:56:32.628Z,1579128992.628 [RDI_Pathfinder] Loaded
2020-01-15T22:56:32.628Z,1579128992.628 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2020-01-15T22:56:34.083Z,1579128994.083 [BPC1] Loaded
2020-01-15T22:56:34.083Z,1579128994.083 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2020-01-15T22:56:34.083Z,1579128994.083 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2020-01-15T22:56:34.084Z,1579128994.084 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2020-01-15T22:56:34.097Z,1579128994.097 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2020-01-15T22:56:34.098Z,1579128994.098 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2020-01-15T22:56:34.202Z,1579128994.202 [DeadReckonUsingMultipleVelocitySources] Loaded
2020-01-15T22:56:34.203Z,1579128994.203 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2020-01-15T22:56:34.223Z,1579128994.223 [NavChart] Loaded
2020-01-15T22:56:34.223Z,1579128994.223 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2020-01-15T22:56:34.227Z,1579128994.227 [UniversalFixResidualReporter] Loaded
2020-01-15T22:56:34.227Z,1579128994.227 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2020-01-15T22:56:34.227Z,1579128994.227 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2020-01-15T22:56:34.228Z,1579128994.228 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2020-01-15T22:56:34.336Z,1579128994.336 [BuoyancyServo] Loaded
2020-01-15T22:56:34.336Z,1579128994.336 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2020-01-15T22:56:34.351Z,1579128994.351 [ElevatorServo] Loaded
2020-01-15T22:56:34.351Z,1579128994.351 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2020-01-15T22:56:34.368Z,1579128994.368 [MassServo] Loaded
2020-01-15T22:56:34.368Z,1579128994.368 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2020-01-15T22:56:34.383Z,1579128994.383 [RudderServo] Loaded
2020-01-15T22:56:34.383Z,1579128994.383 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2020-01-15T22:56:34.397Z,1579128994.397 [ThrusterServo] Loaded
2020-01-15T22:56:34.397Z,1579128994.397 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2020-01-15T22:56:34.398Z,1579128994.398 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2020-01-15T22:56:34.398Z,1579128994.398 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2020-01-15T22:56:34.653Z,1579128994.653 [CTD_NeilBrown] Loaded
2020-01-15T22:56:34.653Z,1579128994.653 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2020-01-15T22:56:34.654Z,1579128994.654 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 408C34E0
2020-01-15T22:56:34.654Z,1579128994.654 [CTD_NeilBrown ThreadHandler](INFO): Protected caller Thread ID is 5503
2020-01-15T22:56:34.668Z,1579128994.668 [PAR_Licor] Loaded
2020-01-15T22:56:34.669Z,1579128994.669 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2020-01-15T22:56:34.711Z,1579128994.711 [WetLabsSeaOWL_UV_A] Loaded
2020-01-15T22:56:34.712Z,1579128994.712 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2020-01-15T22:56:34.713Z,1579128994.713 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 408F34E0
2020-01-15T22:56:34.713Z,1579128994.713 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 5504
2020-01-15T22:56:34.714Z,1579128994.714 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2020-01-15T22:56:34.714Z,1579128994.714 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2020-01-15T22:56:35.024Z,1579128995.024 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2020-01-15T22:56:35.025Z,1579128995.025 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2020-01-15T22:56:35.064Z,1579128995.064 [DepthRateCalculator] Loaded
2020-01-15T22:56:35.065Z,1579128995.065 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2020-01-15T22:56:35.070Z,1579128995.070 [PitchRateCalculator] Loaded
2020-01-15T22:56:35.071Z,1579128995.071 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2020-01-15T22:56:35.082Z,1579128995.082 [SpeedCalculator] Loaded
2020-01-15T22:56:35.083Z,1579128995.083 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2020-01-15T22:56:35.103Z,1579128995.103 [TempGradientCalculator] Loaded
2020-01-15T22:56:35.103Z,1579128995.103 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2020-01-15T22:56:35.108Z,1579128995.108 [YawRateCalculator] Loaded
2020-01-15T22:56:35.109Z,1579128995.109 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2020-01-15T22:56:35.148Z,1579128995.148 [ElevatorOffsetCalculator] Loaded
2020-01-15T22:56:35.148Z,1579128995.148 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2020-01-15T22:56:35.149Z,1579128995.149 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2020-01-15T22:56:35.149Z,1579128995.149 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2020-01-15T22:56:35.284Z,1579128995.284 [SBIT](DEBUG): Construct Startup Built In Test.
2020-01-15T22:56:35.309Z,1579128995.309 [SBIT] Loaded
2020-01-15T22:56:35.309Z,1579128995.309 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2020-01-15T22:56:35.310Z,1579128995.310 [IBIT](DEBUG): Construct Initiated Built In Test.
2020-01-15T22:56:35.322Z,1579128995.322 [IBIT] Loaded
2020-01-15T22:56:35.323Z,1579128995.323 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2020-01-15T22:56:35.326Z,1579128995.326 [CBIT](DEBUG): Construct Continuous Built In Test.
2020-01-15T22:56:35.461Z,1579128995.461 [CBIT] Loaded
2020-01-15T22:56:35.461Z,1579128995.461 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2020-01-15T22:56:35.462Z,1579128995.462 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2020-01-15T22:56:35.462Z,1579128995.462 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2020-01-15T22:56:35.544Z,1579128995.544 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2020-01-15T22:56:35.544Z,1579128995.544 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2020-01-15T22:56:35.681Z,1579128995.681 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2020-01-15T22:56:35.682Z,1579128995.682 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2020-01-15T22:56:35.780Z,1579128995.780 [VerticalControl](DEBUG): Construct VerticalControl.
2020-01-15T22:56:35.888Z,1579128995.888 [VerticalControl] Loaded
2020-01-15T22:56:35.888Z,1579128995.888 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2020-01-15T22:56:35.889Z,1579128995.889 [HorizontalControl](DEBUG): Construct HorizontalControl.
2020-01-15T22:56:35.957Z,1579128995.957 [HorizontalControl] Loaded
2020-01-15T22:56:35.958Z,1579128995.958 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2020-01-15T22:56:35.958Z,1579128995.958 [SpeedControl](DEBUG): Construct SpeedControl.
2020-01-15T22:56:35.960Z,1579128995.960 [SpeedControl] Loaded
2020-01-15T22:56:35.961Z,1579128995.961 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2020-01-15T22:56:35.961Z,1579128995.961 [LoopControl](DEBUG): Construct LoopControl.
2020-01-15T22:56:35.962Z,1579128995.962 [LoopControl] Loaded
2020-01-15T22:56:35.962Z,1579128995.962 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2020-01-15T22:56:35.963Z,1579128995.963 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2020-01-15T22:56:35.963Z,1579128995.963 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2020-01-15T22:56:36.006Z,1579128996.006 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2020-01-15T22:56:36.009Z,1579128996.009 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2020-01-15T22:56:36.010Z,1579128996.010 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2020-01-15T22:56:36.017Z,1579128996.017 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2020-01-15T22:56:36.018Z,1579128996.018 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40AD24E0
2020-01-15T22:56:36.018Z,1579128996.018 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 5506
2020-01-15T22:56:36.023Z,1579128996.023 [Supervisor](INFO): Main Thread ID is 5419
2020-01-15T22:56:36.023Z,1579128996.023 [Supervisor](DEBUG): Running supervisor.
2020-01-15T22:56:36.023Z,1579128996.023 [CommandLine ThreadHandler](INFO): Handler Thread ID is 5507
2020-01-15T22:56:36.026Z,1579128996.026 [controlThread ThreadHandler](INFO): Handler Thread ID is 5508
2020-01-15T22:56:36.026Z,1579128996.026 [controlThread](DEBUG): Initializing ControlThread
2020-01-15T22:56:36.032Z,1579128996.032 [NavChart](DEBUG): Initialize NavChart Navigation.
2020-01-15T22:56:36.032Z,1579128996.032 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2020-01-15T22:56:36.037Z,1579128996.037 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2020-01-15T22:56:36.037Z,1579128996.037 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2020-01-15T22:56:36.038Z,1579128996.038 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2020-01-15T22:56:36.038Z,1579128996.038 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2020-01-15T22:56:36.038Z,1579128996.038 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2020-01-15T22:56:36.039Z,1579128996.039 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2020-01-15T22:56:36.039Z,1579128996.039 [SBIT](INFO): Initialize SBIT Component.
2020-01-15T22:56:36.040Z,1579128996.040 [SBIT](IMPORTANT): git: 2019-12-03-34-g1420f60
2020-01-15T22:56:36.040Z,1579128996.040 [SBIT](INFO): git hash: 1420f6075bfd9e2317cf67bc08ebc33a04e592a5
2020-01-15T22:56:36.040Z,1579128996.040 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2020-01-15T22:56:36.041Z,1579128996.041 [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
2020-01-15T22:56:36.042Z,1579128996.042 [SBIT](INFO): Beginning SBIT in 39.000000 seconds.
2020-01-15T22:56:36.043Z,1579128996.043 [IBIT](INFO): Initialize IBIT Component.
2020-01-15T22:56:36.044Z,1579128996.044 [CBIT](DEBUG): Initialize CBIT Component.
2020-01-15T22:56:36.045Z,1579128996.045 [logger ThreadHandler](INFO): Handler Thread ID is 5509
2020-01-15T22:56:36.057Z,1579128996.057 [CBIT](DEBUG): Initialized mux pins.
2020-01-15T22:56:36.057Z,1579128996.057 [CBIT](DEBUG): Initializing the watchdog timer.
2020-01-15T22:56:36.065Z,1579128996.065 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 5510
2020-01-15T22:56:36.066Z,1579128996.066 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2020-01-15T22:56:36.077Z,1579128996.077 [CTD_NeilBrown ThreadHandler](INFO): Handler Thread ID is 5511
2020-01-15T22:56:36.078Z,1579128996.078 [CTD_NeilBrown](INFO): Powering down
2020-01-15T22:56:36.085Z,1579128996.085 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2020-01-15T22:56:36.085Z,1579128996.085 [CBIT](DEBUG): Initializing heartbeat.
2020-01-15T22:56:36.109Z,1579128996.109 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 5512
2020-01-15T22:56:36.110Z,1579128996.110 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-01-15T22:56:36.129Z,1579128996.129 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 5513
2020-01-15T22:56:36.132Z,1579128996.132 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2020-01-15T22:56:36.133Z,1579128996.133 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2020-01-15T22:56:36.133Z,1579128996.133 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2020-01-15T22:56:36.133Z,1579128996.133 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2020-01-15T22:56:36.133Z,1579128996.133 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2020-01-15T22:56:36.133Z,1579128996.133 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2020-01-15T22:56:36.134Z,1579128996.134 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2020-01-15T22:56:36.134Z,1579128996.134 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2020-01-15T22:56:36.134Z,1579128996.134 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2020-01-15T22:56:36.134Z,1579128996.134 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2020-01-15T22:56:36.134Z,1579128996.134 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2020-01-15T22:56:36.134Z,1579128996.134 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2020-01-15T22:56:36.135Z,1579128996.135 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2020-01-15T22:56:36.135Z,1579128996.135 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2020-01-15T22:56:36.135Z,1579128996.135 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2020-01-15T22:56:36.135Z,1579128996.135 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2020-01-15T22:56:36.157Z,1579128996.157 [CBIT](DEBUG): Deactivating GF circuits.
2020-01-15T22:56:36.157Z,1579128996.157 [CBIT](DEBUG): Deactivating emergency mode.
2020-01-15T22:56:36.193Z,1579128996.193 [CBIT](DEBUG): Backplane powered.
2020-01-15T22:56:36.193Z,1579128996.193 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2020-01-15T22:56:36.195Z,1579128996.195 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2020-01-15T22:56:36.195Z,1579128996.195 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2020-01-15T22:56:36.196Z,1579128996.196 [LoopControl](DEBUG): Initialize LoopControlComponent.
2020-01-15T22:56:36.197Z,1579128996.197 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2020-01-15T22:56:36.206Z,1579128996.206 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2020-01-15T22:56:36.216Z,1579128996.216 [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>


