2020-01-17T01:54:54.107Z,1579226094.107 [Supervisor](DEBUG): Initializing supervisor.
2020-01-17T01:54:54.110Z,1579226094.110 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2020-01-17T01:54:54.110Z,1579226094.110 [SyncHandler](INFO): Protected caller Thread ID is 7228
2020-01-17T01:54:54.111Z,1579226094.111 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2020-01-17T01:54:54.112Z,1579226094.112 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2020-01-17T01:54:54.112Z,1579226094.112 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 7229
2020-01-17T01:54:54.115Z,1579226094.115 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2020-01-17T01:54:54.127Z,1579226094.127 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2020-01-17T01:54:54.128Z,1579226094.128 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2020-01-17T01:54:54.128Z,1579226094.128 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 7230
2020-01-17T01:54:54.129Z,1579226094.129 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2020-01-17T01:54:54.130Z,1579226094.130 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2020-01-17T01:54:54.130Z,1579226094.130 [logger ThreadHandler](INFO): Protected caller Thread ID is 7231
2020-01-17T01:54:54.132Z,1579226094.132 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2020-01-17T01:54:54.133Z,1579226094.133 [Supervisor](INFO): Looking for Config files in directory: Config/
2020-01-17T01:54:54.134Z,1579226094.134 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2020-01-17T01:54:54.560Z,1579226094.560 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2020-01-17T01:54:54.561Z,1579226094.561 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2020-01-17T01:54:54.659Z,1579226094.659 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2020-01-17T01:54:54.659Z,1579226094.659 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2020-01-17T01:54:54.976Z,1579226094.976 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2020-01-17T01:54:54.977Z,1579226094.977 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2020-01-17T01:54:55.114Z,1579226095.114 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2020-01-17T01:54:55.115Z,1579226095.115 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2020-01-17T01:54:55.303Z,1579226095.303 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2020-01-17T01:54:55.304Z,1579226095.304 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2020-01-17T01:54:55.738Z,1579226095.738 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2020-01-17T01:54:55.739Z,1579226095.739 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2020-01-17T01:54:55.945Z,1579226095.945 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2020-01-17T01:54:55.945Z,1579226095.945 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2020-01-17T01:54:56.087Z,1579226096.087 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2020-01-17T01:54:56.088Z,1579226096.088 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2020-01-17T01:54:56.276Z,1579226096.276 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2020-01-17T01:54:56.276Z,1579226096.276 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2020-01-17T01:54:56.372Z,1579226096.372 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2020-01-17T01:54:56.373Z,1579226096.373 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2020-01-17T01:54:56.666Z,1579226096.666 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2020-01-17T01:54:56.666Z,1579226096.666 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2020-01-17T01:54:56.747Z,1579226096.747 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2020-01-17T01:54:56.851Z,1579226096.851 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2020-01-17T01:54:56.852Z,1579226096.852 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2020-01-17T01:54:57.474Z,1579226097.474 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2020-01-17T01:54:57.475Z,1579226097.475 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2020-01-17T01:54:57.874Z,1579226097.874 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2020-01-17T01:54:57.876Z,1579226097.876 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/
2020-01-17T01:54:57.876Z,1579226097.876 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/vehicle.cfg
2020-01-17T01:54:58.085Z,1579226098.085 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Control.cfg
2020-01-17T01:54:58.189Z,1579226098.189 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/BIT.cfg
2020-01-17T01:54:58.331Z,1579226098.331 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Battery.cfg
2020-01-17T01:54:59.083Z,1579226099.083 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2020-01-17T01:54:59.084Z,1579226099.084 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Simulator.cfg
2020-01-17T01:54:59.170Z,1579226099.170 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Navigation.cfg
2020-01-17T01:54:59.263Z,1579226099.263 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/logger.cfg
2020-01-17T01:54:59.362Z,1579226099.362 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/secure.cfg
2020-01-17T01:54:59.445Z,1579226099.445 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Servo.cfg
2020-01-17T01:54:59.553Z,1579226099.553 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/workSite.cfg
2020-01-17T01:54:59.646Z,1579226099.646 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Sensor.cfg
2020-01-17T01:54:59.827Z,1579226099.827 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Science.cfg
2020-01-17T01:54:59.957Z,1579226099.957 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/root/
2020-01-17T01:54:59.957Z,1579226099.957 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2020-01-17T01:54:59.963Z,1579226099.963 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2020-01-17T01:55:00.256Z,1579226100.256 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_orientation
2020-01-17T01:55:00.261Z,1579226100.261 [AHRS_M2](INFO): created writer for : platform_orientation
2020-01-17T01:55:00.263Z,1579226100.263 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_magnetic_orientation
2020-01-17T01:55:00.267Z,1579226100.267 [AHRS_M2](INFO): created writer for : platform_magnetic_orientation
2020-01-17T01:55:00.268Z,1579226100.268 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_pitch_angle
2020-01-17T01:55:00.272Z,1579226100.272 [AHRS_M2](INFO): created writer for : platform_pitch_angle
2020-01-17T01:55:00.273Z,1579226100.273 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_roll_angle
2020-01-17T01:55:00.278Z,1579226100.278 [AHRS_M2](INFO): created writer for : platform_roll_angle
2020-01-17T01:55:00.344Z,1579226100.344 [AHRS_M2] Loaded
2020-01-17T01:55:00.344Z,1579226100.344 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2020-01-17T01:55:00.430Z,1579226100.430 [DataOverHttps] Loaded
2020-01-17T01:55:00.430Z,1579226100.430 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2020-01-17T01:55:00.431Z,1579226100.431 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 407684E0
2020-01-17T01:55:00.432Z,1579226100.432 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 7313
2020-01-17T01:55:00.454Z,1579226100.454 [DDM] Loaded
2020-01-17T01:55:00.454Z,1579226100.454 [ComponentRegistry](DEBUG): SyncComponent "DDM" handled in the control thread.
2020-01-17T01:55:00.466Z,1579226100.466 [Depth_Keller] Loaded
2020-01-17T01:55:00.467Z,1579226100.467 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2020-01-17T01:55:00.471Z,1579226100.471 [DropWeight] Loaded
2020-01-17T01:55:00.472Z,1579226100.472 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2020-01-17T01:55:00.528Z,1579226100.528 [DUSBL_Hydroid] Loaded
2020-01-17T01:55:00.528Z,1579226100.528 [ComponentRegistry](DEBUG): SyncComponent "DUSBL_Hydroid" handled in the control thread.
2020-01-17T01:55:00.572Z,1579226100.572 [Micromodem] Loaded
2020-01-17T01:55:00.572Z,1579226100.572 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2020-01-17T01:55:00.662Z,1579226100.662 [NAL9602] Loaded
2020-01-17T01:55:00.662Z,1579226100.662 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2020-01-17T01:55:00.696Z,1579226100.696 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/voltage_now
2020-01-17T01:55:00.697Z,1579226100.697 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/current_now
2020-01-17T01:55:00.697Z,1579226100.697 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/charge_now
2020-01-17T01:55:00.698Z,1579226100.698 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/charge_full
2020-01-17T01:55:00.698Z,1579226100.698 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/voltage_now
2020-01-17T01:55:00.699Z,1579226100.699 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/current_now
2020-01-17T01:55:00.699Z,1579226100.699 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/charge_now
2020-01-17T01:55:00.700Z,1579226100.700 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/charge_full
2020-01-17T01:55:00.700Z,1579226100.700 [Onboard] Loaded
2020-01-17T01:55:00.700Z,1579226100.700 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2020-01-17T01:55:00.706Z,1579226100.706 [PowerOnly] Loaded
2020-01-17T01:55:00.706Z,1579226100.706 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2020-01-17T01:55:00.712Z,1579226100.712 [Radio_Surface] Loaded
2020-01-17T01:55:00.712Z,1579226100.712 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2020-01-17T01:55:00.713Z,1579226100.713 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 407984E0
2020-01-17T01:55:00.713Z,1579226100.713 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 7314
2020-01-17T01:55:00.754Z,1579226100.754 [RDI_Pathfinder] Loaded
2020-01-17T01:55:00.754Z,1579226100.754 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2020-01-17T01:55:02.128Z,1579226102.128 [BPC1] Loaded
2020-01-17T01:55:02.128Z,1579226102.128 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2020-01-17T01:55:02.129Z,1579226102.129 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2020-01-17T01:55:02.129Z,1579226102.129 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2020-01-17T01:55:02.142Z,1579226102.142 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2020-01-17T01:55:02.142Z,1579226102.142 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2020-01-17T01:55:02.240Z,1579226102.240 [DeadReckonUsingMultipleVelocitySources] Loaded
2020-01-17T01:55:02.240Z,1579226102.240 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2020-01-17T01:55:02.259Z,1579226102.259 [NavChart] Loaded
2020-01-17T01:55:02.259Z,1579226102.259 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2020-01-17T01:55:02.263Z,1579226102.263 [UniversalFixResidualReporter] Loaded
2020-01-17T01:55:02.263Z,1579226102.263 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2020-01-17T01:55:02.264Z,1579226102.264 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2020-01-17T01:55:02.264Z,1579226102.264 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2020-01-17T01:55:02.365Z,1579226102.365 [BuoyancyServo] Loaded
2020-01-17T01:55:02.365Z,1579226102.365 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2020-01-17T01:55:02.380Z,1579226102.380 [ElevatorServo] Loaded
2020-01-17T01:55:02.380Z,1579226102.380 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2020-01-17T01:55:02.394Z,1579226102.394 [MassServo] Loaded
