2020-01-16T00:08:07.093Z,1579133287.093 [Supervisor](DEBUG): Initializing supervisor.
2020-01-16T00:08:07.096Z,1579133287.096 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2020-01-16T00:08:07.096Z,1579133287.096 [SyncHandler](INFO): Protected caller Thread ID is 5959
2020-01-16T00:08:07.097Z,1579133287.097 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2020-01-16T00:08:07.098Z,1579133287.098 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2020-01-16T00:08:07.098Z,1579133287.098 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 5960
2020-01-16T00:08:07.101Z,1579133287.101 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2020-01-16T00:08:07.112Z,1579133287.112 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2020-01-16T00:08:07.113Z,1579133287.113 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2020-01-16T00:08:07.113Z,1579133287.113 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 5961
2020-01-16T00:08:07.114Z,1579133287.114 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2020-01-16T00:08:07.115Z,1579133287.115 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2020-01-16T00:08:07.115Z,1579133287.115 [logger ThreadHandler](INFO): Protected caller Thread ID is 5962
2020-01-16T00:08:07.117Z,1579133287.117 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2020-01-16T00:08:07.117Z,1579133287.117 [Supervisor](INFO): Looking for Config files in directory: Config/
2020-01-16T00:08:07.119Z,1579133287.119 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2020-01-16T00:08:07.541Z,1579133287.541 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2020-01-16T00:08:07.542Z,1579133287.542 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2020-01-16T00:08:07.638Z,1579133287.638 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2020-01-16T00:08:07.639Z,1579133287.639 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2020-01-16T00:08:07.939Z,1579133287.939 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2020-01-16T00:08:07.939Z,1579133287.939 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2020-01-16T00:08:08.088Z,1579133288.088 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2020-01-16T00:08:08.089Z,1579133288.089 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2020-01-16T00:08:08.317Z,1579133288.317 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2020-01-16T00:08:08.318Z,1579133288.318 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2020-01-16T00:08:08.746Z,1579133288.746 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2020-01-16T00:08:08.747Z,1579133288.747 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2020-01-16T00:08:08.950Z,1579133288.950 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2020-01-16T00:08:08.951Z,1579133288.951 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2020-01-16T00:08:09.090Z,1579133289.090 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2020-01-16T00:08:09.091Z,1579133289.091 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2020-01-16T00:08:09.271Z,1579133289.271 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2020-01-16T00:08:09.271Z,1579133289.271 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2020-01-16T00:08:09.365Z,1579133289.365 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2020-01-16T00:08:09.366Z,1579133289.366 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2020-01-16T00:08:09.654Z,1579133289.654 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2020-01-16T00:08:09.654Z,1579133289.654 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2020-01-16T00:08:09.733Z,1579133289.733 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2020-01-16T00:08:09.834Z,1579133289.834 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2020-01-16T00:08:09.835Z,1579133289.835 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2020-01-16T00:08:10.447Z,1579133290.447 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2020-01-16T00:08:10.448Z,1579133290.448 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2020-01-16T00:08:10.843Z,1579133290.843 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2020-01-16T00:08:10.845Z,1579133290.845 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/
2020-01-16T00:08:10.846Z,1579133290.846 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/vehicle.cfg
2020-01-16T00:08:11.043Z,1579133291.043 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Control.cfg
2020-01-16T00:08:11.139Z,1579133291.139 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/BIT.cfg
2020-01-16T00:08:11.235Z,1579133291.235 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Battery.cfg
2020-01-16T00:08:11.456Z,1579133291.456 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2020-01-16T00:08:11.456Z,1579133291.456 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Simulator.cfg
2020-01-16T00:08:11.539Z,1579133291.539 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Navigation.cfg
2020-01-16T00:08:11.630Z,1579133291.630 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/logger.cfg
2020-01-16T00:08:11.726Z,1579133291.726 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/secure.cfg
2020-01-16T00:08:11.807Z,1579133291.807 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Servo.cfg
2020-01-16T00:08:11.912Z,1579133291.912 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Sensor.cfg
2020-01-16T00:08:12.088Z,1579133292.088 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Science.cfg
2020-01-16T00:08:12.214Z,1579133292.214 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/root/
2020-01-16T00:08:12.214Z,1579133292.214 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2020-01-16T00:08:12.229Z,1579133292.229 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2020-01-16T00:08:12.544Z,1579133292.544 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_orientation
2020-01-16T00:08:12.549Z,1579133292.549 [AHRS_M2](INFO): created writer for : platform_orientation
2020-01-16T00:08:12.551Z,1579133292.551 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_magnetic_orientation
2020-01-16T00:08:12.555Z,1579133292.555 [AHRS_M2](INFO): created writer for : platform_magnetic_orientation
2020-01-16T00:08:12.556Z,1579133292.556 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_pitch_angle
2020-01-16T00:08:12.561Z,1579133292.561 [AHRS_M2](INFO): created writer for : platform_pitch_angle
2020-01-16T00:08:12.561Z,1579133292.561 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_roll_angle
2020-01-16T00:08:12.566Z,1579133292.566 [AHRS_M2](INFO): created writer for : platform_roll_angle
2020-01-16T00:08:12.634Z,1579133292.634 [AHRS_M2] Loaded
2020-01-16T00:08:12.634Z,1579133292.634 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2020-01-16T00:08:12.712Z,1579133292.712 [DataOverHttps] Loaded
2020-01-16T00:08:12.712Z,1579133292.712 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2020-01-16T00:08:12.713Z,1579133292.713 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 4076F4E0
2020-01-16T00:08:12.713Z,1579133292.713 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 6041
2020-01-16T00:08:12.737Z,1579133292.737 [DDM] Loaded
2020-01-16T00:08:12.737Z,1579133292.737 [ComponentRegistry](DEBUG): SyncComponent "DDM" handled in the control thread.
2020-01-16T00:08:12.749Z,1579133292.749 [Depth_Keller] Loaded
2020-01-16T00:08:12.750Z,1579133292.750 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2020-01-16T00:08:12.754Z,1579133292.754 [DropWeight] Loaded
2020-01-16T00:08:12.754Z,1579133292.754 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2020-01-16T00:08:12.813Z,1579133292.813 [DUSBL_Hydroid] Loaded
2020-01-16T00:08:12.813Z,1579133292.813 [ComponentRegistry](DEBUG): SyncComponent "DUSBL_Hydroid" handled in the control thread.
2020-01-16T00:08:12.857Z,1579133292.857 [Micromodem] Loaded
2020-01-16T00:08:12.858Z,1579133292.858 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2020-01-16T00:08:12.950Z,1579133292.950 [NAL9602] Loaded
2020-01-16T00:08:12.950Z,1579133292.950 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2020-01-16T00:08:12.985Z,1579133292.985 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/voltage_now
2020-01-16T00:08:12.986Z,1579133292.986 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/current_now
2020-01-16T00:08:12.986Z,1579133292.986 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/charge_now
2020-01-16T00:08:12.987Z,1579133292.987 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/charge_full
2020-01-16T00:08:12.987Z,1579133292.987 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/voltage_now
2020-01-16T00:08:12.988Z,1579133292.988 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/current_now
2020-01-16T00:08:12.988Z,1579133292.988 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/charge_now
2020-01-16T00:08:12.989Z,1579133292.989 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/charge_full
2020-01-16T00:08:12.989Z,1579133292.989 [Onboard] Loaded
2020-01-16T00:08:12.989Z,1579133292.989 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2020-01-16T00:08:12.995Z,1579133292.995 [PowerOnly] Loaded
2020-01-16T00:08:12.995Z,1579133292.995 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2020-01-16T00:08:13.001Z,1579133293.001 [Radio_Surface] Loaded
2020-01-16T00:08:13.002Z,1579133293.002 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2020-01-16T00:08:13.002Z,1579133293.002 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 4079F4E0
2020-01-16T00:08:13.003Z,1579133293.003 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 6042
2020-01-16T00:08:13.044Z,1579133293.044 [RDI_Pathfinder] Loaded
2020-01-16T00:08:13.044Z,1579133293.044 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2020-01-16T00:08:15.413Z,1579133295.413 [BPC1] Loaded
2020-01-16T00:08:15.413Z,1579133295.413 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2020-01-16T00:08:15.414Z,1579133295.414 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2020-01-16T00:08:15.414Z,1579133295.414 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2020-01-16T00:08:15.427Z,1579133295.427 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2020-01-16T00:08:15.427Z,1579133295.427 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2020-01-16T00:08:15.527Z,1579133295.527 [DeadReckonUsingMultipleVelocitySources] Loaded
2020-01-16T00:08:15.527Z,1579133295.527 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2020-01-16T00:08:15.547Z,1579133295.547 [NavChart] Loaded
2020-01-16T00:08:15.547Z,1579133295.547 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2020-01-16T00:08:15.551Z,1579133295.551 [UniversalFixResidualReporter] Loaded
2020-01-16T00:08:15.551Z,1579133295.551 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2020-01-16T00:08:15.551Z,1579133295.551 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2020-01-16T00:08:15.552Z,1579133295.552 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2020-01-16T00:08:15.656Z,1579133295.656 [BuoyancyServo] Loaded
2020-01-16T00:08:15.656Z,1579133295.656 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2020-01-16T00:08:15.670Z,1579133295.670 [ElevatorServo] Loaded
2020-01-16T00:08:15.671Z,1579133295.671 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2020-01-16T00:08:15.684Z,1579133295.684 [MassServo] Loaded
2020-01-16T00:08:15.685Z,1579133295.685 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2020-01-16T00:08:15.699Z,1579133295.699 [RudderServo] Loaded
2020-01-16T00:08:15.699Z,1579133295.699 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2020-01-16T00:08:15.713Z,1579133295.713 [ThrusterServo] Loaded
2020-01-16T00:08:15.713Z,1579133295.713 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2020-01-16T00:08:15.714Z,1579133295.714 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2020-01-16T00:08:15.714Z,1579133295.714 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2020-01-16T00:08:15.962Z,1579133295.962 [CTD_NeilBrown] Loaded
2020-01-16T00:08:15.962Z,1579133295.962 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2020-01-16T00:08:15.963Z,1579133295.963 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 408F34E0
2020-01-16T00:08:15.963Z,1579133295.963 [CTD_NeilBrown ThreadHandler](INFO): Protected caller Thread ID is 6043
2020-01-16T00:08:15.977Z,1579133295.977 [PAR_Licor] Loaded
2020-01-16T00:08:15.977Z,1579133295.977 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2020-01-16T00:08:16.019Z,1579133296.019 [WetLabsSeaOWL_UV_A] Loaded
2020-01-16T00:08:16.019Z,1579133296.019 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2020-01-16T00:08:16.020Z,1579133296.020 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 409234E0
2020-01-16T00:08:16.020Z,1579133296.020 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 6044
2020-01-16T00:08:16.021Z,1579133296.021 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2020-01-16T00:08:16.021Z,1579133296.021 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2020-01-16T00:08:16.348Z,1579133296.348 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2020-01-16T00:08:16.348Z,1579133296.348 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2020-01-16T00:08:16.388Z,1579133296.388 [DepthRateCalculator] Loaded
2020-01-16T00:08:16.388Z,1579133296.388 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2020-01-16T00:08:16.393Z,1579133296.393 [PitchRateCalculator] Loaded
2020-01-16T00:08:16.394Z,1579133296.394 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2020-01-16T00:08:16.405Z,1579133296.405 [SpeedCalculator] Loaded
2020-01-16T00:08:16.405Z,1579133296.405 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2020-01-16T00:08:16.426Z,1579133296.426 [TempGradientCalculator] Loaded
2020-01-16T00:08:16.426Z,1579133296.426 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2020-01-16T00:08:16.431Z,1579133296.431 [YawRateCalculator] Loaded
2020-01-16T00:08:16.431Z,1579133296.431 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2020-01-16T00:08:16.470Z,1579133296.470 [ElevatorOffsetCalculator] Loaded
2020-01-16T00:08:16.471Z,1579133296.471 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2020-01-16T00:08:16.471Z,1579133296.471 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2020-01-16T00:08:16.471Z,1579133296.471 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2020-01-16T00:08:16.602Z,1579133296.602 [SBIT](DEBUG): Construct Startup Built In Test.
2020-01-16T00:08:16.623Z,1579133296.623 [SBIT] Loaded
2020-01-16T00:08:16.623Z,1579133296.623 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2020-01-16T00:08:16.624Z,1579133296.624 [IBIT](DEBUG): Construct Initiated Built In Test.
2020-01-16T00:08:16.636Z,1579133296.636 [IBIT] Loaded
2020-01-16T00:08:16.637Z,1579133296.637 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2020-01-16T00:08:16.640Z,1579133296.640 [CBIT](DEBUG): Construct Continuous Built In Test.
2020-01-16T00:08:16.773Z,1579133296.773 [CBIT] Loaded
2020-01-16T00:08:16.773Z,1579133296.773 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2020-01-16T00:08:16.774Z,1579133296.774 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2020-01-16T00:08:16.774Z,1579133296.774 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2020-01-16T00:08:16.855Z,1579133296.855 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2020-01-16T00:08:16.855Z,1579133296.855 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2020-01-16T00:08:16.949Z,1579133296.949 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2020-01-16T00:08:16.950Z,1579133296.950 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2020-01-16T00:08:16.996Z,1579133296.996 [VerticalControl](DEBUG): Construct VerticalControl.
2020-01-16T00:08:17.076Z,1579133297.076 [VerticalControl] Loaded
2020-01-16T00:08:17.077Z,1579133297.077 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2020-01-16T00:08:17.077Z,1579133297.077 [HorizontalControl](DEBUG): Construct HorizontalControl.
2020-01-16T00:08:17.144Z,1579133297.144 [HorizontalControl] Loaded
2020-01-16T00:08:17.144Z,1579133297.144 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2020-01-16T00:08:17.145Z,1579133297.145 [SpeedControl](DEBUG): Construct SpeedControl.
2020-01-16T00:08:17.146Z,1579133297.146 [SpeedControl] Loaded
2020-01-16T00:08:17.146Z,1579133297.146 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2020-01-16T00:08:17.147Z,1579133297.147 [LoopControl](DEBUG): Construct LoopControl.
2020-01-16T00:08:17.148Z,1579133297.148 [LoopControl] Loaded
2020-01-16T00:08:17.148Z,1579133297.148 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2020-01-16T00:08:17.148Z,1579133297.148 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2020-01-16T00:08:17.149Z,1579133297.149 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2020-01-16T00:08:17.179Z,1579133297.179 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2020-01-16T00:08:17.183Z,1579133297.183 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2020-01-16T00:08:17.184Z,1579133297.184 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2020-01-16T00:08:17.190Z,1579133297.190 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2020-01-16T00:08:17.191Z,1579133297.191 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40B094E0
2020-01-16T00:08:17.192Z,1579133297.192 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 6045
2020-01-16T00:08:17.196Z,1579133297.196 [Supervisor](INFO): Main Thread ID is 5419
2020-01-16T00:08:17.196Z,1579133297.196 [Supervisor](DEBUG): Running supervisor.
2020-01-16T00:08:17.197Z,1579133297.197 [CommandLine ThreadHandler](INFO): Handler Thread ID is 6046
2020-01-16T00:08:17.200Z,1579133297.200 [controlThread ThreadHandler](INFO): Handler Thread ID is 6047
2020-01-16T00:08:17.200Z,1579133297.200 [controlThread](DEBUG): Initializing ControlThread
2020-01-16T00:08:17.208Z,1579133297.208 [NavChart](DEBUG): Initialize NavChart Navigation.
2020-01-16T00:08:17.208Z,1579133297.208 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2020-01-16T00:08:17.213Z,1579133297.213 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2020-01-16T00:08:17.213Z,1579133297.213 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2020-01-16T00:08:17.214Z,1579133297.214 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2020-01-16T00:08:17.214Z,1579133297.214 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2020-01-16T00:08:17.214Z,1579133297.214 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2020-01-16T00:08:17.215Z,1579133297.215 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2020-01-16T00:08:17.215Z,1579133297.215 [SBIT](INFO): Initialize SBIT Component.
2020-01-16T00:08:17.216Z,1579133297.216 [SBIT](IMPORTANT): git: 2019-12-03-34-g1420f60
2020-01-16T00:08:17.216Z,1579133297.216 [SBIT](INFO): git hash: 1420f6075bfd9e2317cf67bc08ebc33a04e592a5
2020-01-16T00:08:17.216Z,1579133297.216 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2020-01-16T00:08:17.218Z,1579133297.218 [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
2020-01-16T00:08:17.219Z,1579133297.219 [SBIT](INFO): Beginning SBIT in 39.000000 seconds.
2020-01-16T00:08:17.219Z,1579133297.219 [IBIT](INFO): Initialize IBIT Component.
2020-01-16T00:08:17.220Z,1579133297.220 [CBIT](DEBUG): Initialize CBIT Component.
2020-01-16T00:08:17.221Z,1579133297.221 [logger ThreadHandler](INFO): Handler Thread ID is 6048
2020-01-16T00:08:17.233Z,1579133297.233 [CBIT](DEBUG): Initialized mux pins.
2020-01-16T00:08:17.233Z,1579133297.233 [CBIT](DEBUG): Initializing the watchdog timer.
2020-01-16T00:08:17.241Z,1579133297.241 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 6049
2020-01-16T00:08:17.242Z,1579133297.242 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2020-01-16T00:08:17.253Z,1579133297.253 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 6050
2020-01-16T00:08:17.257Z,1579133297.257 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2020-01-16T00:08:17.257Z,1579133297.257 [CBIT](DEBUG): Initializing heartbeat.
2020-01-16T00:08:17.265Z,1579133297.265 [CTD_NeilBrown ThreadHandler](INFO): Handler Thread ID is 6051
2020-01-16T00:08:17.266Z,1579133297.266 [CTD_NeilBrown](INFO): Powering down
2020-01-16T00:08:17.293Z,1579133297.293 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 6052
2020-01-16T00:08:17.294Z,1579133297.294 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-01-16T00:08:17.317Z,1579133297.317 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 6053
2020-01-16T00:08:17.320Z,1579133297.320 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2020-01-16T00:08:17.320Z,1579133297.320 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2020-01-16T00:08:17.321Z,1579133297.321 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2020-01-16T00:08:17.321Z,1579133297.321 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2020-01-16T00:08:17.321Z,1579133297.321 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2020-01-16T00:08:17.321Z,1579133297.321 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2020-01-16T00:08:17.321Z,1579133297.321 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2020-01-16T00:08:17.322Z,1579133297.322 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2020-01-16T00:08:17.322Z,1579133297.322 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2020-01-16T00:08:17.322Z,1579133297.322 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2020-01-16T00:08:17.322Z,1579133297.322 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2020-01-16T00:08:17.322Z,1579133297.322 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2020-01-16T00:08:17.322Z,1579133297.322 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2020-01-16T00:08:17.323Z,1579133297.323 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2020-01-16T00:08:17.323Z,1579133297.323 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2020-01-16T00:08:17.323Z,1579133297.323 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2020-01-16T00:08:17.329Z,1579133297.329 [CBIT](DEBUG): Deactivating GF circuits.
2020-01-16T00:08:17.330Z,1579133297.330 [CBIT](DEBUG): Deactivating emergency mode.
2020-01-16T00:08:17.365Z,1579133297.365 [CBIT](DEBUG): Backplane powered.
2020-01-16T00:08:17.365Z,1579133297.365 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2020-01-16T00:08:17.367Z,1579133297.367 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2020-01-16T00:08:17.368Z,1579133297.368 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2020-01-16T00:08:17.368Z,1579133297.368 [LoopControl](DEBUG): Initialize LoopControlComponent.
2020-01-16T00:08:17.369Z,1579133297.369 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2020-01-16T00:08:17.379Z,1579133297.379 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2020-01-16T00:08:17.422Z,1579133297.422 [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>


