2020-01-21T19:29:14.485Z,1579634954.485 [Supervisor](DEBUG): Initializing supervisor.
2020-01-21T19:29:14.488Z,1579634954.488 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2020-01-21T19:29:14.488Z,1579634954.488 [SyncHandler](INFO): Protected caller Thread ID is 6557
2020-01-21T19:29:14.489Z,1579634954.489 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2020-01-21T19:29:14.490Z,1579634954.490 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2020-01-21T19:29:14.490Z,1579634954.490 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 6558
2020-01-21T19:29:14.492Z,1579634954.492 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2020-01-21T19:29:14.504Z,1579634954.504 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2020-01-21T19:29:14.505Z,1579634954.505 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2020-01-21T19:29:14.505Z,1579634954.505 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 6559
2020-01-21T19:29:14.506Z,1579634954.506 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2020-01-21T19:29:14.507Z,1579634954.507 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2020-01-21T19:29:14.507Z,1579634954.507 [logger ThreadHandler](INFO): Protected caller Thread ID is 6560
2020-01-21T19:29:14.509Z,1579634954.509 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2020-01-21T19:29:14.510Z,1579634954.510 [Supervisor](INFO): Looking for Config files in directory: Config/
2020-01-21T19:29:14.511Z,1579634954.511 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2020-01-21T19:29:14.943Z,1579634954.943 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2020-01-21T19:29:14.943Z,1579634954.943 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2020-01-21T19:29:15.042Z,1579634955.042 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2020-01-21T19:29:15.042Z,1579634955.042 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2020-01-21T19:29:15.353Z,1579634955.353 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2020-01-21T19:29:15.353Z,1579634955.353 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2020-01-21T19:29:15.490Z,1579634955.490 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2020-01-21T19:29:15.491Z,1579634955.491 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2020-01-21T19:29:15.680Z,1579634955.680 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2020-01-21T19:29:15.680Z,1579634955.680 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2020-01-21T19:29:16.117Z,1579634956.117 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2020-01-21T19:29:16.117Z,1579634956.117 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2020-01-21T19:29:16.324Z,1579634956.324 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2020-01-21T19:29:16.325Z,1579634956.325 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2020-01-21T19:29:16.467Z,1579634956.467 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2020-01-21T19:29:16.468Z,1579634956.468 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2020-01-21T19:29:16.656Z,1579634956.656 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2020-01-21T19:29:16.656Z,1579634956.656 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2020-01-21T19:29:16.752Z,1579634956.752 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2020-01-21T19:29:16.752Z,1579634956.752 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2020-01-21T19:29:17.048Z,1579634957.048 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2020-01-21T19:29:17.048Z,1579634957.048 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2020-01-21T19:29:17.129Z,1579634957.129 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2020-01-21T19:29:17.232Z,1579634957.232 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2020-01-21T19:29:17.232Z,1579634957.232 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2020-01-21T19:29:17.858Z,1579634957.858 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2020-01-21T19:29:17.858Z,1579634957.858 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2020-01-21T19:29:18.259Z,1579634958.259 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2020-01-21T19:29:18.261Z,1579634958.261 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/
2020-01-21T19:29:18.262Z,1579634958.262 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/vehicle.cfg
2020-01-21T19:29:18.471Z,1579634958.471 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Control.cfg
2020-01-21T19:29:18.572Z,1579634958.572 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/BIT.cfg
2020-01-21T19:29:18.671Z,1579634958.671 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Battery.cfg
2020-01-21T19:29:18.896Z,1579634958.896 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2020-01-21T19:29:18.897Z,1579634958.897 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Simulator.cfg
2020-01-21T19:29:18.982Z,1579634958.982 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Navigation.cfg
2020-01-21T19:29:19.076Z,1579634959.076 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/logger.cfg
2020-01-21T19:29:19.202Z,1579634959.202 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/secure.cfg
2020-01-21T19:29:19.379Z,1579634959.379 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Servo.cfg
2020-01-21T19:29:19.712Z,1579634959.712 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/workSite.cfg