2020-01-17T01:55:02.394Z,1579226102.394 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2020-01-17T01:55:02.408Z,1579226102.408 [RudderServo] Loaded
2020-01-17T01:55:02.408Z,1579226102.408 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2020-01-17T01:55:02.422Z,1579226102.422 [ThrusterServo] Loaded
2020-01-17T01:55:02.422Z,1579226102.422 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2020-01-17T01:55:02.422Z,1579226102.422 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2020-01-17T01:55:02.423Z,1579226102.423 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2020-01-17T01:55:02.667Z,1579226102.667 [CTD_NeilBrown] Loaded
2020-01-17T01:55:02.667Z,1579226102.667 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2020-01-17T01:55:02.668Z,1579226102.668 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 408EC4E0
2020-01-17T01:55:02.668Z,1579226102.668 [CTD_NeilBrown ThreadHandler](INFO): Protected caller Thread ID is 7315
2020-01-17T01:55:02.682Z,1579226102.682 [PAR_Licor] Loaded
2020-01-17T01:55:02.682Z,1579226102.682 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2020-01-17T01:55:02.723Z,1579226102.723 [WetLabsSeaOWL_UV_A] Loaded
2020-01-17T01:55:02.723Z,1579226102.723 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2020-01-17T01:55:02.724Z,1579226102.724 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 4091C4E0
2020-01-17T01:55:02.724Z,1579226102.724 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 7316
2020-01-17T01:55:02.725Z,1579226102.725 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2020-01-17T01:55:02.725Z,1579226102.725 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2020-01-17T01:55:03.041Z,1579226103.041 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2020-01-17T01:55:03.042Z,1579226103.042 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2020-01-17T01:55:03.081Z,1579226103.081 [DepthRateCalculator] Loaded
2020-01-17T01:55:03.081Z,1579226103.081 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2020-01-17T01:55:03.086Z,1579226103.086 [PitchRateCalculator] Loaded
2020-01-17T01:55:03.086Z,1579226103.086 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2020-01-17T01:55:03.098Z,1579226103.098 [SpeedCalculator] Loaded
2020-01-17T01:55:03.098Z,1579226103.098 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2020-01-17T01:55:03.118Z,1579226103.118 [TempGradientCalculator] Loaded
2020-01-17T01:55:03.118Z,1579226103.118 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2020-01-17T01:55:03.123Z,1579226103.123 [YawRateCalculator] Loaded
2020-01-17T01:55:03.123Z,1579226103.123 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2020-01-17T01:55:03.206Z,1579226103.206 [ElevatorOffsetCalculator] Loaded
2020-01-17T01:55:03.206Z,1579226103.206 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2020-01-17T01:55:03.206Z,1579226103.206 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2020-01-17T01:55:03.207Z,1579226103.207 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2020-01-17T01:55:03.443Z,1579226103.443 [SBIT](DEBUG): Construct Startup Built In Test.
2020-01-17T01:55:03.463Z,1579226103.463 [SBIT] Loaded
2020-01-17T01:55:03.463Z,1579226103.463 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2020-01-17T01:55:03.464Z,1579226103.464 [IBIT](DEBUG): Construct Initiated Built In Test.
2020-01-17T01:55:03.476Z,1579226103.476 [IBIT] Loaded
2020-01-17T01:55:03.476Z,1579226103.476 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2020-01-17T01:55:03.479Z,1579226103.479 [CBIT](DEBUG): Construct Continuous Built In Test.
2020-01-17T01:55:03.608Z,1579226103.608 [CBIT] Loaded
2020-01-17T01:55:03.608Z,1579226103.608 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2020-01-17T01:55:03.608Z,1579226103.608 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2020-01-17T01:55:03.609Z,1579226103.609 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2020-01-17T01:55:03.828Z,1579226103.828 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2020-01-17T01:55:03.829Z,1579226103.829 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2020-01-17T01:55:04.001Z,1579226104.001 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2020-01-17T01:55:04.002Z,1579226104.002 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2020-01-17T01:55:04.048Z,1579226104.048 [VerticalControl](DEBUG): Construct VerticalControl.
2020-01-17T01:55:04.126Z,1579226104.126 [VerticalControl] Loaded
2020-01-17T01:55:04.126Z,1579226104.126 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2020-01-17T01:55:04.127Z,1579226104.127 [HorizontalControl](DEBUG): Construct HorizontalControl.
2020-01-17T01:55:04.191Z,1579226104.191 [HorizontalControl] Loaded
2020-01-17T01:55:04.191Z,1579226104.191 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2020-01-17T01:55:04.192Z,1579226104.192 [SpeedControl](DEBUG): Construct SpeedControl.
2020-01-17T01:55:04.193Z,1579226104.193 [SpeedControl] Loaded
2020-01-17T01:55:04.194Z,1579226104.194 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2020-01-17T01:55:04.194Z,1579226104.194 [LoopControl](DEBUG): Construct LoopControl.
2020-01-17T01:55:04.195Z,1579226104.195 [LoopControl] Loaded
2020-01-17T01:55:04.195Z,1579226104.195 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2020-01-17T01:55:04.195Z,1579226104.195 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2020-01-17T01:55:04.196Z,1579226104.196 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2020-01-17T01:55:04.226Z,1579226104.226 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2020-01-17T01:55:04.230Z,1579226104.230 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2020-01-17T01:55:04.231Z,1579226104.231 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2020-01-17T01:55:04.237Z,1579226104.237 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2020-01-17T01:55:04.238Z,1579226104.238 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40B034E0
2020-01-17T01:55:04.239Z,1579226104.239 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 7317
2020-01-17T01:55:04.243Z,1579226104.243 [Supervisor](INFO): Main Thread ID is 6780
2020-01-17T01:55:04.243Z,1579226104.243 [Supervisor](DEBUG): Running supervisor.
2020-01-17T01:55:04.244Z,1579226104.244 [CommandLine ThreadHandler](INFO): Handler Thread ID is 7318
2020-01-17T01:55:04.246Z,1579226104.246 [controlThread ThreadHandler](INFO): Handler Thread ID is 7319
2020-01-17T01:55:04.247Z,1579226104.247 [controlThread](DEBUG): Initializing ControlThread
2020-01-17T01:55:04.252Z,1579226104.252 [NavChart](DEBUG): Initialize NavChart Navigation.
2020-01-17T01:55:04.252Z,1579226104.252 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2020-01-17T01:55:04.257Z,1579226104.257 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2020-01-17T01:55:04.257Z,1579226104.257 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2020-01-17T01:55:04.258Z,1579226104.258 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2020-01-17T01:55:04.258Z,1579226104.258 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2020-01-17T01:55:04.259Z,1579226104.259 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2020-01-17T01:55:04.259Z,1579226104.259 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2020-01-17T01:55:04.260Z,1579226104.260 [SBIT](INFO): Initialize SBIT Component.
2020-01-17T01:55:04.260Z,1579226104.260 [SBIT](IMPORTANT): git: 2019-12-03-52-gd057a2e
2020-01-17T01:55:04.260Z,1579226104.260 [SBIT](INFO): git hash: d057a2e09e1011d41925b307b61fea8285a57da1
2020-01-17T01:55:04.261Z,1579226104.261 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2020-01-17T01:55:04.262Z,1579226104.262 [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
2020-01-17T01:55:04.263Z,1579226104.263 [SBIT](INFO): Beginning SBIT in 39.000000 seconds.
2020-01-17T01:55:04.263Z,1579226104.263 [IBIT](INFO): Initialize IBIT Component.
2020-01-17T01:55:04.264Z,1579226104.264 [CBIT](DEBUG): Initialize CBIT Component.
2020-01-17T01:55:04.265Z,1579226104.265 [logger ThreadHandler](INFO): Handler Thread ID is 7320
2020-01-17T01:55:04.277Z,1579226104.277 [CBIT](DEBUG): Initialized mux pins.
2020-01-17T01:55:04.277Z,1579226104.277 [CBIT](DEBUG): Initializing the watchdog timer.
2020-01-17T01:55:04.285Z,1579226104.285 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 7321
2020-01-17T01:55:04.286Z,1579226104.286 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2020-01-17T01:55:04.298Z,1579226104.298 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 7322
2020-01-17T01:55:04.301Z,1579226104.301 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2020-01-17T01:55:04.301Z,1579226104.301 [CBIT](DEBUG): Initializing heartbeat.
2020-01-17T01:55:04.309Z,1579226104.309 [CTD_NeilBrown ThreadHandler](INFO): Handler Thread ID is 7323
2020-01-17T01:55:04.310Z,1579226104.310 [CTD_NeilBrown](INFO): Powering down
2020-01-17T01:55:04.329Z,1579226104.329 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 7324
2020-01-17T01:55:04.330Z,1579226104.330 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-01-17T01:55:04.361Z,1579226104.361 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 7325
2020-01-17T01:55:04.364Z,1579226104.364 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2020-01-17T01:55:04.364Z,1579226104.364 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2020-01-17T01:55:04.364Z,1579226104.364 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2020-01-17T01:55:04.365Z,1579226104.365 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2020-01-17T01:55:04.365Z,1579226104.365 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2020-01-17T01:55:04.365Z,1579226104.365 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2020-01-17T01:55:04.365Z,1579226104.365 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2020-01-17T01:55:04.365Z,1579226104.365 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2020-01-17T01:55:04.366Z,1579226104.366 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2020-01-17T01:55:04.366Z,1579226104.366 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2020-01-17T01:55:04.366Z,1579226104.366 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2020-01-17T01:55:04.366Z,1579226104.366 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2020-01-17T01:55:04.366Z,1579226104.366 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2020-01-17T01:55:04.366Z,1579226104.366 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2020-01-17T01:55:04.367Z,1579226104.367 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2020-01-17T01:55:04.367Z,1579226104.367 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2020-01-17T01:55:04.373Z,1579226104.373 [CBIT](DEBUG): Deactivating GF circuits.
2020-01-17T01:55:04.373Z,1579226104.373 [CBIT](DEBUG): Deactivating emergency mode.
2020-01-17T01:55:04.409Z,1579226104.409 [CBIT](DEBUG): Backplane powered.
2020-01-17T01:55:04.409Z,1579226104.409 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2020-01-17T01:55:04.411Z,1579226104.411 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2020-01-17T01:55:04.412Z,1579226104.412 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2020-01-17T01:55:04.412Z,1579226104.412 [LoopControl](DEBUG): Initialize LoopControlComponent.
2020-01-17T01:55:04.413Z,1579226104.413 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2020-01-17T01:55:04.423Z,1579226104.423 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2020-01-17T01:55:04.458Z,1579226104.458 [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>


