2020-01-16T00:16:20.534Z,1579133780.534 [Supervisor](DEBUG): Initializing supervisor.
2020-01-16T00:16:20.537Z,1579133780.537 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2020-01-16T00:16:20.537Z,1579133780.537 [SyncHandler](INFO): Protected caller Thread ID is 6100
2020-01-16T00:16:20.538Z,1579133780.538 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2020-01-16T00:16:20.539Z,1579133780.539 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2020-01-16T00:16:20.539Z,1579133780.539 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 6101
2020-01-16T00:16:20.542Z,1579133780.542 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2020-01-16T00:16:20.553Z,1579133780.553 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2020-01-16T00:16:20.554Z,1579133780.554 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2020-01-16T00:16:20.554Z,1579133780.554 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 6102
2020-01-16T00:16:20.555Z,1579133780.555 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2020-01-16T00:16:20.556Z,1579133780.556 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2020-01-16T00:16:20.556Z,1579133780.556 [logger ThreadHandler](INFO): Protected caller Thread ID is 6103
2020-01-16T00:16:20.558Z,1579133780.558 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2020-01-16T00:16:20.558Z,1579133780.558 [Supervisor](INFO): Looking for Config files in directory: Config/
2020-01-16T00:16:20.560Z,1579133780.560 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2020-01-16T00:16:20.987Z,1579133780.987 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2020-01-16T00:16:20.988Z,1579133780.988 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2020-01-16T00:16:21.089Z,1579133781.089 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2020-01-16T00:16:21.089Z,1579133781.089 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2020-01-16T00:16:21.404Z,1579133781.404 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2020-01-16T00:16:21.405Z,1579133781.405 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2020-01-16T00:16:21.539Z,1579133781.539 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2020-01-16T00:16:21.540Z,1579133781.540 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2020-01-16T00:16:21.721Z,1579133781.721 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2020-01-16T00:16:21.722Z,1579133781.722 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2020-01-16T00:16:22.152Z,1579133782.152 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2020-01-16T00:16:22.153Z,1579133782.153 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2020-01-16T00:16:22.357Z,1579133782.357 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2020-01-16T00:16:22.358Z,1579133782.358 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2020-01-16T00:16:22.498Z,1579133782.498 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2020-01-16T00:16:22.499Z,1579133782.499 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2020-01-16T00:16:22.679Z,1579133782.679 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2020-01-16T00:16:22.679Z,1579133782.679 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2020-01-16T00:16:22.773Z,1579133782.773 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2020-01-16T00:16:22.774Z,1579133782.774 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2020-01-16T00:16:23.063Z,1579133783.063 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2020-01-16T00:16:23.064Z,1579133783.064 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2020-01-16T00:16:23.143Z,1579133783.143 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2020-01-16T00:16:23.244Z,1579133783.244 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2020-01-16T00:16:23.244Z,1579133783.244 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2020-01-16T00:16:23.861Z,1579133783.861 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2020-01-16T00:16:23.862Z,1579133783.862 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2020-01-16T00:16:24.259Z,1579133784.259 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2020-01-16T00:16:24.261Z,1579133784.261 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/
2020-01-16T00:16:24.262Z,1579133784.262 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/vehicle.cfg
2020-01-16T00:16:24.459Z,1579133784.459 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Control.cfg
2020-01-16T00:16:24.555Z,1579133784.555 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/BIT.cfg
2020-01-16T00:16:24.650Z,1579133784.650 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Battery.cfg
2020-01-16T00:16:24.873Z,1579133784.873 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2020-01-16T00:16:24.874Z,1579133784.874 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Simulator.cfg
2020-01-16T00:16:24.956Z,1579133784.956 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Navigation.cfg
2020-01-16T00:16:25.047Z,1579133785.047 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/logger.cfg
2020-01-16T00:16:25.143Z,1579133785.143 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/secure.cfg
2020-01-16T00:16:25.225Z,1579133785.225 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Servo.cfg
2020-01-16T00:16:25.330Z,1579133785.330 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Sensor.cfg
2020-01-16T00:16:25.506Z,1579133785.506 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Science.cfg
2020-01-16T00:16:25.632Z,1579133785.632 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/root/
2020-01-16T00:16:25.633Z,1579133785.633 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2020-01-16T00:16:25.647Z,1579133785.647 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2020-01-16T00:16:25.952Z,1579133785.952 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_orientation
2020-01-16T00:16:25.957Z,1579133785.957 [AHRS_M2](INFO): created writer for : platform_orientation
2020-01-16T00:16:25.959Z,1579133785.959 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_magnetic_orientation
2020-01-16T00:16:25.963Z,1579133785.963 [AHRS_M2](INFO): created writer for : platform_magnetic_orientation
2020-01-16T00:16:25.964Z,1579133785.964 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_pitch_angle
2020-01-16T00:16:25.969Z,1579133785.969 [AHRS_M2](INFO): created writer for : platform_pitch_angle
2020-01-16T00:16:25.970Z,1579133785.970 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_roll_angle
2020-01-16T00:16:25.974Z,1579133785.974 [AHRS_M2](INFO): created writer for : platform_roll_angle
2020-01-16T00:16:26.042Z,1579133786.042 [AHRS_M2] Loaded
2020-01-16T00:16:26.042Z,1579133786.042 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2020-01-16T00:16:26.120Z,1579133786.120 [DataOverHttps] Loaded
2020-01-16T00:16:26.121Z,1579133786.121 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2020-01-16T00:16:26.122Z,1579133786.122 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 4076F4E0
2020-01-16T00:16:26.122Z,1579133786.122 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 6182
2020-01-16T00:16:26.145Z,1579133786.145 [DDM] Loaded
2020-01-16T00:16:26.145Z,1579133786.145 [ComponentRegistry](DEBUG): SyncComponent "DDM" handled in the control thread.
2020-01-16T00:16:26.158Z,1579133786.158 [Depth_Keller] Loaded
2020-01-16T00:16:26.158Z,1579133786.158 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2020-01-16T00:16:26.163Z,1579133786.163 [DropWeight] Loaded
2020-01-16T00:16:26.163Z,1579133786.163 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2020-01-16T00:16:26.222Z,1579133786.222 [DUSBL_Hydroid] Loaded
2020-01-16T00:16:26.222Z,1579133786.222 [ComponentRegistry](DEBUG): SyncComponent "DUSBL_Hydroid" handled in the control thread.
2020-01-16T00:16:26.267Z,1579133786.267 [Micromodem] Loaded
2020-01-16T00:16:26.267Z,1579133786.267 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2020-01-16T00:16:26.360Z,1579133786.360 [NAL9602] Loaded
2020-01-16T00:16:26.360Z,1579133786.360 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2020-01-16T00:16:26.396Z,1579133786.396 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/voltage_now
2020-01-16T00:16:26.396Z,1579133786.396 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/current_now
2020-01-16T00:16:26.397Z,1579133786.397 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/charge_now
2020-01-16T00:16:26.397Z,1579133786.397 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/charge_full
2020-01-16T00:16:26.398Z,1579133786.398 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/voltage_now
2020-01-16T00:16:26.398Z,1579133786.398 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/current_now
2020-01-16T00:16:26.399Z,1579133786.399 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/charge_now
2020-01-16T00:16:26.399Z,1579133786.399 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/charge_full
2020-01-16T00:16:26.399Z,1579133786.399 [Onboard] Loaded
2020-01-16T00:16:26.400Z,1579133786.400 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2020-01-16T00:16:26.405Z,1579133786.405 [PowerOnly] Loaded
2020-01-16T00:16:26.405Z,1579133786.405 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2020-01-16T00:16:26.412Z,1579133786.412 [Radio_Surface] Loaded
2020-01-16T00:16:26.412Z,1579133786.412 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2020-01-16T00:16:26.413Z,1579133786.413 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 4079F4E0
2020-01-16T00:16:26.413Z,1579133786.413 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 6183
2020-01-16T00:16:26.455Z,1579133786.455 [RDI_Pathfinder] Loaded
2020-01-16T00:16:26.455Z,1579133786.455 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2020-01-16T00:16:28.568Z,1579133788.568 [BPC1] Loaded
2020-01-16T00:16:28.568Z,1579133788.568 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2020-01-16T00:16:28.569Z,1579133788.569 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2020-01-16T00:16:28.569Z,1579133788.569 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2020-01-16T00:16:28.582Z,1579133788.582 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2020-01-16T00:16:28.582Z,1579133788.582 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2020-01-16T00:16:28.683Z,1579133788.683 [DeadReckonUsingMultipleVelocitySources] Loaded
2020-01-16T00:16:28.683Z,1579133788.683 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2020-01-16T00:16:28.703Z,1579133788.703 [NavChart] Loaded
2020-01-16T00:16:28.703Z,1579133788.703 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2020-01-16T00:16:28.707Z,1579133788.707 [UniversalFixResidualReporter] Loaded
2020-01-16T00:16:28.707Z,1579133788.707 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2020-01-16T00:16:28.707Z,1579133788.707 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2020-01-16T00:16:28.708Z,1579133788.708 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2020-01-16T00:16:28.813Z,1579133788.813 [BuoyancyServo] Loaded
2020-01-16T00:16:28.813Z,1579133788.813 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2020-01-16T00:16:28.828Z,1579133788.828 [ElevatorServo] Loaded
2020-01-16T00:16:28.828Z,1579133788.828 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2020-01-16T00:16:28.842Z,1579133788.842 [MassServo] Loaded
2020-01-16T00:16:28.842Z,1579133788.842 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2020-01-16T00:16:28.857Z,1579133788.857 [RudderServo] Loaded
2020-01-16T00:16:28.857Z,1579133788.857 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2020-01-16T00:16:28.871Z,1579133788.871 [ThrusterServo] Loaded
2020-01-16T00:16:28.871Z,1579133788.871 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2020-01-16T00:16:28.871Z,1579133788.871 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2020-01-16T00:16:28.872Z,1579133788.872 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2020-01-16T00:16:29.121Z,1579133789.121 [CTD_NeilBrown] Loaded
2020-01-16T00:16:29.122Z,1579133789.122 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2020-01-16T00:16:29.123Z,1579133789.123 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 408F34E0
2020-01-16T00:16:29.123Z,1579133789.123 [CTD_NeilBrown ThreadHandler](INFO): Protected caller Thread ID is 6184
2020-01-16T00:16:29.137Z,1579133789.137 [PAR_Licor] Loaded
2020-01-16T00:16:29.137Z,1579133789.137 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2020-01-16T00:16:29.179Z,1579133789.179 [WetLabsSeaOWL_UV_A] Loaded
2020-01-16T00:16:29.179Z,1579133789.179 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2020-01-16T00:16:29.180Z,1579133789.180 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 409234E0
2020-01-16T00:16:29.181Z,1579133789.181 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 6185
2020-01-16T00:16:29.181Z,1579133789.181 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2020-01-16T00:16:29.182Z,1579133789.182 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2020-01-16T00:16:29.510Z,1579133789.510 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2020-01-16T00:16:29.511Z,1579133789.511 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2020-01-16T00:16:29.550Z,1579133789.550 [DepthRateCalculator] Loaded
2020-01-16T00:16:29.551Z,1579133789.551 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2020-01-16T00:16:29.556Z,1579133789.556 [PitchRateCalculator] Loaded
2020-01-16T00:16:29.556Z,1579133789.556 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2020-01-16T00:16:29.568Z,1579133789.568 [SpeedCalculator] Loaded
2020-01-16T00:16:29.568Z,1579133789.568 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2020-01-16T00:16:29.589Z,1579133789.589 [TempGradientCalculator] Loaded
2020-01-16T00:16:29.589Z,1579133789.589 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2020-01-16T00:16:29.594Z,1579133789.594 [YawRateCalculator] Loaded
2020-01-16T00:16:29.595Z,1579133789.595 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2020-01-16T00:16:29.634Z,1579133789.634 [ElevatorOffsetCalculator] Loaded
2020-01-16T00:16:29.634Z,1579133789.634 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2020-01-16T00:16:29.635Z,1579133789.635 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2020-01-16T00:16:29.635Z,1579133789.635 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2020-01-16T00:16:29.767Z,1579133789.767 [SBIT](DEBUG): Construct Startup Built In Test.
2020-01-16T00:16:29.788Z,1579133789.788 [SBIT] Loaded
2020-01-16T00:16:29.788Z,1579133789.788 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2020-01-16T00:16:29.789Z,1579133789.789 [IBIT](DEBUG): Construct Initiated Built In Test.
2020-01-16T00:16:29.802Z,1579133789.802 [IBIT] Loaded
2020-01-16T00:16:29.802Z,1579133789.802 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2020-01-16T00:16:29.805Z,1579133789.805 [CBIT](DEBUG): Construct Continuous Built In Test.
2020-01-16T00:16:29.939Z,1579133789.939 [CBIT] Loaded
2020-01-16T00:16:29.939Z,1579133789.939 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2020-01-16T00:16:29.940Z,1579133789.940 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2020-01-16T00:16:29.940Z,1579133789.940 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2020-01-16T00:16:30.021Z,1579133790.021 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2020-01-16T00:16:30.022Z,1579133790.022 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2020-01-16T00:16:30.116Z,1579133790.116 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2020-01-16T00:16:30.116Z,1579133790.116 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2020-01-16T00:16:30.163Z,1579133790.163 [VerticalControl](DEBUG): Construct VerticalControl.
2020-01-16T00:16:30.244Z,1579133790.244 [VerticalControl] Loaded
2020-01-16T00:16:30.244Z,1579133790.244 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2020-01-16T00:16:30.245Z,1579133790.245 [HorizontalControl](DEBUG): Construct HorizontalControl.
2020-01-16T00:16:30.311Z,1579133790.311 [HorizontalControl] Loaded
2020-01-16T00:16:30.311Z,1579133790.311 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2020-01-16T00:16:30.312Z,1579133790.312 [SpeedControl](DEBUG): Construct SpeedControl.
2020-01-16T00:16:30.314Z,1579133790.314 [SpeedControl] Loaded
2020-01-16T00:16:30.314Z,1579133790.314 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2020-01-16T00:16:30.315Z,1579133790.315 [LoopControl](DEBUG): Construct LoopControl.
2020-01-16T00:16:30.315Z,1579133790.315 [LoopControl] Loaded
2020-01-16T00:16:30.315Z,1579133790.315 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2020-01-16T00:16:30.316Z,1579133790.316 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2020-01-16T00:16:30.316Z,1579133790.316 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2020-01-16T00:16:30.347Z,1579133790.347 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2020-01-16T00:16:30.351Z,1579133790.351 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2020-01-16T00:16:30.352Z,1579133790.352 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2020-01-16T00:16:30.358Z,1579133790.358 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2020-01-16T00:16:30.359Z,1579133790.359 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40B094E0
2020-01-16T00:16:30.359Z,1579133790.359 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 6186
2020-01-16T00:16:30.364Z,1579133790.364 [Supervisor](INFO): Main Thread ID is 5419
2020-01-16T00:16:30.364Z,1579133790.364 [Supervisor](DEBUG): Running supervisor.
2020-01-16T00:16:30.365Z,1579133790.365 [CommandLine ThreadHandler](INFO): Handler Thread ID is 6187
2020-01-16T00:16:30.368Z,1579133790.368 [controlThread ThreadHandler](INFO): Handler Thread ID is 6188
2020-01-16T00:16:30.368Z,1579133790.368 [controlThread](DEBUG): Initializing ControlThread
2020-01-16T00:16:30.377Z,1579133790.377 [NavChart](DEBUG): Initialize NavChart Navigation.
2020-01-16T00:16:30.377Z,1579133790.377 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2020-01-16T00:16:30.381Z,1579133790.381 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2020-01-16T00:16:30.381Z,1579133790.381 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2020-01-16T00:16:30.382Z,1579133790.382 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2020-01-16T00:16:30.382Z,1579133790.382 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2020-01-16T00:16:30.382Z,1579133790.382 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2020-01-16T00:16:30.383Z,1579133790.383 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2020-01-16T00:16:30.383Z,1579133790.383 [SBIT](INFO): Initialize SBIT Component.
2020-01-16T00:16:30.384Z,1579133790.384 [SBIT](IMPORTANT): git: 2019-12-03-34-g1420f60
2020-01-16T00:16:30.384Z,1579133790.384 [SBIT](INFO): git hash: 1420f6075bfd9e2317cf67bc08ebc33a04e592a5
2020-01-16T00:16:30.384Z,1579133790.384 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2020-01-16T00:16:30.386Z,1579133790.386 [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
2020-01-16T00:16:30.387Z,1579133790.387 [SBIT](INFO): Beginning SBIT in 39.000000 seconds.
2020-01-16T00:16:30.387Z,1579133790.387 [IBIT](INFO): Initialize IBIT Component.
2020-01-16T00:16:30.388Z,1579133790.388 [CBIT](DEBUG): Initialize CBIT Component.
2020-01-16T00:16:30.389Z,1579133790.389 [logger ThreadHandler](INFO): Handler Thread ID is 6189
2020-01-16T00:16:30.401Z,1579133790.401 [CBIT](DEBUG): Initialized mux pins.
2020-01-16T00:16:30.401Z,1579133790.401 [CBIT](DEBUG): Initializing the watchdog timer.
2020-01-16T00:16:30.409Z,1579133790.409 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 6190
2020-01-16T00:16:30.410Z,1579133790.410 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2020-01-16T00:16:30.421Z,1579133790.421 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 6191
2020-01-16T00:16:30.425Z,1579133790.425 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2020-01-16T00:16:30.425Z,1579133790.425 [CBIT](DEBUG): Initializing heartbeat.
2020-01-16T00:16:30.433Z,1579133790.433 [CTD_NeilBrown ThreadHandler](INFO): Handler Thread ID is 6192
2020-01-16T00:16:30.434Z,1579133790.434 [CTD_NeilBrown](INFO): Powering down
2020-01-16T00:16:30.461Z,1579133790.461 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 6193
2020-01-16T00:16:30.462Z,1579133790.462 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-01-16T00:16:30.485Z,1579133790.485 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 6194
2020-01-16T00:16:30.488Z,1579133790.488 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2020-01-16T00:16:30.488Z,1579133790.488 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2020-01-16T00:16:30.489Z,1579133790.489 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2020-01-16T00:16:30.489Z,1579133790.489 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2020-01-16T00:16:30.489Z,1579133790.489 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2020-01-16T00:16:30.489Z,1579133790.489 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2020-01-16T00:16:30.489Z,1579133790.489 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2020-01-16T00:16:30.490Z,1579133790.490 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2020-01-16T00:16:30.490Z,1579133790.490 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2020-01-16T00:16:30.490Z,1579133790.490 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2020-01-16T00:16:30.490Z,1579133790.490 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2020-01-16T00:16:30.490Z,1579133790.490 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2020-01-16T00:16:30.490Z,1579133790.490 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2020-01-16T00:16:30.491Z,1579133790.491 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2020-01-16T00:16:30.491Z,1579133790.491 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2020-01-16T00:16:30.491Z,1579133790.491 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2020-01-16T00:16:30.497Z,1579133790.497 [CBIT](DEBUG): Deactivating GF circuits.
2020-01-16T00:16:30.497Z,1579133790.497 [CBIT](DEBUG): Deactivating emergency mode.
2020-01-16T00:16:30.533Z,1579133790.533 [CBIT](DEBUG): Backplane powered.
2020-01-16T00:16:30.533Z,1579133790.533 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2020-01-16T00:16:30.535Z,1579133790.535 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2020-01-16T00:16:30.536Z,1579133790.536 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2020-01-16T00:16:30.536Z,1579133790.536 [LoopControl](DEBUG): Initialize LoopControlComponent.
2020-01-16T00:16:30.537Z,1579133790.537 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2020-01-16T00:16:30.547Z,1579133790.547 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2020-01-16T00:16:30.582Z,1579133790.582 [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>


