2020-01-17T19:17:03.019Z,1579288623.019 [Supervisor](DEBUG): Initializing supervisor.
2020-01-17T19:17:03.022Z,1579288623.022 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2020-01-17T19:17:03.023Z,1579288623.023 [SyncHandler](INFO): Protected caller Thread ID is 4994
2020-01-17T19:17:03.023Z,1579288623.023 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2020-01-17T19:17:03.024Z,1579288623.024 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2020-01-17T19:17:03.024Z,1579288623.024 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 4995
2020-01-17T19:17:03.027Z,1579288623.027 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2020-01-17T19:17:03.039Z,1579288623.039 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2020-01-17T19:17:03.040Z,1579288623.040 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2020-01-17T19:17:03.041Z,1579288623.041 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 4996
2020-01-17T19:17:03.042Z,1579288623.042 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2020-01-17T19:17:03.042Z,1579288623.042 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2020-01-17T19:17:03.043Z,1579288623.043 [logger ThreadHandler](INFO): Protected caller Thread ID is 4997
2020-01-17T19:17:03.045Z,1579288623.045 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2020-01-17T19:17:03.045Z,1579288623.045 [Supervisor](INFO): Looking for Config files in directory: Config/
2020-01-17T19:17:03.047Z,1579288623.047 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2020-01-17T19:17:03.475Z,1579288623.475 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2020-01-17T19:17:03.475Z,1579288623.475 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2020-01-17T19:17:03.573Z,1579288623.573 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2020-01-17T19:17:03.574Z,1579288623.574 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2020-01-17T19:17:03.882Z,1579288623.882 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2020-01-17T19:17:03.883Z,1579288623.883 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2020-01-17T19:17:04.019Z,1579288624.019 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2020-01-17T19:17:04.020Z,1579288624.020 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2020-01-17T19:17:04.209Z,1579288624.209 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2020-01-17T19:17:04.210Z,1579288624.210 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2020-01-17T19:17:04.645Z,1579288624.645 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2020-01-17T19:17:04.646Z,1579288624.646 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2020-01-17T19:17:04.853Z,1579288624.853 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2020-01-17T19:17:04.854Z,1579288624.854 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2020-01-17T19:17:04.996Z,1579288624.996 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2020-01-17T19:17:04.997Z,1579288624.997 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2020-01-17T19:17:05.184Z,1579288625.184 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2020-01-17T19:17:05.185Z,1579288625.185 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2020-01-17T19:17:05.280Z,1579288625.280 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2020-01-17T19:17:05.281Z,1579288625.281 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2020-01-17T19:17:05.581Z,1579288625.581 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2020-01-17T19:17:05.582Z,1579288625.582 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2020-01-17T19:17:05.663Z,1579288625.663 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2020-01-17T19:17:05.766Z,1579288625.766 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2020-01-17T19:17:05.767Z,1579288625.767 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2020-01-17T19:17:06.396Z,1579288626.396 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2020-01-17T19:17:06.397Z,1579288626.397 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2020-01-17T19:17:06.800Z,1579288626.800 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2020-01-17T19:17:06.802Z,1579288626.802 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/
2020-01-17T19:17:06.803Z,1579288626.803 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/vehicle.cfg
2020-01-17T19:17:07.086Z,1579288627.086 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Control.cfg
2020-01-17T19:17:07.187Z,1579288627.187 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/BIT.cfg
2020-01-17T19:17:07.286Z,1579288627.286 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Battery.cfg
2020-01-17T19:17:07.510Z,1579288627.510 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2020-01-17T19:17:07.511Z,1579288627.511 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Simulator.cfg
2020-01-17T19:17:07.596Z,1579288627.596 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Navigation.cfg
2020-01-17T19:17:07.689Z,1579288627.689 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/logger.cfg
2020-01-17T19:17:07.814Z,1579288627.814 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/secure.cfg
2020-01-17T19:17:07.986Z,1579288627.986 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Servo.cfg
2020-01-17T19:17:08.307Z,1579288628.307 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/workSite.cfg
2020-01-17T19:17:08.542Z,1579288628.542 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Sensor.cfg
2020-01-17T19:17:08.795Z,1579288628.795 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Science.cfg
2020-01-17T19:17:08.925Z,1579288628.925 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2020-01-17T19:17:08.932Z,1579288628.932 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2020-01-17T19:17:09.236Z,1579288629.236 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_orientation
2020-01-17T19:17:09.241Z,1579288629.241 [AHRS_M2](INFO): created writer for : platform_orientation
2020-01-17T19:17:09.244Z,1579288629.244 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_magnetic_orientation
2020-01-17T19:17:09.248Z,1579288629.248 [AHRS_M2](INFO): created writer for : platform_magnetic_orientation
2020-01-17T19:17:09.249Z,1579288629.249 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_pitch_angle
2020-01-17T19:17:09.254Z,1579288629.254 [AHRS_M2](INFO): created writer for : platform_pitch_angle
2020-01-17T19:17:09.254Z,1579288629.254 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_roll_angle
2020-01-17T19:17:09.259Z,1579288629.259 [AHRS_M2](INFO): created writer for : platform_roll_angle
2020-01-17T19:17:09.326Z,1579288629.326 [AHRS_M2] Loaded
2020-01-17T19:17:09.326Z,1579288629.326 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2020-01-17T19:17:09.405Z,1579288629.405 [DataOverHttps] Loaded
2020-01-17T19:17:09.405Z,1579288629.405 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2020-01-17T19:17:09.406Z,1579288629.406 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 407684E0
2020-01-17T19:17:09.406Z,1579288629.406 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 5080
2020-01-17T19:17:09.429Z,1579288629.429 [DDM] Loaded
2020-01-17T19:17:09.429Z,1579288629.429 [ComponentRegistry](DEBUG): SyncComponent "DDM" handled in the control thread.
2020-01-17T19:17:09.441Z,1579288629.441 [Depth_Keller] Loaded
2020-01-17T19:17:09.441Z,1579288629.441 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2020-01-17T19:17:09.446Z,1579288629.446 [DropWeight] Loaded
2020-01-17T19:17:09.446Z,1579288629.446 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2020-01-17T19:17:09.503Z,1579288629.503 [DUSBL_Hydroid] Loaded
2020-01-17T19:17:09.503Z,1579288629.503 [ComponentRegistry](DEBUG): SyncComponent "DUSBL_Hydroid" handled in the control thread.
2020-01-17T19:17:09.547Z,1579288629.547 [Micromodem] Loaded
2020-01-17T19:17:09.547Z,1579288629.547 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2020-01-17T19:17:09.637Z,1579288629.637 [NAL9602] Loaded
2020-01-17T19:17:09.638Z,1579288629.638 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2020-01-17T19:17:09.672Z,1579288629.672 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/voltage_now
2020-01-17T19:17:09.673Z,1579288629.673 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/current_now
2020-01-17T19:17:09.673Z,1579288629.673 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/charge_now
2020-01-17T19:17:09.674Z,1579288629.674 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/charge_full
2020-01-17T19:17:09.674Z,1579288629.674 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/voltage_now
2020-01-17T19:17:09.675Z,1579288629.675 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/current_now
2020-01-17T19:17:09.675Z,1579288629.675 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/charge_now
2020-01-17T19:17:09.676Z,1579288629.676 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/charge_full
2020-01-17T19:17:09.676Z,1579288629.676 [Onboard] Loaded
2020-01-17T19:17:09.676Z,1579288629.676 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2020-01-17T19:17:09.682Z,1579288629.682 [PowerOnly] Loaded
2020-01-17T19:17:09.682Z,1579288629.682 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2020-01-17T19:17:09.688Z,1579288629.688 [Radio_Surface] Loaded
2020-01-17T19:17:09.688Z,1579288629.688 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2020-01-17T19:17:09.689Z,1579288629.689 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 407984E0
2020-01-17T19:17:09.690Z,1579288629.690 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 5081
2020-01-17T19:17:09.730Z,1579288629.730 [RDI_Pathfinder] Loaded
2020-01-17T19:17:09.730Z,1579288629.730 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2020-01-17T19:17:11.114Z,1579288631.114 [BPC1] Loaded
2020-01-17T19:17:11.115Z,1579288631.115 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2020-01-17T19:17:11.115Z,1579288631.115 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2020-01-17T19:17:11.115Z,1579288631.115 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2020-01-17T19:17:11.129Z,1579288631.129 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2020-01-17T19:17:11.130Z,1579288631.130 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2020-01-17T19:17:11.229Z,1579288631.229 [DeadReckonUsingMultipleVelocitySources] Loaded
2020-01-17T19:17:11.229Z,1579288631.229 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2020-01-17T19:17:11.248Z,1579288631.248 [NavChart] Loaded
2020-01-17T19:17:11.248Z,1579288631.248 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2020-01-17T19:17:11.252Z,1579288631.252 [UniversalFixResidualReporter] Loaded
2020-01-17T19:17:11.252Z,1579288631.252 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2020-01-17T19:17:11.253Z,1579288631.253 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2020-01-17T19:17:11.253Z,1579288631.253 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2020-01-17T19:17:11.356Z,1579288631.356 [BuoyancyServo] Loaded
2020-01-17T19:17:11.357Z,1579288631.357 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2020-01-17T19:17:11.371Z,1579288631.371 [ElevatorServo] Loaded
2020-01-17T19:17:11.371Z,1579288631.371 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2020-01-17T19:17:11.385Z,1579288631.385 [MassServo] Loaded
2020-01-17T19:17:11.386Z,1579288631.386 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2020-01-17T19:17:11.400Z,1579288631.400 [RudderServo] Loaded
2020-01-17T19:17:11.400Z,1579288631.400 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2020-01-17T19:17:11.414Z,1579288631.414 [ThrusterServo] Loaded
2020-01-17T19:17:11.414Z,1579288631.414 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2020-01-17T19:17:11.414Z,1579288631.414 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2020-01-17T19:17:11.415Z,1579288631.415 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2020-01-17T19:17:11.665Z,1579288631.665 [CTD_NeilBrown] Loaded
2020-01-17T19:17:11.665Z,1579288631.665 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2020-01-17T19:17:11.666Z,1579288631.666 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 408EC4E0
2020-01-17T19:17:11.667Z,1579288631.667 [CTD_NeilBrown ThreadHandler](INFO): Protected caller Thread ID is 5082
2020-01-17T19:17:11.680Z,1579288631.680 [PAR_Licor] Loaded
2020-01-17T19:17:11.681Z,1579288631.681 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2020-01-17T19:17:11.721Z,1579288631.721 [WetLabsSeaOWL_UV_A] Loaded
2020-01-17T19:17:11.722Z,1579288631.722 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2020-01-17T19:17:11.723Z,1579288631.723 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 4091C4E0
2020-01-17T19:17:11.723Z,1579288631.723 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 5083
2020-01-17T19:17:11.723Z,1579288631.723 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2020-01-17T19:17:11.724Z,1579288631.724 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2020-01-17T19:17:12.041Z,1579288632.041 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2020-01-17T19:17:12.042Z,1579288632.042 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2020-01-17T19:17:12.081Z,1579288632.081 [DepthRateCalculator] Loaded
2020-01-17T19:17:12.082Z,1579288632.082 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2020-01-17T19:17:12.087Z,1579288632.087 [PitchRateCalculator] Loaded
2020-01-17T19:17:12.087Z,1579288632.087 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2020-01-17T19:17:12.099Z,1579288632.099 [SpeedCalculator] Loaded
2020-01-17T19:17:12.099Z,1579288632.099 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2020-01-17T19:17:12.118Z,1579288632.118 [TempGradientCalculator] Loaded
2020-01-17T19:17:12.119Z,1579288632.119 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2020-01-17T19:17:12.124Z,1579288632.124 [YawRateCalculator] Loaded
2020-01-17T19:17:12.124Z,1579288632.124 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2020-01-17T19:17:12.162Z,1579288632.162 [ElevatorOffsetCalculator] Loaded
2020-01-17T19:17:12.163Z,1579288632.163 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2020-01-17T19:17:12.163Z,1579288632.163 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2020-01-17T19:17:12.163Z,1579288632.163 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2020-01-17T19:17:12.292Z,1579288632.292 [SBIT](DEBUG): Construct Startup Built In Test.
2020-01-17T19:17:12.313Z,1579288632.313 [SBIT] Loaded
2020-01-17T19:17:12.313Z,1579288632.313 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2020-01-17T19:17:12.314Z,1579288632.314 [IBIT](DEBUG): Construct Initiated Built In Test.
2020-01-17T19:17:12.326Z,1579288632.326 [IBIT] Loaded
2020-01-17T19:17:12.326Z,1579288632.326 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2020-01-17T19:17:12.329Z,1579288632.329 [CBIT](DEBUG): Construct Continuous Built In Test.
2020-01-17T19:17:12.458Z,1579288632.458 [CBIT] Loaded
2020-01-17T19:17:12.459Z,1579288632.459 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2020-01-17T19:17:12.459Z,1579288632.459 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2020-01-17T19:17:12.460Z,1579288632.460 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2020-01-17T19:17:12.542Z,1579288632.542 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2020-01-17T19:17:12.542Z,1579288632.542 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2020-01-17T19:17:12.638Z,1579288632.638 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2020-01-17T19:17:12.639Z,1579288632.639 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2020-01-17T19:17:12.686Z,1579288632.686 [VerticalControl](DEBUG): Construct VerticalControl.
2020-01-17T19:17:12.764Z,1579288632.764 [VerticalControl] Loaded
2020-01-17T19:17:12.764Z,1579288632.764 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2020-01-17T19:17:12.765Z,1579288632.765 [HorizontalControl](DEBUG): Construct HorizontalControl.
2020-01-17T19:17:12.830Z,1579288632.830 [HorizontalControl] Loaded
2020-01-17T19:17:12.830Z,1579288632.830 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2020-01-17T19:17:12.831Z,1579288632.831 [SpeedControl](DEBUG): Construct SpeedControl.
2020-01-17T19:17:12.832Z,1579288632.832 [SpeedControl] Loaded
2020-01-17T19:17:12.832Z,1579288632.832 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2020-01-17T19:17:12.833Z,1579288632.833 [LoopControl](DEBUG): Construct LoopControl.
2020-01-17T19:17:12.834Z,1579288632.834 [LoopControl] Loaded
2020-01-17T19:17:12.834Z,1579288632.834 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2020-01-17T19:17:12.834Z,1579288632.834 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2020-01-17T19:17:12.835Z,1579288632.835 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2020-01-17T19:17:12.939Z,1579288632.939 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2020-01-17T19:17:12.990Z,1579288632.990 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2020-01-17T19:17:12.991Z,1579288632.991 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2020-01-17T19:17:13.021Z,1579288633.021 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2020-01-17T19:17:13.022Z,1579288633.022 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40B034E0
2020-01-17T19:17:13.023Z,1579288633.023 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 5084
2020-01-17T19:17:13.028Z,1579288633.028 [Supervisor](INFO): Main Thread ID is 4993
2020-01-17T19:17:13.028Z,1579288633.028 [Supervisor](DEBUG): Running supervisor.
2020-01-17T19:17:13.028Z,1579288633.028 [CommandLine ThreadHandler](INFO): Handler Thread ID is 5085
2020-01-17T19:17:13.036Z,1579288633.036 [controlThread ThreadHandler](INFO): Handler Thread ID is 5086
2020-01-17T19:17:13.036Z,1579288633.036 [controlThread](DEBUG): Initializing ControlThread
2020-01-17T19:17:13.044Z,1579288633.044 [NavChart](DEBUG): Initialize NavChart Navigation.
2020-01-17T19:17:13.044Z,1579288633.044 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2020-01-17T19:17:13.049Z,1579288633.049 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2020-01-17T19:17:13.049Z,1579288633.049 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2020-01-17T19:17:13.050Z,1579288633.050 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2020-01-17T19:17:13.050Z,1579288633.050 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2020-01-17T19:17:13.050Z,1579288633.050 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2020-01-17T19:17:13.051Z,1579288633.051 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2020-01-17T19:17:13.051Z,1579288633.051 [SBIT](INFO): Initialize SBIT Component.
2020-01-17T19:17:13.052Z,1579288633.052 [SBIT](IMPORTANT): git: 2019-12-03-59-gf7ba829
2020-01-17T19:17:13.052Z,1579288633.052 [SBIT](INFO): git hash: f7ba8293824664756067af35c5114d2822427ee3
2020-01-17T19:17:13.052Z,1579288633.052 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2020-01-17T19:17:13.053Z,1579288633.053 [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
2020-01-17T19:17:13.055Z,1579288633.055 [SBIT](INFO): Beginning SBIT in 39.000000 seconds.
2020-01-17T19:17:13.055Z,1579288633.055 [IBIT](INFO): Initialize IBIT Component.
2020-01-17T19:17:13.056Z,1579288633.056 [CBIT](DEBUG): Initialize CBIT Component.
2020-01-17T19:17:13.069Z,1579288633.069 [CBIT](DEBUG): Initialized mux pins.
2020-01-17T19:17:13.069Z,1579288633.069 [CBIT](DEBUG): Initializing the watchdog timer.
2020-01-17T19:17:13.073Z,1579288633.073 [logger ThreadHandler](INFO): Handler Thread ID is 5087
2020-01-17T19:17:13.093Z,1579288633.093 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2020-01-17T19:17:13.093Z,1579288633.093 [CBIT](DEBUG): Initializing heartbeat.
2020-01-17T19:17:13.097Z,1579288633.097 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 5088
2020-01-17T19:17:13.098Z,1579288633.098 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 5089
2020-01-17T19:17:13.099Z,1579288633.099 [CTD_NeilBrown ThreadHandler](INFO): Handler Thread ID is 5090
2020-01-17T19:17:13.101Z,1579288633.101 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2020-01-17T19:17:13.104Z,1579288633.104 [CTD_NeilBrown](INFO): Powering down
2020-01-17T19:17:13.124Z,1579288633.124 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 5091
2020-01-17T19:17:13.125Z,1579288633.125 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 5092
2020-01-17T19:17:13.128Z,1579288633.128 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2020-01-17T19:17:13.129Z,1579288633.129 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2020-01-17T19:17:13.129Z,1579288633.129 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2020-01-17T19:17:13.129Z,1579288633.129 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2020-01-17T19:17:13.129Z,1579288633.129 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2020-01-17T19:17:13.130Z,1579288633.130 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2020-01-17T19:17:13.130Z,1579288633.130 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2020-01-17T19:17:13.130Z,1579288633.130 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2020-01-17T19:17:13.130Z,1579288633.130 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2020-01-17T19:17:13.130Z,1579288633.130 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2020-01-17T19:17:13.130Z,1579288633.130 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2020-01-17T19:17:13.131Z,1579288633.131 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2020-01-17T19:17:13.131Z,1579288633.131 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2020-01-17T19:17:13.131Z,1579288633.131 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2020-01-17T19:17:13.131Z,1579288633.131 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2020-01-17T19:17:13.131Z,1579288633.131 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2020-01-17T19:17:13.149Z,1579288633.149 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-01-17T19:17:13.165Z,1579288633.165 [CBIT](DEBUG): Deactivating GF circuits.
2020-01-17T19:17:13.165Z,1579288633.165 [CBIT](DEBUG): Deactivating emergency mode.
2020-01-17T19:17:13.201Z,1579288633.201 [CBIT](DEBUG): Backplane powered.
2020-01-17T19:17:13.201Z,1579288633.201 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2020-01-17T19:17:13.203Z,1579288633.203 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2020-01-17T19:17:13.204Z,1579288633.204 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2020-01-17T19:17:13.204Z,1579288633.204 [LoopControl](DEBUG): Initialize LoopControlComponent.
2020-01-17T19:17:13.205Z,1579288633.205 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2020-01-17T19:17:13.216Z,1579288633.216 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2020-01-17T19:17:13.227Z,1579288633.227 [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>