2020-01-16T00:08:17.422Z,1579133297.422 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2020-01-16T00:08:17.493Z,1579133297.493 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2020-01-16T00:08:17.494Z,1579133297.494 [Default:A.Wait](DEBUG): Construct Wait.
2020-01-16T00:08:17.496Z,1579133297.496 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2020-01-16T00:08:17.535Z,1579133297.535 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2020-01-16T00:08:17.582Z,1579133297.582 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2020-01-16T00:08:17.587Z,1579133297.587 [Default:E.Execute](DEBUG): Construct Execute.
2020-01-16T00:08:17.607Z,1579133297.607 [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>


2020-01-16T00:08:17.611Z,1579133297.611 [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,
2020-01-16T00:08:17.616Z,1579133297.616 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2020-01-16T00:08:17.657Z,1579133297.657 [Radio_Surface](INFO): Powering up
2020-01-16T00:08:17.676Z,1579133297.676 [DDM](INFO): Powering up
2020-01-16T00:08:17.677Z,1579133297.677 [DDM](DEBUG): Initializing DDM.
2020-01-16T00:08:17.731Z,1579133297.731 [DUSBL_Hydroid](INFO): Powering up
2020-01-16T00:08:17.731Z,1579133297.731 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2020-01-16T00:08:17.930Z,1579133297.930 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2020-01-16T00:08:17.937Z,1579133297.937 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2020-01-16T00:08:17.938Z,1579133297.938 [ElevatorServo](DEBUG): Initializing EZServoServo.
2020-01-16T00:08:17.945Z,1579133297.945 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2020-01-16T00:08:17.946Z,1579133297.946 [MassServo](DEBUG): Initializing EZServoServo.
2020-01-16T00:08:17.953Z,1579133297.953 [MassServo](DEBUG): Initializing MassServo.
2020-01-16T00:08:17.954Z,1579133297.954 [RudderServo](DEBUG): Initializing EZServoServo.
2020-01-16T00:08:17.961Z,1579133297.961 [RudderServo](DEBUG): Initializing RudderServo.
2020-01-16T00:08:17.962Z,1579133297.962 [ThrusterServo](DEBUG): Initializing EZServoServo.
2020-01-16T00:08:17.969Z,1579133297.969 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2020-01-16T00:08:18.038Z,1579133298.038 [DropWeight](CRITICAL): DROP WEIGHT MISSING.