2020-01-16T00:16:30.583Z,1579133790.583 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2020-01-16T00:16:30.657Z,1579133790.657 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2020-01-16T00:16:30.659Z,1579133790.659 [Default:A.Wait](DEBUG): Construct Wait.
2020-01-16T00:16:30.660Z,1579133790.660 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2020-01-16T00:16:30.707Z,1579133790.707 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2020-01-16T00:16:30.710Z,1579133790.710 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2020-01-16T00:16:30.723Z,1579133790.723 [Default:E.Execute](DEBUG): Construct Execute.
2020-01-16T00:16:30.727Z,1579133790.727 [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>


2020-01-16T00:16:30.743Z,1579133790.743 [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,
2020-01-16T00:16:30.767Z,1579133790.767 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2020-01-16T00:16:30.810Z,1579133790.810 [DDM](INFO): Powering up
2020-01-16T00:16:30.810Z,1579133790.810 [DDM](DEBUG): Initializing DDM.
2020-01-16T00:16:30.825Z,1579133790.825 [Radio_Surface](INFO): Powering up
2020-01-16T00:16:30.835Z,1579133790.835 [DUSBL_Hydroid](INFO): Powering up
2020-01-16T00:16:30.835Z,1579133790.835 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2020-01-16T00:16:31.035Z,1579133791.035 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2020-01-16T00:16:31.041Z,1579133791.041 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2020-01-16T00:16:31.042Z,1579133791.042 [ElevatorServo](DEBUG): Initializing EZServoServo.
2020-01-16T00:16:31.053Z,1579133791.053 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2020-01-16T00:16:31.054Z,1579133791.054 [MassServo](DEBUG): Initializing EZServoServo.
2020-01-16T00:16:31.061Z,1579133791.061 [MassServo](DEBUG): Initializing MassServo.
2020-01-16T00:16:31.062Z,1579133791.062 [RudderServo](DEBUG): Initializing EZServoServo.
2020-01-16T00:16:31.069Z,1579133791.069 [RudderServo](DEBUG): Initializing RudderServo.
2020-01-16T00:16:31.070Z,1579133791.070 [ThrusterServo](DEBUG): Initializing EZServoServo.
2020-01-16T00:16:31.077Z,1579133791.077 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2020-01-16T00:16:31.278Z,1579133791.278 [DropWeight](CRITICAL): DROP WEIGHT MISSING.