2020-01-17T19:17:13.228Z,1579288633.228 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2020-01-17T19:17:13.288Z,1579288633.288 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2020-01-17T19:17:13.289Z,1579288633.289 [Default:A.Wait](DEBUG): Construct Wait.
2020-01-17T19:17:13.291Z,1579288633.291 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2020-01-17T19:17:13.346Z,1579288633.346 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2020-01-17T19:17:13.349Z,1579288633.349 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2020-01-17T19:17:13.370Z,1579288633.370 [Default:E.Execute](DEBUG): Construct Execute.
2020-01-17T19:17:13.374Z,1579288633.374 [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>


2020-01-17T19:17:13.385Z,1579288633.385 [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,
2020-01-17T19:17:13.396Z,1579288633.396 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2020-01-17T19:17:13.433Z,1579288633.433 [DDM](INFO): Powering up
2020-01-17T19:17:13.433Z,1579288633.433 [DDM](DEBUG): Initializing DDM.
2020-01-17T19:17:13.459Z,1579288633.459 [DUSBL_Hydroid](INFO): Powering up
2020-01-17T19:17:13.460Z,1579288633.460 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2020-01-17T19:17:13.501Z,1579288633.501 [Radio_Surface](INFO): Powering up
2020-01-17T19:17:13.711Z,1579288633.711 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2020-01-17T19:17:13.717Z,1579288633.717 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2020-01-17T19:17:13.718Z,1579288633.718 [ElevatorServo](DEBUG): Initializing EZServoServo.
2020-01-17T19:17:13.725Z,1579288633.725 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2020-01-17T19:17:13.726Z,1579288633.726 [MassServo](DEBUG): Initializing EZServoServo.
2020-01-17T19:17:13.733Z,1579288633.733 [MassServo](DEBUG): Initializing MassServo.
2020-01-17T19:17:13.734Z,1579288633.734 [RudderServo](DEBUG): Initializing EZServoServo.
2020-01-17T19:17:13.741Z,1579288633.741 [RudderServo](DEBUG): Initializing RudderServo.
2020-01-17T19:17:13.742Z,1579288633.742 [ThrusterServo](DEBUG): Initializing EZServoServo.
2020-01-17T19:17:13.749Z,1579288633.749 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2020-01-17T19:17:13.818Z,1579288633.818 [Micromodem](INFO): Powering up
2020-01-17T19:17:13.818Z,1579288633.818 [Micromodem](DEBUG): Initializing Micromodem.
2020-01-17T19:17:14.589Z,1579288634.589 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2020-01-17T19:17:14.589Z,1579288634.589 [RudderServo](FAULT): Rudder failed to initialize
2020-01-17T19:17:14.589Z,1579288634.589 [RudderServo] Communications Fault, FailCount= 1
2020-01-17T19:17:14.589Z,1579288634.589 [RudderServo](ERROR): Communications Fault
2020-01-17T19:17:14.700Z,1579288634.700 [CBIT](ERROR): Communications Fault in component: RudderServo
2020-01-17T19:17:14.902Z,1579288634.902 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-01-17T19:17:14.902Z,1579288634.902 [RudderServo](INFO): Powering down
2020-01-17T19:17:15.583Z,1579288635.583 [RudderServo](DEBUG): Initializing EZServoServo.
2020-01-17T19:17:15.702Z,1579288635.702 [RudderServo](DEBUG): Initializing RudderServo.
2020-01-17T19:17:15.706Z,1579288635.706 [CBIT](INFO): Clearing failed state for component RudderServo
2020-01-17T19:17:15.706Z,1579288635.706 [RudderServo] No Fault, FailCount= 1
2020-01-17T19:17:18.789Z,1579288638.789 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2020-01-17T19:17:19.192Z,1579288639.192 [Micromodem](INFO): Nmea in: $CATMG,2020-01-17T19:17:18.733135Z,RTC,RTC*50

2020-01-17T19:17:19.192Z,1579288639.192 [Micromodem](ERROR): CFG response from modem unexpected: $CATMG,2020-01-17T19:17:18.733135Z,RTC,RTC*50

2020-01-17T19:17:19.631Z,1579288639.631 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2020-01-17T19:17:19.632Z,1579288639.632 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2020-01-17T19:17:20.036Z,1579288640.036 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2020-01-17T19:17:20.036Z,1579288640.036 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2020-01-17T19:17:20.444Z,1579288640.444 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2020-01-17T19:17:20.444Z,1579288640.444 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,1*2E

2020-01-17T19:17:20.843Z,1579288640.843 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,1*2C

2020-01-17T19:17:20.844Z,1579288640.844 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2020-01-17T19:17:21.248Z,1579288641.248 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2020-01-17T19:17:21.248Z,1579288641.248 [Micromodem](INFO): Nmea out: $CCCFG,FC0,10000*46

2020-01-17T19:17:21.639Z,1579288641.639 [Micromodem](INFO): Nmea in: $CACFG,FC0,10000*44

2020-01-17T19:17:21.640Z,1579288641.640 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2020-01-17T19:17:22.071Z,1579288642.071 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2020-01-17T19:17:22.071Z,1579288642.071 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2020-01-17T19:17:22.435Z,1579288642.435 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2020-01-17T19:17:22.436Z,1579288642.436 [Micromodem](INFO): Nmea out: $CCCLK,2020,01,17,19,17,23*4C

2020-01-17T19:17:22.848Z,1579288642.848 [Micromodem](INFO): Nmea in: $CACLK,2020,1,17,19,17,23*7E

2020-01-17T19:17:23.248Z,1579288643.248 [Micromodem](INFO): Nmea in: $CATMS,0,2020-01-17T19:17:24Z*79

2020-01-17T19:17:23.249Z,1579288643.249 [Micromodem](INFO): Nmea in: $CATMG,2020-01-17T19:17:24.026055Z,USER_CMD,RTC*1A

2020-01-17T19:17:24.050Z,1579288644.050 [DDM](INFO): Dynamic Docking Module:
2020-01-17T19:17:26.896Z,1579288646.896 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2020-01-17T19:17:31.314Z,1579288651.314 [DUSBL_Hydroid](INFO): DUSBL Version:O
2020-01-17T19:17:39.799Z,1579288659.799 [NAL9602](INFO): Powering up NAL9602
2020-01-17T19:17:45.480Z,1579288665.480 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-17T19:17:45.480Z,1579288665.480 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,20011712294609,35.0, -0.1,   0.0,1448:RA,  0.00,   0.00,   0.00,   0.00,   0.00
2020-01-17T19:17:50.744Z,1579288670.744 [NAL9602](INFO): NAL9602 initialized
2020-01-17T19:17:52.439Z,1579288672.439 [SBIT](IMPORTANT): Beginning Startup BIT
2020-01-17T19:17:52.455Z,1579288672.455 [CBIT](IMPORTANT): Beginning ground fault scan
2020-01-17T19:18:00.410Z,1579288680.410 [CommandLine](IMPORTANT): got command strobe off
2020-01-17T19:18:00.410Z,1579288680.410 [CommandLine](IMPORTANT): Deactivating strobe
2020-01-17T19:18:03.314Z,1579288683.314 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.017519
CHAN A1 (24V): -0.027560
CHAN A2 (12V): -0.007029
CHAN A3 (5V): -0.002934
CHAN B0 (3.3V): -0.000037
CHAN B1 (3.15aV): -0.000201
CHAN B2 (3.15bV): 0.000231
CHAN B3 (GND): 0.001760
OPEN: 0.005544
Full Scale Calc: 4.765 mA, -1.589 mA
2020-01-17T19:18:46.007Z,1579288726.007 [SBIT](IMPORTANT): SBIT PASSED
2020-01-17T19:18:46.007Z,1579288726.007 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2020-01-17T19:18:46.008Z,1579288726.008 [SBIT](IMPORTANT): DDM.verbosity=3 count;

2020-01-17T19:18:46.008Z,1579288726.008 [SBIT](IMPORTANT): DUSBL_Hydroid.detectionThreshold=75 count;

2020-01-17T19:18:46.008Z,1579288726.008 [SBIT](IMPORTANT): Micromodem.pwrampTXLevel=1 enum;

2020-01-17T19:18:46.008Z,1579288726.008 [SBIT](IMPORTANT): Micromodem.sendExpress=1 bool;

2020-01-17T19:18:46.008Z,1579288726.008 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=105 cubic_centimeter;

2020-01-17T19:18:46.008Z,1579288726.008 [SBIT](IMPORTANT): VerticalControl.massDefault=-5 millimeter;

2020-01-17T19:18:46.416Z,1579288726.416 [MissionManager](IMPORTANT): Started mission Startup
2020-01-17T19:18:46.416Z,1579288726.416 [Startup] Running Loop=1
2020-01-17T19:18:46.416Z,1579288726.416 [Startup](DEBUG): Aggregate::initialize Startup
2020-01-17T19:18:46.416Z,1579288726.416 [Startup:A.GoToSurface] Running Loop=1
2020-01-17T19:18:46.416Z,1579288726.416 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-17T19:18:46.417Z,1579288726.417 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-17T19:18:46.418Z,1579288726.418 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-17T19:18:46.418Z,1579288726.418 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-17T19:18:46.418Z,1579288726.418 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-17T19:18:46.419Z,1579288726.419 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-17T19:18:46.420Z,1579288726.420 [Startup:StartupSatComms] Running Loop=1
2020-01-17T19:18:46.420Z,1579288726.420 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2020-01-17T19:18:46.420Z,1579288726.420 [Startup:StartupSatComms:A] Running Loop=1
2020-01-17T19:18:46.947Z,1579288726.947 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2020-01-17T19:19:14.566Z,1579288754.566 [CommandLine](IMPORTANT): got command get latitude
2020-01-17T19:19:14.566Z,1579288754.566 [CommandLine](FAULT): Element has no value
2020-01-17T19:19:16.566Z,1579288756.566 [CommandLine](IMPORTANT): got command configSet list
2020-01-17T19:19:16.566Z,1579288756.566 [CommandLine](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2020-01-17T19:19:16.567Z,1579288756.567 [CommandLine](IMPORTANT): DDM.verbosity=3 count;

2020-01-17T19:19:16.567Z,1579288756.567 [CommandLine](IMPORTANT): DUSBL_Hydroid.detectionThreshold=75 count;

2020-01-17T19:19:16.567Z,1579288756.567 [CommandLine](IMPORTANT): Micromodem.pwrampTXLevel=1 enum;

2020-01-17T19:19:16.567Z,1579288756.567 [CommandLine](IMPORTANT): Micromodem.sendExpress=1 bool;

2020-01-17T19:19:16.567Z,1579288756.567 [CommandLine](IMPORTANT): VerticalControl.buoyancyNeutral=105 cubic_centimeter;

2020-01-17T19:19:16.567Z,1579288756.567 [CommandLine](IMPORTANT): VerticalControl.massDefault=-5 millimeter;

2020-01-17T19:19:32.768Z,1579288772.768 [CommandLine](IMPORTANT): got command configSet DUSBL_Hydroid.detectionThreshold 30.000000 count persist
2020-01-17T19:19:38.515Z,1579288778.515 [CommandLine](IMPORTANT): got command failComponent hardware DUSBL_Hydroid
2020-01-17T19:19:38.515Z,1579288778.515 [DUSBL_Hydroid] Hardware Fault, FailCount= 1
2020-01-17T19:19:38.515Z,1579288778.515 [DUSBL_Hydroid](ERROR): Hardware Fault
2020-01-17T19:19:38.515Z,1579288778.515 [CommandLine](IMPORTANT): DUSBL_Hydroid failureMode is Hardware Fault
2020-01-17T19:19:38.583Z,1579288778.583 [CBIT](ERROR): Hardware Fault in component: DUSBL_Hydroid
2020-01-17T19:19:38.878Z,1579288778.878 [DUSBL_Hydroid](INFO): Powering down
2020-01-17T19:19:39.811Z,1579288779.811 [CBIT](INFO): Clearing failed state for component DUSBL_Hydroid
2020-01-17T19:19:39.812Z,1579288779.812 [DUSBL_Hydroid] No Fault, FailCount= 1
2020-01-17T19:19:42.110Z,1579288782.110 [DUSBL_Hydroid](INFO): Powering up
2020-01-17T19:19:42.110Z,1579288782.110 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2020-01-17T19:19:44.659Z,1579288784.659 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004938
2020-01-17T19:19:46.586Z,1579288786.586 [Startup:StartupSatComms:A](INFO): Timed out from 2020-01-17T19:18:46.4Z
2020-01-17T19:19:46.586Z,1579288786.586 [Startup:StartupSatComms:A] Stopped
2020-01-17T19:19:46.586Z,1579288786.586 [Startup:StartupSatComms:B] Running Loop=1
2020-01-17T19:19:47.026Z,1579288787.026 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2020-01-17T19:19:56.433Z,1579288796.433 [DataOverHttps](INFO): Sending 184 bytes from file Logs/20200117T191702/Courier0000.lzma
2020-01-17T19:19:58.439Z,1579288798.439 [DataOverHttps](INFO): Moved sent file to Logs/20200117T191702/Courier0000.lzma.bak
2020-01-17T19:19:58.439Z,1579288798.439 [DataOverHttps](INFO): SBD MOMSN=12196934
2020-01-17T19:19:59.111Z,1579288799.111 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-17T19:19:59.111Z,1579288799.111 [RDI_Pathfinder](ERROR): Failed to parse:
:TS2320009,35.0, -0.1,   0.0,1448.9,  0
2020-01-17T19:20:00.290Z,1579288800.290 [DUSBL_Hydroid](INFO): DUSBL Version:O
2020-01-17T19:20:13.257Z,1579288813.257 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2020-01-17T19:20:13.257Z,1579288813.257 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T19:20:13.295Z,1579288813.295 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T19:20:13.737Z,1579288813.737 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T19:20:13.737Z,1579288813.737 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2020-01-17T19:20:17.993Z,1579288817.993 [DataOverHttps](INFO): Sending 336 bytes from file Logs/20200117T185316/Express0013.lzma
2020-01-17T19:20:19.998Z,1579288819.998 [DataOverHttps](INFO): Moved sent file to Logs/20200117T185316/Express0013.lzma.bak
2020-01-17T19:20:19.999Z,1579288819.999 [DataOverHttps](INFO): SBD MOMSN=12196937
2020-01-17T19:20:39.107Z,1579288839.107 [DataOverHttps](INFO): Sending 685 bytes from file Logs/20200117T185316/Express0016.lzma
2020-01-17T19:20:41.066Z,1579288841.066 [DataOverHttps](INFO): Moved sent file to Logs/20200117T185316/Express0016.lzma.bak
2020-01-17T19:20:41.066Z,1579288841.066 [DataOverHttps](INFO): SBD MOMSN=12196946
2020-01-17T19:20:46.813Z,1579288846.813 [Startup:StartupSatComms:B](INFO): Timed out from 2020-01-17T19:19:46.6Z
2020-01-17T19:20:46.813Z,1579288846.813 [Startup:StartupSatComms:B] Stopped
2020-01-17T19:20:46.813Z,1579288846.813 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2020-01-17T19:20:46.813Z,1579288846.813 [Startup:StartupSatComms] Stopped
2020-01-17T19:20:46.813Z,1579288846.813 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2020-01-17T19:20:46.814Z,1579288846.814 [Startup](INFO): Completed Startup
2020-01-17T19:20:46.814Z,1579288846.814 [MissionManager](INFO): Startup is completed.
2020-01-17T19:20:46.814Z,1579288846.814 [MissionManager](INFO): Uninitializing Mission Startup
2020-01-17T19:20:46.814Z,1579288846.814 [Startup] Stopped
2020-01-17T19:20:46.814Z,1579288846.814 [Startup](DEBUG): Aggregate::uninitialize Startup
2020-01-17T19:20:46.814Z,1579288846.814 [Startup:A.GoToSurface] Stopped
2020-01-17T19:20:46.814Z,1579288846.814 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-17T19:20:47.211Z,1579288847.211 [MissionManager](IMPORTANT): Started mission Default
2020-01-17T19:20:47.211Z,1579288847.211 [Default] Running Loop=1
2020-01-17T19:20:47.211Z,1579288847.211 [Default](DEBUG): Aggregate::initialize Default
2020-01-17T19:20:47.211Z,1579288847.211 [Default:B.GoToSurface] Running Loop=1
2020-01-17T19:20:47.211Z,1579288847.211 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-17T19:20:47.211Z,1579288847.211 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-17T19:20:47.212Z,1579288847.212 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-17T19:20:47.212Z,1579288847.212 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-17T19:20:47.212Z,1579288847.212 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-17T19:20:47.213Z,1579288847.213 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-17T19:20:47.213Z,1579288847.213 [Default:A.Wait] Running Loop=1
2020-01-17T19:20:47.213Z,1579288847.213 [Default:A.Wait](DEBUG): Initialize Wait Component.
2020-01-17T19:21:00.518Z,1579288860.518 [Default:A.Wait](INFO): Done Waiting.
2020-01-17T19:21:00.519Z,1579288860.519 [Default:A.Wait] Stopped
2020-01-17T19:21:00.519Z,1579288860.519 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-17T19:21:01.012Z,1579288861.012 [Default:CheckIn] Running Loop=1
2020-01-17T19:21:01.012Z,1579288861.012 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2020-01-17T19:21:01.012Z,1579288861.012 [Default:CheckIn:Read_GPS] Running Loop=1
2020-01-17T19:21:01.345Z,1579288861.345 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2020-01-17T19:21:08.230Z,1579288868.230 [DataOverHttps](INFO): Sending 936 bytes from file Logs/20200117T191702/Express0001.lzma
2020-01-17T19:21:10.246Z,1579288870.246 [DataOverHttps](INFO): Moved sent file to Logs/20200117T191702/Express0001.lzma.bak
2020-01-17T19:21:10.246Z,1579288870.246 [DataOverHttps](INFO): SBD MOMSN=12196993
2020-01-17T19:22:54.015Z,1579288974.015 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2020-01-17T19:23:05.591Z,1579288985.591 [CommandLine](IMPORTANT): got command show variable detectionThreshold
2020-01-17T19:23:05.652Z,1579288985.652 [CommandLine](IMPORTANT): DUSBL_Hydroid.detectionThreshold (count)
2020-01-17T19:23:11.675Z,1579288991.675 [CommandLine](IMPORTANT): got command get DUSBL_Hydroid.detectionThreshold
2020-01-17T19:23:11.675Z,1579288991.675 [CommandLine](IMPORTANT): DUSBL_Hydroid.detectionThreshold 30 count
2020-01-17T19:23:14.321Z,1579288994.321 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2020-01-17T19:23:14.321Z,1579288994.321 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T19:23:14.340Z,1579288994.340 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T19:23:14.742Z,1579288994.742 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T19:23:14.742Z,1579288994.742 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2020-01-17T19:23:15.106Z,1579288995.106 [RDI_Pathfinder](ERROR): Failed to parse:
:B,-32768,-32768,V
2020-01-17T19:24:24.230Z,1579289064.230 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2020-01-17T19:24:35.470Z,1579289075.470 [BPC1](ERROR): Battery stick #38 (s/n: 015C) reported OVER_TEMP_ALARM. Status code: 0x1717.
2020-01-17T19:24:35.471Z,1579289075.471 [BPC1](INFO): Calculating totals. Valid battery stick count: 55. Valid reserve battery stick count: 6.
2020-01-17T19:24:35.474Z,1579289075.474 [BPC1](INFO): Received data from all battery sticks.
2020-01-17T19:25:21.091Z,1579289121.091 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-17T19:25:21.091Z,1579289121.091 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,200117123722 -0.1,   0.0,1448.9,  0
2020-01-17T19:26:01.103Z,1579289161.103 [Default:CheckIn:Read_GPS](INFO): Timed out from 2020-01-17T19:21:01.0Z
2020-01-17T19:26:01.103Z,1579289161.103 [Default:CheckIn:Read_GPS] Stopped
2020-01-17T19:26:01.103Z,1579289161.103 [Default:CheckIn:Read_Iridium] Running Loop=1
2020-01-17T19:26:01.523Z,1579289161.523 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2020-01-17T19:26:10.328Z,1579289170.328 [DataOverHttps](INFO): Sending 187 bytes from file Logs/20200117T191702/Courier0004.lzma
2020-01-17T19:26:12.334Z,1579289172.334 [DataOverHttps](INFO): Moved sent file to Logs/20200117T191702/Courier0004.lzma.bak
2020-01-17T19:26:12.334Z,1579289172.334 [DataOverHttps](INFO): SBD MOMSN=12197026
2020-01-17T19:26:15.240Z,1579289175.240 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 3
2020-01-17T19:26:15.240Z,1579289175.240 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T19:26:15.250Z,1579289175.250 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T19:26:15.658Z,1579289175.658 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T19:26:15.658Z,1579289175.658 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 3
2020-01-17T19:26:16.452Z,1579289176.452 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00,   0.00
2020-01-17T19:26:34.536Z,1579289194.536 [DataOverHttps](INFO): Sending 272 bytes from file Logs/20200117T191702/Express0005.lzma
2020-01-17T19:26:36.543Z,1579289196.543 [DataOverHttps](INFO): Moved sent file to Logs/20200117T191702/Express0005.lzma.bak
2020-01-17T19:26:36.543Z,1579289196.543 [DataOverHttps](INFO): SBD MOMSN=12197028
2020-01-17T19:26:37.902Z,1579289197.902 [Default:CheckIn:Read_Iridium] Stopped
2020-01-17T19:26:37.903Z,1579289197.903 [Default:CheckIn:C.Wait] Running Loop=1
2020-01-17T19:26:37.903Z,1579289197.903 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2020-01-17T19:26:47.963Z,1579289207.963 [RDI_Pathfinder](ERROR): Failed to parse:
:SA,   +0.00,   +0.00,  0.00
2020-01-17T19:27:36.999Z,1579289256.999 [CommandLine](IMPORTANT): got command show stack
2020-01-17T19:27:36.999Z,1579289256.999 [CommandLine](IMPORTANT): Behavior Stack:

2020-01-17T19:27:36.000Z,1579289257.000 [Default](IMPORTANT): Priority 0: Default:B.GoToSurface
2020-01-17T19:27:36.000Z,1579289257.000 [Default:CheckIn](IMPORTANT): Priority 1: Default:CheckIn:C.Wait
2020-01-17T19:27:39.813Z,1579289259.813 [CommandLine](IMPORTANT): got command get latitude
2020-01-17T19:27:39.814Z,1579289259.814 [CommandLine](FAULT): Element has no value
2020-01-17T19:27:51.763Z,1579289271.763 [NAL9602](FAULT): GPS failed to acquire within timeout.
2020-01-17T19:27:51.764Z,1579289271.764 [NAL9602] Data Fault, FailCount= 1
2020-01-17T19:27:51.764Z,1579289271.764 [NAL9602](ERROR): Data Fault
2020-01-17T19:27:51.862Z,1579289271.862 [CBIT](ERROR): Data Fault in component: NAL9602
2020-01-17T19:27:52.167Z,1579289272.167 [NAL9602](INFO): Powering down
2020-01-17T19:27:52.583Z,1579289272.583 [NAL9602](FAULT): LCB fault:  Invalid Command.
2020-01-17T19:27:52.583Z,1579289272.583 [NAL9602] Hardware Fault, FailCount= 1
2020-01-17T19:27:52.583Z,1579289272.583 [NAL9602](ERROR): Hardware Fault
2020-01-17T19:27:53.066Z,1579289273.066 [CBIT](INFO): Clearing failed state for component NAL9602
2020-01-17T19:27:53.066Z,1579289273.066 [NAL9602] No Fault, FailCount= 1
2020-01-17T19:27:53.565Z,1579289273.565 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.latitude_fix 35.500000 degree
2020-01-17T19:27:53.567Z,1579289273.567 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.latitude_fix" handled in the control thread.
2020-01-17T19:27:53.568Z,1579289273.568 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.longitude_fix -122.989998 degree
2020-01-17T19:27:53.573Z,1579289273.573 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.longitude_fix" handled in the control thread.
2020-01-17T19:27:53.877Z,1579289273.877 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,DDM,Depth_Keller,DropWeight,DUSBL_Hydroid,Micromodem,NAL9602,Onboard,PowerOnly,RDI_Pathfinder,BPC1,PAR_Licor,Depth_Keller,PAR_Licor,Maintain_NAL9602.latitude_fix,Maintain_NAL9602.longitude_fix,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2020-01-17T19:27:54.253Z,1579289274.253 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-17T19:27:54.253Z,1579289274.253 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 4
2020-01-17T19:27:54.253Z,1579289274.253 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T19:27:54.291Z,1579289274.291 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T19:27:54.662Z,1579289274.662 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T19:27:54.662Z,1579289274.662 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 4
2020-01-17T19:27:55.507Z,1579289275.507 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-17T19:27:55.507Z,1579289275.507 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 5
2020-01-17T19:27:55.507Z,1579289275.507 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T19:27:55.516Z,1579289275.516 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T19:27:55.888Z,1579289275.888 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T19:27:55.888Z,1579289275.888 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 5
2020-01-17T19:27:56.668Z,1579289276.668 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-17T19:27:56.668Z,1579289276.668 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 6
2020-01-17T19:27:56.668Z,1579289276.668 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T19:27:56.719Z,1579289276.719 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T19:27:57.073Z,1579289277.073 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T19:27:57.073Z,1579289277.073 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 6
2020-01-17T19:27:57.879Z,1579289277.879 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-17T19:27:57.879Z,1579289277.879 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 7
2020-01-17T19:27:57.879Z,1579289277.879 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T19:27:57.933Z,1579289277.933 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T19:27:58.291Z,1579289278.291 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T19:27:58.291Z,1579289278.291 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 7
2020-01-17T19:27:59.078Z,1579289279.078 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-17T19:27:59.078Z,1579289279.078 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 8
2020-01-17T19:27:59.079Z,1579289279.079 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T19:27:59.088Z,1579289279.088 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T19:27:59.480Z,1579289279.480 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T19:27:59.480Z,1579289279.480 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 8
2020-01-17T19:28:00.275Z,1579289280.275 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-17T19:28:00.275Z,1579289280.275 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 9
2020-01-17T19:28:00.275Z,1579289280.275 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T19:28:00.284Z,1579289280.284 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:00.698Z,1579289280.698 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:00.698Z,1579289280.698 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 9
2020-01-17T19:28:01.487Z,1579289281.487 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-17T19:28:01.487Z,1579289281.487 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 10
2020-01-17T19:28:01.487Z,1579289281.487 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T19:28:01.521Z,1579289281.521 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:01.925Z,1579289281.925 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:01.925Z,1579289281.925 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 10
2020-01-17T19:28:02.704Z,1579289282.704 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-17T19:28:02.704Z,1579289282.704 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 11
2020-01-17T19:28:02.704Z,1579289282.704 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T19:28:02.714Z,1579289282.714 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:03.128Z,1579289283.128 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:03.128Z,1579289283.128 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 11
2020-01-17T19:28:04.013Z,1579289284.013 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-17T19:28:04.013Z,1579289284.013 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 12
2020-01-17T19:28:04.013Z,1579289284.013 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T19:28:04.035Z,1579289284.035 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:04.388Z,1579289284.388 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:04.388Z,1579289284.388 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 12
2020-01-17T19:28:05.180Z,1579289285.180 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-17T19:28:05.180Z,1579289285.180 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 13
2020-01-17T19:28:05.180Z,1579289285.180 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T19:28:05.246Z,1579289285.246 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:05.587Z,1579289285.587 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:05.587Z,1579289285.587 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 13
2020-01-17T19:28:06.270Z,1579289286.270 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1579289216.000000 second
2020-01-17T19:28:06.411Z,1579289286.411 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-17T19:28:06.411Z,1579289286.411 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 14
2020-01-17T19:28:06.411Z,1579289286.411 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T19:28:06.437Z,1579289286.437 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:06.810Z,1579289286.810 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:06.810Z,1579289286.810 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 14
2020-01-17T19:28:07.558Z,1579289287.558 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-17T19:28:07.558Z,1579289287.558 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 15
2020-01-17T19:28:07.559Z,1579289287.559 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T19:28:07.568Z,1579289287.568 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:08.021Z,1579289288.021 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:08.021Z,1579289288.021 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 15
2020-01-17T19:28:08.862Z,1579289288.862 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-17T19:28:08.862Z,1579289288.862 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 16
2020-01-17T19:28:08.862Z,1579289288.862 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T19:28:08.871Z,1579289288.871 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:09.215Z,1579289289.215 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:09.215Z,1579289289.215 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 16
2020-01-17T19:28:09.995Z,1579289289.995 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-17T19:28:09.995Z,1579289289.995 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 17
2020-01-17T19:28:09.995Z,1579289289.995 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T19:28:10.005Z,1579289290.005 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:10.407Z,1579289290.407 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:10.407Z,1579289290.407 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 17
2020-01-17T19:28:11.198Z,1579289291.198 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-17T19:28:11.198Z,1579289291.198 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 18
2020-01-17T19:28:11.198Z,1579289291.198 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T19:28:11.207Z,1579289291.207 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:11.607Z,1579289291.607 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:11.607Z,1579289291.607 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 18
2020-01-17T19:28:12.406Z,1579289292.406 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-17T19:28:12.407Z,1579289292.407 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 19
2020-01-17T19:28:12.407Z,1579289292.407 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T19:28:12.449Z,1579289292.449 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:12.870Z,1579289292.870 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:12.870Z,1579289292.870 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 19
2020-01-17T19:28:13.634Z,1579289293.634 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-17T19:28:13.634Z,1579289293.634 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 20
2020-01-17T19:28:13.634Z,1579289293.634 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T19:28:13.646Z,1579289293.646 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:14.064Z,1579289294.064 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:14.064Z,1579289294.064 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 20
2020-01-17T19:28:14.543Z,1579289294.543 [CommandLine](IMPORTANT): got command get latitude
2020-01-17T19:28:14.543Z,1579289294.543 [CommandLine](FAULT): Element has no value
2020-01-17T19:28:14.837Z,1579289294.837 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-17T19:28:14.837Z,1579289294.837 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 21
2020-01-17T19:28:14.837Z,1579289294.837 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T19:28:14.847Z,1579289294.847 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:15.268Z,1579289295.268 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:15.268Z,1579289295.268 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 21
2020-01-17T19:28:16.063Z,1579289296.063 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-17T19:28:16.063Z,1579289296.063 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 22
2020-01-17T19:28:16.063Z,1579289296.063 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T19:28:16.111Z,1579289296.111 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:16.462Z,1579289296.462 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:16.462Z,1579289296.462 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 22
2020-01-17T19:28:17.254Z,1579289297.254 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-17T19:28:17.254Z,1579289297.254 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 23
2020-01-17T19:28:17.254Z,1579289297.254 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T19:28:17.264Z,1579289297.264 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:17.676Z,1579289297.676 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:17.676Z,1579289297.676 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 23
2020-01-17T19:28:18.466Z,1579289298.466 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-17T19:28:18.467Z,1579289298.467 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 24
2020-01-17T19:28:18.467Z,1579289298.467 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T19:28:18.516Z,1579289298.516 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:18.889Z,1579289298.889 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:18.889Z,1579289298.889 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 24
2020-01-17T19:28:19.698Z,1579289299.698 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-17T19:28:19.698Z,1579289299.698 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 25
2020-01-17T19:28:19.698Z,1579289299.698 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T19:28:19.723Z,1579289299.723 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:20.108Z,1579289300.108 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:20.108Z,1579289300.108 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 25
2020-01-17T19:28:20.907Z,1579289300.907 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-17T19:28:20.907Z,1579289300.907 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 26
2020-01-17T19:28:20.907Z,1579289300.907 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T19:28:20.916Z,1579289300.916 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:21.055Z,1579289301.055 [CommandLine](IMPORTANT): got command maintain
2020-01-17T19:28:21.055Z,1579289301.055 [Maintain_NAL9602.latitude_fix](INFO): NAL9602.latitude_fix maintaining 35.500000 arcdeg
2020-01-17T19:28:21.056Z,1579289301.056 [Maintain_NAL9602.longitude_fix](INFO): NAL9602.longitude_fix maintaining -122.989998 arcdeg
2020-01-17T19:28:21.306Z,1579289301.306 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:21.306Z,1579289301.306 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 26
2020-01-17T19:28:22.112Z,1579289302.112 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-17T19:28:22.112Z,1579289302.112 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 27
2020-01-17T19:28:22.112Z,1579289302.112 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T19:28:22.122Z,1579289302.122 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:22.475Z,1579289302.475 [NAL9602](INFO): Powering up NAL9602
2020-01-17T19:28:22.526Z,1579289302.526 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:22.526Z,1579289302.526 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 27
2020-01-17T19:28:23.314Z,1579289303.314 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-17T19:28:23.314Z,1579289303.314 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 28
2020-01-17T19:28:23.315Z,1579289303.315 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T19:28:23.364Z,1579289303.364 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:23.727Z,1579289303.727 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:23.727Z,1579289303.727 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 28
2020-01-17T19:28:24.533Z,1579289304.533 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-17T19:28:24.533Z,1579289304.533 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 29
2020-01-17T19:28:24.533Z,1579289304.533 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T19:28:24.543Z,1579289304.543 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:24.977Z,1579289304.977 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:24.977Z,1579289304.977 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 29
2020-01-17T19:28:25.805Z,1579289305.805 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-17T19:28:25.805Z,1579289305.805 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 30
2020-01-17T19:28:25.805Z,1579289305.805 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T19:28:25.814Z,1579289305.814 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:26.180Z,1579289306.180 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:26.180Z,1579289306.180 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 30
2020-01-17T19:28:27.062Z,1579289307.062 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-17T19:28:27.062Z,1579289307.062 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 31
2020-01-17T19:28:27.062Z,1579289307.062 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T19:28:27.088Z,1579289307.088 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:27.416Z,1579289307.416 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:27.416Z,1579289307.416 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 31
2020-01-17T19:28:28.201Z,1579289308.201 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-17T19:28:28.201Z,1579289308.201 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 32
2020-01-17T19:28:28.201Z,1579289308.201 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T19:28:28.256Z,1579289308.256 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:28.610Z,1579289308.610 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:28.610Z,1579289308.610 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 32
2020-01-17T19:28:29.394Z,1579289309.394 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-17T19:28:29.394Z,1579289309.394 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 33
2020-01-17T19:28:29.394Z,1579289309.394 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T19:28:29.403Z,1579289309.403 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:29.845Z,1579289309.845 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:29.845Z,1579289309.845 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 33
2020-01-17T19:28:30.595Z,1579289310.595 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-17T19:28:30.595Z,1579289310.595 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 34
2020-01-17T19:28:30.595Z,1579289310.595 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T19:28:30.605Z,1579289310.605 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:31.008Z,1579289311.008 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:31.008Z,1579289311.008 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 34
2020-01-17T19:28:31.834Z,1579289311.834 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-17T19:28:31.834Z,1579289311.834 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 35
2020-01-17T19:28:31.834Z,1579289311.834 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T19:28:31.844Z,1579289311.844 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:32.213Z,1579289312.213 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:32.213Z,1579289312.213 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 35
2020-01-17T19:28:33.047Z,1579289313.047 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-17T19:28:33.048Z,1579289313.048 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 36
2020-01-17T19:28:33.048Z,1579289313.048 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T19:28:33.057Z,1579289313.057 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:33.391Z,1579289313.391 [NAL9602](INFO): NAL9602 initialized
2020-01-17T19:28:33.435Z,1579289313.435 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:33.436Z,1579289313.436 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 36
2020-01-17T19:28:34.249Z,1579289314.249 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-17T19:28:34.249Z,1579289314.249 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 37
2020-01-17T19:28:34.249Z,1579289314.249 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T19:28:34.274Z,1579289314.274 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:34.651Z,1579289314.651 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:34.651Z,1579289314.651 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 37
2020-01-17T19:28:35.462Z,1579289315.462 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-17T19:28:35.463Z,1579289315.463 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 38
2020-01-17T19:28:35.463Z,1579289315.463 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T19:28:35.472Z,1579289315.472 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:35.846Z,1579289315.846 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:35.846Z,1579289315.846 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 38
2020-01-17T19:28:36.671Z,1579289316.671 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-17T19:28:36.671Z,1579289316.671 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 39
2020-01-17T19:28:36.671Z,1579289316.671 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-17T19:28:36.680Z,1579289316.680 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:36.731Z,1579289316.731 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1579289344.000000 second
2020-01-17T19:28:37.092Z,1579289317.092 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-17T19:28:37.092Z,1579289317.092 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 39
2020-01-17T19:29:08.948Z,1579289348.948 [NAL9602](INFO): Not Powering down - fast GPS
2020-01-17T19:31:38.460Z,1579289498.460 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2020-01-17T19:31:38.460Z,1579289498.460 [Default:CheckIn:C.Wait] Stopped
2020-01-17T19:31:38.460Z,1579289498.460 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2020-01-17T19:31:38.460Z,1579289498.460 [Default:CheckIn:D] Running Loop=1
2020-01-17T19:31:38.874Z,1579289498.874 [Default:CheckIn:D] Stopped
2020-01-17T19:31:38.874Z,1579289498.874 [Default:CheckIn:E] Running Loop=1
2020-01-17T19:31:39.271Z,1579289499.271 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 10.861041 min 
2020-01-17T19:31:39.271Z,1579289499.271 [Default:CheckIn:E] Stopped
2020-01-17T19:31:39.271Z,1579289499.271 [Default:CheckIn](INFO): Completed Default:CheckIn
2020-01-17T19:31:39.271Z,1579289499.271 [Default:CheckIn] Stopped
2020-01-17T19:31:39.271Z,1579289499.271 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2020-01-17T19:31:39.271Z,1579289499.271 [Default:CheckIn](INFO): Running loop #2
2020-01-17T19:31:39.271Z,1579289499.271 [Default:CheckIn] Running Loop=2
2020-01-17T19:31:39.271Z,1579289499.271 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2020-01-17T19:31:39.271Z,1579289499.271 [Default:CheckIn:Read_GPS] Running Loop=1
2020-01-17T19:33:40.443Z,1579289620.443 [Micromodem](INFO): Nmea in: $CACYC,1,12,1,1,0,1*68

