2020-01-17T01:21:19.669Z,1579224079.669 [Supervisor](DEBUG): Initializing supervisor.
2020-01-17T01:21:19.672Z,1579224079.672 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2020-01-17T01:21:19.673Z,1579224079.673 [SyncHandler](INFO): Protected caller Thread ID is 7038
2020-01-17T01:21:19.674Z,1579224079.674 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2020-01-17T01:21:19.674Z,1579224079.674 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2020-01-17T01:21:19.675Z,1579224079.675 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 7039
2020-01-17T01:21:19.678Z,1579224079.678 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2020-01-17T01:21:19.690Z,1579224079.690 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2020-01-17T01:21:19.691Z,1579224079.691 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2020-01-17T01:21:19.692Z,1579224079.692 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 7040
2020-01-17T01:21:19.692Z,1579224079.692 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2020-01-17T01:21:19.693Z,1579224079.693 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2020-01-17T01:21:19.694Z,1579224079.694 [logger ThreadHandler](INFO): Protected caller Thread ID is 7041
2020-01-17T01:21:19.696Z,1579224079.696 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2020-01-17T01:21:19.696Z,1579224079.696 [Supervisor](INFO): Looking for Config files in directory: Config/
2020-01-17T01:21:19.698Z,1579224079.698 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2020-01-17T01:21:20.124Z,1579224080.124 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2020-01-17T01:21:20.125Z,1579224080.125 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2020-01-17T01:21:20.222Z,1579224080.222 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2020-01-17T01:21:20.223Z,1579224080.223 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2020-01-17T01:21:20.530Z,1579224080.530 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2020-01-17T01:21:20.531Z,1579224080.531 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2020-01-17T01:21:20.667Z,1579224080.667 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2020-01-17T01:21:20.668Z,1579224080.668 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2020-01-17T01:21:20.857Z,1579224080.857 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2020-01-17T01:21:20.857Z,1579224080.857 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2020-01-17T01:21:21.291Z,1579224081.291 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2020-01-17T01:21:21.292Z,1579224081.292 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2020-01-17T01:21:21.497Z,1579224081.497 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2020-01-17T01:21:21.498Z,1579224081.498 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2020-01-17T01:21:21.640Z,1579224081.640 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2020-01-17T01:21:21.640Z,1579224081.640 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2020-01-17T01:21:21.828Z,1579224081.828 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2020-01-17T01:21:21.829Z,1579224081.829 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2020-01-17T01:21:21.925Z,1579224081.925 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2020-01-17T01:21:21.926Z,1579224081.926 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2020-01-17T01:21:22.218Z,1579224082.218 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2020-01-17T01:21:22.219Z,1579224082.219 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2020-01-17T01:21:22.299Z,1579224082.299 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2020-01-17T01:21:22.402Z,1579224082.402 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2020-01-17T01:21:22.402Z,1579224082.402 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2020-01-17T01:21:23.473Z,1579224083.473 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2020-01-17T01:21:23.474Z,1579224083.474 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2020-01-17T01:21:23.873Z,1579224083.873 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2020-01-17T01:21:23.875Z,1579224083.875 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/
2020-01-17T01:21:23.875Z,1579224083.875 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/vehicle.cfg
2020-01-17T01:21:24.084Z,1579224084.084 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Control.cfg
2020-01-17T01:21:24.184Z,1579224084.184 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/BIT.cfg
2020-01-17T01:21:24.283Z,1579224084.283 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Battery.cfg
2020-01-17T01:21:24.506Z,1579224084.506 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2020-01-17T01:21:24.506Z,1579224084.506 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Simulator.cfg
2020-01-17T01:21:24.591Z,1579224084.591 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Navigation.cfg
2020-01-17T01:21:24.685Z,1579224084.685 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/logger.cfg
2020-01-17T01:21:24.784Z,1579224084.784 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/secure.cfg
2020-01-17T01:21:24.868Z,1579224084.868 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Servo.cfg
2020-01-17T01:21:24.975Z,1579224084.975 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/workSite.cfg
2020-01-17T01:21:25.068Z,1579224085.068 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Sensor.cfg
2020-01-17T01:21:25.249Z,1579224085.249 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Science.cfg
2020-01-17T01:21:25.379Z,1579224085.379 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/root/
2020-01-17T01:21:25.379Z,1579224085.379 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2020-01-17T01:21:25.386Z,1579224085.386 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2020-01-17T01:21:25.692Z,1579224085.692 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_orientation
2020-01-17T01:21:25.697Z,1579224085.697 [AHRS_M2](INFO): created writer for : platform_orientation
2020-01-17T01:21:25.699Z,1579224085.699 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_magnetic_orientation
2020-01-17T01:21:25.704Z,1579224085.704 [AHRS_M2](INFO): created writer for : platform_magnetic_orientation
2020-01-17T01:21:25.705Z,1579224085.705 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_pitch_angle
2020-01-17T01:21:25.710Z,1579224085.710 [AHRS_M2](INFO): created writer for : platform_pitch_angle
2020-01-17T01:21:25.710Z,1579224085.710 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_roll_angle
2020-01-17T01:21:25.715Z,1579224085.715 [AHRS_M2](INFO): created writer for : platform_roll_angle
2020-01-17T01:21:25.781Z,1579224085.781 [AHRS_M2] Loaded
2020-01-17T01:21:25.781Z,1579224085.781 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2020-01-17T01:21:25.859Z,1579224085.859 [DataOverHttps] Loaded
2020-01-17T01:21:25.860Z,1579224085.860 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2020-01-17T01:21:25.861Z,1579224085.861 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 407684E0
2020-01-17T01:21:25.861Z,1579224085.861 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 7123
2020-01-17T01:21:25.883Z,1579224085.883 [DDM] Loaded
2020-01-17T01:21:25.883Z,1579224085.883 [ComponentRegistry](DEBUG): SyncComponent "DDM" handled in the control thread.
2020-01-17T01:21:25.896Z,1579224085.896 [Depth_Keller] Loaded
2020-01-17T01:21:25.896Z,1579224085.896 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2020-01-17T01:21:25.900Z,1579224085.900 [DropWeight] Loaded
2020-01-17T01:21:25.900Z,1579224085.900 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2020-01-17T01:21:25.957Z,1579224085.957 [DUSBL_Hydroid] Loaded
2020-01-17T01:21:25.957Z,1579224085.957 [ComponentRegistry](DEBUG): SyncComponent "DUSBL_Hydroid" handled in the control thread.
2020-01-17T01:21:26.001Z,1579224086.001 [Micromodem] Loaded
2020-01-17T01:21:26.002Z,1579224086.002 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2020-01-17T01:21:26.092Z,1579224086.092 [NAL9602] Loaded
2020-01-17T01:21:26.092Z,1579224086.092 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2020-01-17T01:21:26.127Z,1579224086.127 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/voltage_now
2020-01-17T01:21:26.127Z,1579224086.127 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/current_now
2020-01-17T01:21:26.127Z,1579224086.127 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/charge_now
2020-01-17T01:21:26.128Z,1579224086.128 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/charge_full
2020-01-17T01:21:26.128Z,1579224086.128 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/voltage_now
2020-01-17T01:21:26.129Z,1579224086.129 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/current_now
2020-01-17T01:21:26.129Z,1579224086.129 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/charge_now
2020-01-17T01:21:26.130Z,1579224086.130 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/charge_full
2020-01-17T01:21:26.130Z,1579224086.130 [Onboard] Loaded
2020-01-17T01:21:26.130Z,1579224086.130 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2020-01-17T01:21:26.136Z,1579224086.136 [PowerOnly] Loaded
2020-01-17T01:21:26.136Z,1579224086.136 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2020-01-17T01:21:26.142Z,1579224086.142 [Radio_Surface] Loaded
2020-01-17T01:21:26.142Z,1579224086.142 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2020-01-17T01:21:26.143Z,1579224086.143 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 407984E0
2020-01-17T01:21:26.144Z,1579224086.144 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 7124
2020-01-17T01:21:26.184Z,1579224086.184 [RDI_Pathfinder] Loaded
2020-01-17T01:21:26.184Z,1579224086.184 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2020-01-17T01:21:27.560Z,1579224087.560 [BPC1] Loaded
2020-01-17T01:21:27.560Z,1579224087.560 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2020-01-17T01:21:27.560Z,1579224087.560 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2020-01-17T01:21:27.561Z,1579224087.561 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2020-01-17T01:21:27.574Z,1579224087.574 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2020-01-17T01:21:27.575Z,1579224087.575 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2020-01-17T01:21:27.673Z,1579224087.673 [DeadReckonUsingMultipleVelocitySources] Loaded
2020-01-17T01:21:27.674Z,1579224087.674 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2020-01-17T01:21:27.693Z,1579224087.693 [NavChart] Loaded
2020-01-17T01:21:27.693Z,1579224087.693 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2020-01-17T01:21:27.697Z,1579224087.697 [UniversalFixResidualReporter] Loaded
2020-01-17T01:21:27.697Z,1579224087.697 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2020-01-17T01:21:27.697Z,1579224087.697 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2020-01-17T01:21:27.698Z,1579224087.698 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2020-01-17T01:21:27.801Z,1579224087.801 [BuoyancyServo] Loaded
2020-01-17T01:21:27.801Z,1579224087.801 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2020-01-17T01:21:27.815Z,1579224087.815 [ElevatorServo] Loaded
2020-01-17T01:21:27.816Z,1579224087.816 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2020-01-17T01:21:27.829Z,1579224087.829 [MassServo] Loaded