2020-01-21T19:29:19.955Z,1579634959.955 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Sensor.cfg
2020-01-21T19:29:20.202Z,1579634960.202 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Science.cfg
2020-01-21T19:29:20.335Z,1579634960.335 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/root/
2020-01-21T19:29:20.335Z,1579634960.335 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2020-01-21T19:29:20.337Z,1579634960.337 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2020-01-21T19:29:20.605Z,1579634960.605 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_orientation
2020-01-21T19:29:20.611Z,1579634960.611 [AHRS_M2](INFO): created writer for : platform_orientation
2020-01-21T19:29:20.612Z,1579634960.612 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_magnetic_orientation
2020-01-21T19:29:20.617Z,1579634960.617 [AHRS_M2](INFO): created writer for : platform_magnetic_orientation
2020-01-21T19:29:20.617Z,1579634960.617 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_pitch_angle
2020-01-21T19:29:20.622Z,1579634960.622 [AHRS_M2](INFO): created writer for : platform_pitch_angle
2020-01-21T19:29:20.623Z,1579634960.623 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_roll_angle
2020-01-21T19:29:20.628Z,1579634960.628 [AHRS_M2](INFO): created writer for : platform_roll_angle
2020-01-21T19:29:20.694Z,1579634960.694 [AHRS_M2] Loaded
2020-01-21T19:29:20.694Z,1579634960.694 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2020-01-21T19:29:20.772Z,1579634960.772 [DataOverHttps] Loaded
2020-01-21T19:29:20.772Z,1579634960.772 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2020-01-21T19:29:20.773Z,1579634960.773 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 407684E0
2020-01-21T19:29:20.774Z,1579634960.774 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 6642
2020-01-21T19:29:20.796Z,1579634960.796 [DDM] Loaded
2020-01-21T19:29:20.796Z,1579634960.796 [ComponentRegistry](DEBUG): SyncComponent "DDM" handled in the control thread.
2020-01-21T19:29:20.809Z,1579634960.809 [Depth_Keller] Loaded
2020-01-21T19:29:20.809Z,1579634960.809 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2020-01-21T19:29:20.814Z,1579634960.814 [DropWeight] Loaded
2020-01-21T19:29:20.814Z,1579634960.814 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2020-01-21T19:29:20.872Z,1579634960.872 [DUSBL_Hydroid] Loaded
2020-01-21T19:29:20.872Z,1579634960.872 [ComponentRegistry](DEBUG): SyncComponent "DUSBL_Hydroid" handled in the control thread.
2020-01-21T19:29:20.916Z,1579634960.916 [Micromodem] Loaded
2020-01-21T19:29:20.916Z,1579634960.916 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2020-01-21T19:29:21.007Z,1579634961.007 [NAL9602] Loaded
2020-01-21T19:29:21.007Z,1579634961.007 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2020-01-21T19:29:21.042Z,1579634961.042 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/voltage_now
2020-01-21T19:29:21.042Z,1579634961.042 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/current_now
2020-01-21T19:29:21.043Z,1579634961.043 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/charge_now
2020-01-21T19:29:21.043Z,1579634961.043 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/charge_full
2020-01-21T19:29:21.044Z,1579634961.044 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/voltage_now
2020-01-21T19:29:21.044Z,1579634961.044 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/current_now
2020-01-21T19:29:21.045Z,1579634961.045 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/charge_now
2020-01-21T19:29:21.045Z,1579634961.045 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/charge_full
2020-01-21T19:29:21.045Z,1579634961.045 [Onboard] Loaded
2020-01-21T19:29:21.046Z,1579634961.046 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2020-01-21T19:29:21.051Z,1579634961.051 [PowerOnly] Loaded
2020-01-21T19:29:21.051Z,1579634961.051 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2020-01-21T19:29:21.058Z,1579634961.058 [Radio_Surface] Loaded
2020-01-21T19:29:21.058Z,1579634961.058 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2020-01-21T19:29:21.059Z,1579634961.059 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 407984E0
2020-01-21T19:29:21.059Z,1579634961.059 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 6643
2020-01-21T19:29:21.100Z,1579634961.100 [RDI_Pathfinder] Loaded
2020-01-21T19:29:21.100Z,1579634961.100 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2020-01-21T19:29:22.482Z,1579634962.482 [BPC1] Loaded
2020-01-21T19:29:22.482Z,1579634962.482 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2020-01-21T19:29:22.483Z,1579634962.483 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2020-01-21T19:29:22.483Z,1579634962.483 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2020-01-21T19:29:22.496Z,1579634962.496 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2020-01-21T19:29:22.496Z,1579634962.496 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2020-01-21T19:29:22.594Z,1579634962.594 [DeadReckonUsingMultipleVelocitySources] Loaded
2020-01-21T19:29:22.595Z,1579634962.595 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2020-01-21T19:29:22.614Z,1579634962.614 [NavChart] Loaded