2020-01-16T00:16:31.278Z,1579133791.278 [DropWeight] Hardware Fault, FailCount= 1
2020-01-16T00:16:31.278Z,1579133791.278 [DropWeight](ERROR): Hardware Fault
2020-01-16T00:16:31.280Z,1579133791.280 [Micromodem](INFO): Powering up
2020-01-16T00:16:31.280Z,1579133791.280 [Micromodem](DEBUG): Initializing Micromodem.
2020-01-16T00:16:31.370Z,1579133791.370 [CommandLine](FAULT): Scheduling is paused
2020-01-16T00:16:31.370Z,1579133791.370 [CBIT](INFO): Critical error at 20200116T001631
2020-01-16T00:16:31.371Z,1579133791.371 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2020-01-16T00:16:31.373Z,1579133791.373 [CBIT](ERROR): Hardware Fault in component: DropWeight
2020-01-16T00:16:31.374Z,1579133791.374 [CBIT](CRITICAL): Hardware Fault in component: DropWeight
2020-01-16T00:16:31.913Z,1579133791.913 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2020-01-16T00:16:31.913Z,1579133791.913 [RudderServo](FAULT): Rudder failed to initialize
2020-01-16T00:16:31.913Z,1579133791.913 [RudderServo] Communications Fault, FailCount= 1
2020-01-16T00:16:31.913Z,1579133791.913 [RudderServo](ERROR): Communications Fault
2020-01-16T00:16:32.022Z,1579133792.022 [CBIT](INFO): Critical error at 20200116T001631
2020-01-16T00:16:32.024Z,1579133792.024 [CBIT](ERROR): Communications Fault in component: RudderServo
2020-01-16T00:16:32.210Z,1579133792.210 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-01-16T00:16:32.210Z,1579133792.210 [RudderServo](INFO): Powering down
2020-01-16T00:16:32.884Z,1579133792.884 [RudderServo](DEBUG): Initializing EZServoServo.
2020-01-16T00:16:33.002Z,1579133793.002 [RudderServo](DEBUG): Initializing RudderServo.
2020-01-16T00:16:33.006Z,1579133793.006 [CBIT](INFO): Clearing failed state for component RudderServo
2020-01-16T00:16:33.006Z,1579133793.006 [RudderServo] No Fault, FailCount= 1
2020-01-16T00:16:36.111Z,1579133796.111 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2020-01-16T00:16:40.677Z,1579133800.677 [CBIT](CRITICAL): Environmental Failure. Press:14.805868 PSI. Humidity:29%. Temp:24 C. ABORTING MISSION
2020-01-16T00:16:41.134Z,1579133801.134 [CBIT](INFO): Critical error at 20200116T001640
2020-01-16T00:16:41.343Z,1579133801.343 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2020-01-16T00:16:44.184Z,1579133804.184 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2020-01-16T00:16:45.011Z,1579133805.011 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-16T00:16:45.011Z,1579133805.011 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-32768,-32768-32768,-32768,-32768,V
2020-01-16T00:16:47.399Z,1579133807.399 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:16:49.017Z,1579133809.017 [DUSBL_Hydroid](INFO): DUSBL Version:O
2020-01-16T00:16:56.679Z,1579133816.679 [NAL9602](INFO): Powering up NAL9602
2020-01-16T00:16:58.703Z,1579133818.703 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:17:01.168Z,1579133821.168 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-16T00:17:01.168Z,1579133821.168 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2020-01-16T00:17:07.587Z,1579133827.587 [NAL9602](INFO): NAL9602 initialized
2020-01-16T00:17:10.015Z,1579133830.015 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:17:10.124Z,1579133830.124 [SBIT](IMPORTANT): Beginning Startup BIT
2020-01-16T00:17:10.136Z,1579133830.136 [CBIT](IMPORTANT): Beginning ground fault scan
2020-01-16T00:17:21.022Z,1579133841.022 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:17:21.181Z,1579133841.181 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.011736
CHAN A1 (24V): -0.028797
CHAN A2 (12V): -0.006886
CHAN A3 (5V): -0.002013
CHAN B0 (3.3V): 0.000046
CHAN B1 (3.15aV): -0.000011
CHAN B2 (3.15bV): 0.000154
CHAN B3 (GND): 0.002810
OPEN: 0.005200
Full Scale Calc: 4.765 mA, -1.589 mA
2020-01-16T00:17:32.038Z,1579133852.038 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:17:38.660Z,1579133858.660 [CommandLine](IMPORTANT): got command show stack
2020-01-16T00:17:38.660Z,1579133858.660 [CommandLine](IMPORTANT): Behavior Stack:

2020-01-16T00:17:38.660Z,1579133858.660 [MissionManager](IMPORTANT): Mission loaded, but not running.
2020-01-16T00:17:43.348Z,1579133863.348 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:17:54.398Z,1579133874.398 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:17:55.260Z,1579133875.260 [RDI_Pathfinder](ERROR): Failed to parse:
    +0.00,        +0.00,        +0.00,   0.00, 70.00
2020-01-16T00:17:56.298Z,1579133876.298 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.latitude_fix 35.500000 degree
2020-01-16T00:17:56.299Z,1579133876.299 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.latitude_fix" handled in the control thread.
2020-01-16T00:17:56.300Z,1579133876.300 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.longitude_fix -122.989998 degree
2020-01-16T00:17:56.301Z,1579133876.301 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.longitude_fix" handled in the control thread.
2020-01-16T00:17:56.574Z,1579133876.574 [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,
2020-01-16T00:17:56.858Z,1579133876.858 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-16T00:17:56.858Z,1579133876.858 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2020-01-16T00:17:56.858Z,1579133876.858 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-16T00:17:57.009Z,1579133877.009 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-16T00:17:57.393Z,1579133877.393 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-16T00:17:57.393Z,1579133877.393 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2020-01-16T00:17:58.079Z,1579133878.079 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-16T00:17:58.079Z,1579133878.079 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2020-01-16T00:17:58.079Z,1579133878.079 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-16T00:17:58.162Z,1579133878.162 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-16T00:17:58.534Z,1579133878.534 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-16T00:17:58.534Z,1579133878.534 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2020-01-16T00:17:59.281Z,1579133879.281 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-16T00:17:59.281Z,1579133879.281 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 3
2020-01-16T00:17:59.281Z,1579133879.281 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-16T00:17:59.406Z,1579133879.406 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-16T00:17:59.662Z,1579133879.662 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-16T00:17:59.662Z,1579133879.662 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 3
2020-01-16T00:18:00.465Z,1579133880.465 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-16T00:18:00.465Z,1579133880.465 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 4
2020-01-16T00:18:00.465Z,1579133880.465 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-16T00:18:00.475Z,1579133880.475 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-16T00:18:00.891Z,1579133880.891 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-16T00:18:00.891Z,1579133880.891 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 4
2020-01-16T00:18:01.725Z,1579133881.725 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-16T00:18:01.725Z,1579133881.725 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 5
2020-01-16T00:18:01.725Z,1579133881.725 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-16T00:18:01.735Z,1579133881.735 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-16T00:18:02.123Z,1579133882.123 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-16T00:18:02.123Z,1579133882.123 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 5
2020-01-16T00:18:02.928Z,1579133882.928 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-16T00:18:02.928Z,1579133882.928 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 6
2020-01-16T00:18:02.928Z,1579133882.928 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-16T00:18:02.937Z,1579133882.937 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-16T00:18:03.351Z,1579133883.351 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-16T00:18:03.351Z,1579133883.351 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 6
2020-01-16T00:18:04.138Z,1579133884.138 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-16T00:18:04.138Z,1579133884.138 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 7
2020-01-16T00:18:04.138Z,1579133884.138 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-16T00:18:04.148Z,1579133884.148 [SBIT](IMPORTANT): SBIT PASSED
2020-01-16T00:18:04.188Z,1579133884.188 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-16T00:18:04.229Z,1579133884.229 [CommandLine](IMPORTANT): got command configSet list
2020-01-16T00:18:04.229Z,1579133884.229 [CommandLine](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2020-01-16T00:18:04.230Z,1579133884.230 [CommandLine](IMPORTANT): DDM.loadAtStartup=1 bool;

2020-01-16T00:18:04.230Z,1579133884.230 [CommandLine](IMPORTANT): DDM.verbosity=3 count;

2020-01-16T00:18:04.231Z,1579133884.231 [CommandLine](IMPORTANT): DUSBL_Hydroid.detectionThreshold=25 count;

2020-01-16T00:18:04.231Z,1579133884.231 [CommandLine](IMPORTANT): DUSBL_Hydroid.transmitLockout=40 millisecond;

2020-01-16T00:18:04.231Z,1579133884.231 [CommandLine](IMPORTANT): Express linearApproximation DDM.DDMMode 1.000000 count;

2020-01-16T00:18:04.231Z,1579133884.231 [CommandLine](IMPORTANT): Express all DDM.cablePresent;

2020-01-16T00:18:04.231Z,1579133884.231 [CommandLine](IMPORTANT): HorizontalControl.kiHeading=0.002 reciprocal_second;

2020-01-16T00:18:04.231Z,1579133884.231 [CommandLine](IMPORTANT): HorizontalControl.kpHeading=0.8 none;

2020-01-16T00:18:04.231Z,1579133884.231 [CommandLine](IMPORTANT): HorizontalControl.rudDeadband=0.05 degree;

2020-01-16T00:18:04.231Z,1579133884.231 [CommandLine](IMPORTANT): Micromodem.destinationAddress=12 enum;

2020-01-16T00:18:04.231Z,1579133884.231 [CommandLine](IMPORTANT): Micromodem.sendExpress=1 bool;

2020-01-16T00:18:04.232Z,1579133884.232 [CommandLine](IMPORTANT): Micromodem.surfaceThreshold=0 meter;

2020-01-16T00:18:04.232Z,1579133884.232 [CommandLine](IMPORTANT): PowerOnly.sampleTime=90 second;

2020-01-16T00:18:04.232Z,1579133884.232 [CommandLine](IMPORTANT): RudderServo.deviationAngle=0.0001 degree;

2020-01-16T00:18:04.232Z,1579133884.232 [CommandLine](IMPORTANT): VerticalControl.buoyancyNeutral=105 cubic_centimeter;

2020-01-16T00:18:04.232Z,1579133884.232 [CommandLine](IMPORTANT): VerticalControl.massDefault=-5 millimeter;

