2020-01-17T00:18:24.460Z,1579220304.460 [Supervisor](DEBUG): Initializing supervisor.
2020-01-17T00:18:24.463Z,1579220304.463 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2020-01-17T00:18:24.463Z,1579220304.463 [SyncHandler](INFO): Protected caller Thread ID is 6781
2020-01-17T00:18:24.464Z,1579220304.464 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2020-01-17T00:18:24.464Z,1579220304.464 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2020-01-17T00:18:24.465Z,1579220304.465 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 6782
2020-01-17T00:18:24.468Z,1579220304.468 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2020-01-17T00:18:24.480Z,1579220304.480 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2020-01-17T00:18:24.481Z,1579220304.481 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2020-01-17T00:18:24.481Z,1579220304.481 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 6783
2020-01-17T00:18:24.482Z,1579220304.482 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2020-01-17T00:18:24.483Z,1579220304.483 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2020-01-17T00:18:24.483Z,1579220304.483 [logger ThreadHandler](INFO): Protected caller Thread ID is 6784
2020-01-17T00:18:24.485Z,1579220304.485 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2020-01-17T00:18:24.485Z,1579220304.485 [Supervisor](INFO): Looking for Config files in directory: Config/
2020-01-17T00:18:24.487Z,1579220304.487 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2020-01-17T00:18:24.914Z,1579220304.914 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2020-01-17T00:18:24.915Z,1579220304.915 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2020-01-17T00:18:25.012Z,1579220305.012 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2020-01-17T00:18:25.013Z,1579220305.013 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2020-01-17T00:18:25.322Z,1579220305.322 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2020-01-17T00:18:25.322Z,1579220305.322 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2020-01-17T00:18:25.459Z,1579220305.459 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2020-01-17T00:18:25.459Z,1579220305.459 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2020-01-17T00:18:25.648Z,1579220305.648 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2020-01-17T00:18:25.649Z,1579220305.649 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2020-01-17T00:18:26.086Z,1579220306.086 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2020-01-17T00:18:26.087Z,1579220306.087 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2020-01-17T00:18:26.294Z,1579220306.294 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2020-01-17T00:18:26.295Z,1579220306.295 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2020-01-17T00:18:26.438Z,1579220306.438 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2020-01-17T00:18:26.438Z,1579220306.438 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2020-01-17T00:18:26.627Z,1579220306.627 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2020-01-17T00:18:26.628Z,1579220306.628 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2020-01-17T00:18:26.724Z,1579220306.724 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2020-01-17T00:18:26.725Z,1579220306.725 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2020-01-17T00:18:27.019Z,1579220307.019 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2020-01-17T00:18:27.020Z,1579220307.020 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2020-01-17T00:18:27.100Z,1579220307.100 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2020-01-17T00:18:27.202Z,1579220307.202 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2020-01-17T00:18:27.203Z,1579220307.203 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2020-01-17T00:18:27.829Z,1579220307.829 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2020-01-17T00:18:27.830Z,1579220307.830 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2020-01-17T00:18:28.231Z,1579220308.231 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2020-01-17T00:18:28.233Z,1579220308.233 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/
2020-01-17T00:18:28.234Z,1579220308.234 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/vehicle.cfg
2020-01-17T00:18:28.444Z,1579220308.444 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Control.cfg
2020-01-17T00:18:28.562Z,1579220308.562 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/BIT.cfg
2020-01-17T00:18:28.879Z,1579220308.879 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Battery.cfg
2020-01-17T00:18:29.228Z,1579220309.228 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2020-01-17T00:18:29.229Z,1579220309.229 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Simulator.cfg
2020-01-17T00:18:29.315Z,1579220309.315 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Navigation.cfg
2020-01-17T00:18:29.409Z,1579220309.409 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/logger.cfg
2020-01-17T00:18:29.507Z,1579220309.507 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/secure.cfg
2020-01-17T00:18:29.590Z,1579220309.590 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Servo.cfg
2020-01-17T00:18:29.697Z,1579220309.697 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/workSite.cfg
2020-01-17T00:18:29.790Z,1579220309.790 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Sensor.cfg
2020-01-17T00:18:30.055Z,1579220310.055 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Science.cfg
2020-01-17T00:18:30.188Z,1579220310.188 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2020-01-17T00:18:30.194Z,1579220310.194 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2020-01-17T00:18:30.564Z,1579220310.564 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_orientation
2020-01-17T00:18:30.569Z,1579220310.569 [AHRS_M2](INFO): created writer for : platform_orientation
2020-01-17T00:18:30.571Z,1579220310.571 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_magnetic_orientation
2020-01-17T00:18:30.576Z,1579220310.576 [AHRS_M2](INFO): created writer for : platform_magnetic_orientation
2020-01-17T00:18:30.576Z,1579220310.576 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_pitch_angle
2020-01-17T00:18:30.581Z,1579220310.581 [AHRS_M2](INFO): created writer for : platform_pitch_angle
2020-01-17T00:18:30.582Z,1579220310.582 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_roll_angle
2020-01-17T00:18:30.587Z,1579220310.587 [AHRS_M2](INFO): created writer for : platform_roll_angle
2020-01-17T00:18:30.653Z,1579220310.653 [AHRS_M2] Loaded
2020-01-17T00:18:30.653Z,1579220310.653 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2020-01-17T00:18:30.731Z,1579220310.731 [DataOverHttps] Loaded
2020-01-17T00:18:30.731Z,1579220310.731 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2020-01-17T00:18:30.732Z,1579220310.732 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 407684E0
2020-01-17T00:18:30.732Z,1579220310.732 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 6867
2020-01-17T00:18:30.755Z,1579220310.755 [DDM] Loaded
2020-01-17T00:18:30.755Z,1579220310.755 [ComponentRegistry](DEBUG): SyncComponent "DDM" handled in the control thread.
2020-01-17T00:18:30.767Z,1579220310.767 [Depth_Keller] Loaded
2020-01-17T00:18:30.767Z,1579220310.767 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2020-01-17T00:18:30.771Z,1579220310.771 [DropWeight] Loaded
2020-01-17T00:18:30.772Z,1579220310.772 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2020-01-17T00:18:30.828Z,1579220310.828 [DUSBL_Hydroid] Loaded
2020-01-17T00:18:30.829Z,1579220310.829 [ComponentRegistry](DEBUG): SyncComponent "DUSBL_Hydroid" handled in the control thread.
2020-01-17T00:18:30.873Z,1579220310.873 [Micromodem] Loaded
2020-01-17T00:18:30.873Z,1579220310.873 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2020-01-17T00:18:30.963Z,1579220310.963 [NAL9602] Loaded
2020-01-17T00:18:30.963Z,1579220310.963 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2020-01-17T00:18:30.998Z,1579220310.998 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/voltage_now
2020-01-17T00:18:30.998Z,1579220310.998 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/current_now
2020-01-17T00:18:30.999Z,1579220310.999 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/charge_now
2020-01-17T00:18:30.999Z,1579220310.999 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/charge_full
2020-01-17T00:18:30.000Z,1579220311.000 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/voltage_now
2020-01-17T00:18:31.000Z,1579220311.000 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/current_now
2020-01-17T00:18:31.001Z,1579220311.001 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/charge_now
2020-01-17T00:18:31.001Z,1579220311.001 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/charge_full
2020-01-17T00:18:31.001Z,1579220311.001 [Onboard] Loaded
2020-01-17T00:18:31.002Z,1579220311.002 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2020-01-17T00:18:31.007Z,1579220311.007 [PowerOnly] Loaded
2020-01-17T00:18:31.007Z,1579220311.007 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2020-01-17T00:18:31.013Z,1579220311.013 [Radio_Surface] Loaded
2020-01-17T00:18:31.014Z,1579220311.014 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2020-01-17T00:18:31.015Z,1579220311.015 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 407984E0
2020-01-17T00:18:31.015Z,1579220311.015 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 6868
2020-01-17T00:18:31.055Z,1579220311.055 [RDI_Pathfinder] Loaded
2020-01-17T00:18:31.055Z,1579220311.055 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2020-01-17T00:18:32.435Z,1579220312.435 [BPC1] Loaded
2020-01-17T00:18:32.435Z,1579220312.435 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2020-01-17T00:18:32.436Z,1579220312.436 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2020-01-17T00:18:32.436Z,1579220312.436 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2020-01-17T00:18:32.459Z,1579220312.459 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2020-01-17T00:18:32.459Z,1579220312.459 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2020-01-17T00:18:32.574Z,1579220312.574 [DeadReckonUsingMultipleVelocitySources] Loaded
2020-01-17T00:18:32.574Z,1579220312.574 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2020-01-17T00:18:32.593Z,1579220312.593 [NavChart] Loaded
2020-01-17T00:18:32.593Z,1579220312.593 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2020-01-17T00:18:32.597Z,1579220312.597 [UniversalFixResidualReporter] Loaded
2020-01-17T00:18:32.597Z,1579220312.597 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2020-01-17T00:18:32.597Z,1579220312.597 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2020-01-17T00:18:32.598Z,1579220312.598 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2020-01-17T00:18:32.721Z,1579220312.721 [BuoyancyServo] Loaded
2020-01-17T00:18:32.721Z,1579220312.721 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2020-01-17T00:18:32.735Z,1579220312.735 [ElevatorServo] Loaded
2020-01-17T00:18:32.736Z,1579220312.736 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2020-01-17T00:18:32.750Z,1579220312.750 [MassServo] Loaded
2020-01-17T00:18:32.750Z,1579220312.750 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2020-01-17T00:18:32.764Z,1579220312.764 [RudderServo] Loaded
2020-01-17T00:18:32.764Z,1579220312.764 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2020-01-17T00:18:32.778Z,1579220312.778 [ThrusterServo] Loaded
2020-01-17T00:18:32.778Z,1579220312.778 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2020-01-17T00:18:32.778Z,1579220312.778 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2020-01-17T00:18:32.779Z,1579220312.779 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2020-01-17T00:18:33.102Z,1579220313.102 [CTD_NeilBrown] Loaded
2020-01-17T00:18:33.102Z,1579220313.102 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2020-01-17T00:18:33.103Z,1579220313.103 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 408EC4E0
2020-01-17T00:18:33.104Z,1579220313.104 [CTD_NeilBrown ThreadHandler](INFO): Protected caller Thread ID is 6869
2020-01-17T00:18:33.117Z,1579220313.117 [PAR_Licor] Loaded
2020-01-17T00:18:33.118Z,1579220313.118 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2020-01-17T00:18:33.158Z,1579220313.158 [WetLabsSeaOWL_UV_A] Loaded
2020-01-17T00:18:33.158Z,1579220313.158 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2020-01-17T00:18:33.159Z,1579220313.159 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 4091C4E0
2020-01-17T00:18:33.160Z,1579220313.160 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 6870
2020-01-17T00:18:33.160Z,1579220313.160 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2020-01-17T00:18:33.161Z,1579220313.161 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2020-01-17T00:18:33.524Z,1579220313.524 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2020-01-17T00:18:33.524Z,1579220313.524 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2020-01-17T00:18:33.576Z,1579220313.576 [DepthRateCalculator] Loaded
2020-01-17T00:18:33.577Z,1579220313.577 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2020-01-17T00:18:33.582Z,1579220313.582 [PitchRateCalculator] Loaded
2020-01-17T00:18:33.582Z,1579220313.582 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2020-01-17T00:18:33.594Z,1579220313.594 [SpeedCalculator] Loaded
2020-01-17T00:18:33.594Z,1579220313.594 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2020-01-17T00:18:33.613Z,1579220313.613 [TempGradientCalculator] Loaded
2020-01-17T00:18:33.614Z,1579220313.614 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2020-01-17T00:18:33.619Z,1579220313.619 [YawRateCalculator] Loaded
2020-01-17T00:18:33.619Z,1579220313.619 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2020-01-17T00:18:33.657Z,1579220313.657 [ElevatorOffsetCalculator] Loaded
2020-01-17T00:18:33.658Z,1579220313.658 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2020-01-17T00:18:33.658Z,1579220313.658 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2020-01-17T00:18:33.659Z,1579220313.659 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2020-01-17T00:18:33.972Z,1579220313.972 [SBIT](DEBUG): Construct Startup Built In Test.
2020-01-17T00:18:33.996Z,1579220313.996 [SBIT] Loaded
2020-01-17T00:18:33.997Z,1579220313.997 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2020-01-17T00:18:33.997Z,1579220313.997 [IBIT](DEBUG): Construct Initiated Built In Test.
2020-01-17T00:18:34.009Z,1579220314.009 [IBIT] Loaded
2020-01-17T00:18:34.009Z,1579220314.009 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2020-01-17T00:18:34.012Z,1579220314.012 [CBIT](DEBUG): Construct Continuous Built In Test.
2020-01-17T00:18:34.142Z,1579220314.142 [CBIT] Loaded
2020-01-17T00:18:34.142Z,1579220314.142 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2020-01-17T00:18:34.142Z,1579220314.142 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2020-01-17T00:18:34.143Z,1579220314.143 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2020-01-17T00:18:34.261Z,1579220314.261 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2020-01-17T00:18:34.262Z,1579220314.262 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2020-01-17T00:18:34.379Z,1579220314.379 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2020-01-17T00:18:34.380Z,1579220314.380 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2020-01-17T00:18:34.441Z,1579220314.441 [VerticalControl](DEBUG): Construct VerticalControl.
2020-01-17T00:18:34.519Z,1579220314.519 [VerticalControl] Loaded
2020-01-17T00:18:34.519Z,1579220314.519 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2020-01-17T00:18:34.520Z,1579220314.520 [HorizontalControl](DEBUG): Construct HorizontalControl.
2020-01-17T00:18:34.584Z,1579220314.584 [HorizontalControl] Loaded
2020-01-17T00:18:34.584Z,1579220314.584 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2020-01-17T00:18:34.585Z,1579220314.585 [SpeedControl](DEBUG): Construct SpeedControl.
2020-01-17T00:18:34.587Z,1579220314.587 [SpeedControl] Loaded
2020-01-17T00:18:34.587Z,1579220314.587 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2020-01-17T00:18:34.587Z,1579220314.587 [LoopControl](DEBUG): Construct LoopControl.
2020-01-17T00:18:34.588Z,1579220314.588 [LoopControl] Loaded
2020-01-17T00:18:34.588Z,1579220314.588 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2020-01-17T00:18:34.588Z,1579220314.588 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2020-01-17T00:18:34.589Z,1579220314.589 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2020-01-17T00:18:34.636Z,1579220314.636 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2020-01-17T00:18:34.640Z,1579220314.640 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2020-01-17T00:18:34.640Z,1579220314.640 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2020-01-17T00:18:34.647Z,1579220314.647 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2020-01-17T00:18:34.648Z,1579220314.648 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40B024E0
2020-01-17T00:18:34.648Z,1579220314.648 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 6871
2020-01-17T00:18:34.653Z,1579220314.653 [Supervisor](INFO): Main Thread ID is 6780
2020-01-17T00:18:34.653Z,1579220314.653 [Supervisor](DEBUG): Running supervisor.
2020-01-17T00:18:34.654Z,1579220314.654 [CommandLine ThreadHandler](INFO): Handler Thread ID is 6872
2020-01-17T00:18:34.656Z,1579220314.656 [controlThread ThreadHandler](INFO): Handler Thread ID is 6873
2020-01-17T00:18:34.657Z,1579220314.657 [controlThread](DEBUG): Initializing ControlThread
2020-01-17T00:18:34.665Z,1579220314.665 [NavChart](DEBUG): Initialize NavChart Navigation.
2020-01-17T00:18:34.665Z,1579220314.665 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2020-01-17T00:18:34.669Z,1579220314.669 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2020-01-17T00:18:34.669Z,1579220314.669 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2020-01-17T00:18:34.670Z,1579220314.670 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2020-01-17T00:18:34.670Z,1579220314.670 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2020-01-17T00:18:34.670Z,1579220314.670 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2020-01-17T00:18:34.671Z,1579220314.671 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2020-01-17T00:18:34.671Z,1579220314.671 [SBIT](INFO): Initialize SBIT Component.
2020-01-17T00:18:34.672Z,1579220314.672 [SBIT](IMPORTANT): git: 2019-12-03-52-gd057a2e
2020-01-17T00:18:34.672Z,1579220314.672 [SBIT](INFO): git hash: d057a2e09e1011d41925b307b61fea8285a57da1
2020-01-17T00:18:34.672Z,1579220314.672 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2020-01-17T00:18:34.674Z,1579220314.674 [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
2020-01-17T00:18:34.675Z,1579220314.675 [SBIT](INFO): Beginning SBIT in 39.000000 seconds.
2020-01-17T00:18:34.675Z,1579220314.675 [IBIT](INFO): Initialize IBIT Component.
2020-01-17T00:18:34.676Z,1579220314.676 [CBIT](DEBUG): Initialize CBIT Component.
2020-01-17T00:18:34.677Z,1579220314.677 [logger ThreadHandler](INFO): Handler Thread ID is 6874
2020-01-17T00:18:34.689Z,1579220314.689 [CBIT](DEBUG): Initialized mux pins.
2020-01-17T00:18:34.689Z,1579220314.689 [CBIT](DEBUG): Initializing the watchdog timer.
2020-01-17T00:18:34.697Z,1579220314.697 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 6875
2020-01-17T00:18:34.698Z,1579220314.698 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2020-01-17T00:18:34.709Z,1579220314.709 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 6876
2020-01-17T00:18:34.713Z,1579220314.713 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2020-01-17T00:18:34.713Z,1579220314.713 [CBIT](DEBUG): Initializing heartbeat.
2020-01-17T00:18:34.721Z,1579220314.721 [CTD_NeilBrown ThreadHandler](INFO): Handler Thread ID is 6877
2020-01-17T00:18:34.722Z,1579220314.722 [CTD_NeilBrown](INFO): Powering down
2020-01-17T00:18:34.741Z,1579220314.741 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 6878
2020-01-17T00:18:34.742Z,1579220314.742 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-01-17T00:18:34.773Z,1579220314.773 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 6879
2020-01-17T00:18:34.777Z,1579220314.777 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2020-01-17T00:18:34.777Z,1579220314.777 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2020-01-17T00:18:34.777Z,1579220314.777 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2020-01-17T00:18:34.778Z,1579220314.778 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2020-01-17T00:18:34.778Z,1579220314.778 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2020-01-17T00:18:34.778Z,1579220314.778 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2020-01-17T00:18:34.778Z,1579220314.778 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2020-01-17T00:18:34.778Z,1579220314.778 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2020-01-17T00:18:34.779Z,1579220314.779 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2020-01-17T00:18:34.779Z,1579220314.779 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2020-01-17T00:18:34.779Z,1579220314.779 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2020-01-17T00:18:34.779Z,1579220314.779 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2020-01-17T00:18:34.779Z,1579220314.779 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2020-01-17T00:18:34.779Z,1579220314.779 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2020-01-17T00:18:34.780Z,1579220314.780 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2020-01-17T00:18:34.780Z,1579220314.780 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2020-01-17T00:18:34.785Z,1579220314.785 [CBIT](DEBUG): Deactivating GF circuits.
2020-01-17T00:18:34.785Z,1579220314.785 [CBIT](DEBUG): Deactivating emergency mode.
2020-01-17T00:18:34.821Z,1579220314.821 [CBIT](DEBUG): Backplane powered.
2020-01-17T00:18:34.821Z,1579220314.821 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2020-01-17T00:18:34.823Z,1579220314.823 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2020-01-17T00:18:34.824Z,1579220314.824 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2020-01-17T00:18:34.824Z,1579220314.824 [LoopControl](DEBUG): Initialize LoopControlComponent.
2020-01-17T00:18:34.825Z,1579220314.825 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2020-01-17T00:18:34.836Z,1579220314.836 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2020-01-17T00:18:34.887Z,1579220314.887 [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>


