2020-01-16T00:24:06.527Z,1579134246.527 [Supervisor](DEBUG): Initializing supervisor.
2020-01-16T00:24:06.530Z,1579134246.530 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2020-01-16T00:24:06.530Z,1579134246.530 [SyncHandler](INFO): Protected caller Thread ID is 6253
2020-01-16T00:24:06.531Z,1579134246.531 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2020-01-16T00:24:06.532Z,1579134246.532 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2020-01-16T00:24:06.532Z,1579134246.532 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 6254
2020-01-16T00:24:06.536Z,1579134246.536 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2020-01-16T00:24:06.547Z,1579134246.547 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2020-01-16T00:24:06.548Z,1579134246.548 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2020-01-16T00:24:06.548Z,1579134246.548 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 6255
2020-01-16T00:24:06.549Z,1579134246.549 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2020-01-16T00:24:06.550Z,1579134246.550 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2020-01-16T00:24:06.550Z,1579134246.550 [logger ThreadHandler](INFO): Protected caller Thread ID is 6256
2020-01-16T00:24:06.552Z,1579134246.552 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2020-01-16T00:24:06.553Z,1579134246.553 [Supervisor](INFO): Looking for Config files in directory: Config/
2020-01-16T00:24:06.554Z,1579134246.554 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2020-01-16T00:24:06.983Z,1579134246.983 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2020-01-16T00:24:06.984Z,1579134246.984 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2020-01-16T00:24:07.079Z,1579134247.079 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2020-01-16T00:24:07.079Z,1579134247.079 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2020-01-16T00:24:07.382Z,1579134247.382 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2020-01-16T00:24:07.383Z,1579134247.383 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2020-01-16T00:24:07.518Z,1579134247.518 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2020-01-16T00:24:07.518Z,1579134247.518 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2020-01-16T00:24:07.700Z,1579134247.700 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2020-01-16T00:24:07.700Z,1579134247.700 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2020-01-16T00:24:08.135Z,1579134248.135 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2020-01-16T00:24:08.135Z,1579134248.135 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2020-01-16T00:24:08.340Z,1579134248.340 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2020-01-16T00:24:08.341Z,1579134248.341 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2020-01-16T00:24:08.481Z,1579134248.481 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2020-01-16T00:24:08.482Z,1579134248.482 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2020-01-16T00:24:08.663Z,1579134248.663 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2020-01-16T00:24:08.664Z,1579134248.664 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2020-01-16T00:24:08.758Z,1579134248.758 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2020-01-16T00:24:08.759Z,1579134248.759 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2020-01-16T00:24:09.049Z,1579134249.049 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2020-01-16T00:24:09.049Z,1579134249.049 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2020-01-16T00:24:09.128Z,1579134249.128 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2020-01-16T00:24:09.230Z,1579134249.230 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2020-01-16T00:24:09.230Z,1579134249.230 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2020-01-16T00:24:09.851Z,1579134249.851 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2020-01-16T00:24:09.851Z,1579134249.851 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2020-01-16T00:24:10.278Z,1579134250.278 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2020-01-16T00:24:10.280Z,1579134250.280 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/
2020-01-16T00:24:10.281Z,1579134250.281 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/vehicle.cfg
2020-01-16T00:24:10.564Z,1579134250.564 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Control.cfg
2020-01-16T00:24:10.818Z,1579134250.818 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/BIT.cfg
2020-01-16T00:24:11.105Z,1579134251.105 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Battery.cfg
2020-01-16T00:24:11.450Z,1579134251.450 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2020-01-16T00:24:11.451Z,1579134251.451 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Simulator.cfg
2020-01-16T00:24:11.533Z,1579134251.533 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Navigation.cfg
2020-01-16T00:24:11.624Z,1579134251.624 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/logger.cfg
2020-01-16T00:24:11.720Z,1579134251.720 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/secure.cfg
2020-01-16T00:24:11.802Z,1579134251.802 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Servo.cfg
2020-01-16T00:24:11.906Z,1579134251.906 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Sensor.cfg
2020-01-16T00:24:12.083Z,1579134252.083 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Science.cfg
2020-01-16T00:24:12.210Z,1579134252.210 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/root/
2020-01-16T00:24:12.210Z,1579134252.210 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2020-01-16T00:24:12.225Z,1579134252.225 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2020-01-16T00:24:12.548Z,1579134252.548 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_orientation
2020-01-16T00:24:12.553Z,1579134252.553 [AHRS_M2](INFO): created writer for : platform_orientation
2020-01-16T00:24:12.556Z,1579134252.556 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_magnetic_orientation
2020-01-16T00:24:12.561Z,1579134252.561 [AHRS_M2](INFO): created writer for : platform_magnetic_orientation
2020-01-16T00:24:12.561Z,1579134252.561 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_pitch_angle
2020-01-16T00:24:12.566Z,1579134252.566 [AHRS_M2](INFO): created writer for : platform_pitch_angle
2020-01-16T00:24:12.567Z,1579134252.567 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_roll_angle
2020-01-16T00:24:12.572Z,1579134252.572 [AHRS_M2](INFO): created writer for : platform_roll_angle
2020-01-16T00:24:12.641Z,1579134252.641 [AHRS_M2] Loaded
2020-01-16T00:24:12.641Z,1579134252.641 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2020-01-16T00:24:12.719Z,1579134252.719 [DataOverHttps] Loaded
2020-01-16T00:24:12.720Z,1579134252.720 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2020-01-16T00:24:12.721Z,1579134252.721 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 4076F4E0
2020-01-16T00:24:12.721Z,1579134252.721 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 6335
2020-01-16T00:24:12.744Z,1579134252.744 [DDM] Loaded
2020-01-16T00:24:12.745Z,1579134252.745 [ComponentRegistry](DEBUG): SyncComponent "DDM" handled in the control thread.
2020-01-16T00:24:12.757Z,1579134252.757 [Depth_Keller] Loaded
2020-01-16T00:24:12.758Z,1579134252.758 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2020-01-16T00:24:12.762Z,1579134252.762 [DropWeight] Loaded
2020-01-16T00:24:12.762Z,1579134252.762 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2020-01-16T00:24:12.822Z,1579134252.822 [DUSBL_Hydroid] Loaded
2020-01-16T00:24:12.822Z,1579134252.822 [ComponentRegistry](DEBUG): SyncComponent "DUSBL_Hydroid" handled in the control thread.
2020-01-16T00:24:12.868Z,1579134252.868 [Micromodem] Loaded
2020-01-16T00:24:12.868Z,1579134252.868 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2020-01-16T00:24:12.963Z,1579134252.963 [NAL9602] Loaded
2020-01-16T00:24:12.963Z,1579134252.963 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2020-01-16T00:24:12.000Z,1579134253.000 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/voltage_now
2020-01-16T00:24:13.000Z,1579134253.000 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/current_now
2020-01-16T00:24:13.001Z,1579134253.001 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/charge_now
2020-01-16T00:24:13.001Z,1579134253.001 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/charge_full
2020-01-16T00:24:13.002Z,1579134253.002 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/voltage_now
2020-01-16T00:24:13.002Z,1579134253.002 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/current_now
2020-01-16T00:24:13.003Z,1579134253.003 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/charge_now
2020-01-16T00:24:13.003Z,1579134253.003 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/charge_full
2020-01-16T00:24:13.003Z,1579134253.003 [Onboard] Loaded
2020-01-16T00:24:13.003Z,1579134253.003 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2020-01-16T00:24:13.009Z,1579134253.009 [PowerOnly] Loaded
2020-01-16T00:24:13.009Z,1579134253.009 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2020-01-16T00:24:13.016Z,1579134253.016 [Radio_Surface] Loaded
2020-01-16T00:24:13.016Z,1579134253.016 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2020-01-16T00:24:13.017Z,1579134253.017 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 4079F4E0
2020-01-16T00:24:13.017Z,1579134253.017 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 6336
2020-01-16T00:24:13.060Z,1579134253.060 [RDI_Pathfinder] Loaded
2020-01-16T00:24:13.060Z,1579134253.060 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2020-01-16T00:24:14.517Z,1579134254.517 [BPC1] Loaded
2020-01-16T00:24:14.517Z,1579134254.517 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2020-01-16T00:24:14.517Z,1579134254.517 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2020-01-16T00:24:14.518Z,1579134254.518 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2020-01-16T00:24:14.531Z,1579134254.531 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2020-01-16T00:24:14.532Z,1579134254.532 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2020-01-16T00:24:14.636Z,1579134254.636 [DeadReckonUsingMultipleVelocitySources] Loaded
2020-01-16T00:24:14.636Z,1579134254.636 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2020-01-16T00:24:14.656Z,1579134254.656 [NavChart] Loaded
2020-01-16T00:24:14.656Z,1579134254.656 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2020-01-16T00:24:14.660Z,1579134254.660 [UniversalFixResidualReporter] Loaded
2020-01-16T00:24:14.660Z,1579134254.660 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2020-01-16T00:24:14.661Z,1579134254.661 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2020-01-16T00:24:14.661Z,1579134254.661 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2020-01-16T00:24:14.771Z,1579134254.771 [BuoyancyServo] Loaded
2020-01-16T00:24:14.772Z,1579134254.772 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2020-01-16T00:24:14.786Z,1579134254.786 [ElevatorServo] Loaded
2020-01-16T00:24:14.787Z,1579134254.787 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2020-01-16T00:24:14.801Z,1579134254.801 [MassServo] Loaded
2020-01-16T00:24:14.801Z,1579134254.801 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2020-01-16T00:24:14.816Z,1579134254.816 [RudderServo] Loaded
2020-01-16T00:24:14.816Z,1579134254.816 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2020-01-16T00:24:14.830Z,1579134254.830 [ThrusterServo] Loaded
2020-01-16T00:24:14.830Z,1579134254.830 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2020-01-16T00:24:14.831Z,1579134254.831 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2020-01-16T00:24:14.831Z,1579134254.831 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2020-01-16T00:24:15.268Z,1579134255.268 [CTD_NeilBrown] Loaded
2020-01-16T00:24:15.268Z,1579134255.268 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2020-01-16T00:24:15.270Z,1579134255.270 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 408F34E0
2020-01-16T00:24:15.270Z,1579134255.270 [CTD_NeilBrown ThreadHandler](INFO): Protected caller Thread ID is 6337
2020-01-16T00:24:15.333Z,1579134255.333 [PAR_Licor] Loaded
2020-01-16T00:24:15.333Z,1579134255.333 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2020-01-16T00:24:15.411Z,1579134255.411 [WetLabsSeaOWL_UV_A] Loaded
2020-01-16T00:24:15.411Z,1579134255.411 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2020-01-16T00:24:15.412Z,1579134255.412 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 409234E0
2020-01-16T00:24:15.413Z,1579134255.413 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 6338
2020-01-16T00:24:15.413Z,1579134255.413 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2020-01-16T00:24:15.414Z,1579134255.414 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2020-01-16T00:24:16.438Z,1579134256.438 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2020-01-16T00:24:16.439Z,1579134256.439 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2020-01-16T00:24:16.483Z,1579134256.483 [DepthRateCalculator] Loaded
2020-01-16T00:24:16.485Z,1579134256.485 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2020-01-16T00:24:16.490Z,1579134256.490 [PitchRateCalculator] Loaded
2020-01-16T00:24:16.491Z,1579134256.491 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2020-01-16T00:24:16.502Z,1579134256.502 [SpeedCalculator] Loaded
2020-01-16T00:24:16.503Z,1579134256.503 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2020-01-16T00:24:16.523Z,1579134256.523 [TempGradientCalculator] Loaded
2020-01-16T00:24:16.524Z,1579134256.524 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2020-01-16T00:24:16.529Z,1579134256.529 [YawRateCalculator] Loaded
2020-01-16T00:24:16.529Z,1579134256.529 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2020-01-16T00:24:16.569Z,1579134256.569 [ElevatorOffsetCalculator] Loaded
2020-01-16T00:24:16.570Z,1579134256.570 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2020-01-16T00:24:16.570Z,1579134256.570 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2020-01-16T00:24:16.570Z,1579134256.570 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2020-01-16T00:24:16.710Z,1579134256.710 [SBIT](DEBUG): Construct Startup Built In Test.
2020-01-16T00:24:16.731Z,1579134256.731 [SBIT] Loaded
2020-01-16T00:24:16.732Z,1579134256.732 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2020-01-16T00:24:16.732Z,1579134256.732 [IBIT](DEBUG): Construct Initiated Built In Test.
2020-01-16T00:24:16.745Z,1579134256.745 [IBIT] Loaded
2020-01-16T00:24:16.745Z,1579134256.745 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2020-01-16T00:24:16.748Z,1579134256.748 [CBIT](DEBUG): Construct Continuous Built In Test.
2020-01-16T00:24:16.883Z,1579134256.883 [CBIT] Loaded
2020-01-16T00:24:16.883Z,1579134256.883 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2020-01-16T00:24:16.883Z,1579134256.883 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2020-01-16T00:24:16.884Z,1579134256.884 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2020-01-16T00:24:16.972Z,1579134256.972 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2020-01-16T00:24:16.972Z,1579134256.972 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2020-01-16T00:24:17.073Z,1579134257.073 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2020-01-16T00:24:17.073Z,1579134257.073 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2020-01-16T00:24:17.123Z,1579134257.123 [VerticalControl](DEBUG): Construct VerticalControl.
2020-01-16T00:24:17.204Z,1579134257.204 [VerticalControl] Loaded
2020-01-16T00:24:17.205Z,1579134257.205 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2020-01-16T00:24:17.206Z,1579134257.206 [HorizontalControl](DEBUG): Construct HorizontalControl.
2020-01-16T00:24:17.273Z,1579134257.273 [HorizontalControl] Loaded
2020-01-16T00:24:17.273Z,1579134257.273 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2020-01-16T00:24:17.274Z,1579134257.274 [SpeedControl](DEBUG): Construct SpeedControl.
2020-01-16T00:24:17.276Z,1579134257.276 [SpeedControl] Loaded
2020-01-16T00:24:17.276Z,1579134257.276 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2020-01-16T00:24:17.276Z,1579134257.276 [LoopControl](DEBUG): Construct LoopControl.
2020-01-16T00:24:17.277Z,1579134257.277 [LoopControl] Loaded
2020-01-16T00:24:17.277Z,1579134257.277 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2020-01-16T00:24:17.278Z,1579134257.278 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2020-01-16T00:24:17.278Z,1579134257.278 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2020-01-16T00:24:17.311Z,1579134257.311 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2020-01-16T00:24:17.315Z,1579134257.315 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2020-01-16T00:24:17.316Z,1579134257.316 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2020-01-16T00:24:17.322Z,1579134257.322 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2020-01-16T00:24:17.323Z,1579134257.323 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40B094E0
2020-01-16T00:24:17.324Z,1579134257.324 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 6339
2020-01-16T00:24:17.329Z,1579134257.329 [Supervisor](INFO): Main Thread ID is 5419
2020-01-16T00:24:17.329Z,1579134257.329 [Supervisor](DEBUG): Running supervisor.
2020-01-16T00:24:17.329Z,1579134257.329 [CommandLine ThreadHandler](INFO): Handler Thread ID is 6340
2020-01-16T00:24:17.332Z,1579134257.332 [controlThread ThreadHandler](INFO): Handler Thread ID is 6341
2020-01-16T00:24:17.333Z,1579134257.333 [controlThread](DEBUG): Initializing ControlThread
2020-01-16T00:24:17.340Z,1579134257.340 [NavChart](DEBUG): Initialize NavChart Navigation.
2020-01-16T00:24:17.340Z,1579134257.340 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2020-01-16T00:24:17.345Z,1579134257.345 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2020-01-16T00:24:17.345Z,1579134257.345 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2020-01-16T00:24:17.346Z,1579134257.346 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2020-01-16T00:24:17.346Z,1579134257.346 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2020-01-16T00:24:17.346Z,1579134257.346 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2020-01-16T00:24:17.347Z,1579134257.347 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2020-01-16T00:24:17.347Z,1579134257.347 [SBIT](INFO): Initialize SBIT Component.
2020-01-16T00:24:17.348Z,1579134257.348 [SBIT](IMPORTANT): git: 2019-12-03-34-g1420f60
2020-01-16T00:24:17.348Z,1579134257.348 [SBIT](INFO): git hash: 1420f6075bfd9e2317cf67bc08ebc33a04e592a5
2020-01-16T00:24:17.348Z,1579134257.348 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2020-01-16T00:24:17.349Z,1579134257.349 [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
2020-01-16T00:24:17.351Z,1579134257.351 [SBIT](INFO): Beginning SBIT in 39.000000 seconds.
2020-01-16T00:24:17.351Z,1579134257.351 [IBIT](INFO): Initialize IBIT Component.
2020-01-16T00:24:17.352Z,1579134257.352 [CBIT](DEBUG): Initialize CBIT Component.
2020-01-16T00:24:17.353Z,1579134257.353 [logger ThreadHandler](INFO): Handler Thread ID is 6342
2020-01-16T00:24:17.365Z,1579134257.365 [CBIT](DEBUG): Initialized mux pins.
2020-01-16T00:24:17.365Z,1579134257.365 [CBIT](DEBUG): Initializing the watchdog timer.
2020-01-16T00:24:17.373Z,1579134257.373 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 6343
2020-01-16T00:24:17.374Z,1579134257.374 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2020-01-16T00:24:17.385Z,1579134257.385 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 6344
2020-01-16T00:24:17.389Z,1579134257.389 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2020-01-16T00:24:17.389Z,1579134257.389 [CBIT](DEBUG): Initializing heartbeat.
2020-01-16T00:24:17.397Z,1579134257.397 [CTD_NeilBrown ThreadHandler](INFO): Handler Thread ID is 6345
2020-01-16T00:24:17.398Z,1579134257.398 [CTD_NeilBrown](INFO): Powering down
2020-01-16T00:24:17.426Z,1579134257.426 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 6346
2020-01-16T00:24:17.426Z,1579134257.426 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-01-16T00:24:17.449Z,1579134257.449 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 6347
2020-01-16T00:24:17.452Z,1579134257.452 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2020-01-16T00:24:17.453Z,1579134257.453 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2020-01-16T00:24:17.453Z,1579134257.453 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2020-01-16T00:24:17.453Z,1579134257.453 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2020-01-16T00:24:17.453Z,1579134257.453 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2020-01-16T00:24:17.453Z,1579134257.453 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2020-01-16T00:24:17.454Z,1579134257.454 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2020-01-16T00:24:17.454Z,1579134257.454 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2020-01-16T00:24:17.454Z,1579134257.454 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2020-01-16T00:24:17.454Z,1579134257.454 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2020-01-16T00:24:17.454Z,1579134257.454 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2020-01-16T00:24:17.454Z,1579134257.454 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2020-01-16T00:24:17.454Z,1579134257.454 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2020-01-16T00:24:17.455Z,1579134257.455 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2020-01-16T00:24:17.455Z,1579134257.455 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2020-01-16T00:24:17.455Z,1579134257.455 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2020-01-16T00:24:17.461Z,1579134257.461 [CBIT](DEBUG): Deactivating GF circuits.
2020-01-16T00:24:17.461Z,1579134257.461 [CBIT](DEBUG): Deactivating emergency mode.
2020-01-16T00:24:17.497Z,1579134257.497 [CBIT](DEBUG): Backplane powered.
2020-01-16T00:24:17.497Z,1579134257.497 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2020-01-16T00:24:17.499Z,1579134257.499 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2020-01-16T00:24:17.500Z,1579134257.500 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2020-01-16T00:24:17.500Z,1579134257.500 [LoopControl](DEBUG): Initialize LoopControlComponent.
2020-01-16T00:24:17.501Z,1579134257.501 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2020-01-16T00:24:17.513Z,1579134257.513 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2020-01-16T00:24:17.555Z,1579134257.555 [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>