2020-01-16T00:18:04.506Z,1579133884.506 [MissionManager](IMPORTANT): Started mission Startup
2020-01-16T00:18:04.507Z,1579133884.507 [Startup] Running Loop=1
2020-01-16T00:18:04.507Z,1579133884.507 [Startup](DEBUG): Aggregate::initialize Startup
2020-01-16T00:18:04.507Z,1579133884.507 [Startup:A.GoToSurface] Running Loop=1
2020-01-16T00:18:04.507Z,1579133884.507 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-16T00:18:04.507Z,1579133884.507 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-16T00:18:04.508Z,1579133884.508 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-16T00:18:04.508Z,1579133884.508 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-16T00:18:04.513Z,1579133884.513 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-16T00:18:04.513Z,1579133884.513 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-16T00:18:04.515Z,1579133884.515 [Startup:StartupSatComms] Running Loop=1
2020-01-16T00:18:04.515Z,1579133884.515 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2020-01-16T00:18:04.515Z,1579133884.515 [Startup:StartupSatComms:A] Running Loop=1
2020-01-16T00:18:04.532Z,1579133884.532 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-16T00:18:04.532Z,1579133884.532 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 7
2020-01-16T00:18:04.927Z,1579133884.927 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2020-01-16T00:18:04.927Z,1579133884.927 [Startup:StartupSatComms:A] Stopped
2020-01-16T00:18:04.927Z,1579133884.927 [Startup:StartupSatComms:B] Running Loop=1
2020-01-16T00:18:05.342Z,1579133885.342 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-16T00:18:05.342Z,1579133885.342 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 8
2020-01-16T00:18:05.342Z,1579133885.342 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-16T00:18:05.344Z,1579133885.344 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2020-01-16T00:18:05.362Z,1579133885.362 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-16T00:18:05.682Z,1579133885.682 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:18:05.752Z,1579133885.752 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-16T00:18:05.752Z,1579133885.752 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 8
2020-01-16T00:18:06.098Z,1579133886.098 [CommandLine](IMPORTANT): got command 
2020-01-16T00:18:06.098Z,1579133886.098 [CommandLine](FAULT): Incomplete syntax. Try: help
2020-01-16T00:18:06.523Z,1579133886.523 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-16T00:18:06.523Z,1579133886.523 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 9
2020-01-16T00:18:06.523Z,1579133886.523 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-16T00:18:06.533Z,1579133886.533 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-16T00:18:06.939Z,1579133886.939 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-16T00:18:06.939Z,1579133886.939 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 9
2020-01-16T00:18:07.759Z,1579133887.759 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-16T00:18:07.760Z,1579133887.760 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 10
2020-01-16T00:18:07.760Z,1579133887.760 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-16T00:18:07.770Z,1579133887.770 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-16T00:18:08.182Z,1579133888.182 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-16T00:18:08.182Z,1579133888.182 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 10
2020-01-16T00:18:08.996Z,1579133888.996 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-16T00:18:08.996Z,1579133888.996 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 11
2020-01-16T00:18:08.996Z,1579133888.996 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-16T00:18:09.058Z,1579133889.058 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-16T00:18:09.419Z,1579133889.419 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-16T00:18:09.419Z,1579133889.419 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 11
2020-01-16T00:18:10.199Z,1579133890.199 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-16T00:18:10.199Z,1579133890.199 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 12
2020-01-16T00:18:10.199Z,1579133890.199 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-16T00:18:10.253Z,1579133890.253 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-16T00:18:10.588Z,1579133890.588 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-16T00:18:10.588Z,1579133890.588 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 12
2020-01-16T00:18:11.371Z,1579133891.371 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-16T00:18:11.371Z,1579133891.371 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 13
2020-01-16T00:18:11.371Z,1579133891.371 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-16T00:18:11.406Z,1579133891.406 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-16T00:18:11.784Z,1579133891.784 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-16T00:18:11.784Z,1579133891.784 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 13
2020-01-16T00:18:12.372Z,1579133892.372 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1579133824.000000 second
2020-01-16T00:18:17.001Z,1579133897.001 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:18:19.704Z,1579133899.704 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2020-01-16T00:18:19.861Z,1579133899.861 [Startup:StartupSatComms:B] Stopped
2020-01-16T00:18:19.861Z,1579133899.861 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2020-01-16T00:18:19.861Z,1579133899.861 [Startup:StartupSatComms] Stopped
2020-01-16T00:18:19.861Z,1579133899.861 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2020-01-16T00:18:19.862Z,1579133899.862 [Startup](INFO): Completed Startup
2020-01-16T00:18:19.862Z,1579133899.862 [MissionManager](INFO): Startup is completed.
2020-01-16T00:18:19.862Z,1579133899.862 [MissionManager](INFO): Uninitializing Mission Startup
2020-01-16T00:18:19.862Z,1579133899.862 [Startup] Stopped
2020-01-16T00:18:19.862Z,1579133899.862 [Startup](DEBUG): Aggregate::uninitialize Startup
2020-01-16T00:18:19.862Z,1579133899.862 [Startup:A.GoToSurface] Stopped
2020-01-16T00:18:19.862Z,1579133899.862 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-16T00:18:20.271Z,1579133900.271 [MissionManager](IMPORTANT): Started mission Default
2020-01-16T00:18:20.271Z,1579133900.271 [Default] Running Loop=1
2020-01-16T00:18:20.272Z,1579133900.272 [Default](DEBUG): Aggregate::initialize Default
2020-01-16T00:18:20.272Z,1579133900.272 [Default:B.GoToSurface] Running Loop=1
2020-01-16T00:18:20.272Z,1579133900.272 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-16T00:18:20.272Z,1579133900.272 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-16T00:18:20.272Z,1579133900.272 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-16T00:18:20.273Z,1579133900.273 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-16T00:18:20.273Z,1579133900.273 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-16T00:18:20.273Z,1579133900.273 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-16T00:18:20.274Z,1579133900.274 [Default:A.Wait] Running Loop=1
2020-01-16T00:18:20.274Z,1579133900.274 [Default:A.Wait](DEBUG): Initialize Wait Component.
2020-01-16T00:18:27.340Z,1579133907.340 [CommandLine](IMPORTANT): got command load ./Missions/Insert/Docked.xml
2020-01-16T00:18:27.340Z,1579133907.340 [MissionManager](INFO): Loading Mission: ./Missions/Insert/Docked.xml
2020-01-16T00:18:27.402Z,1579133907.402 [MissionManager](INFO): DefineArg Docked.MaxDockRange = 8.000000 m
2020-01-16T00:18:27.405Z,1579133907.405 [MissionManager](INFO): DefineArg Docked.DetachedTimeout = 5.000000 min
2020-01-16T00:18:27.408Z,1579133907.408 [MissionManager](INFO): DefineArg Docked.Depth = 5.000000 m
2020-01-16T00:18:27.412Z,1579133907.412 [MissionManager](INFO): DefineArg Docked.TransponderCode = 2.000000 count
2020-01-16T00:18:27.415Z,1579133907.415 [MissionManager](INFO): DefineArg Docked.TrackingUpdatePeriod = 60.000000 s
2020-01-16T00:18:27.419Z,1579133907.419 [MissionManager](INFO): DefineArg Docked.NumberOfPings = 1.000000 count
2020-01-16T00:18:27.422Z,1579133907.422 [MissionManager](INFO): DefineArg Docked.Speed = 0.000000 m/s
2020-01-16T00:18:27.426Z,1579133907.426 [MissionManager](INFO): DefineArg Docked.DepthDeadband = 1.500000 m
2020-01-16T00:18:27.429Z,1579133907.429 [MissionManager](INFO): DefineArg Docked.PitchLimit = 20.000000 arcdeg
2020-01-16T00:18:27.433Z,1579133907.433 [MissionManager](INFO): DefineArg Docked.MinDepth = 1.000000 m
2020-01-16T00:18:27.437Z,1579133907.437 [MissionManager](INFO): DefineArg Docked.MaxDepth = 215.000000 m
2020-01-16T00:18:27.438Z,1579133907.438 [Docked:A.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-01-16T00:18:27.766Z,1579133907.766 [Docked:E.Pitch](DEBUG): Construct.
2020-01-16T00:18:27.794Z,1579133907.794 [Docked:F.SetSpeed](DEBUG): Construct.
2020-01-16T00:18:27.817Z,1579133907.817 [Docked:G.Docked](DEBUG): Construct.
2020-01-16T00:18:27.842Z,1579133907.842 [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>