2020-01-17T00:18:34.888Z,1579220314.888 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2020-01-17T00:18:34.955Z,1579220314.955 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2020-01-17T00:18:34.956Z,1579220314.956 [Default:A.Wait](DEBUG): Construct Wait.
2020-01-17T00:18:34.958Z,1579220314.958 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2020-01-17T00:18:35.019Z,1579220315.019 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2020-01-17T00:18:35.021Z,1579220315.021 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2020-01-17T00:18:35.040Z,1579220315.040 [Default:E.Execute](DEBUG): Construct Execute.
2020-01-17T00:18:35.044Z,1579220315.044 [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>


2020-01-17T00:18:35.048Z,1579220315.048 [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,
2020-01-17T00:18:35.070Z,1579220315.070 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2020-01-17T00:18:35.110Z,1579220315.110 [DDM](INFO): Powering up
2020-01-17T00:18:35.110Z,1579220315.110 [DDM](DEBUG): Initializing DDM.
2020-01-17T00:18:35.113Z,1579220315.113 [Radio_Surface](INFO): Powering up
2020-01-17T00:18:35.139Z,1579220315.139 [DUSBL_Hydroid](INFO): Powering up
2020-01-17T00:18:35.139Z,1579220315.139 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2020-01-17T00:18:35.375Z,1579220315.375 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2020-01-17T00:18:35.381Z,1579220315.381 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2020-01-17T00:18:35.382Z,1579220315.382 [ElevatorServo](DEBUG): Initializing EZServoServo.
2020-01-17T00:18:35.389Z,1579220315.389 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2020-01-17T00:18:35.390Z,1579220315.390 [MassServo](DEBUG): Initializing EZServoServo.
2020-01-17T00:18:35.397Z,1579220315.397 [MassServo](DEBUG): Initializing MassServo.
2020-01-17T00:18:35.398Z,1579220315.398 [RudderServo](DEBUG): Initializing EZServoServo.
2020-01-17T00:18:35.405Z,1579220315.405 [RudderServo](DEBUG): Initializing RudderServo.
2020-01-17T00:18:35.406Z,1579220315.406 [ThrusterServo](DEBUG): Initializing EZServoServo.
2020-01-17T00:18:35.413Z,1579220315.413 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2020-01-17T00:18:35.495Z,1579220315.495 [Micromodem](INFO): Powering up
2020-01-17T00:18:35.496Z,1579220315.496 [Micromodem](DEBUG): Initializing Micromodem.
2020-01-17T00:18:36.257Z,1579220316.257 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2020-01-17T00:18:36.257Z,1579220316.257 [RudderServo](FAULT): Rudder failed to initialize
2020-01-17T00:18:36.257Z,1579220316.257 [RudderServo] Communications Fault, FailCount= 1
2020-01-17T00:18:36.257Z,1579220316.257 [RudderServo](ERROR): Communications Fault
2020-01-17T00:18:36.368Z,1579220316.368 [CBIT](ERROR): Communications Fault in component: RudderServo
2020-01-17T00:18:36.538Z,1579220316.538 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-01-17T00:18:36.538Z,1579220316.538 [RudderServo](INFO): Powering down
2020-01-17T00:18:37.243Z,1579220317.243 [RudderServo](DEBUG): Initializing EZServoServo.
2020-01-17T00:18:37.362Z,1579220317.362 [RudderServo](DEBUG): Initializing RudderServo.
2020-01-17T00:18:37.366Z,1579220317.366 [CBIT](INFO): Clearing failed state for component RudderServo
2020-01-17T00:18:37.366Z,1579220317.366 [RudderServo] No Fault, FailCount= 1
2020-01-17T00:18:40.457Z,1579220320.457 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2020-01-17T00:18:40.860Z,1579220320.860 [Micromodem](INFO): Nmea in: $CATMG,2020-01-17T00:18:40.427443Z,RTC,RTC*58

2020-01-17T00:18:40.860Z,1579220320.860 [Micromodem](ERROR): CFG response from modem unexpected: $CATMG,2020-01-17T00:18:40.427443Z,RTC,RTC*58

2020-01-17T00:18:41.263Z,1579220321.263 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2020-01-17T00:18:41.263Z,1579220321.263 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2020-01-17T00:18:41.671Z,1579220321.671 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2020-01-17T00:18:41.671Z,1579220321.671 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2020-01-17T00:18:42.079Z,1579220322.079 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2020-01-17T00:18:42.080Z,1579220322.080 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2020-01-17T00:18:42.479Z,1579220322.479 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2020-01-17T00:18:42.479Z,1579220322.479 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2020-01-17T00:18:42.887Z,1579220322.887 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2020-01-17T00:18:42.887Z,1579220322.887 [Micromodem](INFO): Nmea out: $CCCFG,FC0,10000*46

2020-01-17T00:18:43.283Z,1579220323.283 [Micromodem](INFO): Nmea in: $CACFG,FC0,10000*44

2020-01-17T00:18:43.283Z,1579220323.283 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2020-01-17T00:18:44.524Z,1579220324.524 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2020-01-17T00:18:44.524Z,1579220324.524 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2020-01-17T00:18:44.728Z,1579220324.728 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2020-01-17T00:18:44.729Z,1579220324.729 [Micromodem](INFO): Nmea out: $CCCLK,2020,01,17,00,18,45*4B

2020-01-17T00:18:45.079Z,1579220325.079 [Micromodem](INFO): Nmea in: $CACLK,2020,1,17,0,18,45*49

2020-01-17T00:18:45.080Z,1579220325.080 [Micromodem](INFO): Nmea in: $CATMS,0,2020-01-17T00:18:46Z*7A

2020-01-17T00:18:45.082Z,1579220325.082 [Micromodem](INFO): Nmea in: $CATMG,2020-01-17T00:18:46.026043Z,USER_CMD,RTC*1E

2020-01-17T00:18:45.892Z,1579220325.892 [DDM](INFO): Dynamic Docking Module:E

2020-01-17T00:18:48.736Z,1579220328.736 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2020-01-17T00:18:52.860Z,1579220332.860 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.007418
2020-01-17T00:18:53.170Z,1579220333.170 [DUSBL_Hydroid](INFO): DUSBL Version:O
2020-01-17T00:19:01.248Z,1579220341.248 [NAL9602](INFO): Powering up NAL9602
2020-01-17T00:19:10.430Z,1579220350.430 [CommandLine](IMPORTANT): got command strobe off
2020-01-17T00:19:10.430Z,1579220350.430 [CommandLine](IMPORTANT): Deactivating strobe
2020-01-17T00:19:10.953Z,1579220350.953 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-17T00:19:10.953Z,1579220350.953 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,20011617311115,.1,   0.0,1448.9,  0
2020-01-17T00:19:12.147Z,1579220352.147 [NAL9602](INFO): NAL9602 initialized
2020-01-17T00:19:14.251Z,1579220354.251 [SBIT](IMPORTANT): Beginning Startup BIT
2020-01-17T00:19:14.267Z,1579220354.267 [CBIT](IMPORTANT): Beginning ground fault scan
2020-01-17T00:19:15.006Z,1579220355.006 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-17T00:19:15.007Z,1579220355.007 [RDI_Pathfinder](ERROR): Failed to parse:
:TS7311515,35.0, -0.1,   0.0,1448.9,  0
2020-01-17T00:19:25.381Z,1579220365.381 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.012046
CHAN A1 (24V): -0.028919
CHAN A2 (12V): -0.007201
CHAN A3 (5V): -0.002295
CHAN B0 (3.3V): 0.000300
CHAN B1 (3.15aV): 0.000014
CHAN B2 (3.15bV): -0.000069
CHAN B3 (GND): 0.002522
OPEN: 0.005118
Full Scale Calc: 4.765 mA, -1.589 mA
2020-01-17T00:19:35.002Z,1579220375.002 [CommandLine](IMPORTANT): got command strobe off
2020-01-17T00:19:35.003Z,1579220375.003 [CommandLine](IMPORTANT): Deactivating strobe
2020-01-17T00:19:43.412Z,1579220383.412 [CommandLine](IMPORTANT): got command show stack
2020-01-17T00:19:43.412Z,1579220383.412 [CommandLine](IMPORTANT): Behavior Stack:

2020-01-17T00:19:43.412Z,1579220383.412 [MissionManager](IMPORTANT): Mission loaded, but not running.
2020-01-17T00:19:44.831Z,1579220384.831 [RDI_Pathfinder](ERROR): Failed to parse:
:SA,   +0.00,   +0.00,  0.00
2020-01-17T00:19:58.291Z,1579220398.291 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-17T00:19:58.292Z,1579220398.292 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2020-01-17T00:20:07.624Z,1579220407.624 [SBIT](IMPORTANT): SBIT PASSED
2020-01-17T00:20:07.664Z,1579220407.664 [CommandLine](IMPORTANT): got command configSet list
2020-01-17T00:20:07.665Z,1579220407.665 [CommandLine](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2020-01-17T00:20:07.666Z,1579220407.666 [CommandLine](IMPORTANT): DDM.verbosity=3 count;

2020-01-17T00:20:07.666Z,1579220407.666 [CommandLine](IMPORTANT): DUSBL_Hydroid.detectionThreshold=30 count;

2020-01-17T00:20:07.666Z,1579220407.666 [CommandLine](IMPORTANT): Micromodem.sendExpress=1 bool;

2020-01-17T00:20:07.666Z,1579220407.666 [CommandLine](IMPORTANT): VerticalControl.buoyancyNeutral=105 cubic_centimeter;

2020-01-17T00:20:07.666Z,1579220407.666 [CommandLine](IMPORTANT): VerticalControl.massDefault=-5 millimeter;

2020-01-17T00:20:08.027Z,1579220408.027 [MissionManager](IMPORTANT): Started mission Startup
2020-01-17T00:20:08.027Z,1579220408.027 [Startup] Running Loop=1
2020-01-17T00:20:08.027Z,1579220408.027 [Startup](DEBUG): Aggregate::initialize Startup
2020-01-17T00:20:08.027Z,1579220408.027 [Startup:A.GoToSurface] Running Loop=1
2020-01-17T00:20:08.027Z,1579220408.027 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-17T00:20:08.028Z,1579220408.028 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-17T00:20:08.028Z,1579220408.028 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-17T00:20:08.029Z,1579220408.029 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-17T00:20:08.029Z,1579220408.029 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-17T00:20:08.030Z,1579220408.030 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-17T00:20:08.031Z,1579220408.031 [Startup:StartupSatComms] Running Loop=1
2020-01-17T00:20:08.031Z,1579220408.031 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2020-01-17T00:20:08.031Z,1579220408.031 [Startup:StartupSatComms:A] Running Loop=1
2020-01-17T00:20:08.411Z,1579220408.411 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2020-01-17T00:21:08.202Z,1579220468.202 [Startup:StartupSatComms:A](INFO): Timed out from 2020-01-17T00:20:08.0Z
2020-01-17T00:21:08.202Z,1579220468.202 [Startup:StartupSatComms:A] Stopped
2020-01-17T00:21:08.202Z,1579220468.202 [Startup:StartupSatComms:B] Running Loop=1
2020-01-17T00:21:08.655Z,1579220468.655 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2020-01-17T00:21:19.526Z,1579220479.526 [DataOverHttps](INFO): Sending 181 bytes from file Logs/20200117T001824/Courier0000.lzma
2020-01-17T00:21:21.533Z,1579220481.533 [DataOverHttps](INFO): Moved sent file to Logs/20200117T001824/Courier0000.lzma.bak
2020-01-17T00:21:21.533Z,1579220481.533 [DataOverHttps](INFO): SBD MOMSN=12195979
2020-01-17T00:21:34.892Z,1579220494.892 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2020-01-17T00:21:34.892Z,1579220494.892 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T00:21:34.946Z,1579220494.946 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T00:21:35.270Z,1579220495.270 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T00:21:35.270Z,1579220495.270 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2020-01-17T00:21:48.760Z,1579220508.760 [DataOverHttps](INFO): Sending 82 bytes from file Logs/20200116T202349/Express0044.lzma
2020-01-17T00:21:50.766Z,1579220510.766 [DataOverHttps](INFO): Moved sent file to Logs/20200116T202349/Express0044.lzma.bak
2020-01-17T00:21:50.767Z,1579220510.767 [DataOverHttps](INFO): SBD MOMSN=12195982
2020-01-17T00:21:56.255Z,1579220516.255 [CommandLine](IMPORTANT): got command show stack
2020-01-17T00:21:56.255Z,1579220516.255 [CommandLine](IMPORTANT): Behavior Stack:

2020-01-17T00:21:56.255Z,1579220516.255 [Startup](IMPORTANT): Priority 0: Startup:A.GoToSurface
2020-01-17T00:21:56.255Z,1579220516.255 [Startup:StartupSatComms](IMPORTANT): Priority 1: Startup:StartupSatComms:B
2020-01-17T00:22:08.406Z,1579220528.406 [Startup:StartupSatComms:B](INFO): Timed out from 2020-01-17T00:21:08.2Z
2020-01-17T00:22:08.406Z,1579220528.406 [Startup:StartupSatComms:B] Stopped
2020-01-17T00:22:08.407Z,1579220528.407 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2020-01-17T00:22:08.407Z,1579220528.407 [Startup:StartupSatComms] Stopped
2020-01-17T00:22:08.407Z,1579220528.407 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2020-01-17T00:22:08.407Z,1579220528.407 [Startup](INFO): Completed Startup
2020-01-17T00:22:08.408Z,1579220528.408 [MissionManager](INFO): Startup is completed.
2020-01-17T00:22:08.408Z,1579220528.408 [MissionManager](INFO): Uninitializing Mission Startup
2020-01-17T00:22:08.408Z,1579220528.408 [Startup] Stopped
2020-01-17T00:22:08.408Z,1579220528.408 [Startup](DEBUG): Aggregate::uninitialize Startup
2020-01-17T00:22:08.408Z,1579220528.408 [Startup:A.GoToSurface] Stopped
2020-01-17T00:22:08.408Z,1579220528.408 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-17T00:22:08.856Z,1579220528.856 [MissionManager](IMPORTANT): Started mission Default
2020-01-17T00:22:08.856Z,1579220528.856 [Default] Running Loop=1
2020-01-17T00:22:08.856Z,1579220528.856 [Default](DEBUG): Aggregate::initialize Default
2020-01-17T00:22:08.856Z,1579220528.856 [Default:B.GoToSurface] Running Loop=1
2020-01-17T00:22:08.856Z,1579220528.856 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-17T00:22:08.856Z,1579220528.856 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-17T00:22:08.861Z,1579220528.861 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-17T00:22:08.861Z,1579220528.861 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-17T00:22:08.861Z,1579220528.861 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-17T00:22:08.862Z,1579220528.862 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-17T00:22:08.862Z,1579220528.862 [Default:A.Wait] Running Loop=1
2020-01-17T00:22:08.862Z,1579220528.862 [Default:A.Wait](DEBUG): Initialize Wait Component.
2020-01-17T00:22:12.446Z,1579220532.446 [DataOverHttps](INFO): Sending 857 bytes from file Logs/20200117T001824/Express0001.lzma
2020-01-17T00:22:14.450Z,1579220534.450 [DataOverHttps](INFO): Moved sent file to Logs/20200117T001824/Express0001.lzma.bak
2020-01-17T00:22:14.450Z,1579220534.450 [DataOverHttps](INFO): SBD MOMSN=12195986
2020-01-17T00:22:22.145Z,1579220542.145 [Default:A.Wait](INFO): Done Waiting.
2020-01-17T00:22:22.145Z,1579220542.145 [Default:A.Wait] Stopped
2020-01-17T00:22:22.146Z,1579220542.146 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-17T00:22:22.569Z,1579220542.569 [Default:CheckIn] Running Loop=1
2020-01-17T00:22:22.569Z,1579220542.569 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2020-01-17T00:22:22.569Z,1579220542.569 [Default:CheckIn:Read_GPS] Running Loop=1
2020-01-17T00:22:22.978Z,1579220542.978 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2020-01-17T00:22:30.199Z,1579220550.199 [CommandLine](IMPORTANT): got command get Config/workSite.beaconDepth
2020-01-17T00:22:30.199Z,1579220550.199 [CommandLine](IMPORTANT): Config/workSite.beaconDepth 6.000000 m
2020-01-17T00:23:48.662Z,1579220628.662 [CommandLine](IMPORTANT): got command load ./Missions/Insert/Docked.xml
2020-01-17T00:23:48.662Z,1579220628.662 [MissionManager](INFO): Loading Mission: ./Missions/Insert/Docked.xml
2020-01-17T00:23:48.738Z,1579220628.738 [MissionManager](INFO): DefineArg Docked.MaxDockRange = 8.000000 m
2020-01-17T00:23:48.742Z,1579220628.742 [MissionManager](INFO): DefineArg Docked.DetachedTimeout = 5.000000 min
2020-01-17T00:23:48.746Z,1579220628.746 [MissionManager](INFO): DefineArg Docked.DockedTimeout = 30.000000 s
2020-01-17T00:23:48.751Z,1579220628.751 [MissionManager](INFO): DefineArg Docked.Depth = 6.000000 _
2020-01-17T00:23:48.756Z,1579220628.756 [MissionManager](INFO): DefineArg Docked.TransponderCode = 2.000000 count
2020-01-17T00:23:48.775Z,1579220628.775 [MissionManager](INFO): DefineArg Docked.TrackingUpdatePeriod = 60.000000 s
2020-01-17T00:23:48.793Z,1579220628.793 [MissionManager](INFO): DefineArg Docked.NumberOfPings = 1.000000 count
2020-01-17T00:23:48.801Z,1579220628.801 [MissionManager](INFO): DefineArg Docked.Speed = 0.000000 m/s
2020-01-17T00:23:48.804Z,1579220628.804 [MissionManager](INFO): DefineArg Docked.DepthDeadband = 1.500000 m
2020-01-17T00:23:48.812Z,1579220628.812 [MissionManager](INFO): DefineArg Docked.PitchLimit = 20.000000 arcdeg
2020-01-17T00:23:48.831Z,1579220628.831 [MissionManager](INFO): DefineArg Docked.MinDepth = 1.000000 m
2020-01-17T00:23:48.840Z,1579220628.840 [MissionManager](INFO): DefineArg Docked.MaxDepth = 215.000000 m
2020-01-17T00:23:48.842Z,1579220628.842 [Docked:A.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-01-17T00:23:49.102Z,1579220629.102 [Docked:E.Pitch](DEBUG): Construct.
2020-01-17T00:23:49.121Z,1579220629.121 [Docked:F.SetSpeed](DEBUG): Construct.
2020-01-17T00:23:49.131Z,1579220629.131 [Docked:G.Docked](DEBUG): Construct.
2020-01-17T00:23:49.156Z,1579220629.156 [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="DockedTimeout"><Description>
       Time duration limit for determining if the vehicle is ON the dock.
   </Description><Units:second/><Value>30</Value></DefineArg>

    <DefineArg Name="Depth"><Description>
        Depth to maintain while docked.
    </Description><CustomUri Uri="Config/workSite.beaconDepth"/></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>
        <Setting><Guidance:Docked.DockedTimeout/><Arg Name="DockedTimeout"/></Setting>
    </Guidance:Docked>

</Aggregate>


2020-01-17T00:23:49.156Z,1579220629.156 [CommandLine](IMPORTANT): Loaded ./Missions/Insert/Docked.xml
2020-01-17T00:24:03.576Z,1579220643.576 [CommandLine](IMPORTANT): got command set Docked.DetachedTimeout 30.000000 second
2020-01-17T00:24:08.631Z,1579220648.631 [CommandLine](IMPORTANT): got command run
2020-01-17T00:24:08.633Z,1579220648.633 [CommandLine](IMPORTANT): Running 
2020-01-17T00:24:08.838Z,1579220648.838 [Default] Stopped
2020-01-17T00:24:08.839Z,1579220648.839 [Default](DEBUG): Aggregate::uninitialize Default
2020-01-17T00:24:08.839Z,1579220648.839 [Default:B.GoToSurface] Stopped
2020-01-17T00:24:08.839Z,1579220648.839 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-17T00:24:08.839Z,1579220648.839 [Default:CheckIn] Stopped
2020-01-17T00:24:08.839Z,1579220648.839 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2020-01-17T00:24:08.839Z,1579220648.839 [Default:CheckIn:Read_GPS] Stopped
2020-01-17T00:24:08.839Z,1579220648.839 [MissionManager](IMPORTANT): Started mission Docked
2020-01-17T00:24:08.839Z,1579220648.839 [Docked] Running Loop=1
2020-01-17T00:24:08.839Z,1579220648.839 [Docked](DEBUG): Aggregate::initialize Docked
2020-01-17T00:24:08.839Z,1579220648.839 [Docked:A.DepthEnvelope] Running Loop=1
2020-01-17T00:24:08.840Z,1579220648.840 [Docked:A.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2020-01-17T00:24:08.840Z,1579220648.840 [Docked:B.] Running Loop=1
2020-01-17T00:24:08.840Z,1579220648.840 [Docked:B.](INFO): Initializing TrackAcousticContact.
2020-01-17T00:24:08.840Z,1579220648.840 [Docked:C] Running Loop=1
2020-01-17T00:24:08.840Z,1579220648.840 [Docked:D] Running Loop=1
2020-01-17T00:24:08.840Z,1579220648.840 [Docked:E.Pitch] Running Loop=1
2020-01-17T00:24:08.840Z,1579220648.840 [Docked:E.Pitch](DEBUG): Initialize.
2020-01-17T00:24:08.845Z,1579220648.845 [Docked:F.SetSpeed] Running Loop=1
2020-01-17T00:24:08.845Z,1579220648.845 [Docked:F.SetSpeed](DEBUG): Initialize.
2020-01-17T00:24:08.846Z,1579220648.846 [Docked:G.Docked] Running Loop=1
2020-01-17T00:24:08.846Z,1579220648.846 [Docked:G.Docked](DEBUG): Initialize.
2020-01-17T00:24:08.846Z,1579220648.846 [Docked:G.Docked](INFO): Depth unspecified. Maintaining workSite beacon depth of 6.000000 m.
2020-01-17T00:24:08.847Z,1579220648.847 [Docked:F.SetSpeed] Running Loop=1
2020-01-17T00:24:08.847Z,1579220648.847 [Docked:E.Pitch] Running Loop=1
2020-01-17T00:24:08.848Z,1579220648.848 [Docked:D] Running Loop=1
2020-01-17T00:24:08.848Z,1579220648.848 [Docked:C] Running Loop=1
2020-01-17T00:24:08.848Z,1579220648.848 [Docked:B.] Running Loop=1
2020-01-17T00:24:08.853Z,1579220648.853 [Docked:A.DepthEnvelope] Running Loop=1
2020-01-17T00:24:15.654Z,1579220655.654 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2020-01-17T00:24:35.876Z,1579220675.876 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2020-01-17T00:24:35.876Z,1579220675.876 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T00:24:35.954Z,1579220675.954 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T00:24:36.461Z,1579220676.461 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T00:24:36.461Z,1579220676.461 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2020-01-17T00:24:38.815Z,1579220678.815 [CommandLine](IMPORTANT): got command show stack
2020-01-17T00:24:38.815Z,1579220678.815 [CommandLine](IMPORTANT): Behavior Stack:

2020-01-17T00:24:38.815Z,1579220678.815 [Docked](IMPORTANT): Priority 0: Docked:A.DepthEnvelope
2020-01-17T00:24:38.815Z,1579220678.815 [Docked](IMPORTANT): Priority 1: Docked:B.
2020-01-17T00:24:38.816Z,1579220678.816 [Docked](IMPORTANT): Priority 2: Docked:C
2020-01-17T00:24:38.816Z,1579220678.816 [Docked](IMPORTANT): Priority 3: Docked:D
2020-01-17T00:24:38.816Z,1579220678.816 [Docked](IMPORTANT): Priority 4: Docked:E.Pitch
2020-01-17T00:24:38.816Z,1579220678.816 [Docked](IMPORTANT): Priority 5: Docked:F.SetSpeed
2020-01-17T00:24:38.816Z,1579220678.816 [Docked](IMPORTANT): Priority 6: Docked:G.Docked
2020-01-17T00:24:54.619Z,1579220694.619 [CommandLine](IMPORTANT): got command get VerticalControl.depthCmd
2020-01-17T00:24:54.620Z,1579220694.620 [CommandLine](IMPORTANT): VerticalControl.depthCmd 6.000000 m
2020-01-17T00:25:09.196Z,1579220709.196 [Docked:B.](INFO): *** querying acoustic contact ***
2020-01-17T00:25:09.964Z,1579220709.964 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-17T00:25:10.554Z,1579220710.554 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-17T00:25:11.354Z,1579220711.354 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002511.08*51

2020-01-17T00:25:13.367Z,1579220713.367 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-17T00:25:29.958Z,1579220729.958 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-17T00:25:29.958Z,1579220729.958 [RDI_Pathfinder](ERROR): Failed to parse:
:TS7373015,35.0, -0.1,   0.0,1448.9,  0
2020-01-17T00:25:57.536Z,1579220757.536 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2020-01-17T00:25:57.539Z,1579220757.539 [BPC1](INFO): Received data from all battery sticks.
2020-01-17T00:26:04.247Z,1579220764.247 [CommandLine](IMPORTANT): got command show variable DUSBL
2020-01-17T00:26:04.452Z,1579220764.452 [CommandLine](IMPORTANT): DUSBL_Hydroid.loadAtStartup (bool)
2020-01-17T00:26:04.452Z,1579220764.452 [CommandLine](IMPORTANT): DUSBL_Hydroid.simulateHardware (bool)
2020-01-17T00:26:04.453Z,1579220764.453 [CommandLine](IMPORTANT): DUSBL_Hydroid.defaultTurnAroundTime (second)
2020-01-17T00:26:04.454Z,1579220764.454 [CommandLine](IMPORTANT): DUSBL_Hydroid.defaultSoundSpeed (meter_per_second)
2020-01-17T00:26:04.454Z,1579220764.454 [CommandLine](IMPORTANT): DUSBL_Hydroid.detectionThreshold (count)
2020-01-17T00:26:04.455Z,1579220764.455 [CommandLine](IMPORTANT): DUSBL_Hydroid.recieveTimeout (millisecond)
2020-01-17T00:26:04.455Z,1579220764.455 [CommandLine](IMPORTANT): DUSBL_Hydroid.transmitLockout (millisecond)
2020-01-17T00:26:04.456Z,1579220764.456 [CommandLine](IMPORTANT): DUSBL_Hydroid.transponderCode (enum)
2020-01-17T00:26:04.456Z,1579220764.456 [CommandLine](IMPORTANT): DUSBL_Hydroid.numberOfPingsRequested (count)
2020-01-17T00:26:04.456Z,1579220764.456 [CommandLine](IMPORTANT): DUSBL_Hydroid.verbosity (enum)
2020-01-17T00:26:04.457Z,1579220764.457 [CommandLine](IMPORTANT): DUSBL_Hydroid.xCenter (angular_degree)
2020-01-17T00:26:04.458Z,1579220764.458 [CommandLine](IMPORTANT): DUSBL_Hydroid.yCenter (angular_degree)
2020-01-17T00:26:04.460Z,1579220764.460 [CommandLine](IMPORTANT): Micromodem.dusblPingCode (none)
2020-01-17T00:26:04.519Z,1579220764.519 [CommandLine](IMPORTANT): DUSBL_Hydroid.loadControl (none)
2020-01-17T00:26:04.520Z,1579220764.520 [CommandLine](IMPORTANT): DUSBL_Hydroid.uart (none)
2020-01-17T00:26:04.520Z,1579220764.520 [CommandLine](IMPORTANT): DUSBL_Hydroid.baud (bit_per_second)
2020-01-17T00:26:04.533Z,1579220764.533 [CommandLine](IMPORTANT): DUSBL_Hydroid.pingRequested (count)
2020-01-17T00:26:04.533Z,1579220764.533 [CommandLine](IMPORTANT): Micromodem.dusblPingCodeRequested (enum)
2020-01-17T00:26:04.534Z,1579220764.534 [CommandLine](IMPORTANT): DUSBL_Hydroid.xAngle (angular_degree)
2020-01-17T00:26:04.534Z,1579220764.534 [CommandLine](IMPORTANT): DUSBL_Hydroid.yAngle (angular_degree)
2020-01-17T00:26:04.534Z,1579220764.534 [CommandLine](IMPORTANT): DUSBL_Hydroid.travelTime (microsecond)
2020-01-17T00:26:04.535Z,1579220764.535 [CommandLine](IMPORTANT): DUSBL_Hydroid.latency (microsecond)
2020-01-17T00:26:04.535Z,1579220764.535 [CommandLine](IMPORTANT): DUSBL_Hydroid.gain (ratio)
2020-01-17T00:26:04.535Z,1579220764.535 [CommandLine](IMPORTANT): DUSBL_Hydroid.inBandSignalToNoise (ratio)
2020-01-17T00:26:04.536Z,1579220764.536 [CommandLine](IMPORTANT): DUSBL_Hydroid.outBandSignalToNoise (ratio)
2020-01-17T00:26:04.536Z,1579220764.536 [CommandLine](IMPORTANT): DUSBL_Hydroid.acoustic_contact_range (meter)
2020-01-17T00:26:04.536Z,1579220764.536 [CommandLine](IMPORTANT): DUSBL_Hydroid.acoustic_contact_direction_vehicle_frame (none)
2020-01-17T00:26:04.541Z,1579220764.541 [CommandLine](IMPORTANT): DUSBL_Hydroid.acoustic_contact_address (enum)
2020-01-17T00:26:04.541Z,1579220764.541 [CommandLine](IMPORTANT): DUSBL_Hydroid.acoustic_receive_time (epoch_second)
2020-01-17T00:26:04.595Z,1579220764.595 [CommandLine](IMPORTANT): DUSBL_Hydroid.component_current (milliampere)
2020-01-17T00:26:04.596Z,1579220764.596 [CommandLine](IMPORTANT): DUSBL_Hydroid.component_avgCurrent (milliampere)
2020-01-17T00:26:04.622Z,1579220764.622 [CommandLine](IMPORTANT): DUSBL_Hydroid.component_voltage (volt)
2020-01-17T00:26:04.623Z,1579220764.623 [CommandLine](IMPORTANT): DUSBL_Hydroid.component_avgVoltage (volt)
2020-01-17T00:26:09.256Z,1579220769.256 [Docked:B.](INFO): *** querying acoustic contact ***
2020-01-17T00:26:10.020Z,1579220770.020 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-17T00:26:10.432Z,1579220770.432 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-17T00:26:11.243Z,1579220771.243 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002611.13*58