2020-01-17T19:33:40.444Z,1579289620.444 [Micromodem](INFO): Have incoming data
2020-01-17T19:33:40.450Z,1579289620.450 [Micromodem](INFO): Nmea in: $CARXD,12,1,0,1,EA49DA6859B6D6FDD7866B1D923D9D8A099CA094*52

2020-01-17T19:33:40.451Z,1579289620.451 [Micromodem](ERROR): Could not determine end of data in CARXD:$CARXD,12,1,0,1,EA49DA6859B6D6FDD7866B1D923D9D8A099CA094*52

2020-01-17T19:33:40.857Z,1579289620.857 [Micromodem](INFO): Nmea in: $CACST,6,0,20200117193339.314274,06,778,16,0266,0150,119,03,03,02,04,1,012,001,0,3,1,0,150,21.4,6.00,00,-3.00,-01,-0.04,30,10000,4000*75

2020-01-17T19:34:05.099Z,1579289645.099 [Micromodem](INFO): Nmea in: $CACYC,1,12,1,1,0,1*68

2020-01-17T19:34:05.100Z,1579289645.100 [Micromodem](INFO): Have incoming data
2020-01-17T19:34:05.104Z,1579289645.104 [Micromodem](INFO): Nmea in: $CAMSG,BAD_CRC,1*20

2020-01-17T19:34:05.491Z,1579289645.491 [Micromodem](INFO): Nmea in: $CACST,6,1,20200117193403.980307,06,316,18,0284,0150,119,01,01,01,03,1,012,001,3,3,1,1,150,2.4,6.00,00,-3.00,-01,-0.02,40,10000,4000*40

2020-01-17T19:34:52.804Z,1579289692.804 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-01-17T19:34:52.804Z,1579289692.804 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +0.00,     ,        +0.00,   0.00,1045.96
2020-01-17T19:36:28.945Z,1579289788.945 [RDI_Pathfinder](ERROR): Failed to parse:
    +0.00,        +0.00,        +0.00,   0.00,1140.94
2020-01-17T19:36:39.433Z,1579289799.433 [Default:CheckIn:Read_GPS](INFO): Timed out from 2020-01-17T19:31:39.3Z
2020-01-17T19:36:39.433Z,1579289799.433 [Default:CheckIn:Read_GPS] Stopped
2020-01-17T19:36:39.433Z,1579289799.433 [Default:CheckIn:Read_Iridium] Running Loop=1
2020-01-17T19:36:42.816Z,1579289802.816 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2020-01-17T19:36:44.126Z,1579289804.126 [DataOverHttps](INFO): Sending 145 bytes from file Logs/20200117T191702/Courier0007.lzma
2020-01-17T19:36:45.978Z,1579289805.978 [DataOverHttps](INFO): Moved sent file to Logs/20200117T191702/Courier0007.lzma.bak
2020-01-17T19:36:45.978Z,1579289805.978 [DataOverHttps](INFO): SBD MOMSN=12197036
2020-01-17T19:37:06.230Z,1579289826.230 [DataOverHttps](INFO): Sending 583 bytes from file Logs/20200117T191702/Express0008.lzma
2020-01-17T19:37:08.234Z,1579289828.234 [DataOverHttps](INFO): Moved sent file to Logs/20200117T191702/Express0008.lzma.bak
2020-01-17T19:37:08.234Z,1579289828.234 [DataOverHttps](INFO): SBD MOMSN=12197038
2020-01-17T19:37:09.485Z,1579289829.485 [Default:CheckIn:Read_Iridium] Stopped
2020-01-17T19:37:09.485Z,1579289829.485 [Default:CheckIn:C.Wait] Running Loop=1
2020-01-17T19:37:09.485Z,1579289829.485 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2020-01-17T19:37:11.080Z,1579289831.080 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-17T19:37:11.093Z,1579289831.093 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,20011712491209,35.0, -0.11448.9,  0
2020-01-17T19:37:13.487Z,1579289833.487 [NAL9602](INFO): Not Powering down - fast GPS
2020-01-17T19:38:19.950Z,1579289899.950 [CommandLine](IMPORTANT): got command show variable range
2020-01-17T19:38:19.951Z,1579289899.951 [CommandLine](IMPORTANT): acoustic_contact_range (unknown)
2020-01-17T19:38:20.048Z,1579289900.048 [CommandLine](IMPORTANT): BR_Ping1D.minRange (meter)
2020-01-17T19:38:20.049Z,1579289900.049 [CommandLine](IMPORTANT): BR_Ping1D.maxRange (meter)
2020-01-17T19:38:20.066Z,1579289900.066 [CommandLine](IMPORTANT): DUSBL_Hydroid.acoustic_contact_range (meter)
2020-01-17T19:38:20.067Z,1579289900.067 [CommandLine](IMPORTANT): Micromodem.range_request (count)
2020-01-17T19:38:20.068Z,1579289900.068 [CommandLine](IMPORTANT): Micromodem.range (meter)
2020-01-17T19:38:20.104Z,1579289900.104 [CommandLine](IMPORTANT): RDI_Pathfinder.Beam1Range (meter)
2020-01-17T19:38:20.104Z,1579289900.104 [CommandLine](IMPORTANT): RDI_Pathfinder.Beam2Range (meter)
2020-01-17T19:38:20.105Z,1579289900.105 [CommandLine](IMPORTANT): RDI_Pathfinder.Beam3Range (meter)
2020-01-17T19:38:20.105Z,1579289900.105 [CommandLine](IMPORTANT): RDI_Pathfinder.Beam4Range (meter)
2020-01-17T19:38:28.119Z,1579289908.119 [CommandLine](IMPORTANT): got command report touch acoustic_contact_range
2020-01-17T19:38:32.423Z,1579289912.423 [CommandLine](IMPORTANT): got command run ./Missions/Maintenance/DUSBL.xml
2020-01-17T19:38:32.423Z,1579289912.423 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/DUSBL.xml
2020-01-17T19:38:32.451Z,1579289912.451 [MissionManager](INFO): DefineArg DUSBL.MissionTimeout = 90.000000 min
2020-01-17T19:38:32.471Z,1579289912.471 [MissionManager](INFO): DefineArg DUSBL.NumberOfRequests = 10.000000 count
2020-01-17T19:38:32.475Z,1579289912.475 [MissionManager](INFO): DefineArg DUSBL.TransponderCode = 2.000000 count
2020-01-17T19:38:32.484Z,1579289912.484 [MissionManager](INFO): DefineArg DUSBL.NumberOfPings = 1.000000 count
2020-01-17T19:38:32.488Z,1579289912.488 [MissionManager](INFO): DefineArg DUSBL.EnabledDUSBL = DUSBL_Hydroid.loadAtStartup
2020-01-17T19:38:32.494Z,1579289912.494 [DUSBL:A.Pitch](DEBUG): Construct.
2020-01-17T19:38:32.500Z,1579289912.500 [DUSBL:B.SetSpeed](DEBUG): Construct.
2020-01-17T19:38:32.549Z,1579289912.549 [DUSBL:RequestRepeater:C.Wait](DEBUG): Construct Wait.
2020-01-17T19:38:32.553Z,1579289912.553 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<!-- ====================
     Generated by TethysL
     ==================== -->
<Mission xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
         xmlns="Tethys"
         xmlns:Units="Tethys/Units"
         xmlns:Guidance="Tethys/Guidance"
         xmlns:Control="Tethys/Control"
         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/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd"
       Id="DUSBL">

    <Description>
        This mission is requests a DUSBL arming.
    </Description>

    <DefineArg Name="MissionTimeout"><Description>
        How long to let the mission run.
    </Description><Units:minute/><Value>90</Value></DefineArg>

    <DefineArg Name="NumberOfRequests"><Description>
        Number of pings to requst.
    </Description><Units:count/><Value>10</Value></DefineArg>

    <DefineArg Name="TransponderCode"><Description>
        Transponder Address.
    </Description><Units:count/><Value>2</Value></DefineArg>   

    <DefineArg Name="NumberOfPings"><Description>
        Number of pings requested each time.
    </Description><Units:count/><Value>1</Value></DefineArg>      
    
    <DefineArg Name="EnabledDUSBL"><Description>
        Automatically set to true if the DUSBL is enabled. Set to false to disable
        reading from the DUSBL.
    </Description><Sensor:DUSBL_Hydroid.loadAtStartup/></DefineArg>    

    <Timeout Duration="MissionTimeout"/>

    <Guidance:Pitch>
        <Parallel/>
        <Setting><Guidance:Pitch.massPosition/><Control:VerticalControl.massDefault/></Setting>
    </Guidance:Pitch>

    <Guidance:SetSpeed>
        <Parallel/>
        <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0</Value></Setting>
    </Guidance:SetSpeed>

    <ReadData>
        <When>
            <Arg Name="EnabledDUSBL"/>
        </When>
            <Universal:acoustic_contact_range/>
            <Universal:acoustic_contact_direction_vehicle_frame/>
    </ReadData>
    
      <Aggregate Id="RequestRepeater">

        <Sequence Repeat="NumberOfRequests"/>
        <Assign><Parallel/><Sensor:DUSBL_Hydroid.transponderCode/><Arg Name="TransponderCode"/></Assign>
        <Assign><Parallel/><Sensor:DUSBL_Hydroid.pingRequested/><Arg Name="NumberOfPings"/></Assign>
          <Guidance:Wait>
            <Sequence/>
            <Setting><Guidance:Wait.duration/><Units:second/><Value>90</Value></Setting>
          </Guidance:Wait>
      </Aggregate>    
</Mission>


2020-01-17T19:38:32.555Z,1579289912.555 [CommandLine](IMPORTANT): Running ./Missions/Maintenance/DUSBL.xml
2020-01-17T19:38:32.708Z,1579289912.708 [Default] Stopped
2020-01-17T19:38:32.708Z,1579289912.708 [Default](DEBUG): Aggregate::uninitialize Default
2020-01-17T19:38:32.708Z,1579289912.708 [Default:B.GoToSurface] Stopped
2020-01-17T19:38:32.709Z,1579289912.709 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-17T19:38:32.709Z,1579289912.709 [Default:CheckIn] Stopped
2020-01-17T19:38:32.709Z,1579289912.709 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2020-01-17T19:38:32.709Z,1579289912.709 [Default:CheckIn:C.Wait] Stopped
2020-01-17T19:38:32.709Z,1579289912.709 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2020-01-17T19:38:32.710Z,1579289912.710 [MissionManager](IMPORTANT): Started mission DUSBL
2020-01-17T19:38:32.710Z,1579289912.710 [DUSBL] Running Loop=1
2020-01-17T19:38:32.710Z,1579289912.710 [DUSBL](DEBUG): Aggregate::initialize DUSBL
2020-01-17T19:38:32.710Z,1579289912.710 [DUSBL:A.Pitch] Running Loop=1
2020-01-17T19:38:32.710Z,1579289912.710 [DUSBL:A.Pitch](DEBUG): Initialize.
2020-01-17T19:38:32.710Z,1579289912.710 [DUSBL:B.SetSpeed] Running Loop=1
2020-01-17T19:38:32.710Z,1579289912.710 [DUSBL:B.SetSpeed](DEBUG): Initialize.
2020-01-17T19:38:32.711Z,1579289912.711 [DUSBL:C] Running Loop=1
2020-01-17T19:38:32.711Z,1579289912.711 [DUSBL:RequestRepeater] Running Loop=1
2020-01-17T19:38:32.711Z,1579289912.711 [DUSBL:RequestRepeater](DEBUG): Aggregate::initialize DUSBL:RequestRepeater
2020-01-17T19:38:32.711Z,1579289912.711 [DUSBL:RequestRepeater:A] Running Loop=1
2020-01-17T19:38:32.711Z,1579289912.711 [DUSBL:RequestRepeater:B] Running Loop=1
2020-01-17T19:38:32.711Z,1579289912.711 [DUSBL:RequestRepeater:C.Wait] Running Loop=1
2020-01-17T19:38:32.711Z,1579289912.711 [DUSBL:RequestRepeater:C.Wait](DEBUG): Initialize Wait Component.
2020-01-17T19:38:32.711Z,1579289912.711 [DUSBL:RequestRepeater:B] Running Loop=1
2020-01-17T19:38:32.712Z,1579289912.712 [DUSBL:RequestRepeater:A] Running Loop=1
2020-01-17T19:38:32.713Z,1579289912.713 [DUSBL:C](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_range
2020-01-17T19:38:32.714Z,1579289912.714 [DUSBL:C](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_direction_vehicle_frame
2020-01-17T19:38:32.714Z,1579289912.714 [DUSBL:B.SetSpeed] Running Loop=1
2020-01-17T19:38:32.714Z,1579289912.714 [DUSBL:A.Pitch] Running Loop=1
2020-01-17T19:38:34.697Z,1579289914.697 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-17T19:38:35.112Z,1579289915.112 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-17T19:38:35.915Z,1579289915.915 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193835.80*53

2020-01-17T19:38:38.330Z,1579289918.330 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-17T19:38:39.148Z,1579289919.148 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-17T19:38:39.545Z,1579289919.545 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-17T19:38:40.363Z,1579289920.363 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193840.24*5F

2020-01-17T19:38:42.795Z,1579289922.795 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-17T19:38:43.579Z,1579289923.579 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-17T19:38:43.989Z,1579289923.989 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-17T19:38:44.811Z,1579289924.811 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193844.68*53

2020-01-17T19:38:47.214Z,1579289927.214 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-17T19:38:48.027Z,1579289928.027 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-17T19:38:48.429Z,1579289928.429 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-17T19:38:48.898Z,1579289928.898 [Reporter](INFO): acoustic_contact_range 3.959999 m
2020-01-17T19:38:49.243Z,1579289929.243 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193849.12*53

2020-01-17T19:38:52.062Z,1579289932.062 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-17T19:38:52.475Z,1579289932.475 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-17T19:38:52.927Z,1579289932.927 [Reporter](INFO): acoustic_contact_range 1.319999 m
2020-01-17T19:38:53.283Z,1579289933.283 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193853.16*5C

2020-01-17T19:38:56.107Z,1579289936.107 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-17T19:38:56.509Z,1579289936.509 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-17T19:38:56.978Z,1579289936.978 [Reporter](INFO): acoustic_contact_range 1.319999 m
2020-01-17T19:38:57.323Z,1579289937.323 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193857.20*5D

2020-01-17T19:39:00.143Z,1579289940.143 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-17T19:39:00.549Z,1579289940.549 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-17T19:39:01.363Z,1579289941.363 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193901.24*5B

2020-01-17T19:39:03.778Z,1579289943.778 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-17T19:39:04.588Z,1579289944.588 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-17T19:39:04.997Z,1579289944.997 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-17T19:39:05.420Z,1579289945.420 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-17T19:39:05.420Z,1579289945.420 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,20011712510609,35.0, -0.1,   0.0,1448.9A,  0.00,   0.00,   0.00,   0.00,   0.00
2020-01-17T19:39:05.483Z,1579289945.483 [Reporter](INFO): acoustic_contact_range 1.319999 m
2020-01-17T19:39:05.807Z,1579289945.807 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193905.68*57

2020-01-17T19:39:08.627Z,1579289948.627 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-17T19:39:09.037Z,1579289949.037 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-17T19:39:09.840Z,1579289949.840 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193909.73*51

2020-01-17T19:39:12.266Z,1579289952.266 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-17T19:39:13.070Z,1579289953.070 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-17T19:39:13.477Z,1579289953.477 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-17T19:39:14.291Z,1579289954.291 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193914.17*5F

2020-01-17T19:39:16.724Z,1579289956.724 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-17T19:39:17.515Z,1579289957.515 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-17T19:39:17.925Z,1579289957.925 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-17T19:39:18.395Z,1579289958.395 [Reporter](INFO): acoustic_contact_range 1.500000 m
2020-01-17T19:39:18.745Z,1579289958.745 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193918.61*52