2020-01-15T22:56:36.225Z,1579128996.225 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2020-01-15T22:56:36.282Z,1579128996.282 [CTD_NeilBrown](FAULT): LCB fault: LCB Watchdog Reset. Invalid Command. Hardware Overcurrent Shutdown. Software Overcurrent. Current Limiter Activated.
2020-01-15T22:56:36.282Z,1579128996.282 [CTD_NeilBrown] Hardware Fault, FailCount= 1
2020-01-15T22:56:36.282Z,1579128996.282 [CTD_NeilBrown](ERROR): Hardware Fault
2020-01-15T22:56:36.297Z,1579128996.297 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2020-01-15T22:56:36.298Z,1579128996.298 [Default:A.Wait](DEBUG): Construct Wait.
2020-01-15T22:56:36.300Z,1579128996.300 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2020-01-15T22:56:36.322Z,1579128996.322 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2020-01-15T22:56:36.324Z,1579128996.324 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2020-01-15T22:56:36.354Z,1579128996.354 [Default:E.Execute](DEBUG): Construct Execute.
2020-01-15T22:56:36.369Z,1579128996.369 [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>


2020-01-15T22:56:36.381Z,1579128996.381 [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,
2020-01-15T22:56:36.393Z,1579128996.393 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2020-01-15T22:56:36.425Z,1579128996.425 [DDM](INFO): Powering up
2020-01-15T22:56:36.425Z,1579128996.425 [DDM](DEBUG): Initializing DDM.
2020-01-15T22:56:36.451Z,1579128996.451 [DUSBL_Hydroid](INFO): Powering up
2020-01-15T22:56:36.451Z,1579128996.451 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2020-01-15T22:56:36.638Z,1579128996.638 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2020-01-15T22:56:36.645Z,1579128996.645 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2020-01-15T22:56:36.646Z,1579128996.646 [ElevatorServo](DEBUG): Initializing EZServoServo.
2020-01-15T22:56:36.653Z,1579128996.653 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2020-01-15T22:56:36.654Z,1579128996.654 [MassServo](DEBUG): Initializing EZServoServo.
2020-01-15T22:56:36.661Z,1579128996.661 [MassServo](DEBUG): Initializing MassServo.
2020-01-15T22:56:36.662Z,1579128996.662 [RudderServo](DEBUG): Initializing EZServoServo.
2020-01-15T22:56:36.669Z,1579128996.669 [RudderServo](DEBUG): Initializing RudderServo.
2020-01-15T22:56:36.670Z,1579128996.670 [ThrusterServo](DEBUG): Initializing EZServoServo.
2020-01-15T22:56:36.677Z,1579128996.677 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2020-01-15T22:56:36.683Z,1579128996.683 [CBIT](ERROR): Hardware Fault in component: CTD_NeilBrown
2020-01-15T22:56:36.683Z,1579128996.683 [CBIT](FAULT): Hardware Fault in component: CTD_NeilBrown
2020-01-15T22:56:36.913Z,1579128996.913 [DropWeight](CRITICAL): DROP WEIGHT MISSING.