2020-01-17T00:26:13.662Z,1579220773.662 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-17T00:26:27.927Z,1579220787.927 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-17T00:26:27.928Z,1579220787.928 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2020-01-17T00:26:31.572Z,1579220791.572 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-17T00:26:31.572Z,1579220791.572 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00,   I,-32768,-32768,-32768,-32768,V
2020-01-17T00:26:36.822Z,1579220796.822 [CommandLine](IMPORTANT): got command get DUSBL_Hydroid.acoustic_contact_range
2020-01-17T00:26:36.822Z,1579220796.822 [CommandLine](IMPORTANT): DUSBL_Hydroid.acoustic_contact_range nan m
2020-01-17T00:27:01.925Z,1579220821.925 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-17T00:27:01.925Z,1579220821.925 [RDI_Pathfinder](ERROR): Failed to parse:
:TS7390215,35.0, -0.1,   0.0,1448.9,  0
2020-01-17T00:27:07.206Z,1579220827.206 [Docked:G.Docked](IMPORTANT): VEHICLE DETACHED FROM DOCK.
2020-01-17T00:27:07.206Z,1579220827.206 [Docked:G.Docked] Stopped
2020-01-17T00:27:07.208Z,1579220827.208 [Docked](INFO): Completed Docked
2020-01-17T00:27:07.208Z,1579220827.208 [MissionManager](INFO): Docked is completed.
2020-01-17T00:27:07.208Z,1579220827.208 [MissionManager](INFO): Uninitializing Mission Docked
2020-01-17T00:27:07.208Z,1579220827.208 [Docked] Stopped
2020-01-17T00:27:07.208Z,1579220827.208 [Docked](DEBUG): Aggregate::uninitialize Docked
2020-01-17T00:27:07.208Z,1579220827.208 [Docked:A.DepthEnvelope] Stopped
2020-01-17T00:27:07.208Z,1579220827.208 [Docked:A.DepthEnvelope](DEBUG): Uninitialize.
2020-01-17T00:27:07.208Z,1579220827.208 [Docked:B.] Stopped
2020-01-17T00:27:07.208Z,1579220827.208 [Docked:C] Stopped
2020-01-17T00:27:07.208Z,1579220827.208 [Docked:D] Stopped
2020-01-17T00:27:07.208Z,1579220827.208 [Docked:E.Pitch] Stopped
2020-01-17T00:27:07.208Z,1579220827.208 [Docked:F.SetSpeed] Stopped
2020-01-17T00:27:07.229Z,1579220827.229 [Docked:F.SetSpeed](DEBUG): Uninitialize.
2020-01-17T00:27:07.574Z,1579220827.574 [MissionManager](IMPORTANT): Started mission Default
2020-01-17T00:27:07.575Z,1579220827.575 [Default] Running Loop=1
2020-01-17T00:27:07.575Z,1579220827.575 [Default](DEBUG): Aggregate::initialize Default
2020-01-17T00:27:07.575Z,1579220827.575 [Default:B.GoToSurface] Running Loop=1
2020-01-17T00:27:07.575Z,1579220827.575 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-17T00:27:07.575Z,1579220827.575 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-17T00:27:07.575Z,1579220827.575 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-17T00:27:07.576Z,1579220827.576 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-17T00:27:07.576Z,1579220827.576 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-17T00:27:07.576Z,1579220827.576 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-17T00:27:07.581Z,1579220827.581 [Default:A.Wait] Running Loop=1
2020-01-17T00:27:07.581Z,1579220827.581 [Default:A.Wait](DEBUG): Initialize Wait Component.
2020-01-17T00:27:10.947Z,1579220830.947 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-17T00:27:10.947Z,1579220830.947 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,20011617391115,35.0, -0.1,   0.0,1448:RA,  0.00,   0.00,   0.00,   0.00,   0.00
2020-01-17T00:27:20.652Z,1579220840.652 [Default:A.Wait](INFO): Done Waiting.
2020-01-17T00:27:20.652Z,1579220840.652 [Default:A.Wait] Stopped
2020-01-17T00:27:20.652Z,1579220840.652 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-17T00:27:21.044Z,1579220841.044 [Default:CheckIn] Running Loop=1
2020-01-17T00:27:21.044Z,1579220841.044 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2020-01-17T00:27:21.044Z,1579220841.044 [Default:CheckIn:Read_GPS] Running Loop=1
2020-01-17T00:27:28.319Z,1579220848.319 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-17T00:27:28.320Z,1579220848.320 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2020-01-17T00:27:31.630Z,1579220851.630 [CommandLine](IMPORTANT): got command load ./Missions/Insert/Docked.xml
2020-01-17T00:27:31.630Z,1579220851.630 [MissionManager](INFO): Loading Mission: ./Missions/Insert/Docked.xml
2020-01-17T00:27:31.686Z,1579220851.686 [MissionManager](INFO): DefineArg Docked.MaxDockRange = 8.000000 m
2020-01-17T00:27:31.688Z,1579220851.688 [MissionManager](INFO): DefineArg Docked.DetachedTimeout = 5.000000 min
2020-01-17T00:27:31.690Z,1579220851.690 [MissionManager](INFO): DefineArg Docked.DockedTimeout = 30.000000 s
2020-01-17T00:27:31.693Z,1579220851.693 [MissionManager](INFO): DefineArg Docked.Depth = 6.000000 _
2020-01-17T00:27:31.695Z,1579220851.695 [MissionManager](INFO): DefineArg Docked.TransponderCode = 2.000000 count
2020-01-17T00:27:31.697Z,1579220851.697 [MissionManager](INFO): DefineArg Docked.TrackingUpdatePeriod = 60.000000 s
2020-01-17T00:27:31.699Z,1579220851.699 [MissionManager](INFO): DefineArg Docked.NumberOfPings = 1.000000 count
2020-01-17T00:27:31.701Z,1579220851.701 [MissionManager](INFO): DefineArg Docked.Speed = 0.000000 m/s
2020-01-17T00:27:31.703Z,1579220851.703 [MissionManager](INFO): DefineArg Docked.DepthDeadband = 1.500000 m
2020-01-17T00:27:31.706Z,1579220851.706 [MissionManager](INFO): DefineArg Docked.PitchLimit = 20.000000 arcdeg
2020-01-17T00:27:31.708Z,1579220851.708 [MissionManager](INFO): DefineArg Docked.MinDepth = 1.000000 m
2020-01-17T00:27:31.711Z,1579220851.711 [MissionManager](INFO): DefineArg Docked.MaxDepth = 215.000000 m
2020-01-17T00:27:31.711Z,1579220851.711 [Docked:A.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-01-17T00:27:31.797Z,1579220851.797 [Docked:E.Pitch](DEBUG): Construct.
2020-01-17T00:27:31.810Z,1579220851.810 [Docked:F.SetSpeed](DEBUG): Construct.
2020-01-17T00:27:31.815Z,1579220851.815 [Docked:G.Docked](DEBUG): Construct.
2020-01-17T00:27:31.844Z,1579220851.844 [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="DockedTimeout"><Description>
       Time duration limit for determining if the vehicle is ON the dock.
   </Description><Units:second/><Value>30</Value></DefineArg>

    <DefineArg Name="Depth"><Description>
        Depth to maintain while docked.
    </Description><CustomUri Uri="Config/workSite.beaconDepth"/></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>
        <Setting><Guidance:Docked.DockedTimeout/><Arg Name="DockedTimeout"/></Setting>
    </Guidance:Docked>

</Aggregate>


2020-01-17T00:27:31.844Z,1579220851.844 [CommandLine](IMPORTANT): Loaded ./Missions/Insert/Docked.xml
2020-01-17T00:27:31.959Z,1579220851.959 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-01-17T00:27:31.959Z,1579220851.959 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-2768,V
2020-01-17T00:27:36.858Z,1579220856.858 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 3
2020-01-17T00:27:36.858Z,1579220856.858 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T00:27:36.924Z,1579220856.924 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T00:27:37.262Z,1579220857.262 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T00:27:37.262Z,1579220857.262 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 3
2020-01-17T00:27:48.618Z,1579220868.618 [CommandLine](IMPORTANT): got command load ./Missions/Insert/Docked.xml
2020-01-17T00:27:48.618Z,1579220868.618 [MissionManager](INFO): Uninitializing Mission Docked
2020-01-17T00:27:48.625Z,1579220868.625 [MissionManager](INFO): Loading Mission: ./Missions/Insert/Docked.xml
2020-01-17T00:27:48.688Z,1579220868.688 [MissionManager](INFO): DefineArg Docked.MaxDockRange = 8.000000 m
2020-01-17T00:27:48.695Z,1579220868.695 [MissionManager](INFO): DefineArg Docked.DetachedTimeout = 5.000000 min
2020-01-17T00:27:48.701Z,1579220868.701 [MissionManager](INFO): DefineArg Docked.DockedTimeout = 30.000000 s
2020-01-17T00:27:48.709Z,1579220868.709 [MissionManager](INFO): DefineArg Docked.Depth = 6.000000 _
2020-01-17T00:27:48.712Z,1579220868.712 [MissionManager](INFO): DefineArg Docked.TransponderCode = 2.000000 count
2020-01-17T00:27:48.726Z,1579220868.726 [MissionManager](INFO): DefineArg Docked.TrackingUpdatePeriod = 60.000000 s
2020-01-17T00:27:48.728Z,1579220868.728 [MissionManager](INFO): DefineArg Docked.NumberOfPings = 1.000000 count
2020-01-17T00:27:48.738Z,1579220868.738 [MissionManager](INFO): DefineArg Docked.Speed = 0.000000 m/s
2020-01-17T00:27:48.740Z,1579220868.740 [MissionManager](INFO): DefineArg Docked.DepthDeadband = 1.500000 m
2020-01-17T00:27:48.751Z,1579220868.751 [MissionManager](INFO): DefineArg Docked.PitchLimit = 20.000000 arcdeg
2020-01-17T00:27:48.761Z,1579220868.761 [MissionManager](INFO): DefineArg Docked.MinDepth = 1.000000 m
2020-01-17T00:27:48.764Z,1579220868.764 [MissionManager](INFO): DefineArg Docked.MaxDepth = 215.000000 m
2020-01-17T00:27:48.769Z,1579220868.769 [Docked:A.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-01-17T00:27:48.804Z,1579220868.804 [Docked:E.Pitch](DEBUG): Construct.
2020-01-17T00:27:48.812Z,1579220868.812 [Docked:F.SetSpeed](DEBUG): Construct.
2020-01-17T00:27:48.815Z,1579220868.815 [Docked:G.Docked](DEBUG): Construct.
2020-01-17T00:27:48.841Z,1579220868.841 [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="DockedTimeout"><Description>
       Time duration limit for determining if the vehicle is ON the dock.
   </Description><Units:second/><Value>30</Value></DefineArg>

    <DefineArg Name="Depth"><Description>
        Depth to maintain while docked.
    </Description><CustomUri Uri="Config/workSite.beaconDepth"/></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>
        <Setting><Guidance:Docked.DockedTimeout/><Arg Name="DockedTimeout"/></Setting>
    </Guidance:Docked>

</Aggregate>


2020-01-17T00:27:48.841Z,1579220868.841 [CommandLine](IMPORTANT): Loaded ./Missions/Insert/Docked.xml
2020-01-17T00:27:50.933Z,1579220870.933 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-17T00:27:50.933Z,1579220870.933 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,20011617395115,35.0, -0.1,   0.0, 0
2020-01-17T00:27:54.775Z,1579220874.775 [CommandLine](IMPORTANT): got command set Docked.DetachedTimeout 30.000000 second
2020-01-17T00:27:58.528Z,1579220878.528 [CommandLine](IMPORTANT): got command run
2020-01-17T00:27:58.532Z,1579220878.532 [CommandLine](IMPORTANT): Running 
2020-01-17T00:27:58.651Z,1579220878.651 [Default] Stopped
2020-01-17T00:27:58.651Z,1579220878.651 [Default](DEBUG): Aggregate::uninitialize Default
2020-01-17T00:27:58.651Z,1579220878.651 [Default:B.GoToSurface] Stopped
2020-01-17T00:27:58.651Z,1579220878.651 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-17T00:27:58.651Z,1579220878.651 [Default:CheckIn] Stopped
2020-01-17T00:27:58.652Z,1579220878.652 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2020-01-17T00:27:58.652Z,1579220878.652 [Default:CheckIn:Read_GPS] Stopped
2020-01-17T00:27:58.652Z,1579220878.652 [MissionManager](IMPORTANT): Started mission Docked
2020-01-17T00:27:58.652Z,1579220878.652 [Docked] Running Loop=1
2020-01-17T00:27:58.652Z,1579220878.652 [Docked](DEBUG): Aggregate::initialize Docked
2020-01-17T00:27:58.652Z,1579220878.652 [Docked:A.DepthEnvelope] Running Loop=1
2020-01-17T00:27:58.652Z,1579220878.652 [Docked:A.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2020-01-17T00:27:58.653Z,1579220878.653 [Docked:B.] Running Loop=1
2020-01-17T00:27:58.653Z,1579220878.653 [Docked:B.](INFO): Initializing TrackAcousticContact.
2020-01-17T00:27:58.653Z,1579220878.653 [Docked:C] Running Loop=1
2020-01-17T00:27:58.653Z,1579220878.653 [Docked:D] Running Loop=1
2020-01-17T00:27:58.653Z,1579220878.653 [Docked:E.Pitch] Running Loop=1
2020-01-17T00:27:58.653Z,1579220878.653 [Docked:E.Pitch](DEBUG): Initialize.
2020-01-17T00:27:58.654Z,1579220878.654 [Docked:F.SetSpeed] Running Loop=1
2020-01-17T00:27:58.654Z,1579220878.654 [Docked:F.SetSpeed](DEBUG): Initialize.
2020-01-17T00:27:58.654Z,1579220878.654 [Docked:G.Docked] Running Loop=1
2020-01-17T00:27:58.654Z,1579220878.654 [Docked:G.Docked](DEBUG): Initialize.
2020-01-17T00:27:58.654Z,1579220878.654 [Docked:G.Docked](INFO): Depth unspecified. Maintaining workSite beacon depth of 6.000000 m.
2020-01-17T00:27:58.655Z,1579220878.655 [Docked:F.SetSpeed] Running Loop=1
2020-01-17T00:27:58.656Z,1579220878.656 [Docked:E.Pitch] Running Loop=1
2020-01-17T00:27:58.656Z,1579220878.656 [Docked:D] Running Loop=1
2020-01-17T00:27:58.656Z,1579220878.656 [Docked:C] Running Loop=1
2020-01-17T00:27:58.656Z,1579220878.656 [Docked:B.] Running Loop=1
2020-01-17T00:27:58.657Z,1579220878.657 [Docked:A.DepthEnvelope] Running Loop=1
2020-01-17T00:28:09.579Z,1579220889.579 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-17T00:28:09.579Z,1579220889.579 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00, :BI,-32768,-32768,-32768,-32768,V
2020-01-17T00:28:30.292Z,1579220910.292 [Docked:G.Docked](IMPORTANT): VEHICLE DETACHED FROM DOCK.
2020-01-17T00:28:30.292Z,1579220910.292 [Docked:G.Docked] Stopped
2020-01-17T00:28:30.294Z,1579220910.294 [Docked](INFO): Completed Docked
2020-01-17T00:28:30.295Z,1579220910.295 [MissionManager](INFO): Docked is completed.
2020-01-17T00:28:30.295Z,1579220910.295 [MissionManager](INFO): Uninitializing Mission Docked
2020-01-17T00:28:30.295Z,1579220910.295 [Docked] Stopped
2020-01-17T00:28:30.295Z,1579220910.295 [Docked](DEBUG): Aggregate::uninitialize Docked
2020-01-17T00:28:30.295Z,1579220910.295 [Docked:A.DepthEnvelope] Stopped
2020-01-17T00:28:30.295Z,1579220910.295 [Docked:A.DepthEnvelope](DEBUG): Uninitialize.
2020-01-17T00:28:30.295Z,1579220910.295 [Docked:B.] Stopped
2020-01-17T00:28:30.295Z,1579220910.295 [Docked:C] Stopped
2020-01-17T00:28:30.295Z,1579220910.295 [Docked:D] Stopped
2020-01-17T00:28:30.295Z,1579220910.295 [Docked:E.Pitch] Stopped
2020-01-17T00:28:30.295Z,1579220910.295 [Docked:F.SetSpeed] Stopped
2020-01-17T00:28:30.295Z,1579220910.295 [Docked:F.SetSpeed](DEBUG): Uninitialize.
2020-01-17T00:28:30.707Z,1579220910.707 [MissionManager](IMPORTANT): Started mission Default
2020-01-17T00:28:30.707Z,1579220910.707 [Default] Running Loop=1
2020-01-17T00:28:30.707Z,1579220910.707 [Default](DEBUG): Aggregate::initialize Default
2020-01-17T00:28:30.707Z,1579220910.707 [Default:B.GoToSurface] Running Loop=1
2020-01-17T00:28:30.707Z,1579220910.707 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-17T00:28:30.707Z,1579220910.707 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-17T00:28:30.708Z,1579220910.708 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-17T00:28:30.708Z,1579220910.708 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-17T00:28:30.708Z,1579220910.708 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-17T00:28:30.713Z,1579220910.713 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-17T00:28:30.713Z,1579220910.713 [Default:A.Wait] Running Loop=1
2020-01-17T00:28:30.713Z,1579220910.713 [Default:A.Wait](DEBUG): Initialize Wait Component.
2020-01-17T00:28:43.042Z,1579220923.042 [CommandLine](IMPORTANT): got command load ./Missions/Insert/Docked.xml
2020-01-17T00:28:43.043Z,1579220923.043 [MissionManager](INFO): Loading Mission: ./Missions/Insert/Docked.xml
2020-01-17T00:28:43.099Z,1579220923.099 [MissionManager](INFO): DefineArg Docked.MaxDockRange = 8.000000 m
2020-01-17T00:28:43.101Z,1579220923.101 [MissionManager](INFO): DefineArg Docked.DetachedTimeout = 5.000000 min
2020-01-17T00:28:43.103Z,1579220923.103 [MissionManager](INFO): DefineArg Docked.DockedTimeout = 30.000000 s
2020-01-17T00:28:43.106Z,1579220923.106 [MissionManager](INFO): DefineArg Docked.Depth = 6.000000 _
2020-01-17T00:28:43.108Z,1579220923.108 [MissionManager](INFO): DefineArg Docked.TransponderCode = 2.000000 count
2020-01-17T00:28:43.110Z,1579220923.110 [MissionManager](INFO): DefineArg Docked.TrackingUpdatePeriod = 60.000000 s
2020-01-17T00:28:43.112Z,1579220923.112 [MissionManager](INFO): DefineArg Docked.NumberOfPings = 1.000000 count
2020-01-17T00:28:43.116Z,1579220923.116 [MissionManager](INFO): DefineArg Docked.Speed = 0.000000 m/s
2020-01-17T00:28:43.118Z,1579220923.118 [MissionManager](INFO): DefineArg Docked.DepthDeadband = 1.500000 m
2020-01-17T00:28:43.121Z,1579220923.121 [MissionManager](INFO): DefineArg Docked.PitchLimit = 20.000000 arcdeg
2020-01-17T00:28:43.124Z,1579220923.124 [MissionManager](INFO): DefineArg Docked.MinDepth = 1.000000 m
2020-01-17T00:28:43.143Z,1579220923.143 [MissionManager](INFO): DefineArg Docked.MaxDepth = 215.000000 m
2020-01-17T00:28:43.143Z,1579220923.143 [Docked:A.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-01-17T00:28:43.186Z,1579220923.186 [Docked:E.Pitch](DEBUG): Construct.
2020-01-17T00:28:43.191Z,1579220923.191 [Docked:F.SetSpeed](DEBUG): Construct.
2020-01-17T00:28:43.201Z,1579220923.201 [Docked:G.Docked](DEBUG): Construct.
2020-01-17T00:28:43.226Z,1579220923.226 [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="DockedTimeout"><Description>
       Time duration limit for determining if the vehicle is ON the dock.
   </Description><Units:second/><Value>30</Value></DefineArg>