2020-01-16T00:18:27.842Z,1579133907.842 [CommandLine](IMPORTANT): Loaded ./Missions/Insert/Docked.xml
2020-01-16T00:18:28.310Z,1579133908.310 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:18:31.165Z,1579133911.165 [Micromodem](FAULT): failed to initialize; deviceResponse_ loaded: , available: 
2020-01-16T00:18:31.165Z,1579133911.165 [Micromodem] Communications Fault, FailCount= 1
2020-01-16T00:18:31.165Z,1579133911.165 [Micromodem](ERROR): Communications Fault
2020-01-16T00:18:31.248Z,1579133911.248 [CBIT](ERROR): Communications Fault in component: Micromodem
2020-01-16T00:18:31.552Z,1579133911.552 [Micromodem](INFO): Powering down
2020-01-16T00:18:31.946Z,1579133911.946 [Micromodem](FAULT): LCB 2 fault:  Software Overcurrent.
2020-01-16T00:18:31.946Z,1579133911.946 [Micromodem] Hardware Fault, FailCount= 1
2020-01-16T00:18:31.946Z,1579133911.946 [Micromodem](ERROR): Hardware Fault
2020-01-16T00:18:32.416Z,1579133912.416 [CBIT](INFO): Clearing failed state for component Micromodem
2020-01-16T00:18:32.416Z,1579133912.416 [Micromodem] No Fault, FailCount= 1
2020-01-16T00:18:33.613Z,1579133913.613 [Default:A.Wait](INFO): Done Waiting.
2020-01-16T00:18:33.613Z,1579133913.613 [Default:A.Wait] Stopped
2020-01-16T00:18:33.613Z,1579133913.613 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-16T00:18:34.039Z,1579133914.039 [Default:CheckIn] Running Loop=1
2020-01-16T00:18:34.039Z,1579133914.039 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2020-01-16T00:18:34.039Z,1579133914.039 [Default:CheckIn:Read_GPS] Running Loop=1
2020-01-16T00:18:34.422Z,1579133914.422 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2020-01-16T00:18:35.184Z,1579133915.184 [Micromodem](INFO): Powering up
2020-01-16T00:18:35.185Z,1579133915.185 [Micromodem](DEBUG): Initializing Micromodem.
2020-01-16T00:18:39.622Z,1579133919.622 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:18:44.372Z,1579133924.372 [CommandLine](IMPORTANT): got command set Docked.DetachedTimeout 10.000000 second
2020-01-16T00:18:47.252Z,1579133927.252 [CommandLine](IMPORTANT): got command run
2020-01-16T00:18:47.254Z,1579133927.254 [CommandLine](IMPORTANT): Running 
2020-01-16T00:18:47.358Z,1579133927.358 [Default] Stopped
2020-01-16T00:18:47.358Z,1579133927.358 [Default](DEBUG): Aggregate::uninitialize Default
2020-01-16T00:18:47.358Z,1579133927.358 [Default:B.GoToSurface] Stopped
2020-01-16T00:18:47.358Z,1579133927.358 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-16T00:18:47.358Z,1579133927.358 [Default:CheckIn] Stopped
2020-01-16T00:18:47.358Z,1579133927.358 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2020-01-16T00:18:47.359Z,1579133927.359 [Default:CheckIn:Read_GPS] Stopped
2020-01-16T00:18:47.359Z,1579133927.359 [MissionManager](IMPORTANT): Started mission Docked
2020-01-16T00:18:47.359Z,1579133927.359 [Docked] Running Loop=1
2020-01-16T00:18:47.359Z,1579133927.359 [Docked](DEBUG): Aggregate::initialize Docked
2020-01-16T00:18:47.359Z,1579133927.359 [Docked:A.DepthEnvelope] Running Loop=1
2020-01-16T00:18:47.359Z,1579133927.359 [Docked:A.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2020-01-16T00:18:47.359Z,1579133927.359 [Docked:B.] Running Loop=1
2020-01-16T00:18:47.360Z,1579133927.360 [Docked:B.](INFO): Initializing TrackAcousticContact.
2020-01-16T00:18:47.360Z,1579133927.360 [Docked:C] Running Loop=1
2020-01-16T00:18:47.360Z,1579133927.360 [Docked:D] Running Loop=1
2020-01-16T00:18:47.360Z,1579133927.360 [Docked:E.Pitch] Running Loop=1
2020-01-16T00:18:47.360Z,1579133927.360 [Docked:E.Pitch](DEBUG): Initialize.
2020-01-16T00:18:47.360Z,1579133927.360 [Docked:F.SetSpeed] Running Loop=1
2020-01-16T00:18:47.360Z,1579133927.360 [Docked:F.SetSpeed](DEBUG): Initialize.
2020-01-16T00:18:47.361Z,1579133927.361 [Docked:G.Docked] Running Loop=1
2020-01-16T00:18:47.361Z,1579133927.361 [Docked:G.Docked](DEBUG): Initialize.
2020-01-16T00:18:47.362Z,1579133927.362 [Docked:F.SetSpeed] Running Loop=1
2020-01-16T00:18:47.362Z,1579133927.362 [Docked:E.Pitch] Running Loop=1
2020-01-16T00:18:47.362Z,1579133927.362 [Docked:D] Running Loop=1
2020-01-16T00:18:47.363Z,1579133927.363 [Docked:C] Running Loop=1
2020-01-16T00:18:47.363Z,1579133927.363 [Docked:B.] Running Loop=1
2020-01-16T00:18:47.363Z,1579133927.363 [Docked:A.DepthEnvelope] Running Loop=1
2020-01-16T00:18:50.211Z,1579133930.211 [BPC1](ERROR): BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-32 in onboard configuration file).
2020-01-16T00:18:50.984Z,1579133930.984 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:18:58.674Z,1579133938.674 [Docked:G.Docked](CRITICAL): VEHICLE DETACHED.
2020-01-16T00:18:58.674Z,1579133938.674 [Docked:G.Docked] Stopped
2020-01-16T00:18:58.676Z,1579133938.676 [Docked](INFO): Completed Docked
2020-01-16T00:18:58.676Z,1579133938.676 [MissionManager](INFO): Docked is completed.
2020-01-16T00:18:58.676Z,1579133938.676 [MissionManager](INFO): Uninitializing Mission Docked
2020-01-16T00:18:58.676Z,1579133938.676 [Docked] Stopped
2020-01-16T00:18:58.676Z,1579133938.676 [Docked](DEBUG): Aggregate::uninitialize Docked
2020-01-16T00:18:58.677Z,1579133938.677 [Docked:A.DepthEnvelope] Stopped
2020-01-16T00:18:58.677Z,1579133938.677 [Docked:A.DepthEnvelope](DEBUG): Uninitialize.
2020-01-16T00:18:58.677Z,1579133938.677 [Docked:B.] Stopped
2020-01-16T00:18:58.677Z,1579133938.677 [Docked:C] Stopped
2020-01-16T00:18:58.677Z,1579133938.677 [Docked:D] Stopped
2020-01-16T00:18:58.677Z,1579133938.677 [Docked:E.Pitch] Stopped
2020-01-16T00:18:58.677Z,1579133938.677 [Docked:F.SetSpeed] Stopped
2020-01-16T00:18:58.677Z,1579133938.677 [Docked:F.SetSpeed](DEBUG): Uninitialize.
2020-01-16T00:18:58.726Z,1579133938.726 [CBIT](INFO): Critical error at 20200116T001858
2020-01-16T00:18:58.727Z,1579133938.727 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2020-01-16T00:18:59.066Z,1579133939.066 [MissionManager](IMPORTANT): Started mission Default
2020-01-16T00:18:59.066Z,1579133939.066 [Default] Running Loop=1
2020-01-16T00:18:59.066Z,1579133939.066 [Default](DEBUG): Aggregate::initialize Default
2020-01-16T00:18:59.066Z,1579133939.066 [Default:B.GoToSurface] Running Loop=1
2020-01-16T00:18:59.066Z,1579133939.066 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-16T00:18:59.066Z,1579133939.066 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-16T00:18:59.067Z,1579133939.067 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-16T00:18:59.067Z,1579133939.067 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-16T00:18:59.067Z,1579133939.067 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-16T00:18:59.068Z,1579133939.068 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-16T00:18:59.068Z,1579133939.068 [Default:A.Wait] Running Loop=1
2020-01-16T00:18:59.068Z,1579133939.068 [Default:A.Wait](DEBUG): Initialize Wait Component.
2020-01-16T00:19:00.555Z,1579133940.555 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.005060
2020-01-16T00:19:02.246Z,1579133942.246 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:19:06.100Z,1579133946.100 [CommandLine](IMPORTANT): got command show variable cable
2020-01-16T00:19:06.186Z,1579133946.186 [CommandLine](IMPORTANT): DDM.cablePresent (bool)
2020-01-16T00:19:12.188Z,1579133952.188 [CommandLine](IMPORTANT): got command report mod DDM.cablePresent
2020-01-16T00:19:12.412Z,1579133952.412 [Default:A.Wait](INFO): Done Waiting.
2020-01-16T00:19:12.412Z,1579133952.412 [Default:A.Wait] Stopped
2020-01-16T00:19:12.412Z,1579133952.412 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-16T00:19:12.447Z,1579133952.447 [Reporter](INFO): DDM.cablePresent no_value
2020-01-16T00:19:12.789Z,1579133952.789 [Default:CheckIn] Running Loop=1
2020-01-16T00:19:12.789Z,1579133952.789 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2020-01-16T00:19:12.789Z,1579133952.789 [Default:CheckIn:Read_GPS] Running Loop=1
2020-01-16T00:19:13.558Z,1579133953.558 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:19:24.870Z,1579133964.870 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:19:36.182Z,1579133976.182 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:19:38.668Z,1579133978.668 [CommandLine](IMPORTANT): got command load ./Missions/Insert/Docked.xml
2020-01-16T00:19:38.668Z,1579133978.668 [MissionManager](INFO): Loading Mission: ./Missions/Insert/Docked.xml
2020-01-16T00:19:38.787Z,1579133978.787 [MissionManager](INFO): DefineArg Docked.MaxDockRange = 8.000000 m
2020-01-16T00:19:38.792Z,1579133978.792 [MissionManager](INFO): DefineArg Docked.DetachedTimeout = 5.000000 min
2020-01-16T00:19:38.794Z,1579133978.794 [MissionManager](INFO): DefineArg Docked.Depth = 5.000000 m
2020-01-16T00:19:38.796Z,1579133978.796 [MissionManager](INFO): DefineArg Docked.TransponderCode = 2.000000 count
2020-01-16T00:19:38.799Z,1579133978.799 [MissionManager](INFO): DefineArg Docked.TrackingUpdatePeriod = 60.000000 s
2020-01-16T00:19:38.801Z,1579133978.801 [MissionManager](INFO): DefineArg Docked.NumberOfPings = 1.000000 count
2020-01-16T00:19:38.803Z,1579133978.803 [MissionManager](INFO): DefineArg Docked.Speed = 0.000000 m/s
2020-01-16T00:19:38.847Z,1579133978.847 [MissionManager](INFO): DefineArg Docked.DepthDeadband = 1.500000 m
2020-01-16T00:19:38.849Z,1579133978.849 [MissionManager](INFO): DefineArg Docked.PitchLimit = 20.000000 arcdeg
2020-01-16T00:19:38.851Z,1579133978.851 [MissionManager](INFO): DefineArg Docked.MinDepth = 1.000000 m
2020-01-16T00:19:38.854Z,1579133978.854 [MissionManager](INFO): DefineArg Docked.MaxDepth = 215.000000 m
2020-01-16T00:19:38.855Z,1579133978.855 [Docked:A.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-01-16T00:19:38.945Z,1579133978.945 [Docked:E.Pitch](DEBUG): Construct.
2020-01-16T00:19:38.954Z,1579133978.954 [Docked:F.SetSpeed](DEBUG): Construct.
2020-01-16T00:19:38.966Z,1579133978.966 [Docked:G.Docked](DEBUG): Construct.
2020-01-16T00:19:39.033Z,1579133979.033 [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>