2020-01-17T01:55:04.458Z,1579226104.458 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2020-01-17T01:55:04.534Z,1579226104.534 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2020-01-17T01:55:04.535Z,1579226104.535 [Default:A.Wait](DEBUG): Construct Wait.
2020-01-17T01:55:04.536Z,1579226104.536 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2020-01-17T01:55:04.590Z,1579226104.590 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2020-01-17T01:55:04.596Z,1579226104.596 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2020-01-17T01:55:04.621Z,1579226104.621 [Default:E.Execute](DEBUG): Construct Execute.
2020-01-17T01:55:04.624Z,1579226104.624 [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>


2020-01-17T01:55:04.646Z,1579226104.646 [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,
2020-01-17T01:55:04.657Z,1579226104.657 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2020-01-17T01:55:04.698Z,1579226104.698 [DDM](INFO): Powering up
2020-01-17T01:55:04.698Z,1579226104.698 [DDM](DEBUG): Initializing DDM.
2020-01-17T01:55:04.701Z,1579226104.701 [Radio_Surface](INFO): Powering up
2020-01-17T01:55:04.728Z,1579226104.728 [DUSBL_Hydroid](INFO): Powering up
2020-01-17T01:55:04.728Z,1579226104.728 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2020-01-17T01:55:04.918Z,1579226104.918 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2020-01-17T01:55:04.925Z,1579226104.925 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2020-01-17T01:55:04.926Z,1579226104.926 [ElevatorServo](DEBUG): Initializing EZServoServo.
2020-01-17T01:55:04.933Z,1579226104.933 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2020-01-17T01:55:04.934Z,1579226104.934 [MassServo](DEBUG): Initializing EZServoServo.
2020-01-17T01:55:04.941Z,1579226104.941 [MassServo](DEBUG): Initializing MassServo.
2020-01-17T01:55:04.942Z,1579226104.942 [RudderServo](DEBUG): Initializing EZServoServo.
2020-01-17T01:55:04.949Z,1579226104.949 [RudderServo](DEBUG): Initializing RudderServo.
2020-01-17T01:55:04.950Z,1579226104.950 [ThrusterServo](DEBUG): Initializing EZServoServo.
2020-01-17T01:55:04.957Z,1579226104.957 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2020-01-17T01:55:05.074Z,1579226105.074 [Micromodem](INFO): Powering up
2020-01-17T01:55:05.074Z,1579226105.074 [Micromodem](DEBUG): Initializing Micromodem.
2020-01-17T01:55:05.841Z,1579226105.841 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2020-01-17T01:55:05.841Z,1579226105.841 [RudderServo](FAULT): Rudder failed to initialize
2020-01-17T01:55:05.841Z,1579226105.841 [RudderServo] Communications Fault, FailCount= 1
2020-01-17T01:55:05.841Z,1579226105.841 [RudderServo](ERROR): Communications Fault
2020-01-17T01:55:05.952Z,1579226105.952 [CBIT](ERROR): Communications Fault in component: RudderServo
2020-01-17T01:55:06.166Z,1579226106.166 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-01-17T01:55:06.166Z,1579226106.166 [RudderServo](INFO): Powering down
2020-01-17T01:55:06.835Z,1579226106.835 [RudderServo](DEBUG): Initializing EZServoServo.
2020-01-17T01:55:06.954Z,1579226106.954 [RudderServo](DEBUG): Initializing RudderServo.
2020-01-17T01:55:06.958Z,1579226106.958 [CBIT](INFO): Clearing failed state for component RudderServo
2020-01-17T01:55:06.958Z,1579226106.958 [RudderServo] No Fault, FailCount= 1
2020-01-17T01:55:10.041Z,1579226110.041 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2020-01-17T01:55:10.448Z,1579226110.448 [Micromodem](INFO): Nmea in: $CATMG,2020-01-17T01:55:09.977146Z,RTC,RTC*55