    <DefineArg Name="Depth"><Description>
        Depth to maintain while docked.
    </Description><CustomUri Uri="Config/workSite.beaconDepth"/></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>
        <Setting><Guidance:Docked.DockedTimeout/><Arg Name="DockedTimeout"/></Setting>
    </Guidance:Docked>

</Aggregate>


2020-01-17T00:28:43.226Z,1579220923.226 [CommandLine](IMPORTANT): Loaded ./Missions/Insert/Docked.xml
2020-01-17T00:28:43.726Z,1579220923.726 [Default:A.Wait](INFO): Done Waiting.
2020-01-17T00:28:43.726Z,1579220923.726 [Default:A.Wait] Stopped
2020-01-17T00:28:43.726Z,1579220923.726 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-17T00:28:44.119Z,1579220924.119 [Default:CheckIn] Running Loop=1
2020-01-17T00:28:44.119Z,1579220924.119 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2020-01-17T00:28:44.119Z,1579220924.119 [Default:CheckIn:Read_GPS] Running Loop=1
2020-01-17T00:28:45.752Z,1579220925.752 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-17T00:28:45.753Z,1579220925.753 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-32768,-3:BE,-32768,-32768,-32768,V
2020-01-17T00:29:13.967Z,1579220953.967 [NAL9602](FAULT): GPS failed to acquire within timeout.
2020-01-17T00:29:13.967Z,1579220953.967 [NAL9602] Data Fault, FailCount= 1
2020-01-17T00:29:13.967Z,1579220953.967 [NAL9602](ERROR): Data Fault
2020-01-17T00:29:14.028Z,1579220954.028 [CBIT](ERROR): Data Fault in component: NAL9602
2020-01-17T00:29:14.379Z,1579220954.379 [NAL9602](INFO): Powering down
2020-01-17T00:29:15.243Z,1579220955.243 [CBIT](INFO): Clearing failed state for component NAL9602
2020-01-17T00:29:15.243Z,1579220955.243 [NAL9602] No Fault, FailCount= 1
2020-01-17T00:29:44.680Z,1579220984.680 [NAL9602](INFO): Powering up NAL9602
2020-01-17T00:29:54.315Z,1579220994.315 [CommandLine](IMPORTANT): got command load ./Missions/Insert/Docked.xml
2020-01-17T00:29:54.315Z,1579220994.315 [MissionManager](INFO): Uninitializing Mission Docked
2020-01-17T00:29:54.321Z,1579220994.321 [MissionManager](INFO): Loading Mission: ./Missions/Insert/Docked.xml
2020-01-17T00:29:54.465Z,1579220994.465 [MissionManager](INFO): DefineArg Docked.MaxDockRange = 8.000000 m
2020-01-17T00:29:54.467Z,1579220994.467 [MissionManager](INFO): DefineArg Docked.DetachedTimeout = 5.000000 min
2020-01-17T00:29:54.470Z,1579220994.470 [MissionManager](INFO): DefineArg Docked.DockedTimeout = 30.000000 s
2020-01-17T00:29:54.472Z,1579220994.472 [MissionManager](INFO): DefineArg Docked.Depth = 6.000000 _
2020-01-17T00:29:54.475Z,1579220994.475 [MissionManager](INFO): DefineArg Docked.TransponderCode = 2.000000 count
2020-01-17T00:29:54.477Z,1579220994.477 [MissionManager](INFO): DefineArg Docked.TrackingUpdatePeriod = 60.000000 s
2020-01-17T00:29:54.479Z,1579220994.479 [MissionManager](INFO): DefineArg Docked.NumberOfPings = 1.000000 count
2020-01-17T00:29:54.481Z,1579220994.481 [MissionManager](INFO): DefineArg Docked.Speed = 0.000000 m/s
2020-01-17T00:29:54.483Z,1579220994.483 [MissionManager](INFO): DefineArg Docked.DepthDeadband = 1.500000 m
2020-01-17T00:29:54.506Z,1579220994.506 [MissionManager](INFO): DefineArg Docked.PitchLimit = 20.000000 arcdeg
2020-01-17T00:29:54.509Z,1579220994.509 [MissionManager](INFO): DefineArg Docked.MinDepth = 1.000000 m
2020-01-17T00:29:54.511Z,1579220994.511 [MissionManager](INFO): DefineArg Docked.MaxDepth = 215.000000 m
2020-01-17T00:29:54.512Z,1579220994.512 [Docked:A.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-01-17T00:29:54.609Z,1579220994.609 [Docked:E.Docked](DEBUG): Construct.
2020-01-17T00:29:54.652Z,1579220994.652 [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="DockedTimeout"><Description>
       Time duration limit for determining if the vehicle is ON the dock.
   </Description><Units:second/><Value>30</Value></DefineArg>

    <DefineArg Name="Depth"><Description>
        Depth to maintain while docked.
    </Description><CustomUri Uri="Config/workSite.beaconDepth"/></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: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>
        <Setting><Guidance:Docked.DockedTimeout/><Arg Name="DockedTimeout"/></Setting>
    </Guidance:Docked>

</Aggregate>


2020-01-17T00:29:54.653Z,1579220994.653 [CommandLine](IMPORTANT): Loaded ./Missions/Insert/Docked.xml
2020-01-17T00:29:55.588Z,1579220995.588 [NAL9602](INFO): NAL9602 initialized
2020-01-17T00:30:15.021Z,1579221015.021 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-17T00:30:15.021Z,1579221015.021 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,2001161742151-0.1,   0.0,1448.9,  0
2020-01-17T00:30:16.403Z,1579221016.403 [CommandLine](IMPORTANT): got command report mod VerticalControl.depthCmd
2020-01-17T00:30:16.643Z,1579221016.643 [Reporter](INFO): VerticalControl.depthCmd 6.000000 m
2020-01-17T00:30:26.171Z,1579221026.171 [CommandLine](IMPORTANT): got command set Docked.DetachedTimeout 30.000000 second
2020-01-17T00:30:32.550Z,1579221032.550 [CommandLine](IMPORTANT): got command run
2020-01-17T00:30:32.555Z,1579221032.555 [CommandLine](IMPORTANT): Running 
2020-01-17T00:30:32.795Z,1579221032.795 [Default] Stopped
2020-01-17T00:30:32.795Z,1579221032.795 [Default](DEBUG): Aggregate::uninitialize Default
2020-01-17T00:30:32.795Z,1579221032.795 [Default:B.GoToSurface] Stopped
2020-01-17T00:30:32.795Z,1579221032.795 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-17T00:30:32.796Z,1579221032.796 [Default:CheckIn] Stopped
2020-01-17T00:30:32.796Z,1579221032.796 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2020-01-17T00:30:32.796Z,1579221032.796 [Default:CheckIn:Read_GPS] Stopped
2020-01-17T00:30:32.796Z,1579221032.796 [MissionManager](IMPORTANT): Started mission Docked
2020-01-17T00:30:32.796Z,1579221032.796 [Docked] Running Loop=1
2020-01-17T00:30:32.796Z,1579221032.796 [Docked](DEBUG): Aggregate::initialize Docked
2020-01-17T00:30:32.796Z,1579221032.796 [Docked:A.DepthEnvelope] Running Loop=1
2020-01-17T00:30:32.796Z,1579221032.796 [Docked:A.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2020-01-17T00:30:32.796Z,1579221032.796 [Docked:B.] Running Loop=1
2020-01-17T00:30:32.801Z,1579221032.801 [Docked:B.](INFO): Initializing TrackAcousticContact.
2020-01-17T00:30:32.801Z,1579221032.801 [Docked:C] Running Loop=1
2020-01-17T00:30:32.801Z,1579221032.801 [Docked:D] Running Loop=1
2020-01-17T00:30:32.801Z,1579221032.801 [Docked:E.Docked] Running Loop=1
2020-01-17T00:30:32.801Z,1579221032.801 [Docked:E.Docked](DEBUG): Initialize.
2020-01-17T00:30:32.802Z,1579221032.802 [Docked:E.Docked](INFO): Depth unspecified. Maintaining workSite beacon depth of 6.000000 m.
2020-01-17T00:30:32.802Z,1579221032.802 [Docked:D] Running Loop=1
2020-01-17T00:30:32.803Z,1579221032.803 [Docked:C] Running Loop=1
2020-01-17T00:30:32.803Z,1579221032.803 [Docked:B.] Running Loop=1
2020-01-17T00:30:32.803Z,1579221032.803 [Docked:A.DepthEnvelope] Running Loop=1
2020-01-17T00:30:37.677Z,1579221037.677 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 4
2020-01-17T00:30:37.677Z,1579221037.677 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T00:30:37.738Z,1579221037.738 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T00:30:38.129Z,1579221038.129 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T00:30:38.129Z,1579221038.129 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 4
2020-01-17T00:30:54.930Z,1579221054.930 [CommandLine](IMPORTANT): got command get VerticalControl.depthCmd
2020-01-17T00:30:54.931Z,1579221054.931 [CommandLine](IMPORTANT): VerticalControl.depthCmd 6.000000 m
2020-01-17T00:31:04.487Z,1579221064.487 [Docked:E.Docked](IMPORTANT): VEHICLE DETACHED FROM DOCK.
2020-01-17T00:31:04.487Z,1579221064.487 [Docked:E.Docked] Stopped
2020-01-17T00:31:04.488Z,1579221064.488 [Docked](INFO): Completed Docked
2020-01-17T00:31:04.489Z,1579221064.489 [MissionManager](INFO): Docked is completed.
2020-01-17T00:31:04.489Z,1579221064.489 [MissionManager](INFO): Uninitializing Mission Docked
2020-01-17T00:31:04.489Z,1579221064.489 [Docked] Stopped
2020-01-17T00:31:04.489Z,1579221064.489 [Docked](DEBUG): Aggregate::uninitialize Docked
2020-01-17T00:31:04.489Z,1579221064.489 [Docked:A.DepthEnvelope] Stopped
2020-01-17T00:31:04.489Z,1579221064.489 [Docked:A.DepthEnvelope](DEBUG): Uninitialize.
2020-01-17T00:31:04.489Z,1579221064.489 [Docked:B.] Stopped
2020-01-17T00:31:04.489Z,1579221064.489 [Docked:C] Stopped
2020-01-17T00:31:04.489Z,1579221064.489 [Docked:D] Stopped
2020-01-17T00:31:04.542Z,1579221064.542 [Reporter](INFO): VerticalControl.depthCmd no_value
2020-01-17T00:31:04.860Z,1579221064.860 [MissionManager](IMPORTANT): Started mission Default
2020-01-17T00:31:04.861Z,1579221064.861 [Default] Running Loop=1
2020-01-17T00:31:04.861Z,1579221064.861 [Default](DEBUG): Aggregate::initialize Default
2020-01-17T00:31:04.861Z,1579221064.861 [Default:B.GoToSurface] Running Loop=1
2020-01-17T00:31:04.861Z,1579221064.861 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-17T00:31:04.861Z,1579221064.861 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-17T00:31:04.862Z,1579221064.862 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-17T00:31:04.862Z,1579221064.862 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-17T00:31:04.862Z,1579221064.862 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-17T00:31:04.862Z,1579221064.862 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-17T00:31:04.863Z,1579221064.863 [Default:A.Wait] Running Loop=1
2020-01-17T00:31:04.863Z,1579221064.863 [Default:A.Wait](DEBUG): Initialize Wait Component.
2020-01-17T00:31:17.880Z,1579221077.880 [Default:A.Wait](INFO): Done Waiting.
2020-01-17T00:31:17.880Z,1579221077.880 [Default:A.Wait] Stopped
2020-01-17T00:31:17.880Z,1579221077.880 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-17T00:31:18.288Z,1579221078.288 [Default:CheckIn] Running Loop=1
2020-01-17T00:31:18.288Z,1579221078.288 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2020-01-17T00:31:18.288Z,1579221078.288 [Default:CheckIn:Read_GPS] Running Loop=1
2020-01-17T00:32:28.970Z,1579221148.970 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-17T00:32:28.970Z,1579221148.970 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,20011617442915,35.0, -0.1,448.9,  0
2020-01-17T00:32:32.731Z,1579221152.731 [CommandLine](IMPORTANT): got command show variable DDM
2020-01-17T00:32:32.748Z,1579221152.748 [CommandLine](IMPORTANT): DDM.loadControl (none)
2020-01-17T00:32:32.749Z,1579221152.749 [CommandLine](IMPORTANT): DDM.uart (none)
2020-01-17T00:32:32.750Z,1579221152.750 [CommandLine](IMPORTANT): DDM.baud (bit_per_second)
2020-01-17T00:32:32.778Z,1579221152.778 [CommandLine](IMPORTANT): DDM.loadAtStartup (bool)
2020-01-17T00:32:32.778Z,1579221152.778 [CommandLine](IMPORTANT): DDM.simulateHardware (bool)
2020-01-17T00:32:32.779Z,1579221152.779 [CommandLine](IMPORTANT): DDM.currentLimit (count)
2020-01-17T00:32:32.779Z,1579221152.779 [CommandLine](IMPORTANT): DDM.PWMLimit (count)
2020-01-17T00:32:32.779Z,1579221152.779 [CommandLine](IMPORTANT): DDM.verbosity (count)
2020-01-17T00:32:32.838Z,1579221152.838 [CommandLine](IMPORTANT): DDM.whiskerState (count)
2020-01-17T00:32:32.838Z,1579221152.838 [CommandLine](IMPORTANT): DDM.latchState (count)
2020-01-17T00:32:32.838Z,1579221152.838 [CommandLine](IMPORTANT): DDM.cablePresent (bool)
2020-01-17T00:32:32.839Z,1579221152.839 [CommandLine](IMPORTANT): DDM.DDMMode (enum)
2020-01-17T00:33:10.042Z,1579221190.042 [CommandLine](IMPORTANT): got command report mod DDM.cablePresent
2020-01-17T00:33:10.200Z,1579221190.200 [Reporter](INFO): DDM.cablePresent no_value
2020-01-17T00:33:18.532Z,1579221198.532 [CommandLine](IMPORTANT): got command report mod DDM.DDMMode
2020-01-17T00:33:18.713Z,1579221198.713 [Reporter](INFO): DDM.DDMMode no_value
2020-01-17T00:33:30.707Z,1579221210.707 [CommandLine](IMPORTANT): got command get DDM.cablePresent
2020-01-17T00:33:30.707Z,1579221210.707 [CommandLine](IMPORTANT): DDM.cablePresent 0 bool
2020-01-17T00:33:38.474Z,1579221218.474 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 5
2020-01-17T00:33:38.474Z,1579221218.474 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T00:33:38.487Z,1579221218.487 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T00:33:38.954Z,1579221218.954 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T00:33:38.954Z,1579221218.954 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 5
2020-01-17T00:33:41.527Z,1579221221.527 [CommandLine](IMPORTANT): got command get DDM.DDMMode
2020-01-17T00:33:41.528Z,1579221221.528 [CommandLine](IMPORTANT): DDM.DDMMode 0 enum
2020-01-17T00:34:25.747Z,1579221265.747 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-17T00:34:25.747Z,1579221265.747 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2020-01-17T00:34:28.587Z,1579221268.587 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-01-17T00:34:28.587Z,1579221268.587 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,     ,        +0.00,        +0.00,   0.00,939.96
2020-01-17T00:36:18.452Z,1579221378.452 [Default:CheckIn:Read_GPS](INFO): Timed out from 2020-01-17T00:31:18.3Z
2020-01-17T00:36:18.452Z,1579221378.452 [Default:CheckIn:Read_GPS] Stopped
2020-01-17T00:36:18.452Z,1579221378.452 [Default:CheckIn:Read_Iridium] Running Loop=1
2020-01-17T00:36:18.874Z,1579221378.874 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2020-01-17T00:36:28.294Z,1579221388.294 [DataOverHttps](INFO): Sending 1935 bytes from file Logs/20200117T001824/Courier0004.lzma
2020-01-17T00:36:30.287Z,1579221390.287 [DataOverHttps](INFO): Moved sent file to Logs/20200117T001824/Courier0004.lzma.bak
2020-01-17T00:36:30.287Z,1579221390.287 [DataOverHttps](INFO): SBD MOMSN=12196011
2020-01-17T00:36:39.618Z,1579221399.618 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 6
2020-01-17T00:36:39.618Z,1579221399.618 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T00:36:39.648Z,1579221399.648 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T00:36:40.006Z,1579221400.006 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T00:36:40.006Z,1579221400.006 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 6
2020-01-17T00:36:49.655Z,1579221409.655 [DataOverHttps](INFO): Sending 1483 bytes from file Logs/20200117T001824/Express0005.lzma
2020-01-17T00:36:51.658Z,1579221411.658 [DataOverHttps](INFO): Moved sent file to Logs/20200117T001824/Express0005.lzma.bak
2020-01-17T00:36:51.658Z,1579221411.658 [DataOverHttps](INFO): SBD MOMSN=12196013
2020-01-17T00:36:52.957Z,1579221412.957 [Default:CheckIn:Read_Iridium] Stopped
2020-01-17T00:36:52.957Z,1579221412.957 [Default:CheckIn:C.Wait] Running Loop=1
2020-01-17T00:36:52.958Z,1579221412.958 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2020-01-17T00:39:40.603Z,1579221580.603 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 7
2020-01-17T00:39:40.603Z,1579221580.603 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T00:39:40.613Z,1579221580.613 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T00:39:41.013Z,1579221581.013 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T00:39:41.013Z,1579221581.013 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 7
2020-01-17T00:39:57.119Z,1579221597.119 [NAL9602](FAULT): GPS failed to acquire within timeout.
2020-01-17T00:39:57.119Z,1579221597.119 [NAL9602] Data Fault, FailCount= 2
2020-01-17T00:39:57.119Z,1579221597.119 [NAL9602](ERROR): Data Fault
2020-01-17T00:39:57.215Z,1579221597.215 [CBIT](ERROR): Data Fault in component: NAL9602
2020-01-17T00:39:57.519Z,1579221597.519 [NAL9602](INFO): Powering down
2020-01-17T00:39:58.398Z,1579221598.398 [CBIT](INFO): Clearing failed state for component NAL9602
2020-01-17T00:39:58.398Z,1579221598.398 [NAL9602] No Fault, FailCount= 2
2020-01-17T00:40:27.829Z,1579221627.829 [NAL9602](INFO): Powering up NAL9602
2020-01-17T00:40:38.731Z,1579221638.731 [NAL9602](INFO): NAL9602 initialized
2020-01-17T00:41:44.643Z,1579221704.643 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-01-17T00:41:44.643Z,1579221704.643 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-2768,-32768,V
2020-01-17T00:41:53.515Z,1579221713.515 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2020-01-17T00:41:53.515Z,1579221713.515 [Default:CheckIn:C.Wait] Stopped
2020-01-17T00:41:53.515Z,1579221713.515 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2020-01-17T00:41:53.515Z,1579221713.515 [Default:CheckIn:D] Running Loop=1
2020-01-17T00:41:53.920Z,1579221713.920 [Default:CheckIn:D] Stopped
2020-01-17T00:41:53.920Z,1579221713.920 [Default:CheckIn:E] Running Loop=1
2020-01-17T00:41:54.319Z,1579221714.319 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 10.817645 min 
2020-01-17T00:41:54.319Z,1579221714.319 [Default:CheckIn:E] Stopped
2020-01-17T00:41:54.319Z,1579221714.319 [Default:CheckIn](INFO): Completed Default:CheckIn
2020-01-17T00:41:54.319Z,1579221714.319 [Default:CheckIn] Stopped
2020-01-17T00:41:54.320Z,1579221714.320 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2020-01-17T00:41:54.320Z,1579221714.320 [Default:CheckIn](INFO): Running loop #2
2020-01-17T00:41:54.320Z,1579221714.320 [Default:CheckIn] Running Loop=2
2020-01-17T00:41:54.320Z,1579221714.320 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2020-01-17T00:41:54.320Z,1579221714.320 [Default:CheckIn:Read_GPS] Running Loop=1
2020-01-17T00:42:41.596Z,1579221761.596 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 8
2020-01-17T00:42:41.596Z,1579221761.596 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T00:42:41.622Z,1579221761.622 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T00:42:41.997Z,1579221761.997 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T00:42:41.997Z,1579221761.997 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 8
2020-01-17T00:43:40.070Z,1579221820.070 [CommandLine](IMPORTANT): got command load ./Missions/Insert/Docked.xml
2020-01-17T00:43:40.071Z,1579221820.071 [MissionManager](INFO): Loading Mission: ./Missions/Insert/Docked.xml
2020-01-17T00:43:40.201Z,1579221820.201 [MissionManager](INFO): DefineArg Docked.MaxDockRange = 8.000000 m
2020-01-17T00:43:40.204Z,1579221820.204 [MissionManager](INFO): DefineArg Docked.DetachedTimeout = 5.000000 min
2020-01-17T00:43:40.206Z,1579221820.206 [MissionManager](INFO): DefineArg Docked.DockedTimeout = 30.000000 s
2020-01-17T00:43:40.208Z,1579221820.208 [MissionManager](INFO): DefineArg Docked.Depth = 6.000000 _
2020-01-17T00:43:40.210Z,1579221820.210 [MissionManager](INFO): DefineArg Docked.TransponderCode = 2.000000 count
2020-01-17T00:43:40.212Z,1579221820.212 [MissionManager](INFO): DefineArg Docked.TrackingUpdatePeriod = 60.000000 s
2020-01-17T00:43:40.214Z,1579221820.214 [MissionManager](INFO): DefineArg Docked.NumberOfPings = 1.000000 count
2020-01-17T00:43:40.216Z,1579221820.216 [MissionManager](INFO): DefineArg Docked.Speed = 0.000000 m/s
2020-01-17T00:43:40.218Z,1579221820.218 [MissionManager](INFO): DefineArg Docked.DepthDeadband = 1.500000 m
2020-01-17T00:43:40.220Z,1579221820.220 [MissionManager](INFO): DefineArg Docked.PitchLimit = 20.000000 arcdeg
2020-01-17T00:43:40.222Z,1579221820.222 [MissionManager](INFO): DefineArg Docked.MinDepth = 1.000000 m
2020-01-17T00:43:40.225Z,1579221820.225 [MissionManager](INFO): DefineArg Docked.MaxDepth = 215.000000 m
2020-01-17T00:43:40.226Z,1579221820.226 [Docked:A.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-01-17T00:43:40.294Z,1579221820.294 [Docked:E.Docked](DEBUG): Construct.
2020-01-17T00:43:40.300Z,1579221820.300 [Docked:G.Wait](DEBUG): Construct Wait.
2020-01-17T00:43:40.330Z,1579221820.330 [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="DockedTimeout"><Description>
       Time duration limit for determining if the vehicle is ON the dock.
   </Description><Units:second/><Value>30</Value></DefineArg>