2020-01-16T00:08:18.038Z,1579133298.038 [DropWeight] Hardware Fault, FailCount= 1
2020-01-16T00:08:18.038Z,1579133298.038 [DropWeight](ERROR): Hardware Fault
2020-01-16T00:08:18.040Z,1579133298.040 [Micromodem](INFO): Powering up
2020-01-16T00:08:18.040Z,1579133298.040 [Micromodem](DEBUG): Initializing Micromodem.
2020-01-16T00:08:18.122Z,1579133298.122 [CommandLine](FAULT): Scheduling is paused
2020-01-16T00:08:18.123Z,1579133298.123 [CBIT](INFO): Critical error at 20200116T000818
2020-01-16T00:08:18.123Z,1579133298.123 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2020-01-16T00:08:18.125Z,1579133298.125 [CBIT](ERROR): Hardware Fault in component: DropWeight
2020-01-16T00:08:18.126Z,1579133298.126 [CBIT](CRITICAL): Hardware Fault in component: DropWeight
2020-01-16T00:08:18.833Z,1579133298.833 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2020-01-16T00:08:18.833Z,1579133298.833 [RudderServo](FAULT): Rudder failed to initialize
2020-01-16T00:08:18.833Z,1579133298.833 [RudderServo] Communications Fault, FailCount= 1
2020-01-16T00:08:18.833Z,1579133298.833 [RudderServo](ERROR): Communications Fault
2020-01-16T00:08:18.942Z,1579133298.942 [CBIT](INFO): Critical error at 20200116T000818
2020-01-16T00:08:18.945Z,1579133298.945 [CBIT](ERROR): Communications Fault in component: RudderServo
2020-01-16T00:08:19.130Z,1579133299.130 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-01-16T00:08:19.130Z,1579133299.130 [RudderServo](INFO): Powering down
2020-01-16T00:08:19.807Z,1579133299.807 [RudderServo](DEBUG): Initializing EZServoServo.
2020-01-16T00:08:19.926Z,1579133299.926 [RudderServo](DEBUG): Initializing RudderServo.
2020-01-16T00:08:19.930Z,1579133299.930 [CBIT](INFO): Clearing failed state for component RudderServo
2020-01-16T00:08:19.930Z,1579133299.930 [RudderServo] No Fault, FailCount= 1
2020-01-16T00:08:23.036Z,1579133303.036 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2020-01-16T00:08:27.225Z,1579133307.225 [CBIT](CRITICAL): Environmental Failure. Press:14.799441 PSI. Humidity:29%. Temp:24 C. ABORTING MISSION
2020-01-16T00:08:27.599Z,1579133307.599 [CBIT](INFO): Critical error at 20200116T000827
2020-01-16T00:08:28.263Z,1579133308.263 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2020-01-16T00:08:31.104Z,1579133311.104 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2020-01-16T00:08:34.319Z,1579133314.319 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:08:35.926Z,1579133315.926 [DUSBL_Hydroid](INFO): DUSBL Version:O
2020-01-16T00:08:39.581Z,1579133319.581 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00,   0.00
2020-01-16T00:08:43.199Z,1579133323.199 [NAL9602](INFO): Powering up NAL9602
2020-01-16T00:08:45.622Z,1579133325.622 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:08:54.107Z,1579133334.107 [NAL9602](INFO): NAL9602 initialized
2020-01-16T00:08:56.970Z,1579133336.970 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:08:57.072Z,1579133337.072 [SBIT](IMPORTANT): Beginning Startup BIT
2020-01-16T00:08:57.085Z,1579133337.085 [CBIT](IMPORTANT): Beginning ground fault scan
2020-01-16T00:09:08.073Z,1579133348.073 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.017207
CHAN A1 (24V): -0.029075
CHAN A2 (12V): -0.007027
CHAN A3 (5V): -0.002006
CHAN B0 (3.3V): 0.000216
CHAN B1 (3.15aV): 0.000516
CHAN B2 (3.15bV): -0.000189
CHAN B3 (GND): 0.002403
OPEN: 0.004911
Full Scale Calc: 4.765 mA, -1.589 mA
2020-01-16T00:09:08.364Z,1579133348.364 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:09:19.398Z,1579133359.398 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:09:30.710Z,1579133370.710 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:09:35.894Z,1579133375.894 [CommandLine](IMPORTANT): got command show variable cableState
2020-01-16T00:09:39.168Z,1579133379.168 [CommandLine](IMPORTANT): got command show variable cable
2020-01-16T00:09:39.381Z,1579133379.381 [CommandLine](IMPORTANT): DDM.cablePresent (bool)
2020-01-16T00:09:41.754Z,1579133381.754 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:09:48.960Z,1579133388.960 [CommandLine](IMPORTANT): got command report mod DDM.cablePresent
2020-01-16T00:09:49.069Z,1579133389.069 [Reporter](INFO): DDM.cablePresent no_value
2020-01-16T00:09:51.096Z,1579133391.096 [SBIT](IMPORTANT): SBIT PASSED
2020-01-16T00:09:51.167Z,1579133391.167 [CommandLine](IMPORTANT): got command configSet list
2020-01-16T00:09:51.167Z,1579133391.167 [CommandLine](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2020-01-16T00:09:51.168Z,1579133391.168 [CommandLine](IMPORTANT): DDM.loadAtStartup=1 bool;

2020-01-16T00:09:51.168Z,1579133391.168 [CommandLine](IMPORTANT): DDM.verbosity=3 count;

2020-01-16T00:09:51.168Z,1579133391.168 [CommandLine](IMPORTANT): DUSBL_Hydroid.detectionThreshold=25 count;

2020-01-16T00:09:51.168Z,1579133391.168 [CommandLine](IMPORTANT): DUSBL_Hydroid.transmitLockout=40 millisecond;

2020-01-16T00:09:51.169Z,1579133391.169 [CommandLine](IMPORTANT): Express linearApproximation DDM.DDMMode 1.000000 count;

2020-01-16T00:09:51.169Z,1579133391.169 [CommandLine](IMPORTANT): Express all DDM.cablePresent;

2020-01-16T00:09:51.169Z,1579133391.169 [CommandLine](IMPORTANT): HorizontalControl.kiHeading=0.002 reciprocal_second;

2020-01-16T00:09:51.169Z,1579133391.169 [CommandLine](IMPORTANT): HorizontalControl.kpHeading=0.8 none;

2020-01-16T00:09:51.169Z,1579133391.169 [CommandLine](IMPORTANT): HorizontalControl.rudDeadband=0.05 degree;

2020-01-16T00:09:51.169Z,1579133391.169 [CommandLine](IMPORTANT): Micromodem.destinationAddress=12 enum;

2020-01-16T00:09:51.169Z,1579133391.169 [CommandLine](IMPORTANT): Micromodem.sendExpress=1 bool;

2020-01-16T00:09:51.169Z,1579133391.169 [CommandLine](IMPORTANT): Micromodem.surfaceThreshold=0 meter;

2020-01-16T00:09:51.170Z,1579133391.170 [CommandLine](IMPORTANT): PowerOnly.sampleTime=90 second;

2020-01-16T00:09:51.170Z,1579133391.170 [CommandLine](IMPORTANT): RudderServo.deviationAngle=0.0001 degree;

2020-01-16T00:09:51.170Z,1579133391.170 [CommandLine](IMPORTANT): VerticalControl.buoyancyNeutral=105 cubic_centimeter;

2020-01-16T00:09:51.170Z,1579133391.170 [CommandLine](IMPORTANT): VerticalControl.massDefault=-5 millimeter;

2020-01-16T00:09:51.553Z,1579133391.553 [MissionManager](IMPORTANT): Started mission Startup
2020-01-16T00:09:51.554Z,1579133391.554 [Startup] Running Loop=1
2020-01-16T00:09:51.554Z,1579133391.554 [Startup](DEBUG): Aggregate::initialize Startup
2020-01-16T00:09:51.554Z,1579133391.554 [Startup:A.GoToSurface] Running Loop=1
2020-01-16T00:09:51.554Z,1579133391.554 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-16T00:09:51.555Z,1579133391.555 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-16T00:09:51.555Z,1579133391.555 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-16T00:09:51.555Z,1579133391.555 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-16T00:09:51.556Z,1579133391.556 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-16T00:09:51.556Z,1579133391.556 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-16T00:09:51.558Z,1579133391.558 [Startup:StartupSatComms] Running Loop=1
2020-01-16T00:09:51.558Z,1579133391.558 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2020-01-16T00:09:51.558Z,1579133391.558 [Startup:StartupSatComms:A] Running Loop=1
2020-01-16T00:09:51.945Z,1579133391.945 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2020-01-16T00:09:53.060Z,1579133393.060 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:10:00.368Z,1579133400.368 [CommandLine](IMPORTANT): got command show stack
2020-01-16T00:10:00.368Z,1579133400.368 [CommandLine](IMPORTANT): Behavior Stack:

2020-01-16T00:10:00.368Z,1579133400.368 [Startup](IMPORTANT): Priority 0: Startup:A.GoToSurface
2020-01-16T00:10:00.368Z,1579133400.368 [Startup:StartupSatComms](IMPORTANT): Priority 1: Startup:StartupSatComms:A
2020-01-16T00:10:04.370Z,1579133404.370 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:10:08.435Z,1579133408.435 [RDI_Pathfinder](ERROR): Failed to parse:
:R,   0.00,   0.00,   0.00,   0.00
2020-01-16T00:10:15.690Z,1579133415.690 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:10:18.104Z,1579133418.104 [Micromodem](FAULT): failed to initialize; deviceResponse_ loaded: , available: 
2020-01-16T00:10:18.104Z,1579133418.104 [Micromodem] Communications Fault, FailCount= 1
2020-01-16T00:10:18.104Z,1579133418.104 [Micromodem](ERROR): Communications Fault
2020-01-16T00:10:18.198Z,1579133418.198 [CBIT](ERROR): Communications Fault in component: Micromodem
2020-01-16T00:10:18.514Z,1579133418.514 [Micromodem](INFO): Powering down
2020-01-16T00:10:19.402Z,1579133419.402 [CBIT](INFO): Clearing failed state for component Micromodem
2020-01-16T00:10:19.402Z,1579133419.402 [Micromodem] No Fault, FailCount= 1
2020-01-16T00:10:22.145Z,1579133422.145 [Micromodem](INFO): Powering up
2020-01-16T00:10:22.145Z,1579133422.145 [Micromodem](DEBUG): Initializing Micromodem.
2020-01-16T00:10:26.997Z,1579133426.997 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:10:38.302Z,1579133438.302 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:10:46.447Z,1579133446.447 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004991
2020-01-16T00:10:49.614Z,1579133449.614 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:10:51.683Z,1579133451.683 [Startup:StartupSatComms:A](INFO): Timed out from 2020-01-16T00:09:51.6Z
2020-01-16T00:10:51.683Z,1579133451.683 [Startup:StartupSatComms:A] Stopped
2020-01-16T00:10:51.683Z,1579133451.683 [Startup:StartupSatComms:B] Running Loop=1
2020-01-16T00:10:52.105Z,1579133452.105 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2020-01-16T00:10:58.993Z,1579133458.993 [DataOverHttps](INFO): Sending 346 bytes from file Logs/20200116T000807/Courier0000.lzma
2020-01-16T00:11:00.930Z,1579133460.930 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:11:00.999Z,1579133460.999 [DataOverHttps](INFO): Moved sent file to Logs/20200116T000807/Courier0000.lzma.bak
2020-01-16T00:11:00.999Z,1579133460.999 [DataOverHttps](INFO): SBD MOMSN=12194188
2020-01-16T00:11:12.238Z,1579133472.238 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:11:17.123Z,1579133477.123 [DataOverHttps](INFO): Sending 342 bytes from file Logs/20200115T234533/Express0008.lzma
2020-01-16T00:11:17.514Z,1579133477.514 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2020-01-16T00:11:17.514Z,1579133477.514 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-16T00:11:17.552Z,1579133477.552 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-16T00:11:17.960Z,1579133477.960 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-16T00:11:17.960Z,1579133477.960 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2020-01-16T00:11:19.098Z,1579133479.098 [DataOverHttps](INFO): Moved sent file to Logs/20200115T234533/Express0008.lzma.bak
2020-01-16T00:11:19.099Z,1579133479.099 [DataOverHttps](INFO): SBD MOMSN=12194194
2020-01-16T00:11:23.554Z,1579133483.554 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:11:24.180Z,1579133484.180 [CommandLine](IMPORTANT): got command show stack
2020-01-16T00:11:24.180Z,1579133484.180 [CommandLine](IMPORTANT): Behavior Stack:

2020-01-16T00:11:24.180Z,1579133484.180 [Startup](IMPORTANT): Priority 0: Startup:A.GoToSurface
2020-01-16T00:11:24.180Z,1579133484.180 [Startup:StartupSatComms](IMPORTANT): Priority 1: Startup:StartupSatComms:B
2020-01-16T00:11:33.203Z,1579133493.203 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.latitude_fix 35.500000 degree
2020-01-16T00:11:33.209Z,1579133493.209 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.latitude_fix" handled in the control thread.
2020-01-16T00:11:33.209Z,1579133493.209 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.longitude_fix -122.989998 degree
2020-01-16T00:11:33.211Z,1579133493.211 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.longitude_fix" handled in the control thread.
2020-01-16T00:11:33.405Z,1579133493.405 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,DDM,Depth_Keller,DropWeight,DUSBL_Hydroid,Micromodem,NAL9602,Onboard,PowerOnly,RDI_Pathfinder,BPC1,PAR_Licor,Depth_Keller,PAR_Licor,Maintain_NAL9602.latitude_fix,Maintain_NAL9602.longitude_fix,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2020-01-16T00:11:33.706Z,1579133493.706 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-16T00:11:33.706Z,1579133493.706 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2020-01-16T00:11:33.706Z,1579133493.706 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-16T00:11:33.769Z,1579133493.769 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-16T00:11:34.154Z,1579133494.154 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-16T00:11:34.154Z,1579133494.154 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2020-01-16T00:11:34.882Z,1579133494.882 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:11:34.971Z,1579133494.971 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-16T00:11:34.972Z,1579133494.972 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 3
2020-01-16T00:11:34.972Z,1579133494.972 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-16T00:11:34.999Z,1579133494.999 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-16T00:11:35.344Z,1579133495.344 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-16T00:11:35.344Z,1579133495.344 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 3
2020-01-16T00:11:36.131Z,1579133496.131 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-16T00:11:36.132Z,1579133496.132 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 4
2020-01-16T00:11:36.132Z,1579133496.132 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-16T00:11:36.166Z,1579133496.166 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-16T00:11:36.574Z,1579133496.574 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-16T00:11:36.574Z,1579133496.574 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 4
2020-01-16T00:11:37.363Z,1579133497.363 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-16T00:11:37.363Z,1579133497.363 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 5
2020-01-16T00:11:37.363Z,1579133497.363 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-16T00:11:37.417Z,1579133497.417 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-16T00:11:37.758Z,1579133497.758 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-16T00:11:37.759Z,1579133497.759 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 5
2020-01-16T00:11:38.533Z,1579133498.533 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-16T00:11:38.533Z,1579133498.533 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 6
2020-01-16T00:11:38.533Z,1579133498.533 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-16T00:11:38.543Z,1579133498.543 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-16T00:11:38.822Z,1579133498.822 [DataOverHttps](INFO): Sending 1259 bytes from file Logs/20200116T000807/Express0001.lzma
2020-01-16T00:11:39.019Z,1579133499.019 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-16T00:11:39.019Z,1579133499.019 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 6
2020-01-16T00:11:39.779Z,1579133499.779 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-16T00:11:39.779Z,1579133499.779 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 7
2020-01-16T00:11:39.779Z,1579133499.779 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-16T00:11:39.789Z,1579133499.789 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-16T00:11:40.206Z,1579133500.206 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-16T00:11:40.207Z,1579133500.207 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 7
2020-01-16T00:11:40.838Z,1579133500.838 [DataOverHttps](INFO): Moved sent file to Logs/20200116T000807/Express0001.lzma.bak
2020-01-16T00:11:40.838Z,1579133500.838 [DataOverHttps](INFO): SBD MOMSN=12194205
2020-01-16T00:11:40.990Z,1579133500.990 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-16T00:11:40.990Z,1579133500.990 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 8
2020-01-16T00:11:40.990Z,1579133500.990 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-16T00:11:41.008Z,1579133501.008 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-16T00:11:41.368Z,1579133501.368 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-16T00:11:41.368Z,1579133501.368 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 8
2020-01-16T00:11:42.206Z,1579133502.206 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-16T00:11:42.206Z,1579133502.206 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 9
2020-01-16T00:11:42.206Z,1579133502.206 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-16T00:11:42.207Z,1579133502.207 [Startup:StartupSatComms:B] Stopped
2020-01-16T00:11:42.207Z,1579133502.207 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2020-01-16T00:11:42.207Z,1579133502.207 [Startup:StartupSatComms] Stopped
2020-01-16T00:11:42.207Z,1579133502.207 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2020-01-16T00:11:42.208Z,1579133502.208 [Startup](INFO): Completed Startup
2020-01-16T00:11:42.208Z,1579133502.208 [MissionManager](INFO): Startup is completed.
2020-01-16T00:11:42.208Z,1579133502.208 [MissionManager](INFO): Uninitializing Mission Startup
2020-01-16T00:11:42.209Z,1579133502.209 [Startup] Stopped
2020-01-16T00:11:42.213Z,1579133502.213 [Startup](DEBUG): Aggregate::uninitialize Startup
2020-01-16T00:11:42.213Z,1579133502.213 [Startup:A.GoToSurface] Stopped
2020-01-16T00:11:42.213Z,1579133502.213 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-16T00:11:42.231Z,1579133502.231 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-16T00:11:42.611Z,1579133502.611 [MissionManager](IMPORTANT): Started mission Default
2020-01-16T00:11:42.611Z,1579133502.611 [Default] Running Loop=1
2020-01-16T00:11:42.611Z,1579133502.611 [Default](DEBUG): Aggregate::initialize Default
2020-01-16T00:11:42.611Z,1579133502.611 [Default:B.GoToSurface] Running Loop=1
2020-01-16T00:11:42.611Z,1579133502.611 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-16T00:11:42.612Z,1579133502.612 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-16T00:11:42.612Z,1579133502.612 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-16T00:11:42.612Z,1579133502.612 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-16T00:11:42.612Z,1579133502.612 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-16T00:11:42.621Z,1579133502.621 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-16T00:11:42.621Z,1579133502.621 [Default:A.Wait] Running Loop=1
2020-01-16T00:11:42.621Z,1579133502.621 [Default:A.Wait](DEBUG): Initialize Wait Component.
2020-01-16T00:11:42.647Z,1579133502.647 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-16T00:11:42.647Z,1579133502.647 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 9
2020-01-16T00:11:43.383Z,1579133503.383 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-16T00:11:43.383Z,1579133503.383 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 10
2020-01-16T00:11:43.383Z,1579133503.383 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-16T00:11:43.408Z,1579133503.408 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-16T00:11:43.804Z,1579133503.804 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-16T00:11:43.804Z,1579133503.804 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 10
2020-01-16T00:11:44.082Z,1579133504.082 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1579133440.000000 second
2020-01-16T00:11:46.178Z,1579133506.178 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:11:53.016Z,1579133513.016 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2020-01-16T00:11:55.499Z,1579133515.499 [CommandLine](IMPORTANT): got command show stack
2020-01-16T00:11:55.499Z,1579133515.499 [CommandLine](IMPORTANT): Behavior Stack:

2020-01-16T00:11:55.500Z,1579133515.500 [Default](IMPORTANT): Priority 0: Default:A.Wait
2020-01-16T00:11:55.500Z,1579133515.500 [Default](IMPORTANT): Priority 1: Default:B.GoToSurface
2020-01-16T00:11:55.992Z,1579133515.992 [Default:A.Wait](INFO): Done Waiting.
2020-01-16T00:11:55.992Z,1579133515.992 [Default:A.Wait] Stopped
2020-01-16T00:11:55.992Z,1579133515.992 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-16T00:11:56.331Z,1579133516.331 [Default:CheckIn] Running Loop=1
2020-01-16T00:11:56.331Z,1579133516.331 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2020-01-16T00:11:56.331Z,1579133516.331 [Default:CheckIn:Read_GPS] Running Loop=1
2020-01-16T00:11:56.724Z,1579133516.724 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2020-01-16T00:11:57.506Z,1579133517.506 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:12:06.254Z,1579133526.254 [CommandLine](IMPORTANT): got command load ./Missions/Insert/Docked.xml
2020-01-16T00:12:06.254Z,1579133526.254 [MissionManager](INFO): Loading Mission: ./Missions/Insert/Docked.xml
2020-01-16T00:12:06.294Z,1579133526.294 [MissionManager](INFO): DefineArg Docked.MaxDockRange = 8.000000 m
2020-01-16T00:12:06.330Z,1579133526.330 [MissionManager](INFO): DefineArg Docked.DetachedTimeout = 5.000000 min
2020-01-16T00:12:06.333Z,1579133526.333 [MissionManager](INFO): DefineArg Docked.Depth = 5.000000 m
2020-01-16T00:12:06.337Z,1579133526.337 [MissionManager](INFO): DefineArg Docked.TransponderCode = 2.000000 count
2020-01-16T00:12:06.340Z,1579133526.340 [MissionManager](INFO): DefineArg Docked.TrackingUpdatePeriod = 60.000000 s
2020-01-16T00:12:06.375Z,1579133526.375 [MissionManager](INFO): DefineArg Docked.NumberOfPings = 1.000000 count
2020-01-16T00:12:06.400Z,1579133526.400 [MissionManager](INFO): DefineArg Docked.Speed = 0.000000 m/s
2020-01-16T00:12:06.427Z,1579133526.427 [MissionManager](INFO): DefineArg Docked.DepthDeadband = 1.500000 m
2020-01-16T00:12:06.451Z,1579133526.451 [MissionManager](INFO): DefineArg Docked.PitchLimit = 20.000000 arcdeg
2020-01-16T00:12:06.480Z,1579133526.480 [MissionManager](INFO): DefineArg Docked.MinDepth = 1.000000 m
2020-01-16T00:12:06.521Z,1579133526.521 [MissionManager](INFO): DefineArg Docked.MaxDepth = 215.000000 m
2020-01-16T00:12:06.522Z,1579133526.522 [Docked:A.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-01-16T00:12:06.746Z,1579133526.746 [Docked:E.Pitch](DEBUG): Construct.
2020-01-16T00:12:06.772Z,1579133526.772 [Docked:F.SetSpeed](DEBUG): Construct.
2020-01-16T00:12:06.777Z,1579133526.777 [Docked:G.Docked](DEBUG): Construct.
2020-01-16T00:12:06.842Z,1579133526.842 [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>


2020-01-16T00:12:06.843Z,1579133526.843 [CommandLine](IMPORTANT): Loaded ./Missions/Insert/Docked.xml
2020-01-16T00:12:08.129Z,1579133528.129 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2020-01-16T00:12:08.129Z,1579133528.129 [RDI_Pathfinder] Communications Fault, FailCount= 1
2020-01-16T00:12:08.129Z,1579133528.129 [RDI_Pathfinder](ERROR): Communications Fault
2020-01-16T00:12:08.129Z,1579133528.129 [RDI_Pathfinder](ERROR): Failed to parse:
2020-01-16T00:12:08.204Z,1579133528.204 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2020-01-16T00:12:08.513Z,1579133528.513 [RDI_Pathfinder](INFO): Powering down
2020-01-16T00:12:08.823Z,1579133528.823 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:12:09.261Z,1579133529.261 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2020-01-16T00:12:09.261Z,1579133529.261 [RDI_Pathfinder] No Fault, FailCount= 1
2020-01-16T00:12:20.130Z,1579133540.130 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:12:21.758Z,1579133541.758 [Micromodem](FAULT): failed to initialize; deviceResponse_ loaded: , available: 
2020-01-16T00:12:21.758Z,1579133541.758 [Micromodem] Communications Fault, FailCount= 2
2020-01-16T00:12:21.758Z,1579133541.758 [Micromodem](ERROR): Communications Fault
2020-01-16T00:12:21.894Z,1579133541.894 [CBIT](ERROR): Communications Fault in component: Micromodem
2020-01-16T00:12:22.162Z,1579133542.162 [Micromodem](INFO): Powering down
2020-01-16T00:12:22.582Z,1579133542.582 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2020-01-16T00:12:23.060Z,1579133543.060 [CBIT](INFO): Clearing failed state for component Micromodem
2020-01-16T00:12:23.113Z,1579133543.113 [Micromodem] No Fault, FailCount= 2
2020-01-16T00:12:25.804Z,1579133545.804 [CommandLine](IMPORTANT): got command set Docked.DetachedTimeout 10.000000 second
2020-01-16T00:12:25.818Z,1579133545.818 [Micromodem](INFO): Powering up
2020-01-16T00:12:25.818Z,1579133545.818 [Micromodem](DEBUG): Initializing Micromodem.
2020-01-16T00:12:28.084Z,1579133548.084 [CommandLine](IMPORTANT): got command run
2020-01-16T00:12:28.086Z,1579133548.086 [CommandLine](IMPORTANT): Running 
2020-01-16T00:12:28.259Z,1579133548.259 [Default] Stopped
2020-01-16T00:12:28.259Z,1579133548.259 [Default](DEBUG): Aggregate::uninitialize Default
2020-01-16T00:12:28.259Z,1579133548.259 [Default:B.GoToSurface] Stopped
2020-01-16T00:12:28.260Z,1579133548.260 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-16T00:12:28.260Z,1579133548.260 [Default:CheckIn] Stopped
2020-01-16T00:12:28.260Z,1579133548.260 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2020-01-16T00:12:28.260Z,1579133548.260 [Default:CheckIn:Read_GPS] Stopped
2020-01-16T00:12:28.260Z,1579133548.260 [MissionManager](IMPORTANT): Started mission Docked
2020-01-16T00:12:28.260Z,1579133548.260 [Docked] Running Loop=1
2020-01-16T00:12:28.260Z,1579133548.260 [Docked](DEBUG): Aggregate::initialize Docked
2020-01-16T00:12:28.260Z,1579133548.260 [Docked:A.DepthEnvelope] Running Loop=1
2020-01-16T00:12:28.260Z,1579133548.260 [Docked:A.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2020-01-16T00:12:28.261Z,1579133548.261 [Docked:B.] Running Loop=1
2020-01-16T00:12:28.261Z,1579133548.261 [Docked:B.](INFO): Initializing TrackAcousticContact.
2020-01-16T00:12:28.261Z,1579133548.261 [Docked:C] Running Loop=1
2020-01-16T00:12:28.261Z,1579133548.261 [Docked:D] Running Loop=1
2020-01-16T00:12:28.261Z,1579133548.261 [Docked:E.Pitch] Running Loop=1
2020-01-16T00:12:28.261Z,1579133548.261 [Docked:E.Pitch](DEBUG): Initialize.
2020-01-16T00:12:28.262Z,1579133548.262 [Docked:F.SetSpeed] Running Loop=1
2020-01-16T00:12:28.262Z,1579133548.262 [Docked:F.SetSpeed](DEBUG): Initialize.
2020-01-16T00:12:28.262Z,1579133548.262 [Docked:G.Docked] Running Loop=1
2020-01-16T00:12:28.262Z,1579133548.262 [Docked:G.Docked](DEBUG): Initialize.
2020-01-16T00:12:28.263Z,1579133548.263 [Docked:F.SetSpeed] Running Loop=1
2020-01-16T00:12:28.263Z,1579133548.263 [Docked:E.Pitch] Running Loop=1
2020-01-16T00:12:28.263Z,1579133548.263 [Docked:D] Running Loop=1
2020-01-16T00:12:28.264Z,1579133548.264 [Docked:C] Running Loop=1
2020-01-16T00:12:28.264Z,1579133548.264 [Docked:B.] Running Loop=1
2020-01-16T00:12:28.264Z,1579133548.264 [Docked:A.DepthEnvelope] Running Loop=1
2020-01-16T00:12:29.585Z,1579133549.585 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:12:29.585Z,1579133549.585 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:12:29.585Z,1579133549.585 [Docked:G.Docked](INFO): YIIKES!!!!
2020-01-16T00:12:29.585Z,1579133549.585 [Docked:G.Docked](INFO): Start the clock bitch!
2020-01-16T00:12:29.597Z,1579133549.597 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-16T00:12:29.931Z,1579133549.931 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:12:29.932Z,1579133549.932 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:12:29.932Z,1579133549.932 [Docked:G.Docked](INFO): YIIKES!!!!
2020-01-16T00:12:30.307Z,1579133550.307 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:12:30.307Z,1579133550.307 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:12:30.307Z,1579133550.307 [Docked:G.Docked](INFO): YIIKES!!!!
2020-01-16T00:12:30.747Z,1579133550.747 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:12:30.747Z,1579133550.747 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:12:30.747Z,1579133550.747 [Docked:G.Docked](INFO): YIIKES!!!!
2020-01-16T00:12:31.147Z,1579133551.147 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:12:31.148Z,1579133551.148 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:12:31.148Z,1579133551.148 [Docked:G.Docked](INFO): YIIKES!!!!
2020-01-16T00:12:31.486Z,1579133551.486 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:12:31.608Z,1579133551.608 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:12:31.608Z,1579133551.608 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:12:31.608Z,1579133551.608 [Docked:G.Docked](INFO): YIIKES!!!!
2020-01-16T00:12:32.032Z,1579133552.032 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:12:32.033Z,1579133552.033 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:12:32.033Z,1579133552.033 [Docked:G.Docked](INFO): YIIKES!!!!
2020-01-16T00:12:32.421Z,1579133552.421 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:12:32.421Z,1579133552.421 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:12:32.421Z,1579133552.421 [Docked:G.Docked](INFO): YIIKES!!!!
2020-01-16T00:12:32.827Z,1579133552.827 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:12:32.828Z,1579133552.828 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:12:32.828Z,1579133552.828 [Docked:G.Docked](INFO): YIIKES!!!!