2020-01-21T19:29:22.614Z,1579634962.614 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2020-01-21T19:29:22.618Z,1579634962.618 [UniversalFixResidualReporter] Loaded
2020-01-21T19:29:22.618Z,1579634962.618 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2020-01-21T19:29:22.618Z,1579634962.618 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2020-01-21T19:29:22.619Z,1579634962.619 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2020-01-21T19:29:22.719Z,1579634962.719 [BuoyancyServo] Loaded
2020-01-21T19:29:22.719Z,1579634962.719 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2020-01-21T19:29:22.734Z,1579634962.734 [ElevatorServo] Loaded
2020-01-21T19:29:22.734Z,1579634962.734 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2020-01-21T19:29:22.748Z,1579634962.748 [MassServo] Loaded
2020-01-21T19:29:22.748Z,1579634962.748 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2020-01-21T19:29:22.763Z,1579634962.763 [RudderServo] Loaded
2020-01-21T19:29:22.763Z,1579634962.763 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2020-01-21T19:29:22.776Z,1579634962.776 [ThrusterServo] Loaded
2020-01-21T19:29:22.777Z,1579634962.777 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2020-01-21T19:29:22.777Z,1579634962.777 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2020-01-21T19:29:22.778Z,1579634962.778 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2020-01-21T19:29:23.019Z,1579634963.019 [CTD_NeilBrown] Loaded
2020-01-21T19:29:23.020Z,1579634963.020 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2020-01-21T19:29:23.021Z,1579634963.021 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 408EC4E0
2020-01-21T19:29:23.021Z,1579634963.021 [CTD_NeilBrown ThreadHandler](INFO): Protected caller Thread ID is 6644
2020-01-21T19:29:23.035Z,1579634963.035 [PAR_Licor] Loaded
2020-01-21T19:29:23.035Z,1579634963.035 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2020-01-21T19:29:23.076Z,1579634963.076 [WetLabsSeaOWL_UV_A] Loaded
2020-01-21T19:29:23.076Z,1579634963.076 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2020-01-21T19:29:23.077Z,1579634963.077 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 4091C4E0
2020-01-21T19:29:23.077Z,1579634963.077 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 6645
2020-01-21T19:29:23.078Z,1579634963.078 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2020-01-21T19:29:23.078Z,1579634963.078 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2020-01-21T19:29:23.387Z,1579634963.387 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2020-01-21T19:29:23.388Z,1579634963.388 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2020-01-21T19:29:23.426Z,1579634963.426 [DepthRateCalculator] Loaded
2020-01-21T19:29:23.426Z,1579634963.426 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2020-01-21T19:29:23.432Z,1579634963.432 [PitchRateCalculator] Loaded
2020-01-21T19:29:23.432Z,1579634963.432 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2020-01-21T19:29:23.443Z,1579634963.443 [SpeedCalculator] Loaded
2020-01-21T19:29:23.444Z,1579634963.444 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2020-01-21T19:29:23.463Z,1579634963.463 [TempGradientCalculator] Loaded
2020-01-21T19:29:23.463Z,1579634963.463 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2020-01-21T19:29:23.469Z,1579634963.469 [YawRateCalculator] Loaded
2020-01-21T19:29:23.469Z,1579634963.469 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2020-01-21T19:29:23.507Z,1579634963.507 [ElevatorOffsetCalculator] Loaded
2020-01-21T19:29:23.508Z,1579634963.508 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2020-01-21T19:29:23.508Z,1579634963.508 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2020-01-21T19:29:23.509Z,1579634963.509 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2020-01-21T19:29:23.632Z,1579634963.632 [SBIT](DEBUG): Construct Startup Built In Test.
2020-01-21T19:29:23.653Z,1579634963.653 [SBIT] Loaded
2020-01-21T19:29:23.653Z,1579634963.653 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2020-01-21T19:29:23.654Z,1579634963.654 [IBIT](DEBUG): Construct Initiated Built In Test.
2020-01-21T19:29:23.666Z,1579634963.666 [IBIT] Loaded
2020-01-21T19:29:23.666Z,1579634963.666 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2020-01-21T19:29:23.669Z,1579634963.669 [CBIT](DEBUG): Construct Continuous Built In Test.
2020-01-21T19:29:23.799Z,1579634963.799 [CBIT] Loaded
2020-01-21T19:29:23.800Z,1579634963.800 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2020-01-21T19:29:23.800Z,1579634963.800 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2020-01-21T19:29:23.801Z,1579634963.801 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2020-01-21T19:29:23.878Z,1579634963.878 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2020-01-21T19:29:23.878Z,1579634963.878 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2020-01-21T19:29:23.969Z,1579634963.969 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2020-01-21T19:29:23.969Z,1579634963.969 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2020-01-21T19:29:24.035Z,1579634964.035 [VerticalControl](DEBUG): Construct VerticalControl.
2020-01-21T19:29:24.118Z,1579634964.118 [VerticalControl] Loaded
2020-01-21T19:29:24.118Z,1579634964.118 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2020-01-21T19:29:24.119Z,1579634964.119 [HorizontalControl](DEBUG): Construct HorizontalControl.