2020-01-17T19:39:20.375Z,1579289960.375 [CommandLine](IMPORTANT): got command stop
2020-01-17T19:39:20.375Z,1579289960.375 [CommandLine](IMPORTANT): Scheduling is paused
2020-01-17T19:39:20.375Z,1579289960.375 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2020-01-17T19:39:20.383Z,1579289960.383 [MissionManager](INFO): MissionManager is completed.
2020-01-17T19:39:20.383Z,1579289960.383 [MissionManager](INFO): Uninitializing Mission DUSBL
2020-01-17T19:39:20.383Z,1579289960.383 [DUSBL] Stopped
2020-01-17T19:39:20.384Z,1579289960.384 [DUSBL](DEBUG): Aggregate::uninitialize DUSBL
2020-01-17T19:39:20.384Z,1579289960.384 [DUSBL:A.Pitch] Stopped
2020-01-17T19:39:20.384Z,1579289960.384 [DUSBL:B.SetSpeed] Stopped
2020-01-17T19:39:20.384Z,1579289960.384 [DUSBL:B.SetSpeed](DEBUG): Uninitialize.
2020-01-17T19:39:20.384Z,1579289960.384 [DUSBL:C] Stopped
2020-01-17T19:39:20.384Z,1579289960.384 [DUSBL:RequestRepeater] Stopped
2020-01-17T19:39:20.384Z,1579289960.384 [DUSBL:RequestRepeater](DEBUG): Aggregate::uninitialize DUSBL:RequestRepeater
2020-01-17T19:39:20.384Z,1579289960.384 [DUSBL:RequestRepeater:A] Stopped
2020-01-17T19:39:20.384Z,1579289960.384 [DUSBL:RequestRepeater:B] Stopped
2020-01-17T19:39:20.384Z,1579289960.384 [DUSBL:RequestRepeater:C.Wait] Stopped
2020-01-17T19:39:20.384Z,1579289960.384 [DUSBL:RequestRepeater:C.Wait](DEBUG): Uninitialize Wait Component.
2020-01-17T19:39:20.791Z,1579289960.791 [MissionManager](IMPORTANT): Started mission Default
2020-01-17T19:39:20.791Z,1579289960.791 [Default] Running Loop=1
2020-01-17T19:39:20.791Z,1579289960.791 [Default](DEBUG): Aggregate::initialize Default
2020-01-17T19:39:20.791Z,1579289960.791 [Default:B.GoToSurface] Running Loop=1
2020-01-17T19:39:20.791Z,1579289960.791 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-17T19:39:20.792Z,1579289960.792 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-17T19:39:20.792Z,1579289960.792 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-17T19:39:20.792Z,1579289960.792 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-17T19:39:20.792Z,1579289960.792 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-17T19:39:20.793Z,1579289960.793 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-17T19:39:20.794Z,1579289960.794 [Default:A.Wait] Running Loop=1
2020-01-17T19:39:20.794Z,1579289960.794 [Default:A.Wait](DEBUG): Initialize Wait Component.
2020-01-17T19:39:34.123Z,1579289974.123 [Default:A.Wait](INFO): Done Waiting.
2020-01-17T19:39:34.123Z,1579289974.123 [Default:A.Wait] Stopped
2020-01-17T19:39:34.123Z,1579289974.123 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-17T19:39:34.518Z,1579289974.518 [Default:CheckIn] Running Loop=1
2020-01-17T19:39:34.518Z,1579289974.518 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2020-01-17T19:39:34.518Z,1579289974.518 [Default:CheckIn:Read_GPS] Running Loop=1
2020-01-17T19:39:36.099Z,1579289976.099 [NAL9602](FAULT): GPS failed to acquire within timeout.
2020-01-17T19:39:36.099Z,1579289976.099 [NAL9602] Data Fault, FailCount= 2
2020-01-17T19:39:36.099Z,1579289976.099 [NAL9602](ERROR): Data Fault
2020-01-17T19:39:36.188Z,1579289976.188 [CBIT](ERROR): Data Fault in component: NAL9602
2020-01-17T19:39:36.507Z,1579289976.507 [NAL9602](INFO): Powering down
2020-01-17T19:39:37.412Z,1579289977.412 [CBIT](INFO): Clearing failed state for component NAL9602
2020-01-17T19:39:37.412Z,1579289977.412 [NAL9602] No Fault, FailCount= 2
2020-01-17T19:40:06.807Z,1579290006.807 [NAL9602](INFO): Powering up NAL9602
2020-01-17T19:40:17.732Z,1579290017.732 [NAL9602](INFO): NAL9602 initialized
2020-01-17T19:41:28.482Z,1579290088.482 [DataOverHttps](IMPORTANT): SBD MTMSN=20200117T194030
2020-01-17T19:41:36.493Z,1579290096.493 [DataOverHttps](INFO): Received command:sched asap "load Insert/LineCapture.xml;set LineCapture.DetachRange 0.5 meter;set LineCapture.MidcourseDepth 0 meter;set LineCapture.MidcourseSpeed 0 meter_per_second;set LineCapture.DockRange 0.7 meter" 41ymn 1 2
2020-01-17T19:41:36.546Z,1579290096.546 [CommandLine](IMPORTANT): got command schedule asap "load Insert/LineCapture.xml;set LineCapture.DetachRange 0.5 meter;set LineCapture.MidcourseDepth 0 meter;set LineCapture.MidcourseSpeed 0 meter_per_second;set LineCapture.DockRange 0.7 meter" 41ymn 1 2.000000
2020-01-17T19:41:36.547Z,1579290096.547 [CommandLine](IMPORTANT): Scheduling command #1 of 2 with id=41ymn
2020-01-17T19:41:36.548Z,1579290096.548 [CommandLine](IMPORTANT): Scheduled #1 (#1 of 2 with id='41ymn'): "load Insert/LineCapture.xml;set LineCapture.DetachRange 0.5 meter;set LineCapture.MidcourseDepth 0 meter;set LineCapture.MidcourseSpeed 0 meter_per_second;set LineCapture.DockRange 0.7 meter" ASAP
2020-01-17T19:41:38.498Z,1579290098.498 [DataOverHttps](IMPORTANT): SBD MTMSN=20200117T194040
2020-01-17T19:41:48.580Z,1579290108.580 [DataOverHttps](INFO): Received command:sched asap "set LineCapture.MinOffshore 0.000001 meter;run " 41ymn 2 2
2020-01-17T19:41:48.646Z,1579290108.646 [CommandLine](IMPORTANT): got command schedule asap "set LineCapture.MinOffshore 0.000001 meter;run " 41ymn 2 2.000000
2020-01-17T19:41:48.646Z,1579290108.646 [CommandLine](IMPORTANT): Scheduling command #2 of 2 with id=41ymn
2020-01-17T19:41:48.647Z,1579290108.647 [CommandLine](IMPORTANT): Scheduled #2 (#2 of 2 with id='41ymn'): "set LineCapture.MinOffshore 0.000001 meter;run " ASAP
2020-01-17T19:41:48.787Z,1579290108.787 [CommandLine](IMPORTANT): got command load ./Missions/Insert/LineCapture.xml
2020-01-17T19:41:48.787Z,1579290108.787 [MissionManager](INFO): Loading Mission: ./Missions/Insert/LineCapture.xml
2020-01-17T19:41:49.046Z,1579290109.046 [MissionManager](INFO): DefineArg LineCapture.DockDepth = 6.000000 _
2020-01-17T19:41:49.070Z,1579290109.070 [MissionManager](INFO): DefineArg LineCapture.DockLat = 0.642341 _
2020-01-17T19:41:49.082Z,1579290109.082 [MissionManager](INFO): DefineArg LineCapture.DockLon = -2.126200 _
2020-01-17T19:41:49.097Z,1579290109.097 [MissionManager](INFO): DefineArg LineCapture.DetachRange = 8.000000 m
2020-01-17T19:41:49.100Z,1579290109.100 [MissionManager](INFO): DefineArg LineCapture.DetachTimeout = 30.000000 min
2020-01-17T19:41:49.112Z,1579290109.112 [MissionManager](INFO): DefineArg LineCapture.MidcourseDepth = 15.000000 m
2020-01-17T19:41:49.119Z,1579290109.119 [MissionManager](INFO): DefineArg LineCapture.MidcourseSpeed = 1.000000 m/s
2020-01-17T19:41:49.123Z,1579290109.123 [MissionManager](INFO): DefineArg LineCapture.MidcourseTimeout = 12.000000 h
2020-01-17T19:41:49.138Z,1579290109.138 [MissionManager](INFO): DefineArg LineCapture.TerminalRange = 650.000000 m
2020-01-17T19:41:49.142Z,1579290109.142 [MissionManager](INFO): DefineArg LineCapture.ArmRange = 40.000000 m
2020-01-17T19:41:49.150Z,1579290109.150 [MissionManager](INFO): DefineArg LineCapture.DockRange = 2.000000 m
2020-01-17T19:41:49.157Z,1579290109.157 [MissionManager](INFO): DefineArg LineCapture.DockTimeout = 60.000000 s
2020-01-17T19:41:49.160Z,1579290109.160 [MissionManager](INFO): DefineArg LineCapture.RolloutDistance = 250.000000 m
2020-01-17T19:41:49.168Z,1579290109.168 [MissionManager](INFO): DefineArg LineCapture.UpdateNav = 1 bool
2020-01-17T19:41:49.185Z,1579290109.185 [MissionManager](INFO): DefineArg LineCapture.AcousticTimeout = 10.000000 min
2020-01-17T19:41:49.188Z,1579290109.188 [MissionManager](INFO): DefineArg LineCapture.TerminalSpeed = 0.800000 m/s
2020-01-17T19:41:49.195Z,1579290109.195 [MissionManager](INFO): DefineArg LineCapture.SearchTimeout = 60.000000 min
2020-01-17T19:41:49.199Z,1579290109.199 [MissionManager](INFO): DefineArg LineCapture.CircleRadius = 300.000000 m
2020-01-17T19:41:49.210Z,1579290109.210 [MissionManager](INFO): DefineArg LineCapture.CircleMaxError = 100.000000 m
2020-01-17T19:41:49.217Z,1579290109.217 [MissionManager](INFO): DefineArg LineCapture.DepthDeadband = 0.010000 m
2020-01-17T19:41:49.222Z,1579290109.222 [MissionManager](INFO): DefineArg LineCapture.RudderDeadband = 0.001000 arcdeg
2020-01-17T19:41:49.226Z,1579290109.226 [MissionManager](INFO): DefineArg LineCapture.MinAltitude = 5.000000 m
2020-01-17T19:41:49.229Z,1579290109.229 [MissionManager](INFO): DefineArg LineCapture.MaxDepth = 205.000000 m
2020-01-17T19:41:49.232Z,1579290109.232 [MissionManager](INFO): DefineArg LineCapture.MinOffshore = 500.000000 m
2020-01-17T19:41:49.235Z,1579290109.235 [MissionManager](INFO): DefineOutput LineCapture.Depth = 15.000000 n/a
2020-01-17T19:41:49.283Z,1579290109.283 [MissionManager](INFO): DefineOutput LineCapture.Speed = 1.000000 n/a
2020-01-17T19:41:49.286Z,1579290109.286 [MissionManager](INFO): DefineOutput LineCapture.DetachFromDock = 0.000000 count
2020-01-17T19:41:49.317Z,1579290109.317 [MissionManager](INFO): DefineOutput LineCapture.Midcourse = 1.000000 count
2020-01-17T19:41:49.320Z,1579290109.320 [MissionManager](INFO): DefineOutput LineCapture.Terminal = 2.000000 count
2020-01-17T19:41:49.323Z,1579290109.323 [MissionManager](INFO): DefineOutput LineCapture.Done = 3.000000 count
2020-01-17T19:41:49.328Z,1579290109.328 [MissionManager](INFO): DefineOutput LineCapture.GuidanceMode = 0.000000 n/a
2020-01-17T19:41:49.332Z,1579290109.332 [MissionManager](INFO): DefineArg LineCapture.ElapsedRange = 0.000000 min
2020-01-17T19:41:49.335Z,1579290109.335 [MissionManager](INFO): DefineArg LineCapture.Range = nan m
2020-01-17T19:41:49.335Z,1579290109.335 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2020-01-17T19:41:49.387Z,1579290109.387 [MissionManager](INFO): DefineArg LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2020-01-17T19:41:49.399Z,1579290109.399 [MissionManager](INFO): DefineArg LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2020-01-17T19:41:49.446Z,1579290109.446 [MissionManager](INFO): DefineArg LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2020-01-17T19:41:49.447Z,1579290109.447 [LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2020-01-17T19:41:49.478Z,1579290109.478 [LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-01-17T19:41:49.496Z,1579290109.496 [LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2020-01-17T19:41:49.536Z,1579290109.536 [LineCapture:H.Mass](DEBUG): Construct.
2020-01-17T19:41:49.560Z,1579290109.560 [LineCapture:DiveCmd:Guided:dive:B.Buoyancy](DEBUG): Construct Buoyancy.
2020-01-17T19:41:49.568Z,1579290109.568 [LineCapture:DiveCmd:Guided:dive:C.SetSpeed](DEBUG): Construct.
2020-01-17T19:41:49.585Z,1579290109.585 [LineCapture:DiveCmd:Guided:dive:D.Pitch](DEBUG): Construct.
2020-01-17T19:41:49.596Z,1579290109.596 [LineCapture:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed](DEBUG): Construct.
2020-01-17T19:41:49.603Z,1579290109.603 [LineCapture:DiveCmd:DriftAwayFromDock:dive:B.Pitch](DEBUG): Construct.
2020-01-17T19:41:49.630Z,1579290109.630 [LineCapture:HomingSequence:DetachFromDock:guide:B.Undock](DEBUG): Construct.
2020-01-17T19:41:49.735Z,1579290109.735 [LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2020-01-17T19:41:49.765Z,1579290109.765 [LineCapture:HomingSequence:MidcourseGuidance:guide:G.Circle](DEBUG): Construct.
2020-01-17T19:41:49.871Z,1579290109.871 [LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2020-01-17T19:41:49.937Z,1579290109.937 [LineCapture:HomingSequence:TerminalGuidance:guide:H.LineCapture](DEBUG): Construct.
2020-01-17T19:41:50.022Z,1579290110.022 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Aggregate xmlns="Tethys"
    xmlns:Control="Tethys/Control"
    xmlns:Estimation="Tethys/Estimation"
    xmlns:Guidance="Tethys/Guidance"
    xmlns:Sensor="Tethys/Sensor"
    xmlns:Servo="Tethys/Servo"
    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/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
                        Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                        Tethys/Sensor http://okeanids.mbari.org/tethys/Xml/Sensor.xsd
                        Tethys/Servo http://okeanids.mbari.org/tethys/Xml/Servo.xsd
                        Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                        Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
    Id="LineCapture">

    <Description>
        Home to transponder sequence:
            (0) Undock
            (1) Midcourse guidance: nav to dock WP while querying transponder, execute search pattern if WP is reached with no response from x-ponder.
            (2) Terminal guidance: home to target using DUSBL tracking data, reset nav, and dock

        <!-- TODO: "Docked" bool should be written as universal by LineCapture/Undock/Docked behaviors -->
    </Description>


    <!-- Dock -->

    <DefineArg Name="DockDepth"><Description>
        Depth of docking station.
    </Description><CustomUri Uri="Config/workSite.beaconDepth"/></DefineArg>

    <DefineArg Name="DockLat"><Description>
        Latitude of docking station waypoint.
    </Description><CustomUri Uri="Config/workSite.beaconLat"/></DefineArg>

    <DefineArg Name="DockLon"><Description>
        Longitude of docking station waypoint.
    </Description><CustomUri Uri="Config/workSite.beaconLon"/></DefineArg>

    <!-- Undock arguments -->

    <DefineArg Name="DetachRange"><Description>
        Range from dock in which the vehicle is considered undocked.

        IMPORTANT: When undocking the vehicle is commanded to drift to MidcourseDepth.
        Thus, DetachedRange must be *less* than the vertical distance between the
        dock transponder and MidcourseDepth.
    </Description><Units:meter/><Value>8.0</Value></DefineArg>

    <DefineArg Name="DetachTimeout"><Description>
        Maximum time duration for the vehicle to reach the approach depth after detaching form the dock.
        The vehicle will switch over to midcourse guidance after the timeout is expired.
    </Description><Units:minute/><Value>30</Value></DefineArg>

    <!-- Midcourse guidance arguments -->

    <DefineArg Name="MidcourseDepth"><Description>
        Desired vehicle depth when navigating to dock WP (during midcourse phase).
    </Description><Units:meter/><Value>15</Value></DefineArg>

    <DefineArg Name="MidcourseSpeed"><Description>
        Thruster speed during Midcourse guidance.
    </Description><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="MidcourseTimeout"><Description>
        Maximum time duration for running in terminal guidance mode.
    </Description><Units:hour/><Value>12</Value></DefineArg>

    <!-- Terminal guidance arguments -->

    <DefineArg Name="TerminalRange"><Description>
        Range at which the vehicle should switch from navigating to the dock wp
        and start homing to the target using DUSBL tracking data. Max is ??
        meters due to DUSBL ???.
    </Description><Units:meter/><Value>650.0</Value></DefineArg>

    <DefineArg Name="ArmRange"><Description>
        Range to deploy the whiskers, open the latch, and activate the camera.
    </Description><Units:meter/><Value>40.0</Value></DefineArg>

    <DefineArg Name="DockRange"><Description>
        Range from dock to stop commanding heading.
    </Description><Units:meter/><Value>2.0</Value></DefineArg>

    <DefineArg Name="DockTimeout"><Description>
        Maximum time duration for running in Dock lockout mode.
    </Description><Units:second/><Value>60</Value></DefineArg>

    <DefineArg Name="RolloutDistance"><Description>
        Distance to move away from the target (rollout) in response to
        missing the target.
    </Description><Units:meter/><Value>250</Value></DefineArg>

    <DefineArg Name="UpdateNav"><Description>
        When true, the mission updates the vehicle's position to DockLat/Lon
        when it comes within *DockRange* from the transponder.
    </Description><True/></DefineArg>

    <DefineArg Name="AcousticTimeout"><Description>
        Maximum time duration allowed between pings during terminal guidance.
    </Description><Units:minute/><Value>10</Value></DefineArg>

    <DefineArg Name="TerminalSpeed"><Description>
        Thruster speed during Terminal guidance.
    </Description><Units:meter_per_second/><Value>0.8</Value></DefineArg>

    <!-- Search pattern arguments -->

    <DefineArg Name="SearchTimeout"><Description>
        Maximum time duration for running in search guidance mode.
    </Description><Units:minute/><Value>60</Value></DefineArg>

    <DefineArg Name="CircleRadius"><Description>
        Radius of circle around the dock waypoint
    </Description><Units:meter/><Value>300</Value></DefineArg>

    <DefineArg Name="CircleMaxError"><Description>
        If this distance away from the circle, drive straight towards (or away
        from the center). Otherwise, try to reduce distance from the ideal
        circle.
    </Description><Units:meter/><Value>100</Value></DefineArg>

    <!-- General settings -->

    <DefineArg Name="DepthDeadband"><Description>
        Vertical drift from the specified depth that's allowed during depth keeping.
    </Description><Units:meter/><Value>0.01</Value></DefineArg>

    <DefineArg Name="RudderDeadband"><Description>
        Degree of rounding in rudder command output values to use during Terminal Homing.
    </Description><Units:arcdeg/><Value>0.001</Value></DefineArg>