2020-01-16T00:12:33.144Z,1579133553.144 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:12:33.145Z,1579133553.145 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:12:33.145Z,1579133553.145 [Docked:G.Docked](INFO): YIIKES!!!!
2020-01-16T00:12:33.573Z,1579133553.573 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:12:33.573Z,1579133553.573 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:12:33.573Z,1579133553.573 [Docked:G.Docked](INFO): YIIKES!!!!
2020-01-16T00:12:33.946Z,1579133553.946 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:12:33.946Z,1579133553.946 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:12:33.946Z,1579133553.946 [Docked:G.Docked](INFO): YIIKES!!!!
2020-01-16T00:12:34.341Z,1579133554.341 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:12:34.342Z,1579133554.342 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:12:34.342Z,1579133554.342 [Docked:G.Docked](INFO): YIIKES!!!!
2020-01-16T00:12:34.876Z,1579133554.876 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:12:34.876Z,1579133554.876 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:12:34.876Z,1579133554.876 [Docked:G.Docked](INFO): YIIKES!!!!
2020-01-16T00:12:35.174Z,1579133555.174 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:12:35.174Z,1579133555.174 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:12:35.174Z,1579133555.174 [Docked:G.Docked](INFO): YIIKES!!!!
2020-01-16T00:12:35.652Z,1579133555.652 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:12:35.652Z,1579133555.652 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:12:35.652Z,1579133555.652 [Docked:G.Docked](INFO): YIIKES!!!!
2020-01-16T00:12:35.993Z,1579133555.993 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:12:35.993Z,1579133555.993 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:12:35.993Z,1579133555.993 [Docked:G.Docked](INFO): YIIKES!!!!
2020-01-16T00:12:36.385Z,1579133556.385 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:12:36.385Z,1579133556.385 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:12:36.385Z,1579133556.385 [Docked:G.Docked](INFO): YIIKES!!!!
2020-01-16T00:12:36.792Z,1579133556.792 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:12:36.792Z,1579133556.792 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:12:36.792Z,1579133556.792 [Docked:G.Docked](INFO): YIIKES!!!!
2020-01-16T00:12:37.196Z,1579133557.196 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:12:37.196Z,1579133557.196 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:12:37.196Z,1579133557.196 [Docked:G.Docked](INFO): YIIKES!!!!
2020-01-16T00:12:37.612Z,1579133557.612 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:12:37.612Z,1579133557.612 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:12:37.612Z,1579133557.612 [Docked:G.Docked](INFO): YIIKES!!!!
2020-01-16T00:12:37.996Z,1579133557.996 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:12:37.996Z,1579133557.996 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:12:37.996Z,1579133557.996 [Docked:G.Docked](INFO): YIIKES!!!!
2020-01-16T00:12:38.391Z,1579133558.391 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:12:38.391Z,1579133558.391 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:12:38.391Z,1579133558.391 [Docked:G.Docked](INFO): YIIKES!!!!
2020-01-16T00:12:38.813Z,1579133558.813 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:12:38.813Z,1579133558.813 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:12:38.814Z,1579133558.814 [Docked:G.Docked](INFO): YIIKES!!!!
2020-01-16T00:12:39.195Z,1579133559.195 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:12:39.196Z,1579133559.196 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:12:39.196Z,1579133559.196 [Docked:G.Docked](INFO): YIIKES!!!!
2020-01-16T00:12:39.591Z,1579133559.591 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:12:39.591Z,1579133559.591 [Docked:G.Docked](CRITICAL): VEHICLE DETACHED.
2020-01-16T00:12:39.591Z,1579133559.591 [Docked:G.Docked] Stopped
2020-01-16T00:12:39.593Z,1579133559.593 [Docked](INFO): Completed Docked
2020-01-16T00:12:39.593Z,1579133559.593 [MissionManager](INFO): Docked is completed.
2020-01-16T00:12:39.593Z,1579133559.593 [MissionManager](INFO): Uninitializing Mission Docked
2020-01-16T00:12:39.593Z,1579133559.593 [Docked] Stopped
2020-01-16T00:12:39.593Z,1579133559.593 [Docked](DEBUG): Aggregate::uninitialize Docked
2020-01-16T00:12:39.594Z,1579133559.594 [Docked:A.DepthEnvelope] Stopped
2020-01-16T00:12:39.594Z,1579133559.594 [Docked:A.DepthEnvelope](DEBUG): Uninitialize.
2020-01-16T00:12:39.594Z,1579133559.594 [Docked:B.] Stopped
2020-01-16T00:12:39.594Z,1579133559.594 [Docked:C] Stopped
2020-01-16T00:12:39.594Z,1579133559.594 [Docked:D] Stopped
2020-01-16T00:12:39.594Z,1579133559.594 [Docked:E.Pitch] Stopped
2020-01-16T00:12:39.594Z,1579133559.594 [Docked:F.SetSpeed] Stopped
2020-01-16T00:12:39.594Z,1579133559.594 [Docked:F.SetSpeed](DEBUG): Uninitialize.
2020-01-16T00:12:39.699Z,1579133559.699 [CBIT](INFO): Critical error at 20200116T001239
2020-01-16T00:12:39.699Z,1579133559.699 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2020-01-16T00:12:39.993Z,1579133559.993 [MissionManager](IMPORTANT): Started mission Default
2020-01-16T00:12:39.993Z,1579133559.993 [Default] Running Loop=1
2020-01-16T00:12:39.993Z,1579133559.993 [Default](DEBUG): Aggregate::initialize Default
2020-01-16T00:12:39.993Z,1579133559.993 [Default:B.GoToSurface] Running Loop=1
2020-01-16T00:12:39.993Z,1579133559.993 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-16T00:12:39.994Z,1579133559.994 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-16T00:12:39.994Z,1579133559.994 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-16T00:12:39.994Z,1579133559.994 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-16T00:12:39.994Z,1579133559.994 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-16T00:12:39.995Z,1579133559.995 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-16T00:12:39.995Z,1579133559.995 [Default:A.Wait] Running Loop=1
2020-01-16T00:12:39.995Z,1579133559.995 [Default:A.Wait](DEBUG): Initialize Wait Component.
2020-01-16T00:12:40.038Z,1579133560.038 [Reporter](INFO): DDM.cablePresent no_value
2020-01-16T00:12:42.774Z,1579133562.774 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:12:53.309Z,1579133573.309 [Default:A.Wait](INFO): Done Waiting.
2020-01-16T00:12:53.309Z,1579133573.309 [Default:A.Wait] Stopped
2020-01-16T00:12:53.309Z,1579133573.309 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-16T00:12:53.718Z,1579133573.718 [Default:CheckIn] Running Loop=1
2020-01-16T00:12:53.718Z,1579133573.718 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2020-01-16T00:12:53.718Z,1579133573.718 [Default:CheckIn:Read_GPS] Running Loop=1
2020-01-16T00:12:54.078Z,1579133574.078 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:12:54.533Z,1579133574.533 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-01-16T00:12:54.534Z,1579133574.534 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +     +0.00,        +0.00,   0.00, 32.00
2020-01-16T00:13:02.197Z,1579133582.197 [CommandLine](IMPORTANT): got command report
2020-01-16T00:13:02.197Z,1579133582.197 [Reporter](INFO): DDM.cablePresent reporting changes
2020-01-16T00:13:05.390Z,1579133585.390 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:13:07.756Z,1579133587.756 [CommandLine](IMPORTANT): got command load ./Missions/Insert/Docked.xml
2020-01-16T00:13:07.756Z,1579133587.756 [MissionManager](INFO): Loading Mission: ./Missions/Insert/Docked.xml
2020-01-16T00:13:07.972Z,1579133587.972 [MissionManager](INFO): DefineArg Docked.MaxDockRange = 8.000000 m
2020-01-16T00:13:07.982Z,1579133587.982 [MissionManager](INFO): DefineArg Docked.DetachedTimeout = 5.000000 min
2020-01-16T00:13:07.984Z,1579133587.984 [MissionManager](INFO): DefineArg Docked.Depth = 5.000000 m
2020-01-16T00:13:07.999Z,1579133587.999 [MissionManager](INFO): DefineArg Docked.TransponderCode = 2.000000 count
2020-01-16T00:13:08.001Z,1579133588.001 [MissionManager](INFO): DefineArg Docked.TrackingUpdatePeriod = 60.000000 s
2020-01-16T00:13:08.012Z,1579133588.012 [MissionManager](INFO): DefineArg Docked.NumberOfPings = 1.000000 count
2020-01-16T00:13:08.014Z,1579133588.014 [MissionManager](INFO): DefineArg Docked.Speed = 0.000000 m/s
2020-01-16T00:13:08.016Z,1579133588.016 [MissionManager](INFO): DefineArg Docked.DepthDeadband = 1.500000 m
2020-01-16T00:13:08.074Z,1579133588.074 [MissionManager](INFO): DefineArg Docked.PitchLimit = 20.000000 arcdeg
2020-01-16T00:13:08.077Z,1579133588.077 [MissionManager](INFO): DefineArg Docked.MinDepth = 1.000000 m
2020-01-16T00:13:08.079Z,1579133588.079 [MissionManager](INFO): DefineArg Docked.MaxDepth = 215.000000 m
2020-01-16T00:13:08.080Z,1579133588.080 [Docked:A.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-01-16T00:13:08.182Z,1579133588.182 [Docked:E.Pitch](DEBUG): Construct.
2020-01-16T00:13:08.186Z,1579133588.186 [Docked:F.SetSpeed](DEBUG): Construct.
2020-01-16T00:13:08.188Z,1579133588.188 [Docked:G.Docked](DEBUG): Construct.
2020-01-16T00:13:08.299Z,1579133588.299 [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>