2020-01-17T01:55:10.449Z,1579226110.449 [Micromodem](ERROR): CFG response from modem unexpected: $CATMG,2020-01-17T01:55:09.977146Z,RTC,RTC*55

2020-01-17T01:55:10.871Z,1579226110.871 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2020-01-17T01:55:10.871Z,1579226110.871 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2020-01-17T01:55:11.275Z,1579226111.275 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2020-01-17T01:55:11.275Z,1579226111.275 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2020-01-17T01:55:11.679Z,1579226111.679 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2020-01-17T01:55:11.680Z,1579226111.680 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2020-01-17T01:55:12.083Z,1579226112.083 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2020-01-17T01:55:12.083Z,1579226112.083 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2020-01-17T01:55:12.491Z,1579226112.491 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2020-01-17T01:55:12.491Z,1579226112.491 [Micromodem](INFO): Nmea out: $CCCFG,FC0,10000*46

2020-01-17T01:55:12.880Z,1579226112.880 [Micromodem](INFO): Nmea in: $CACFG,FC0,10000*44

2020-01-17T01:55:12.880Z,1579226112.880 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2020-01-17T01:55:13.300Z,1579226113.300 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2020-01-17T01:55:13.300Z,1579226113.300 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2020-01-17T01:55:13.678Z,1579226113.678 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2020-01-17T01:55:13.679Z,1579226113.679 [Micromodem](INFO): Nmea out: $CCCLK,2020,01,17,01,55,14*47

2020-01-17T01:55:14.088Z,1579226114.088 [Micromodem](INFO): Nmea in: $CACLK,2020,1,17,1,55,14*45

2020-01-17T01:55:14.089Z,1579226114.089 [Micromodem](INFO): Nmea in: $CATMS,0,2020-01-17T01:55:15Z*74

2020-01-17T01:55:14.091Z,1579226114.091 [Micromodem](INFO): Nmea in: $CATMG,2020-01-17T01:55:15.027442Z,USER_CMD,RTC*14

2020-01-17T01:55:15.292Z,1579226115.292 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2020-01-17T01:55:18.136Z,1579226118.136 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2020-01-17T01:55:22.570Z,1579226122.570 [DUSBL_Hydroid](INFO): DUSBL Version:O
2020-01-17T01:55:31.039Z,1579226131.039 [NAL9602](INFO): Powering up NAL9602
2020-01-17T01:55:41.951Z,1579226141.951 [NAL9602](INFO): NAL9602 initialized
2020-01-17T01:55:44.100Z,1579226144.100 [SBIT](IMPORTANT): Beginning Startup BIT
2020-01-17T01:55:44.112Z,1579226144.112 [CBIT](IMPORTANT): Beginning ground fault scan
2020-01-17T01:55:55.118Z,1579226155.118 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.010574
CHAN A1 (24V): -0.028519
CHAN A2 (12V): -0.007014
CHAN A3 (5V): -0.002295
CHAN B0 (3.3V): -0.000142
CHAN B1 (3.15aV): -0.000267
CHAN B2 (3.15bV): 0.000540
CHAN B3 (GND): 0.002195
OPEN: 0.004914
Full Scale Calc: 4.765 mA, -1.589 mA
2020-01-17T01:56:19.847Z,1579226179.847 [CommandLine](IMPORTANT): got command strobe off
2020-01-17T01:56:19.847Z,1579226179.847 [CommandLine](IMPORTANT): Deactivating strobe
2020-01-17T01:56:27.964Z,1579226187.964 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-01-17T01:56:27.964Z,1579226187.964 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-32768V
2020-01-17T01:56:38.060Z,1579226198.060 [SBIT](IMPORTANT): SBIT PASSED
2020-01-17T01:56:38.080Z,1579226198.080 [CommandLine](IMPORTANT): got command configSet list
2020-01-17T01:56:38.097Z,1579226198.097 [CommandLine](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2020-01-17T01:56:38.098Z,1579226198.098 [CommandLine](IMPORTANT): DDM.verbosity=3 count;

2020-01-17T01:56:38.098Z,1579226198.098 [CommandLine](IMPORTANT): DUSBL_Hydroid.detectionThreshold=30 count;

2020-01-17T01:56:38.098Z,1579226198.098 [CommandLine](IMPORTANT): Micromodem.sendExpress=1 bool;