    <DefineArg Name="MinAltitude"><Description>
        Minimum height above the sea floor for the entire mission.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>205</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Description>
        Minimum offshore distance for the entire mission.
    </Description><Units:meter/><Value>500</Value></DefineArg>


    <!-- Mission Variables (don't change!) -->

    <DefineOutput Name="Depth"><Description>
        Mission variable (don't change).
        The mission sets this to command the vehicle's depth.
    </Description><Arg Name="MidcourseDepth"/></DefineOutput>

    <DefineOutput Name="Speed"><Description>
        Mission variable (don't change).
        The mission sets this to command the vehicle's speed.
    </Description><Arg Name="MidcourseSpeed"/></DefineOutput>

    <DefineOutput Name="DetachFromDock"><Description>
        Mission variable (don't change).
        The mission will run in this mode to drift away from the dock after is
        unlatched.
    </Description><Units:count/><Value>0</Value></DefineOutput>

    <DefineOutput Name="Midcourse"><Description>
        Mission variable (don't change).
        The mission will run in this mode when approaching the dock under Midcourse guidance.
    </Description><Units:count/><Value>1</Value></DefineOutput>

    <DefineOutput Name="Terminal"><Description>
        Mission variable (don't change).
        The mission will run in this mode when approaching the dock under Terminal guidance.
    </Description><Units:count/><Value>2</Value></DefineOutput>

    <DefineOutput Name="Done"><Description>
        Mission variable (don't change).
        The mission will run in this mode when the insert is done (docked, or give up).
    </Description><Units:count/><Value>3</Value></DefineOutput>

    <DefineOutput Name="GuidanceMode"><Description>
        Mission variable (don't change).
        The mission sets this variable to switch between guidance modes.
    </Description><Arg Name="DetachFromDock"/></DefineOutput>

    <DefineArg Name="ElapsedRange"><Units:minute/><Value>0</Value></DefineArg>
    <DefineArg Name="Range"><Units:meter/><Value>NaN</Value></DefineArg>


    <!-- Safety nets -->

    <Insert Filename="Insert/StandardEnvelopes.xml"/>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MinAltitude"/><Arg Name="MinAltitude"/></Assign>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MaxDepth"/><Arg Name="MaxDepth"/></Assign>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MinOffshore"/><Arg Name="MinOffshore"/></Assign>


    <!-- Add track acoustic contact directive high in the stack. -->

    <Assign><Parallel/><Arg Name="ElapsedRange"/><Elapsed><Estimation:TrackAcousticContact.range_to_contact/></Elapsed></Assign>
    <Assign><Parallel/><Arg Name="Range"/><Estimation:TrackAcousticContact.range_to_contact/></Assign>

    <ReadData Strategy="MinError">
        <Parallel/>
        <Sensor:DDM.DDMMode/>
    </ReadData>
    
    <!-- Set default mass position -->

    <Guidance:Mass>
        <Parallel/>
        <Setting><Guidance:Mass.position/><Control:VerticalControl.massDefault/></Setting>
    </Guidance:Mass>

    <!-- Callable aggregates (priority matters, so these are done below important safety directives) -->

    <Aggregate Id="DiveCmd">
        <Description>
            This is the insert's "vertical control" section, which arbitrates between 2 dive modes:
                1) Guided: maintain approach depth underway.
                2) DriftAwayFromDock: drift to depth to detach from dock.
        </Description>

        <When>
            <Called/>
        </When>


        <Aggregate Id="Guided">
            <Description>
                Mode 1: follow commanded depth.
            </Description>

            <While>
                <Arg Name="GuidanceMode"/><Eq><Arg Name="Midcourse"/></Eq>
                <Or><Arg Name="GuidanceMode"/><Eq><Arg Name="Terminal"/></Eq></Or>
            </While>

            <Aggregate Id="dive">

                <Parallel/>

                <Assign><Parallel/><Control:VerticalControl.depthDeadband/><Arg Name="DepthDeadband"/></Assign>

                <Guidance:Buoyancy>
                    <Parallel/>
                    <Setting><Guidance:Buoyancy.position/><Control:VerticalControl.buoyancyNeutral/></Setting>
                </Guidance:Buoyancy>

                <Guidance:SetSpeed>
                    <Parallel/>
                    <Setting><Guidance:SetSpeed.speed/><Arg Name="Speed"/></Setting>
                </Guidance:SetSpeed>

                <Guidance:Pitch>
                    <Parallel/>
                    <Setting><Guidance:Pitch.depth/><Arg Name="Depth"/></Setting>
                </Guidance:Pitch>

            </Aggregate>
        </Aggregate>


        <Aggregate Id="DriftAwayFromDock">
            <Description>
                Mode 2: drift away from the dock after vehicle unlatches.
            </Description>

            <While>
                <Arg Name="GuidanceMode"/><Eq><Arg Name="DetachFromDock"/></Eq>
            </While>

            <Aggregate Id="dive">

                <Sequence/>

                <Guidance:SetSpeed>
                    <Parallel/>
                    <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0</Value></Setting>
                </Guidance:SetSpeed>

                <Guidance:Pitch>
                    <Sequence/>
                    <Setting><Guidance:Pitch.depth/><Arg Name="MidcourseDepth"/></Setting>
                </Guidance:Pitch>

            </Aggregate>
        </Aggregate>

    </Aggregate>



    <Aggregate Id="HomingSequence">
        <Description>
            This is the insert's guidance section, which arbitrates between 3 modes:
                1) DetachFromDock: unlatch and drift away from the dock.
                2) Midcourse: navigate toward the dock waypoint, and enter search pattern if waypoint has been reached with no range data.
                2) Terminal: home toward the dock using DUSBL tracking data.
        </Description>

        <Sequence/>

        <!-- Command vertical dive modes in parallel -->
        <Call RefId="DiveCmd"/>


        <Aggregate Id="DetachFromDock">
            <Description>
                Unlatch and drift away from the dock.
            </Description>

            <While>
                <Arg Name="GuidanceMode"/><Eq><Arg Name="DetachFromDock"/></Eq>
            </While>

            <Aggregate Id="guide">

                <Sequence/>

                <Syslog Severity="Info">Detaching.</Syslog>

                <Guidance:Undock>
                    <Sequence/>

                    <Timeout Duration="DetachTimeout">
                        <Syslog Severity="Important">Timed out while trying to detach from dock at current depth of <Universal:depth/><Units:meter/>.</Syslog>
                    </Timeout>

                    <Setting><Guidance:Undock.undockRange/><Arg Name="DetachRange"/></Setting>
                </Guidance:Undock>

                <Syslog Severity="Info">Transitioning to midcourse guidance.</Syslog>
                <Assign><Sequence/><Arg Name="GuidanceMode"/><Arg Name="Midcourse"/></Assign>

            </Aggregate>
        </Aggregate>


        <Aggregate Id="MidcourseGuidance">
            <Description>
                (1) Navigate toward the dock waypoint while querying the dock transponder.
                (2) Continue until within *TerminalRange*, then move on to terminal guidance.
                (3) Enter search pattern if waypoint has been reached with no range data.
            </Description>

            <While>
                <Arg Name="GuidanceMode"/><Eq><Arg Name="Midcourse"/></Eq>
            </While>

            <Aggregate Id="guide">

                <Sequence/>

                <Aggregate Id="CheckRange">
                    <When>
                        <Arg Name="Range"/><Lt><Arg Name="TerminalRange"/></Lt>
                        <And><Arg Name="ElapsedRange"/><Le><Arg Name="AcousticTimeout"/></Le></And>
                    </When>

                    <Syslog Severity="Info">Transitioning to terminal guidance at range<Arg Name="Range"/><Units:meter/></Syslog>
                    <Assign><Sequence/><Arg Name="GuidanceMode"/><Arg Name="Terminal"/></Assign>
                </Aggregate>

                <Syslog Severity="Info">Navigating to dock waypoint.</Syslog>

                <Assign><Sequence/><Arg Name="Speed"/><Arg Name="MidcourseSpeed"/></Assign>
                <Assign><Sequence/><Arg Name="Depth"/><Arg Name="MidcourseDepth"/></Assign>

                <Guidance:Waypoint>
                    <Sequence/>

                    <Timeout Duration="MidcourseTimeout">
                        <Syslog Severity="Important">Terminating homing sequence: timed out while navigating to the dock waypoint.</Syslog>
                        <Assign><Sequence/><Arg Name="GuidanceMode"/><Arg Name="Done"/></Assign>
                    </Timeout>

                    <Setting><Guidance:Waypoint.latitude/><Arg Name="DockLat"/></Setting>
                    <Setting><Guidance:Waypoint.longitude/><Arg Name="DockLon"/></Setting>
                </Guidance:Waypoint>

                <Syslog Severity="Info">Reached dock waypoint. Executing search pattern.</Syslog>

                <Guidance:Circle>
                    <Sequence/>

                    <Timeout Duration="SearchTimeout">
                        <Syslog Severity="Important">Timed out while executing search pattern around dock waypoint.</Syslog>
                    </Timeout>

                    <Setting><Guidance:Circle.latitude/><Arg Name="DockLat"/></Setting>
                    <Setting><Guidance:Circle.longitude/><Arg Name="DockLon"/></Setting>
                    <Setting><Guidance:Circle.radius/><Arg Name="CircleRadius"/></Setting>
                    <Setting><Guidance:Circle.maxError/><Arg Name="CircleMaxError"/></Setting>
                </Guidance:Circle>

                <Syslog Severity="Important">Homing sequence timed out prior to docking.</Syslog>
                <Assign><Sequence/><Arg Name="GuidanceMode"/><Arg Name="Done"/></Assign>

            </Aggregate>
        </Aggregate>


        <Aggregate Id="TerminalGuidance">
            <Description>
                Home toward the target using DUSBL tracking data.
            </Description>

            <While>
                <Arg Name="GuidanceMode"/><Eq><Arg Name="Terminal"/></Eq>
            </While>

            <Aggregate Id="guide">

                <Sequence/>

                <Syslog Severity="Info">Terminal guidance.</Syslog>

                <Aggregate Id="AcousticTimeout">
                    <When>
                        <Arg Name="ElapsedRange"/><Gt><Arg Name="AcousticTimeout"/></Gt>
                    </When>

                    <Syslog Severity="Important">Acoustic timeout! Received last range of<Arg Name="Range"/><Units:meter/><Arg Name="ElapsedRange"/><Units:minute/>ago.</Syslog>
                    <Assign><Sequence/><Arg Name="GuidanceMode"/><Arg Name="Midcourse"/></Assign>
                </Aggregate>

                <Assign><Parallel/><Servo:RudderServo.deviationAngle/><Arg Name="RudderDeadband"/></Assign>
                <Assign><Parallel/><Control:HorizontalControl.rudDeadband/><Arg Name="RudderDeadband"/></Assign>
                <Assign><Sequence/><Arg Name="Speed"/><Arg Name="TerminalSpeed"/></Assign>
                <Assign><Sequence/><Arg Name="Depth"/><Arg Name="DockDepth"/></Assign>

                <Aggregate Id="UpdateNav">
                    <Description>Reset nav to dock location if the vehicle is within dock range.</Description>

                    <When>
                        <Arg Name="UpdateNav"/>
                        <And><Arg Name="Range"/><Le><Arg Name="DockRange"/></Le></And>
                    </When>

                    <Syslog Severity="Info">Reseting nav to dock location at range<Arg Name="Range"/><Units:meter/></Syslog>

                    <Guidance:SetNav>
                        <Sequence/>
                        <Setting><Guidance:SetNav.latitude/><Arg Name="DockLat"/></Setting>
                        <Setting><Guidance:SetNav.longitude/><Arg Name="DockLon"/></Setting>
                    </Guidance:SetNav>
                </Aggregate>

                <Guidance:LineCapture>
                    <Sequence/>

                    <Setting><Guidance:LineCapture.armRange/><Arg Name="ArmRange"/></Setting>
                    <Setting><Guidance:LineCapture.interceptRange/><Arg Name="DockRange"/></Setting>
                    <Setting><Guidance:LineCapture.interceptTimeout/><Arg Name="DockTimeout"/></Setting>
                    <Setting><Guidance:LineCapture.rolloutDistance/><Arg Name="RolloutDistance"/></Setting>
                </Guidance:LineCapture>

                <Syslog Severity="Info">Docked. Homing sequence complete.</Syslog>
                <Assign><Sequence/><Arg Name="GuidanceMode"/><Arg Name="Done"/></Assign>