2020-01-16T00:24:17.555Z,1579134257.555 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2020-01-16T00:24:17.624Z,1579134257.624 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2020-01-16T00:24:17.625Z,1579134257.625 [Default:A.Wait](DEBUG): Construct Wait.
2020-01-16T00:24:17.627Z,1579134257.627 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2020-01-16T00:24:17.674Z,1579134257.674 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2020-01-16T00:24:17.676Z,1579134257.676 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2020-01-16T00:24:17.710Z,1579134257.710 [Default:E.Execute](DEBUG): Construct Execute.
2020-01-16T00:24:17.713Z,1579134257.713 [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>


2020-01-16T00:24:17.728Z,1579134257.728 [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,
2020-01-16T00:24:17.743Z,1579134257.743 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2020-01-16T00:24:17.781Z,1579134257.781 [DDM](INFO): Powering up
2020-01-16T00:24:17.781Z,1579134257.781 [DDM](DEBUG): Initializing DDM.
2020-01-16T00:24:17.789Z,1579134257.789 [Radio_Surface](INFO): Powering up
2020-01-16T00:24:17.811Z,1579134257.811 [DUSBL_Hydroid](INFO): Powering up
2020-01-16T00:24:17.812Z,1579134257.812 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2020-01-16T00:24:18.011Z,1579134258.011 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2020-01-16T00:24:18.017Z,1579134258.017 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2020-01-16T00:24:18.018Z,1579134258.018 [ElevatorServo](DEBUG): Initializing EZServoServo.
2020-01-16T00:24:18.025Z,1579134258.025 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2020-01-16T00:24:18.026Z,1579134258.026 [MassServo](DEBUG): Initializing EZServoServo.
2020-01-16T00:24:18.033Z,1579134258.033 [MassServo](DEBUG): Initializing MassServo.
2020-01-16T00:24:18.034Z,1579134258.034 [RudderServo](DEBUG): Initializing EZServoServo.
2020-01-16T00:24:18.041Z,1579134258.041 [RudderServo](DEBUG): Initializing RudderServo.
2020-01-16T00:24:18.042Z,1579134258.042 [ThrusterServo](DEBUG): Initializing EZServoServo.
2020-01-16T00:24:18.049Z,1579134258.049 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2020-01-16T00:24:18.154Z,1579134258.154 [DropWeight](CRITICAL): DROP WEIGHT MISSING.

2020-01-16T00:24:18.154Z,1579134258.154 [DropWeight] Hardware Fault, FailCount= 1
2020-01-16T00:24:18.154Z,1579134258.154 [DropWeight](ERROR): Hardware Fault
2020-01-16T00:24:18.156Z,1579134258.156 [Micromodem](INFO): Powering up
2020-01-16T00:24:18.156Z,1579134258.156 [Micromodem](DEBUG): Initializing Micromodem.
2020-01-16T00:24:18.219Z,1579134258.219 [CommandLine](FAULT): Scheduling is paused
2020-01-16T00:24:18.219Z,1579134258.219 [CBIT](INFO): Critical error at 20200116T002418
2020-01-16T00:24:18.219Z,1579134258.219 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2020-01-16T00:24:18.222Z,1579134258.222 [CBIT](ERROR): Hardware Fault in component: DropWeight
2020-01-16T00:24:18.222Z,1579134258.222 [CBIT](CRITICAL): Hardware Fault in component: DropWeight
2020-01-16T00:24:18.933Z,1579134258.933 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2020-01-16T00:24:18.933Z,1579134258.933 [RudderServo](FAULT): Rudder failed to initialize
2020-01-16T00:24:18.933Z,1579134258.933 [RudderServo] Communications Fault, FailCount= 1
2020-01-16T00:24:18.933Z,1579134258.933 [RudderServo](ERROR): Communications Fault
2020-01-16T00:24:19.042Z,1579134259.042 [CBIT](INFO): Critical error at 20200116T002418
2020-01-16T00:24:19.045Z,1579134259.045 [CBIT](ERROR): Communications Fault in component: RudderServo
2020-01-16T00:24:19.246Z,1579134259.246 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-01-16T00:24:19.246Z,1579134259.246 [RudderServo](INFO): Powering down
2020-01-16T00:24:19.955Z,1579134259.955 [RudderServo](DEBUG): Initializing EZServoServo.
2020-01-16T00:24:20.074Z,1579134260.074 [RudderServo](DEBUG): Initializing RudderServo.
2020-01-16T00:24:20.078Z,1579134260.078 [CBIT](INFO): Clearing failed state for component RudderServo
2020-01-16T00:24:20.078Z,1579134260.078 [RudderServo] No Fault, FailCount= 1
2020-01-16T00:24:23.131Z,1579134263.131 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2020-01-16T00:24:27.685Z,1579134267.685 [CBIT](CRITICAL): Environmental Failure. Press:14.814070 PSI. Humidity:29%. Temp:22 C. ABORTING MISSION
2020-01-16T00:24:28.103Z,1579134268.103 [CBIT](INFO): Critical error at 20200116T002427
2020-01-16T00:24:28.360Z,1579134268.360 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2020-01-16T00:24:31.207Z,1579134271.207 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2020-01-16T00:24:34.440Z,1579134274.440 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:24:36.030Z,1579134276.030 [DUSBL_Hydroid](INFO): DUSBL Version:O
2020-01-16T00:24:39.681Z,1579134279.681 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-16T00:24:39.681Z,1579134279.681 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,20011517364602,35.0, -0.1,   0.0,14
2020-01-16T00:24:42.412Z,1579134282.412 [CommandLine](IMPORTANT): got command report mod DDM.cablePresent
2020-01-16T00:24:42.562Z,1579134282.562 [Reporter](INFO): DDM.cablePresent no_value
2020-01-16T00:24:43.299Z,1579134283.299 [NAL9602](INFO): Powering up NAL9602
2020-01-16T00:24:45.718Z,1579134285.718 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:24:49.642Z,1579134289.642 [CommandLine](IMPORTANT): got command failComponent
2020-01-16T00:24:49.642Z,1579134289.642 [CommandLine](IMPORTANT): Failed components:
2020-01-16T00:24:49.642Z,1579134289.642 [CommandLine](IMPORTANT): DropWeight: Hardware Fault
2020-01-16T00:24:52.912Z,1579134292.912 [CommandLine](IMPORTANT): got command failComponent hardware DDM
2020-01-16T00:24:52.912Z,1579134292.912 [DDM] Hardware Fault, FailCount= 1
2020-01-16T00:24:52.912Z,1579134292.912 [DDM](ERROR): Hardware Fault
2020-01-16T00:24:52.912Z,1579134292.912 [CommandLine](IMPORTANT): DDM failureMode is Hardware Fault
2020-01-16T00:24:52.988Z,1579134292.988 [DDM](INFO): Powering down
2020-01-16T00:24:53.163Z,1579134293.163 [CBIT](ERROR): Hardware Fault in component: DDM
2020-01-16T00:24:53.893Z,1579134293.893 [CBIT](INFO): Clearing failed state for component DDM
2020-01-16T00:24:53.893Z,1579134293.893 [DDM] No Fault, FailCount= 1
2020-01-16T00:24:54.203Z,1579134294.203 [NAL9602](INFO): NAL9602 initialized
2020-01-16T00:24:56.222Z,1579134296.222 [DDM](INFO): Powering up
2020-01-16T00:24:56.222Z,1579134296.222 [DDM](DEBUG): Initializing DDM.
2020-01-16T00:24:57.042Z,1579134297.042 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:24:57.138Z,1579134297.138 [SBIT](IMPORTANT): Beginning Startup BIT
2020-01-16T00:24:57.146Z,1579134297.146 [CBIT](IMPORTANT): Beginning ground fault scan
2020-01-16T00:25:03.004Z,1579134303.004 [CommandLine](IMPORTANT): got command report
2020-01-16T00:25:03.004Z,1579134303.004 [Reporter](INFO): DDM.cablePresent reporting changes
2020-01-16T00:25:06.981Z,1579134306.981 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2020-01-16T00:25:07.247Z,1579134307.247 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-16T00:25:07.499Z,1579134307.499 [Reporter](INFO): DDM.cablePresent no_value
2020-01-16T00:25:08.190Z,1579134308.190 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:25:08.367Z,1579134308.367 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.011049
CHAN A1 (24V): -0.029094
CHAN A2 (12V): -0.007332
CHAN A3 (5V): -0.002049
CHAN B0 (3.3V): 0.000048
CHAN B1 (3.15aV): -0.000008
CHAN B2 (3.15bV): -0.000173
CHAN B3 (GND): 0.002175
OPEN: 0.005106
Full Scale Calc: 4.765 mA, -1.589 mA
2020-01-16T00:25:12.268Z,1579134312.268 [CommandLine](IMPORTANT): got command show stack
2020-01-16T00:25:12.269Z,1579134312.269 [CommandLine](IMPORTANT): Behavior Stack:

2020-01-16T00:25:12.269Z,1579134312.269 [MissionManager](IMPORTANT): Mission loaded, but not running.
2020-01-16T00:25:15.344Z,1579134315.344 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-01-16T00:25:15.344Z,1579134315.344 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-3268,V
2020-01-16T00:25:19.362Z,1579134319.362 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:25:22.661Z,1579134322.661 [CommandLine](IMPORTANT): got command show stack
2020-01-16T00:25:22.661Z,1579134322.661 [CommandLine](IMPORTANT): Behavior Stack:

2020-01-16T00:25:22.661Z,1579134322.661 [MissionManager](IMPORTANT): Mission loaded, but not running.
2020-01-16T00:25:30.674Z,1579134330.674 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:25:34.557Z,1579134334.557 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.latitude_fix 35.500000 degree
2020-01-16T00:25:34.558Z,1579134334.558 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.latitude_fix" handled in the control thread.
2020-01-16T00:25:34.559Z,1579134334.559 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.longitude_fix -122.989998 degree
2020-01-16T00:25:34.560Z,1579134334.560 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.longitude_fix" handled in the control thread.
2020-01-16T00:25:34.847Z,1579134334.847 [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,
2020-01-16T00:25:35.158Z,1579134335.158 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-16T00:25:35.158Z,1579134335.158 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2020-01-16T00:25:35.158Z,1579134335.158 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-16T00:25:35.230Z,1579134335.230 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-16T00:25:35.633Z,1579134335.633 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-16T00:25:35.633Z,1579134335.633 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2020-01-16T00:25:36.492Z,1579134336.492 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-16T00:25:36.493Z,1579134336.493 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2020-01-16T00:25:36.493Z,1579134336.493 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-16T00:25:36.567Z,1579134336.567 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-16T00:25:36.847Z,1579134336.847 [SBIT](FAULT): Rudder: EXPECTED:-15.000000 ACTUAL:-14.989025
2020-01-16T00:25:36.847Z,1579134336.847 [SBIT](FAULT): Control surface position failure.
2020-01-16T00:25:36.850Z,1579134336.850 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-16T00:25:36.851Z,1579134336.851 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2020-01-16T00:25:37.599Z,1579134337.599 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-16T00:25:37.599Z,1579134337.599 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 3
2020-01-16T00:25:37.599Z,1579134337.599 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-16T00:25:37.702Z,1579134337.702 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-16T00:25:38.018Z,1579134338.018 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-16T00:25:38.018Z,1579134338.018 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 3
2020-01-16T00:25:38.806Z,1579134338.806 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-16T00:25:38.806Z,1579134338.806 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 4
2020-01-16T00:25:38.806Z,1579134338.806 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-16T00:25:38.962Z,1579134338.962 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-16T00:25:39.653Z,1579134339.653 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-16T00:25:39.653Z,1579134339.653 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 4
2020-01-16T00:25:40.123Z,1579134340.123 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-16T00:25:40.123Z,1579134340.123 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 5
2020-01-16T00:25:40.123Z,1579134340.123 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-16T00:25:40.237Z,1579134340.237 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-16T00:25:40.661Z,1579134340.661 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-16T00:25:40.661Z,1579134340.661 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 5
2020-01-16T00:25:41.333Z,1579134341.333 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-16T00:25:41.333Z,1579134341.333 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 6
2020-01-16T00:25:41.333Z,1579134341.333 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-16T00:25:41.505Z,1579134341.505 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-16T00:25:41.690Z,1579134341.690 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:25:41.925Z,1579134341.925 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-16T00:25:41.925Z,1579134341.925 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 6
2020-01-16T00:25:42.562Z,1579134342.562 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-16T00:25:42.562Z,1579134342.562 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 7
2020-01-16T00:25:42.562Z,1579134342.562 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-16T00:25:42.690Z,1579134342.690 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-16T00:25:43.094Z,1579134343.094 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-16T00:25:43.094Z,1579134343.094 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 7
2020-01-16T00:25:43.764Z,1579134343.764 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-16T00:25:43.764Z,1579134343.764 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 8
2020-01-16T00:25:43.764Z,1579134343.764 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-16T00:25:43.898Z,1579134343.898 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-16T00:25:44.277Z,1579134344.277 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-16T00:25:44.277Z,1579134344.277 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 8
2020-01-16T00:25:44.977Z,1579134344.977 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-16T00:25:44.977Z,1579134344.977 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-32768,-3:BE,-32768,-32768,-32768,V
2020-01-16T00:25:44.991Z,1579134344.991 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-16T00:25:44.991Z,1579134344.991 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 9
2020-01-16T00:25:44.991Z,1579134344.991 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-16T00:25:45.071Z,1579134345.071 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-16T00:25:45.422Z,1579134345.422 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-16T00:25:45.422Z,1579134345.422 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 9
2020-01-16T00:25:46.175Z,1579134346.175 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-16T00:25:46.176Z,1579134346.176 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 10
2020-01-16T00:25:46.176Z,1579134346.176 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-16T00:25:46.193Z,1579134346.193 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-16T00:25:46.571Z,1579134346.571 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-16T00:25:46.571Z,1579134346.571 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 10
2020-01-16T00:25:47.386Z,1579134347.386 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-16T00:25:47.386Z,1579134347.386 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 11
2020-01-16T00:25:47.386Z,1579134347.386 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-16T00:25:47.396Z,1579134347.396 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-16T00:25:47.800Z,1579134347.800 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-16T00:25:47.801Z,1579134347.801 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 11
2020-01-16T00:25:48.658Z,1579134348.658 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-16T00:25:48.658Z,1579134348.658 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 12
2020-01-16T00:25:48.658Z,1579134348.658 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-16T00:25:48.684Z,1579134348.684 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-16T00:25:49.038Z,1579134349.038 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-16T00:25:49.038Z,1579134349.038 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 12
2020-01-16T00:25:49.827Z,1579134349.827 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-16T00:25:49.827Z,1579134349.827 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 13
2020-01-16T00:25:49.827Z,1579134349.827 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-16T00:25:49.841Z,1579134349.841 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-16T00:25:50.260Z,1579134350.260 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-16T00:25:50.260Z,1579134350.260 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 13
2020-01-16T00:25:51.020Z,1579134351.020 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-16T00:25:51.020Z,1579134351.020 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 14
2020-01-16T00:25:51.020Z,1579134351.020 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-16T00:25:51.042Z,1579134351.042 [SBIT](CRITICAL): SBIT FAILED
2020-01-16T00:25:51.085Z,1579134351.085 [CommandLine](IMPORTANT): got command configSet list
2020-01-16T00:25:51.085Z,1579134351.085 [CommandLine](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2020-01-16T00:25:51.086Z,1579134351.086 [CommandLine](IMPORTANT): DDM.loadAtStartup=1 bool;

2020-01-16T00:25:51.086Z,1579134351.086 [CommandLine](IMPORTANT): DDM.verbosity=3 count;

2020-01-16T00:25:51.086Z,1579134351.086 [CommandLine](IMPORTANT): DUSBL_Hydroid.detectionThreshold=25 count;

2020-01-16T00:25:51.087Z,1579134351.087 [CommandLine](IMPORTANT): DUSBL_Hydroid.transmitLockout=40 millisecond;

2020-01-16T00:25:51.087Z,1579134351.087 [CommandLine](IMPORTANT): Express linearApproximation DDM.DDMMode 1.000000 count;

2020-01-16T00:25:51.087Z,1579134351.087 [CommandLine](IMPORTANT): Express all DDM.cablePresent;

2020-01-16T00:25:51.087Z,1579134351.087 [CommandLine](IMPORTANT): HorizontalControl.kiHeading=0.002 reciprocal_second;

2020-01-16T00:25:51.087Z,1579134351.087 [CommandLine](IMPORTANT): HorizontalControl.kpHeading=0.8 none;

2020-01-16T00:25:51.087Z,1579134351.087 [CommandLine](IMPORTANT): HorizontalControl.rudDeadband=0.05 degree;

2020-01-16T00:25:51.087Z,1579134351.087 [CommandLine](IMPORTANT): Micromodem.destinationAddress=12 enum;

2020-01-16T00:25:51.087Z,1579134351.087 [CommandLine](IMPORTANT): Micromodem.sendExpress=1 bool;

2020-01-16T00:25:51.087Z,1579134351.087 [CommandLine](IMPORTANT): Micromodem.surfaceThreshold=0 meter;

2020-01-16T00:25:51.088Z,1579134351.088 [CommandLine](IMPORTANT): PowerOnly.sampleTime=90 second;

2020-01-16T00:25:51.088Z,1579134351.088 [CommandLine](IMPORTANT): RudderServo.deviationAngle=0.0001 degree;

2020-01-16T00:25:51.088Z,1579134351.088 [CommandLine](IMPORTANT): VerticalControl.buoyancyNeutral=105 cubic_centimeter;

2020-01-16T00:25:51.088Z,1579134351.088 [CommandLine](IMPORTANT): VerticalControl.massDefault=-5 millimeter;