2020-01-16T00:13:08.300Z,1579133588.300 [CommandLine](IMPORTANT): Loaded ./Missions/Insert/Docked.xml
2020-01-16T00:13:16.714Z,1579133596.714 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:13:26.020Z,1579133606.020 [CommandLine](IMPORTANT): got command set Docked.DetachedTimeout 10.000000 second
2020-01-16T00:13:28.026Z,1579133608.026 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:13:29.759Z,1579133609.759 [CommandLine](IMPORTANT): got command run
2020-01-16T00:13:29.760Z,1579133609.760 [CommandLine](IMPORTANT): Running 
2020-01-16T00:13:30.073Z,1579133610.073 [Default] Stopped
2020-01-16T00:13:30.073Z,1579133610.073 [Default](DEBUG): Aggregate::uninitialize Default
2020-01-16T00:13:30.073Z,1579133610.073 [Default:B.GoToSurface] Stopped
2020-01-16T00:13:30.073Z,1579133610.073 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-16T00:13:30.073Z,1579133610.073 [Default:CheckIn] Stopped
2020-01-16T00:13:30.073Z,1579133610.073 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2020-01-16T00:13:30.073Z,1579133610.073 [Default:CheckIn:Read_GPS] Stopped
2020-01-16T00:13:30.074Z,1579133610.074 [MissionManager](IMPORTANT): Started mission Docked
2020-01-16T00:13:30.074Z,1579133610.074 [Docked] Running Loop=1
2020-01-16T00:13:30.074Z,1579133610.074 [Docked](DEBUG): Aggregate::initialize Docked
2020-01-16T00:13:30.074Z,1579133610.074 [Docked:A.DepthEnvelope] Running Loop=1
2020-01-16T00:13:30.074Z,1579133610.074 [Docked:A.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2020-01-16T00:13:30.074Z,1579133610.074 [Docked:B.] Running Loop=1
2020-01-16T00:13:30.074Z,1579133610.074 [Docked:B.](INFO): Initializing TrackAcousticContact.
2020-01-16T00:13:30.074Z,1579133610.074 [Docked:C] Running Loop=1
2020-01-16T00:13:30.074Z,1579133610.074 [Docked:D] Running Loop=1
2020-01-16T00:13:30.074Z,1579133610.074 [Docked:E.Pitch] Running Loop=1
2020-01-16T00:13:30.075Z,1579133610.075 [Docked:E.Pitch](DEBUG): Initialize.
2020-01-16T00:13:30.075Z,1579133610.075 [Docked:F.SetSpeed] Running Loop=1
2020-01-16T00:13:30.075Z,1579133610.075 [Docked:F.SetSpeed](DEBUG): Initialize.
2020-01-16T00:13:30.075Z,1579133610.075 [Docked:G.Docked] Running Loop=1
2020-01-16T00:13:30.075Z,1579133610.075 [Docked:G.Docked](DEBUG): Initialize.
2020-01-16T00:13:30.075Z,1579133610.075 [Docked:F.SetSpeed] Running Loop=1
2020-01-16T00:13:30.076Z,1579133610.076 [Docked:E.Pitch] Running Loop=1
2020-01-16T00:13:30.076Z,1579133610.076 [Docked:D] Running Loop=1
2020-01-16T00:13:30.076Z,1579133610.076 [Docked:C] Running Loop=1
2020-01-16T00:13:30.076Z,1579133610.076 [Docked:B.] Running Loop=1
2020-01-16T00:13:30.077Z,1579133610.077 [Docked:A.DepthEnvelope] Running Loop=1
2020-01-16T00:13:31.396Z,1579133611.396 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:13:31.396Z,1579133611.396 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:13:31.396Z,1579133611.396 [Docked:G.Docked](INFO): YIIKES!!!!
2020-01-16T00:13:31.396Z,1579133611.396 [Docked:G.Docked](INFO): Start the clock bitch!
2020-01-16T00:13:31.525Z,1579133611.525 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-16T00:13:31.738Z,1579133611.738 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:13:31.738Z,1579133611.738 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:13:31.757Z,1579133611.757 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-16T00:13:32.146Z,1579133612.146 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:13:32.147Z,1579133612.147 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:13:32.580Z,1579133612.580 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:13:32.580Z,1579133612.580 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:13:32.956Z,1579133612.956 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:13:32.956Z,1579133612.956 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:13:33.347Z,1579133613.347 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:13:33.347Z,1579133613.347 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:13:33.781Z,1579133613.781 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:13:33.781Z,1579133613.781 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:13:34.168Z,1579133614.168 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:13:34.168Z,1579133614.168 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:13:34.630Z,1579133614.630 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:13:34.630Z,1579133614.630 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:13:34.980Z,1579133614.980 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:13:34.980Z,1579133614.980 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:13:35.368Z,1579133615.368 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:13:35.368Z,1579133615.368 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:13:35.771Z,1579133615.771 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:13:35.771Z,1579133615.771 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:13:36.175Z,1579133616.175 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:13:36.175Z,1579133616.175 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:13:36.588Z,1579133616.588 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:13:36.588Z,1579133616.588 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:13:36.979Z,1579133616.979 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:13:36.980Z,1579133616.980 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:13:37.393Z,1579133617.393 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:13:37.393Z,1579133617.393 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:13:37.795Z,1579133617.795 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:13:37.795Z,1579133617.795 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:13:38.192Z,1579133618.192 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:13:38.192Z,1579133618.192 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:13:38.621Z,1579133618.621 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:13:38.621Z,1579133618.621 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:13:39.070Z,1579133619.070 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:13:39.070Z,1579133619.070 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:13:39.375Z,1579133619.375 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:13:39.473Z,1579133619.473 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:13:39.474Z,1579133619.474 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:13:39.860Z,1579133619.860 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:13:39.860Z,1579133619.860 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:13:40.225Z,1579133620.225 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:13:40.225Z,1579133620.225 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:13:40.636Z,1579133620.636 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:13:40.636Z,1579133620.636 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:13:41.034Z,1579133621.034 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:13:41.034Z,1579133621.034 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:13:41.035Z,1579133621.035 [Docked:G.Docked](INFO): YIIKES!!!!
2020-01-16T00:13:41.035Z,1579133621.035 [Docked:G.Docked](INFO): Start the clock bitch!
2020-01-16T00:13:41.119Z,1579133621.119 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-16T00:13:41.422Z,1579133621.422 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:13:41.423Z,1579133621.423 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:13:41.423Z,1579133621.423 [Docked:G.Docked](INFO): YIIKES!!!!
2020-01-16T00:13:41.908Z,1579133621.908 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:13:41.908Z,1579133621.908 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:13:41.908Z,1579133621.908 [Docked:G.Docked](INFO): YIIKES!!!!
2020-01-16T00:13:42.269Z,1579133622.269 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:13:42.269Z,1579133622.269 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:13:42.269Z,1579133622.269 [Docked:G.Docked](INFO): YIIKES!!!!
2020-01-16T00:13:42.668Z,1579133622.668 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:13:42.668Z,1579133622.668 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:13:42.668Z,1579133622.668 [Docked:G.Docked](INFO): YIIKES!!!!
2020-01-16T00:13:43.049Z,1579133623.049 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:13:43.049Z,1579133623.049 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:13:43.049Z,1579133623.049 [Docked:G.Docked](INFO): YIIKES!!!!
2020-01-16T00:13:43.446Z,1579133623.446 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:13:43.446Z,1579133623.446 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:13:43.446Z,1579133623.446 [Docked:G.Docked](INFO): YIIKES!!!!
2020-01-16T00:13:43.869Z,1579133623.869 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:13:43.869Z,1579133623.869 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:13:43.869Z,1579133623.869 [Docked:G.Docked](INFO): YIIKES!!!!
2020-01-16T00:13:44.255Z,1579133624.255 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:13:44.255Z,1579133624.255 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:13:44.255Z,1579133624.255 [Docked:G.Docked](INFO): YIIKES!!!!
2020-01-16T00:13:44.675Z,1579133624.675 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:13:44.675Z,1579133624.675 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:13:44.675Z,1579133624.675 [Docked:G.Docked](INFO): YIIKES!!!!
2020-01-16T00:13:45.077Z,1579133625.077 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:13:45.077Z,1579133625.077 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:13:45.077Z,1579133625.077 [Docked:G.Docked](INFO): YIIKES!!!!
2020-01-16T00:13:45.504Z,1579133625.504 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:13:45.504Z,1579133625.504 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:13:45.505Z,1579133625.505 [Docked:G.Docked](INFO): YIIKES!!!!
2020-01-16T00:13:45.872Z,1579133625.872 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:13:45.872Z,1579133625.872 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:13:45.872Z,1579133625.872 [Docked:G.Docked](INFO): YIIKES!!!!
2020-01-16T00:13:46.265Z,1579133626.265 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:13:46.265Z,1579133626.265 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:13:46.265Z,1579133626.265 [Docked:G.Docked](INFO): YIIKES!!!!
2020-01-16T00:13:46.677Z,1579133626.677 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:13:46.678Z,1579133626.678 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:13:46.678Z,1579133626.678 [Docked:G.Docked](INFO): YIIKES!!!!
2020-01-16T00:13:47.091Z,1579133627.091 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:13:47.091Z,1579133627.091 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:13:47.091Z,1579133627.091 [Docked:G.Docked](INFO): YIIKES!!!!
2020-01-16T00:13:47.479Z,1579133627.479 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:13:47.479Z,1579133627.479 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:13:47.479Z,1579133627.479 [Docked:G.Docked](INFO): YIIKES!!!!
2020-01-16T00:13:47.909Z,1579133627.909 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:13:47.909Z,1579133627.909 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:13:47.909Z,1579133627.909 [Docked:G.Docked](INFO): YIIKES!!!!
2020-01-16T00:13:48.308Z,1579133628.308 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:13:48.308Z,1579133628.308 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:13:48.308Z,1579133628.308 [Docked:G.Docked](INFO): YIIKES!!!!
2020-01-16T00:13:48.902Z,1579133628.902 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:13:48.902Z,1579133628.902 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:13:48.902Z,1579133628.902 [Docked:G.Docked](INFO): YIIKES!!!!
2020-01-16T00:13:49.281Z,1579133629.281 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:13:49.281Z,1579133629.281 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:13:49.281Z,1579133629.281 [Docked:G.Docked](INFO): YIIKES!!!!
2020-01-16T00:13:49.708Z,1579133629.708 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:13:49.708Z,1579133629.708 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:13:49.708Z,1579133629.708 [Docked:G.Docked](INFO): YIIKES!!!!
2020-01-16T00:13:50.093Z,1579133630.093 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:13:50.093Z,1579133630.093 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:13:50.093Z,1579133630.093 [Docked:G.Docked](INFO): YIIKES!!!!
2020-01-16T00:13:50.434Z,1579133630.434 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:13:50.516Z,1579133630.516 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:13:50.516Z,1579133630.516 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:13:50.516Z,1579133630.516 [Docked:G.Docked](INFO): YIIKES!!!!
2020-01-16T00:13:50.912Z,1579133630.912 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:13:50.912Z,1579133630.912 [Docked:G.Docked](INFO): IN DETACHED