    <DefineArg Name="Depth"><Description>
        Depth to maintain while docked.
    </Description><CustomUri Uri="Config/workSite.beaconDepth"/></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:Docked>
        <Progression/>
        <Setting><Guidance:Docked.StopDepth/><Arg Name="MaxDepth"/></Setting>
        <Setting><Guidance:Docked.DockRange/><Arg Name="MaxDockRange"/></Setting>
        <Setting><Guidance:Docked.DetachedTimeout/><Arg Name="DetachedTimeout"/></Setting>
        <Setting><Guidance:Docked.DockedTimeout/><Arg Name="DockedTimeout"/></Setting>
    </Guidance:Docked>

    <Syslog Severity="Important">Passed Docked.</Syslog>

    <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>300</Value></Setting>
    </Guidance:Wait>

</Aggregate>


2020-01-17T00:43:40.330Z,1579221820.330 [CommandLine](IMPORTANT): Loaded ./Missions/Insert/Docked.xml
2020-01-17T00:43:40.616Z,1579221820.616 [Reporter](INFO): VerticalControl.depthCmd 6.000000 m
2020-01-17T00:43:49.463Z,1579221829.463 [CommandLine](IMPORTANT): got command set Docked.DetachedTimeout 30.000000 second
2020-01-17T00:44:01.935Z,1579221841.935 [CommandLine](IMPORTANT): got command get DDM.cablePresent
2020-01-17T00:44:01.935Z,1579221841.935 [CommandLine](IMPORTANT): DDM.cablePresent 0 bool
2020-01-17T00:44:26.734Z,1579221866.734 [CommandLine](IMPORTANT): got command get DDM.cablePresent
2020-01-17T00:44:26.735Z,1579221866.735 [CommandLine](IMPORTANT): DDM.cablePresent 0 bool
2020-01-17T00:44:56.118Z,1579221896.118 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-01-17T00:44:56.118Z,1579221896.118 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,32768,-32768,V
2020-01-17T00:45:21.043Z,1579221921.043 [CommandLine](IMPORTANT): got command get DDM.cablePresent
2020-01-17T00:45:21.043Z,1579221921.043 [CommandLine](IMPORTANT): DDM.cablePresent 0 bool
2020-01-17T00:45:25.823Z,1579221925.823 [CommandLine](IMPORTANT): got command show stack
2020-01-17T00:45:25.823Z,1579221925.823 [CommandLine](IMPORTANT): Behavior Stack:

2020-01-17T00:45:25.823Z,1579221925.823 [Default](IMPORTANT): Priority 0: Default:B.GoToSurface
2020-01-17T00:45:25.823Z,1579221925.823 [Default:CheckIn](IMPORTANT): Priority 1: Default:CheckIn:Read_GPS
2020-01-17T00:45:33.134Z,1579221933.134 [CommandLine](IMPORTANT): got command run
2020-01-17T00:45:33.146Z,1579221933.146 [CommandLine](IMPORTANT): Running 
2020-01-17T00:45:33.306Z,1579221933.306 [Default] Stopped
2020-01-17T00:45:33.306Z,1579221933.306 [Default](DEBUG): Aggregate::uninitialize Default
2020-01-17T00:45:33.306Z,1579221933.306 [Default:B.GoToSurface] Stopped
2020-01-17T00:45:33.306Z,1579221933.306 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-17T00:45:33.306Z,1579221933.306 [Default:CheckIn] Stopped
2020-01-17T00:45:33.306Z,1579221933.306 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2020-01-17T00:45:33.306Z,1579221933.306 [Default:CheckIn:Read_GPS] Stopped
2020-01-17T00:45:33.306Z,1579221933.306 [MissionManager](IMPORTANT): Started mission Docked
2020-01-17T00:45:33.307Z,1579221933.307 [Docked] Running Loop=1
2020-01-17T00:45:33.307Z,1579221933.307 [Docked](DEBUG): Aggregate::initialize Docked
2020-01-17T00:45:33.307Z,1579221933.307 [Docked:A.DepthEnvelope] Running Loop=1
2020-01-17T00:45:33.307Z,1579221933.307 [Docked:A.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2020-01-17T00:45:33.307Z,1579221933.307 [Docked:B.] Running Loop=1
2020-01-17T00:45:33.307Z,1579221933.307 [Docked:B.](INFO): Initializing TrackAcousticContact.
2020-01-17T00:45:33.307Z,1579221933.307 [Docked:C] Running Loop=1
2020-01-17T00:45:33.307Z,1579221933.307 [Docked:D] Running Loop=1
2020-01-17T00:45:33.307Z,1579221933.307 [Docked:E.Docked] Running Loop=1
2020-01-17T00:45:33.307Z,1579221933.307 [Docked:E.Docked](DEBUG): Initialize.
2020-01-17T00:45:33.308Z,1579221933.308 [Docked:E.Docked](INFO): Depth unspecified. Maintaining workSite beacon depth of 6.000000 m.
2020-01-17T00:45:33.309Z,1579221933.309 [Docked:D] Running Loop=1
2020-01-17T00:45:33.309Z,1579221933.309 [Docked:C] Running Loop=1
2020-01-17T00:45:33.309Z,1579221933.309 [Docked:B.] Running Loop=1
2020-01-17T00:45:33.310Z,1579221933.310 [Docked:A.DepthEnvelope] Running Loop=1
2020-01-17T00:45:34.708Z,1579221934.708 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-17T00:45:34.709Z,1579221934.709 [Reporter](INFO): DDM.DDMMode 0 enum
2020-01-17T00:45:35.015Z,1579221935.015 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-17T00:45:42.627Z,1579221942.627 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 9
2020-01-17T00:45:42.627Z,1579221942.627 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T00:45:42.670Z,1579221942.670 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T00:45:43.095Z,1579221943.095 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T00:45:43.095Z,1579221943.095 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 9
2020-01-17T00:45:48.287Z,1579221948.287 [CommandLine](IMPORTANT): got command show stack
2020-01-17T00:45:48.287Z,1579221948.287 [CommandLine](IMPORTANT): Behavior Stack:

2020-01-17T00:45:48.287Z,1579221948.287 [Docked](IMPORTANT): Priority 0: Docked:A.DepthEnvelope
2020-01-17T00:45:48.287Z,1579221948.287 [Docked](IMPORTANT): Priority 1: Docked:B.
2020-01-17T00:45:48.288Z,1579221948.288 [Docked](IMPORTANT): Priority 2: Docked:C
2020-01-17T00:45:48.288Z,1579221948.288 [Docked](IMPORTANT): Priority 3: Docked:D
2020-01-17T00:45:48.288Z,1579221948.288 [Docked](IMPORTANT): Priority 4: Docked:E.Docked
2020-01-17T00:46:33.670Z,1579221993.670 [Docked:B.](INFO): *** querying acoustic contact ***
2020-01-17T00:46:34.399Z,1579221994.399 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-17T00:46:34.810Z,1579221994.810 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-17T00:46:35.615Z,1579221995.615 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004635.51*5E

2020-01-17T00:46:37.707Z,1579221997.707 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-17T00:46:38.950Z,1579221998.950 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-17T00:46:38.950Z,1579221998.950 [RDI_Pathfinder](ERROR): Failed to parse:
:TS7583915,35.0, -0.1,   0.0,1448.9,  0
2020-01-17T00:46:45.009Z,1579222005.009 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-17T00:46:45.009Z,1579222005.009 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2020-01-17T00:47:34.028Z,1579222054.028 [Docked:B.](INFO): *** querying acoustic contact ***
2020-01-17T00:47:34.791Z,1579222054.791 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-17T00:47:35.201Z,1579222055.201 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-17T00:47:36.007Z,1579222056.007 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004735.90*52

2020-01-17T00:47:38.418Z,1579222058.418 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-17T00:47:41.930Z,1579222061.930 [CommandLine](IMPORTANT): got command show stack
2020-01-17T00:47:41.931Z,1579222061.931 [CommandLine](IMPORTANT): Behavior Stack:

2020-01-17T00:47:41.931Z,1579222061.931 [Docked](IMPORTANT): Priority 0: Docked:A.DepthEnvelope
2020-01-17T00:47:41.931Z,1579222061.931 [Docked](IMPORTANT): Priority 1: Docked:B.
2020-01-17T00:47:41.931Z,1579222061.931 [Docked](IMPORTANT): Priority 2: Docked:C
2020-01-17T00:47:41.932Z,1579222061.932 [Docked](IMPORTANT): Priority 3: Docked:D
2020-01-17T00:47:41.932Z,1579222061.932 [Docked](IMPORTANT): Priority 4: Docked:E.Docked
2020-01-17T00:47:57.184Z,1579222077.184 [Docked:E.Docked](IMPORTANT): VEHICLE DETACHED FROM DOCK.
2020-01-17T00:47:57.185Z,1579222077.185 [Docked:F] Running Loop=1
2020-01-17T00:47:57.195Z,1579222077.195 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-17T00:47:57.556Z,1579222077.556 [Docked:F](IMPORTANT): Passed Docked.
2020-01-17T00:47:57.556Z,1579222077.556 [Docked:F] Stopped
2020-01-17T00:47:57.556Z,1579222077.556 [Docked:G.Wait] Running Loop=1
2020-01-17T00:47:57.556Z,1579222077.556 [Docked:G.Wait](DEBUG): Initialize Wait Component.
2020-01-17T00:48:34.041Z,1579222114.041 [Docked:B.](INFO): *** querying acoustic contact ***
2020-01-17T00:48:34.469Z,1579222114.469 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-17T00:48:34.796Z,1579222114.796 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-17T00:48:34.916Z,1579222114.916 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-17T00:48:35.201Z,1579222115.201 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-17T00:48:36.011Z,1579222116.011 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004835.91*5C

2020-01-17T00:48:38.430Z,1579222118.430 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-17T00:48:43.719Z,1579222123.719 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 10
2020-01-17T00:48:43.719Z,1579222123.719 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T00:48:43.750Z,1579222123.750 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T00:48:44.130Z,1579222124.130 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T00:48:44.130Z,1579222124.130 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 10
2020-01-17T00:49:32.775Z,1579222172.775 [RDI_Pathfinder](ERROR): Failed to parse:
:SA,   +0.00,   +0.00,  0.00
2020-01-17T00:49:34.367Z,1579222174.367 [Docked:B.](INFO): *** querying acoustic contact ***
2020-01-17T00:49:35.160Z,1579222175.160 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-17T00:49:35.561Z,1579222175.561 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-17T00:49:36.380Z,1579222176.380 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004936.27*53

2020-01-17T00:49:38.787Z,1579222178.787 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-17T00:50:01.564Z,1579222201.564 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-01-17T00:50:01.565Z,1579222201.565 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +0.   +0.00,        +0.00,   0.00,1872.85
2020-01-17T00:50:34.774Z,1579222234.774 [Docked:B.](INFO): *** querying acoustic contact ***
2020-01-17T00:50:35.541Z,1579222235.541 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-17T00:50:35.950Z,1579222235.950 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-17T00:50:36.751Z,1579222236.751 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005036.66*5E