2020-01-16T00:25:51.110Z,1579134351.110 [CBIT](INFO): Critical error at 20200116T002551
2020-01-16T00:25:51.112Z,1579134351.112 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-16T00:25:51.468Z,1579134351.468 [MissionManager](IMPORTANT): Started mission Startup
2020-01-16T00:25:51.469Z,1579134351.469 [Startup] Running Loop=1
2020-01-16T00:25:51.469Z,1579134351.469 [Startup](DEBUG): Aggregate::initialize Startup
2020-01-16T00:25:51.469Z,1579134351.469 [Startup:A.GoToSurface] Running Loop=1
2020-01-16T00:25:51.469Z,1579134351.469 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-16T00:25:51.477Z,1579134351.477 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-16T00:25:51.478Z,1579134351.478 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-16T00:25:51.478Z,1579134351.478 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-16T00:25:51.478Z,1579134351.478 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-16T00:25:51.479Z,1579134351.479 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-16T00:25:51.480Z,1579134351.480 [Startup:StartupSatComms] Running Loop=1
2020-01-16T00:25:51.480Z,1579134351.480 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2020-01-16T00:25:51.480Z,1579134351.480 [Startup:StartupSatComms:A] Running Loop=1
2020-01-16T00:25:51.535Z,1579134351.535 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-16T00:25:51.535Z,1579134351.535 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 14
2020-01-16T00:25:51.832Z,1579134351.832 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2020-01-16T00:25:51.832Z,1579134351.832 [Startup:StartupSatComms:A] Stopped
2020-01-16T00:25:51.832Z,1579134351.832 [Startup:StartupSatComms:B] Running Loop=1
2020-01-16T00:25:52.232Z,1579134352.232 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-16T00:25:52.232Z,1579134352.232 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 15
2020-01-16T00:25:52.232Z,1579134352.232 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-16T00:25:52.234Z,1579134352.234 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2020-01-16T00:25:52.251Z,1579134352.251 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-16T00:25:52.654Z,1579134352.654 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-16T00:25:52.654Z,1579134352.654 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 15
2020-01-16T00:25:53.007Z,1579134353.007 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:25:53.435Z,1579134353.435 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-16T00:25:53.435Z,1579134353.435 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 16
2020-01-16T00:25:53.435Z,1579134353.435 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-16T00:25:53.453Z,1579134353.453 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-16T00:25:53.856Z,1579134353.856 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-16T00:25:53.856Z,1579134353.856 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 16
2020-01-16T00:25:54.694Z,1579134354.694 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-16T00:25:54.694Z,1579134354.694 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 17
2020-01-16T00:25:54.694Z,1579134354.694 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-16T00:25:54.748Z,1579134354.748 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-16T00:25:55.117Z,1579134355.117 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-16T00:25:55.117Z,1579134355.117 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 17
2020-01-16T00:25:55.868Z,1579134355.868 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-16T00:25:55.868Z,1579134355.868 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 18
2020-01-16T00:25:55.868Z,1579134355.868 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-16T00:25:55.878Z,1579134355.878 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-16T00:25:56.282Z,1579134356.282 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-16T00:25:56.282Z,1579134356.282 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 18
2020-01-16T00:25:57.094Z,1579134357.094 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-16T00:25:57.095Z,1579134357.095 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 19
2020-01-16T00:25:57.095Z,1579134357.095 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-16T00:25:57.105Z,1579134357.105 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-16T00:25:57.497Z,1579134357.497 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-16T00:25:57.497Z,1579134357.497 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 19
2020-01-16T00:25:57.518Z,1579134357.518 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1579134336.000000 second
2020-01-16T00:26:04.314Z,1579134364.314 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:26:05.370Z,1579134365.370 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2020-01-16T00:26:05.584Z,1579134365.584 [Startup:StartupSatComms:B] Stopped
2020-01-16T00:26:05.584Z,1579134365.584 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2020-01-16T00:26:05.584Z,1579134365.584 [Startup:StartupSatComms] Stopped
2020-01-16T00:26:05.584Z,1579134365.584 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2020-01-16T00:26:05.585Z,1579134365.585 [Startup](INFO): Completed Startup
2020-01-16T00:26:05.585Z,1579134365.585 [MissionManager](INFO): Startup is completed.
2020-01-16T00:26:05.586Z,1579134365.586 [MissionManager](INFO): Uninitializing Mission Startup
2020-01-16T00:26:05.586Z,1579134365.586 [Startup] Stopped
2020-01-16T00:26:05.586Z,1579134365.586 [Startup](DEBUG): Aggregate::uninitialize Startup
2020-01-16T00:26:05.586Z,1579134365.586 [Startup:A.GoToSurface] Stopped
2020-01-16T00:26:05.586Z,1579134365.586 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-16T00:26:05.998Z,1579134365.998 [MissionManager](IMPORTANT): Started mission Default
2020-01-16T00:26:05.998Z,1579134365.998 [Default] Running Loop=1
2020-01-16T00:26:05.999Z,1579134365.999 [Default](DEBUG): Aggregate::initialize Default
2020-01-16T00:26:05.999Z,1579134365.999 [Default:B.GoToSurface] Running Loop=1
2020-01-16T00:26:05.999Z,1579134365.999 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-16T00:26:05.999Z,1579134365.999 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-16T00:26:05.999Z,1579134365.999 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-16T00:26:05.999Z,1579134365.999 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-16T00:26:05.000Z,1579134366.000 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-16T00:26:06.000Z,1579134366.000 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-16T00:26:06.000Z,1579134366.000 [Default:A.Wait] Running Loop=1
2020-01-16T00:26:06.000Z,1579134366.000 [Default:A.Wait](DEBUG): Initialize Wait Component.
2020-01-16T00:26:11.380Z,1579134371.380 [CommandLine](IMPORTANT): got command load ./Missions/Insert/Docked.xml
2020-01-16T00:26:11.380Z,1579134371.380 [MissionManager](INFO): Loading Mission: ./Missions/Insert/Docked.xml
2020-01-16T00:26:11.447Z,1579134371.447 [MissionManager](INFO): DefineArg Docked.MaxDockRange = 8.000000 m
2020-01-16T00:26:11.469Z,1579134371.469 [MissionManager](INFO): DefineArg Docked.DetachedTimeout = 5.000000 min
2020-01-16T00:26:11.472Z,1579134371.472 [MissionManager](INFO): DefineArg Docked.Depth = 5.000000 m
2020-01-16T00:26:11.476Z,1579134371.476 [MissionManager](INFO): DefineArg Docked.TransponderCode = 2.000000 count
2020-01-16T00:26:11.480Z,1579134371.480 [MissionManager](INFO): DefineArg Docked.TrackingUpdatePeriod = 60.000000 s
2020-01-16T00:26:11.483Z,1579134371.483 [MissionManager](INFO): DefineArg Docked.NumberOfPings = 1.000000 count
2020-01-16T00:26:11.487Z,1579134371.487 [MissionManager](INFO): DefineArg Docked.Speed = 0.000000 m/s
2020-01-16T00:26:11.490Z,1579134371.490 [MissionManager](INFO): DefineArg Docked.DepthDeadband = 1.500000 m
2020-01-16T00:26:11.494Z,1579134371.494 [MissionManager](INFO): DefineArg Docked.PitchLimit = 20.000000 arcdeg
2020-01-16T00:26:11.497Z,1579134371.497 [MissionManager](INFO): DefineArg Docked.MinDepth = 1.000000 m
2020-01-16T00:26:11.517Z,1579134371.517 [MissionManager](INFO): DefineArg Docked.MaxDepth = 215.000000 m
2020-01-16T00:26:11.519Z,1579134371.519 [Docked:A.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-01-16T00:26:11.851Z,1579134371.851 [Docked:E.Pitch](DEBUG): Construct.
2020-01-16T00:26:11.879Z,1579134371.879 [Docked:F.SetSpeed](DEBUG): Construct.
2020-01-16T00:26:11.894Z,1579134371.894 [Docked:G.Docked](DEBUG): Construct.
2020-01-16T00:26:11.918Z,1579134371.918 [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>


2020-01-16T00:26:11.919Z,1579134371.919 [CommandLine](IMPORTANT): Loaded ./Missions/Insert/Docked.xml
2020-01-16T00:26:15.644Z,1579134375.644 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:26:18.050Z,1579134378.050 [Micromodem](FAULT): failed to initialize; deviceResponse_ loaded: , available: 
2020-01-16T00:26:18.050Z,1579134378.050 [Micromodem] Communications Fault, FailCount= 1
2020-01-16T00:26:18.050Z,1579134378.050 [Micromodem](ERROR): Communications Fault
2020-01-16T00:26:18.189Z,1579134378.189 [CBIT](ERROR): Communications Fault in component: Micromodem
2020-01-16T00:26:18.200Z,1579134378.200 [CommandLine](IMPORTANT): got command set Docked.DetachedTimeout 10.000000 second
2020-01-16T00:26:18.456Z,1579134378.456 [Micromodem](INFO): Powering down
2020-01-16T00:26:19.340Z,1579134379.340 [Default:A.Wait](INFO): Done Waiting.
2020-01-16T00:26:19.340Z,1579134379.340 [Default:A.Wait] Stopped
2020-01-16T00:26:19.340Z,1579134379.340 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-16T00:26:19.348Z,1579134379.348 [CBIT](INFO): Clearing failed state for component Micromodem
2020-01-16T00:26:19.348Z,1579134379.348 [Micromodem] No Fault, FailCount= 1
2020-01-16T00:26:19.698Z,1579134379.698 [Default:CheckIn] Running Loop=1
2020-01-16T00:26:19.699Z,1579134379.699 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2020-01-16T00:26:19.699Z,1579134379.699 [Default:CheckIn:Read_GPS] Running Loop=1
2020-01-16T00:26:20.122Z,1579134380.122 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2020-01-16T00:26:22.090Z,1579134382.090 [Micromodem](INFO): Powering up
2020-01-16T00:26:22.090Z,1579134382.090 [Micromodem](DEBUG): Initializing Micromodem.
2020-01-16T00:26:22.880Z,1579134382.880 [CommandLine](IMPORTANT): got command run
2020-01-16T00:26:22.890Z,1579134382.890 [CommandLine](IMPORTANT): Running 
2020-01-16T00:26:23.020Z,1579134383.020 [Default] Stopped
2020-01-16T00:26:23.020Z,1579134383.020 [Default](DEBUG): Aggregate::uninitialize Default
2020-01-16T00:26:23.020Z,1579134383.020 [Default:B.GoToSurface] Stopped
2020-01-16T00:26:23.020Z,1579134383.020 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-16T00:26:23.020Z,1579134383.020 [Default:CheckIn] Stopped
2020-01-16T00:26:23.020Z,1579134383.020 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2020-01-16T00:26:23.020Z,1579134383.020 [Default:CheckIn:Read_GPS] Stopped
2020-01-16T00:26:23.020Z,1579134383.020 [MissionManager](IMPORTANT): Started mission Docked
2020-01-16T00:26:23.020Z,1579134383.020 [Docked] Running Loop=1
2020-01-16T00:26:23.020Z,1579134383.020 [Docked](DEBUG): Aggregate::initialize Docked
2020-01-16T00:26:23.021Z,1579134383.021 [Docked:A.DepthEnvelope] Running Loop=1
2020-01-16T00:26:23.021Z,1579134383.021 [Docked:A.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2020-01-16T00:26:23.021Z,1579134383.021 [Docked:B.] Running Loop=1
2020-01-16T00:26:23.021Z,1579134383.021 [Docked:B.](INFO): Initializing TrackAcousticContact.
2020-01-16T00:26:23.022Z,1579134383.022 [Docked:C] Running Loop=1
2020-01-16T00:26:23.022Z,1579134383.022 [Docked:D] Running Loop=1
2020-01-16T00:26:23.022Z,1579134383.022 [Docked:E.Pitch] Running Loop=1
2020-01-16T00:26:23.022Z,1579134383.022 [Docked:E.Pitch](DEBUG): Initialize.
2020-01-16T00:26:23.022Z,1579134383.022 [Docked:F.SetSpeed] Running Loop=1
2020-01-16T00:26:23.022Z,1579134383.022 [Docked:F.SetSpeed](DEBUG): Initialize.
2020-01-16T00:26:23.022Z,1579134383.022 [Docked:G.Docked] Running Loop=1
2020-01-16T00:26:23.022Z,1579134383.022 [Docked:G.Docked](DEBUG): Initialize.
2020-01-16T00:26:23.023Z,1579134383.023 [Docked:F.SetSpeed] Running Loop=1
2020-01-16T00:26:23.023Z,1579134383.023 [Docked:E.Pitch] Running Loop=1
2020-01-16T00:26:23.024Z,1579134383.024 [Docked:D] Running Loop=1
2020-01-16T00:26:23.024Z,1579134383.024 [Docked:C] Running Loop=1
2020-01-16T00:26:23.024Z,1579134383.024 [Docked:B.] Running Loop=1
2020-01-16T00:26:23.025Z,1579134383.025 [Docked:A.DepthEnvelope] Running Loop=1
2020-01-16T00:26:24.129Z,1579134384.129 [DDM](FAULT): failed to activate IR emitter.
2020-01-16T00:26:24.129Z,1579134384.129 [DDM] Hardware Fault, FailCount= 2
2020-01-16T00:26:24.129Z,1579134384.129 [DDM](ERROR): Hardware Fault
2020-01-16T00:26:24.220Z,1579134384.220 [CBIT](ERROR): Hardware Fault in component: DDM
2020-01-16T00:26:24.517Z,1579134384.517 [DDM](INFO): Powering down
2020-01-16T00:26:25.486Z,1579134385.486 [CBIT](INFO): Clearing failed state for component DDM
2020-01-16T00:26:25.487Z,1579134385.487 [DDM] No Fault, FailCount= 2
2020-01-16T00:26:26.951Z,1579134386.951 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:26:27.755Z,1579134387.755 [DDM](INFO): Powering up
2020-01-16T00:26:27.755Z,1579134387.755 [DDM](DEBUG): Initializing DDM.
2020-01-16T00:26:38.255Z,1579134398.255 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2020-01-16T00:26:38.394Z,1579134398.394 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:26:38.599Z,1579134398.599 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-16T00:26:46.140Z,1579134406.140 [CommandLine](IMPORTANT): got command show stack
2020-01-16T00:26:46.140Z,1579134406.140 [CommandLine](IMPORTANT): Behavior Stack:

2020-01-16T00:26:46.140Z,1579134406.140 [Docked](IMPORTANT): Priority 0: Docked:A.DepthEnvelope
2020-01-16T00:26:46.140Z,1579134406.140 [Docked](IMPORTANT): Priority 1: Docked:B.
2020-01-16T00:26:46.141Z,1579134406.141 [Docked](IMPORTANT): Priority 2: Docked:C
2020-01-16T00:26:46.141Z,1579134406.141 [Docked](IMPORTANT): Priority 3: Docked:D
2020-01-16T00:26:46.141Z,1579134406.141 [Docked](IMPORTANT): Priority 4: Docked:E.Pitch
2020-01-16T00:26:46.142Z,1579134406.142 [Docked](IMPORTANT): Priority 5: Docked:F.SetSpeed
2020-01-16T00:26:46.142Z,1579134406.142 [Docked](IMPORTANT): Priority 6: Docked:G.Docked
2020-01-16T00:26:47.456Z,1579134407.456 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.005786
2020-01-16T00:26:49.742Z,1579134409.742 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:26:55.412Z,1579134415.412 [CommandLine](IMPORTANT): got command show stack
2020-01-16T00:26:55.412Z,1579134415.412 [CommandLine](IMPORTANT): Behavior Stack:

2020-01-16T00:26:55.412Z,1579134415.412 [Docked](IMPORTANT): Priority 0: Docked:A.DepthEnvelope
2020-01-16T00:26:55.413Z,1579134415.413 [Docked](IMPORTANT): Priority 1: Docked:B.
2020-01-16T00:26:55.413Z,1579134415.413 [Docked](IMPORTANT): Priority 2: Docked:C
2020-01-16T00:26:55.414Z,1579134415.414 [Docked](IMPORTANT): Priority 3: Docked:D
2020-01-16T00:26:55.414Z,1579134415.414 [Docked](IMPORTANT): Priority 4: Docked:E.Pitch
2020-01-16T00:26:55.414Z,1579134415.414 [Docked](IMPORTANT): Priority 5: Docked:F.SetSpeed
2020-01-16T00:26:55.414Z,1579134415.414 [Docked](IMPORTANT): Priority 6: Docked:G.Docked
2020-01-16T00:27:01.054Z,1579134421.054 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:27:03.816Z,1579134423.816 [CommandLine](IMPORTANT): got command report
2020-01-16T00:27:03.816Z,1579134423.816 [Reporter](INFO): DDM.cablePresent reporting changes
2020-01-16T00:27:12.098Z,1579134432.098 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:27:12.638Z,1579134432.638 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-16T00:27:22.633Z,1579134442.633 [Docked:G.Docked](CRITICAL): VEHICLE DETACHED.
2020-01-16T00:27:22.633Z,1579134442.633 [Docked:G.Docked] Stopped
2020-01-16T00:27:22.635Z,1579134442.635 [Docked](INFO): Completed Docked
2020-01-16T00:27:22.636Z,1579134442.636 [MissionManager](INFO): Docked is completed.
2020-01-16T00:27:22.636Z,1579134442.636 [MissionManager](INFO): Uninitializing Mission Docked
2020-01-16T00:27:22.636Z,1579134442.636 [Docked] Stopped
2020-01-16T00:27:22.636Z,1579134442.636 [Docked](DEBUG): Aggregate::uninitialize Docked
2020-01-16T00:27:22.636Z,1579134442.636 [Docked:A.DepthEnvelope] Stopped
2020-01-16T00:27:22.636Z,1579134442.636 [Docked:A.DepthEnvelope](DEBUG): Uninitialize.
2020-01-16T00:27:22.636Z,1579134442.636 [Docked:B.] Stopped
2020-01-16T00:27:22.636Z,1579134442.636 [Docked:C] Stopped
2020-01-16T00:27:22.636Z,1579134442.636 [Docked:D] Stopped
2020-01-16T00:27:22.636Z,1579134442.636 [Docked:E.Pitch] Stopped
2020-01-16T00:27:22.636Z,1579134442.636 [Docked:F.SetSpeed] Stopped
2020-01-16T00:27:22.636Z,1579134442.636 [Docked:F.SetSpeed](DEBUG): Uninitialize.
2020-01-16T00:27:22.748Z,1579134442.748 [CBIT](INFO): Critical error at 20200116T002722
2020-01-16T00:27:22.749Z,1579134442.749 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2020-01-16T00:27:23.055Z,1579134443.055 [MissionManager](IMPORTANT): Started mission Default
2020-01-16T00:27:23.055Z,1579134443.055 [Default] Running Loop=1
2020-01-16T00:27:23.055Z,1579134443.055 [Default](DEBUG): Aggregate::initialize Default
2020-01-16T00:27:23.055Z,1579134443.055 [Default:B.GoToSurface] Running Loop=1
2020-01-16T00:27:23.055Z,1579134443.055 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-16T00:27:23.055Z,1579134443.055 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-16T00:27:23.056Z,1579134443.056 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-16T00:27:23.056Z,1579134443.056 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-16T00:27:23.056Z,1579134443.056 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-16T00:27:23.061Z,1579134443.061 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-16T00:27:23.061Z,1579134443.061 [Default:A.Wait] Running Loop=1
2020-01-16T00:27:23.061Z,1579134443.061 [Default:A.Wait](DEBUG): Initialize Wait Component.
2020-01-16T00:27:23.152Z,1579134443.152 [Reporter](INFO): DDM.cablePresent no_value
2020-01-16T00:27:23.418Z,1579134443.418 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:27:34.780Z,1579134454.780 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:27:36.083Z,1579134456.083 [Default:A.Wait](INFO): Done Waiting.
2020-01-16T00:27:36.083Z,1579134456.083 [Default:A.Wait] Stopped
2020-01-16T00:27:36.083Z,1579134456.083 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-16T00:27:36.468Z,1579134456.468 [Default:CheckIn] Running Loop=1
2020-01-16T00:27:36.468Z,1579134456.468 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2020-01-16T00:27:36.468Z,1579134456.468 [Default:CheckIn:Read_GPS] Running Loop=1
2020-01-16T00:27:46.096Z,1579134466.096 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:27:57.410Z,1579134477.410 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:28:08.719Z,1579134488.719 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:28:20.030Z,1579134500.030 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:28:22.050Z,1579134502.050 [Micromodem](FAULT): failed to initialize; deviceResponse_ loaded: , available: 
2020-01-16T00:28:22.050Z,1579134502.050 [Micromodem] Communications Fault, FailCount= 2
2020-01-16T00:28:22.050Z,1579134502.050 [Micromodem](ERROR): Communications Fault
2020-01-16T00:28:22.164Z,1579134502.164 [CBIT](ERROR): Communications Fault in component: Micromodem
2020-01-16T00:28:22.460Z,1579134502.460 [Micromodem](INFO): Powering down
2020-01-16T00:28:23.320Z,1579134503.320 [CBIT](INFO): Clearing failed state for component Micromodem
2020-01-16T00:28:23.320Z,1579134503.320 [Micromodem] No Fault, FailCount= 2
2020-01-16T00:28:26.094Z,1579134506.094 [Micromodem](INFO): Powering up
2020-01-16T00:28:26.094Z,1579134506.094 [Micromodem](DEBUG): Initializing Micromodem.
2020-01-16T00:28:27.160Z,1579134507.160 [CommandLine](IMPORTANT): got command run ./Missions/Insert/Docked.xml
2020-01-16T00:28:27.160Z,1579134507.160 [MissionManager](INFO): Loading Mission: ./Missions/Insert/Docked.xml
2020-01-16T00:28:27.251Z,1579134507.251 [MissionManager](INFO): DefineArg Docked.MaxDockRange = 8.000000 m
2020-01-16T00:28:27.258Z,1579134507.258 [MissionManager](INFO): DefineArg Docked.DetachedTimeout = 5.000000 min
2020-01-16T00:28:27.260Z,1579134507.260 [MissionManager](INFO): DefineArg Docked.Depth = 5.000000 m
2020-01-16T00:28:27.266Z,1579134507.266 [MissionManager](INFO): DefineArg Docked.TransponderCode = 2.000000 count
2020-01-16T00:28:27.268Z,1579134507.268 [MissionManager](INFO): DefineArg Docked.TrackingUpdatePeriod = 60.000000 s
2020-01-16T00:28:27.275Z,1579134507.275 [MissionManager](INFO): DefineArg Docked.NumberOfPings = 1.000000 count
2020-01-16T00:28:27.281Z,1579134507.281 [MissionManager](INFO): DefineArg Docked.Speed = 0.000000 m/s
2020-01-16T00:28:27.283Z,1579134507.283 [MissionManager](INFO): DefineArg Docked.DepthDeadband = 1.500000 m
2020-01-16T00:28:27.351Z,1579134507.351 [MissionManager](INFO): DefineArg Docked.PitchLimit = 20.000000 arcdeg
2020-01-16T00:28:27.377Z,1579134507.377 [MissionManager](INFO): DefineArg Docked.MinDepth = 1.000000 m
2020-01-16T00:28:27.380Z,1579134507.380 [MissionManager](INFO): DefineArg Docked.MaxDepth = 215.000000 m
2020-01-16T00:28:27.380Z,1579134507.380 [Docked:A.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-01-16T00:28:27.516Z,1579134507.516 [Docked:E.Pitch](DEBUG): Construct.
2020-01-16T00:28:27.520Z,1579134507.520 [Docked:F.SetSpeed](DEBUG): Construct.
2020-01-16T00:28:27.552Z,1579134507.552 [Docked:G.Docked](DEBUG): Construct.
2020-01-16T00:28:27.584Z,1579134507.584 [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>