2020-01-15T22:56:36.914Z,1579128996.914 [DropWeight] Hardware Fault, FailCount= 1
2020-01-15T22:56:36.914Z,1579128996.914 [DropWeight](ERROR): Hardware Fault
2020-01-15T22:56:36.915Z,1579128996.915 [Micromodem](INFO): Powering up
2020-01-15T22:56:36.916Z,1579128996.916 [Micromodem](DEBUG): Initializing Micromodem.
2020-01-15T22:56:37.006Z,1579128997.006 [CommandLine](FAULT): Scheduling is paused
2020-01-15T22:56:37.006Z,1579128997.006 [CBIT](INFO): Critical error at 20200115T225636
2020-01-15T22:56:37.007Z,1579128997.007 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2020-01-15T22:56:37.009Z,1579128997.009 [CBIT](ERROR): Hardware Fault in component: DropWeight
2020-01-15T22:56:37.009Z,1579128997.009 [CBIT](CRITICAL): Hardware Fault in component: DropWeight
2020-01-15T22:56:37.573Z,1579128997.573 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2020-01-15T22:56:37.573Z,1579128997.573 [RudderServo](FAULT): Rudder failed to initialize
2020-01-15T22:56:37.573Z,1579128997.573 [RudderServo] Communications Fault, FailCount= 1
2020-01-15T22:56:37.573Z,1579128997.573 [RudderServo](ERROR): Communications Fault
2020-01-15T22:56:37.682Z,1579128997.682 [CBIT](INFO): Critical error at 20200115T225637
2020-01-15T22:56:37.685Z,1579128997.685 [CBIT](ERROR): Communications Fault in component: RudderServo
2020-01-15T22:56:37.846Z,1579128997.846 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-01-15T22:56:37.846Z,1579128997.846 [RudderServo](INFO): Powering down
2020-01-15T22:56:38.587Z,1579128998.587 [RudderServo](DEBUG): Initializing EZServoServo.
2020-01-15T22:56:38.706Z,1579128998.706 [RudderServo](DEBUG): Initializing RudderServo.
2020-01-15T22:56:38.710Z,1579128998.710 [CBIT](INFO): Clearing failed state for component RudderServo
2020-01-15T22:56:38.710Z,1579128998.710 [RudderServo] No Fault, FailCount= 1
2020-01-15T22:56:41.771Z,1579129001.771 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2020-01-15T22:56:46.281Z,1579129006.281 [CBIT](CRITICAL): Environmental Failure. Press:14.785373 PSI. Humidity:28%. Temp:24 C. ABORTING MISSION
2020-01-15T22:56:46.659Z,1579129006.659 [CBIT](INFO): Critical error at 20200115T225646
2020-01-15T22:56:46.924Z,1579129006.924 [DDM](INFO): Dynamic Docking Module:_‘
2020-01-15T22:56:49.776Z,1579129009.776 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2020-01-15T22:56:51.405Z,1579129011.405 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004534
2020-01-15T22:56:52.401Z,1579129012.401 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2020-01-15T22:56:52.978Z,1579129012.978 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-15T22:56:54.594Z,1579129014.594 [DUSBL_Hydroid](INFO): DUSBL Version:O
2020-01-15T22:57:02.675Z,1579129022.675 [NAL9602](INFO): Powering up NAL9602
2020-01-15T22:57:04.286Z,1579129024.286 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-15T22:57:13.591Z,1579129033.591 [NAL9602](INFO): NAL9602 initialized
2020-01-15T22:57:14.029Z,1579129034.029 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-15T22:57:14.029Z,1579129034.029 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2020-01-15T22:57:15.598Z,1579129035.598 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-15T22:57:15.699Z,1579129035.699 [SBIT](IMPORTANT): Beginning Startup BIT
2020-01-15T22:57:15.708Z,1579129035.708 [CBIT](IMPORTANT): Beginning ground fault scan
2020-01-15T22:57:26.578Z,1579129046.578 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.012699
CHAN A1 (24V): -0.029567
CHAN A2 (12V): -0.007183
CHAN A3 (5V): -0.001954
CHAN B0 (3.3V): 0.001384
CHAN B1 (3.15aV): 0.000007
CHAN B2 (3.15bV): -0.000086
CHAN B3 (GND): 0.001978
OPEN: 0.004955
Full Scale Calc: 4.765 mA, -1.589 mA
2020-01-15T22:57:26.923Z,1579129046.923 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-15T22:57:33.995Z,1579129053.995 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00,   0.00
2020-01-15T22:57:38.006Z,1579129058.006 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-15T22:57:40.859Z,1579129060.859 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-15T22:57:40.860Z,1579129060.860 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-32768,-3:BE,-32768,-32768,-32BD,        +0.00,        +0.00,        +0.00,   0.00, 50.00
2020-01-15T22:57:49.322Z,1579129069.322 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-15T22:57:51.678Z,1579129071.678 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.279896
2020-01-15T22:57:55.479Z,1579129075.479 [SBIT](FAULT): Rudder: EXPECTED:-15.000000 ACTUAL:-15.002222
2020-01-15T22:57:55.479Z,1579129075.479 [SBIT](FAULT): Control surface position failure.
2020-01-15T22:58:00.350Z,1579129080.350 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-15T22:58:03.646Z,1579129083.646 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-15T22:58:03.646Z,1579129083.646 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00,

2020-01-15T22:58:09.714Z,1579129089.714 [SBIT](CRITICAL): SBIT FAILED
2020-01-15T22:58:09.749Z,1579129089.749 [CommandLine](IMPORTANT): got command configSet list
2020-01-15T22:58:09.749Z,1579129089.749 [CommandLine](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2020-01-15T22:58:09.750Z,1579129089.750 [CommandLine](IMPORTANT): DDM.loadAtStartup=1 bool;

2020-01-15T22:58:09.750Z,1579129089.750 [CommandLine](IMPORTANT): DDM.verbosity=3 count;

2020-01-15T22:58:09.751Z,1579129089.751 [CommandLine](IMPORTANT): DUSBL_Hydroid.detectionThreshold=25 count;

2020-01-15T22:58:09.751Z,1579129089.751 [CommandLine](IMPORTANT): DUSBL_Hydroid.transmitLockout=40 millisecond;

2020-01-15T22:58:09.751Z,1579129089.751 [CommandLine](IMPORTANT): Express linearApproximation DDM.DDMMode 1.000000 count;

2020-01-15T22:58:09.751Z,1579129089.751 [CommandLine](IMPORTANT): Express all DDM.cablePresent;

2020-01-15T22:58:09.751Z,1579129089.751 [CommandLine](IMPORTANT): HorizontalControl.kiHeading=0.002 reciprocal_second;