2020-01-21T19:29:24.184Z,1579634964.184 [HorizontalControl] Loaded
2020-01-21T19:29:24.184Z,1579634964.184 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2020-01-21T19:29:24.185Z,1579634964.185 [SpeedControl](DEBUG): Construct SpeedControl.
2020-01-21T19:29:24.186Z,1579634964.186 [SpeedControl] Loaded
2020-01-21T19:29:24.187Z,1579634964.187 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2020-01-21T19:29:24.187Z,1579634964.187 [LoopControl](DEBUG): Construct LoopControl.
2020-01-21T19:29:24.188Z,1579634964.188 [LoopControl] Loaded
2020-01-21T19:29:24.188Z,1579634964.188 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2020-01-21T19:29:24.188Z,1579634964.188 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2020-01-21T19:29:24.189Z,1579634964.189 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2020-01-21T19:29:24.219Z,1579634964.219 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2020-01-21T19:29:24.227Z,1579634964.227 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2020-01-21T19:29:24.228Z,1579634964.228 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2020-01-21T19:29:24.271Z,1579634964.271 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2020-01-21T19:29:24.272Z,1579634964.272 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40B034E0
2020-01-21T19:29:24.272Z,1579634964.272 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 6646
2020-01-21T19:29:24.289Z,1579634964.289 [Supervisor](INFO): Main Thread ID is 6556
2020-01-21T19:29:24.289Z,1579634964.289 [Supervisor](DEBUG): Running supervisor.
2020-01-21T19:29:24.292Z,1579634964.292 [CommandLine ThreadHandler](INFO): Handler Thread ID is 6647
2020-01-21T19:29:24.294Z,1579634964.294 [controlThread ThreadHandler](INFO): Handler Thread ID is 6648
2020-01-21T19:29:24.295Z,1579634964.295 [controlThread](DEBUG): Initializing ControlThread
2020-01-21T19:29:24.301Z,1579634964.301 [NavChart](DEBUG): Initialize NavChart Navigation.
2020-01-21T19:29:24.302Z,1579634964.302 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2020-01-21T19:29:24.305Z,1579634964.305 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2020-01-21T19:29:24.305Z,1579634964.305 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2020-01-21T19:29:24.306Z,1579634964.306 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2020-01-21T19:29:24.306Z,1579634964.306 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2020-01-21T19:29:24.306Z,1579634964.306 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2020-01-21T19:29:24.307Z,1579634964.307 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2020-01-21T19:29:24.307Z,1579634964.307 [SBIT](INFO): Initialize SBIT Component.
2020-01-21T19:29:24.308Z,1579634964.308 [SBIT](IMPORTANT): git: 2019-12-03-59-g5fe9486
2020-01-21T19:29:24.308Z,1579634964.308 [SBIT](INFO): git hash: 5fe9486a96d29e351d9528fb1f5de3b9dfa3514e
2020-01-21T19:29:24.308Z,1579634964.308 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2020-01-21T19:29:24.310Z,1579634964.310 [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
2020-01-21T19:29:24.311Z,1579634964.311 [SBIT](INFO): Beginning SBIT in 28.000000 seconds.
2020-01-21T19:29:24.311Z,1579634964.311 [IBIT](INFO): Initialize IBIT Component.
2020-01-21T19:29:24.312Z,1579634964.312 [CBIT](DEBUG): Initialize CBIT Component.
2020-01-21T19:29:24.325Z,1579634964.325 [CBIT](DEBUG): Initialized mux pins.
2020-01-21T19:29:24.325Z,1579634964.325 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2020-01-21T19:29:24.325Z,1579634964.325 [CBIT](DEBUG): Initializing the watchdog timer.
2020-01-21T19:29:24.337Z,1579634964.337 [logger ThreadHandler](INFO): Handler Thread ID is 6649
2020-01-21T19:29:24.349Z,1579634964.349 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2020-01-21T19:29:24.349Z,1579634964.349 [CBIT](DEBUG): Initializing heartbeat.
2020-01-21T19:29:24.362Z,1579634964.362 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 6650
2020-01-21T19:29:24.363Z,1579634964.363 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 6651
2020-01-21T19:29:24.363Z,1579634964.363 [CTD_NeilBrown ThreadHandler](INFO): Handler Thread ID is 6652
2020-01-21T19:29:24.365Z,1579634964.365 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2020-01-21T19:29:24.368Z,1579634964.368 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 6653
2020-01-21T19:29:24.369Z,1579634964.369 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 6654
2020-01-21T19:29:24.373Z,1579634964.373 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2020-01-21T19:29:24.373Z,1579634964.373 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2020-01-21T19:29:24.373Z,1579634964.373 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2020-01-21T19:29:24.374Z,1579634964.374 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2020-01-21T19:29:24.374Z,1579634964.374 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2020-01-21T19:29:24.374Z,1579634964.374 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2020-01-21T19:29:24.374Z,1579634964.374 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2020-01-21T19:29:24.374Z,1579634964.374 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2020-01-21T19:29:24.374Z,1579634964.374 