2020-01-16T00:28:27.590Z,1579134507.590 [CommandLine](IMPORTANT): Running ./Missions/Insert/Docked.xml
2020-01-16T00:28:27.757Z,1579134507.757 [Default] Stopped
2020-01-16T00:28:27.758Z,1579134507.758 [Default](DEBUG): Aggregate::uninitialize Default
2020-01-16T00:28:27.758Z,1579134507.758 [Default:B.GoToSurface] Stopped
2020-01-16T00:28:27.758Z,1579134507.758 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-16T00:28:27.758Z,1579134507.758 [Default:CheckIn] Stopped
2020-01-16T00:28:27.758Z,1579134507.758 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2020-01-16T00:28:27.758Z,1579134507.758 [Default:CheckIn:Read_GPS] Stopped
2020-01-16T00:28:27.758Z,1579134507.758 [MissionManager](IMPORTANT): Started mission Docked
2020-01-16T00:28:27.758Z,1579134507.758 [Docked] Running Loop=1
2020-01-16T00:28:27.758Z,1579134507.758 [Docked](DEBUG): Aggregate::initialize Docked
2020-01-16T00:28:27.758Z,1579134507.758 [Docked:A.DepthEnvelope] Running Loop=1
2020-01-16T00:28:27.758Z,1579134507.758 [Docked:A.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2020-01-16T00:28:27.759Z,1579134507.759 [Docked:B.] Running Loop=1
2020-01-16T00:28:27.759Z,1579134507.759 [Docked:B.](INFO): Initializing TrackAcousticContact.
2020-01-16T00:28:27.759Z,1579134507.759 [Docked:C] Running Loop=1
2020-01-16T00:28:27.759Z,1579134507.759 [Docked:D] Running Loop=1
2020-01-16T00:28:27.759Z,1579134507.759 [Docked:E.Pitch] Running Loop=1
2020-01-16T00:28:27.759Z,1579134507.759 [Docked:E.Pitch](DEBUG): Initialize.
2020-01-16T00:28:27.759Z,1579134507.759 [Docked:F.SetSpeed] Running Loop=1
2020-01-16T00:28:27.759Z,1579134507.759 [Docked:F.SetSpeed](DEBUG): Initialize.
2020-01-16T00:28:27.760Z,1579134507.760 [Docked:G.Docked] Running Loop=1
2020-01-16T00:28:27.760Z,1579134507.760 [Docked:G.Docked](DEBUG): Initialize.
2020-01-16T00:28:27.760Z,1579134507.760 [Docked:F.SetSpeed] Running Loop=1
2020-01-16T00:28:27.760Z,1579134507.760 [Docked:E.Pitch] Running Loop=1
2020-01-16T00:28:27.760Z,1579134507.760 [Docked:D] Running Loop=1
2020-01-16T00:28:27.769Z,1579134507.769 [Docked:C] Running Loop=1
2020-01-16T00:28:27.769Z,1579134507.769 [Docked:B.] Running Loop=1
2020-01-16T00:28:27.769Z,1579134507.769 [Docked:A.DepthEnvelope] Running Loop=1
2020-01-16T00:28:29.107Z,1579134509.107 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-16T00:28:31.363Z,1579134511.363 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:28:40.382Z,1579134520.382 [CommandLine](IMPORTANT): got command failComponent hardware DDM
2020-01-16T00:28:40.382Z,1579134520.382 [DDM] Hardware Fault, FailCount= 1
2020-01-16T00:28:40.382Z,1579134520.382 [DDM](ERROR): Hardware Fault
2020-01-16T00:28:40.383Z,1579134520.383 [CommandLine](IMPORTANT): DDM failureMode is Hardware Fault
2020-01-16T00:28:40.526Z,1579134520.526 [CBIT](ERROR): Hardware Fault in component: DDM
2020-01-16T00:28:40.527Z,1579134520.527 [Reporter](INFO): DDM.cablePresent no_value
2020-01-16T00:28:40.630Z,1579134520.630 [DDM](INFO): Powering down
2020-01-16T00:28:41.594Z,1579134521.594 [CBIT](INFO): Clearing failed state for component DDM
2020-01-16T00:28:41.594Z,1579134521.594 [DDM] No Fault, FailCount= 1
2020-01-16T00:28:42.660Z,1579134522.660 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:28:43.864Z,1579134523.864 [DDM](INFO): Powering up
2020-01-16T00:28:43.864Z,1579134523.864 [DDM](DEBUG): Initializing DDM.
2020-01-16T00:28:53.662Z,1579134533.662 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:28:54.467Z,1579134534.467 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2020-01-16T00:28:54.746Z,1579134534.746 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-16T00:28:54.963Z,1579134534.963 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-16T00:28:54.964Z,1579134534.964 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2020-01-16T00:29:05.010Z,1579134545.010 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:29:09.319Z,1579134549.319 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-16T00:29:11.346Z,1579134551.346 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-16T00:29:12.182Z,1579134552.182 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-16T00:29:12.566Z,1579134552.566 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-16T00:29:13.355Z,1579134553.355 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-16T00:29:16.066Z,1579134556.066 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:29:18.149Z,1579134558.149 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-01-16T00:29:18.150Z,1579134558.150 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +0.0  +0.00,        +0.00,   0.00,287.00
2020-01-16T00:29:27.378Z,1579134567.378 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:29:27.822Z,1579134567.822 [Docked:B.](INFO): *** querying acoustic contact ***
2020-01-16T00:29:32.998Z,1579134572.998 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-16T00:29:35.294Z,1579134575.294 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-16T00:29:35.707Z,1579134575.707 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-16T00:29:38.430Z,1579134578.430 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:29:49.746Z,1579134589.746 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:29:55.999Z,1579134595.999 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-16T00:29:55.999Z,1579134595.999 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00,  BI,-32768,-32768,-32768,-32768,V
2020-01-16T00:29:57.563Z,1579134597.563 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2020-01-16T00:30:00.782Z,1579134600.782 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:30:02.167Z,1579134602.167 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-16T00:30:12.094Z,1579134612.094 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:30:14.989Z,1579134614.989 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-01-16T00:30:14.990Z,1579134614.990 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +0.00,    343.99
2020-01-16T00:30:17.055Z,1579134617.055 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-16T00:30:23.159Z,1579134623.159 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:30:26.015Z,1579134626.015 [Micromodem](FAULT): failed to initialize; deviceResponse_ loaded: , available: 
2020-01-16T00:30:26.015Z,1579134626.015 [Micromodem] Communications Fault, FailCount= 3
2020-01-16T00:30:26.015Z,1579134626.015 [Micromodem](ERROR): Communications Fault
2020-01-16T00:30:26.193Z,1579134626.193 [CBIT](ERROR): Communications Fault in component: Micromodem
2020-01-16T00:30:26.394Z,1579134626.394 [Micromodem](INFO): Powering down
2020-01-16T00:30:27.401Z,1579134627.401 [CBIT](INFO): Clearing failed state for component Micromodem
2020-01-16T00:30:27.401Z,1579134627.401 [Micromodem] No Fault, FailCount= 3
2020-01-16T00:30:28.010Z,1579134628.010 [NAL9602](INFO): Not Powering down - fast GPS
2020-01-16T00:30:28.066Z,1579134628.066 [Docked:B.](INFO): *** querying acoustic contact ***
2020-01-16T00:30:30.038Z,1579134630.038 [Micromodem](INFO): Powering up
2020-01-16T00:30:30.038Z,1579134630.038 [Micromodem](DEBUG): Initializing Micromodem.
2020-01-16T00:30:32.990Z,1579134632.990 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-16T00:30:34.493Z,1579134634.493 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:30:43.171Z,1579134643.171 [RDI_Pathfinder](ERROR): Failed to parse:
    +0.00,        +0.00,        +0.00,   0.00,370.99
2020-01-16T00:30:45.566Z,1579134645.566 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:30:49.742Z,1579134649.742 [CommandLine](IMPORTANT): got command get DDM.simulateHardware
2020-01-16T00:30:49.742Z,1579134649.742 [CommandLine](IMPORTANT): DDM.simulateHardware 0 bool
2020-01-16T00:30:56.874Z,1579134656.874 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:30:58.508Z,1579134658.508 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-16T00:30:58.508Z,1579134658.508 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,200115175.0, -0.1,   0.0, 0
2020-01-16T00:31:03.826Z,1579134663.826 [CommandLine](IMPORTANT): got command get DDM.cablePresent
2020-01-16T00:31:03.827Z,1579134663.827 [CommandLine](IMPORTANT): DDM.cablePresent 1 bool
2020-01-16T00:31:08.274Z,1579134668.274 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:31:19.578Z,1579134679.578 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:31:28.238Z,1579134688.238 [Docked:B.](INFO): *** querying acoustic contact ***
2020-01-16T00:31:30.598Z,1579134690.598 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:31:41.902Z,1579134701.902 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:31:46.384Z,1579134706.384 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-16T00:31:46.384Z,1579134706.384 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2020-01-16T00:31:49.324Z,1579134709.324 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2020-01-16T00:31:52.911Z,1579134712.911 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:32:04.230Z,1579134724.230 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:32:09.832Z,1579134729.832 [CommandLine](IMPORTANT): got command get DDM.cablePresent
2020-01-16T00:32:09.833Z,1579134729.833 [CommandLine](IMPORTANT): DDM.cablePresent 1 bool
2020-01-16T00:32:15.622Z,1579134735.622 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:32:26.934Z,1579134746.934 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:32:28.645Z,1579134748.645 [Docked:B.](INFO): *** querying acoustic contact ***
2020-01-16T00:32:29.762Z,1579134749.762 [Micromodem](FAULT): failed to initialize; deviceResponse_ loaded: , available: 
2020-01-16T00:32:29.762Z,1579134749.762 [Micromodem] Communications Fault, FailCount= 4
2020-01-16T00:32:29.762Z,1579134749.762 [Micromodem](ERROR): Communications Fault
2020-01-16T00:32:29.848Z,1579134749.848 [CBIT](ERROR): Communications Fault in component: Micromodem
2020-01-16T00:32:30.175Z,1579134750.175 [Micromodem](INFO): Powering down
2020-01-16T00:32:31.054Z,1579134751.054 [CBIT](INFO): Clearing failed state for component Micromodem
2020-01-16T00:32:31.055Z,1579134751.055 [Micromodem] No Fault, FailCount= 4
2020-01-16T00:32:33.886Z,1579134753.886 [Micromodem](INFO): Powering up
2020-01-16T00:32:33.886Z,1579134753.886 [Micromodem](DEBUG): Initializing Micromodem.
2020-01-16T00:32:38.322Z,1579134758.322 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:32:39.577Z,1579134759.577 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2020-01-16T00:32:39.580Z,1579134759.580 [BPC1](INFO): Received data from all battery sticks.
2020-01-16T00:32:49.634Z,1579134769.634 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:33:00.650Z,1579134780.650 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:33:00.706Z,1579134780.706 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-16T00:33:00.706Z,1579134780.706 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,200115174.0, -0.1,   0.0,1448.9,  0
2020-01-16T00:33:10.879Z,1579134790.879 [CommandLine](IMPORTANT): got command get DDM.cablePresent
2020-01-16T00:33:10.879Z,1579134790.879 [CommandLine](IMPORTANT): DDM.cablePresent 1 bool
2020-01-16T00:33:11.974Z,1579134791.974 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:33:22.979Z,1579134802.979 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:33:23.074Z,1579134803.074 [CommandLine](IMPORTANT): got command failComponent hardware DDM
2020-01-16T00:33:23.074Z,1579134803.074 [DDM] Hardware Fault, FailCount= 1
2020-01-16T00:33:23.074Z,1579134803.074 [DDM](ERROR): Hardware Fault
2020-01-16T00:33:23.075Z,1579134803.075 [CommandLine](IMPORTANT): DDM failureMode is Hardware Fault
2020-01-16T00:33:23.117Z,1579134803.117 [CBIT](ERROR): Hardware Fault in component: DDM
2020-01-16T00:33:23.118Z,1579134803.118 [Reporter](INFO): DDM.cablePresent no_value
2020-01-16T00:33:23.327Z,1579134803.327 [DDM](INFO): Powering down
2020-01-16T00:33:24.210Z,1579134804.210 [CBIT](INFO): Clearing failed state for component DDM
2020-01-16T00:33:24.210Z,1579134804.210 [DDM] No Fault, FailCount= 1
2020-01-16T00:33:26.558Z,1579134806.558 [DDM](INFO): Powering up
2020-01-16T00:33:26.558Z,1579134806.558 [DDM](DEBUG): Initializing DDM.
2020-01-16T00:33:29.021Z,1579134809.021 [Docked:B.](INFO): *** querying acoustic contact ***
2020-01-16T00:33:34.238Z,1579134814.238 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:33:37.063Z,1579134817.063 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2020-01-16T00:33:37.259Z,1579134817.259 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-16T00:33:42.176Z,1579134822.176 [CommandLine](IMPORTANT): got command show stack
2020-01-16T00:33:42.176Z,1579134822.176 [CommandLine](IMPORTANT): Behavior Stack:

2020-01-16T00:33:42.176Z,1579134822.176 [Docked](IMPORTANT): Priority 0: Docked:A.DepthEnvelope
2020-01-16T00:33:42.176Z,1579134822.176 [Docked](IMPORTANT): Priority 1: Docked:B.
2020-01-16T00:33:42.177Z,1579134822.177 [Docked](IMPORTANT): Priority 2: Docked:C
2020-01-16T00:33:42.177Z,1579134822.177 [Docked](IMPORTANT): Priority 3: Docked:D
2020-01-16T00:33:42.177Z,1579134822.177 [Docked](IMPORTANT): Priority 4: Docked:E.Pitch
2020-01-16T00:33:42.177Z,1579134822.177 [Docked](IMPORTANT): Priority 5: Docked:F.SetSpeed
2020-01-16T00:33:42.178Z,1579134822.178 [Docked](IMPORTANT): Priority 6: Docked:G.Docked
2020-01-16T00:33:45.254Z,1579134825.254 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:33:56.562Z,1579134836.562 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:33:57.419Z,1579134837.419 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-16T00:33:58.624Z,1579134838.624 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-16T00:34:07.570Z,1579134847.570 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:34:15.800Z,1579134855.800 [CommandLine](IMPORTANT): got command get DDM.cablePresent
2020-01-16T00:34:15.800Z,1579134855.800 [CommandLine](IMPORTANT): DDM.cablePresent 0 bool
2020-01-16T00:34:18.886Z,1579134858.886 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:34:23.816Z,1579134863.816 [CommandLine](IMPORTANT): got command show stack
2020-01-16T00:34:23.816Z,1579134863.816 [CommandLine](IMPORTANT): Behavior Stack:

2020-01-16T00:34:23.816Z,1579134863.816 [Docked](IMPORTANT): Priority 0: Docked:A.DepthEnvelope
2020-01-16T00:34:23.817Z,1579134863.817 [Docked](IMPORTANT): Priority 1: Docked:B.
2020-01-16T00:34:23.817Z,1579134863.817 [Docked](IMPORTANT): Priority 2: Docked:C
2020-01-16T00:34:23.817Z,1579134863.817 [Docked](IMPORTANT): Priority 3: Docked:D
2020-01-16T00:34:23.817Z,1579134863.817 [Docked](IMPORTANT): Priority 4: Docked:E.Pitch
2020-01-16T00:34:23.818Z,1579134863.818 [Docked](IMPORTANT): Priority 5: Docked:F.SetSpeed
2020-01-16T00:34:23.818Z,1579134863.818 [Docked](IMPORTANT): Priority 6: Docked:G.Docked
2020-01-16T00:34:29.103Z,1579134869.103 [Docked:B.](INFO): *** querying acoustic contact ***
2020-01-16T00:34:30.280Z,1579134870.280 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:34:31.981Z,1579134871.981 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-16T00:34:32.807Z,1579134872.807 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-16T00:34:33.188Z,1579134873.188 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-16T00:34:33.514Z,1579134873.514 [Micromodem](FAULT): failed to initialize; deviceResponse_ loaded: , available: 
2020-01-16T00:34:33.514Z,1579134873.514 [Micromodem] Communications Fault, FailCount= 5
2020-01-16T00:34:33.514Z,1579134873.514 [Micromodem](ERROR): Communications Fault
2020-01-16T00:34:33.605Z,1579134873.605 [CBIT](ERROR): Communications Fault in component: Micromodem
2020-01-16T00:34:33.919Z,1579134873.919 [Micromodem](INFO): Powering down
2020-01-16T00:34:34.793Z,1579134874.793 [CBIT](INFO): Clearing failed state for component Micromodem
2020-01-16T00:34:34.793Z,1579134874.793 [Micromodem] No Fault, FailCount= 5
2020-01-16T00:34:37.550Z,1579134877.550 [Micromodem](INFO): Powering up
2020-01-16T00:34:37.550Z,1579134877.550 [Micromodem](DEBUG): Initializing Micromodem.
2020-01-16T00:34:41.590Z,1579134881.590 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:34:44.776Z,1579134884.776 [CommandLine](IMPORTANT): got command get DDM.cablePresent
2020-01-16T00:34:44.776Z,1579134884.776 [CommandLine](IMPORTANT): DDM.cablePresent 1 bool
2020-01-16T00:34:52.904Z,1579134892.904 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:35:04.214Z,1579134904.214 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:35:15.534Z,1579134915.534 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:35:26.842Z,1579134926.842 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:35:29.371Z,1579134929.371 [Docked:B.](INFO): *** querying acoustic contact ***
2020-01-16T00:35:38.170Z,1579134938.170 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:35:49.462Z,1579134949.462 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:36:00.779Z,1579134960.779 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:36:12.090Z,1579134972.090 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:36:23.406Z,1579134983.406 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:36:29.502Z,1579134989.502 [Docked:B.](INFO): *** querying acoustic contact ***
2020-01-16T00:36:34.714Z,1579134994.714 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:36:37.546Z,1579134997.546 [Micromodem](FAULT): failed to initialize; deviceResponse_ loaded: , available: 
2020-01-16T00:36:37.546Z,1579134997.546 [Micromodem] Communications Fault, FailCount= 6
2020-01-16T00:36:37.546Z,1579134997.546 [Micromodem](ERROR): Communications Fault
2020-01-16T00:36:37.579Z,1579134997.579 [CBIT](ERROR): Communications Fault in component: Micromodem
2020-01-16T00:36:37.942Z,1579134997.942 [Micromodem](INFO): Powering down
2020-01-16T00:36:38.792Z,1579134998.792 [CBIT](INFO): Clearing failed state for component Micromodem
2020-01-16T00:36:38.792Z,1579134998.792 [Micromodem] No Fault, FailCount= 6
2020-01-16T00:36:41.585Z,1579135001.585 [Micromodem](INFO): Powering up
2020-01-16T00:36:41.586Z,1579135001.586 [Micromodem](DEBUG): Initializing Micromodem.
2020-01-16T00:36:46.026Z,1579135006.026 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:36:55.560Z,1579135015.560 [CommandLine](IMPORTANT): got command show stack
2020-01-16T00:36:55.560Z,1579135015.560 [CommandLine](IMPORTANT): Behavior Stack:

2020-01-16T00:36:55.560Z,1579135015.560 [Docked](IMPORTANT): Priority 0: Docked:A.DepthEnvelope
2020-01-16T00:36:55.561Z,1579135015.561 [Docked](IMPORTANT): Priority 1: Docked:B.
2020-01-16T00:36:55.561Z,1579135015.561 [Docked](IMPORTANT): Priority 2: Docked:C
2020-01-16T00:36:55.561Z,1579135015.561 [Docked](IMPORTANT): Priority 3: Docked:D
2020-01-16T00:36:55.562Z,1579135015.562 [Docked](IMPORTANT): Priority 4: Docked:E.Pitch
2020-01-16T00:36:55.562Z,1579135015.562 [Docked](IMPORTANT): Priority 5: Docked:F.SetSpeed
2020-01-16T00:36:55.562Z,1579135015.562 [Docked](IMPORTANT): Priority 6: Docked:G.Docked
2020-01-16T00:36:57.334Z,1579135017.334 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:36:59.848Z,1579135019.848 [CommandLine](IMPORTANT): got command stop
2020-01-16T00:36:59.848Z,1579135019.848 [CommandLine](IMPORTANT): Scheduling is paused
2020-01-16T00:36:59.848Z,1579135019.848 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2020-01-16T00:37:00.199Z,1579135020.199 [MissionManager](INFO): MissionManager is completed.
2020-01-16T00:37:00.199Z,1579135020.199 [MissionManager](INFO): Uninitializing Mission Docked
2020-01-16T00:37:00.199Z,1579135020.199 [Docked] Stopped
2020-01-16T00:37:00.199Z,1579135020.199 [Docked](DEBUG): Aggregate::uninitialize Docked
2020-01-16T00:37:00.200Z,1579135020.200 [Docked:A.DepthEnvelope] Stopped
2020-01-16T00:37:00.200Z,1579135020.200 [Docked:A.DepthEnvelope](DEBUG): Uninitialize.
2020-01-16T00:37:00.200Z,1579135020.200 [Docked:B.] Stopped
2020-01-16T00:37:00.200Z,1579135020.200 [Docked:C] Stopped
2020-01-16T00:37:00.200Z,1579135020.200 [Docked:D] Stopped
2020-01-16T00:37:00.200Z,1579135020.200 [Docked:E.Pitch] Stopped
2020-01-16T00:37:00.200Z,1579135020.200 [Docked:F.SetSpeed] Stopped
2020-01-16T00:37:00.200Z,1579135020.200 [Docked:F.SetSpeed](DEBUG): Uninitialize.
2020-01-16T00:37:00.200Z,1579135020.200 [Docked:G.Docked] Stopped
2020-01-16T00:37:00.609Z,1579135020.609 [MissionManager](IMPORTANT): Started mission Default
2020-01-16T00:37:00.609Z,1579135020.609 [Default] Running Loop=1
2020-01-16T00:37:00.609Z,1579135020.609 [Default](DEBUG): Aggregate::initialize Default
2020-01-16T00:37:00.609Z,1579135020.609 [Default:B.GoToSurface] Running Loop=1
2020-01-16T00:37:00.609Z,1579135020.609 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-16T00:37:00.609Z,1579135020.609 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-16T00:37:00.610Z,1579135020.610 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-16T00:37:00.610Z,1579135020.610 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-16T00:37:00.610Z,1579135020.610 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-16T00:37:00.611Z,1579135020.611 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-16T00:37:00.611Z,1579135020.611 [Default:A.Wait] Running Loop=1
2020-01-16T00:37:00.611Z,1579135020.611 [Default:A.Wait](DEBUG): Initialize Wait Component.
2020-01-16T00:37:00.643Z,1579135020.643 [Reporter](INFO): DDM.cablePresent no_value
2020-01-16T00:37:08.336Z,1579135028.336 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:37:11.804Z,1579135031.804 [CommandLine](IMPORTANT): got command run ./Missions/Insert/Docked.xml
2020-01-16T00:37:11.804Z,1579135031.804 [MissionManager](INFO): Loading Mission: ./Missions/Insert/Docked.xml
2020-01-16T00:37:11.867Z,1579135031.867 [MissionManager](INFO): DefineArg Docked.MaxDockRange = 8.000000 m
2020-01-16T00:37:11.870Z,1579135031.870 [MissionManager](INFO): DefineArg Docked.DetachedTimeout = 5.000000 min
2020-01-16T00:37:11.872Z,1579135031.872 [MissionManager](INFO): DefineArg Docked.Depth = 5.000000 m
2020-01-16T00:37:11.874Z,1579135031.874 [MissionManager](INFO): DefineArg Docked.TransponderCode = 2.000000 count
2020-01-16T00:37:11.876Z,1579135031.876 [MissionManager](INFO): DefineArg Docked.TrackingUpdatePeriod = 60.000000 s
2020-01-16T00:37:11.910Z,1579135031.910 [MissionManager](INFO): DefineArg Docked.NumberOfPings = 1.000000 count
2020-01-16T00:37:11.912Z,1579135031.912 [MissionManager](INFO): DefineArg Docked.Speed = 0.000000 m/s
2020-01-16T00:37:11.956Z,1579135031.956 [MissionManager](INFO): DefineArg Docked.DepthDeadband = 1.500000 m
2020-01-16T00:37:11.991Z,1579135031.991 [MissionManager](INFO): DefineArg Docked.PitchLimit = 20.000000 arcdeg
2020-01-16T00:37:12.034Z,1579135032.034 [MissionManager](INFO): DefineArg Docked.MinDepth = 1.000000 m
2020-01-16T00:37:12.036Z,1579135032.036 [MissionManager](INFO): DefineArg Docked.MaxDepth = 215.000000 m
2020-01-16T00:37:12.043Z,1579135032.043 [Docked:A.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-01-16T00:37:12.184Z,1579135032.184 [Docked:E.Pitch](DEBUG): Construct.
2020-01-16T00:37:12.201Z,1579135032.201 [Docked:F.SetSpeed](DEBUG): Construct.
2020-01-16T00:37:12.204Z,1579135032.204 [Docked:G.Docked](DEBUG): Construct.
2020-01-16T00:37:12.234Z,1579135032.234 [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>