2020-01-17T00:50:39.162Z,1579222239.162 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-17T00:50:39.584Z,1579222239.584 [NAL9602](FAULT): GPS failed to acquire within timeout.
2020-01-17T00:50:39.584Z,1579222239.584 [NAL9602] Data Fault, FailCount= 3
2020-01-17T00:50:39.584Z,1579222239.584 [NAL9602](ERROR): Data Fault
2020-01-17T00:50:39.686Z,1579222239.686 [CBIT](ERROR): Data Fault in component: NAL9602
2020-01-17T00:50:39.971Z,1579222239.971 [NAL9602](INFO): Powering down
2020-01-17T00:50:40.877Z,1579222240.877 [CBIT](INFO): Clearing failed state for component NAL9602
2020-01-17T00:50:40.877Z,1579222240.877 [NAL9602] No Fault, FailCount= 3
2020-01-17T00:51:10.375Z,1579222270.375 [NAL9602](INFO): Powering up NAL9602
2020-01-17T00:51:21.279Z,1579222281.279 [NAL9602](INFO): NAL9602 initialized
2020-01-17T00:51:32.115Z,1579222292.115 [CommandLine](IMPORTANT): got command show stack
2020-01-17T00:51:32.115Z,1579222292.115 [CommandLine](IMPORTANT): Behavior Stack:

2020-01-17T00:51:32.115Z,1579222292.115 [Docked](IMPORTANT): Priority 0: Docked:A.DepthEnvelope
2020-01-17T00:51:32.116Z,1579222292.116 [Docked](IMPORTANT): Priority 1: Docked:B.
2020-01-17T00:51:32.116Z,1579222292.116 [Docked](IMPORTANT): Priority 2: Docked:C
2020-01-17T00:51:32.116Z,1579222292.116 [Docked](IMPORTANT): Priority 3: Docked:D
2020-01-17T00:51:32.116Z,1579222292.116 [Docked](IMPORTANT): Priority 4: Docked:E.Docked
2020-01-17T00:51:32.117Z,1579222292.117 [Docked](IMPORTANT): Priority 5: Docked:G.Wait
2020-01-17T00:51:35.054Z,1579222295.054 [Docked:B.](INFO): *** querying acoustic contact ***
2020-01-17T00:51:35.835Z,1579222295.835 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-17T00:51:36.229Z,1579222296.229 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-17T00:51:37.047Z,1579222297.047 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005136.95*53

2020-01-17T00:51:39.462Z,1579222299.462 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-17T00:51:44.839Z,1579222304.839 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 11
2020-01-17T00:51:44.839Z,1579222304.839 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T00:51:44.874Z,1579222304.874 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T00:51:45.260Z,1579222305.260 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T00:51:45.260Z,1579222305.260 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 11
2020-01-17T00:51:47.680Z,1579222307.680 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-17T00:51:48.107Z,1579222308.107 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-17T00:51:48.522Z,1579222308.522 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-17T00:51:48.930Z,1579222308.930 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-17T00:51:49.336Z,1579222309.336 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-17T00:52:35.432Z,1579222355.432 [Docked:B.](INFO): *** querying acoustic contact ***
2020-01-17T00:52:36.208Z,1579222356.208 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-17T00:52:36.621Z,1579222356.621 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-17T00:52:37.603Z,1579222357.603 [CommandLine](IMPORTANT): got command show stack
2020-01-17T00:52:37.603Z,1579222357.603 [CommandLine](IMPORTANT): Behavior Stack:

2020-01-17T00:52:37.603Z,1579222357.603 [Docked](IMPORTANT): Priority 0: Docked:A.DepthEnvelope
2020-01-17T00:52:37.604Z,1579222357.604 [Docked](IMPORTANT): Priority 1: Docked:B.
2020-01-17T00:52:37.604Z,1579222357.604 [Docked](IMPORTANT): Priority 2: Docked:C
2020-01-17T00:52:37.604Z,1579222357.604 [Docked](IMPORTANT): Priority 3: Docked:D
2020-01-17T00:52:37.604Z,1579222357.604 [Docked](IMPORTANT): Priority 4: Docked:E.Docked
2020-01-17T00:52:37.605Z,1579222357.605 [Docked](IMPORTANT): Priority 5: Docked:G.Wait
2020-01-17T00:52:37.822Z,1579222357.822 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005237.38*56

2020-01-17T00:52:39.850Z,1579222359.850 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-17T00:52:45.451Z,1579222365.451 [CommandLine](IMPORTANT): got command show stack
2020-01-17T00:52:45.451Z,1579222365.451 [CommandLine](IMPORTANT): Behavior Stack:

2020-01-17T00:52:45.451Z,1579222365.451 [Docked](IMPORTANT): Priority 0: Docked:A.DepthEnvelope
2020-01-17T00:52:45.451Z,1579222365.451 [Docked](IMPORTANT): Priority 1: Docked:B.
2020-01-17T00:52:45.451Z,1579222365.451 [Docked](IMPORTANT): Priority 2: Docked:C
2020-01-17T00:52:45.452Z,1579222365.452 [Docked](IMPORTANT): Priority 3: Docked:D
2020-01-17T00:52:45.452Z,1579222365.452 [Docked](IMPORTANT): Priority 4: Docked:E.Docked
2020-01-17T00:52:45.452Z,1579222365.452 [Docked](IMPORTANT): Priority 5: Docked:G.Wait
2020-01-17T00:52:58.245Z,1579222378.245 [Docked:G.Wait](INFO): Done Waiting.
2020-01-17T00:52:58.246Z,1579222378.246 [Docked:G.Wait] Stopped
2020-01-17T00:52:58.246Z,1579222378.246 [Docked:G.Wait](DEBUG): Uninitialize Wait Component.
2020-01-17T00:52:58.248Z,1579222378.248 [Docked](INFO): Completed Docked
2020-01-17T00:52:58.248Z,1579222378.248 [MissionManager](INFO): Docked is completed.
2020-01-17T00:52:58.248Z,1579222378.248 [MissionManager](INFO): Uninitializing Mission Docked
2020-01-17T00:52:58.248Z,1579222378.248 [Docked] Stopped
2020-01-17T00:52:58.248Z,1579222378.248 [Docked](DEBUG): Aggregate::uninitialize Docked
2020-01-17T00:52:58.248Z,1579222378.248 [Docked:A.DepthEnvelope] Stopped
2020-01-17T00:52:58.248Z,1579222378.248 [Docked:A.DepthEnvelope](DEBUG): Uninitialize.
2020-01-17T00:52:58.248Z,1579222378.248 [Docked:B.] Stopped
2020-01-17T00:52:58.248Z,1579222378.248 [Docked:C] Stopped
2020-01-17T00:52:58.248Z,1579222378.248 [Docked:D] Stopped
2020-01-17T00:52:58.248Z,1579222378.248 [Docked:E.Docked] Stopped
2020-01-17T00:52:58.307Z,1579222378.307 [Reporter](INFO): VerticalControl.depthCmd no_value
2020-01-17T00:52:58.500Z,1579222378.500 [MissionManager](IMPORTANT): Started mission Default
2020-01-17T00:52:58.500Z,1579222378.500 [Default] Running Loop=1
2020-01-17T00:52:58.500Z,1579222378.500 [Default](DEBUG): Aggregate::initialize Default
2020-01-17T00:52:58.500Z,1579222378.500 [Default:B.GoToSurface] Running Loop=1
2020-01-17T00:52:58.500Z,1579222378.500 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-17T00:52:58.505Z,1579222378.505 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-17T00:52:58.505Z,1579222378.505 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-17T00:52:58.505Z,1579222378.505 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-17T00:52:58.506Z,1579222378.506 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-17T00:52:58.507Z,1579222378.507 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-17T00:52:58.508Z,1579222378.508 [Default:A.Wait] Running Loop=1
2020-01-17T00:52:58.508Z,1579222378.508 [Default:A.Wait](DEBUG): Initialize Wait Component.
2020-01-17T00:52:58.575Z,1579222378.575 [Reporter](INFO): DDM.cablePresent no_value
2020-01-17T00:52:58.575Z,1579222378.575 [Reporter](INFO): DDM.DDMMode no_value
2020-01-17T00:53:01.091Z,1579222381.091 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-17T00:53:01.091Z,1579222381.091 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2020-01-17T00:53:11.626Z,1579222391.626 [Default:A.Wait](INFO): Done Waiting.
2020-01-17T00:53:11.626Z,1579222391.626 [Default:A.Wait] Stopped
2020-01-17T00:53:11.626Z,1579222391.626 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-17T00:53:12.011Z,1579222392.011 [Default:CheckIn] Running Loop=1
2020-01-17T00:53:12.011Z,1579222392.011 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2020-01-17T00:53:12.011Z,1579222392.011 [Default:CheckIn:Read_GPS] Running Loop=1
2020-01-17T00:54:01.908Z,1579222441.908 [CommandLine](IMPORTANT): got command show stack
2020-01-17T00:54:01.908Z,1579222441.908 [CommandLine](IMPORTANT): Behavior Stack:

2020-01-17T00:54:01.909Z,1579222441.909 [Default](IMPORTANT): Priority 0: Default:B.GoToSurface
2020-01-17T00:54:01.909Z,1579222441.909 [Default:CheckIn](IMPORTANT): Priority 1: Default:CheckIn:Read_GPS
2020-01-17T00:54:14.630Z,1579222454.630 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-01-17T00:54:14.631Z,1579222454.631 [RDI_Pathfinder](ERROR): Failed to parse::BD,     ,        +0.00,         0.00,2125.81
2020-01-17T00:54:22.614Z,1579222462.614 [CommandLine](IMPORTANT): got command load ./Missions/Insert/Docked.xml
2020-01-17T00:54:22.614Z,1579222462.614 [MissionManager](INFO): Loading Mission: ./Missions/Insert/Docked.xml
2020-01-17T00:54:22.655Z,1579222462.655 [MissionManager](INFO): DefineArg Docked.MaxDockRange = 8.000000 m
2020-01-17T00:54:22.719Z,1579222462.719 [MissionManager](INFO): DefineArg Docked.DetachedTimeout = 5.000000 min
2020-01-17T00:54:22.722Z,1579222462.722 [MissionManager](INFO): DefineArg Docked.DockedTimeout = 30.000000 s
2020-01-17T00:54:22.724Z,1579222462.724 [MissionManager](INFO): DefineArg Docked.Depth = 6.000000 _
2020-01-17T00:54:22.726Z,1579222462.726 [MissionManager](INFO): DefineArg Docked.TransponderCode = 2.000000 count
2020-01-17T00:54:22.728Z,1579222462.728 [MissionManager](INFO): DefineArg Docked.TrackingUpdatePeriod = 60.000000 s
2020-01-17T00:54:22.770Z,1579222462.770 [MissionManager](INFO): DefineArg Docked.NumberOfPings = 1.000000 count
2020-01-17T00:54:22.772Z,1579222462.772 [MissionManager](INFO): DefineArg Docked.Speed = 0.000000 m/s
2020-01-17T00:54:22.778Z,1579222462.778 [MissionManager](INFO): DefineArg Docked.DepthDeadband = 1.500000 m
2020-01-17T00:54:22.780Z,1579222462.780 [MissionManager](INFO): DefineArg Docked.PitchLimit = 20.000000 arcdeg
2020-01-17T00:54:22.809Z,1579222462.809 [MissionManager](INFO): DefineArg Docked.MinDepth = 1.000000 m
2020-01-17T00:54:22.812Z,1579222462.812 [MissionManager](INFO): DefineArg Docked.MaxDepth = 215.000000 m
2020-01-17T00:54:22.827Z,1579222462.827 [Docked:A.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-01-17T00:54:22.906Z,1579222462.906 [Docked:E.Docked](DEBUG): Construct.
2020-01-17T00:54:22.922Z,1579222462.922 [Docked:G.Wait](DEBUG): Construct Wait.
2020-01-17T00:54:22.956Z,1579222462.956 [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="DockedTimeout"><Description>
       Time duration limit for determining if the vehicle is ON the dock.
   </Description><Units:second/><Value>30</Value></DefineArg>

    <DefineArg Name="Depth"><Description>
        Depth to maintain while docked.
    </Description><CustomUri Uri="Config/workSite.beaconDepth"/></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:Docked>
        <Progression/>
        <Setting><Guidance:Docked.StopDepth/><Arg Name="MaxDepth"/></Setting>
        <Setting><Guidance:Docked.DockRange/><Arg Name="MaxDockRange"/></Setting>
        <Setting><Guidance:Docked.DetachedTimeout/><Arg Name="DetachedTimeout"/></Setting>
        <Setting><Guidance:Docked.DockedTimeout/><Arg Name="DockedTimeout"/></Setting>
    </Guidance:Docked>

    <Syslog Severity="Important">Passed Docked.</Syslog>

    <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>300</Value></Setting>
    </Guidance:Wait>

</Aggregate>


2020-01-17T00:54:22.961Z,1579222462.961 [CommandLine](IMPORTANT): Loaded ./Missions/Insert/Docked.xml
2020-01-17T00:54:23.131Z,1579222463.131 [Reporter](INFO): VerticalControl.depthCmd 6.000000 m
2020-01-17T00:54:38.204Z,1579222478.204 [CommandLine](IMPORTANT): got command show stack
2020-01-17T00:54:38.204Z,1579222478.204 [CommandLine](IMPORTANT): Behavior Stack:

2020-01-17T00:54:38.204Z,1579222478.204 [Default](IMPORTANT): Priority 0: Default:B.GoToSurface
2020-01-17T00:54:38.205Z,1579222478.205 [Default:CheckIn](IMPORTANT): Priority 1: Default:CheckIn:Read_GPS
2020-01-17T00:54:45.768Z,1579222485.768 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 12
2020-01-17T00:54:45.768Z,1579222485.768 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T00:54:45.778Z,1579222485.778 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T00:54:46.150Z,1579222486.150 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T00:54:46.150Z,1579222486.150 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 12
2020-01-17T00:57:28.572Z,1579222648.572 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-01-17T00:57:28.572Z,1579222648.572 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-3276,-3:BE,-32768,-32768,-32768,V
2020-01-17T00:57:46.745Z,1579222666.745 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 13
2020-01-17T00:57:46.745Z,1579222666.745 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T00:57:46.763Z,1579222666.763 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T00:57:47.184Z,1579222667.184 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T00:57:47.184Z,1579222667.184 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 13
2020-01-17T00:58:12.179Z,1579222692.179 [Default:CheckIn:Read_GPS](INFO): Timed out from 2020-01-17T00:53:12.0Z
2020-01-17T00:58:12.179Z,1579222692.179 [Default:CheckIn:Read_GPS] Stopped
2020-01-17T00:58:12.179Z,1579222692.179 [Default:CheckIn:Read_Iridium] Running Loop=1
2020-01-17T00:58:27.601Z,1579222707.601 [DataOverHttps](INFO): Sending 3226 bytes from file Logs/20200117T001824/Courier0007.lzma
2020-01-17T00:58:29.602Z,1579222709.602 [DataOverHttps](INFO): Moved sent file to Logs/20200117T001824/Courier0007.lzma.bak
2020-01-17T00:58:29.602Z,1579222709.602 [DataOverHttps](INFO): SBD MOMSN=12196121
2020-01-17T00:58:49.886Z,1579222729.886 [DataOverHttps](INFO): Sending 745 bytes from file Logs/20200117T001824/Express0008.lzma
2020-01-17T00:58:51.891Z,1579222731.891 [DataOverHttps](INFO): Moved sent file to Logs/20200117T001824/Express0008.lzma.bak
2020-01-17T00:58:51.891Z,1579222731.891 [DataOverHttps](INFO): SBD MOMSN=12196123
2020-01-17T00:58:53.111Z,1579222733.111 [Default:CheckIn:Read_Iridium] Stopped
2020-01-17T00:58:53.111Z,1579222733.111 [Default:CheckIn:C.Wait] Running Loop=1
2020-01-17T00:58:53.111Z,1579222733.111 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2020-01-17T01:00:35.769Z,1579222835.769 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-01-17T01:00:35.769Z,1579222835.769 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +0.00,     506.72
2020-01-17T01:00:38.572Z,1579222838.572 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-01-17T01:00:38.572Z,1579222838.572 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-3268,V
2020-01-17T01:00:47.904Z,1579222847.904 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 14
2020-01-17T01:00:47.904Z,1579222847.904 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T01:00:47.950Z,1579222847.950 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T01:00:48.311Z,1579222848.311 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T01:00:48.311Z,1579222848.311 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 14
2020-01-17T01:01:22.160Z,1579222882.160 [NAL9602](FAULT): GPS failed to acquire within timeout.
2020-01-17T01:01:22.160Z,1579222882.160 [NAL9602] Data Fault, FailCount= 4
2020-01-17T01:01:22.160Z,1579222882.160 [NAL9602](ERROR): Data Fault
2020-01-17T01:01:22.252Z,1579222882.252 [CBIT](ERROR): Data Fault in component: NAL9602
2020-01-17T01:01:22.563Z,1579222882.563 [NAL9602](INFO): Powering down
2020-01-17T01:01:23.415Z,1579222883.415 [CBIT](INFO): Clearing failed state for component NAL9602
2020-01-17T01:01:23.415Z,1579222883.415 [NAL9602] No Fault, FailCount= 4
2020-01-17T01:01:52.859Z,1579222912.859 [NAL9602](INFO): Powering up NAL9602
2020-01-17T01:02:03.788Z,1579222923.788 [NAL9602](INFO): NAL9602 initialized
2020-01-17T01:03:48.989Z,1579223028.989 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 15
2020-01-17T01:03:48.989Z,1579223028.989 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T01:03:49.047Z,1579223029.047 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T01:03:49.362Z,1579223029.362 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T01:03:49.362Z,1579223029.362 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 15
2020-01-17T01:03:50.914Z,1579223030.914 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00,   0.00
2020-01-17T01:03:53.780Z,1579223033.780 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2020-01-17T01:03:53.780Z,1579223033.780 [Default:CheckIn:C.Wait] Stopped
2020-01-17T01:03:53.780Z,1579223033.780 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2020-01-17T01:03:53.780Z,1579223033.780 [Default:CheckIn:D] Running Loop=1
2020-01-17T01:03:54.155Z,1579223034.155 [Default:CheckIn:D] Stopped
2020-01-17T01:03:54.155Z,1579223034.155 [Default:CheckIn:E] Running Loop=1
2020-01-17T01:03:54.554Z,1579223034.554 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 10.927580 min 
2020-01-17T01:03:54.554Z,1579223034.554 [Default:CheckIn:E] Stopped
2020-01-17T01:03:54.554Z,1579223034.554 [Default:CheckIn](INFO): Completed Default:CheckIn
2020-01-17T01:03:54.554Z,1579223034.554 [Default:CheckIn] Stopped
2020-01-17T01:03:54.554Z,1579223034.554 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2020-01-17T01:03:54.554Z,1579223034.554 [Default:CheckIn](INFO): Running loop #2
2020-01-17T01:03:54.554Z,1579223034.554 [Default:CheckIn] Running Loop=2
2020-01-17T01:03:54.555Z,1579223034.555 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2020-01-17T01:03:54.555Z,1579223034.555 [Default:CheckIn:Read_GPS] Running Loop=1
2020-01-17T01:06:08.279Z,1579223168.279 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-17T01:06:08.279Z,1579223168.279 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,2808150.1,   0.0,1448.9,  0
2020-01-17T01:06:11.923Z,1579223171.923 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-17T01:06:11.923Z,1579223171.923 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,20011618181215,35.0, -0.1, 48.9,  0
2020-01-17T01:06:49.893Z,1579223209.893 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 16
2020-01-17T01:06:49.893Z,1579223209.893 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T01:06:49.903Z,1579223209.903 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T01:06:50.298Z,1579223210.298 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T01:06:50.299Z,1579223210.299 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 16
2020-01-17T01:07:52.914Z,1579223272.914 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-17T01:07:52.914Z,1579223272.914 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,200116185.0, -0.1,   0.0,1448.9,  0
2020-01-17T01:08:08.276Z,1579223288.276 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-17T01:08:08.276Z,1579223288.276 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2020-01-17T01:08:54.743Z,1579223334.743 [Default:CheckIn:Read_GPS](INFO): Timed out from 2020-01-17T01:03:54.6Z
2020-01-17T01:08:54.743Z,1579223334.743 [Default:CheckIn:Read_GPS] Stopped
2020-01-17T01:08:54.743Z,1579223334.743 [Default:CheckIn:Read_Iridium] Running Loop=1
2020-01-17T01:09:03.877Z,1579223343.877 [DataOverHttps](INFO): Sending 139 bytes from file Logs/20200117T001824/Express0011.lzma
2020-01-17T01:09:05.882Z,1579223345.882 [DataOverHttps](INFO): Moved sent file to Logs/20200117T001824/Express0011.lzma.bak
2020-01-17T01:09:05.882Z,1579223345.882 [DataOverHttps](INFO): SBD MOMSN=12196195
2020-01-17T01:09:07.261Z,1579223347.261 [Default:CheckIn:Read_Iridium] Stopped
2020-01-17T01:09:07.262Z,1579223347.262 [Default:CheckIn:C.Wait] Running Loop=1
2020-01-17T01:09:07.262Z,1579223347.262 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2020-01-17T01:09:50.885Z,1579223390.885 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 17
2020-01-17T01:09:50.885Z,1579223390.885 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T01:09:50.895Z,1579223390.895 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T01:09:51.311Z,1579223391.311 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T01:09:51.311Z,1579223391.311 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 17
2020-01-17T01:11:15.735Z,1579223475.735 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-17T01:11:15.735Z,1579223475.735 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-32768,-32768-32768,-32768,-32768,V
2020-01-17T01:12:06.599Z,1579223526.599 [NAL9602](FAULT): GPS failed to acquire within timeout.
2020-01-17T01:12:06.599Z,1579223526.599 [NAL9602] Data Fault, FailCount= 5
2020-01-17T01:12:06.599Z,1579223526.599 [NAL9602](ERROR): Data Fault
2020-01-17T01:12:06.629Z,1579223526.629 [CBIT](ERROR): Data Fault in component: NAL9602
2020-01-17T01:12:06.630Z,1579223526.630 [CBIT](CRITICAL): Data Fault in component: NAL9602
2020-01-17T01:12:07.010Z,1579223527.010 [NAL9602](INFO): Powering down
2020-01-17T01:12:07.048Z,1579223527.048 [CommandLine](FAULT): Scheduling is paused
2020-01-17T01:12:07.049Z,1579223527.049 [CBIT](INFO): Critical error at 20200117T011206
2020-01-17T01:12:07.049Z,1579223527.049 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2020-01-17T01:12:51.874Z,1579223571.874 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 18
2020-01-17T01:12:51.874Z,1579223571.874 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T01:12:51.883Z,1579223571.883 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T01:12:52.284Z,1579223572.284 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T01:12:52.284Z,1579223572.284 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 18
2020-01-17T01:14:06.615Z,1579223646.615 [CBIT](INFO): Clearing failed state for component NAL9602
2020-01-17T01:14:06.615Z,1579223646.615 [NAL9602] No Fault, FailCount= 5
2020-01-17T01:14:06.984Z,1579223646.984 [NAL9602](INFO): Powering up NAL9602
2020-01-17T01:14:07.819Z,1579223647.819 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2020-01-17T01:14:07.819Z,1579223647.819 [Default:CheckIn:C.Wait] Stopped
2020-01-17T01:14:07.819Z,1579223647.819 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2020-01-17T01:14:07.819Z,1579223647.819 [Default:CheckIn:D] Running Loop=1
2020-01-17T01:14:08.244Z,1579223648.244 [Default:CheckIn:D] Stopped
2020-01-17T01:14:08.244Z,1579223648.244 [Default:CheckIn:E] Running Loop=1
2020-01-17T01:14:08.635Z,1579223648.635 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 21.162392 min 
2020-01-17T01:14:08.635Z,1579223648.635 [Default:CheckIn:E] Stopped
2020-01-17T01:14:08.635Z,1579223648.635 [Default:CheckIn](INFO): Completed Default:CheckIn
2020-01-17T01:14:08.635Z,1579223648.635 [Default:CheckIn] Stopped
2020-01-17T01:14:08.636Z,1579223648.636 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2020-01-17T01:14:08.636Z,1579223648.636 [Default:CheckIn](INFO): Running loop #3
2020-01-17T01:14:08.636Z,1579223648.636 [Default:CheckIn] Running Loop=3
2020-01-17T01:14:08.636Z,1579223648.636 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2020-01-17T01:14:08.636Z,1579223648.636 [Default:CheckIn:Read_GPS] Running Loop=1
2020-01-17T01:14:17.905Z,1579223657.905 [NAL9602](INFO): NAL9602 initialized
2020-01-17T01:15:52.884Z,1579223752.884 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 19
2020-01-17T01:15:52.884Z,1579223752.884 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T01:15:52.893Z,1579223752.893 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T01:15:53.300Z,1579223753.300 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T01:15:53.300Z,1579223753.300 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 19
2020-01-17T01:16:36.095Z,1579223796.095 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-17T01:16:36.095Z,1579223796.095 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,20011618283615,35.0, -0.1,  8.9,  0
2020-01-17T01:17:20.551Z,1579223840.551 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-01-17T01:17:20.551Z,1579223840.551 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-32768,
2020-01-17T01:17:24.976Z,1579223844.976 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-17T01:17:24.976Z,1579223844.976 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,200116185.0, -0.1,   0.0,1448.9,  0
2020-01-17T01:18:19.919Z,1579223899.919 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-17T01:18:19.920Z,1579223899.920 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2020-01-17T01:18:53.887Z,1579223933.887 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 20
2020-01-17T01:18:53.887Z,1579223933.887 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T01:18:53.905Z,1579223933.905 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T01:18:54.271Z,1579223934.271 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T01:18:54.271Z,1579223934.271 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 20
2020-01-17T01:19:01.551Z,1579223941.551 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2020-01-17T01:19:01.551Z,1579223941.551 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768-32768,V
2020-01-17T01:19:08.822Z,1579223948.822 [Default:CheckIn:Read_GPS](INFO): Timed out from 2020-01-17T01:14:08.6Z
2020-01-17T01:19:08.822Z,1579223948.822 [Default:CheckIn:Read_GPS] Stopped
2020-01-17T01:19:08.822Z,1579223948.822 [Default:CheckIn:Read_Iridium] Running Loop=1
2020-01-17T01:19:18.092Z,1579223958.092 [DataOverHttps](INFO): Sending 93 bytes from file Logs/20200117T001824/Courier0013.lzma
2020-01-17T01:19:20.098Z,1579223960.098 [DataOverHttps](INFO): Moved sent file to Logs/20200117T001824/Courier0013.lzma.bak
2020-01-17T01:19:20.099Z,1579223960.099 [DataOverHttps](INFO): SBD MOMSN=12196199
2020-01-17T01:19:41.264Z,1579223981.264 [DataOverHttps](INFO): Sending 163 bytes from file Logs/20200117T001824/Express0014.lzma
2020-01-17T01:19:43.270Z,1579223983.270 [DataOverHttps](INFO): Moved sent file to Logs/20200117T001824/Express0014.lzma.bak
2020-01-17T01:19:43.270Z,1579223983.270 [DataOverHttps](INFO): SBD MOMSN=12196202
2020-01-17T01:19:44.773Z,1579223984.773 [Default:CheckIn:Read_Iridium] Stopped
2020-01-17T01:19:44.773Z,1579223984.773 [Default:CheckIn:C.Wait] Running Loop=1
2020-01-17T01:19:44.773Z,1579223984.773 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2020-01-17T01:20:23.598Z,1579224023.598 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-17T01:20:23.598Z,1579224023.598 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2020-01-17T01:21:14.831Z,1579224074.831 [CommandLine](IMPORTANT): got command restart application
2020-01-17T01:21:15.837Z,1579224075.837 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-17T01:21:15.837Z,1579224075.837 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-17T01:21:15.862Z,1579224075.862 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2020-01-17T01:21:15.863Z,1579224075.863 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-17T01:21:15.863Z,1579224075.863 [CommandLine](INFO): Join timeout helper Thread ID is 7030
2020-01-17T01:21:15.864Z,1579224075.864 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2020-01-17T01:21:15.864Z,1579224075.864 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-17T01:21:15.864Z,1579224075.864 [NavChartDb](INFO): Join timeout helper Thread ID is 7031
2020-01-17T01:21:16.241Z,1579224076.241 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-17T01:21:16.241Z,1579224076.241 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-17T01:21:16.253Z,1579224076.253 [ComponentRegistry](INFO): Shutting down WetLabsSeaOWL_UV_A ThreadHandler
2020-01-17T01:21:16.253Z,1579224076.253 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-17T01:21:16.253Z,1579224076.253 [WetLabsSeaOWL_UV_A](INFO): Join timeout helper Thread ID is 7032
2020-01-17T01:21:16.585Z,1579224076.585 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-17T01:21:16.585Z,1579224076.585 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-01-17T01:21:16.586Z,1579224076.586 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-17T01:21:16.593Z,1579224076.593 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2020-01-17T01:21:16.593Z,1579224076.593 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-17T01:21:16.593Z,1579224076.593 [CTD_NeilBrown](INFO): Join timeout helper Thread ID is 7033
2020-01-17T01:21:16.681Z,1579224076.681 [CTD_NeilBrown ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-17T01:21:16.681Z,1579224076.681 [CTD_NeilBrown](INFO): Powering down
2020-01-17T01:21:16.693Z,1579224076.693 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-17T01:21:16.693Z,1579224076.693 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2020-01-17T01:21:16.694Z,1579224076.694 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-01-17T01:21:16.694Z,1579224076.694 [Radio_Surface](INFO): Join timeout helper Thread ID is 7034
2020-01-17T01:21:16.985Z,1579224076.985 [Radio_Surface](INFO): Powering down
2020-01-17T01:21:16.986Z,1579224076.986 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-17T01:21:16.986Z,1579224076.986 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-01-17T01:21:17.006Z,1579224077.006 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2020-01-17T01:21:17.006Z,1579224077.006 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-17T01:21:17.006Z,1579224077.006 [DataOverHttps](INFO): Join timeout helper Thread ID is 7035
2020-01-17T01:21:17.701Z,1579224077.701 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-17T01:21:17.701Z,1579224077.701 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-17T01:21:17.710Z,1579224077.710 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2020-01-17T01:21:17.710Z,1579224077.710 [logger ThreadHandler](INFO): Thread cancelled.
2020-01-17T01:21:17.710Z,1579224077.710 [logger](INFO): Join timeout helper Thread ID is 7036
2020-01-17T01:21:17.729Z,1579224077.729 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-17T01:21:17.729Z,1579224077.729 [logger ThreadHandler](INFO): Thread cancelled.
2020-01-17T01:21:17.749Z,1579224077.749 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2020-01-17T01:21:17.750Z,1579224077.750 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-17T01:21:17.750Z,1579224077.750 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2020-01-17T01:21:17.750Z,1579224077.750 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-01-17T01:21:17.750Z,1579224077.750 [controlThread](INFO): Join timeout helper Thread ID is 7037
2020-01-17T01:21:18.037Z,1579224078.037 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-17T01:21:18.037Z,1579224078.037 [controlThread](DEBUG): Uninitializing ControlThread
2020-01-17T01:21:18.038Z,1579224078.038 [AHRS_M2](INFO): Powering down
2020-01-17T01:21:18.109Z,1579224078.109 [DDM](INFO): Powering down
2020-01-17T01:21:18.202Z,1579224078.202 [DUSBL_Hydroid](INFO): Powering down
2020-01-17T01:21:18.273Z,1579224078.273 [Micromodem](INFO): Powering down
2020-01-17T01:21:18.369Z,1579224078.369 [NAL9602](INFO): Powering down
2020-01-17T01:21:18.441Z,1579224078.441 [RDI_Pathfinder](INFO): Powering down
2020-01-17T01:21:18.442Z,1579224078.442 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2020-01-17T01:21:18.443Z,1579224078.443 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2020-01-17T01:21:18.444Z,1579224078.444 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2020-01-17T01:21:18.444Z,1579224078.444 [MissionManager](INFO): Uninitializing Mission Default
2020-01-17T01:21:18.444Z,1579224078.444 [Default] Stopped
2020-01-17T01:21:18.444Z,1579224078.444 [Default](DEBUG): Aggregate::uninitialize Default
2020-01-17T01:21:18.444Z,1579224078.444 [Default:B.GoToSurface] Stopped
2020-01-17T01:21:18.444Z,1579224078.444 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-17T01:21:18.445Z,1579224078.445 [Default:CheckIn] Stopped
2020-01-17T01:21:18.445Z,1579224078.445 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2020-01-17T01:21:18.445Z,1579224078.445 [Default:CheckIn:C.Wait] Stopped
2020-01-17T01:21:18.445Z,1579224078.445 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2020-01-17T01:21:18.447Z,1579224078.447 [MissionManager](INFO): Uninitializing Mission Docked
2020-01-17T01:21:18.453Z,1579224078.453 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2020-01-17T01:21:18.453Z,1579224078.453 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2020-01-17T01:21:18.454Z,1579224078.454 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2020-01-17T01:21:18.454Z,1579224078.454 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2020-01-17T01:21:18.454Z,1579224078.454 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2020-01-17T01:21:18.454Z,1579224078.454 [BuoyancyServo](INFO): Powering down
2020-01-17T01:21:18.469Z,1579224078.469 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2020-01-17T01:21:18.469Z,1579224078.469 [ElevatorServo](INFO): Powering down
2020-01-17T01:21:18.470Z,1579224078.470 [MassServo](DEBUG): Uninitialize Mass Servo.
2020-01-17T01:21:18.470Z,1579224078.470 [MassServo](INFO): Powering down
2020-01-17T01:21:18.471Z,1579224078.471 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-01-17T01:21:18.471Z,1579224078.471 [RudderServo](INFO): Powering down
2020-01-17T01:21:18.471Z,1579224078.471 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2020-01-17T01:21:18.472Z,1579224078.472 [ThrusterServo](INFO): Powering down
2020-01-17T01:21:18.472Z,1579224078.472 [SBIT](DEBUG): Uninitialize SBIT Component.
2020-01-17T01:21:18.473Z,1579224078.473 [IBIT](DEBUG): Uninitialize IBIT Component.
2020-01-17T01:21:18.473Z,1579224078.473 [CBIT](DEBUG): Uninitialize CBIT Component.
2020-01-17T01:21:18.473Z,1579224078.473 [CBIT](DEBUG): Powering off loads.
2020-01-17T01:21:18.485Z,1579224078.485 [CBIT](DEBUG): Disabling WDT.
2020-01-17T01:21:18.497Z,1579224078.497 [CBIT](DEBUG): Opening all GF detection circuits.
2020-01-17T01:21:18.498Z,1579224078.498 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-01-17T01:21:18.550Z,1579224078.550 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-01-17T01:21:18.560Z,1579224078.560 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-17T01:21:18.608Z,1579224078.608 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-17T01:21:18.611Z,1579224078.611 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-17T01:21:18.680Z,1579224078.680 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-17T01:21:18.740Z,1579224078.740 [logger ThreadHandler](INFO): Thread cancelled.