2020-01-16T00:19:39.034Z,1579133979.034 [CommandLine](IMPORTANT): Loaded ./Missions/Insert/Docked.xml
2020-01-16T00:19:44.620Z,1579133984.620 [CommandLine](IMPORTANT): got command set Docked.DetachedTimeout 10.000000 second
2020-01-16T00:19:46.384Z,1579133986.384 [CommandLine](IMPORTANT): got command run
2020-01-16T00:19:46.385Z,1579133986.385 [CommandLine](IMPORTANT): Running 
2020-01-16T00:19:46.730Z,1579133986.730 [Default] Stopped
2020-01-16T00:19:46.730Z,1579133986.730 [Default](DEBUG): Aggregate::uninitialize Default
2020-01-16T00:19:46.731Z,1579133986.731 [Default:B.GoToSurface] Stopped
2020-01-16T00:19:46.731Z,1579133986.731 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-16T00:19:46.731Z,1579133986.731 [Default:CheckIn] Stopped
2020-01-16T00:19:46.731Z,1579133986.731 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2020-01-16T00:19:46.731Z,1579133986.731 [Default:CheckIn:Read_GPS] Stopped
2020-01-16T00:19:46.731Z,1579133986.731 [MissionManager](IMPORTANT): Started mission Docked
2020-01-16T00:19:46.731Z,1579133986.731 [Docked] Running Loop=1
2020-01-16T00:19:46.731Z,1579133986.731 [Docked](DEBUG): Aggregate::initialize Docked
2020-01-16T00:19:46.731Z,1579133986.731 [Docked:A.DepthEnvelope] Running Loop=1
2020-01-16T00:19:46.731Z,1579133986.731 [Docked:A.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2020-01-16T00:19:46.732Z,1579133986.732 [Docked:B.] Running Loop=1
2020-01-16T00:19:46.732Z,1579133986.732 [Docked:B.](INFO): Initializing TrackAcousticContact.
2020-01-16T00:19:46.732Z,1579133986.732 [Docked:C] Running Loop=1
2020-01-16T00:19:46.732Z,1579133986.732 [Docked:D] Running Loop=1
2020-01-16T00:19:46.732Z,1579133986.732 [Docked:E.Pitch] Running Loop=1
2020-01-16T00:19:46.732Z,1579133986.732 [Docked:E.Pitch](DEBUG): Initialize.
2020-01-16T00:19:46.732Z,1579133986.732 [Docked:F.SetSpeed] Running Loop=1
2020-01-16T00:19:46.732Z,1579133986.732 [Docked:F.SetSpeed](DEBUG): Initialize.
2020-01-16T00:19:46.732Z,1579133986.732 [Docked:G.Docked] Running Loop=1
2020-01-16T00:19:46.733Z,1579133986.733 [Docked:G.Docked](DEBUG): Initialize.
2020-01-16T00:19:46.733Z,1579133986.733 [Docked:F.SetSpeed] Running Loop=1
2020-01-16T00:19:46.733Z,1579133986.733 [Docked:E.Pitch] Running Loop=1
2020-01-16T00:19:46.734Z,1579133986.734 [Docked:D] Running Loop=1
2020-01-16T00:19:46.734Z,1579133986.734 [Docked:C] Running Loop=1
2020-01-16T00:19:46.734Z,1579133986.734 [Docked:B.] Running Loop=1
2020-01-16T00:19:46.734Z,1579133986.734 [Docked:A.DepthEnvelope] Running Loop=1
2020-01-16T00:19:47.502Z,1579133987.502 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:19:48.091Z,1579133988.091 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-16T00:19:53.698Z,1579133993.698 [CommandLine](IMPORTANT): got command get DDM.cablePresent
2020-01-16T00:19:53.699Z,1579133993.699 [CommandLine](IMPORTANT): DDM.cablePresent 0 bool
2020-01-16T00:19:58.100Z,1579133998.100 [Docked:G.Docked](CRITICAL): VEHICLE DETACHED.
2020-01-16T00:19:58.100Z,1579133998.100 [Docked:G.Docked] Stopped
2020-01-16T00:19:58.102Z,1579133998.102 [Docked](INFO): Completed Docked
2020-01-16T00:19:58.103Z,1579133998.103 [MissionManager](INFO): Docked is completed.
2020-01-16T00:19:58.103Z,1579133998.103 [MissionManager](INFO): Uninitializing Mission Docked
2020-01-16T00:19:58.103Z,1579133998.103 [Docked] Stopped
2020-01-16T00:19:58.103Z,1579133998.103 [Docked](DEBUG): Aggregate::uninitialize Docked
2020-01-16T00:19:58.103Z,1579133998.103 [Docked:A.DepthEnvelope] Stopped
2020-01-16T00:19:58.103Z,1579133998.103 [Docked:A.DepthEnvelope](DEBUG): Uninitialize.
2020-01-16T00:19:58.103Z,1579133998.103 [Docked:B.] Stopped
2020-01-16T00:19:58.103Z,1579133998.103 [Docked:C] Stopped
2020-01-16T00:19:58.103Z,1579133998.103 [Docked:D] Stopped
2020-01-16T00:19:58.103Z,1579133998.103 [Docked:E.Pitch] Stopped
2020-01-16T00:19:58.103Z,1579133998.103 [Docked:F.SetSpeed] Stopped
2020-01-16T00:19:58.103Z,1579133998.103 [Docked:F.SetSpeed](DEBUG): Uninitialize.
2020-01-16T00:19:58.187Z,1579133998.187 [CBIT](INFO): Critical error at 20200116T001958
2020-01-16T00:19:58.187Z,1579133998.187 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2020-01-16T00:19:58.452Z,1579133998.452 [MissionManager](IMPORTANT): Started mission Default
2020-01-16T00:19:58.453Z,1579133998.453 [Default] Running Loop=1
2020-01-16T00:19:58.453Z,1579133998.453 [Default](DEBUG): Aggregate::initialize Default
2020-01-16T00:19:58.453Z,1579133998.453 [Default:B.GoToSurface] Running Loop=1
2020-01-16T00:19:58.453Z,1579133998.453 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-16T00:19:58.453Z,1579133998.453 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-16T00:19:58.454Z,1579133998.454 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-16T00:19:58.454Z,1579133998.454 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-16T00:19:58.454Z,1579133998.454 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-16T00:19:58.455Z,1579133998.455 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-16T00:19:58.455Z,1579133998.455 [Default:A.Wait] Running Loop=1
2020-01-16T00:19:58.455Z,1579133998.455 [Default:A.Wait](DEBUG): Initialize Wait Component.
2020-01-16T00:19:58.523Z,1579133998.523 [Reporter](INFO): DDM.cablePresent no_value
2020-01-16T00:19:58.840Z,1579133998.840 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:20:10.127Z,1579134010.127 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:20:11.784Z,1579134011.784 [Default:A.Wait](INFO): Done Waiting.
2020-01-16T00:20:11.784Z,1579134011.784 [Default:A.Wait] Stopped
2020-01-16T00:20:11.784Z,1579134011.784 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-16T00:20:12.163Z,1579134012.163 [Default:CheckIn] Running Loop=1
2020-01-16T00:20:12.163Z,1579134012.163 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2020-01-16T00:20:12.164Z,1579134012.164 [Default:CheckIn:Read_GPS] Running Loop=1
2020-01-16T00:20:15.924Z,1579134015.924 [CommandLine](IMPORTANT): got command failComponent
2020-01-16T00:20:15.924Z,1579134015.924 [CommandLine](IMPORTANT): Failed components:
2020-01-16T00:20:15.924Z,1579134015.924 [CommandLine](IMPORTANT): DropWeight: Hardware Fault
2020-01-16T00:20:19.660Z,1579134019.660 [CommandLine](IMPORTANT): got command get DDM.cablePresent
2020-01-16T00:20:19.660Z,1579134019.660 [CommandLine](IMPORTANT): DDM.cablePresent 0 bool
2020-01-16T00:20:21.440Z,1579134021.440 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:20:28.612Z,1579134028.612 [CommandLine](IMPORTANT): got command load ./Missions/Insert/Docked.xml
2020-01-16T00:20:28.612Z,1579134028.612 [MissionManager](INFO): Loading Mission: ./Missions/Insert/Docked.xml
2020-01-16T00:20:28.656Z,1579134028.656 [MissionManager](INFO): DefineArg Docked.MaxDockRange = 8.000000 m
2020-01-16T00:20:28.739Z,1579134028.739 [MissionManager](INFO): DefineArg Docked.DetachedTimeout = 5.000000 min
2020-01-16T00:20:28.753Z,1579134028.753 [MissionManager](INFO): DefineArg Docked.Depth = 5.000000 m
2020-01-16T00:20:28.755Z,1579134028.755 [MissionManager](INFO): DefineArg Docked.TransponderCode = 2.000000 count
2020-01-16T00:20:28.762Z,1579134028.762 [MissionManager](INFO): DefineArg Docked.TrackingUpdatePeriod = 60.000000 s
2020-01-16T00:20:28.764Z,1579134028.764 [MissionManager](INFO): DefineArg Docked.NumberOfPings = 1.000000 count
2020-01-16T00:20:28.783Z,1579134028.783 [MissionManager](INFO): DefineArg Docked.Speed = 0.000000 m/s
2020-01-16T00:20:28.794Z,1579134028.794 [MissionManager](INFO): DefineArg Docked.DepthDeadband = 1.500000 m
2020-01-16T00:20:28.796Z,1579134028.796 [MissionManager](INFO): DefineArg Docked.PitchLimit = 20.000000 arcdeg
2020-01-16T00:20:28.799Z,1579134028.799 [MissionManager](INFO): DefineArg Docked.MinDepth = 1.000000 m
2020-01-16T00:20:28.817Z,1579134028.817 [MissionManager](INFO): DefineArg Docked.MaxDepth = 215.000000 m
2020-01-16T00:20:28.818Z,1579134028.818 [Docked:A.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-01-16T00:20:28.884Z,1579134028.884 [Docked:E.Pitch](DEBUG): Construct.
2020-01-16T00:20:28.906Z,1579134028.906 [Docked:F.SetSpeed](DEBUG): Construct.
2020-01-16T00:20:28.909Z,1579134028.909 [Docked:G.Docked](DEBUG): Construct.
2020-01-16T00:20:28.994Z,1579134028.994 [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>


2020-01-16T00:20:28.996Z,1579134028.996 [CommandLine](IMPORTANT): Loaded ./Missions/Insert/Docked.xml
2020-01-16T00:20:32.742Z,1579134032.742 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:20:35.174Z,1579134035.174 [Micromodem](FAULT): failed to initialize; deviceResponse_ loaded: , available: 
2020-01-16T00:20:35.174Z,1579134035.174 [Micromodem] Communications Fault, FailCount= 2
2020-01-16T00:20:35.174Z,1579134035.174 [Micromodem](ERROR): Communications Fault
2020-01-16T00:20:35.270Z,1579134035.270 [CBIT](ERROR): Communications Fault in component: Micromodem
2020-01-16T00:20:35.570Z,1579134035.570 [Micromodem](INFO): Powering down
2020-01-16T00:20:36.475Z,1579134036.475 [CBIT](INFO): Clearing failed state for component Micromodem
2020-01-16T00:20:36.476Z,1579134036.476 [Micromodem] No Fault, FailCount= 2
2020-01-16T00:20:36.904Z,1579134036.904 [CommandLine](IMPORTANT): got command set Docked.DetachedTimeout 10.000000 second
2020-01-16T00:20:39.206Z,1579134039.206 [Micromodem](INFO): Powering up
2020-01-16T00:20:39.206Z,1579134039.206 [Micromodem](DEBUG): Initializing Micromodem.
2020-01-16T00:20:39.298Z,1579134039.298 [CommandLine](IMPORTANT): got command run
2020-01-16T00:20:39.300Z,1579134039.300 [CommandLine](IMPORTANT): Running 
2020-01-16T00:20:39.661Z,1579134039.661 [Default] Stopped
2020-01-16T00:20:39.661Z,1579134039.661 [Default](DEBUG): Aggregate::uninitialize Default
2020-01-16T00:20:39.661Z,1579134039.661 [Default:B.GoToSurface] Stopped
2020-01-16T00:20:39.661Z,1579134039.661 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-16T00:20:39.661Z,1579134039.661 [Default:CheckIn] Stopped
2020-01-16T00:20:39.661Z,1579134039.661 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2020-01-16T00:20:39.661Z,1579134039.661 [Default:CheckIn:Read_GPS] Stopped
2020-01-16T00:20:39.662Z,1579134039.662 [MissionManager](IMPORTANT): Started mission Docked
2020-01-16T00:20:39.662Z,1579134039.662 [Docked] Running Loop=1
2020-01-16T00:20:39.662Z,1579134039.662 [Docked](DEBUG): Aggregate::initialize Docked
2020-01-16T00:20:39.662Z,1579134039.662 [Docked:A.DepthEnvelope] Running Loop=1
2020-01-16T00:20:39.662Z,1579134039.662 [Docked:A.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2020-01-16T00:20:39.662Z,1579134039.662 [Docked:B.] Running Loop=1
2020-01-16T00:20:39.662Z,1579134039.662 [Docked:B.](INFO): Initializing TrackAcousticContact.
2020-01-16T00:20:39.662Z,1579134039.662 [Docked:C] Running Loop=1
2020-01-16T00:20:39.662Z,1579134039.662 [Docked:D] Running Loop=1
2020-01-16T00:20:39.662Z,1579134039.662 [Docked:E.Pitch] Running Loop=1
2020-01-16T00:20:39.663Z,1579134039.663 [Docked:E.Pitch](DEBUG): Initialize.
2020-01-16T00:20:39.663Z,1579134039.663 [Docked:F.SetSpeed] Running Loop=1
2020-01-16T00:20:39.663Z,1579134039.663 [Docked:F.SetSpeed](DEBUG): Initialize.
2020-01-16T00:20:39.663Z,1579134039.663 [Docked:G.Docked] Running Loop=1
2020-01-16T00:20:39.663Z,1579134039.663 [Docked:G.Docked](DEBUG): Initialize.
2020-01-16T00:20:39.663Z,1579134039.663 [Docked:F.SetSpeed] Running Loop=1
2020-01-16T00:20:39.664Z,1579134039.664 [Docked:E.Pitch] Running Loop=1
2020-01-16T00:20:39.664Z,1579134039.664 [Docked:D] Running Loop=1
2020-01-16T00:20:39.664Z,1579134039.664 [Docked:C] Running Loop=1
2020-01-16T00:20:39.664Z,1579134039.664 [Docked:B.] Running Loop=1
2020-01-16T00:20:39.685Z,1579134039.685 [Docked:A.DepthEnvelope] Running Loop=1
2020-01-16T00:20:40.845Z,1579134040.845 [DDM](FAULT): failed to activate IR emitter.
2020-01-16T00:20:40.845Z,1579134040.845 [DDM] Hardware Fault, FailCount= 1
2020-01-16T00:20:40.845Z,1579134040.845 [DDM](ERROR): Hardware Fault
2020-01-16T00:20:40.960Z,1579134040.960 [CBIT](ERROR): Hardware Fault in component: DDM
2020-01-16T00:20:41.222Z,1579134041.222 [DDM](INFO): Powering down
2020-01-16T00:20:42.118Z,1579134042.118 [CBIT](INFO): Clearing failed state for component DDM
2020-01-16T00:20:42.118Z,1579134042.118 [DDM] No Fault, FailCount= 1
2020-01-16T00:20:44.054Z,1579134044.054 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:20:44.454Z,1579134044.454 [DDM](INFO): Powering up
2020-01-16T00:20:44.454Z,1579134044.454 [DDM](DEBUG): Initializing DDM.
2020-01-16T00:20:54.991Z,1579134054.991 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2020-01-16T00:20:55.123Z,1579134055.123 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:20:55.275Z,1579134055.275 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-16T00:21:03.428Z,1579134063.428 [CommandLine](IMPORTANT): got command show stack
2020-01-16T00:21:03.428Z,1579134063.428 [CommandLine](IMPORTANT): Behavior Stack:

2020-01-16T00:21:03.428Z,1579134063.428 [Docked](IMPORTANT): Priority 0: Docked:A.DepthEnvelope
2020-01-16T00:21:03.428Z,1579134063.428 [Docked](IMPORTANT): Priority 1: Docked:B.
2020-01-16T00:21:03.429Z,1579134063.429 [Docked](IMPORTANT): Priority 2: Docked:C
2020-01-16T00:21:03.429Z,1579134063.429 [Docked](IMPORTANT): Priority 3: Docked:D
2020-01-16T00:21:03.429Z,1579134063.429 [Docked](IMPORTANT): Priority 4: Docked:E.Pitch
2020-01-16T00:21:03.429Z,1579134063.429 [Docked](IMPORTANT): Priority 5: Docked:F.SetSpeed
2020-01-16T00:21:03.430Z,1579134063.430 [Docked](IMPORTANT): Priority 6: Docked:G.Docked
2020-01-16T00:21:05.381Z,1579134065.381 [Docked:G.Docked](CRITICAL): VEHICLE DETACHED.
2020-01-16T00:21:05.381Z,1579134065.381 [Docked:G.Docked] Stopped
2020-01-16T00:21:05.383Z,1579134065.383 [Docked](INFO): Completed Docked
2020-01-16T00:21:05.383Z,1579134065.383 [MissionManager](INFO): Docked is completed.
2020-01-16T00:21:05.383Z,1579134065.383 [MissionManager](INFO): Uninitializing Mission Docked
2020-01-16T00:21:05.383Z,1579134065.383 [Docked] Stopped
2020-01-16T00:21:05.383Z,1579134065.383 [Docked](DEBUG): Aggregate::uninitialize Docked
2020-01-16T00:21:05.383Z,1579134065.383 [Docked:A.DepthEnvelope] Stopped
2020-01-16T00:21:05.383Z,1579134065.383 [Docked:A.DepthEnvelope](DEBUG): Uninitialize.
2020-01-16T00:21:05.383Z,1579134065.383 [Docked:B.] Stopped
2020-01-16T00:21:05.383Z,1579134065.383 [Docked:C] Stopped
2020-01-16T00:21:05.383Z,1579134065.383 [Docked:D] Stopped
2020-01-16T00:21:05.383Z,1579134065.383 [Docked:E.Pitch] Stopped
2020-01-16T00:21:05.383Z,1579134065.383 [Docked:F.SetSpeed] Stopped
2020-01-16T00:21:05.384Z,1579134065.384 [Docked:F.SetSpeed](DEBUG): Uninitialize.
2020-01-16T00:21:05.462Z,1579134065.462 [CBIT](INFO): Critical error at 20200116T002105
2020-01-16T00:21:05.463Z,1579134065.463 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2020-01-16T00:21:05.695Z,1579134065.695 [MissionManager](IMPORTANT): Started mission Default
2020-01-16T00:21:05.695Z,1579134065.695 [Default] Running Loop=1
2020-01-16T00:21:05.695Z,1579134065.695 [Default](DEBUG): Aggregate::initialize Default
2020-01-16T00:21:05.696Z,1579134065.696 [Default:B.GoToSurface] Running Loop=1
2020-01-16T00:21:05.696Z,1579134065.696 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-16T00:21:05.696Z,1579134065.696 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-16T00:21:05.696Z,1579134065.696 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-16T00:21:05.696Z,1579134065.696 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-16T00:21:05.697Z,1579134065.697 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-16T00:21:05.697Z,1579134065.697 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-16T00:21:05.698Z,1579134065.698 [Default:A.Wait] Running Loop=1
2020-01-16T00:21:05.698Z,1579134065.698 [Default:A.Wait](DEBUG): Initialize Wait Component.
2020-01-16T00:21:05.779Z,1579134065.779 [Reporter](INFO): DDM.cablePresent no_value
2020-01-16T00:21:06.474Z,1579134066.474 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:21:17.094Z,1579134077.094 [CommandLine](IMPORTANT): got command load ./Missions/Insert/Docked.xml
2020-01-16T00:21:17.094Z,1579134077.094 [MissionManager](INFO): Loading Mission: ./Missions/Insert/Docked.xml
2020-01-16T00:21:17.224Z,1579134077.224 [MissionManager](INFO): DefineArg Docked.MaxDockRange = 8.000000 m
2020-01-16T00:21:17.238Z,1579134077.238 [MissionManager](INFO): DefineArg Docked.DetachedTimeout = 5.000000 min
2020-01-16T00:21:17.240Z,1579134077.240 [MissionManager](INFO): DefineArg Docked.Depth = 5.000000 m
2020-01-16T00:21:17.251Z,1579134077.251 [MissionManager](INFO): DefineArg Docked.TransponderCode = 2.000000 count
2020-01-16T00:21:17.261Z,1579134077.261 [MissionManager](INFO): DefineArg Docked.TrackingUpdatePeriod = 60.000000 s
2020-01-16T00:21:17.263Z,1579134077.263 [MissionManager](INFO): DefineArg Docked.NumberOfPings = 1.000000 count
2020-01-16T00:21:17.273Z,1579134077.273 [MissionManager](INFO): DefineArg Docked.Speed = 0.000000 m/s
2020-01-16T00:21:17.275Z,1579134077.275 [MissionManager](INFO): DefineArg Docked.DepthDeadband = 1.500000 m
2020-01-16T00:21:17.298Z,1579134077.298 [MissionManager](INFO): DefineArg Docked.PitchLimit = 20.000000 arcdeg
2020-01-16T00:21:17.300Z,1579134077.300 [MissionManager](INFO): DefineArg Docked.MinDepth = 1.000000 m
2020-01-16T00:21:17.306Z,1579134077.306 [MissionManager](INFO): DefineArg Docked.MaxDepth = 215.000000 m
2020-01-16T00:21:17.307Z,1579134077.307 [Docked:A.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-01-16T00:21:17.430Z,1579134077.430 [Docked:E.Pitch](DEBUG): Construct.
2020-01-16T00:21:17.476Z,1579134077.476 [Docked:F.SetSpeed](DEBUG): Construct.
2020-01-16T00:21:17.483Z,1579134077.483 [Docked:G.Docked](DEBUG): Construct.
2020-01-16T00:21:17.574Z,1579134077.574 [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>