2020-01-17T01:56:38.098Z,1579226198.098 [CommandLine](IMPORTANT): VerticalControl.buoyancyNeutral=105 cubic_centimeter;

2020-01-17T01:56:38.098Z,1579226198.098 [CommandLine](IMPORTANT): VerticalControl.massDefault=-5 millimeter;

2020-01-17T01:56:38.500Z,1579226198.500 [MissionManager](IMPORTANT): Started mission Startup
2020-01-17T01:56:38.500Z,1579226198.500 [Startup] Running Loop=1
2020-01-17T01:56:38.501Z,1579226198.501 [Startup](DEBUG): Aggregate::initialize Startup
2020-01-17T01:56:38.501Z,1579226198.501 [Startup:A.GoToSurface] Running Loop=1
2020-01-17T01:56:38.501Z,1579226198.501 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-17T01:56:38.502Z,1579226198.502 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-17T01:56:38.502Z,1579226198.502 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-17T01:56:38.502Z,1579226198.502 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-17T01:56:38.503Z,1579226198.503 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-17T01:56:38.503Z,1579226198.503 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-17T01:56:38.504Z,1579226198.504 [Startup:StartupSatComms] Running Loop=1
2020-01-17T01:56:38.504Z,1579226198.504 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2020-01-17T01:56:38.504Z,1579226198.504 [Startup:StartupSatComms:A] Running Loop=1
2020-01-17T01:56:38.950Z,1579226198.950 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2020-01-17T01:56:50.115Z,1579226210.115 [CommandLine](IMPORTANT): got command show stack
2020-01-17T01:56:50.115Z,1579226210.115 [CommandLine](IMPORTANT): Behavior Stack:

2020-01-17T01:56:50.115Z,1579226210.115 [Startup](IMPORTANT): Priority 0: Startup:A.GoToSurface
2020-01-17T01:56:50.116Z,1579226210.116 [Startup:StartupSatComms](IMPORTANT): Priority 1: Startup:StartupSatComms:A
2020-01-17T01:57:36.689Z,1579226256.689 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.009490
2020-01-17T01:57:38.631Z,1579226258.631 [Startup:StartupSatComms:A](INFO): Timed out from 2020-01-17T01:56:38.5Z
2020-01-17T01:57:38.631Z,1579226258.631 [Startup:StartupSatComms:A] Stopped
2020-01-17T01:57:38.631Z,1579226258.631 [Startup:StartupSatComms:B] Running Loop=1
2020-01-17T01:57:39.057Z,1579226259.057 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2020-01-17T01:57:48.425Z,1579226268.425 [DataOverHttps](INFO): Sending 180 bytes from file Logs/20200117T015454/Courier0000.lzma
2020-01-17T01:57:50.430Z,1579226270.430 [DataOverHttps](INFO): Moved sent file to Logs/20200117T015454/Courier0000.lzma.bak
2020-01-17T01:57:50.431Z,1579226270.431 [DataOverHttps](INFO): SBD MOMSN=12196298
2020-01-17T01:58:04.495Z,1579226284.495 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2020-01-17T01:58:04.495Z,1579226284.495 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T01:58:04.505Z,1579226284.505 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T01:58:04.894Z,1579226284.894 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T01:58:04.894Z,1579226284.894 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2020-01-17T01:58:13.096Z,1579226293.096 [DataOverHttps](INFO): Sending 170 bytes from file Logs/20200117T012119/Express0011.lzma
2020-01-17T01:58:15.105Z,1579226295.105 [DataOverHttps](INFO): Moved sent file to Logs/20200117T012119/Express0011.lzma.bak
2020-01-17T01:58:15.105Z,1579226295.105 [DataOverHttps](INFO): SBD MOMSN=12196301
2020-01-17T01:58:15.390Z,1579226295.390 [CommandLine](IMPORTANT): got command show stack
2020-01-17T01:58:15.390Z,1579226295.390 [CommandLine](IMPORTANT): Behavior Stack:

2020-01-17T01:58:15.390Z,1579226295.390 [Startup](IMPORTANT): Priority 0: Startup:A.GoToSurface
2020-01-17T01:58:15.390Z,1579226295.390 [Startup:StartupSatComms](IMPORTANT): Priority 1: Startup:StartupSatComms:B
2020-01-17T01:58:34.006Z,1579226314.006 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-17T01:58:34.006Z,1579226314.006 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2020-01-17T01:58:34.298Z,1579226314.298 [DataOverHttps](INFO): Sending 879 bytes from file Logs/20200117T015454/Express0001.lzma
2020-01-17T01:58:36.302Z,1579226316.302 [DataOverHttps](INFO): Moved sent file to Logs/20200117T015454/Express0001.lzma.bak
2020-01-17T01:58:36.302Z,1579226316.302 [DataOverHttps](INFO): SBD MOMSN=12196306
2020-01-17T01:58:37.625Z,1579226317.625 [Startup:StartupSatComms:B] Stopped
2020-01-17T01:58:37.625Z,1579226317.625 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2020-01-17T01:58:37.625Z,1579226317.625 [Startup:StartupSatComms] Stopped
2020-01-17T01:58:37.626Z,1579226317.626 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2020-01-17T01:58:37.626Z,1579226317.626 [Startup](INFO): Completed Startup
2020-01-17T01:58:37.626Z,1579226317.626 [MissionManager](INFO): Startup is completed.
2020-01-17T01:58:37.626Z,1579226317.626 [MissionManager](INFO): Uninitializing Mission Startup
2020-01-17T01:58:37.627Z,1579226317.627 [Startup] Stopped
2020-01-17T01:58:37.627Z,1579226317.627 [Startup](DEBUG): Aggregate::uninitialize Startup
2020-01-17T01:58:37.627Z,1579226317.627 [Startup:A.GoToSurface] Stopped
2020-01-17T01:58:37.627Z,1579226317.627 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-17T01:58:38.031Z,1579226318.031 [MissionManager](IMPORTANT): Started mission Default
2020-01-17T01:58:38.031Z,1579226318.031 [Default] Running Loop=1
2020-01-17T01:58:38.031Z,1579226318.031 [Default](DEBUG): Aggregate::initialize Default
2020-01-17T01:58:38.031Z,1579226318.031 [Default:B.GoToSurface] Running Loop=1
2020-01-17T01:58:38.031Z,1579226318.031 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-17T01:58:38.031Z,1579226318.031 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-17T01:58:38.032Z,1579226318.032 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-17T01:58:38.032Z,1579226318.032 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-17T01:58:38.032Z,1579226318.032 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-17T01:58:38.032Z,1579226318.032 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-17T01:58:38.033Z,1579226318.033 [Default:A.Wait] Running Loop=1
2020-01-17T01:58:38.033Z,1579226318.033 [Default:A.Wait](DEBUG): Initialize Wait Component.
2020-01-17T01:58:48.445Z,1579226328.445 [CommandLine](IMPORTANT): got command report mod VerticalControl.depthCmd
2020-01-17T01:58:48.548Z,1579226328.548 [Reporter](INFO): VerticalControl.depthCmd no_value
2020-01-17T01:58:48.955Z,1579226328.955 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-01-17T01:58:48.955Z,1579226328.955 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +0.00,        +0.00,     ,   0.00,211.00
2020-01-17T01:58:51.358Z,1579226331.358 [Default:A.Wait](INFO): Done Waiting.
2020-01-17T01:58:51.358Z,1579226331.358 [Default:A.Wait] Stopped
2020-01-17T01:58:51.358Z,1579226331.358 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-17T01:58:51.751Z,1579226331.751 [Default:CheckIn] Running Loop=1
2020-01-17T01:58:51.751Z,1579226331.751 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2020-01-17T01:58:51.752Z,1579226331.752 [Default:CheckIn:Read_GPS] Running Loop=1
2020-01-17T01:58:52.161Z,1579226332.161 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2020-01-17T01:58:57.207Z,1579226337.207 [CommandLine](IMPORTANT): got command load ./Missions/Docked.xml
2020-01-17T01:58:57.207Z,1579226337.207 [MissionManager](INFO): Loading Mission: ./Missions/Docked.xml
2020-01-17T01:58:57.298Z,1579226337.298 [MissionManager](INFO): DefineArg Docked.MaxDockRange = 8.000000 m
2020-01-17T01:58:57.301Z,1579226337.301 [MissionManager](INFO): DefineArg Docked.DetachedTimeout = 5.000000 min
2020-01-17T01:58:57.305Z,1579226337.305 [MissionManager](INFO): DefineArg Docked.DockedTimeout = 30.000000 s
2020-01-17T01:58:57.308Z,1579226337.308 [MissionManager](INFO): DefineArg Docked.TransponderCode = 2.000000 count
2020-01-17T01:58:57.312Z,1579226337.312 [MissionManager](INFO): DefineArg Docked.TrackingUpdatePeriod = 60.000000 s
2020-01-17T01:58:57.315Z,1579226337.315 [MissionManager](INFO): DefineArg Docked.NumberOfPings = 1.000000 count
2020-01-17T01:58:57.318Z,1579226337.318 [MissionManager](INFO): DefineArg Docked.DepthDeadband = 1.500000 m
2020-01-17T01:58:57.322Z,1579226337.322 [MissionManager](INFO): DefineArg Docked.PitchLimit = 20.000000 arcdeg
2020-01-17T01:58:57.326Z,1579226337.326 [MissionManager](INFO): DefineArg Docked.MinDepth = 1.000000 m
2020-01-17T01:58:57.330Z,1579226337.330 [MissionManager](INFO): DefineArg Docked.MaxDepth = 215.000000 m
2020-01-17T01:58:57.331Z,1579226337.331 [Docked:A.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-01-17T01:58:57.604Z,1579226337.604 [Docked:E.Docked](DEBUG): Construct.
2020-01-17T01:58:57.628Z,1579226337.628 [Docked:G.Wait](DEBUG): Construct Wait.
2020-01-17T01:58:57.642Z,1579226337.642 [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>