2020-01-16T00:37:12.235Z,1579135032.235 [CommandLine](IMPORTANT): Running ./Missions/Insert/Docked.xml
2020-01-16T00:37:12.431Z,1579135032.431 [Default] Stopped
2020-01-16T00:37:12.432Z,1579135032.432 [Default](DEBUG): Aggregate::uninitialize Default
2020-01-16T00:37:12.432Z,1579135032.432 [Default:A.Wait] Stopped
2020-01-16T00:37:12.432Z,1579135032.432 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-16T00:37:12.432Z,1579135032.432 [Default:B.GoToSurface] Stopped
2020-01-16T00:37:12.432Z,1579135032.432 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-16T00:37:12.432Z,1579135032.432 [MissionManager](IMPORTANT): Started mission Docked
2020-01-16T00:37:12.432Z,1579135032.432 [Docked] Running Loop=1
2020-01-16T00:37:12.432Z,1579135032.432 [Docked](DEBUG): Aggregate::initialize Docked
2020-01-16T00:37:12.432Z,1579135032.432 [Docked:A.DepthEnvelope] Running Loop=1
2020-01-16T00:37:12.432Z,1579135032.432 [Docked:A.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2020-01-16T00:37:12.433Z,1579135032.433 [Docked:B.] Running Loop=1
2020-01-16T00:37:12.433Z,1579135032.433 [Docked:B.](INFO): Initializing TrackAcousticContact.
2020-01-16T00:37:12.433Z,1579135032.433 [Docked:C] Running Loop=1
2020-01-16T00:37:12.433Z,1579135032.433 [Docked:D] Running Loop=1
2020-01-16T00:37:12.433Z,1579135032.433 [Docked:E.Pitch] Running Loop=1
2020-01-16T00:37:12.433Z,1579135032.433 [Docked:E.Pitch](DEBUG): Initialize.
2020-01-16T00:37:12.433Z,1579135032.433 [Docked:F.SetSpeed] Running Loop=1
2020-01-16T00:37:12.433Z,1579135032.433 [Docked:F.SetSpeed](DEBUG): Initialize.
2020-01-16T00:37:12.434Z,1579135032.434 [Docked:G.Docked] Running Loop=1
2020-01-16T00:37:12.434Z,1579135032.434 [Docked:G.Docked](DEBUG): Initialize.
2020-01-16T00:37:12.434Z,1579135032.434 [Docked:F.SetSpeed] Running Loop=1
2020-01-16T00:37:12.434Z,1579135032.434 [Docked:E.Pitch] Running Loop=1
2020-01-16T00:37:12.435Z,1579135032.435 [Docked:D] Running Loop=1
2020-01-16T00:37:12.435Z,1579135032.435 [Docked:C] Running Loop=1
2020-01-16T00:37:12.435Z,1579135032.435 [Docked:B.] Running Loop=1
2020-01-16T00:37:12.436Z,1579135032.436 [Docked:A.DepthEnvelope] Running Loop=1
2020-01-16T00:37:13.871Z,1579135033.871 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-16T00:37:14.958Z,1579135034.958 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-16T00:37:15.399Z,1579135035.399 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-16T00:37:19.071Z,1579135039.071 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-16T00:37:19.471Z,1579135039.471 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-16T00:37:19.694Z,1579135039.694 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:37:22.691Z,1579135042.691 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-16T00:37:23.091Z,1579135043.091 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-16T00:37:30.723Z,1579135050.723 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:37:35.896Z,1579135055.896 [CommandLine](IMPORTANT): got command get DDM.cablePresent
2020-01-16T00:37:35.896Z,1579135055.896 [CommandLine](IMPORTANT): DDM.cablePresent 1 bool
2020-01-16T00:37:40.107Z,1579135060.107 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-16T00:37:40.523Z,1579135060.523 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-16T00:37:41.751Z,1579135061.751 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-16T00:37:42.062Z,1579135062.062 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:37:42.226Z,1579135062.226 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-16T00:37:44.580Z,1579135064.580 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-16T00:37:45.042Z,1579135065.042 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-16T00:37:45.317Z,1579135065.317 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-16T00:37:45.317Z,1579135065.317 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,20011517495202,35.0, 0.0,1448.9,  0
2020-01-16T00:37:49.320Z,1579135069.320 [CommandLine](IMPORTANT): got command get DDM.cablePresent
2020-01-16T00:37:49.320Z,1579135069.320 [CommandLine](IMPORTANT): DDM.cablePresent 1 bool
2020-01-16T00:37:53.101Z,1579135073.101 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:37:56.866Z,1579135076.866 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-16T00:37:57.182Z,1579135077.182 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-16T00:38:04.406Z,1579135084.406 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:38:12.531Z,1579135092.531 [Docked:B.](INFO): *** querying acoustic contact ***
2020-01-16T00:38:15.798Z,1579135095.798 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:38:27.103Z,1579135107.103 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:38:38.418Z,1579135118.418 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:38:41.408Z,1579135121.408 [Micromodem](FAULT): failed to initialize; deviceResponse_ loaded: , available: 
2020-01-16T00:38:41.408Z,1579135121.408 [Micromodem] Communications Fault, FailCount= 7
2020-01-16T00:38:41.408Z,1579135121.408 [Micromodem](ERROR): Communications Fault
2020-01-16T00:38:41.504Z,1579135121.504 [CBIT](ERROR): Communications Fault in component: Micromodem
2020-01-16T00:38:41.811Z,1579135121.811 [Micromodem](INFO): Powering down
2020-01-16T00:38:42.662Z,1579135122.662 [CBIT](INFO): Clearing failed state for component Micromodem
2020-01-16T00:38:42.662Z,1579135122.662 [Micromodem] No Fault, FailCount= 7
2020-01-16T00:38:45.442Z,1579135125.442 [Micromodem](INFO): Powering up
2020-01-16T00:38:45.442Z,1579135125.442 [Micromodem](DEBUG): Initializing Micromodem.
2020-01-16T00:38:49.482Z,1579135129.482 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:39:00.799Z,1579135140.799 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:39:11.803Z,1579135151.803 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:39:12.639Z,1579135152.639 [Docked:B.](INFO): *** querying acoustic contact ***
2020-01-16T00:39:18.339Z,1579135158.339 [CBIT](INFO): Clearing failed state for component DropWeight
2020-01-16T00:39:18.339Z,1579135158.339 [DropWeight] No Fault, FailCount= 1
2020-01-16T00:39:23.122Z,1579135163.122 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:39:34.506Z,1579135174.506 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:39:45.818Z,1579135185.818 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:39:57.222Z,1579135197.222 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:40:08.533Z,1579135208.533 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:40:12.689Z,1579135212.689 [Docked:B.](INFO): *** querying acoustic contact ***
2020-01-16T00:40:19.542Z,1579135219.542 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:40:30.851Z,1579135230.851 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-16T00:40:38.872Z,1579135238.872 [CommandLine](IMPORTANT): got command restart application
2020-01-16T00:40:39.881Z,1579135239.881 [Supervisor](INFO): Stop Mission called by Supervisor::terminate
2020-01-16T00:40:39.881Z,1579135239.881 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-16T00:40:39.881Z,1579135239.881 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:40:39.929Z,1579135239.929 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2020-01-16T00:40:39.929Z,1579135239.929 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:40:39.930Z,1579135239.930 [CommandLine](INFO): Join timeout helper Thread ID is 6433
2020-01-16T00:40:39.933Z,1579135239.933 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2020-01-16T00:40:39.933Z,1579135239.933 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:40:39.934Z,1579135239.934 [NavChartDb](INFO): Join timeout helper Thread ID is 6434
2020-01-16T00:40:39.978Z,1579135239.978 [MissionManager](INFO): MissionManager is completed.
2020-01-16T00:40:39.978Z,1579135239.978 [MissionManager](INFO): Uninitializing Mission Docked
2020-01-16T00:40:39.978Z,1579135239.978 [Docked] Stopped
2020-01-16T00:40:39.978Z,1579135239.978 [Docked](DEBUG): Aggregate::uninitialize Docked
2020-01-16T00:40:39.978Z,1579135239.978 [Docked:A.DepthEnvelope] Stopped
2020-01-16T00:40:39.978Z,1579135239.978 [Docked:A.DepthEnvelope](DEBUG): Uninitialize.
2020-01-16T00:40:39.979Z,1579135239.978 [Docked:B.] Stopped
2020-01-16T00:40:39.979Z,1579135239.979 [Docked:C] Stopped
2020-01-16T00:40:39.979Z,1579135239.979 [Docked:D] Stopped
2020-01-16T00:40:39.979Z,1579135239.979 [Docked:E.Pitch] Stopped
2020-01-16T00:40:39.979Z,1579135239.979 [Docked:F.SetSpeed] Stopped
2020-01-16T00:40:39.979Z,1579135239.979 [Docked:F.SetSpeed](DEBUG): Uninitialize.
2020-01-16T00:40:39.979Z,1579135239.979 [Docked:G.Docked] Stopped
2020-01-16T00:40:40.165Z,1579135240.165 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-16T00:40:40.166Z,1579135240.166 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:40:40.173Z,1579135240.173 [ComponentRegistry](INFO): Shutting down WetLabsSeaOWL_UV_A ThreadHandler
2020-01-16T00:40:40.173Z,1579135240.173 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:40:40.173Z,1579135240.173 [WetLabsSeaOWL_UV_A](INFO): Join timeout helper Thread ID is 6435
2020-01-16T00:40:40.301Z,1579135240.301 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-16T00:40:40.302Z,1579135240.302 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-01-16T00:40:40.304Z,1579135240.304 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:40:40.313Z,1579135240.313 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2020-01-16T00:40:40.313Z,1579135240.313 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:40:40.313Z,1579135240.313 [CTD_NeilBrown](INFO): Join timeout helper Thread ID is 6436
2020-01-16T00:40:40.337Z,1579135240.337 [CTD_NeilBrown ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-16T00:40:40.337Z,1579135240.337 [CTD_NeilBrown](INFO): Powering down
2020-01-16T00:40:40.349Z,1579135240.349 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:40:40.357Z,1579135240.357 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2020-01-16T00:40:40.357Z,1579135240.357 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:40:40.357Z,1579135240.357 [Radio_Surface](INFO): Join timeout helper Thread ID is 6437
2020-01-16T00:40:40.398Z,1579135240.398 [MissionManager](IMPORTANT): Started mission Default
2020-01-16T00:40:40.398Z,1579135240.398 [Default] Running Loop=1
2020-01-16T00:40:40.398Z,1579135240.398 [Default](DEBUG): Aggregate::initialize Default
2020-01-16T00:40:40.398Z,1579135240.398 [Default:B.GoToSurface] Running Loop=1
2020-01-16T00:40:40.398Z,1579135240.398 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-16T00:40:40.398Z,1579135240.398 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-16T00:40:40.399Z,1579135240.399 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-16T00:40:40.399Z,1579135240.399 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-16T00:40:40.399Z,1579135240.399 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-16T00:40:40.399Z,1579135240.399 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-16T00:40:40.400Z,1579135240.400 [Default:A.Wait] Running Loop=1
2020-01-16T00:40:40.400Z,1579135240.400 [Default:A.Wait](DEBUG): Initialize Wait Component.
2020-01-16T00:40:40.418Z,1579135240.418 [Reporter](INFO): DDM.cablePresent no_value
2020-01-16T00:40:40.666Z,1579135240.666 [Radio_Surface](INFO): Powering down
2020-01-16T00:40:40.669Z,1579135240.669 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-16T00:40:40.669Z,1579135240.669 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:40:40.682Z,1579135240.682 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2020-01-16T00:40:40.682Z,1579135240.682 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:40:40.682Z,1579135240.682 [DataOverHttps](INFO): Join timeout helper Thread ID is 6438
2020-01-16T00:40:40.946Z,1579135240.946 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-16T00:40:40.947Z,1579135240.947 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:40:40.967Z,1579135240.967 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2020-01-16T00:40:40.967Z,1579135240.967 [logger ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:40:40.969Z,1579135240.969 [logger](INFO): Join timeout helper Thread ID is 6441
2020-01-16T00:40:40.969Z,1579135240.969 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-16T00:40:40.970Z,1579135240.970 [logger ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:40:40.973Z,1579135240.973 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2020-01-16T00:40:40.974Z,1579135240.974 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:40:40.974Z,1579135240.974 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2020-01-16T00:40:40.974Z,1579135240.974 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:40:40.974Z,1579135240.974 [controlThread](INFO): Join timeout helper Thread ID is 6442
2020-01-16T00:40:41.101Z,1579135241.101 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-16T00:40:41.101Z,1579135241.101 [controlThread](DEBUG): Uninitializing ControlThread
2020-01-16T00:40:41.101Z,1579135241.101 [AHRS_M2](INFO): Powering down
2020-01-16T00:40:41.173Z,1579135241.173 [DDM](INFO): Powering down
2020-01-16T00:40:41.245Z,1579135241.245 [DUSBL_Hydroid](INFO): Powering down
2020-01-16T00:40:41.317Z,1579135241.317 [Micromodem](INFO): Powering down
2020-01-16T00:40:41.413Z,1579135241.413 [NAL9602](INFO): Powering down
2020-01-16T00:40:41.485Z,1579135241.485 [RDI_Pathfinder](INFO): Powering down
2020-01-16T00:40:41.487Z,1579135241.487 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2020-01-16T00:40:41.488Z,1579135241.488 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2020-01-16T00:40:41.488Z,1579135241.488 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2020-01-16T00:40:41.488Z,1579135241.488 [MissionManager](INFO): Uninitializing Mission Default
2020-01-16T00:40:41.489Z,1579135241.489 [Default] Stopped
2020-01-16T00:40:41.489Z,1579135241.489 [Default](DEBUG): Aggregate::uninitialize Default
2020-01-16T00:40:41.489Z,1579135241.489 [Default:A.Wait] Stopped
2020-01-16T00:40:41.489Z,1579135241.489 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-16T00:40:41.489Z,1579135241.489 [Default:B.GoToSurface] Stopped
2020-01-16T00:40:41.489Z,1579135241.489 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-16T00:40:41.491Z,1579135241.491 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2020-01-16T00:40:41.491Z,1579135241.491 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2020-01-16T00:40:41.492Z,1579135241.492 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2020-01-16T00:40:41.492Z,1579135241.492 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2020-01-16T00:40:41.492Z,1579135241.492 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2020-01-16T00:40:41.492Z,1579135241.492 [BuoyancyServo](INFO): Powering down
2020-01-16T00:40:41.625Z,1579135241.625 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2020-01-16T00:40:41.625Z,1579135241.625 [ElevatorServo](INFO): Powering down
2020-01-16T00:40:41.626Z,1579135241.626 [MassServo](DEBUG): Uninitialize Mass Servo.
2020-01-16T00:40:41.626Z,1579135241.626 [MassServo](INFO): Powering down
2020-01-16T00:40:41.627Z,1579135241.627 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-01-16T00:40:41.627Z,1579135241.627 [RudderServo](INFO): Powering down
2020-01-16T00:40:41.628Z,1579135241.628 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2020-01-16T00:40:41.628Z,1579135241.628 [ThrusterServo](INFO): Powering down
2020-01-16T00:40:41.628Z,1579135241.628 [SBIT](DEBUG): Uninitialize SBIT Component.
2020-01-16T00:40:41.629Z,1579135241.629 [IBIT](DEBUG): Uninitialize IBIT Component.
2020-01-16T00:40:41.629Z,1579135241.629 [CBIT](DEBUG): Uninitialize CBIT Component.
2020-01-16T00:40:41.629Z,1579135241.629 [CBIT](DEBUG): Powering off loads.
2020-01-16T00:40:41.641Z,1579135241.641 [CBIT](DEBUG): Disabling WDT.
2020-01-16T00:40:41.653Z,1579135241.653 [CBIT](DEBUG): Opening all GF detection circuits.
2020-01-16T00:40:41.654Z,1579135241.654 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:40:41.710Z,1579135241.710 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:40:41.722Z,1579135241.722 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:40:41.887Z,1579135241.887 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:40:41.890Z,1579135241.890 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:40:41.947Z,1579135241.947 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-16T00:40:42.007Z,1579135242.007 [logger ThreadHandler](INFO): Thread cancelled.