2020-01-17T01:21:27.830Z,1579224087.830 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2020-01-17T01:21:27.844Z,1579224087.844 [RudderServo] Loaded
2020-01-17T01:21:27.844Z,1579224087.844 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2020-01-17T01:21:27.858Z,1579224087.858 [ThrusterServo] Loaded
2020-01-17T01:21:27.858Z,1579224087.858 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2020-01-17T01:21:27.858Z,1579224087.858 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2020-01-17T01:21:27.859Z,1579224087.859 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2020-01-17T01:21:28.109Z,1579224088.109 [CTD_NeilBrown] Loaded
2020-01-17T01:21:28.109Z,1579224088.109 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2020-01-17T01:21:28.110Z,1579224088.110 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 408EC4E0
2020-01-17T01:21:28.110Z,1579224088.110 [CTD_NeilBrown ThreadHandler](INFO): Protected caller Thread ID is 7125
2020-01-17T01:21:28.124Z,1579224088.124 [PAR_Licor] Loaded
2020-01-17T01:21:28.124Z,1579224088.124 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2020-01-17T01:21:28.209Z,1579224088.209 [WetLabsSeaOWL_UV_A] Loaded
2020-01-17T01:21:28.209Z,1579224088.209 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2020-01-17T01:21:28.211Z,1579224088.211 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 4091C4E0
2020-01-17T01:21:28.213Z,1579224088.213 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 7126
2020-01-17T01:21:28.241Z,1579224088.241 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2020-01-17T01:21:28.242Z,1579224088.242 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2020-01-17T01:21:28.580Z,1579224088.580 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2020-01-17T01:21:28.580Z,1579224088.580 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2020-01-17T01:21:28.846Z,1579224088.846 [DepthRateCalculator] Loaded
2020-01-17T01:21:28.846Z,1579224088.846 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2020-01-17T01:21:28.851Z,1579224088.851 [PitchRateCalculator] Loaded
2020-01-17T01:21:28.852Z,1579224088.852 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2020-01-17T01:21:28.863Z,1579224088.863 [SpeedCalculator] Loaded
2020-01-17T01:21:28.863Z,1579224088.863 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2020-01-17T01:21:28.952Z,1579224088.952 [TempGradientCalculator] Loaded
2020-01-17T01:21:28.952Z,1579224088.952 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2020-01-17T01:21:28.965Z,1579224088.965 [YawRateCalculator] Loaded
2020-01-17T01:21:28.966Z,1579224088.966 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2020-01-17T01:21:29.031Z,1579224089.031 [ElevatorOffsetCalculator] Loaded
2020-01-17T01:21:29.031Z,1579224089.031 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2020-01-17T01:21:29.032Z,1579224089.032 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2020-01-17T01:21:29.032Z,1579224089.032 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2020-01-17T01:21:29.355Z,1579224089.355 [SBIT](DEBUG): Construct Startup Built In Test.
2020-01-17T01:21:29.375Z,1579224089.375 [SBIT] Loaded
2020-01-17T01:21:29.376Z,1579224089.376 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2020-01-17T01:21:29.376Z,1579224089.376 [IBIT](DEBUG): Construct Initiated Built In Test.
2020-01-17T01:21:29.388Z,1579224089.388 [IBIT] Loaded
2020-01-17T01:21:29.388Z,1579224089.388 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2020-01-17T01:21:29.391Z,1579224089.391 [CBIT](DEBUG): Construct Continuous Built In Test.
2020-01-17T01:21:29.520Z,1579224089.520 [CBIT] Loaded
2020-01-17T01:21:29.521Z,1579224089.521 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2020-01-17T01:21:29.521Z,1579224089.521 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2020-01-17T01:21:29.522Z,1579224089.522 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2020-01-17T01:21:29.603Z,1579224089.603 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2020-01-17T01:21:29.603Z,1579224089.603 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2020-01-17T01:21:29.697Z,1579224089.697 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2020-01-17T01:21:29.698Z,1579224089.698 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2020-01-17T01:21:29.743Z,1579224089.743 [VerticalControl](DEBUG): Construct VerticalControl.
2020-01-17T01:21:29.822Z,1579224089.822 [VerticalControl] Loaded
2020-01-17T01:21:29.822Z,1579224089.822 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2020-01-17T01:21:29.823Z,1579224089.823 [HorizontalControl](DEBUG): Construct HorizontalControl.
2020-01-17T01:21:29.887Z,1579224089.887 [HorizontalControl] Loaded
2020-01-17T01:21:29.887Z,1579224089.887 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2020-01-17T01:21:29.888Z,1579224089.888 [SpeedControl](DEBUG): Construct SpeedControl.
2020-01-17T01:21:29.890Z,1579224089.890 [SpeedControl] Loaded
2020-01-17T01:21:29.890Z,1579224089.890 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2020-01-17T01:21:29.890Z,1579224089.890 [LoopControl](DEBUG): Construct LoopControl.
2020-01-17T01:21:29.891Z,1579224089.891 [LoopControl] Loaded
2020-01-17T01:21:29.891Z,1579224089.891 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2020-01-17T01:21:29.891Z,1579224089.891 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2020-01-17T01:21:29.892Z,1579224089.892 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2020-01-17T01:21:29.924Z,1579224089.924 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2020-01-17T01:21:29.927Z,1579224089.927 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2020-01-17T01:21:29.928Z,1579224089.928 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2020-01-17T01:21:29.935Z,1579224089.935 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2020-01-17T01:21:29.936Z,1579224089.936 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40B024E0
2020-01-17T01:21:29.936Z,1579224089.936 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 7127
2020-01-17T01:21:29.941Z,1579224089.941 [Supervisor](INFO): Main Thread ID is 6780
2020-01-17T01:21:29.941Z,1579224089.941 [Supervisor](DEBUG): Running supervisor.
2020-01-17T01:21:29.942Z,1579224089.942 [CommandLine ThreadHandler](INFO): Handler Thread ID is 7128
2020-01-17T01:21:29.944Z,1579224089.944 [controlThread ThreadHandler](INFO): Handler Thread ID is 7129
2020-01-17T01:21:29.944Z,1579224089.944 [controlThread](DEBUG): Initializing ControlThread
2020-01-17T01:21:29.953Z,1579224089.953 [NavChart](DEBUG): Initialize NavChart Navigation.
2020-01-17T01:21:29.953Z,1579224089.953 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2020-01-17T01:21:29.957Z,1579224089.957 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2020-01-17T01:21:29.957Z,1579224089.957 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2020-01-17T01:21:29.958Z,1579224089.958 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2020-01-17T01:21:29.958Z,1579224089.958 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2020-01-17T01:21:29.958Z,1579224089.958 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2020-01-17T01:21:29.959Z,1579224089.959 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2020-01-17T01:21:29.959Z,1579224089.959 [SBIT](INFO): Initialize SBIT Component.
2020-01-17T01:21:29.960Z,1579224089.960 [SBIT](IMPORTANT): git: 2019-12-03-52-gd057a2e
2020-01-17T01:21:29.960Z,1579224089.960 [SBIT](INFO): git hash: d057a2e09e1011d41925b307b61fea8285a57da1
2020-01-17T01:21:29.960Z,1579224089.960 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2020-01-17T01:21:29.961Z,1579224089.961 [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
2020-01-17T01:21:29.963Z,1579224089.963 [SBIT](INFO): Beginning SBIT in 39.000000 seconds.
2020-01-17T01:21:29.963Z,1579224089.963 [IBIT](INFO): Initialize IBIT Component.
2020-01-17T01:21:29.964Z,1579224089.964 [CBIT](DEBUG): Initialize CBIT Component.
2020-01-17T01:21:29.965Z,1579224089.965 [logger ThreadHandler](INFO): Handler Thread ID is 7130
2020-01-17T01:21:29.977Z,1579224089.977 [CBIT](DEBUG): Initialized mux pins.
2020-01-17T01:21:29.977Z,1579224089.977 [CBIT](DEBUG): Initializing the watchdog timer.
2020-01-17T01:21:29.985Z,1579224089.985 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 7131
2020-01-17T01:21:29.986Z,1579224089.986 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2020-01-17T01:21:29.997Z,1579224089.997 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 7132
2020-01-17T01:21:30.001Z,1579224090.001 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2020-01-17T01:21:30.001Z,1579224090.001 [CBIT](DEBUG): Initializing heartbeat.
2020-01-17T01:21:30.009Z,1579224090.009 [CTD_NeilBrown ThreadHandler](INFO): Handler Thread ID is 7133
2020-01-17T01:21:30.010Z,1579224090.010 [CTD_NeilBrown](INFO): Powering down
2020-01-17T01:21:30.037Z,1579224090.037 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 7134
2020-01-17T01:21:30.038Z,1579224090.038 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-01-17T01:21:30.061Z,1579224090.061 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 7135
2020-01-17T01:21:30.065Z,1579224090.065 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2020-01-17T01:21:30.065Z,1579224090.065 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2020-01-17T01:21:30.065Z,1579224090.065 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2020-01-17T01:21:30.065Z,1579224090.065 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2020-01-17T01:21:30.065Z,1579224090.065 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2020-01-17T01:21:30.066Z,1579224090.066 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2020-01-17T01:21:30.066Z,1579224090.066 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2020-01-17T01:21:30.066Z,1579224090.066 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2020-01-17T01:21:30.066Z,1579224090.066 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2020-01-17T01:21:30.066Z,1579224090.066 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2020-01-17T01:21:30.067Z,1579224090.067 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2020-01-17T01:21:30.067Z,1579224090.067 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2020-01-17T01:21:30.067Z,1579224090.067 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2020-01-17T01:21:30.067Z,1579224090.067 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2020-01-17T01:21:30.067Z,1579224090.067 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2020-01-17T01:21:30.067Z,1579224090.067 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2020-01-17T01:21:30.073Z,1579224090.073 [CBIT](DEBUG): Deactivating GF circuits.
2020-01-17T01:21:30.073Z,1579224090.073 [CBIT](DEBUG): Deactivating emergency mode.
2020-01-17T01:21:30.109Z,1579224090.109 [CBIT](DEBUG): Backplane powered.
2020-01-17T01:21:30.109Z,1579224090.109 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2020-01-17T01:21:30.111Z,1579224090.111 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2020-01-17T01:21:30.112Z,1579224090.112 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2020-01-17T01:21:30.112Z,1579224090.112 [LoopControl](DEBUG): Initialize LoopControlComponent.
2020-01-17T01:21:30.113Z,1579224090.113 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2020-01-17T01:21:30.124Z,1579224090.124 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2020-01-17T01:21:30.167Z,1579224090.167 [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>