2020-01-17T01:58:57.642Z,1579226337.642 [CommandLine](IMPORTANT): Loaded ./Missions/Docked.xml
2020-01-17T01:59:13.019Z,1579226353.019 [CommandLine](IMPORTANT): got command set Docked.DetachedTimeout 30.000000 second
2020-01-17T01:59:29.642Z,1579226369.642 [CommandLine](IMPORTANT): got command run
2020-01-17T01:59:29.644Z,1579226369.644 [CommandLine](IMPORTANT): Running 
2020-01-17T01:59:29.743Z,1579226369.743 [Default] Stopped
2020-01-17T01:59:29.743Z,1579226369.743 [Default](DEBUG): Aggregate::uninitialize Default
2020-01-17T01:59:29.743Z,1579226369.743 [Default:B.GoToSurface] Stopped
2020-01-17T01:59:29.743Z,1579226369.743 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-17T01:59:29.743Z,1579226369.743 [Default:CheckIn] Stopped
2020-01-17T01:59:29.743Z,1579226369.743 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2020-01-17T01:59:29.743Z,1579226369.743 [Default:CheckIn:Read_GPS] Stopped
2020-01-17T01:59:29.743Z,1579226369.743 [MissionManager](IMPORTANT): Started mission Docked
2020-01-17T01:59:29.743Z,1579226369.743 [Docked] Running Loop=1
2020-01-17T01:59:29.744Z,1579226369.744 [Docked](DEBUG): Aggregate::initialize Docked
2020-01-17T01:59:29.744Z,1579226369.744 [Docked:A.DepthEnvelope] Running Loop=1
2020-01-17T01:59:29.744Z,1579226369.744 [Docked:A.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2020-01-17T01:59:29.744Z,1579226369.744 [Docked:B.] Running Loop=1
2020-01-17T01:59:29.744Z,1579226369.744 [Docked:B.](INFO): Initializing TrackAcousticContact.
2020-01-17T01:59:29.744Z,1579226369.744 [Docked:C] Running Loop=1
2020-01-17T01:59:29.744Z,1579226369.744 [Docked:D] Running Loop=1
2020-01-17T01:59:29.745Z,1579226369.745 [Docked:E.Docked] Running Loop=1
2020-01-17T01:59:29.745Z,1579226369.745 [Docked:E.Docked](DEBUG): Initialize.
2020-01-17T01:59:29.746Z,1579226369.746 [Docked:E.Docked](INFO): Depth unspecified. Maintaining workSite beacon depth of 6.000000 m.
2020-01-17T01:59:29.747Z,1579226369.747 [Docked:D] Running Loop=1
2020-01-17T01:59:29.747Z,1579226369.747 [Docked:C] Running Loop=1
2020-01-17T01:59:29.747Z,1579226369.747 [Docked:B.] Running Loop=1
2020-01-17T01:59:29.748Z,1579226369.748 [Docked:A.DepthEnvelope] Running Loop=1
2020-01-17T01:59:29.759Z,1579226369.759 [Reporter](INFO): VerticalControl.depthCmd 6.000000 m
2020-01-17T01:59:45.122Z,1579226385.122 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-01-17T01:59:45.122Z,1579226385.122 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +0.00,     ,        +0.00,   0.00,267.00
2020-01-17T02:00:05.068Z,1579226405.068 [CommandLine](IMPORTANT): got command show stack
2020-01-17T02:00:05.068Z,1579226405.068 [CommandLine](IMPORTANT): Behavior Stack:

2020-01-17T02:00:05.068Z,1579226405.068 [Docked](IMPORTANT): Priority 0: Docked:A.DepthEnvelope
2020-01-17T02:00:05.072Z,1579226405.072 [Docked](IMPORTANT): Priority 1: Docked:B.
2020-01-17T02:00:05.073Z,1579226405.073 [Docked](IMPORTANT): Priority 2: Docked:C
2020-01-17T02:00:05.074Z,1579226405.074 [Docked](IMPORTANT): Priority 3: Docked:D
2020-01-17T02:00:05.074Z,1579226405.074 [Docked](IMPORTANT): Priority 4: Docked:E.Docked
2020-01-17T02:00:05.459Z,1579226405.459 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00,   0.00
2020-01-17T02:00:23.264Z,1579226423.264 [Docked:E.Docked](INFO): State switch to DETACHED. starting timer
2020-01-17T02:00:29.747Z,1579226429.747 [Docked:B.](INFO): *** querying acoustic contact ***
2020-01-17T02:00:30.480Z,1579226430.480 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-17T02:00:30.928Z,1579226430.928 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-17T02:00:31.707Z,1579226431.707 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020031.59*52