            </Aggregate>
        </Aggregate>

    </Aggregate>

</Aggregate>


2020-01-17T19:41:50.023Z,1579290110.023 [CommandLine](IMPORTANT): Loaded ./Missions/Insert/LineCapture.xml
2020-01-17T19:41:57.723Z,1579290117.723 [CommandLine](IMPORTANT): got command set LineCapture.DetachRange 0.500000 meter
2020-01-17T19:41:57.725Z,1579290117.725 [CommandLine](IMPORTANT): got command set LineCapture.MidcourseDepth 0.000000 meter
2020-01-17T19:41:57.727Z,1579290117.727 [CommandLine](IMPORTANT): got command set LineCapture.MidcourseSpeed 0.000000 meter_per_second
2020-01-17T19:41:57.745Z,1579290117.745 [CommandLine](IMPORTANT): got command set LineCapture.DockRange 0.700000 meter
2020-01-17T19:41:59.615Z,1579290119.615 [CommandLine](IMPORTANT): got command set LineCapture.MinOffshore 0.000001 meter
2020-01-17T19:41:59.616Z,1579290119.616 [CommandLine](IMPORTANT): got command run 
2020-01-17T19:41:59.618Z,1579290119.618 [CommandLine](IMPORTANT): Running 
2020-01-17T19:41:59.996Z,1579290119.996 [Default] Stopped
2020-01-17T19:41:59.996Z,1579290119.996 [Default](DEBUG): Aggregate::uninitialize Default
2020-01-17T19:41:59.996Z,1579290119.996 [Default:B.GoToSurface] Stopped
2020-01-17T19:41:59.996Z,1579290119.996 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-17T19:42:00.001Z,1579290120.001 [Default:CheckIn] Stopped
2020-01-17T19:42:00.001Z,1579290120.001 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2020-01-17T19:42:00.001Z,1579290120.001 [Default:CheckIn:Read_GPS] Stopped
2020-01-17T19:42:00.001Z,1579290120.001 [MissionManager](IMPORTANT): Started mission LineCapture
2020-01-17T19:42:00.001Z,1579290120.001 [LineCapture] Running Loop=1
2020-01-17T19:42:00.001Z,1579290120.001 [LineCapture](DEBUG): Aggregate::initialize LineCapture
2020-01-17T19:42:00.001Z,1579290120.001 [LineCapture:StandardEnvelopes] Running Loop=1
2020-01-17T19:42:00.002Z,1579290120.002 [LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize LineCapture:StandardEnvelopes
2020-01-17T19:42:00.002Z,1579290120.002 [LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2020-01-17T19:42:00.002Z,1579290120.002 [LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2020-01-17T19:42:00.002Z,1579290120.002 [LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2020-01-17T19:42:00.002Z,1579290120.002 [LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2020-01-17T19:42:00.002Z,1579290120.002 [LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2020-01-17T19:42:00.002Z,1579290120.002 [LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2020-01-17T19:42:00.002Z,1579290120.002 [LineCapture:E] Running Loop=1
2020-01-17T19:42:00.002Z,1579290120.002 [LineCapture:F] Running Loop=1
2020-01-17T19:42:00.002Z,1579290120.002 [LineCapture:G] Running Loop=1
2020-01-17T19:42:00.003Z,1579290120.003 [LineCapture:H.Mass] Running Loop=1
2020-01-17T19:42:00.003Z,1579290120.003 [LineCapture:H.Mass](DEBUG): Initialize.
2020-01-17T19:42:00.003Z,1579290120.003 [LineCapture:B] Running Loop=1
2020-01-17T19:42:00.003Z,1579290120.003 [LineCapture:H.Mass] Running Loop=1
2020-01-17T19:42:00.004Z,1579290120.004 [LineCapture:G] Running Loop=1
2020-01-17T19:42:00.004Z,1579290120.004 [LineCapture:G](DEBUG): Initialize ReadDataComponent to sense DDM.DDMMode
2020-01-17T19:42:00.004Z,1579290120.004 [LineCapture:F] Running Loop=1
2020-01-17T19:42:00.009Z,1579290120.009 [LineCapture:E] Running Loop=1
2020-01-17T19:42:00.009Z,1579290120.009 [LineCapture:B] Stopped
2020-01-17T19:42:00.010Z,1579290120.010 [LineCapture:C] Running Loop=1
2020-01-17T19:42:00.010Z,1579290120.010 [LineCapture:StandardEnvelopes] Running Loop=1
2020-01-17T19:42:00.010Z,1579290120.010 [LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2020-01-17T19:42:00.010Z,1579290120.010 [LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2020-01-17T19:42:00.011Z,1579290120.011 [LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2020-01-17T19:42:00.373Z,1579290120.373 [LineCapture:C] Stopped
2020-01-17T19:42:00.373Z,1579290120.373 [LineCapture:D] Running Loop=1
2020-01-17T19:42:00.790Z,1579290120.790 [LineCapture:D] Stopped
2020-01-17T19:42:00.790Z,1579290120.790 [LineCapture:HomingSequence] Running Loop=1
2020-01-17T19:42:00.790Z,1579290120.790 [LineCapture:HomingSequence](DEBUG): Aggregate::initialize LineCapture:HomingSequence
2020-01-17T19:42:00.790Z,1579290120.790 [LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2020-01-17T19:42:00.791Z,1579290120.791 [LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize LineCapture:HomingSequence:DetachFromDock
2020-01-17T19:42:00.791Z,1579290120.791 [LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2020-01-17T19:42:00.791Z,1579290120.791 [LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize LineCapture:HomingSequence:DetachFromDock:guide
2020-01-17T19:42:00.791Z,1579290120.791 [LineCapture:HomingSequence:DetachFromDock:guide:A] Running Loop=1
2020-01-17T19:42:00.791Z,1579290120.791 [LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2020-01-17T19:42:00.791Z,1579290120.791 [LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize LineCapture:HomingSequence:MidcourseGuidance
2020-01-17T19:42:00.791Z,1579290120.791 [LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2020-01-17T19:42:00.791Z,1579290120.791 [LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize LineCapture:HomingSequence:MidcourseGuidance:guide
2020-01-17T19:42:00.791Z,1579290120.791 [LineCapture:HomingSequence:MidcourseGuidance:guide:B] Running Loop=1
2020-01-17T19:42:00.792Z,1579290120.792 [LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2020-01-17T19:42:00.792Z,1579290120.792 [LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize LineCapture:HomingSequence:TerminalGuidance
2020-01-17T19:42:00.792Z,1579290120.792 [LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2020-01-17T19:42:00.792Z,1579290120.792 [LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize LineCapture:HomingSequence:TerminalGuidance:guide
2020-01-17T19:42:00.792Z,1579290120.792 [LineCapture:HomingSequence:TerminalGuidance:guide:C] Running Loop=1
2020-01-17T19:42:00.792Z,1579290120.792 [LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2020-01-17T19:42:00.792Z,1579290120.792 [LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2020-01-17T19:42:00.792Z,1579290120.792 [LineCapture:HomingSequence:A] Running Loop=1
2020-01-17T19:42:00.792Z,1579290120.792 [LineCapture:HomingSequence:A](DEBUG): Aggregate::initialize LineCapture:HomingSequence:A
2020-01-17T19:42:01.291Z,1579290121.291 [LineCapture:HomingSequence:TerminalGuidance] Stopped
2020-01-17T19:42:01.291Z,1579290121.291 [LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize LineCapture:HomingSequence:TerminalGuidance
2020-01-17T19:42:01.291Z,1579290121.291 [LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2020-01-17T19:42:01.291Z,1579290121.291 [LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize LineCapture:HomingSequence:TerminalGuidance:guide
2020-01-17T19:42:01.292Z,1579290121.292 [LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2020-01-17T19:42:01.292Z,1579290121.292 [LineCapture:HomingSequence:TerminalGuidance:guide:C] Stopped
2020-01-17T19:42:01.292Z,1579290121.292 [LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2020-01-17T19:42:01.292Z,1579290121.292 [LineCapture:HomingSequence:MidcourseGuidance] Stopped
2020-01-17T19:42:01.292Z,1579290121.292 [LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize LineCapture:HomingSequence:MidcourseGuidance
2020-01-17T19:42:01.292Z,1579290121.292 [LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2020-01-17T19:42:01.292Z,1579290121.292 [LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize LineCapture:HomingSequence:MidcourseGuidance:guide
2020-01-17T19:42:01.292Z,1579290121.292 [LineCapture:HomingSequence:MidcourseGuidance:guide:B] Stopped
2020-01-17T19:42:01.292Z,1579290121.292 [LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2020-01-17T19:42:01.292Z,1579290121.292 [LineCapture:HomingSequence:DetachFromDock:guide:A](INFO): Detaching.
2020-01-17T19:42:01.292Z,1579290121.292 [LineCapture:HomingSequence:DetachFromDock:guide:A] Stopped
2020-01-17T19:42:01.292Z,1579290121.292 [LineCapture:HomingSequence:DetachFromDock:guide:B.Undock] Running Loop=1
2020-01-17T19:42:01.293Z,1579290121.293 [LineCapture:HomingSequence:DetachFromDock:guide:B.Undock](DEBUG): Initialize.
2020-01-17T19:42:01.293Z,1579290121.293 [LineCapture:DiveCmd] Running Loop=1
2020-01-17T19:42:01.293Z,1579290121.293 [LineCapture:DiveCmd](DEBUG): Aggregate::initialize LineCapture:DiveCmd
2020-01-17T19:42:01.293Z,1579290121.293 [LineCapture:DiveCmd:Guided] Running Loop=1
2020-01-17T19:42:01.293Z,1579290121.293 [LineCapture:DiveCmd:Guided](DEBUG): Aggregate::initialize LineCapture:DiveCmd:Guided
2020-01-17T19:42:01.293Z,1579290121.293 [LineCapture:DiveCmd:Guided:dive] Running Loop=1
2020-01-17T19:42:01.294Z,1579290121.294 [LineCapture:DiveCmd:Guided:dive](DEBUG): Aggregate::initialize LineCapture:DiveCmd:Guided:dive
2020-01-17T19:42:01.294Z,1579290121.294 [LineCapture:DiveCmd:Guided:dive:A] Running Loop=1
2020-01-17T19:42:01.294Z,1579290121.294 [LineCapture:DiveCmd:Guided:dive:B.Buoyancy] Running Loop=1
2020-01-17T19:42:01.294Z,1579290121.294 [LineCapture:DiveCmd:Guided:dive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2020-01-17T19:42:01.294Z,1579290121.294 [LineCapture:DiveCmd:Guided:dive:C.SetSpeed] Running Loop=1
2020-01-17T19:42:01.294Z,1579290121.294 [LineCapture:DiveCmd:Guided:dive:C.SetSpeed](DEBUG): Initialize.
2020-01-17T19:42:01.294Z,1579290121.294 [LineCapture:DiveCmd:Guided:dive:D.Pitch] Running Loop=1
2020-01-17T19:42:01.294Z,1579290121.294 [LineCapture:DiveCmd:Guided:dive:D.Pitch](DEBUG): Initialize.
2020-01-17T19:42:01.294Z,1579290121.294 [LineCapture:DiveCmd:DriftAwayFromDock] Running Loop=1
2020-01-17T19:42:01.294Z,1579290121.294 [LineCapture:DiveCmd:DriftAwayFromDock](DEBUG): Aggregate::initialize LineCapture:DiveCmd:DriftAwayFromDock
2020-01-17T19:42:01.294Z,1579290121.294 [LineCapture:DiveCmd:DriftAwayFromDock:dive] Running Loop=1
2020-01-17T19:42:01.295Z,1579290121.295 [LineCapture:DiveCmd:DriftAwayFromDock:dive](DEBUG): Aggregate::initialize LineCapture:DiveCmd:DriftAwayFromDock:dive
2020-01-17T19:42:01.295Z,1579290121.295 [LineCapture:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed] Running Loop=1
2020-01-17T19:42:01.295Z,1579290121.295 [LineCapture:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed](DEBUG): Initialize.
2020-01-17T19:42:01.295Z,1579290121.295 [LineCapture:DiveCmd:DriftAwayFromDock:dive:B.Pitch] Running Loop=1
2020-01-17T19:42:01.295Z,1579290121.295 [LineCapture:DiveCmd:DriftAwayFromDock:dive:B.Pitch](DEBUG): Initialize.
2020-01-17T19:42:01.295Z,1579290121.295 [LineCapture:DiveCmd:DriftAwayFromDock] Running Loop=1
2020-01-17T19:42:01.296Z,1579290121.296 [LineCapture:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed] Running Loop=1
2020-01-17T19:42:01.296Z,1579290121.296 [LineCapture:DiveCmd:Guided] Stopped
2020-01-17T19:42:01.296Z,1579290121.296 [LineCapture:DiveCmd:Guided](DEBUG): Aggregate::uninitialize LineCapture:DiveCmd:Guided
2020-01-17T19:42:01.296Z,1579290121.296 [LineCapture:DiveCmd:Guided:dive] Stopped
2020-01-17T19:42:01.296Z,1579290121.296 [LineCapture:DiveCmd:Guided:dive](DEBUG): Aggregate::uninitialize LineCapture:DiveCmd:Guided:dive
2020-01-17T19:42:01.296Z,1579290121.296 [LineCapture:DiveCmd:Guided:dive:A] Stopped
2020-01-17T19:42:01.296Z,1579290121.296 [LineCapture:DiveCmd:Guided:dive:B.Buoyancy] Stopped
2020-01-17T19:42:01.296Z,1579290121.296 [LineCapture:DiveCmd:Guided:dive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2020-01-17T19:42:01.297Z,1579290121.297 [LineCapture:DiveCmd:Guided:dive:C.SetSpeed] Stopped
2020-01-17T19:42:01.297Z,1579290121.297 [LineCapture:DiveCmd:Guided:dive:C.SetSpeed](DEBUG): Uninitialize.
2020-01-17T19:42:01.297Z,1579290121.297 [LineCapture:DiveCmd:Guided:dive:D.Pitch] Stopped
2020-01-17T19:42:01.534Z,1579290121.534 [DDM](INFO): Retracting Whiskers
2020-01-17T19:42:01.938Z,1579290121.938 [DDM](INFO): Retracting Whiskers
2020-01-17T19:42:02.073Z,1579290122.073 [BuoyancyServo](FAULT): Reading outside of valid range:0.000000

2020-01-17T19:42:02.073Z,1579290122.073 [BuoyancyServo](FAULT): Buoyancy engine reporting null position
2020-01-17T19:42:02.073Z,1579290122.073 [BuoyancyServo] Hardware Fault, FailCount= 1
2020-01-17T19:42:02.073Z,1579290122.073 [BuoyancyServo](ERROR): Hardware Fault
2020-01-17T19:42:02.078Z,1579290122.078 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo
2020-01-17T19:42:02.342Z,1579290122.342 [DDM](INFO): Retracting Whiskers
2020-01-17T19:42:02.751Z,1579290122.751 [DDM](INFO): Retracting Whiskers
2020-01-17T19:42:04.035Z,1579290124.035 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2020-01-17T19:42:04.035Z,1579290124.035 [BuoyancyServo](INFO): Powering down
2020-01-17T19:42:04.847Z,1579290124.847 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2020-01-17T19:42:04.848Z,1579290124.848 [BuoyancyServo] No Fault, FailCount= 1
2020-01-17T19:42:05.271Z,1579290125.271 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2020-01-17T19:42:05.277Z,1579290125.277 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2020-01-17T19:42:20.434Z,1579290140.434 [CommandLine](IMPORTANT): got command failComponent
2020-01-17T19:42:20.435Z,1579290140.435 [CommandLine](IMPORTANT): Failed components:
2020-01-17T19:42:20.435Z,1579290140.435 [CommandLine](IMPORTANT): No failed Components.
2020-01-17T19:42:31.186Z,1579290151.186 [CommandLine](IMPORTANT): got command show variable ddmMode
2020-01-17T19:42:31.287Z,1579290151.287 [CommandLine](IMPORTANT): DDM.DDMModeCmd (enum)
2020-01-17T19:42:31.287Z,1579290151.287 [CommandLine](IMPORTANT): DDM.DDMMode (enum)
2020-01-17T19:42:37.811Z,1579290157.811 [CommandLine](IMPORTANT): got command report mod DDM.DDMMode
2020-01-17T19:42:38.075Z,1579290158.075 [Reporter](INFO): DDM.DDMMode 0 enum
2020-01-17T19:42:43.649Z,1579290163.649 [CommandLine](IMPORTANT): got command failComponent
2020-01-17T19:42:43.650Z,1579290163.650 [CommandLine](IMPORTANT): Failed components:
2020-01-17T19:42:43.650Z,1579290163.650 [CommandLine](IMPORTANT): No failed Components.
2020-01-17T19:42:52.346Z,1579290172.346 [CommandLine](IMPORTANT): got command show stack
2020-01-17T19:42:52.346Z,1579290172.346 [CommandLine](IMPORTANT): Behavior Stack:

2020-01-17T19:42:52.346Z,1579290172.346 [LineCapture:StandardEnvelopes](IMPORTANT): Priority 0: LineCapture:StandardEnvelopes:A.AltitudeEnvelope
2020-01-17T19:42:52.346Z,1579290172.346 [LineCapture:StandardEnvelopes](IMPORTANT): Priority 1: LineCapture:StandardEnvelopes:B.DepthEnvelope
2020-01-17T19:42:52.347Z,1579290172.347 [LineCapture:StandardEnvelopes](IMPORTANT): Priority 2: LineCapture:StandardEnvelopes:C.OffshoreEnvelope
2020-01-17T19:42:52.347Z,1579290172.347 [LineCapture](IMPORTANT): Priority 3: LineCapture:E
2020-01-17T19:42:52.347Z,1579290172.347 [LineCapture](IMPORTANT): Priority 4: LineCapture:F
2020-01-17T19:42:52.347Z,1579290172.347 [LineCapture](IMPORTANT): Priority 5: LineCapture:G
2020-01-17T19:42:52.348Z,1579290172.348 [LineCapture](IMPORTANT): Priority 6: LineCapture:H.Mass
2020-01-17T19:42:52.348Z,1579290172.348 [LineCapture:DiveCmd:DriftAwayFromDock:dive](IMPORTANT): Priority 7: LineCapture:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed
2020-01-17T19:42:52.348Z,1579290172.348 [LineCapture:DiveCmd:DriftAwayFromDock:dive](IMPORTANT): Priority 8: LineCapture:DiveCmd:DriftAwayFromDock:dive:B.Pitch
2020-01-17T19:42:52.350Z,1579290172.350 [LineCapture:HomingSequence:DetachFromDock:guide](IMPORTANT): Priority 9: LineCapture:HomingSequence:DetachFromDock:guide:B.Undock
2020-01-17T19:44:42.466Z,1579290282.466 [CommandLine](IMPORTANT): got command show variable dock
2020-01-17T19:44:42.618Z,1579290282.618 [CommandLine](IMPORTANT): LineCapture.DockDepth (unspecified)
2020-01-17T19:44:42.618Z,1579290282.618 [CommandLine](IMPORTANT): LineCapture.DockLat (unspecified)
2020-01-17T19:44:42.618Z,1579290282.618 [CommandLine](IMPORTANT): LineCapture.DockLon (unspecified)
2020-01-17T19:44:42.619Z,1579290282.619 [CommandLine](IMPORTANT): LineCapture.DockRange (meter)
2020-01-17T19:44:42.619Z,1579290282.619 [CommandLine](IMPORTANT): LineCapture.DockTimeout (second)
2020-01-17T19:44:42.620Z,1579290282.620 [CommandLine](IMPORTANT): LineCapture.DetachFromDock (count)
2020-01-17T19:44:51.194Z,1579290291.194 [CommandLine](IMPORTANT): got command get LineCapture.DockLat
2020-01-17T19:44:51.195Z,1579290291.195 [CommandLine](IMPORTANT): LineCapture.DockLat 0.642341 _
2020-01-17T19:45:04.411Z,1579290304.411 [CommandLine](IMPORTANT): got command get LineCapture.DockLon
2020-01-17T19:45:04.411Z,1579290304.411 [CommandLine](IMPORTANT): LineCapture.DockLon -2.126200 _
2020-01-17T19:45:21.150Z,1579290321.150 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2020-01-17T19:45:23.010Z,1579290323.010 [CommandLine](IMPORTANT): got command get LineCapture.DockDepth
2020-01-17T19:45:23.011Z,1579290323.011 [CommandLine](IMPORTANT): LineCapture.DockDepth 6.000000 _
2020-01-17T19:45:27.810Z,1579290327.810 [CommandLine](IMPORTANT): got command show variable beaconLat
2020-01-17T19:45:27.840Z,1579290327.840 [CommandLine](IMPORTANT): Config/workSite.beaconLat (angular_degree)
2020-01-17T19:45:34.187Z,1579290334.187 [CommandLine](IMPORTANT): got command get Config/workSite.beaconLat
2020-01-17T19:45:34.187Z,1579290334.187 [CommandLine](IMPORTANT): Config/workSite.beaconLat 36.803400 arcdeg
2020-01-17T19:45:44.963Z,1579290344.963 [CommandLine](IMPORTANT): got command show stack
2020-01-17T19:45:44.963Z,1579290344.963 [CommandLine](IMPORTANT): Behavior Stack:

2020-01-17T19:45:44.963Z,1579290344.963 [LineCapture:StandardEnvelopes](IMPORTANT): Priority 0: LineCapture:StandardEnvelopes:A.AltitudeEnvelope
2020-01-17T19:45:44.963Z,1579290344.963 [LineCapture:StandardEnvelopes](IMPORTANT): Priority 1: LineCapture:StandardEnvelopes:B.DepthEnvelope
2020-01-17T19:45:44.964Z,1579290344.964 [LineCapture:StandardEnvelopes](IMPORTANT): Priority 2: LineCapture:StandardEnvelopes:C.OffshoreEnvelope
2020-01-17T19:45:44.964Z,1579290344.964 [LineCapture](IMPORTANT): Priority 3: LineCapture:E
2020-01-17T19:45:44.964Z,1579290344.964 [LineCapture](IMPORTANT): Priority 4: LineCapture:F
2020-01-17T19:45:44.964Z,1579290344.964 [LineCapture](IMPORTANT): Priority 5: LineCapture:G
2020-01-17T19:45:44.965Z,1579290344.965 [LineCapture](IMPORTANT): Priority 6: LineCapture:H.Mass
2020-01-17T19:45:44.965Z,1579290344.965 [LineCapture:DiveCmd:DriftAwayFromDock:dive](IMPORTANT): Priority 7: LineCapture:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed
2020-01-17T19:45:44.966Z,1579290344.966 [LineCapture:DiveCmd:DriftAwayFromDock:dive](IMPORTANT): Priority 8: LineCapture:DiveCmd:DriftAwayFromDock:dive:B.Pitch
2020-01-17T19:45:44.966Z,1579290344.966 [LineCapture:HomingSequence:DetachFromDock:guide](IMPORTANT): Priority 9: LineCapture:HomingSequence:DetachFromDock:guide:B.Undock
2020-01-17T19:45:51.847Z,1579290351.847 [NAL9602](INFO): Not Powering down - fast GPS
2020-01-17T19:46:42.799Z,1579290402.799 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-17T19:46:42.799Z,1579290402.799 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2020-01-17T19:46:46.179Z,1579290406.179 [CommandLine](IMPORTANT): got command show stack
2020-01-17T19:46:46.179Z,1579290406.179 [CommandLine](IMPORTANT): Behavior Stack:

2020-01-17T19:46:46.179Z,1579290406.179 [LineCapture:StandardEnvelopes](IMPORTANT): Priority 0: LineCapture:StandardEnvelopes:A.AltitudeEnvelope
2020-01-17T19:46:46.179Z,1579290406.179 [LineCapture:StandardEnvelopes](IMPORTANT): Priority 1: LineCapture:StandardEnvelopes:B.DepthEnvelope
2020-01-17T19:46:46.180Z,1579290406.180 [LineCapture:StandardEnvelopes](IMPORTANT): Priority 2: LineCapture:StandardEnvelopes:C.OffshoreEnvelope
2020-01-17T19:46:46.180Z,1579290406.180 [LineCapture](IMPORTANT): Priority 3: LineCapture:E
2020-01-17T19:46:46.180Z,1579290406.180 [LineCapture](IMPORTANT): Priority 4: LineCapture:F
2020-01-17T19:46:46.180Z,1579290406.180 [LineCapture](IMPORTANT): Priority 5: LineCapture:G
2020-01-17T19:46:46.181Z,1579290406.181 [LineCapture](IMPORTANT): Priority 6: LineCapture:H.Mass
2020-01-17T19:46:46.181Z,1579290406.181 [LineCapture:DiveCmd:DriftAwayFromDock:dive](IMPORTANT): Priority 7: LineCapture:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed
2020-01-17T19:46:46.182Z,1579290406.182 [LineCapture:DiveCmd:DriftAwayFromDock:dive](IMPORTANT): Priority 8: LineCapture:DiveCmd:DriftAwayFromDock:dive:B.Pitch
2020-01-17T19:46:46.182Z,1579290406.182 [LineCapture:HomingSequence:DetachFromDock:guide](IMPORTANT): Priority 9: LineCapture:HomingSequence:DetachFromDock:guide:B.Undock
2020-01-17T19:47:15.120Z,1579290435.120 [RDI_Pathfinder](ERROR): Failed to parse:
:B  +0.00,        +0.00,        +0.00,   0.00,1786.87
2020-01-17T19:49:13.901Z,1579290553.901 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2020-01-17T19:49:13.901Z,1579290553.901 [RDI_Pathfinder](ERROR): Failed to parse:
:RA   0.00,   0.00,   0.00,   0.00
2020-01-17T19:49:54.270Z,1579290594.270 [RDI_Pathfinder](ERROR): Failed to parse:
:0,   0.00,   0.00,   0.00,   0.00
2020-01-17T19:49:58.801Z,1579290598.801 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2020-01-17T19:49:58.801Z,1579290598.801 [RDI_Pathfinder] Communications Fault, FailCount= 1
2020-01-17T19:49:58.801Z,1579290598.801 [RDI_Pathfinder](ERROR): Communications Fault
2020-01-17T19:49:58.802Z,1579290598.802 [RDI_Pathfinder](ERROR): Failed to parse:
2020-01-17T19:49:58.878Z,1579290598.878 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2020-01-17T19:49:59.098Z,1579290599.098 [CommandLine](IMPORTANT): got command show variable surfaceThreshold
2020-01-17T19:49:59.150Z,1579290599.150 [CommandLine](IMPORTANT): VerticalControl.surfaceThreshold (meter)
2020-01-17T19:49:59.196Z,1579290599.196 [CommandLine](IMPORTANT): AcousticModem_Benthos_ATM900.surfaceThreshold (meter)
2020-01-17T19:49:59.199Z,1579290599.199 [CommandLine](IMPORTANT): DAT.surfaceThreshold (meter)
2020-01-17T19:49:59.203Z,1579290599.203 [CommandLine](IMPORTANT): Micromodem.surfaceThreshold (meter)
2020-01-17T19:49:59.209Z,1579290599.209 [RDI_Pathfinder](INFO): Powering down
2020-01-17T19:50:00.249Z,1579290600.249 [BuoyancyServo](ERROR): getPosition uart error serial timeout
2020-01-17T19:50:00.249Z,1579290600.249 [BuoyancyServo](FAULT): Buoyancy getPosition uart error.serial timeout
2020-01-17T19:50:00.249Z,1579290600.249 [BuoyancyServo] Communications Fault, FailCount= 1
2020-01-17T19:50:00.249Z,1579290600.249 [BuoyancyServo](ERROR): Communications Fault
2020-01-17T19:50:00.253Z,1579290600.253 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2020-01-17T19:50:00.253Z,1579290600.253 [RDI_Pathfinder] No Fault, FailCount= 1
2020-01-17T19:50:00.254Z,1579290600.254 [CBIT](ERROR): Communications Fault in component: BuoyancyServo
2020-01-17T19:50:01.980Z,1579290601.980 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2020-01-17T19:50:01.980Z,1579290601.980 [BuoyancyServo](INFO): Powering down
2020-01-17T19:50:02.805Z,1579290602.805 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2020-01-17T19:50:02.805Z,1579290602.805 [BuoyancyServo] No Fault, FailCount= 1
2020-01-17T19:50:03.205Z,1579290603.205 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2020-01-17T19:50:03.213Z,1579290603.213 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2020-01-17T19:50:06.746Z,1579290606.746 [CommandLine](IMPORTANT): got command get Micromodem.surfaceThreshold
2020-01-17T19:50:06.747Z,1579290606.747 [CommandLine](IMPORTANT): Micromodem.surfaceThreshold 1.500000 m
2020-01-17T19:50:13.267Z,1579290613.267 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2020-01-17T19:50:26.130Z,1579290626.130 [CommandLine](IMPORTANT): got command configSet Micromodem.surfaceThreshold 0.000000 meter persist
2020-01-17T19:51:55.493Z,1579290715.493 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-17T19:51:55.493Z,1579290715.493 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2020-01-17T19:51:59.674Z,1579290719.674 [BuoyancyServo](FAULT): Reading outside of valid range:0.000000

2020-01-17T19:51:59.674Z,1579290719.674 [BuoyancyServo](FAULT): Buoyancy engine reporting null position
2020-01-17T19:51:59.675Z,1579290719.675 [BuoyancyServo] Hardware Fault, FailCount= 1
2020-01-17T19:51:59.675Z,1579290719.675 [BuoyancyServo](ERROR): Hardware Fault
2020-01-17T19:51:59.680Z,1579290719.680 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo
2020-01-17T19:52:01.634Z,1579290721.634 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2020-01-17T19:52:01.634Z,1579290721.634 [BuoyancyServo](INFO): Powering down
2020-01-17T19:52:02.478Z,1579290722.478 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2020-01-17T19:52:02.478Z,1579290722.478 [BuoyancyServo] No Fault, FailCount= 1
2020-01-17T19:52:02.862Z,1579290722.862 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2020-01-17T19:52:02.874Z,1579290722.874 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2020-01-17T19:52:45.591Z,1579290765.591 [RDI_Pathfinder](ERROR): Failed to parse:
:BI,-32768,-32768,-32768,-32768,V
2020-01-17T19:52:55.941Z,1579290775.941 [BuoyancyServo](FAULT): Reading outside of valid range:0.000000

2020-01-17T19:52:55.941Z,1579290775.941 [BuoyancyServo](FAULT): Buoyancy engine reporting null position
2020-01-17T19:52:55.941Z,1579290775.941 [BuoyancyServo] Hardware Fault, FailCount= 1
2020-01-17T19:52:55.941Z,1579290775.941 [BuoyancyServo](ERROR): Hardware Fault
2020-01-17T19:52:55.946Z,1579290775.946 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo
2020-01-17T19:52:57.899Z,1579290777.899 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2020-01-17T19:52:57.899Z,1579290777.899 [BuoyancyServo](INFO): Powering down
2020-01-17T19:52:58.814Z,1579290778.814 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2020-01-17T19:52:58.814Z,1579290778.814 [BuoyancyServo] No Fault, FailCount= 1
2020-01-17T19:52:59.128Z,1579290779.128 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2020-01-17T19:52:59.173Z,1579290779.173 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2020-01-17T19:53:21.723Z,1579290801.723 [CommandLine](IMPORTANT): got command restart application
2020-01-17T19:53:22.729Z,1579290802.729 [Supervisor](INFO): Stop Mission called by Supervisor::terminate
2020-01-17T19:53:22.729Z,1579290802.729 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-17T19:53:22.730Z,1579290802.730 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-17T19:53:22.821Z,1579290802.821 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2020-01-17T19:53:22.821Z,1579290802.821 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-17T19:53:22.822Z,1579290802.822 [CommandLine](INFO): Join timeout helper Thread ID is 5266
2020-01-17T19:53:22.828Z,1579290802.828 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2020-01-17T19:53:22.828Z,1579290802.828 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-17T19:53:22.829Z,1579290802.829 [NavChartDb](INFO): Join timeout helper Thread ID is 5267
2020-01-17T19:53:22.929Z,1579290802.929 [MissionManager](INFO): MissionManager is completed.
2020-01-17T19:53:22.929Z,1579290802.929 [MissionManager](INFO): Uninitializing Mission LineCapture
2020-01-17T19:53:22.929Z,1579290802.929 [LineCapture] Stopped
2020-01-17T19:53:22.929Z,1579290802.929 [LineCapture](DEBUG): Aggregate::uninitialize LineCapture
2020-01-17T19:53:22.930Z,1579290802.930 [LineCapture:StandardEnvelopes] Stopped
2020-01-17T19:53:22.930Z,1579290802.930 [LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize LineCapture:StandardEnvelopes
2020-01-17T19:53:22.930Z,1579290802.930 [LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2020-01-17T19:53:22.930Z,1579290802.930 [LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2020-01-17T19:53:22.930Z,1579290802.930 [LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2020-01-17T19:53:22.930Z,1579290802.930 [LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2020-01-17T19:53:22.930Z,1579290802.930 [LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2020-01-17T19:53:22.930Z,1579290802.930 [LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2020-01-17T19:53:22.930Z,1579290802.930 [LineCapture:E] Stopped
2020-01-17T19:53:22.930Z,1579290802.930 [LineCapture:F] Stopped
2020-01-17T19:53:22.930Z,1579290802.930 [LineCapture:G] Stopped
2020-01-17T19:53:22.930Z,1579290802.930 [LineCapture:H.Mass] Stopped
2020-01-17T19:53:22.930Z,1579290802.930 [LineCapture:H.Mass](DEBUG): Uninitialize.
2020-01-17T19:53:22.930Z,1579290802.930 [LineCapture:DiveCmd] Stopped
2020-01-17T19:53:22.930Z,1579290802.930 [LineCapture:DiveCmd](DEBUG): Aggregate::uninitialize LineCapture:DiveCmd
2020-01-17T19:53:22.931Z,1579290802.931 [LineCapture:DiveCmd:DriftAwayFromDock] Stopped
2020-01-17T19:53:22.931Z,1579290802.931 [LineCapture:DiveCmd:DriftAwayFromDock](DEBUG): Aggregate::uninitialize LineCapture:DiveCmd:DriftAwayFromDock
2020-01-17T19:53:22.931Z,1579290802.931 [LineCapture:DiveCmd:DriftAwayFromDock:dive] Stopped
2020-01-17T19:53:22.931Z,1579290802.931 [LineCapture:DiveCmd:DriftAwayFromDock:dive](DEBUG): Aggregate::uninitialize LineCapture:DiveCmd:DriftAwayFromDock:dive
2020-01-17T19:53:22.931Z,1579290802.931 [LineCapture:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed] Stopped
2020-01-17T19:53:22.931Z,1579290802.931 [LineCapture:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed](DEBUG): Uninitialize.
2020-01-17T19:53:22.931Z,1579290802.931 [LineCapture:DiveCmd:DriftAwayFromDock:dive:B.Pitch] Stopped
2020-01-17T19:53:22.931Z,1579290802.931 [LineCapture:HomingSequence] Stopped
2020-01-17T19:53:22.931Z,1579290802.931 [LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize LineCapture:HomingSequence
2020-01-17T19:53:22.931Z,1579290802.931 [LineCapture:HomingSequence:A] Stopped
2020-01-17T19:53:22.931Z,1579290802.931 [LineCapture:HomingSequence:A](DEBUG): Aggregate::uninitialize LineCapture:HomingSequence:A
2020-01-17T19:53:22.931Z,1579290802.931 [LineCapture:HomingSequence:DetachFromDock] Stopped
2020-01-17T19:53:22.931Z,1579290802.931 [LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize LineCapture:HomingSequence:DetachFromDock
2020-01-17T19:53:22.932Z,1579290802.932 [LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2020-01-17T19:53:22.932Z,1579290802.932 [LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize LineCapture:HomingSequence:DetachFromDock:guide
2020-01-17T19:53:22.932Z,1579290802.932 [LineCapture:HomingSequence:DetachFromDock:guide:B.Undock] Stopped
2020-01-17T19:53:22.985Z,1579290802.985 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-17T19:53:22.985Z,1579290802.985 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-17T19:53:22.989Z,1579290802.989 [ComponentRegistry](INFO): Shutting down WetLabsSeaOWL_UV_A ThreadHandler
2020-01-17T19:53:22.989Z,1579290802.989 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-17T19:53:22.989Z,1579290802.989 [WetLabsSeaOWL_UV_A](INFO): Join timeout helper Thread ID is 5268
2020-01-17T19:53:23.292Z,1579290803.292 [MissionManager](IMPORTANT): Started mission Default
2020-01-17T19:53:23.292Z,1579290803.292 [Default] Running Loop=1
2020-01-17T19:53:23.292Z,1579290803.292 [Default](DEBUG): Aggregate::initialize Default
2020-01-17T19:53:23.292Z,1579290803.292 [Default:B.GoToSurface] Running Loop=1
2020-01-17T19:53:23.292Z,1579290803.292 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-17T19:53:23.293Z,1579290803.293 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-17T19:53:23.293Z,1579290803.293 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-17T19:53:23.293Z,1579290803.293 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-17T19:53:23.294Z,1579290803.294 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-17T19:53:23.294Z,1579290803.294 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-17T19:53:23.295Z,1579290803.295 [Default:A.Wait] Running Loop=1
2020-01-17T19:53:23.295Z,1579290803.295 [Default:A.Wait](DEBUG): Initialize Wait Component.
2020-01-17T19:53:23.305Z,1579290803.305 [Reporter](INFO): DDM.DDMMode no_value
2020-01-17T19:53:23.365Z,1579290803.365 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-17T19:53:23.365Z,1579290803.365 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-01-17T19:53:23.366Z,1579290803.366 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-17T19:53:23.377Z,1579290803.377 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2020-01-17T19:53:23.377Z,1579290803.377 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-17T19:53:23.377Z,1579290803.377 [CTD_NeilBrown](INFO): Join timeout helper Thread ID is 5269
2020-01-17T19:53:23.545Z,1579290803.545 [CTD_NeilBrown ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-17T19:53:23.545Z,1579290803.545 [CTD_NeilBrown](INFO): Powering down
2020-01-17T19:53:23.557Z,1579290803.557 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-17T19:53:23.561Z,1579290803.561 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2020-01-17T19:53:23.561Z,1579290803.561 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-01-17T19:53:23.561Z,1579290803.561 [Radio_Surface](INFO): Join timeout helper Thread ID is 5270
2020-01-17T19:53:23.745Z,1579290803.745 [Radio_Surface](INFO): Powering down
2020-01-17T19:53:23.746Z,1579290803.746 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-17T19:53:23.746Z,1579290803.746 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-01-17T19:53:23.750Z,1579290803.750 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2020-01-17T19:53:23.750Z,1579290803.750 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-17T19:53:23.750Z,1579290803.750 [DataOverHttps](INFO): Join timeout helper Thread ID is 5271
2020-01-17T19:53:24.521Z,1579290804.521 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-17T19:53:24.521Z,1579290804.521 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-17T19:53:24.530Z,1579290804.530 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2020-01-17T19:53:24.530Z,1579290804.530 [logger ThreadHandler](INFO): Thread cancelled.
2020-01-17T19:53:24.530Z,1579290804.530 [logger](INFO): Join timeout helper Thread ID is 5272
2020-01-17T19:53:24.557Z,1579290804.557 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-17T19:53:24.557Z,1579290804.557 [logger ThreadHandler](INFO): Thread cancelled.
2020-01-17T19:53:24.577Z,1579290804.577 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2020-01-17T19:53:24.578Z,1579290804.578 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-17T19:53:24.578Z,1579290804.578 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2020-01-17T19:53:24.578Z,1579290804.578 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-01-17T19:53:24.578Z,1579290804.578 [controlThread](INFO): Join timeout helper Thread ID is 5273
2020-01-17T19:53:24.833Z,1579290804.833 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-17T19:53:24.833Z,1579290804.833 [controlThread](DEBUG): Uninitializing ControlThread
2020-01-17T19:53:24.834Z,1579290804.834 [AHRS_M2](INFO): Powering down
2020-01-17T19:53:24.905Z,1579290804.905 [DDM](INFO): Powering down
2020-01-17T19:53:24.997Z,1579290804.997 [DUSBL_Hydroid](INFO): Powering down
2020-01-17T19:53:25.069Z,1579290805.069 [Micromodem](INFO): Powering down
2020-01-17T19:53:25.165Z,1579290805.165 [NAL9602](INFO): Powering down
2020-01-17T19:53:25.237Z,1579290805.237 [RDI_Pathfinder](INFO): Powering down
2020-01-17T19:53:25.239Z,1579290805.239 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2020-01-17T19:53:25.240Z,1579290805.240 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2020-01-17T19:53:25.240Z,1579290805.240 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2020-01-17T19:53:25.240Z,1579290805.240 [MissionManager](INFO): Uninitializing Mission Default
2020-01-17T19:53:25.241Z,1579290805.241 [Default] Stopped
2020-01-17T19:53:25.241Z,1579290805.241 [Default](DEBUG): Aggregate::uninitialize Default
2020-01-17T19:53:25.241Z,1579290805.241 [Default:A.Wait] Stopped
2020-01-17T19:53:25.241Z,1579290805.241 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-17T19:53:25.241Z,1579290805.241 [Default:B.GoToSurface] Stopped
2020-01-17T19:53:25.241Z,1579290805.241 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-17T19:53:25.243Z,1579290805.243 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2020-01-17T19:53:25.244Z,1579290805.244 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2020-01-17T19:53:25.244Z,1579290805.244 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2020-01-17T19:53:25.244Z,1579290805.244 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2020-01-17T19:53:25.244Z,1579290805.244 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2020-01-17T19:53:25.244Z,1579290805.244 [BuoyancyServo](INFO): Powering down
2020-01-17T19:53:25.257Z,1579290805.257 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2020-01-17T19:53:25.257Z,1579290805.257 [ElevatorServo](INFO): Powering down
2020-01-17T19:53:25.258Z,1579290805.258 [MassServo](DEBUG): Uninitialize Mass Servo.
2020-01-17T19:53:25.258Z,1579290805.258 [MassServo](INFO): Powering down
2020-01-17T19:53:25.259Z,1579290805.259 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-01-17T19:53:25.259Z,1579290805.259 [RudderServo](INFO): Powering down
2020-01-17T19:53:25.259Z,1579290805.259 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2020-01-17T19:53:25.260Z,1579290805.260 [ThrusterServo](INFO): Powering down
2020-01-17T19:53:25.260Z,1579290805.260 [SBIT](DEBUG): Uninitialize SBIT Component.
2020-01-17T19:53:25.261Z,1579290805.261 [IBIT](DEBUG): Uninitialize IBIT Component.
2020-01-17T19:53:25.261Z,1579290805.261 [CBIT](DEBUG): Uninitialize CBIT Component.
2020-01-17T19:53:25.261Z,1579290805.261 [CBIT](DEBUG): Powering off loads.
2020-01-17T19:53:25.273Z,1579290805.273 [CBIT](DEBUG): Disabling WDT.
2020-01-17T19:53:25.285Z,1579290805.285 [CBIT](DEBUG): Opening all GF detection circuits.
2020-01-17T19:53:25.286Z,1579290805.286 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-01-17T19:53:25.336Z,1579290805.336 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-01-17T19:53:25.346Z,1579290805.346 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-17T19:53:25.397Z,1579290805.397 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-17T19:53:25.399Z,1579290805.399 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-17T19:53:25.475Z,1579290805.475 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-17T19:53:25.535Z,1579290805.535 [logger ThreadHandler](INFO): Thread cancelled.