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2020-01-21T19:29:24.374Z,1579634964.374 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2020-01-21T19:29:24.375Z,1579634964.375 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2020-01-21T19:29:24.375Z,1579634964.375 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2020-01-21T19:29:24.375Z,1579634964.375 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2020-01-21T19:29:24.375Z,1579634964.375 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2020-01-21T19:29:24.375Z,1579634964.375 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2020-01-21T19:29:24.375Z,1579634964.375 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2020-01-21T19:29:24.398Z,1579634964.398 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-01-21T19:29:24.421Z,1579634964.421 [CBIT](DEBUG): Deactivating GF circuits.
2020-01-21T19:29:24.421Z,1579634964.421 [CBIT](DEBUG): Deactivating emergency mode.
2020-01-21T19:29:24.422Z,1579634964.422 [CTD_NeilBrown](INFO): Powering down
2020-01-21T19:29:24.457Z,1579634964.457 [CBIT](DEBUG): Backplane powered.
2020-01-21T19:29:24.457Z,1579634964.457 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2020-01-21T19:29:24.459Z,1579634964.459 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2020-01-21T19:29:24.460Z,1579634964.460 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2020-01-21T19:29:24.460Z,1579634964.460 [LoopControl](DEBUG): Initialize LoopControlComponent.
2020-01-21T19:29:24.461Z,1579634964.461 [MissionManager](INFO): Loading Mission: Missions/StartupUnder.xml
2020-01-21T19:29:24.467Z,1579634964.467 [MissionManager](ERROR): Top node has no child nodes: Mission
2020-01-21T19:29:24.467Z,1579634964.467 [MissionManager](ERROR): Could not load startup mission.
2020-01-21T19:29:24.468Z,1579634964.468 [MissionManager](INFO): Loading Mission: Missions/DefaultUnder.xml
2020-01-21T19:29:24.687Z,1579634964.687 [MissionManager](INFO): DefineArg DefaultUnder.uModemCommsInterval = 5.000000 min
2020-01-21T19:29:24.706Z,1579634964.706 [MissionManager](INFO): DefineArg DefaultUnder.TransponderCode = 2.000000 count
2020-01-21T19:29:24.709Z,1579634964.709 [MissionManager](INFO): DefineArg DefaultUnder.AcousticUpdatePeriod = 60.000000 s
2020-01-21T19:29:24.712Z,1579634964.712 [MissionManager](INFO): DefineArg DefaultUnder.DockingAcousticUpdatePeriod = 2.500000 s
2020-01-21T19:29:24.745Z,1579634964.745 [MissionManager](INFO): DefineArg DefaultUnder.NumberOfPings = 1.000000 count
2020-01-21T19:29:24.765Z,1579634964.765 [Radio_Surface](INFO): Powering up
2020-01-21T19:29:24.767Z,1579634964.767 [MissionManager](INFO): DefineOutput DefaultUnder.TrackingUpdatePeriod = 60.000000 n/a
2020-01-21T19:29:24.770Z,1579634964.770 [MissionManager](INFO): DefineOutput DefaultUnder.Surface = -1.000000 count
2020-01-21T19:29:24.794Z,1579634964.794 [MissionManager](INFO): DefineOutput DefaultUnder.Docked = 0.000000 count
2020-01-21T19:29:24.797Z,1579634964.797 [MissionManager](INFO): DefineOutput DefaultUnder.Home = 1.000000 count
2020-01-21T19:29:24.800Z,1579634964.800 [MissionManager](INFO): DefineOutput DefaultUnder.DefaultMode = 0.000000 n/a
2020-01-21T19:29:24.821Z,1579634964.821 [MissionManager](INFO): DefineOutput DefaultUnder.CaptureMode = -1.000000 count
2020-01-21T19:29:24.824Z,1579634964.824 [MissionManager](INFO): DefineOutput DefaultUnder.ElapsedSinceDefaultStarted = 0.000000 min
2020-01-21T19:29:24.852Z,1579634964.852 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Construct Wait.
2020-01-21T19:29:24.874Z,1579634964.874 [DefaultUnder:Notify:A:C.Execute](DEBUG): Construct Execute.
2020-01-21T19:29:25.090Z,1579634965.090 [MissionManager](INFO): Inserting Stack: Missions/Insert/LineCapture.xml
2020-01-21T19:29:25.596Z,1579634965.596 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockDepth = 6.000000 _
2020-01-21T19:29:25.600Z,1579634965.600 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockLat = 0.642341 _
2020-01-21T19:29:25.619Z,1579634965.619 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockLon = -2.126200 _
2020-01-21T19:29:25.622Z,1579634965.622 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DetachRange = 8.000000 m
2020-01-21T19:29:25.646Z,1579634965.646 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DetachTimeout = 30.000000 min
2020-01-21T19:29:25.650Z,1579634965.650 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MidcourseDepth = 15.000000 m
2020-01-21T19:29:25.669Z,1579634965.669 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MidcourseSpeed = 1.000000 m/s
2020-01-21T19:29:25.672Z,1579634965.672 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MidcourseTimeout = 12.000000 h
2020-01-21T19:29:25.675Z,1579634965.675 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.TerminalRange = 650.000000 m
2020-01-21T19:29:25.703Z,1579634965.703 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.ArmRange = 40.000000 m
2020-01-21T19:29:25.706Z,1579634965.706 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockRange = 2.000000 m
2020-01-21T19:29:25.725Z,1579634965.725 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockTimeout = 60.000000 s
2020-01-21T19:29:25.729Z,1579634965.729 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.RolloutDistance = 250.000000 m