2020-01-17T02:00:33.890Z,1579226433.890 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-17T02:00:45.203Z,1579226445.203 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2020-01-17T02:00:53.338Z,1579226453.338 [Docked:E.Docked](IMPORTANT): VEHICLE DETACHED FROM DOCK.
2020-01-17T02:00:53.339Z,1579226453.339 [Docked:F] Running Loop=1
2020-01-17T02:00:53.726Z,1579226453.726 [Docked:F](INFO): Docked satisfied!
2020-01-17T02:00:53.726Z,1579226453.726 [Docked:F] Stopped
2020-01-17T02:00:53.726Z,1579226453.726 [Docked:G.Wait] Running Loop=1
2020-01-17T02:00:53.726Z,1579226453.726 [Docked:G.Wait](DEBUG): Initialize Wait Component.
2020-01-17T02:01:05.473Z,1579226465.473 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2020-01-17T02:01:05.473Z,1579226465.473 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T02:01:05.949Z,1579226465.949 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T02:01:06.145Z,1579226466.145 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T02:01:06.145Z,1579226466.145 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2020-01-17T02:01:06.434Z,1579226466.434 [Docked:E.Docked](INFO): State switch to DETACHED. starting timer
2020-01-17T02:01:08.050Z,1579226468.050 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-17T02:01:08.050Z,1579226468.050 [RDI_Pathfinder](ERROR): Failed to parse:
:TS9
2020-01-17T02:01:29.891Z,1579226489.891 [Docked:B.](INFO): *** querying acoustic contact ***
2020-01-17T02:01:30.635Z,1579226490.635 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-17T02:01:31.049Z,1579226491.049 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-17T02:01:31.930Z,1579226491.931 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020131.75*5D

2020-01-17T02:01:34.277Z,1579226494.277 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-17T02:01:56.666Z,1579226516.666 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-17T02:01:56.666Z,1579226516.666 [RDI_Pathfinder](ERROR): Failed to parse:
:TS9135657,35.0, -0.1,   0.0,1448.9,  0
2020-01-17T02:02:29.109Z,1579226549.109 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2020-01-17T02:02:29.112Z,1579226549.112 [BPC1](INFO): Received data from all battery sticks.
2020-01-17T02:02:30.308Z,1579226550.308 [Docked:B.](INFO): *** querying acoustic contact ***
2020-01-17T02:02:31.064Z,1579226551.064 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-17T02:02:31.477Z,1579226551.477 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-17T02:02:32.279Z,1579226552.279 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020232.18*56

2020-01-17T02:02:34.699Z,1579226554.699 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-17T02:03:26.662Z,1579226606.662 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-17T02:03:26.663Z,1579226606.663 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,200116191526 -0.1,   0.0,1448.9,  0
2020-01-17T02:03:30.331Z,1579226610.331 [Docked:B.](INFO): *** querying acoustic contact ***
2020-01-17T02:03:31.080Z,1579226611.080 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-17T02:03:31.486Z,1579226611.486 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-17T02:03:32.292Z,1579226612.292 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020332.19*56

2020-01-17T02:03:34.714Z,1579226614.714 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-17T02:04:06.761Z,1579226646.761 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 3
2020-01-17T02:04:06.761Z,1579226646.761 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T02:04:06.780Z,1579226646.780 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T02:04:07.181Z,1579226647.181 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T02:04:07.181Z,1579226647.181 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 3
2020-01-17T02:04:30.714Z,1579226670.714 [Docked:B.](INFO): *** querying acoustic contact ***
2020-01-17T02:04:31.468Z,1579226671.468 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-17T02:04:31.875Z,1579226671.875 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-17T02:04:32.686Z,1579226672.686 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020432.58*54