2020-01-16T00:21:17.575Z,1579134077.575 [CommandLine](IMPORTANT): Loaded ./Missions/Insert/Docked.xml
2020-01-16T00:21:17.858Z,1579134077.858 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:21:18.734Z,1579134078.734 [Default:A.Wait](INFO): Done Waiting.
2020-01-16T00:21:18.734Z,1579134078.734 [Default:A.Wait] Stopped
2020-01-16T00:21:18.734Z,1579134078.734 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-16T00:21:19.158Z,1579134079.158 [Default:CheckIn] Running Loop=1
2020-01-16T00:21:19.159Z,1579134079.159 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2020-01-16T00:21:19.159Z,1579134079.159 [Default:CheckIn:Read_GPS] Running Loop=1
2020-01-16T00:21:26.180Z,1579134086.180 [CommandLine](IMPORTANT): got command set Docked.DetachedTimeout 10.000000 second
2020-01-16T00:21:27.444Z,1579134087.444 [CommandLine](IMPORTANT): got command run
2020-01-16T00:21:27.452Z,1579134087.452 [CommandLine](IMPORTANT): Running 
2020-01-16T00:21:27.610Z,1579134087.610 [Default] Stopped
2020-01-16T00:21:27.610Z,1579134087.610 [Default](DEBUG): Aggregate::uninitialize Default
2020-01-16T00:21:27.610Z,1579134087.610 [Default:B.GoToSurface] Stopped
2020-01-16T00:21:27.610Z,1579134087.610 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-16T00:21:27.610Z,1579134087.610 [Default:CheckIn] Stopped
2020-01-16T00:21:27.610Z,1579134087.610 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2020-01-16T00:21:27.610Z,1579134087.610 [Default:CheckIn:Read_GPS] Stopped
2020-01-16T00:21:27.610Z,1579134087.610 [MissionManager](IMPORTANT): Started mission Docked
2020-01-16T00:21:27.611Z,1579134087.611 [Docked] Running Loop=1
2020-01-16T00:21:27.611Z,1579134087.611 [Docked](DEBUG): Aggregate::initialize Docked
2020-01-16T00:21:27.611Z,1579134087.611 [Docked:A.DepthEnvelope] Running Loop=1
2020-01-16T00:21:27.611Z,1579134087.611 [Docked:A.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2020-01-16T00:21:27.611Z,1579134087.611 [Docked:B.] Running Loop=1
2020-01-16T00:21:27.611Z,1579134087.611 [Docked:B.](INFO): Initializing TrackAcousticContact.
2020-01-16T00:21:27.611Z,1579134087.611 [Docked:C] Running Loop=1
2020-01-16T00:21:27.611Z,1579134087.611 [Docked:D] Running Loop=1
2020-01-16T00:21:27.611Z,1579134087.611 [Docked:E.Pitch] Running Loop=1
2020-01-16T00:21:27.611Z,1579134087.611 [Docked:E.Pitch](DEBUG): Initialize.
2020-01-16T00:21:27.612Z,1579134087.612 [Docked:F.SetSpeed] Running Loop=1
2020-01-16T00:21:27.612Z,1579134087.612 [Docked:F.SetSpeed](DEBUG): Initialize.
2020-01-16T00:21:27.612Z,1579134087.612 [Docked:G.Docked] Running Loop=1
2020-01-16T00:21:27.612Z,1579134087.612 [Docked:G.Docked](DEBUG): Initialize.
2020-01-16T00:21:27.613Z,1579134087.613 [Docked:F.SetSpeed] Running Loop=1
2020-01-16T00:21:27.613Z,1579134087.613 [Docked:E.Pitch] Running Loop=1
2020-01-16T00:21:27.613Z,1579134087.613 [Docked:D] Running Loop=1
2020-01-16T00:21:27.614Z,1579134087.614 [Docked:C] Running Loop=1
2020-01-16T00:21:27.614Z,1579134087.614 [Docked:B.] Running Loop=1
2020-01-16T00:21:27.614Z,1579134087.614 [Docked:A.DepthEnvelope] Running Loop=1
2020-01-16T00:21:28.871Z,1579134088.871 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:21:28.982Z,1579134088.982 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-16T00:21:30.434Z,1579134090.434 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-16T00:21:30.434Z,1579134090.434 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,20011517333704,35.0, -0.1,   0.0,1448.9,,  0.00,   0.00,   0.00,   0.00,   0.00
2020-01-16T00:21:38.923Z,1579134098.923 [Docked:G.Docked](CRITICAL): VEHICLE DETACHED.
2020-01-16T00:21:38.923Z,1579134098.923 [Docked:G.Docked] Stopped
2020-01-16T00:21:38.924Z,1579134098.924 [Docked](INFO): Completed Docked
2020-01-16T00:21:38.925Z,1579134098.925 [MissionManager](INFO): Docked is completed.
2020-01-16T00:21:38.941Z,1579134098.941 [MissionManager](INFO): Uninitializing Mission Docked
2020-01-16T00:21:38.941Z,1579134098.941 [Docked] Stopped
2020-01-16T00:21:38.941Z,1579134098.941 [Docked](DEBUG): Aggregate::uninitialize Docked
2020-01-16T00:21:38.941Z,1579134098.941 [Docked:A.DepthEnvelope] Stopped
2020-01-16T00:21:38.941Z,1579134098.941 [Docked:A.DepthEnvelope](DEBUG): Uninitialize.
2020-01-16T00:21:38.941Z,1579134098.941 [Docked:B.] Stopped
2020-01-16T00:21:38.941Z,1579134098.941 [Docked:C] Stopped
2020-01-16T00:21:38.941Z,1579134098.941 [Docked:D] Stopped
2020-01-16T00:21:38.941Z,1579134098.941 [Docked:E.Pitch] Stopped
2020-01-16T00:21:38.941Z,1579134098.941 [Docked:F.SetSpeed] Stopped
2020-01-16T00:21:38.942Z,1579134098.942 [Docked:F.SetSpeed](DEBUG): Uninitialize.
2020-01-16T00:21:39.064Z,1579134099.064 [CBIT](INFO): Critical error at 20200116T002138
2020-01-16T00:21:39.065Z,1579134099.065 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2020-01-16T00:21:39.311Z,1579134099.311 [MissionManager](IMPORTANT): Started mission Default
2020-01-16T00:21:39.311Z,1579134099.311 [Default] Running Loop=1
2020-01-16T00:21:39.312Z,1579134099.312 [Default](DEBUG): Aggregate::initialize Default
2020-01-16T00:21:39.312Z,1579134099.312 [Default:B.GoToSurface] Running Loop=1
2020-01-16T00:21:39.312Z,1579134099.312 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-16T00:21:39.312Z,1579134099.312 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-16T00:21:39.312Z,1579134099.312 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-16T00:21:39.313Z,1579134099.313 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-16T00:21:39.313Z,1579134099.313 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-16T00:21:39.313Z,1579134099.313 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-16T00:21:39.314Z,1579134099.314 [Default:A.Wait] Running Loop=1
2020-01-16T00:21:39.314Z,1579134099.314 [Default:A.Wait](DEBUG): Initialize Wait Component.
2020-01-16T00:21:39.350Z,1579134099.350 [Reporter](INFO): DDM.cablePresent no_value
2020-01-16T00:21:40.084Z,1579134100.084 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:21:51.398Z,1579134111.398 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:21:52.646Z,1579134112.646 [Default:A.Wait](INFO): Done Waiting.
2020-01-16T00:21:52.646Z,1579134112.646 [Default:A.Wait] Stopped
2020-01-16T00:21:52.646Z,1579134112.646 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-16T00:21:53.060Z,1579134113.060 [Default:CheckIn] Running Loop=1
2020-01-16T00:21:53.060Z,1579134113.060 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2020-01-16T00:21:53.060Z,1579134113.060 [Default:CheckIn:Read_GPS] Running Loop=1
2020-01-16T00:22:02.706Z,1579134122.706 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:22:11.190Z,1579134131.190 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2020-01-16T00:22:14.027Z,1579134134.027 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:22:25.326Z,1579134145.326 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:22:36.643Z,1579134156.643 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:22:39.060Z,1579134159.060 [Micromodem](FAULT): failed to initialize; deviceResponse_ loaded: , available: 
2020-01-16T00:22:39.060Z,1579134159.060 [Micromodem] Communications Fault, FailCount= 3
2020-01-16T00:22:39.060Z,1579134159.060 [Micromodem](ERROR): Communications Fault
2020-01-16T00:22:39.161Z,1579134159.161 [CBIT](ERROR): Communications Fault in component: Micromodem
2020-01-16T00:22:39.466Z,1579134159.466 [Micromodem](INFO): Powering down
2020-01-16T00:22:40.323Z,1579134160.323 [CBIT](INFO): Clearing failed state for component Micromodem
2020-01-16T00:22:40.323Z,1579134160.323 [Micromodem] No Fault, FailCount= 3
2020-01-16T00:22:43.106Z,1579134163.106 [Micromodem](INFO): Powering up
2020-01-16T00:22:43.106Z,1579134163.106 [Micromodem](DEBUG): Initializing Micromodem.
2020-01-16T00:22:47.968Z,1579134167.968 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:22:59.266Z,1579134179.266 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:23:05.844Z,1579134185.844 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2020-01-16T00:23:05.859Z,1579134185.859 [BPC1](INFO): Received data from all battery sticks.
2020-01-16T00:23:10.612Z,1579134190.612 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:23:21.988Z,1579134201.988 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:23:33.308Z,1579134213.308 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:23:33.356Z,1579134213.356 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-01-16T00:23:33.356Z,1579134213.356 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-3276,V
2020-01-16T00:23:44.627Z,1579134224.627 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:23:55.926Z,1579134235.926 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:24:01.984Z,1579134241.984 [CommandLine](IMPORTANT): got command restart application
2020-01-16T00:24:02.993Z,1579134242.993 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-16T00:24:02.993Z,1579134242.993 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:24:03.121Z,1579134243.121 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2020-01-16T00:24:03.121Z,1579134243.121 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:24:03.122Z,1579134243.122 [CommandLine](INFO): Join timeout helper Thread ID is 6245
2020-01-16T00:24:03.124Z,1579134243.124 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2020-01-16T00:24:03.124Z,1579134243.124 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:24:03.124Z,1579134243.124 [NavChartDb](INFO): Join timeout helper Thread ID is 6246
2020-01-16T00:24:03.465Z,1579134243.465 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-16T00:24:03.465Z,1579134243.465 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:24:03.481Z,1579134243.481 [ComponentRegistry](INFO): Shutting down WetLabsSeaOWL_UV_A ThreadHandler
2020-01-16T00:24:03.481Z,1579134243.481 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:24:03.481Z,1579134243.481 [WetLabsSeaOWL_UV_A](INFO): Join timeout helper Thread ID is 6247
2020-01-16T00:24:03.577Z,1579134243.577 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-16T00:24:03.577Z,1579134243.577 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-01-16T00:24:03.578Z,1579134243.578 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:24:03.581Z,1579134243.581 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2020-01-16T00:24:03.581Z,1579134243.581 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:24:03.581Z,1579134243.581 [CTD_NeilBrown](INFO): Join timeout helper Thread ID is 6248
2020-01-16T00:24:03.657Z,1579134243.657 [CTD_NeilBrown ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-16T00:24:03.657Z,1579134243.657 [CTD_NeilBrown](INFO): Powering down
2020-01-16T00:24:03.669Z,1579134243.669 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:24:03.681Z,1579134243.681 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2020-01-16T00:24:03.681Z,1579134243.681 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:24:03.681Z,1579134243.681 [Radio_Surface](INFO): Join timeout helper Thread ID is 6249
2020-01-16T00:24:03.901Z,1579134243.901 [Radio_Surface](INFO): Powering down
2020-01-16T00:24:03.902Z,1579134243.902 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-16T00:24:03.902Z,1579134243.902 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:24:03.910Z,1579134243.910 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2020-01-16T00:24:03.910Z,1579134243.910 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:24:03.910Z,1579134243.910 [DataOverHttps](INFO): Join timeout helper Thread ID is 6250
2020-01-16T00:24:04.705Z,1579134244.705 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-16T00:24:04.705Z,1579134244.705 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:24:04.714Z,1579134244.714 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2020-01-16T00:24:04.714Z,1579134244.714 [logger ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:24:04.714Z,1579134244.714 [logger](INFO): Join timeout helper Thread ID is 6251
2020-01-16T00:24:04.745Z,1579134244.745 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-16T00:24:04.745Z,1579134244.745 [logger ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:24:04.753Z,1579134244.753 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2020-01-16T00:24:04.754Z,1579134244.754 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:24:04.754Z,1579134244.754 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2020-01-16T00:24:04.754Z,1579134244.754 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:24:04.754Z,1579134244.754 [controlThread](INFO): Join timeout helper Thread ID is 6252
2020-01-16T00:24:04.797Z,1579134244.797 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-16T00:24:04.797Z,1579134244.797 [controlThread](DEBUG): Uninitializing ControlThread
2020-01-16T00:24:04.797Z,1579134244.797 [AHRS_M2](INFO): Powering down
2020-01-16T00:24:04.869Z,1579134244.869 [DDM](INFO): Powering down
2020-01-16T00:24:04.941Z,1579134244.941 [DUSBL_Hydroid](INFO): Powering down
2020-01-16T00:24:05.013Z,1579134245.013 [Micromodem](INFO): Powering down
2020-01-16T00:24:05.109Z,1579134245.109 [NAL9602](INFO): Powering down
2020-01-16T00:24:05.181Z,1579134245.181 [RDI_Pathfinder](INFO): Powering down
2020-01-16T00:24:05.183Z,1579134245.183 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2020-01-16T00:24:05.184Z,1579134245.184 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2020-01-16T00:24:05.184Z,1579134245.184 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2020-01-16T00:24:05.184Z,1579134245.184 [MissionManager](INFO): Uninitializing Mission Default
2020-01-16T00:24:05.185Z,1579134245.185 [Default] Stopped
2020-01-16T00:24:05.185Z,1579134245.185 [Default](DEBUG): Aggregate::uninitialize Default
2020-01-16T00:24:05.185Z,1579134245.185 [Default:B.GoToSurface] Stopped
2020-01-16T00:24:05.185Z,1579134245.185 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-16T00:24:05.185Z,1579134245.185 [Default:CheckIn] Stopped
2020-01-16T00:24:05.185Z,1579134245.185 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2020-01-16T00:24:05.185Z,1579134245.185 [Default:CheckIn:Read_GPS] Stopped
2020-01-16T00:24:05.187Z,1579134245.187 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2020-01-16T00:24:05.188Z,1579134245.188 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2020-01-16T00:24:05.188Z,1579134245.188 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2020-01-16T00:24:05.188Z,1579134245.188 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2020-01-16T00:24:05.188Z,1579134245.188 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2020-01-16T00:24:05.188Z,1579134245.188 [BuoyancyServo](INFO): Powering down
2020-01-16T00:24:05.201Z,1579134245.201 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2020-01-16T00:24:05.201Z,1579134245.201 [ElevatorServo](INFO): Powering down
2020-01-16T00:24:05.202Z,1579134245.202 [MassServo](DEBUG): Uninitialize Mass Servo.
2020-01-16T00:24:05.202Z,1579134245.202 [MassServo](INFO): Powering down
2020-01-16T00:24:05.203Z,1579134245.203 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-01-16T00:24:05.203Z,1579134245.203 [RudderServo](INFO): Powering down
2020-01-16T00:24:05.203Z,1579134245.203 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2020-01-16T00:24:05.204Z,1579134245.204 [ThrusterServo](INFO): Powering down
2020-01-16T00:24:05.204Z,1579134245.204 [SBIT](DEBUG): Uninitialize SBIT Component.
2020-01-16T00:24:05.205Z,1579134245.205 [IBIT](DEBUG): Uninitialize IBIT Component.
2020-01-16T00:24:05.205Z,1579134245.205 [CBIT](DEBUG): Uninitialize CBIT Component.
2020-01-16T00:24:05.205Z,1579134245.205 [CBIT](DEBUG): Powering off loads.
2020-01-16T00:24:05.217Z,1579134245.217 [CBIT](DEBUG): Disabling WDT.
2020-01-16T00:24:05.229Z,1579134245.229 [CBIT](DEBUG): Opening all GF detection circuits.
2020-01-16T00:24:05.230Z,1579134245.230 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:24:05.271Z,1579134245.271 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:24:05.282Z,1579134245.282 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:24:05.340Z,1579134245.340 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:24:05.342Z,1579134245.342 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:24:05.411Z,1579134245.411 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:24:05.471Z,1579134245.471 [logger ThreadHandler](INFO): Thread cancelled.