2020-01-15T22:58:09.751Z,1579129089.751 [CommandLine](IMPORTANT): HorizontalControl.kpHeading=0.8 none;

2020-01-15T22:58:09.751Z,1579129089.751 [CommandLine](IMPORTANT): HorizontalControl.rudDeadband=0.05 degree;

2020-01-15T22:58:09.751Z,1579129089.751 [CommandLine](IMPORTANT): Micromodem.destinationAddress=12 enum;

2020-01-15T22:58:09.751Z,1579129089.751 [CommandLine](IMPORTANT): Micromodem.sendExpress=1 bool;

2020-01-15T22:58:09.752Z,1579129089.752 [CommandLine](IMPORTANT): Micromodem.surfaceThreshold=0 meter;

2020-01-15T22:58:09.752Z,1579129089.752 [CommandLine](IMPORTANT): PowerOnly.sampleTime=90 second;

2020-01-15T22:58:09.752Z,1579129089.752 [CommandLine](IMPORTANT): Radio_Surface.loadAtStartup=0 bool;

2020-01-15T22:58:09.752Z,1579129089.752 [CommandLine](IMPORTANT): RudderServo.deviationAngle=0.0001 degree;

2020-01-15T22:58:09.752Z,1579129089.752 [CommandLine](IMPORTANT): VerticalControl.buoyancyNeutral=105 cubic_centimeter;

2020-01-15T22:58:09.752Z,1579129089.752 [CommandLine](IMPORTANT): VerticalControl.massDefault=-5 millimeter;

2020-01-15T22:58:09.759Z,1579129089.759 [CBIT](INFO): Critical error at 20200115T225809
2020-01-15T22:58:10.213Z,1579129090.213 [MissionManager](IMPORTANT): Started mission Startup
2020-01-15T22:58:10.213Z,1579129090.213 [Startup] Running Loop=1
2020-01-15T22:58:10.213Z,1579129090.213 [Startup](DEBUG): Aggregate::initialize Startup
2020-01-15T22:58:10.213Z,1579129090.213 [Startup:A.GoToSurface] Running Loop=1
2020-01-15T22:58:10.213Z,1579129090.213 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-15T22:58:10.214Z,1579129090.214 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-15T22:58:10.214Z,1579129090.214 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-15T22:58:10.215Z,1579129090.215 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-15T22:58:10.215Z,1579129090.215 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-15T22:58:10.215Z,1579129090.215 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-15T22:58:10.217Z,1579129090.217 [Startup:StartupSatComms] Running Loop=1
2020-01-15T22:58:10.217Z,1579129090.217 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2020-01-15T22:58:10.217Z,1579129090.217 [Startup:StartupSatComms:A] Running Loop=1
2020-01-15T22:58:10.522Z,1579129090.522 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2020-01-15T22:58:11.667Z,1579129091.667 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-15T22:58:22.980Z,1579129102.980 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-15T22:58:34.288Z,1579129114.288 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-15T22:58:36.710Z,1579129116.710 [Micromodem](FAULT): failed to initialize; deviceResponse_ loaded: , available: 
2020-01-15T22:58:36.711Z,1579129116.711 [Micromodem] Communications Fault, FailCount= 1
2020-01-15T22:58:36.711Z,1579129116.711 [Micromodem](ERROR): Communications Fault
2020-01-15T22:58:36.866Z,1579129116.866 [CBIT](ERROR): Communications Fault in component: Micromodem
2020-01-15T22:58:37.118Z,1579129117.118 [Micromodem](INFO): Powering down
2020-01-15T22:58:38.006Z,1579129118.006 [CBIT](INFO): Clearing failed state for component Micromodem
2020-01-15T22:58:38.006Z,1579129118.006 [Micromodem] No Fault, FailCount= 1
2020-01-15T22:58:40.756Z,1579129120.756 [Micromodem](INFO): Powering up
2020-01-15T22:58:40.756Z,1579129120.756 [Micromodem](DEBUG): Initializing Micromodem.
2020-01-15T22:58:45.606Z,1579129125.606 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-15T22:58:56.916Z,1579129136.916 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-15T22:59:08.227Z,1579129148.227 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-15T22:59:10.272Z,1579129150.272 [Startup:StartupSatComms:A](INFO): Timed out from 2020-01-15T22:58:10.2Z
2020-01-15T22:59:10.272Z,1579129150.272 [Startup:StartupSatComms:A] Stopped
2020-01-15T22:59:10.273Z,1579129150.273 [Startup:StartupSatComms:B] Running Loop=1
2020-01-15T22:59:10.695Z,1579129150.695 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2020-01-15T22:59:19.540Z,1579129159.540 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-15T22:59:30.890Z,1579129170.890 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-15T22:59:36.171Z,1579129176.171 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2020-01-15T22:59:36.171Z,1579129176.171 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-15T22:59:36.181Z,1579129176.181 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-15T22:59:36.569Z,1579129176.569 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-15T22:59:36.569Z,1579129176.569 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2020-01-15T22:59:42.194Z,1579129182.194 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-15T22:59:53.514Z,1579129193.514 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-15T22:59:53.686Z,1579129193.686 [CommandLine](IMPORTANT): got command report touch DUSBL_Hydroid.acoustic_contact_range
2020-01-15T22:59:58.087Z,1579129198.087 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-63 in onboard configuration file).
2020-01-15T23:00:02.085Z,1579129202.085 [CommandLine](IMPORTANT): got command configSet list
2020-01-15T23:00:02.085Z,1579129202.085 [CommandLine](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2020-01-15T23:00:02.086Z,1579129202.086 [CommandLine](IMPORTANT): DDM.loadAtStartup=1 bool;

2020-01-15T23:00:02.086Z,1579129202.086 [CommandLine](IMPORTANT): DDM.verbosity=3 count;

2020-01-15T23:00:02.086Z,1579129202.086 [CommandLine](IMPORTANT): DUSBL_Hydroid.detectionThreshold=25 count;

2020-01-15T23:00:02.086Z,1579129202.086 [CommandLine](IMPORTANT): DUSBL_Hydroid.transmitLockout=40 millisecond;

2020-01-15T23:00:02.086Z,1579129202.086 [CommandLine](IMPORTANT): Express linearApproximation DDM.DDMMode 1.000000 count;

2020-01-15T23:00:02.087Z,1579129202.087 [CommandLine](IMPORTANT): Express all DDM.cablePresent;

2020-01-15T23:00:02.087Z,1579129202.087 [CommandLine](IMPORTANT): HorizontalControl.kiHeading=0.002 reciprocal_second;

2020-01-15T23:00:02.087Z,1579129202.087 [CommandLine](IMPORTANT): HorizontalControl.kpHeading=0.8 none;

2020-01-15T23:00:02.087Z,1579129202.087 [CommandLine](IMPORTANT): HorizontalControl.rudDeadband=0.05 degree;

2020-01-15T23:00:02.087Z,1579129202.087 [CommandLine](IMPORTANT): Micromodem.destinationAddress=12 enum;

2020-01-15T23:00:02.087Z,1579129202.087 [CommandLine](IMPORTANT): Micromodem.sendExpress=1 bool;

2020-01-15T23:00:02.087Z,1579129202.087 [CommandLine](IMPORTANT): Micromodem.surfaceThreshold=0 meter;

2020-01-15T23:00:02.087Z,1579129202.087 [CommandLine](IMPORTANT): PowerOnly.sampleTime=90 second;