2020-01-17T01:21:30.168Z,1579224090.168 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2020-01-17T01:21:30.239Z,1579224090.239 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2020-01-17T01:21:30.240Z,1579224090.240 [Default:A.Wait](DEBUG): Construct Wait.
2020-01-17T01:21:30.249Z,1579224090.249 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2020-01-17T01:21:30.309Z,1579224090.309 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2020-01-17T01:21:30.311Z,1579224090.311 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2020-01-17T01:21:30.333Z,1579224090.333 [Default:E.Execute](DEBUG): Construct Execute.
2020-01-17T01:21:30.336Z,1579224090.336 [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>


2020-01-17T01:21:30.341Z,1579224090.341 [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,
2020-01-17T01:21:30.353Z,1579224090.353 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2020-01-17T01:21:30.398Z,1579224090.398 [DDM](INFO): Powering up
2020-01-17T01:21:30.398Z,1579224090.398 [DDM](DEBUG): Initializing DDM.
2020-01-17T01:21:30.401Z,1579224090.401 [Radio_Surface](INFO): Powering up
2020-01-17T01:21:30.430Z,1579224090.430 [Depth_Keller](ERROR): Pressure reading out of range: 957.962097 decibar
2020-01-17T01:21:30.430Z,1579224090.430 [DUSBL_Hydroid](INFO): Powering up
2020-01-17T01:21:30.431Z,1579224090.431 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2020-01-17T01:21:30.595Z,1579224090.595 [DepthRateCalculator](ERROR): Depth measurement is not active
2020-01-17T01:21:30.618Z,1579224090.618 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2020-01-17T01:21:30.625Z,1579224090.625 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2020-01-17T01:21:30.626Z,1579224090.626 [ElevatorServo](DEBUG): Initializing EZServoServo.
2020-01-17T01:21:30.633Z,1579224090.633 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2020-01-17T01:21:30.634Z,1579224090.634 [MassServo](DEBUG): Initializing EZServoServo.
2020-01-17T01:21:30.641Z,1579224090.641 [MassServo](DEBUG): Initializing MassServo.
2020-01-17T01:21:30.642Z,1579224090.642 [RudderServo](DEBUG): Initializing EZServoServo.
2020-01-17T01:21:30.649Z,1579224090.649 [RudderServo](DEBUG): Initializing RudderServo.
2020-01-17T01:21:30.650Z,1579224090.650 [ThrusterServo](DEBUG): Initializing EZServoServo.
2020-01-17T01:21:30.657Z,1579224090.657 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2020-01-17T01:21:30.771Z,1579224090.771 [Micromodem](INFO): Powering up
2020-01-17T01:21:30.771Z,1579224090.771 [Micromodem](DEBUG): Initializing Micromodem.
2020-01-17T01:21:31.553Z,1579224091.553 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2020-01-17T01:21:31.553Z,1579224091.553 [RudderServo](FAULT): Rudder failed to initialize
2020-01-17T01:21:31.553Z,1579224091.553 [RudderServo] Communications Fault, FailCount= 1
2020-01-17T01:21:31.553Z,1579224091.553 [RudderServo](ERROR): Communications Fault
2020-01-17T01:21:31.664Z,1579224091.664 [CBIT](ERROR): Communications Fault in component: RudderServo
2020-01-17T01:21:31.842Z,1579224091.842 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-01-17T01:21:31.842Z,1579224091.842 [RudderServo](INFO): Powering down
2020-01-17T01:21:32.557Z,1579224092.557 [RudderServo](DEBUG): Initializing EZServoServo.
2020-01-17T01:21:32.678Z,1579224092.678 [RudderServo](DEBUG): Initializing RudderServo.
2020-01-17T01:21:32.682Z,1579224092.682 [CBIT](INFO): Clearing failed state for component RudderServo
2020-01-17T01:21:32.682Z,1579224092.682 [RudderServo] No Fault, FailCount= 1
2020-01-17T01:21:35.753Z,1579224095.753 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2020-01-17T01:21:36.156Z,1579224096.156 [Micromodem](INFO): Nmea in: $CATMG,2020-01-17T01:21:35.675759Z,RTC,RTC*5C

2020-01-17T01:21:36.156Z,1579224096.156 [Micromodem](ERROR): CFG response from modem unexpected: $CATMG,2020-01-17T01:21:35.675759Z,RTC,RTC*5C

2020-01-17T01:21:36.563Z,1579224096.563 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2020-01-17T01:21:36.563Z,1579224096.563 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2020-01-17T01:21:36.967Z,1579224096.967 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2020-01-17T01:21:36.967Z,1579224096.967 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2020-01-17T01:21:37.371Z,1579224097.371 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2020-01-17T01:21:37.372Z,1579224097.372 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2020-01-17T01:21:37.779Z,1579224097.779 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2020-01-17T01:21:37.779Z,1579224097.779 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2020-01-17T01:21:38.188Z,1579224098.188 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2020-01-17T01:21:38.188Z,1579224098.188 [Micromodem](INFO): Nmea out: $CCCFG,FC0,10000*46

2020-01-17T01:21:38.571Z,1579224098.571 [Micromodem](INFO): Nmea in: $CACFG,FC0,10000*44

2020-01-17T01:21:38.571Z,1579224098.571 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2020-01-17T01:21:39.015Z,1579224099.015 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2020-01-17T01:21:39.015Z,1579224099.015 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2020-01-17T01:21:39.367Z,1579224099.367 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2020-01-17T01:21:39.368Z,1579224099.368 [Micromodem](INFO): Nmea out: $CCCLK,2020,01,17,01,21,40*45

2020-01-17T01:21:39.779Z,1579224099.779 [Micromodem](INFO): Nmea in: $CACLK,2020,1,17,1,21,40*47

2020-01-17T01:21:40.171Z,1579224100.171 [Micromodem](INFO): Nmea in: $CATMS,0,2020-01-17T01:21:41Z*76

2020-01-17T01:21:40.173Z,1579224100.173 [Micromodem](INFO): Nmea in: $CATMG,2020-01-17T01:21:41.027962Z,USER_CMD,RTC*19

2020-01-17T01:21:43.830Z,1579224103.830 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2020-01-17T01:21:48.247Z,1579224108.247 [DUSBL_Hydroid](INFO): DUSBL Version:O
2020-01-17T01:21:50.666Z,1579224110.666 [DDM](FAULT): failed to initialize; deviceResponse_ loaded: €!Cev 1.1
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!OVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_S
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
@,Ã?, available: 457
2020-01-17T01:21:50.667Z,1579224110.667 [DDM] Communications Fault, FailCount= 1
2020-01-17T01:21:50.667Z,1579224110.667 [DDM](ERROR): Communications Fault
2020-01-17T01:21:50.752Z,1579224110.752 [CBIT](ERROR): Communications Fault in component: DDM
2020-01-17T01:21:51.068Z,1579224111.068 [DDM](INFO): Powering down
2020-01-17T01:21:51.938Z,1579224111.938 [CBIT](INFO): Clearing failed state for component DDM
2020-01-17T01:21:51.938Z,1579224111.938 [DDM] No Fault, FailCount= 1
2020-01-17T01:21:54.302Z,1579224114.302 [DDM](INFO): Powering up
2020-01-17T01:21:54.302Z,1579224114.302 [DDM](DEBUG): Initializing DDM.
2020-01-17T01:21:56.327Z,1579224116.327 [NAL9602](INFO): Powering up NAL9602
2020-01-17T01:22:01.194Z,1579224121.194 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-17T01:22:01.194Z,1579224121.194 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,20011618340126,35.0, 0.0,1448.9,  0
2020-01-17T01:22:04.805Z,1579224124.805 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2020-01-17T01:22:07.235Z,1579224127.235 [NAL9602](INFO): NAL9602 initialized
2020-01-17T01:22:09.736Z,1579224129.736 [SBIT](IMPORTANT): Beginning Startup BIT
2020-01-17T01:22:09.744Z,1579224129.744 [CBIT](IMPORTANT): Beginning ground fault scan
2020-01-17T01:22:20.805Z,1579224140.805 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.012385
CHAN A1 (24V): -0.028546
CHAN A2 (12V): -0.007471
CHAN A3 (5V): -0.001963
CHAN B0 (3.3V): 0.000114
CHAN B1 (3.15aV): -0.000179
CHAN B2 (3.15bV): 0.000331
CHAN B3 (GND): 0.002290
OPEN: 0.005339
Full Scale Calc: 4.765 mA, -1.589 mA
2020-01-17T01:22:30.235Z,1579224150.235 [CommandLine](IMPORTANT): got command strobe off
2020-01-17T01:22:30.235Z,1579224150.235 [CommandLine](IMPORTANT): Deactivating strobe
2020-01-17T01:22:52.032Z,1579224172.032 [RDI_Pathfinder](ERROR): Failed to parse:
:SA,   +0.00,   +0.00,  0.00
2020-01-17T01:23:03.110Z,1579224183.110 [SBIT](IMPORTANT): SBIT PASSED
2020-01-17T01:23:03.169Z,1579224183.169 [CommandLine](IMPORTANT): got command configSet list
2020-01-17T01:23:03.169Z,1579224183.169 [CommandLine](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2020-01-17T01:23:03.170Z,1579224183.170 [CommandLine](IMPORTANT): DDM.verbosity=3 count;

2020-01-17T01:23:03.170Z,1579224183.170 [CommandLine](IMPORTANT): DUSBL_Hydroid.detectionThreshold=30 count;

2020-01-17T01:23:03.170Z,1579224183.170 [CommandLine](IMPORTANT): Micromodem.sendExpress=1 bool;

2020-01-17T01:23:03.171Z,1579224183.171 [CommandLine](IMPORTANT): VerticalControl.buoyancyNeutral=105 cubic_centimeter;