2020-01-21T19:29:25.732Z,1579634965.732 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.UpdateNav = 1 bool
2020-01-21T19:29:25.744Z,1579634965.744 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.AcousticTimeout = 10.000000 min
2020-01-21T19:29:25.748Z,1579634965.748 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.TerminalSpeed = 0.800000 m/s
2020-01-21T19:29:25.775Z,1579634965.775 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.SearchTimeout = 60.000000 min
2020-01-21T19:29:25.778Z,1579634965.778 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.CircleRadius = 300.000000 m
2020-01-21T19:29:25.813Z,1579634965.813 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.CircleMaxError = 100.000000 m
2020-01-21T19:29:25.816Z,1579634965.816 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.CircleTurnToPort = 0 bool
2020-01-21T19:29:25.820Z,1579634965.820 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DepthDeadband = 0.010000 m
2020-01-21T19:29:25.835Z,1579634965.835 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.RudderDeadband = 0.001000 arcdeg
2020-01-21T19:29:25.838Z,1579634965.838 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MinAltitude = 5.000000 m
2020-01-21T19:29:25.865Z,1579634965.865 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MaxDepth = 205.000000 m
2020-01-21T19:29:25.869Z,1579634965.869 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MinOffshore = 500.000000 m
2020-01-21T19:29:25.872Z,1579634965.872 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Depth = 15.000000 n/a
2020-01-21T19:29:25.892Z,1579634965.892 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Speed = 1.000000 n/a
2020-01-21T19:29:25.903Z,1579634965.903 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.DoneTimeout = -1.000000 count
2020-01-21T19:29:25.906Z,1579634965.906 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Done = 0.000000 count
2020-01-21T19:29:25.926Z,1579634965.926 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.DetachFromDock = 1.000000 count
2020-01-21T19:29:25.929Z,1579634965.929 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Midcourse = 2.000000 count
2020-01-21T19:29:25.933Z,1579634965.932 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Terminal = 3.000000 count
2020-01-21T19:29:25.952Z,1579634965.952 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.GuidanceMode = 1.000000 n/a
2020-01-21T19:29:25.955Z,1579634965.955 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.ElapsedRange = 0.000000 min
2020-01-21T19:29:25.979Z,1579634965.979 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.Range = nan m
2020-01-21T19:29:25.981Z,1579634965.981 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2020-01-21T19:29:26.031Z,1579634966.031 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2020-01-21T19:29:26.034Z,1579634966.034 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2020-01-21T19:29:26.061Z,1579634966.061 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2020-01-21T19:29:26.063Z,1579634966.063 [DefaultUnder:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2020-01-21T19:29:26.081Z,1579634966.081 [DefaultUnder:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-01-21T19:29:26.113Z,1579634966.113 [DefaultUnder:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2020-01-21T19:29:26.161Z,1579634966.161 [DefaultUnder:LineCapture:H.Mass](DEBUG): Construct.
2020-01-21T19:29:26.184Z,1579634966.184 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:B.Buoyancy](DEBUG): Construct Buoyancy.
2020-01-21T19:29:26.188Z,1579634966.188 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:C.SetSpeed](DEBUG): Construct.
2020-01-21T19:29:26.207Z,1579634966.207 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:D.Pitch](DEBUG): Construct.
2020-01-21T19:29:26.230Z,1579634966.230 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed](DEBUG): Construct.
2020-01-21T19:29:26.233Z,1579634966.233 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:B.Pitch](DEBUG): Construct.
2020-01-21T19:29:26.268Z,1579634966.268 [DefaultUnder:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2020-01-21T19:29:26.324Z,1579634966.324 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2020-01-21T19:29:26.366Z,1579634966.366 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:G.Circle](DEBUG): Construct.
2020-01-21T19:29:26.447Z,1579634966.447 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2020-01-21T19:29:26.499Z,1579634966.499 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:H.LineCapture](DEBUG): Construct.
2020-01-21T19:29:26.553Z,1579634966.553 [DefaultUnder:LineCapture:K.Wait](DEBUG): Construct Wait.
2020-01-21T19:29:26.556Z,1579634966.556 [DefaultUnder:E.Wait](DEBUG): Construct Wait.
2020-01-21T19:29:26.574Z,1579634966.574 [DefaultUnder:Default:Docked:run:B.Docked](DEBUG): Construct.
2020-01-21T19:29:26.636Z,1579634966.636 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): Construct GoToSurface.
2020-01-21T19:29:26.683Z,1579634966.683 [DefaultUnder:Default:Surface:run:SurfaceComms:Read_Iridium_uModem:A_Timeout:A.Execute](DEBUG): Construct Execute.
2020-01-21T19:29:26.686Z,1579634966.686 [DefaultUnder:Default:Surface:run:SurfaceComms:C.Wait](DEBUG): Construct Wait.
2020-01-21T19:29:26.750Z,1579634966.750 [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="DefaultUnder">