2020-01-15T23:00:02.087Z,1579129202.087 [CommandLine](IMPORTANT): Radio_Surface.loadAtStartup=0 bool;

2020-01-15T23:00:02.088Z,1579129202.088 [CommandLine](IMPORTANT): RudderServo.deviationAngle=0.0001 degree;

2020-01-15T23:00:02.088Z,1579129202.088 [CommandLine](IMPORTANT): VerticalControl.buoyancyNeutral=105 cubic_centimeter;

2020-01-15T23:00:02.088Z,1579129202.088 [CommandLine](IMPORTANT): VerticalControl.massDefault=-5 millimeter;

2020-01-15T23:00:04.826Z,1579129204.826 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-15T23:00:10.531Z,1579129210.531 [Startup:StartupSatComms:B](INFO): Timed out from 2020-01-15T22:59:10.3Z
2020-01-15T23:00:10.531Z,1579129210.531 [Startup:StartupSatComms:B] Stopped
2020-01-15T23:00:10.531Z,1579129210.531 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2020-01-15T23:00:10.531Z,1579129210.531 [Startup:StartupSatComms] Stopped
2020-01-15T23:00:10.532Z,1579129210.532 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2020-01-15T23:00:10.532Z,1579129210.532 [Startup](INFO): Completed Startup
2020-01-15T23:00:10.532Z,1579129210.532 [MissionManager](INFO): Startup is completed.
2020-01-15T23:00:10.532Z,1579129210.532 [MissionManager](INFO): Uninitializing Mission Startup
2020-01-15T23:00:10.533Z,1579129210.533 [Startup] Stopped
2020-01-15T23:00:10.533Z,1579129210.533 [Startup](DEBUG): Aggregate::uninitialize Startup
2020-01-15T23:00:10.533Z,1579129210.533 [Startup:A.GoToSurface] Stopped
2020-01-15T23:00:10.533Z,1579129210.533 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-15T23:00:10.958Z,1579129210.958 [MissionManager](IMPORTANT): Started mission Default
2020-01-15T23:00:10.958Z,1579129210.958 [Default] Running Loop=1
2020-01-15T23:00:10.958Z,1579129210.958 [Default](DEBUG): Aggregate::initialize Default
2020-01-15T23:00:10.958Z,1579129210.958 [Default:B.GoToSurface] Running Loop=1
2020-01-15T23:00:10.958Z,1579129210.958 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-15T23:00:10.959Z,1579129210.959 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-15T23:00:10.959Z,1579129210.959 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-15T23:00:10.959Z,1579129210.959 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-15T23:00:10.959Z,1579129210.959 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-15T23:00:10.960Z,1579129210.960 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-15T23:00:10.960Z,1579129210.960 [Default:A.Wait] Running Loop=1
2020-01-15T23:00:10.960Z,1579129210.960 [Default:A.Wait](DEBUG): Initialize Wait Component.
2020-01-15T23:00:13.289Z,1579129213.289 [CommandLine](INFO): End of History
2020-01-15T23:00:13.398Z,1579129213.398 [CommandLine](INFO): End of History
2020-01-15T23:00:13.439Z,1579129213.439 [CommandLine](INFO): End of History
2020-01-15T23:00:13.477Z,1579129213.477 [CommandLine](INFO): End of History
2020-01-15T23:00:13.512Z,1579129213.512 [CommandLine](INFO): End of History
2020-01-15T23:00:13.545Z,1579129213.545 [CommandLine](INFO): End of History
2020-01-15T23:00:13.610Z,1579129213.610 [CommandLine](INFO): End of History
2020-01-15T23:00:16.130Z,1579129216.130 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-15T23:00:24.255Z,1579129224.255 [Default:A.Wait](INFO): Done Waiting.
2020-01-15T23:00:24.255Z,1579129224.255 [Default:A.Wait] Stopped
2020-01-15T23:00:24.255Z,1579129224.255 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-15T23:00:24.730Z,1579129224.730 [Default:CheckIn] Running Loop=1
2020-01-15T23:00:24.730Z,1579129224.730 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2020-01-15T23:00:24.730Z,1579129224.730 [Default:CheckIn:Read_GPS] Running Loop=1
2020-01-15T23:00:25.254Z,1579129225.254 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2020-01-15T23:00:27.446Z,1579129227.446 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-15T23:00:38.758Z,1579129238.758 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-15T23:00:40.379Z,1579129240.379 [Micromodem](FAULT): failed to initialize; deviceResponse_ loaded: , available: 
2020-01-15T23:00:40.380Z,1579129240.380 [Micromodem] Communications Fault, FailCount= 2
2020-01-15T23:00:40.380Z,1579129240.380 [Micromodem](ERROR): Communications Fault
2020-01-15T23:00:40.410Z,1579129240.410 [CBIT](ERROR): Communications Fault in component: Micromodem
2020-01-15T23:00:40.778Z,1579129240.778 [Micromodem](INFO): Powering down
2020-01-15T23:00:41.670Z,1579129241.670 [CBIT](INFO): Clearing failed state for component Micromodem
2020-01-15T23:00:41.670Z,1579129241.670 [Micromodem] No Fault, FailCount= 2
2020-01-15T23:00:44.410Z,1579129244.410 [Micromodem](INFO): Powering up
2020-01-15T23:00:44.411Z,1579129244.411 [Micromodem](DEBUG): Initializing Micromodem.
2020-01-15T23:00:50.076Z,1579129250.076 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-15T23:01:01.388Z,1579129261.388 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-15T23:01:12.700Z,1579129272.700 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-15T23:01:24.006Z,1579129284.006 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-15T23:01:35.318Z,1579129295.318 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-15T23:01:46.630Z,1579129306.630 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-15T23:01:57.946Z,1579129317.946 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-15T23:02:09.254Z,1579129329.254 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-15T23:02:16.933Z,1579129336.933 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2020-01-15T23:02:20.570Z,1579129340.570 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-15T23:02:31.883Z,1579129351.883 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-15T23:02:36.236Z,1579129356.236 [CommandLine](IMPORTANT): got command show stack
2020-01-15T23:02:36.236Z,1579129356.236 [CommandLine](IMPORTANT): Behavior Stack:

2020-01-15T23:02:36.236Z,1579129356.236 [Default](IMPORTANT): Priority 0: Default:B.GoToSurface
2020-01-15T23:02:36.236Z,1579129356.236 [Default:CheckIn](IMPORTANT): Priority 1: Default:CheckIn:Read_GPS
2020-01-15T23:02:37.174Z,1579129357.174 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2020-01-15T23:02:37.174Z,1579129357.174 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-15T23:02:37.184Z,1579129357.184 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-15T23:02:37.577Z,1579129357.577 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-15T23:02:37.578Z,1579129357.578 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2020-01-15T23:02:43.198Z,1579129363.198 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-15T23:02:44.406Z,1579129364.406 [Micromodem](FAULT): failed to initialize; deviceResponse_ loaded: , available: 
2020-01-15T23:02:44.406Z,1579129364.406 [Micromodem] Communications Fault, FailCount= 3
2020-01-15T23:02:44.406Z,1579129364.406 [Micromodem](ERROR): Communications Fault
2020-01-15T23:02:44.511Z,1579129364.511 [CBIT](ERROR): Communications Fault in component: Micromodem
2020-01-15T23:02:44.811Z,1579129364.811 [Micromodem](INFO): Powering down
2020-01-15T23:02:45.663Z,1579129365.663 [CBIT](INFO): Clearing failed state for component Micromodem
2020-01-15T23:02:45.663Z,1579129365.663 [Micromodem] No Fault, FailCount= 3
2020-01-15T23:02:48.442Z,1579129368.442 [Micromodem](INFO): Powering up
2020-01-15T23:02:48.443Z,1579129368.443 [Micromodem](DEBUG): Initializing Micromodem.
2020-01-15T23:02:50.852Z,1579129370.852 [CommandLine](IMPORTANT): got command run ./Missions/Insert/Docked.xml
2020-01-15T23:02:50.852Z,1579129370.852 [MissionManager](INFO): Loading Mission: ./Missions/Insert/Docked.xml
2020-01-15T23:02:51.011Z,1579129371.011 [MissionManager](INFO): DefineArg Docked.MaxDockRange = 8.000000 m
2020-01-15T23:02:51.022Z,1579129371.022 [MissionManager](INFO): DefineArg Docked.DetachedTimeout = 5.000000 min
2020-01-15T23:02:51.029Z,1579129371.029 [MissionManager](INFO): DefineArg Docked.Depth = 5.000000 m
2020-01-15T23:02:51.049Z,1579129371.049 [MissionManager](INFO): DefineArg Docked.TransponderCode = 2.000000 count
2020-01-15T23:02:51.052Z,1579129371.052 [MissionManager](INFO): DefineArg Docked.TrackingUpdatePeriod = 60.000000 s
2020-01-15T23:02:51.077Z,1579129371.077 [MissionManager](INFO): DefineArg Docked.NumberOfPings = 1.000000 count
2020-01-15T23:02:51.081Z,1579129371.081 [MissionManager](INFO): DefineArg Docked.Speed = 0.000000 m/s
2020-01-15T23:02:51.084Z,1579129371.084 [MissionManager](INFO): DefineArg Docked.DepthDeadband = 1.500000 m
2020-01-15T23:02:51.090Z,1579129371.090 [MissionManager](INFO): DefineArg Docked.PitchLimit = 20.000000 arcdeg
2020-01-15T23:02:51.114Z,1579129371.114 [MissionManager](INFO): DefineArg Docked.MinDepth = 1.000000 m
2020-01-15T23:02:51.118Z,1579129371.118 [MissionManager](INFO): DefineArg Docked.MaxDepth = 215.000000 m
2020-01-15T23:02:51.136Z,1579129371.136 [Docked:A.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-01-15T23:02:51.438Z,1579129371.438 [Docked:E.Pitch](DEBUG): Construct.
2020-01-15T23:02:51.452Z,1579129371.452 [Docked:F.SetSpeed](DEBUG): Construct.
2020-01-15T23:02:51.472Z,1579129371.472 [MissionManager](CRITICAL): Unable to find MissionComponent with name Docked at Docked:G
2020-01-15T23:02:51.473Z,1579129371.473 [Docked](CRITICAL): Error!!!! no component for child behavior.
2020-01-15T23:02:51.478Z,1579129371.478 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<!-- ====================
     Generated by TethysL
     ==================== -->
<Aggregate xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
           xmlns="Tethys"
           xmlns:Units="Tethys/Units"
           xmlns:Universal="Tethys/Universal"
           xmlns:BIT="Tethys/BIT"
           xmlns:Estimation="Tethys/Estimation"
           xmlns:Guidance="Tethys/Guidance"
           xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                               Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                               Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd
                               Tethys/BIT http://okeanids.mbari.org/tethys/Xml/BIT.xsd
                               Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
                               Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd"
       Id="Docked">

   <DefineArg Name="MaxDockRange"><Description>
       Maximum range allowed from the dock.
   </Description><Units:meter/><Value>8</Value></DefineArg>

   <DefineArg Name="DetachedTimeout"><Description>
       Time duration limit for determining if the vehicle is detached from the dock.
   </Description><Units:minute/><Value>5</Value></DefineArg>

    <DefineArg Name="Depth"><Description>
        Depth to maintain while docked.
    </Description><Units:meter/><Value>5</Value></DefineArg>

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

    <DefineArg Name="TrackingUpdatePeriod"><Description>
        How long to wait between acoustic queries.
    </Description><Units:second/><Value>60</Value></DefineArg>

    <DefineArg Name="NumberOfPings"><Description>
        Number of pings requested each time.
    </Description><Units:count/><Value>1</Value></DefineArg>

    <DefineArg Name="Speed"><Description>
        Thruster speed while docked.
    </Description><Units:meter_per_second/><Value>0.0</Value></DefineArg>

    <DefineArg Name="DepthDeadband"><Description>
        How much vertical drift from the specified depth is allowed while docked.
    </Description><Units:meter/><Value>1.5</Value></DefineArg>

    <DefineArg Name="PitchLimit"><Description>
        Max vehicle pitch (+/-) while on dock.
    </Description><Units:degree/><Value>20</Value></DefineArg>

    <DefineArg Name="MinDepth"><Description>
        Minimum depth while docked.
    </Description><Control:VerticalControl.surfaceThreshold/></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth while docked.
    </Description><BIT:CBIT.stopDepth/></DefineArg>


    <Sequence/>

    <Guidance:DepthEnvelope>
        <Parallel/>
        <Setting><Guidance:DepthEnvelope.minDepth/><Arg Name="MinDepth"/></Setting>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="MaxDepth"/></Setting>
    </Guidance:DepthEnvelope>

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

    <Assign><Parallel/><Control:VerticalControl.pitchLimit/><Arg Name="PitchLimit"/></Assign>
    <Assign><Parallel/><Control:VerticalControl.depthDeadband/><Arg Name="DepthDeadband"/></Assign>

    <Guidance:Pitch>
        <Parallel/>
        <Setting><Guidance:Pitch.depth/><Arg Name="Depth"/></Setting>
    </Guidance:Pitch>

    <Guidance:SetSpeed>
        <Parallel/>
        <Setting><Guidance:SetSpeed.speed/><<Units:meter_per_second/><Value>0.0</Value></Setting>
    </Guidance:SetSpeed>

    <Guidance:Docked>
        <Sequence/>
        <Setting><Guidance:Docked.StopDepth/><Arg Name="MaxDepth"/></Setting>
        <Setting><Guidance:Docked.DockRange/><Arg Name="MaxDockRange"/></Setting>
        <Setting><Guidance:Docked.DetachedTimeout/><Arg Name="DetachedTimeout"/></Setting>
    </Guidance:Docked>