2020-01-17T01:23:03.171Z,1579224183.171 [CommandLine](IMPORTANT): VerticalControl.massDefault=-5 millimeter;

2020-01-17T01:23:03.616Z,1579224183.616 [MissionManager](IMPORTANT): Started mission Startup
2020-01-17T01:23:03.616Z,1579224183.616 [Startup] Running Loop=1
2020-01-17T01:23:03.616Z,1579224183.616 [Startup](DEBUG): Aggregate::initialize Startup
2020-01-17T01:23:03.616Z,1579224183.616 [Startup:A.GoToSurface] Running Loop=1
2020-01-17T01:23:03.616Z,1579224183.616 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-17T01:23:03.617Z,1579224183.617 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-17T01:23:03.618Z,1579224183.618 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-17T01:23:03.618Z,1579224183.618 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-17T01:23:03.618Z,1579224183.618 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-17T01:23:03.619Z,1579224183.619 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-17T01:23:03.622Z,1579224183.622 [Startup:StartupSatComms] Running Loop=1
2020-01-17T01:23:03.622Z,1579224183.622 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2020-01-17T01:23:03.622Z,1579224183.622 [Startup:StartupSatComms:A] Running Loop=1
2020-01-17T01:23:03.912Z,1579224183.912 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2020-01-17T01:24:01.379Z,1579224241.379 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004888
2020-01-17T01:24:03.729Z,1579224243.729 [Startup:StartupSatComms:A](INFO): Timed out from 2020-01-17T01:23:03.6Z
2020-01-17T01:24:03.729Z,1579224243.729 [Startup:StartupSatComms:A] Stopped
2020-01-17T01:24:03.729Z,1579224243.729 [Startup:StartupSatComms:B] Running Loop=1
2020-01-17T01:24:04.103Z,1579224244.103 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2020-01-17T01:24:14.133Z,1579224254.133 [DataOverHttps](INFO): Sending 181 bytes from file Logs/20200117T012119/Courier0000.lzma
2020-01-17T01:24:16.138Z,1579224256.138 [DataOverHttps](INFO): Moved sent file to Logs/20200117T012119/Courier0000.lzma.bak
2020-01-17T01:24:16.139Z,1579224256.139 [DataOverHttps](INFO): SBD MOMSN=12196207
2020-01-17T01:24:29.962Z,1579224269.962 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2020-01-17T01:24:29.962Z,1579224269.962 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T01:24:29.976Z,1579224269.976 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T01:24:30.380Z,1579224270.380 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T01:24:30.380Z,1579224270.380 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2020-01-17T01:24:35.517Z,1579224275.517 [DataOverHttps](INFO): Sending 78 bytes from file Logs/20200117T001824/Express0017.lzma
2020-01-17T01:24:37.526Z,1579224277.526 [DataOverHttps](INFO): Moved sent file to Logs/20200117T001824/Express0017.lzma.bak
2020-01-17T01:24:37.526Z,1579224277.526 [DataOverHttps](INFO): SBD MOMSN=12196210
2020-01-17T01:25:00.746Z,1579224300.746 [DataOverHttps](INFO): Sending 911 bytes from file Logs/20200117T012119/Express0001.lzma
2020-01-17T01:25:02.750Z,1579224302.750 [DataOverHttps](INFO): Moved sent file to Logs/20200117T012119/Express0001.lzma.bak
2020-01-17T01:25:02.750Z,1579224302.750 [DataOverHttps](INFO): SBD MOMSN=12196213
2020-01-17T01:25:02.881Z,1579224302.881 [CommandLine](IMPORTANT): got command show stack
2020-01-17T01:25:02.881Z,1579224302.881 [CommandLine](IMPORTANT): Behavior Stack:

2020-01-17T01:25:02.881Z,1579224302.881 [Startup](IMPORTANT): Priority 0: Startup:A.GoToSurface
2020-01-17T01:25:02.881Z,1579224302.881 [Startup:StartupSatComms](IMPORTANT): Priority 1: Startup:StartupSatComms:B
2020-01-17T01:25:03.918Z,1579224303.918 [Startup:StartupSatComms:B](INFO): Timed out from 2020-01-17T01:24:03.7Z
2020-01-17T01:25:03.918Z,1579224303.918 [Startup:StartupSatComms:B] Stopped
2020-01-17T01:25:03.918Z,1579224303.918 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2020-01-17T01:25:03.918Z,1579224303.918 [Startup:StartupSatComms] Stopped
2020-01-17T01:25:03.918Z,1579224303.918 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2020-01-17T01:25:03.919Z,1579224303.919 [Startup](INFO): Completed Startup
2020-01-17T01:25:03.919Z,1579224303.919 [MissionManager](INFO): Startup is completed.
2020-01-17T01:25:03.919Z,1579224303.919 [MissionManager](INFO): Uninitializing Mission Startup
2020-01-17T01:25:03.919Z,1579224303.919 [Startup] Stopped
2020-01-17T01:25:03.919Z,1579224303.919 [Startup](DEBUG): Aggregate::uninitialize Startup
2020-01-17T01:25:03.919Z,1579224303.919 [Startup:A.GoToSurface] Stopped
2020-01-17T01:25:03.919Z,1579224303.919 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-17T01:25:04.296Z,1579224304.296 [MissionManager](IMPORTANT): Started mission Default
2020-01-17T01:25:04.296Z,1579224304.296 [Default] Running Loop=1
2020-01-17T01:25:04.296Z,1579224304.296 [Default](DEBUG): Aggregate::initialize Default
2020-01-17T01:25:04.296Z,1579224304.296 [Default:B.GoToSurface] Running Loop=1
2020-01-17T01:25:04.296Z,1579224304.296 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-17T01:25:04.297Z,1579224304.297 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-17T01:25:04.297Z,1579224304.297 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-17T01:25:04.297Z,1579224304.297 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-17T01:25:04.297Z,1579224304.297 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-17T01:25:04.298Z,1579224304.298 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-17T01:25:04.298Z,1579224304.298 [Default:A.Wait] Running Loop=1
2020-01-17T01:25:04.298Z,1579224304.298 [Default:A.Wait](DEBUG): Initialize Wait Component.
2020-01-17T01:25:17.656Z,1579224317.656 [Default:A.Wait](INFO): Done Waiting.
2020-01-17T01:25:17.656Z,1579224317.656 [Default:A.Wait] Stopped
2020-01-17T01:25:17.656Z,1579224317.656 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-17T01:25:18.095Z,1579224318.095 [Default:CheckIn] Running Loop=1
2020-01-17T01:25:18.095Z,1579224318.095 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2020-01-17T01:25:18.095Z,1579224318.095 [Default:CheckIn:Read_GPS] Running Loop=1
2020-01-17T01:25:18.431Z,1579224318.431 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2020-01-17T01:25:21.773Z,1579224321.773 [CommandLine](IMPORTANT): got command load ./Missions/Docked.xml
2020-01-17T01:25:21.774Z,1579224321.774 [MissionManager](INFO): Loading Mission: ./Missions/Docked.xml
2020-01-17T01:25:21.832Z,1579224321.832 [MissionManager](INFO): DefineArg Docked.MaxDockRange = 8.000000 m
2020-01-17T01:25:21.835Z,1579224321.835 [MissionManager](INFO): DefineArg Docked.DetachedTimeout = 5.000000 min
2020-01-17T01:25:21.839Z,1579224321.839 [MissionManager](INFO): DefineArg Docked.DockedTimeout = 30.000000 s
2020-01-17T01:25:21.842Z,1579224321.842 [MissionManager](INFO): DefineArg Docked.TransponderCode = 2.000000 count
2020-01-17T01:25:21.846Z,1579224321.846 [MissionManager](INFO): DefineArg Docked.TrackingUpdatePeriod = 60.000000 s
2020-01-17T01:25:21.849Z,1579224321.849 [MissionManager](INFO): DefineArg Docked.NumberOfPings = 1.000000 count
2020-01-17T01:25:21.853Z,1579224321.853 [MissionManager](INFO): DefineArg Docked.DepthDeadband = 1.500000 m
2020-01-17T01:25:21.856Z,1579224321.856 [MissionManager](INFO): DefineArg Docked.PitchLimit = 20.000000 arcdeg
2020-01-17T01:25:21.860Z,1579224321.860 [MissionManager](INFO): DefineArg Docked.MinDepth = 1.000000 m
2020-01-17T01:25:21.891Z,1579224321.891 [MissionManager](INFO): DefineArg Docked.MaxDepth = 215.000000 m
2020-01-17T01:25:21.892Z,1579224321.892 [Docked:A.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-01-17T01:25:22.235Z,1579224322.235 [Docked:E.Docked](DEBUG): Construct.
2020-01-17T01:25:22.251Z,1579224322.251 [Docked:G.Wait](DEBUG): Construct Wait.
2020-01-17T01:25:22.266Z,1579224322.266 [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="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="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="Info">Docked satisfied!</Syslog>

    <Guidance:Wait>
        <Sequence/>
        <Setting><Guidance:Wait.duration/><Units:minute/><Value>5</Value></Setting>
    </Guidance:Wait>