2020-01-17T02:04:35.122Z,1579226675.122 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-17T02:04:55.886Z,1579226695.886 [CommandLine](IMPORTANT): got command stop
2020-01-17T02:04:55.887Z,1579226695.887 [CommandLine](IMPORTANT): Scheduling is paused
2020-01-17T02:04:55.887Z,1579226695.887 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2020-01-17T02:04:56.154Z,1579226696.154 [MissionManager](INFO): MissionManager is completed.
2020-01-17T02:04:56.154Z,1579226696.154 [MissionManager](INFO): Uninitializing Mission Docked
2020-01-17T02:04:56.155Z,1579226696.155 [Docked] Stopped
2020-01-17T02:04:56.155Z,1579226696.155 [Docked](DEBUG): Aggregate::uninitialize Docked
2020-01-17T02:04:56.155Z,1579226696.155 [Docked:A.DepthEnvelope] Stopped
2020-01-17T02:04:56.155Z,1579226696.155 [Docked:A.DepthEnvelope](DEBUG): Uninitialize.
2020-01-17T02:04:56.155Z,1579226696.155 [Docked:B.] Stopped
2020-01-17T02:04:56.155Z,1579226696.155 [Docked:C] Stopped
2020-01-17T02:04:56.155Z,1579226696.155 [Docked:D] Stopped
2020-01-17T02:04:56.155Z,1579226696.155 [Docked:E.Docked] Stopped
2020-01-17T02:04:56.155Z,1579226696.155 [Docked:G.Wait] Stopped
2020-01-17T02:04:56.155Z,1579226696.155 [Docked:G.Wait](DEBUG): Uninitialize Wait Component.
2020-01-17T02:04:56.169Z,1579226696.169 [Reporter](INFO): VerticalControl.depthCmd no_value
2020-01-17T02:04:56.543Z,1579226696.543 [MissionManager](IMPORTANT): Started mission Default
2020-01-17T02:04:56.543Z,1579226696.543 [Default] Running Loop=1
2020-01-17T02:04:56.543Z,1579226696.543 [Default](DEBUG): Aggregate::initialize Default
2020-01-17T02:04:56.543Z,1579226696.543 [Default:B.GoToSurface] Running Loop=1
2020-01-17T02:04:56.543Z,1579226696.543 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-17T02:04:56.543Z,1579226696.543 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-17T02:04:56.544Z,1579226696.544 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-17T02:04:56.544Z,1579226696.544 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-17T02:04:56.544Z,1579226696.544 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-17T02:04:56.544Z,1579226696.544 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-17T02:04:56.565Z,1579226696.565 [Default:A.Wait] Running Loop=1
2020-01-17T02:04:56.565Z,1579226696.565 [Default:A.Wait](DEBUG): Initialize Wait Component.
2020-01-17T02:05:02.450Z,1579226702.450 [CommandLine](IMPORTANT): got command restart application
2020-01-17T02:05:03.453Z,1579226703.453 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-17T02:05:03.454Z,1579226703.454 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-17T02:05:03.613Z,1579226703.613 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2020-01-17T02:05:03.613Z,1579226703.613 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-17T02:05:03.614Z,1579226703.614 [CommandLine](INFO): Join timeout helper Thread ID is 7374
2020-01-17T02:05:03.614Z,1579226703.614 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2020-01-17T02:05:03.614Z,1579226703.614 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-17T02:05:03.615Z,1579226703.615 [NavChartDb](INFO): Join timeout helper Thread ID is 7375
2020-01-17T02:05:03.685Z,1579226703.685 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-17T02:05:03.685Z,1579226703.685 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-17T02:05:03.701Z,1579226703.701 [ComponentRegistry](INFO): Shutting down WetLabsSeaOWL_UV_A ThreadHandler
2020-01-17T02:05:03.701Z,1579226703.701 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-17T02:05:03.701Z,1579226703.701 [WetLabsSeaOWL_UV_A](INFO): Join timeout helper Thread ID is 7376
2020-01-17T02:05:04.061Z,1579226704.061 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-17T02:05:04.061Z,1579226704.061 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-01-17T02:05:04.062Z,1579226704.062 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-17T02:05:04.081Z,1579226704.081 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2020-01-17T02:05:04.081Z,1579226704.081 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-17T02:05:04.081Z,1579226704.081 [CTD_NeilBrown](INFO): Join timeout helper Thread ID is 7377
2020-01-17T02:05:04.197Z,1579226704.197 [CTD_NeilBrown ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-17T02:05:04.197Z,1579226704.197 [CTD_NeilBrown](INFO): Powering down
2020-01-17T02:05:04.209Z,1579226704.209 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-17T02:05:04.221Z,1579226704.221 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2020-01-17T02:05:04.221Z,1579226704.221 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-01-17T02:05:04.221Z,1579226704.221 [Radio_Surface](INFO): Join timeout helper Thread ID is 7378
2020-01-17T02:05:04.449Z,1579226704.449 [Radio_Surface](INFO): Powering down
2020-01-17T02:05:04.450Z,1579226704.450 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-17T02:05:04.450Z,1579226704.450 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-01-17T02:05:04.466Z,1579226704.466 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2020-01-17T02:05:04.466Z,1579226704.466 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-17T02:05:04.466Z,1579226704.466 [DataOverHttps](INFO): Join timeout helper Thread ID is 7379
2020-01-17T02:05:04.853Z,1579226704.853 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-17T02:05:04.853Z,1579226704.853 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-17T02:05:04.874Z,1579226704.874 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2020-01-17T02:05:04.874Z,1579226704.874 [logger ThreadHandler](INFO): Thread cancelled.
2020-01-17T02:05:04.875Z,1579226704.875 [logger](INFO): Join timeout helper Thread ID is 7380
2020-01-17T02:05:04.877Z,1579226704.877 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-17T02:05:04.877Z,1579226704.877 [logger ThreadHandler](INFO): Thread cancelled.
2020-01-17T02:05:04.896Z,1579226704.896 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2020-01-17T02:05:04.897Z,1579226704.897 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-17T02:05:04.897Z,1579226704.897 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2020-01-17T02:05:04.897Z,1579226704.897 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-01-17T02:05:04.897Z,1579226704.897 [controlThread](INFO): Join timeout helper Thread ID is 7381
2020-01-17T02:05:05.165Z,1579226705.165 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-17T02:05:05.165Z,1579226705.165 [controlThread](DEBUG): Uninitializing ControlThread
2020-01-17T02:05:05.166Z,1579226705.166 [AHRS_M2](INFO): Powering down
2020-01-17T02:05:05.237Z,1579226705.237 [DDM](INFO): Powering down
2020-01-17T02:05:05.325Z,1579226705.325 [DUSBL_Hydroid](INFO): Powering down
2020-01-17T02:05:05.397Z,1579226705.397 [Micromodem](INFO): Powering down
2020-01-17T02:05:05.493Z,1579226705.493 [NAL9602](INFO): Powering down
2020-01-17T02:05:05.565Z,1579226705.565 [RDI_Pathfinder](INFO): Powering down
2020-01-17T02:05:05.566Z,1579226705.566 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2020-01-17T02:05:05.567Z,1579226705.567 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2020-01-17T02:05:05.568Z,1579226705.568 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2020-01-17T02:05:05.568Z,1579226705.568 [MissionManager](INFO): Uninitializing Mission Default
2020-01-17T02:05:05.568Z,1579226705.568 [Default] Stopped
2020-01-17T02:05:05.568Z,1579226705.568 [Default](DEBUG): Aggregate::uninitialize Default
2020-01-17T02:05:05.568Z,1579226705.568 [Default:A.Wait] Stopped
2020-01-17T02:05:05.568Z,1579226705.568 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-17T02:05:05.568Z,1579226705.568 [Default:B.GoToSurface] Stopped
2020-01-17T02:05:05.569Z,1579226705.569 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-17T02:05:05.571Z,1579226705.571 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2020-01-17T02:05:05.571Z,1579226705.571 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2020-01-17T02:05:05.571Z,1579226705.571 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2020-01-17T02:05:05.572Z,1579226705.572 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2020-01-17T02:05:05.572Z,1579226705.572 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2020-01-17T02:05:05.572Z,1579226705.572 [BuoyancyServo](INFO): Powering down
2020-01-17T02:05:05.697Z,1579226705.697 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2020-01-17T02:05:05.697Z,1579226705.697 [ElevatorServo](INFO): Powering down
2020-01-17T02:05:05.698Z,1579226705.698 [MassServo](DEBUG): Uninitialize Mass Servo.
2020-01-17T02:05:05.698Z,1579226705.698 [MassServo](INFO): Powering down
2020-01-17T02:05:05.699Z,1579226705.699 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-01-17T02:05:05.699Z,1579226705.699 [RudderServo](INFO): Powering down
2020-01-17T02:05:05.700Z,1579226705.700 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2020-01-17T02:05:05.700Z,1579226705.700 [ThrusterServo](INFO): Powering down
2020-01-17T02:05:05.700Z,1579226705.700 [SBIT](DEBUG): Uninitialize SBIT Component.
2020-01-17T02:05:05.701Z,1579226705.701 [IBIT](DEBUG): Uninitialize IBIT Component.
2020-01-17T02:05:05.701Z,1579226705.701 [CBIT](DEBUG): Uninitialize CBIT Component.
2020-01-17T02:05:05.701Z,1579226705.701 [CBIT](DEBUG): Powering off loads.
2020-01-17T02:05:05.713Z,1579226705.713 [CBIT](DEBUG): Disabling WDT.
2020-01-17T02:05:05.725Z,1579226705.725 [CBIT](DEBUG): Opening all GF detection circuits.
2020-01-17T02:05:05.726Z,1579226705.726 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-01-17T02:05:05.774Z,1579226705.774 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-01-17T02:05:05.785Z,1579226705.785 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-17T02:05:05.943Z,1579226705.943 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-17T02:05:05.946Z,1579226705.946 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-17T02:05:06.005Z,1579226706.005 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-17T02:05:06.064Z,1579226706.064 [logger ThreadHandler](INFO): Thread cancelled.