2020-01-16T00:13:50.912Z,1579133630.912 [Docked:G.Docked](INFO): YIIKES!!!!
2020-01-16T00:13:51.271Z,1579133631.271 [Docked:G.Docked](INFO): IN RUN
2020-01-16T00:13:51.271Z,1579133631.271 [Docked:G.Docked](CRITICAL): VEHICLE DETACHED.
2020-01-16T00:13:51.271Z,1579133631.271 [Docked:G.Docked] Stopped
2020-01-16T00:13:51.273Z,1579133631.273 [Docked](INFO): Completed Docked
2020-01-16T00:13:51.273Z,1579133631.273 [MissionManager](INFO): Docked is completed.
2020-01-16T00:13:51.273Z,1579133631.273 [MissionManager](INFO): Uninitializing Mission Docked
2020-01-16T00:13:51.274Z,1579133631.274 [Docked] Stopped
2020-01-16T00:13:51.274Z,1579133631.274 [Docked](DEBUG): Aggregate::uninitialize Docked
2020-01-16T00:13:51.274Z,1579133631.274 [Docked:A.DepthEnvelope] Stopped
2020-01-16T00:13:51.274Z,1579133631.274 [Docked:A.DepthEnvelope](DEBUG): Uninitialize.
2020-01-16T00:13:51.274Z,1579133631.274 [Docked:B.] Stopped
2020-01-16T00:13:51.274Z,1579133631.274 [Docked:C] Stopped
2020-01-16T00:13:51.274Z,1579133631.274 [Docked:D] Stopped
2020-01-16T00:13:51.274Z,1579133631.274 [Docked:E.Pitch] Stopped
2020-01-16T00:13:51.274Z,1579133631.274 [Docked:F.SetSpeed] Stopped
2020-01-16T00:13:51.274Z,1579133631.274 [Docked:F.SetSpeed](DEBUG): Uninitialize.
2020-01-16T00:13:51.316Z,1579133631.316 [CBIT](INFO): Critical error at 20200116T001351
2020-01-16T00:13:51.316Z,1579133631.316 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2020-01-16T00:13:51.681Z,1579133631.681 [MissionManager](IMPORTANT): Started mission Default
2020-01-16T00:13:51.681Z,1579133631.681 [Default] Running Loop=1
2020-01-16T00:13:51.682Z,1579133631.682 [Default](DEBUG): Aggregate::initialize Default
2020-01-16T00:13:51.682Z,1579133631.682 [Default:B.GoToSurface] Running Loop=1
2020-01-16T00:13:51.682Z,1579133631.682 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-16T00:13:51.682Z,1579133631.682 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-16T00:13:51.682Z,1579133631.682 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-16T00:13:51.683Z,1579133631.683 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-16T00:13:51.683Z,1579133631.683 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-16T00:13:51.683Z,1579133631.683 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-16T00:13:51.683Z,1579133631.683 [Default:A.Wait] Running Loop=1
2020-01-16T00:13:51.683Z,1579133631.683 [Default:A.Wait](DEBUG): Initialize Wait Component.
2020-01-16T00:13:51.782Z,1579133631.782 [Reporter](INFO): DDM.cablePresent no_value
2020-01-16T00:13:57.418Z,1579133637.418 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2020-01-16T00:14:01.450Z,1579133641.450 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:14:04.729Z,1579133644.729 [Default:A.Wait](INFO): Done Waiting.
2020-01-16T00:14:04.729Z,1579133644.729 [Default:A.Wait] Stopped
2020-01-16T00:14:04.729Z,1579133644.729 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-16T00:14:05.125Z,1579133645.125 [Default:CheckIn] Running Loop=1
2020-01-16T00:14:05.125Z,1579133645.125 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2020-01-16T00:14:05.126Z,1579133645.126 [Default:CheckIn:Read_GPS] Running Loop=1
2020-01-16T00:14:12.760Z,1579133652.760 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:14:24.074Z,1579133664.074 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:14:25.694Z,1579133665.694 [Micromodem](FAULT): failed to initialize; deviceResponse_ loaded: , available: 
2020-01-16T00:14:25.694Z,1579133665.694 [Micromodem] Communications Fault, FailCount= 3
2020-01-16T00:14:25.694Z,1579133665.694 [Micromodem](ERROR): Communications Fault
2020-01-16T00:14:25.808Z,1579133665.808 [CBIT](ERROR): Communications Fault in component: Micromodem
2020-01-16T00:14:26.094Z,1579133666.094 [Micromodem](INFO): Powering down
2020-01-16T00:14:26.947Z,1579133666.947 [CBIT](INFO): Clearing failed state for component Micromodem
2020-01-16T00:14:26.947Z,1579133666.947 [Micromodem] No Fault, FailCount= 3
2020-01-16T00:14:29.728Z,1579133669.728 [Micromodem](INFO): Powering up
2020-01-16T00:14:29.729Z,1579133669.729 [Micromodem](DEBUG): Initializing Micromodem.
2020-01-16T00:14:35.390Z,1579133675.390 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:14:46.698Z,1579133686.698 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:14:58.010Z,1579133698.010 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:15:09.334Z,1579133709.334 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:15:20.634Z,1579133720.634 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:15:31.946Z,1579133731.946 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:15:38.451Z,1579133738.451 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2020-01-16T00:15:38.495Z,1579133738.495 [BPC1](INFO): Received data from all battery sticks.
2020-01-16T00:15:42.894Z,1579133742.894 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-16T00:15:42.895Z,1579133742.895 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,20011517274956,35,   0.0,1448.9,  0
2020-01-16T00:15:43.262Z,1579133743.262 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:15:54.570Z,1579133754.570 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:16:05.882Z,1579133765.882 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:16:16.564Z,1579133776.564 [CommandLine](IMPORTANT): got command restart application
2020-01-16T00:16:17.194Z,1579133777.194 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:16:17.573Z,1579133777.573 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-16T00:16:17.573Z,1579133777.573 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:16:17.589Z,1579133777.589 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2020-01-16T00:16:17.589Z,1579133777.589 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:16:17.590Z,1579133777.590 [CommandLine](INFO): Join timeout helper Thread ID is 6092
2020-01-16T00:16:17.605Z,1579133777.605 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2020-01-16T00:16:17.605Z,1579133777.605 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:16:17.605Z,1579133777.605 [NavChartDb](INFO): Join timeout helper Thread ID is 6093
2020-01-16T00:16:17.901Z,1579133777.901 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-16T00:16:17.902Z,1579133777.902 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:16:17.921Z,1579133777.921 [ComponentRegistry](INFO): Shutting down WetLabsSeaOWL_UV_A ThreadHandler
2020-01-16T00:16:17.921Z,1579133777.921 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:16:17.921Z,1579133777.921 [WetLabsSeaOWL_UV_A](INFO): Join timeout helper Thread ID is 6094
2020-01-16T00:16:18.285Z,1579133778.285 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-16T00:16:18.285Z,1579133778.285 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-01-16T00:16:18.286Z,1579133778.286 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:16:18.301Z,1579133778.301 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2020-01-16T00:16:18.301Z,1579133778.301 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:16:18.301Z,1579133778.301 [CTD_NeilBrown](INFO): Join timeout helper Thread ID is 6095
2020-01-16T00:16:18.302Z,1579133778.302 [CTD_NeilBrown ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-16T00:16:18.302Z,1579133778.302 [CTD_NeilBrown](INFO): Powering down
2020-01-16T00:16:18.321Z,1579133778.321 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:16:18.321Z,1579133778.321 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2020-01-16T00:16:18.322Z,1579133778.322 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:16:18.322Z,1579133778.322 [Radio_Surface](INFO): Join timeout helper Thread ID is 6096
2020-01-16T00:16:18.561Z,1579133778.561 [Radio_Surface](INFO): Powering down
2020-01-16T00:16:18.563Z,1579133778.563 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-16T00:16:18.564Z,1579133778.564 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:16:18.575Z,1579133778.575 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2020-01-16T00:16:18.575Z,1579133778.575 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:16:18.576Z,1579133778.576 [DataOverHttps](INFO): Join timeout helper Thread ID is 6097
2020-01-16T00:16:18.657Z,1579133778.657 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-16T00:16:18.657Z,1579133778.657 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:16:18.670Z,1579133778.670 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2020-01-16T00:16:18.670Z,1579133778.670 [logger ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:16:18.670Z,1579133778.670 [logger](INFO): Join timeout helper Thread ID is 6098
2020-01-16T00:16:18.681Z,1579133778.681 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-16T00:16:18.681Z,1579133778.681 [logger ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:16:18.690Z,1579133778.690 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2020-01-16T00:16:18.690Z,1579133778.690 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:16:18.690Z,1579133778.690 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2020-01-16T00:16:18.690Z,1579133778.690 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:16:18.690Z,1579133778.690 [controlThread](INFO): Join timeout helper Thread ID is 6099
2020-01-16T00:16:18.793Z,1579133778.793 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-16T00:16:18.793Z,1579133778.793 [controlThread](DEBUG): Uninitializing ControlThread
2020-01-16T00:16:18.794Z,1579133778.794 [AHRS_M2](INFO): Powering down
2020-01-16T00:16:18.865Z,1579133778.865 [DDM](INFO): Powering down
2020-01-16T00:16:18.954Z,1579133778.954 [DUSBL_Hydroid](INFO): Powering down
2020-01-16T00:16:19.025Z,1579133779.025 [Micromodem](INFO): Powering down
2020-01-16T00:16:19.121Z,1579133779.121 [NAL9602](INFO): Powering down
2020-01-16T00:16:19.193Z,1579133779.193 [RDI_Pathfinder](INFO): Powering down
2020-01-16T00:16:19.195Z,1579133779.195 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2020-01-16T00:16:19.196Z,1579133779.196 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2020-01-16T00:16:19.196Z,1579133779.196 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2020-01-16T00:16:19.196Z,1579133779.196 [MissionManager](INFO): Uninitializing Mission Default
2020-01-16T00:16:19.197Z,1579133779.197 [Default] Stopped
2020-01-16T00:16:19.197Z,1579133779.197 [Default](DEBUG): Aggregate::uninitialize Default
2020-01-16T00:16:19.197Z,1579133779.197 [Default:B.GoToSurface] Stopped
2020-01-16T00:16:19.197Z,1579133779.197 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-16T00:16:19.197Z,1579133779.197 [Default:CheckIn] Stopped
2020-01-16T00:16:19.197Z,1579133779.197 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2020-01-16T00:16:19.197Z,1579133779.197 [Default:CheckIn:Read_GPS] Stopped
2020-01-16T00:16:19.199Z,1579133779.199 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2020-01-16T00:16:19.200Z,1579133779.200 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2020-01-16T00:16:19.200Z,1579133779.200 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2020-01-16T00:16:19.200Z,1579133779.200 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2020-01-16T00:16:19.200Z,1579133779.200 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2020-01-16T00:16:19.201Z,1579133779.201 [BuoyancyServo](INFO): Powering down
2020-01-16T00:16:19.213Z,1579133779.213 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2020-01-16T00:16:19.213Z,1579133779.213 [ElevatorServo](INFO): Powering down
2020-01-16T00:16:19.214Z,1579133779.214 [MassServo](DEBUG): Uninitialize Mass Servo.
2020-01-16T00:16:19.214Z,1579133779.214 [MassServo](INFO): Powering down
2020-01-16T00:16:19.215Z,1579133779.215 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-01-16T00:16:19.215Z,1579133779.215 [RudderServo](INFO): Powering down
2020-01-16T00:16:19.216Z,1579133779.216 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2020-01-16T00:16:19.216Z,1579133779.216 [ThrusterServo](INFO): Powering down
2020-01-16T00:16:19.216Z,1579133779.216 [SBIT](DEBUG): Uninitialize SBIT Component.
2020-01-16T00:16:19.217Z,1579133779.217 [IBIT](DEBUG): Uninitialize IBIT Component.
2020-01-16T00:16:19.217Z,1579133779.217 [CBIT](DEBUG): Uninitialize CBIT Component.
2020-01-16T00:16:19.217Z,1579133779.217 [CBIT](DEBUG): Powering off loads.
2020-01-16T00:16:19.229Z,1579133779.229 [CBIT](DEBUG): Disabling WDT.
2020-01-16T00:16:19.241Z,1579133779.241 [CBIT](DEBUG): Opening all GF detection circuits.
2020-01-16T00:16:19.242Z,1579133779.242 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:16:19.289Z,1579133779.289 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:16:19.300Z,1579133779.300 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:16:19.341Z,1579133779.341 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:16:19.344Z,1579133779.344 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:16:19.404Z,1579133779.404 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:16:19.465Z,1579133779.465 [logger ThreadHandler](INFO): Thread cancelled.