</Aggregate>


2020-01-17T01:25:22.267Z,1579224322.267 [CommandLine](IMPORTANT): Loaded ./Missions/Docked.xml
2020-01-17T01:25:36.371Z,1579224336.371 [CommandLine](IMPORTANT): got command get VerticalControl.depthCmd
2020-01-17T01:25:36.372Z,1579224336.372 [CommandLine](IMPORTANT): VerticalControl.depthCmd nan m
2020-01-17T01:25:47.021Z,1579224347.021 [CommandLine](IMPORTANT): got command report touch VerticalControl.depthCmd
2020-01-17T01:26:53.367Z,1579224413.367 [CommandLine](IMPORTANT): got command load ./Missions/Docked.xml
2020-01-17T01:26:53.368Z,1579224413.368 [MissionManager](INFO): Uninitializing Mission Docked
2020-01-17T01:26:53.381Z,1579224413.381 [MissionManager](INFO): Loading Mission: ./Missions/Docked.xml
2020-01-17T01:26:53.530Z,1579224413.530 [MissionManager](INFO): DefineArg Docked.MaxDockRange = 8.000000 m
2020-01-17T01:26:53.532Z,1579224413.532 [MissionManager](INFO): DefineArg Docked.DetachedTimeout = 5.000000 min
2020-01-17T01:26:53.550Z,1579224413.550 [MissionManager](INFO): DefineArg Docked.DockedTimeout = 30.000000 s
2020-01-17T01:26:53.552Z,1579224413.552 [MissionManager](INFO): DefineArg Docked.TransponderCode = 2.000000 count
2020-01-17T01:26:53.554Z,1579224413.554 [MissionManager](INFO): DefineArg Docked.TrackingUpdatePeriod = 60.000000 s
2020-01-17T01:26:53.556Z,1579224413.556 [MissionManager](INFO): DefineArg Docked.NumberOfPings = 1.000000 count
2020-01-17T01:26:53.576Z,1579224413.576 [MissionManager](INFO): DefineArg Docked.DepthDeadband = 1.500000 m
2020-01-17T01:26:53.578Z,1579224413.578 [MissionManager](INFO): DefineArg Docked.PitchLimit = 20.000000 arcdeg
2020-01-17T01:26:53.616Z,1579224413.616 [MissionManager](INFO): DefineArg Docked.MinDepth = 1.000000 m
2020-01-17T01:26:53.643Z,1579224413.643 [MissionManager](INFO): DefineArg Docked.MaxDepth = 215.000000 m
2020-01-17T01:26:53.646Z,1579224413.646 [Docked:A.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-01-17T01:26:53.829Z,1579224413.829 [Docked:E.Docked](DEBUG): Construct.
2020-01-17T01:26:53.851Z,1579224413.851 [Docked:G.Wait](DEBUG): Construct Wait.
2020-01-17T01:26:53.864Z,1579224413.864 [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="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="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="Info">Docked satisfied!</Syslog>

    <Guidance:Wait>
        <Sequence/>
        <Setting><Guidance:Wait.duration/><Units:minute/><Value>5</Value></Setting>
    </Guidance:Wait>

</Aggregate>


2020-01-17T01:26:53.877Z,1579224413.877 [CommandLine](IMPORTANT): Loaded ./Missions/Docked.xml
2020-01-17T01:27:03.863Z,1579224423.863 [CommandLine](IMPORTANT): got command set Docked.DetachedTimeout 30.000000 second
2020-01-17T01:27:10.700Z,1579224430.700 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2020-01-17T01:27:10.900Z,1579224430.900 [CommandLine](IMPORTANT): got command run
2020-01-17T01:27:10.904Z,1579224430.904 [CommandLine](IMPORTANT): Running 
2020-01-17T01:27:11.143Z,1579224431.143 [Default] Stopped
2020-01-17T01:27:11.144Z,1579224431.144 [Default](DEBUG): Aggregate::uninitialize Default
2020-01-17T01:27:11.144Z,1579224431.144 [Default:B.GoToSurface] Stopped
2020-01-17T01:27:11.144Z,1579224431.144 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-17T01:27:11.144Z,1579224431.144 [Default:CheckIn] Stopped
2020-01-17T01:27:11.144Z,1579224431.144 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2020-01-17T01:27:11.144Z,1579224431.144 [Default:CheckIn:Read_GPS] Stopped
2020-01-17T01:27:11.144Z,1579224431.144 [MissionManager](IMPORTANT): Started mission Docked
2020-01-17T01:27:11.144Z,1579224431.144 [Docked] Running Loop=1
2020-01-17T01:27:11.144Z,1579224431.144 [Docked](DEBUG): Aggregate::initialize Docked
2020-01-17T01:27:11.144Z,1579224431.144 [Docked:A.DepthEnvelope] Running Loop=1
2020-01-17T01:27:11.145Z,1579224431.145 [Docked:A.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2020-01-17T01:27:11.145Z,1579224431.145 [Docked:B.] Running Loop=1
2020-01-17T01:27:11.145Z,1579224431.145 [Docked:B.](INFO): Initializing TrackAcousticContact.
2020-01-17T01:27:11.145Z,1579224431.145 [Docked:C] Running Loop=1
2020-01-17T01:27:11.146Z,1579224431.146 [Docked:D] Running Loop=1
2020-01-17T01:27:11.146Z,1579224431.146 [Docked:E.Docked] Running Loop=1
2020-01-17T01:27:11.146Z,1579224431.146 [Docked:E.Docked](DEBUG): Initialize.
2020-01-17T01:27:11.146Z,1579224431.146 [Docked:E.Docked](INFO): Depth unspecified. Maintaining workSite beacon depth of 6.000000 m.
2020-01-17T01:27:11.147Z,1579224431.147 [Docked:D] Running Loop=1
2020-01-17T01:27:11.148Z,1579224431.148 [Docked:C] Running Loop=1
2020-01-17T01:27:11.148Z,1579224431.148 [Docked:B.] Running Loop=1
2020-01-17T01:27:11.148Z,1579224431.148 [Docked:A.DepthEnvelope] Running Loop=1
2020-01-17T01:27:11.160Z,1579224431.160 [Reporter](INFO): VerticalControl.depthCmd 6.000000 m
2020-01-17T01:27:11.576Z,1579224431.576 [Reporter](INFO): VerticalControl.depthCmd 6.000000 m
2020-01-17T01:27:12.033Z,1579224432.033 [Reporter](INFO): VerticalControl.depthCmd 6.000000 m
2020-01-17T01:27:12.476Z,1579224432.476 [Reporter](INFO): VerticalControl.depthCmd 6.000000 m
2020-01-17T01:27:12.790Z,1579224432.790 [Reporter](INFO): VerticalControl.depthCmd 6.000000 m
2020-01-17T01:27:13.290Z,1579224433.290 [Reporter](INFO): VerticalControl.depthCmd 6.000000 m
2020-01-17T01:27:13.656Z,1579224433.656 [Reporter](INFO): VerticalControl.depthCmd 6.000000 m
2020-01-17T01:27:14.023Z,1579224434.023 [Reporter](INFO): VerticalControl.depthCmd 6.000000 m
2020-01-17T01:27:14.433Z,1579224434.433 [Reporter](INFO): VerticalControl.depthCmd 6.000000 m
2020-01-17T01:27:14.910Z,1579224434.910 [Reporter](INFO): VerticalControl.depthCmd 6.000000 m
2020-01-17T01:27:15.219Z,1579224435.219 [Reporter](INFO): VerticalControl.depthCmd 6.000000 m
2020-01-17T01:27:15.707Z,1579224435.707 [Reporter](INFO): VerticalControl.depthCmd 6.000000 m
2020-01-17T01:27:16.119Z,1579224436.119 [Reporter](INFO): VerticalControl.depthCmd 6.000000 m
2020-01-17T01:27:16.515Z,1579224436.515 [Reporter](INFO): VerticalControl.depthCmd 6.000000 m
2020-01-17T01:27:16.962Z,1579224436.962 [Reporter](INFO): VerticalControl.depthCmd 6.000000 m
2020-01-17T01:27:17.027Z,1579224437.027 [CommandLine](IMPORTANT): got command report clear
2020-01-17T01:27:30.991Z,1579224450.991 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2020-01-17T01:27:30.991Z,1579224450.991 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T01:27:31.061Z,1579224451.061 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T01:27:31.465Z,1579224451.465 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T01:27:31.465Z,1579224451.465 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2020-01-17T01:27:35.528Z,1579224455.528 [CommandLine](IMPORTANT): got command report mod VerticalControl.depthCmd
2020-01-17T01:27:35.907Z,1579224455.907 [Reporter](INFO): VerticalControl.depthCmd 6.000000 m
2020-01-17T01:27:37.017Z,1579224457.017 [RDI_Pathfinder](ERROR): Failed to parse:
:B,-32768,-32768,V
2020-01-17T01:27:39.047Z,1579224459.047 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-17T01:27:39.047Z,1579224459.047 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,20011618393926,35.0, 0.0,1448.9,  0
2020-01-17T01:27:40.219Z,1579224460.219 [CommandLine](IMPORTANT): got command show stack
2020-01-17T01:27:40.219Z,1579224460.219 [CommandLine](IMPORTANT): Behavior Stack:

2020-01-17T01:27:40.219Z,1579224460.219 [Docked](IMPORTANT): Priority 0: Docked:A.DepthEnvelope
2020-01-17T01:27:40.219Z,1579224460.219 [Docked](IMPORTANT): Priority 1: Docked:B.
2020-01-17T01:27:40.220Z,1579224460.220 [Docked](IMPORTANT): Priority 2: Docked:C
2020-01-17T01:27:40.220Z,1579224460.220 [Docked](IMPORTANT): Priority 3: Docked:D
2020-01-17T01:27:40.220Z,1579224460.220 [Docked](IMPORTANT): Priority 4: Docked:E.Docked
2020-01-17T01:28:11.148Z,1579224491.148 [Docked:B.](INFO): *** querying acoustic contact ***
2020-01-17T01:28:11.884Z,1579224491.884 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-17T01:28:12.294Z,1579224492.294 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-17T01:28:13.103Z,1579224493.103 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012812.99*56

2020-01-17T01:28:15.240Z,1579224495.240 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-17T01:28:51.784Z,1579224531.784 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2020-01-17T01:28:51.787Z,1579224531.787 [BPC1](INFO): Received data from all battery sticks.
2020-01-17T01:29:02.650Z,1579224542.650 [CommandLine](IMPORTANT): got command show stack
2020-01-17T01:29:02.650Z,1579224542.650 [CommandLine](IMPORTANT): Behavior Stack:

2020-01-17T01:29:02.651Z,1579224542.651 [Docked](IMPORTANT): Priority 0: Docked:A.DepthEnvelope
2020-01-17T01:29:02.651Z,1579224542.651 [Docked](IMPORTANT): Priority 1: Docked:B.
2020-01-17T01:29:02.651Z,1579224542.651 [Docked](IMPORTANT): Priority 2: Docked:C
2020-01-17T01:29:02.652Z,1579224542.652 [Docked](IMPORTANT): Priority 3: Docked:D
2020-01-17T01:29:02.652Z,1579224542.652 [Docked](IMPORTANT): Priority 4: Docked:E.Docked
2020-01-17T01:29:11.180Z,1579224551.180 [Docked:B.](INFO): *** querying acoustic contact ***
2020-01-17T01:29:11.945Z,1579224551.945 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-17T01:29:12.349Z,1579224552.349 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-17T01:29:13.164Z,1579224553.164 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012913.06*50

2020-01-17T01:29:15.578Z,1579224555.578 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-17T01:29:46.018Z,1579224586.018 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-17T01:29:46.018Z,1579224586.018 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2020-01-17T01:29:46.031Z,1579224586.031 [Docked:E.Docked](IMPORTANT): VEHICLE DETACHED FROM DOCK.
2020-01-17T01:29:46.031Z,1579224586.031 [Docked:F] Running Loop=1
2020-01-17T01:29:46.424Z,1579224586.424 [Docked:F](INFO): Docked satisfied!
2020-01-17T01:29:46.424Z,1579224586.424 [Docked:F] Stopped
2020-01-17T01:29:46.424Z,1579224586.424 [Docked:G.Wait] Running Loop=1
2020-01-17T01:29:46.424Z,1579224586.424 [Docked:G.Wait](DEBUG): Initialize Wait Component.
2020-01-17T01:30:11.560Z,1579224611.560 [Docked:B.](INFO): *** querying acoustic contact ***
2020-01-17T01:30:12.327Z,1579224612.327 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-17T01:30:12.729Z,1579224612.729 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-17T01:30:13.543Z,1579224613.543 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013013.44*5E

2020-01-17T01:30:15.954Z,1579224615.954 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-17T01:30:31.909Z,1579224631.909 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 3
2020-01-17T01:30:31.909Z,1579224631.909 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T01:30:31.964Z,1579224631.964 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T01:30:32.318Z,1579224632.318 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T01:30:32.318Z,1579224632.318 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 3
2020-01-17T01:30:46.028Z,1579224646.028 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-17T01:30:46.028Z,1579224646.028 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,20011618424626,35.0, -0.1,   0.0,1448.9,,  0.00,   0.00,   0.00,   0.00,   0.00
2020-01-17T01:31:11.577Z,1579224671.577 [Docked:B.](INFO): *** querying acoustic contact ***
2020-01-17T01:31:12.359Z,1579224672.359 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-17T01:31:12.430Z,1579224672.430 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-17T01:31:12.431Z,1579224672.431 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2020-01-17T01:31:12.757Z,1579224672.757 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-17T01:31:13.563Z,1579224673.563 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013113.47*5C

2020-01-17T01:31:15.986Z,1579224675.986 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-17T01:31:21.795Z,1579224681.795 [CommandLine](IMPORTANT): got command show stack
2020-01-17T01:31:21.795Z,1579224681.795 [CommandLine](IMPORTANT): Behavior Stack:

2020-01-17T01:31:21.795Z,1579224681.795 [Docked](IMPORTANT): Priority 0: Docked:A.DepthEnvelope
2020-01-17T01:31:21.796Z,1579224681.796 [Docked](IMPORTANT): Priority 1: Docked:B.
2020-01-17T01:31:21.796Z,1579224681.796 [Docked](IMPORTANT): Priority 2: Docked:C
2020-01-17T01:31:21.796Z,1579224681.796 [Docked](IMPORTANT): Priority 3: Docked:D
2020-01-17T01:31:21.796Z,1579224681.796 [Docked](IMPORTANT): Priority 4: Docked:E.Docked
2020-01-17T01:31:21.807Z,1579224681.807 [Docked](IMPORTANT): Priority 5: Docked:G.Wait
2020-01-17T01:31:40.227Z,1579224700.227 [CommandLine](IMPORTANT): got command stop
2020-01-17T01:31:40.227Z,1579224700.227 [CommandLine](IMPORTANT): Scheduling is paused
2020-01-17T01:31:40.227Z,1579224700.227 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2020-01-17T01:31:40.320Z,1579224700.320 [MissionManager](INFO): MissionManager is completed.
2020-01-17T01:31:40.325Z,1579224700.325 [MissionManager](INFO): Uninitializing Mission Docked
2020-01-17T01:31:40.325Z,1579224700.325 [Docked] Stopped
2020-01-17T01:31:40.325Z,1579224700.325 [Docked](DEBUG): Aggregate::uninitialize Docked
2020-01-17T01:31:40.325Z,1579224700.325 [Docked:A.DepthEnvelope] Stopped
2020-01-17T01:31:40.325Z,1579224700.325 [Docked:A.DepthEnvelope](DEBUG): Uninitialize.
2020-01-17T01:31:40.325Z,1579224700.325 [Docked:B.] Stopped
2020-01-17T01:31:40.325Z,1579224700.325 [Docked:C] Stopped
2020-01-17T01:31:40.325Z,1579224700.325 [Docked:D] Stopped
2020-01-17T01:31:40.325Z,1579224700.325 [Docked:E.Docked] Stopped
2020-01-17T01:31:40.325Z,1579224700.325 [Docked:G.Wait] Stopped
2020-01-17T01:31:40.326Z,1579224700.326 [Docked:G.Wait](DEBUG): Uninitialize Wait Component.
2020-01-17T01:31:40.406Z,1579224700.406 [Reporter](INFO): VerticalControl.depthCmd no_value
2020-01-17T01:31:40.718Z,1579224700.718 [MissionManager](IMPORTANT): Started mission Default
2020-01-17T01:31:40.718Z,1579224700.718 [Default] Running Loop=1
2020-01-17T01:31:40.718Z,1579224700.718 [Default](DEBUG): Aggregate::initialize Default
2020-01-17T01:31:40.718Z,1579224700.718 [Default:B.GoToSurface] Running Loop=1
2020-01-17T01:31:40.718Z,1579224700.718 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-17T01:31:40.719Z,1579224700.719 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-17T01:31:40.719Z,1579224700.719 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-17T01:31:40.719Z,1579224700.719 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-17T01:31:40.719Z,1579224700.719 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-17T01:31:40.720Z,1579224700.720 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-17T01:31:40.720Z,1579224700.720 [Default:A.Wait] Running Loop=1
2020-01-17T01:31:40.720Z,1579224700.720 [Default:A.Wait](DEBUG): Initialize Wait Component.
2020-01-17T01:31:53.772Z,1579224713.772 [Default:A.Wait](INFO): Done Waiting.
2020-01-17T01:31:53.772Z,1579224713.772 [Default:A.Wait] Stopped
2020-01-17T01:31:53.772Z,1579224713.772 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-17T01:31:54.171Z,1579224714.171 [Default:CheckIn] Running Loop=1
2020-01-17T01:31:54.171Z,1579224714.171 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2020-01-17T01:31:54.171Z,1579224714.171 [Default:CheckIn:Read_GPS] Running Loop=1
2020-01-17T01:32:09.889Z,1579224729.889 [NAL9602](FAULT): GPS failed to acquire within timeout.
2020-01-17T01:32:09.890Z,1579224729.890 [NAL9602] Data Fault, FailCount= 1
2020-01-17T01:32:09.890Z,1579224729.890 [NAL9602](ERROR): Data Fault
2020-01-17T01:32:09.977Z,1579224729.977 [CBIT](ERROR): Data Fault in component: NAL9602
2020-01-17T01:32:10.283Z,1579224730.283 [NAL9602](INFO): Powering down
2020-01-17T01:32:10.695Z,1579224730.695 [NAL9602](FAULT): LCB fault:  Hardware Overcurrent Shutdown. Software Overcurrent.
2020-01-17T01:32:10.695Z,1579224730.695 [NAL9602] Hardware Fault, FailCount= 1
2020-01-17T01:32:10.695Z,1579224730.695 [NAL9602](ERROR): Hardware Fault
2020-01-17T01:32:11.179Z,1579224731.179 [CBIT](INFO): Clearing failed state for component NAL9602
2020-01-17T01:32:11.179Z,1579224731.179 [NAL9602] No Fault, FailCount= 1
2020-01-17T01:32:23.669Z,1579224743.669 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-17T01:32:23.670Z,1579224743.670 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00,   I,-32768,-32768,-32768,-32768,V
2020-01-17T01:32:35.337Z,1579224755.337 [CommandLine](IMPORTANT): got command get VerticalControl.depthCmd
2020-01-17T01:32:35.337Z,1579224755.337 [CommandLine](IMPORTANT): VerticalControl.depthCmd 6.000000 m
2020-01-17T01:32:40.587Z,1579224760.587 [NAL9602](INFO): Powering up NAL9602
2020-01-17T01:32:45.960Z,1579224765.960 [CommandLine](IMPORTANT): got command show stack
2020-01-17T01:32:45.960Z,1579224765.960 [CommandLine](IMPORTANT): Behavior Stack:

2020-01-17T01:32:45.960Z,1579224765.960 [Default](IMPORTANT): Priority 0: Default:B.GoToSurface
2020-01-17T01:32:45.960Z,1579224765.960 [Default:CheckIn](IMPORTANT): Priority 1: Default:CheckIn:Read_GPS
2020-01-17T01:32:51.499Z,1579224771.499 [NAL9602](INFO): NAL9602 initialized
2020-01-17T01:32:59.183Z,1579224779.183 [CommandLine](IMPORTANT): got command get VerticalControl.verticalMode
2020-01-17T01:32:59.184Z,1579224779.184 [CommandLine](IMPORTANT): VerticalControl.verticalMode 8 enum
2020-01-17T01:33:15.225Z,1579224795.225 [CommandLine](IMPORTANT): got command report mod VerticalControl.verticalMode
2020-01-17T01:33:15.389Z,1579224795.389 [Reporter](INFO): VerticalControl.verticalMode 8 enum
2020-01-17T01:33:32.724Z,1579224812.724 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 4
2020-01-17T01:33:32.724Z,1579224812.724 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T01:33:32.749Z,1579224812.749 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T01:33:33.150Z,1579224813.150 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T01:33:33.151Z,1579224813.151 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 4
2020-01-17T01:36:33.729Z,1579224993.729 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 5
2020-01-17T01:36:33.729Z,1579224993.729 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T01:36:33.738Z,1579224993.738 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T01:36:34.138Z,1579224994.138 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T01:36:34.139Z,1579224994.139 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 5
2020-01-17T01:36:54.345Z,1579225014.345 [Default:CheckIn:Read_GPS](INFO): Timed out from 2020-01-17T01:31:54.2Z
2020-01-17T01:36:54.345Z,1579225014.345 [Default:CheckIn:Read_GPS] Stopped
2020-01-17T01:36:54.346Z,1579225014.346 [Default:CheckIn:Read_Iridium] Running Loop=1
2020-01-17T01:36:54.774Z,1579225014.774 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2020-01-17T01:37:01.508Z,1579225021.508 [DataOverHttps](INFO): Sending 2267 bytes from file Logs/20200117T012119/Courier0004.lzma
2020-01-17T01:37:03.510Z,1579225023.510 [DataOverHttps](INFO): Moved sent file to Logs/20200117T012119/Courier0004.lzma.bak
2020-01-17T01:37:03.510Z,1579225023.510 [DataOverHttps](INFO): SBD MOMSN=12196234
2020-01-17T01:37:25.502Z,1579225045.502 [DataOverHttps](INFO): Sending 876 bytes from file Logs/20200117T012119/Express0005.lzma
2020-01-17T01:37:27.506Z,1579225047.506 [DataOverHttps](INFO): Moved sent file to Logs/20200117T012119/Express0005.lzma.bak
2020-01-17T01:37:27.506Z,1579225047.506 [DataOverHttps](INFO): SBD MOMSN=12196236
2020-01-17T01:37:28.697Z,1579225048.697 [Default:CheckIn:Read_Iridium] Stopped
2020-01-17T01:37:28.697Z,1579225048.697 [Default:CheckIn:C.Wait] Running Loop=1
2020-01-17T01:37:28.697Z,1579225048.697 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2020-01-17T01:37:50.070Z,1579225070.070 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-17T01:37:50.070Z,1579225070.070 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,20011618495026,35.0, -.0,1448.9,  0
2020-01-17T01:38:05.037Z,1579225085.037 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-01-17T01:38:05.038Z,1579225085.038 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-3268,-32768,V
2020-01-17T01:38:21.179Z,1579225101.179 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-17T01:38:21.179Z,1579225101.179 [RDI_Pathfinder](ERROR): Failed to parse:
:TS8502126,35.0, -0.1,   0.0,1448.9,  0
2020-01-17T01:39:00.813Z,1579225140.813 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-17T01:39:00.813Z,1579225140.813 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,20011618510126,35.0, -0.1,   0.,  0
2020-01-17T01:39:09.709Z,1579225149.709 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2020-01-17T01:39:34.726Z,1579225174.726 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 6
2020-01-17T01:39:34.726Z,1579225174.726 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T01:39:34.738Z,1579225174.738 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T01:39:35.150Z,1579225175.150 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T01:39:35.150Z,1579225175.150 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 6
2020-01-17T01:40:05.011Z,1579225205.011 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-17T01:40:05.011Z,1579225205.011 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,20011618520526,35.0, -0.1,   0.,  0
2020-01-17T01:40:45.014Z,1579225245.014 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-17T01:40:45.014Z,1579225245.014 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2020-01-17T01:41:25.018Z,1579225285.018 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-17T01:41:25.018Z,1579225285.018 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2020-01-17T01:41:41.992Z,1579225301.992 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-17T01:41:42.009Z,1579225302.009 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2020-01-17T01:42:29.243Z,1579225349.243 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2020-01-17T01:42:29.243Z,1579225349.243 [Default:CheckIn:C.Wait] Stopped
2020-01-17T01:42:29.243Z,1579225349.243 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2020-01-17T01:42:29.244Z,1579225349.244 [Default:CheckIn:D] Running Loop=1
2020-01-17T01:42:29.698Z,1579225349.698 [Default:CheckIn:D] Stopped
2020-01-17T01:42:29.698Z,1579225349.698 [Default:CheckIn:E] Running Loop=1
2020-01-17T01:42:30.080Z,1579225350.080 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 10.816323 min 
2020-01-17T01:42:30.080Z,1579225350.080 [Default:CheckIn:E] Stopped
2020-01-17T01:42:30.080Z,1579225350.080 [Default:CheckIn](INFO): Completed Default:CheckIn
2020-01-17T01:42:30.081Z,1579225350.081 [Default:CheckIn] Stopped
2020-01-17T01:42:30.081Z,1579225350.081 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2020-01-17T01:42:30.081Z,1579225350.081 [Default:CheckIn](INFO): Running loop #2
2020-01-17T01:42:30.081Z,1579225350.081 [Default:CheckIn] Running Loop=2
2020-01-17T01:42:30.081Z,1579225350.081 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2020-01-17T01:42:30.081Z,1579225350.081 [Default:CheckIn:Read_GPS] Running Loop=1
2020-01-17T01:42:35.729Z,1579225355.729 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 7
2020-01-17T01:42:35.729Z,1579225355.729 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T01:42:35.739Z,1579225355.739 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T01:42:36.134Z,1579225356.134 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T01:42:36.134Z,1579225356.134 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 7
2020-01-17T01:42:43.004Z,1579225363.004 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-17T01:42:43.004Z,1579225363.004 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-32768,-32768-32768,-32768,-32768,V
2020-01-17T01:42:53.452Z,1579225373.452 [NAL9602](FAULT): GPS failed to acquire within timeout.
2020-01-17T01:42:53.452Z,1579225373.452 [NAL9602] Data Fault, FailCount= 2
2020-01-17T01:42:53.452Z,1579225373.452 [NAL9602](ERROR): Data Fault
2020-01-17T01:42:53.522Z,1579225373.522 [CBIT](ERROR): Data Fault in component: NAL9602
2020-01-17T01:42:53.861Z,1579225373.861 [NAL9602](INFO): Powering down
2020-01-17T01:42:54.709Z,1579225374.709 [CBIT](INFO): Clearing failed state for component NAL9602
2020-01-17T01:42:54.709Z,1579225374.709 [NAL9602] No Fault, FailCount= 2
2020-01-17T01:43:24.160Z,1579225404.160 [NAL9602](INFO): Powering up NAL9602
2020-01-17T01:43:29.029Z,1579225409.029 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-17T01:43:29.030Z,1579225409.030 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,20011618552926,35.0, -0.1,   0.0,144

2020-01-17T01:43:35.072Z,1579225415.072 [NAL9602](INFO): NAL9602 initialized
2020-01-17T01:43:46.013Z,1579225426.013 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-17T01:43:46.013Z,1579225426.013 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00,