    <DefineArg Name="uModemCommsInterval"><Description>
        How often to trigger uModem communications
    </Description><Units:minute/><Value>5</Value></DefineArg>

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

    <DefineArg Name="AcousticUpdatePeriod"><Description>
        How long to wait between acoustic queries while the mission
        is in an idle state (on the dock or surface).
    </Description><Units:second/><Value>60</Value></DefineArg>

    <DefineArg Name="DockingAcousticUpdatePeriod"><Description>
        How long to wait between acoustic queries while the mission
        is actively docking (line capture)
    </Description><Units:second/><Value>2.5</Value></DefineArg>

    <DefineArg Name="NumberOfPings"><Description>
        Number of pings requested each time.
    </Description><Units:count/><Value>1</Value></DefineArg>

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

    <DefineOutput Name="TrackingUpdatePeriod"><Description>
        How long to wait between acoustic queries.
    </Description><Arg Name="AcousticUpdatePeriod"/></DefineOutput>

    <DefineOutput Name="Surface"><Description>
        Mission variable (don't change).
        The mission will run in this mode to go to the surface after homing attempts have failed.
    </Description><Units:count/><Value>-1</Value></DefineOutput>

    <DefineOutput Name="Docked"><Description>
        Mission variable (don't change).
        The mission will run in this mode when the vehicle is docked.
    </Description><Units:count/><Value>0</Value></DefineOutput>

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

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

    <DefineOutput Name="CaptureMode"><Description>
        Mission variable (don't change).
        The mission sets this variable to reflect the termination status of the LineCapture insert.
    </Description><Units:count/><Value>-1</Value></DefineOutput>

    <DefineOutput Name="ElapsedSinceDefaultStarted"><Units:minute/><Value>0</Value></DefineOutput>

    <!-- TODO: Safety nets and surfacing behaviors? -->

    <!-- Communication directives -->

    <Aggregate Id="uModemComms">
        <While>
            <Not><Arg Name="DefaultMode"/><Eq><Arg Name="Surface"/></Eq></Not>
        </While>

        <Aggregate Id="CheckIn">

            <When>
                <Elapsed><Universal:platform_communications/></Elapsed>
                <Gt><Arg Name="uModemCommsInterval"/></Gt>
            </When>

            <ReadDatum>
                <Timeout Duration="P10M"/>
                <Universal:platform_communications/>
            </ReadDatum>

        </Aggregate>
    </Aggregate>

    <!-- Notify directives. -->

    <Aggregate Id="Notify">
        <Parallel/>

        <Aggregate>
            <Sequence/>

            <Aggregate>
                <Sequence Repeat="288"/>

                <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.</Syslog>

            <Guidance:Execute>
                <Sequence/>
                <Setting><Guidance:Execute.command/><String>restart logs</String></Setting>
            </Guidance:Execute>
        </Aggregate>
    </Aggregate>