</Aggregate>


2020-01-15T23:02:51.480Z,1579129371.480 [CommandLine](IMPORTANT): Running ./Missions/Insert/Docked.xml
2020-01-15T23:02:51.758Z,1579129371.758 [Default] Stopped
2020-01-15T23:02:51.758Z,1579129371.758 [Default](DEBUG): Aggregate::uninitialize Default
2020-01-15T23:02:51.758Z,1579129371.758 [Default:B.GoToSurface] Stopped
2020-01-15T23:02:51.758Z,1579129371.758 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-15T23:02:51.758Z,1579129371.758 [Default:CheckIn] Stopped
2020-01-15T23:02:51.758Z,1579129371.758 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2020-01-15T23:02:51.758Z,1579129371.758 [Default:CheckIn:Read_GPS] Stopped
2020-01-15T23:02:51.759Z,1579129371.759 [MissionManager](IMPORTANT): Started mission Docked
2020-01-15T23:02:51.759Z,1579129371.759 [Docked] Running Loop=1
2020-01-15T23:02:51.759Z,1579129371.759 [Docked](DEBUG): Aggregate::initialize Docked
2020-01-15T23:02:51.759Z,1579129371.759 [Docked:A.DepthEnvelope] Running Loop=1
2020-01-15T23:02:51.759Z,1579129371.759 [Docked:A.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2020-01-15T23:02:51.759Z,1579129371.759 [Docked:B.] Running Loop=1
2020-01-15T23:02:51.759Z,1579129371.759 [Docked:B.](INFO): Initializing TrackAcousticContact.
2020-01-15T23:02:51.760Z,1579129371.760 [Docked:C] Running Loop=1
2020-01-15T23:02:51.760Z,1579129371.760 [Docked:D] Running Loop=1
2020-01-15T23:02:51.760Z,1579129371.760 [Docked:E.Pitch] Running Loop=1
2020-01-15T23:02:51.760Z,1579129371.760 [Docked:E.Pitch](DEBUG): Initialize.
2020-01-15T23:02:51.760Z,1579129371.760 [Docked:F.SetSpeed] Running Loop=1
2020-01-15T23:02:51.760Z,1579129371.760 [Docked:F.SetSpeed](DEBUG): Initialize.
2020-01-15T23:02:51.761Z,1579129371.761 [Docked:F.SetSpeed] Running Loop=1
2020-01-15T23:02:51.761Z,1579129371.761 [Docked:E.Pitch] Running Loop=1
2020-01-15T23:02:51.762Z,1579129371.762 [Docked:D] Running Loop=1
2020-01-15T23:02:51.762Z,1579129371.762 [Docked:C] Running Loop=1
2020-01-15T23:02:51.762Z,1579129371.762 [Docked:B.] Running Loop=1
2020-01-15T23:02:51.763Z,1579129371.763 [Docked:A.DepthEnvelope] Running Loop=1
2020-01-15T23:02:51.780Z,1579129371.780 [CBIT](INFO): Critical error at 20200115T230251
2020-01-15T23:02:51.780Z,1579129371.780 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2020-01-15T23:02:52.115Z,1579129372.115 [MissionManager](INFO): MissionManager is completed.
2020-01-15T23:02:52.116Z,1579129372.116 [MissionManager](INFO): Uninitializing Mission Docked
2020-01-15T23:02:52.116Z,1579129372.116 [Docked] Stopped
2020-01-15T23:02:52.116Z,1579129372.116 [Docked](DEBUG): Aggregate::uninitialize Docked
2020-01-15T23:02:52.116Z,1579129372.116 [Docked:A.DepthEnvelope] Stopped
2020-01-15T23:02:52.116Z,1579129372.116 [Docked:A.DepthEnvelope](DEBUG): Uninitialize.
2020-01-15T23:02:52.116Z,1579129372.116 [Docked:B.] Stopped
2020-01-15T23:02:52.116Z,1579129372.116 [Docked:C] Stopped
2020-01-15T23:02:52.116Z,1579129372.116 [Docked:D] Stopped
2020-01-15T23:02:52.116Z,1579129372.116 [Docked:E.Pitch] Stopped
2020-01-15T23:02:52.116Z,1579129372.116 [Docked:F.SetSpeed] Stopped
2020-01-15T23:02:52.116Z,1579129372.116 [Docked:F.SetSpeed](DEBUG): Uninitialize.
2020-01-15T23:02:52.515Z,1579129372.515 [MissionManager](IMPORTANT): Started mission Default
2020-01-15T23:02:52.515Z,1579129372.515 [Default] Running Loop=1
2020-01-15T23:02:52.515Z,1579129372.515 [Default](DEBUG): Aggregate::initialize Default
2020-01-15T23:02:52.515Z,1579129372.515 [Default:B.GoToSurface] Running Loop=1
2020-01-15T23:02:52.515Z,1579129372.515 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-15T23:02:52.515Z,1579129372.515 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-15T23:02:52.516Z,1579129372.516 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-15T23:02:52.516Z,1579129372.516 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-15T23:02:52.516Z,1579129372.516 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-15T23:02:52.517Z,1579129372.517 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-15T23:02:52.533Z,1579129372.533 [Default:A.Wait] Running Loop=1
2020-01-15T23:02:52.533Z,1579129372.533 [Default:A.Wait](DEBUG): Initialize Wait Component.
2020-01-15T23:02:54.506Z,1579129374.506 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-15T23:03:05.830Z,1579129385.830 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-15T23:03:06.181Z,1579129386.181 [Default:A.Wait](INFO): Done Waiting.
2020-01-15T23:03:06.181Z,1579129386.181 [Default:A.Wait] Stopped
2020-01-15T23:03:06.181Z,1579129386.181 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-15T23:03:06.304Z,1579129386.304 [Default:CheckIn] Running Loop=1
2020-01-15T23:03:06.305Z,1579129386.305 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2020-01-15T23:03:06.305Z,1579129386.305 [Default:CheckIn:Read_GPS] Running Loop=1
2020-01-15T23:03:17.146Z,1579129397.146 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-15T23:03:28.455Z,1579129408.455 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-15T23:03:39.766Z,1579129419.766 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-15T23:03:51.082Z,1579129431.082 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-15T23:03:59.219Z,1579129439.219 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2020-01-15T23:03:59.263Z,1579129439.263 [BPC1](INFO): Received data from all battery sticks.
2020-01-15T23:04:02.398Z,1579129442.398 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-15T23:04:13.698Z,1579129453.698 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-15T23:04:25.018Z,1579129465.018 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-15T23:04:36.330Z,1579129476.330 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-15T23:04:47.638Z,1579129487.638 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-15T23:04:48.046Z,1579129488.046 [Micromodem](FAULT): failed to initialize; deviceResponse_ loaded: , available: 
2020-01-15T23:04:48.046Z,1579129488.046 [Micromodem] Communications Fault, FailCount= 4
2020-01-15T23:04:48.046Z,1579129488.046 [Micromodem](ERROR): Communications Fault
2020-01-15T23:04:48.143Z,1579129488.143 [CBIT](ERROR): Communications Fault in component: Micromodem
2020-01-15T23:04:48.450Z,1579129488.450 [Micromodem](INFO): Powering down
2020-01-15T23:04:49.307Z,1579129489.307 [CBIT](INFO): Clearing failed state for component Micromodem
2020-01-15T23:04:49.307Z,1579129489.307 [Micromodem] No Fault, FailCount= 4
2020-01-15T23:04:52.087Z,1579129492.087 [Micromodem](INFO): Powering up
2020-01-15T23:04:52.088Z,1579129492.088 [Micromodem](DEBUG): Initializing Micromodem.
2020-01-15T23:04:58.957Z,1579129498.957 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-15T23:05:10.262Z,1579129510.262 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-15T23:05:21.571Z,1579129521.571 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-15T23:05:32.890Z,1579129532.890 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-15T23:05:38.175Z,1579129538.175 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 3
2020-01-15T23:05:38.175Z,1579129538.175 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-15T23:05:38.184Z,1579129538.184 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-15T23:05:38.583Z,1579129538.583 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-15T23:05:38.583Z,1579129538.583 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 3