2020-01-17T01:44:06.639Z,1579225446.639 [RDI_Pathfinder](ERROR): Failed to parse:
68,-32768,-32768,V
2020-01-17T01:45:27.017Z,1579225527.017 [RDI_Pathfinder](ERROR): Failed to parse:
:B,-32768,-32768,V
2020-01-17T01:45:36.720Z,1579225536.720 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 8
2020-01-17T01:45:36.720Z,1579225536.720 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T01:45:36.730Z,1579225536.730 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T01:45:37.134Z,1579225537.134 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T01:45:37.134Z,1579225537.134 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 8
2020-01-17T01:47:30.227Z,1579225650.227 [Default:CheckIn:Read_GPS](INFO): Timed out from 2020-01-17T01:42:30.1Z
2020-01-17T01:47:30.227Z,1579225650.227 [Default:CheckIn:Read_GPS] Stopped
2020-01-17T01:47:30.228Z,1579225650.228 [Default:CheckIn:Read_Iridium] Running Loop=1
2020-01-17T01:47:39.556Z,1579225659.556 [DataOverHttps](INFO): Sending 170 bytes from file Logs/20200117T012119/Express0008.lzma
2020-01-17T01:47:41.562Z,1579225661.562 [DataOverHttps](INFO): Moved sent file to Logs/20200117T012119/Express0008.lzma.bak
2020-01-17T01:47:41.562Z,1579225661.562 [DataOverHttps](INFO): SBD MOMSN=12196294
2020-01-17T01:47:42.766Z,1579225662.766 [Default:CheckIn:Read_Iridium] Stopped
2020-01-17T01:47:42.766Z,1579225662.766 [Default:CheckIn:C.Wait] Running Loop=1
2020-01-17T01:47:42.766Z,1579225662.766 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2020-01-17T01:48:37.718Z,1579225717.718 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 9
2020-01-17T01:48:37.718Z,1579225717.718 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T01:48:37.744Z,1579225717.744 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T01:48:38.130Z,1579225718.130 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T01:48:38.130Z,1579225718.130 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 9
2020-01-17T01:51:38.728Z,1579225898.728 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 10
2020-01-17T01:51:38.728Z,1579225898.728 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T01:51:38.749Z,1579225898.749 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T01:51:39.122Z,1579225899.122 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T01:51:39.122Z,1579225899.122 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 10
2020-01-17T01:52:43.357Z,1579225963.357 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2020-01-17T01:52:43.357Z,1579225963.357 [Default:CheckIn:C.Wait] Stopped
2020-01-17T01:52:43.357Z,1579225963.357 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2020-01-17T01:52:43.357Z,1579225963.357 [Default:CheckIn:D] Running Loop=1
2020-01-17T01:52:43.764Z,1579225963.764 [Default:CheckIn:D] Stopped
2020-01-17T01:52:43.764Z,1579225963.764 [Default:CheckIn:E] Running Loop=1
2020-01-17T01:52:44.163Z,1579225964.163 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 21.050757 min 
2020-01-17T01:52:44.163Z,1579225964.163 [Default:CheckIn:E] Stopped
2020-01-17T01:52:44.163Z,1579225964.163 [Default:CheckIn](INFO): Completed Default:CheckIn
2020-01-17T01:52:44.163Z,1579225964.163 [Default:CheckIn] Stopped
2020-01-17T01:52:44.163Z,1579225964.163 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2020-01-17T01:52:44.164Z,1579225964.164 [Default:CheckIn](INFO): Running loop #3
2020-01-17T01:52:44.164Z,1579225964.164 [Default:CheckIn] Running Loop=3
2020-01-17T01:52:44.164Z,1579225964.164 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2020-01-17T01:52:44.164Z,1579225964.164 [Default:CheckIn:Read_GPS] Running Loop=1
2020-01-17T01:53:36.235Z,1579226016.235 [NAL9602](FAULT): GPS failed to acquire within timeout.
2020-01-17T01:53:36.236Z,1579226016.236 [NAL9602] Data Fault, FailCount= 3
2020-01-17T01:53:36.236Z,1579226016.236 [NAL9602](ERROR): Data Fault
2020-01-17T01:53:36.313Z,1579226016.313 [CBIT](ERROR): Data Fault in component: NAL9602
2020-01-17T01:53:36.639Z,1579226016.639 [NAL9602](INFO): Powering down
2020-01-17T01:53:37.487Z,1579226017.487 [CBIT](INFO): Clearing failed state for component NAL9602
2020-01-17T01:53:37.487Z,1579226017.487 [NAL9602] No Fault, FailCount= 3
2020-01-17T01:54:00.908Z,1579226040.908 [RDI_Pathfinder](ERROR): Failed to parse:
:   +0.00,        +0.00,        +0.00,   0.00,1935.85
2020-01-17T01:54:06.939Z,1579226046.939 [NAL9602](INFO): Powering up NAL9602
2020-01-17T01:54:17.839Z,1579226057.839 [NAL9602](INFO): NAL9602 initialized
2020-01-17T01:54:39.728Z,1579226079.728 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 11
2020-01-17T01:54:39.729Z,1579226079.729 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T01:54:39.750Z,1579226079.750 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T01:54:40.102Z,1579226080.102 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T01:54:40.102Z,1579226080.102 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 11
2020-01-17T01:54:50.271Z,1579226090.271 [CommandLine](IMPORTANT): got command restart application
2020-01-17T01:54:51.277Z,1579226091.277 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-17T01:54:51.277Z,1579226091.277 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-17T01:54:51.313Z,1579226091.313 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2020-01-17T01:54:51.313Z,1579226091.313 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-17T01:54:51.314Z,1579226091.314 [CommandLine](INFO): Join timeout helper Thread ID is 7220
2020-01-17T01:54:51.314Z,1579226091.314 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2020-01-17T01:54:51.314Z,1579226091.314 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-17T01:54:51.315Z,1579226091.315 [NavChartDb](INFO): Join timeout helper Thread ID is 7221
2020-01-17T01:54:51.537Z,1579226091.537 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-17T01:54:51.537Z,1579226091.537 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-17T01:54:51.541Z,1579226091.541 [ComponentRegistry](INFO): Shutting down WetLabsSeaOWL_UV_A ThreadHandler
2020-01-17T01:54:51.541Z,1579226091.541 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-17T01:54:51.541Z,1579226091.541 [WetLabsSeaOWL_UV_A](INFO): Join timeout helper Thread ID is 7222
2020-01-17T01:54:51.645Z,1579226091.645 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-17T01:54:51.645Z,1579226091.645 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-01-17T01:54:51.646Z,1579226091.646 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-17T01:54:51.663Z,1579226091.663 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2020-01-17T01:54:51.663Z,1579226091.663 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-17T01:54:51.663Z,1579226091.663 [CTD_NeilBrown](INFO): Join timeout helper Thread ID is 7223
2020-01-17T01:54:51.701Z,1579226091.701 [CTD_NeilBrown ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-17T01:54:51.701Z,1579226091.701 [CTD_NeilBrown](INFO): Powering down
2020-01-17T01:54:51.713Z,1579226091.713 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-17T01:54:51.721Z,1579226091.721 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2020-01-17T01:54:51.721Z,1579226091.721 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-01-17T01:54:51.721Z,1579226091.721 [Radio_Surface](INFO): Join timeout helper Thread ID is 7224
2020-01-17T01:54:51.966Z,1579226091.966 [Radio_Surface](INFO): Powering down
2020-01-17T01:54:51.967Z,1579226091.967 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-17T01:54:51.968Z,1579226091.968 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-01-17T01:54:51.986Z,1579226091.986 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2020-01-17T01:54:51.986Z,1579226091.986 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-17T01:54:51.986Z,1579226091.986 [DataOverHttps](INFO): Join timeout helper Thread ID is 7225
2020-01-17T01:54:52.301Z,1579226092.301 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-17T01:54:52.302Z,1579226092.302 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-17T01:54:52.306Z,1579226092.306 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2020-01-17T01:54:52.306Z,1579226092.306 [logger ThreadHandler](INFO): Thread cancelled.
2020-01-17T01:54:52.306Z,1579226092.306 [logger](INFO): Join timeout helper Thread ID is 7226
2020-01-17T01:54:52.337Z,1579226092.337 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-17T01:54:52.337Z,1579226092.337 [logger ThreadHandler](INFO): Thread cancelled.
2020-01-17T01:54:52.345Z,1579226092.345 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2020-01-17T01:54:52.346Z,1579226092.346 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-17T01:54:52.346Z,1579226092.346 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2020-01-17T01:54:52.346Z,1579226092.346 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-01-17T01:54:52.346Z,1579226092.346 [controlThread](INFO): Join timeout helper Thread ID is 7227
2020-01-17T01:54:52.573Z,1579226092.573 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-17T01:54:52.573Z,1579226092.573 [controlThread](DEBUG): Uninitializing ControlThread
2020-01-17T01:54:52.573Z,1579226092.573 [AHRS_M2](INFO): Powering down
2020-01-17T01:54:52.645Z,1579226092.645 [DDM](INFO): Powering down
2020-01-17T01:54:52.717Z,1579226092.717 [DUSBL_Hydroid](INFO): Powering down
2020-01-17T01:54:52.789Z,1579226092.789 [Micromodem](INFO): Powering down
2020-01-17T01:54:52.885Z,1579226092.885 [NAL9602](INFO): Powering down
2020-01-17T01:54:52.957Z,1579226092.957 [RDI_Pathfinder](INFO): Powering down
2020-01-17T01:54:52.958Z,1579226092.958 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2020-01-17T01:54:52.959Z,1579226092.959 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2020-01-17T01:54:52.960Z,1579226092.960 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2020-01-17T01:54:52.960Z,1579226092.960 [MissionManager](INFO): Uninitializing Mission Default
2020-01-17T01:54:52.960Z,1579226092.960 [Default] Stopped
2020-01-17T01:54:52.960Z,1579226092.960 [Default](DEBUG): Aggregate::uninitialize Default
2020-01-17T01:54:52.960Z,1579226092.960 [Default:B.GoToSurface] Stopped
2020-01-17T01:54:52.960Z,1579226092.960 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-17T01:54:52.961Z,1579226092.961 [Default:CheckIn] Stopped
2020-01-17T01:54:52.961Z,1579226092.961 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2020-01-17T01:54:52.961Z,1579226092.961 [Default:CheckIn:Read_GPS] Stopped
2020-01-17T01:54:52.963Z,1579226092.963 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2020-01-17T01:54:52.963Z,1579226092.963 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2020-01-17T01:54:52.964Z,1579226092.964 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2020-01-17T01:54:52.964Z,1579226092.964 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2020-01-17T01:54:52.964Z,1579226092.964 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2020-01-17T01:54:52.964Z,1579226092.964 [BuoyancyServo](INFO): Powering down
2020-01-17T01:54:52.977Z,1579226092.977 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2020-01-17T01:54:52.977Z,1579226092.977 [ElevatorServo](INFO): Powering down
2020-01-17T01:54:52.978Z,1579226092.978 [MassServo](DEBUG): Uninitialize Mass Servo.
2020-01-17T01:54:52.978Z,1579226092.978 [MassServo](INFO): Powering down
2020-01-17T01:54:52.979Z,1579226092.979 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-01-17T01:54:52.979Z,1579226092.979 [RudderServo](INFO): Powering down
2020-01-17T01:54:52.979Z,1579226092.979 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2020-01-17T01:54:52.980Z,1579226092.980 [ThrusterServo](INFO): Powering down
2020-01-17T01:54:52.980Z,1579226092.980 [SBIT](DEBUG): Uninitialize SBIT Component.
2020-01-17T01:54:52.981Z,1579226092.981 [IBIT](DEBUG): Uninitialize IBIT Component.
2020-01-17T01:54:52.981Z,1579226092.981 [CBIT](DEBUG): Uninitialize CBIT Component.
2020-01-17T01:54:52.981Z,1579226092.981 [CBIT](DEBUG): Powering off loads.
2020-01-17T01:54:52.993Z,1579226092.993 [CBIT](DEBUG): Disabling WDT.
2020-01-17T01:54:53.005Z,1579226093.005 [CBIT](DEBUG): Opening all GF detection circuits.
2020-01-17T01:54:53.006Z,1579226093.006 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-01-17T01:54:53.062Z,1579226093.062 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-01-17T01:54:53.072Z,1579226093.072 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-17T01:54:53.113Z,1579226093.113 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-17T01:54:53.116Z,1579226093.116 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-17T01:54:53.176Z,1579226093.176 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-17T01:54:53.235Z,1579226093.235 [logger ThreadHandler](INFO): Thread cancelled.