2020-01-15T23:05:44.204Z,1579129544.204 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-15T23:05:55.510Z,1579129555.510 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-15T23:06:06.826Z,1579129566.826 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-15T23:06:10.108Z,1579129570.108 [CommandLine](IMPORTANT): got command restart application
2020-01-15T23:06:11.117Z,1579129571.117 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-15T23:06:11.117Z,1579129571.117 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-15T23:06:11.153Z,1579129571.153 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2020-01-15T23:06:11.153Z,1579129571.153 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-15T23:06:11.153Z,1579129571.153 [CommandLine](INFO): Join timeout helper Thread ID is 5569
2020-01-15T23:06:11.154Z,1579129571.154 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2020-01-15T23:06:11.154Z,1579129571.154 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-15T23:06:11.154Z,1579129571.154 [NavChartDb](INFO): Join timeout helper Thread ID is 5570
2020-01-15T23:06:11.193Z,1579129571.193 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-15T23:06:11.193Z,1579129571.193 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-15T23:06:11.213Z,1579129571.213 [ComponentRegistry](INFO): Shutting down WetLabsSeaOWL_UV_A ThreadHandler
2020-01-15T23:06:11.213Z,1579129571.213 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-15T23:06:11.213Z,1579129571.213 [WetLabsSeaOWL_UV_A](INFO): Join timeout helper Thread ID is 5571
2020-01-15T23:06:11.453Z,1579129571.453 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-15T23:06:11.453Z,1579129571.453 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-01-15T23:06:11.454Z,1579129571.454 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-15T23:06:11.457Z,1579129571.457 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2020-01-15T23:06:11.457Z,1579129571.457 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-15T23:06:11.457Z,1579129571.457 [CTD_NeilBrown](INFO): Join timeout helper Thread ID is 5572
2020-01-15T23:06:11.597Z,1579129571.597 [CTD_NeilBrown ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-15T23:06:11.598Z,1579129571.598 [CTD_NeilBrown](INFO): Powering down
2020-01-15T23:06:11.613Z,1579129571.613 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-15T23:06:11.621Z,1579129571.621 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2020-01-15T23:06:11.621Z,1579129571.621 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-15T23:06:11.622Z,1579129571.622 [DataOverHttps](INFO): Join timeout helper Thread ID is 5573
2020-01-15T23:06:11.769Z,1579129571.769 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-15T23:06:11.769Z,1579129571.769 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-15T23:06:11.790Z,1579129571.790 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2020-01-15T23:06:11.790Z,1579129571.790 [logger ThreadHandler](INFO): Thread cancelled.
2020-01-15T23:06:11.790Z,1579129571.790 [logger](INFO): Join timeout helper Thread ID is 5574
2020-01-15T23:06:11.837Z,1579129571.837 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-15T23:06:11.837Z,1579129571.837 [logger ThreadHandler](INFO): Thread cancelled.
2020-01-15T23:06:11.850Z,1579129571.850 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2020-01-15T23:06:11.850Z,1579129571.850 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-15T23:06:11.850Z,1579129571.850 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2020-01-15T23:06:11.850Z,1579129571.850 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-01-15T23:06:11.850Z,1579129571.850 [controlThread](INFO): Join timeout helper Thread ID is 5575
2020-01-15T23:06:12.061Z,1579129572.061 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-15T23:06:12.061Z,1579129572.061 [controlThread](DEBUG): Uninitializing ControlThread
2020-01-15T23:06:12.062Z,1579129572.062 [AHRS_M2](INFO): Powering down
2020-01-15T23:06:12.133Z,1579129572.133 [DDM](INFO): Powering down
2020-01-15T23:06:12.221Z,1579129572.221 [DUSBL_Hydroid](INFO): Powering down
2020-01-15T23:06:12.313Z,1579129572.313 [Micromodem](INFO): Powering down
2020-01-15T23:06:12.409Z,1579129572.409 [NAL9602](INFO): Powering down
2020-01-15T23:06:12.481Z,1579129572.481 [RDI_Pathfinder](INFO): Powering down
2020-01-15T23:06:12.482Z,1579129572.482 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2020-01-15T23:06:12.483Z,1579129572.483 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2020-01-15T23:06:12.484Z,1579129572.484 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2020-01-15T23:06:12.484Z,1579129572.484 [MissionManager](INFO): Uninitializing Mission Default
2020-01-15T23:06:12.484Z,1579129572.484 [Default] Stopped
2020-01-15T23:06:12.484Z,1579129572.484 [Default](DEBUG): Aggregate::uninitialize Default
2020-01-15T23:06:12.484Z,1579129572.484 [Default:B.GoToSurface] Stopped
2020-01-15T23:06:12.485Z,1579129572.485 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-15T23:06:12.485Z,1579129572.485 [Default:CheckIn] Stopped
2020-01-15T23:06:12.485Z,1579129572.485 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2020-01-15T23:06:12.485Z,1579129572.485 [Default:CheckIn:Read_GPS] Stopped
2020-01-15T23:06:12.487Z,1579129572.487 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2020-01-15T23:06:12.487Z,1579129572.487 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2020-01-15T23:06:12.488Z,1579129572.488 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2020-01-15T23:06:12.488Z,1579129572.488 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2020-01-15T23:06:12.488Z,1579129572.488 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2020-01-15T23:06:12.488Z,1579129572.488 [BuoyancyServo](INFO): Powering down
2020-01-15T23:06:12.501Z,1579129572.501 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2020-01-15T23:06:12.501Z,1579129572.501 [ElevatorServo](INFO): Powering down
2020-01-15T23:06:12.502Z,1579129572.502 [MassServo](DEBUG): Uninitialize Mass Servo.
2020-01-15T23:06:12.502Z,1579129572.502 [MassServo](INFO): Powering down
2020-01-15T23:06:12.503Z,1579129572.503 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-01-15T23:06:12.503Z,1579129572.503 [RudderServo](INFO): Powering down
2020-01-15T23:06:12.503Z,1579129572.503 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2020-01-15T23:06:12.504Z,1579129572.504 [ThrusterServo](INFO): Powering down
2020-01-15T23:06:12.504Z,1579129572.504 [SBIT](DEBUG): Uninitialize SBIT Component.
2020-01-15T23:06:12.505Z,1579129572.505 [IBIT](DEBUG): Uninitialize IBIT Component.
2020-01-15T23:06:12.505Z,1579129572.505 [CBIT](DEBUG): Uninitialize CBIT Component.
2020-01-15T23:06:12.505Z,1579129572.505 [CBIT](DEBUG): Powering off loads.
2020-01-15T23:06:12.517Z,1579129572.517 [CBIT](DEBUG): Disabling WDT.
2020-01-15T23:06:12.529Z,1579129572.529 [CBIT](DEBUG): Opening all GF detection circuits.
2020-01-15T23:06:12.530Z,1579129572.530 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-01-15T23:06:12.594Z,1579129572.594 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-15T23:06:12.636Z,1579129572.636 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-15T23:06:12.639Z,1579129572.639 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-15T23:06:12.696Z,1579129572.696 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-15T23:06:12.756Z,1579129572.756 [logger ThreadHandler](INFO): Thread cancelled.