   <!-- Add track acoustic contact directives. -->

    <Estimation:TrackAcousticContact>
        <Parallel/>
        <Setting><Estimation:TrackAcousticContact.contactLabelSetting/><Arg Name="TransponderCode"/></Setting>
        <Setting><Estimation:TrackAcousticContact.numberOfSamplesSetting/><Arg Name="NumberOfPings"/></Setting>
        <Setting><Estimation:TrackAcousticContact.updatePeriodSetting/><Arg Name="TrackingUpdatePeriod"/></Setting>
    </Estimation:TrackAcousticContact>

    <!-- Add LineCapture directives. -->

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

    <!-- Default mission sequence. -->

    <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>

    <Aggregate Id="Default">

        <Sequence/>

        <Aggregate Id="Docked">

            <While>
                <Arg Name="DefaultMode"/><Eq><Arg Name="Docked"/></Eq>
            </While>

            <Aggregate Id="run">
                <Sequence/>

                <Assign><Sequence/><Arg Name="TrackingUpdatePeriod"/><Arg Name="AcousticUpdatePeriod"/></Assign>

                <Guidance:Docked>
                    <Sequence/>
                </Guidance:Docked>

                <Assign><Sequence/><Arg Name="DefaultMode"/><Arg Name="Home"/></Assign>

            </Aggregate>
        </Aggregate>


        <Aggregate Id="Home">

            <While>
                <Arg Name="DefaultMode"/><Eq><Arg Name="Home"/></Eq>
            </While>

            <Aggregate Id="run">
                <Sequence/>

                <Assign><Sequence/><Arg Name="TrackingUpdatePeriod"/><Arg Name="DockingAcousticUpdatePeriod"/></Assign>

                <Assign><Sequence/><Arg Name="CaptureMode"/><Arg Name="Surface"/></Assign>

                <Call RefId="LineCapture"/>

                <Assign><Sequence/><Arg Name="CaptureMode"/><Arg Name="LineCapture:GuidanceMode"/></Assign>

                <Aggregate Id="CheckCaptureSuccess">
                    <Sequence/>

                    <Break>
                        <Not><Arg Name="CaptureMode"/><Eq><Arg Name="Docked"/></Eq></Not>
                    </Break>

                    <Assign><Sequence/><Arg Name="DefaultMode"/><Arg Name="Docked"/></Assign>
                </Aggregate>

                <Assign><Sequence/><Arg Name="DefaultMode"/><Arg Name="Surface"/></Assign>

            </Aggregate>
        </Aggregate>


        <Aggregate Id="Surface">

            <While>
                <Arg Name="DefaultMode"/><Eq><Arg Name="Surface"/></Eq>
            </While>

            <Aggregate Id="run">
                <Sequence/>

                <Assign><Sequence/><Arg Name="TrackingUpdatePeriod"/><Arg Name="AcousticUpdatePeriod"/></Assign>

                <Guidance:GoToSurface>
                    <Progression/>
                </Guidance:GoToSurface>

                <Aggregate Id="SurfaceComms">

                    <Sequence Repeat="288"/>

                    <ReadDatum Id="Read_GPS">
                        <Timeout Duration="P5M"/>
                        <Universal:time_fix/>
                    </ReadDatum>

                    <ReadDatum Id="Read_Iridium_uModem">
                        <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>

                </Aggregate>
            </Aggregate>

        </Aggregate>

    </Aggregate>

</Mission>


2020-01-21T19:29:26.755Z,1579634966.755 [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,
2020-01-21T19:29:26.763Z,1579634966.763 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2020-01-21T19:29:26.801Z,1579634966.801 [DDM](INFO): Powering up
2020-01-21T19:29:26.801Z,1579634966.801 [DDM](DEBUG): Initializing DDM.
2020-01-21T19:29:26.827Z,1579634966.827 [DUSBL_Hydroid](INFO): Powering up
2020-01-21T19:29:26.827Z,1579634966.827 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2020-01-21T19:29:27.054Z,1579634967.054 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2020-01-21T19:29:27.061Z,1579634967.061 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2020-01-21T19:29:27.062Z,1579634967.062 [ElevatorServo](DEBUG): Initializing EZServoServo.
2020-01-21T19:29:27.069Z,1579634967.069 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2020-01-21T19:29:27.070Z,1579634967.070 [MassServo](DEBUG): Initializing EZServoServo.
2020-01-21T19:29:27.077Z,1579634967.077 [MassServo](DEBUG): Initializing MassServo.
2020-01-21T19:29:27.078Z,1579634967.078 [RudderServo](DEBUG): Initializing EZServoServo.
2020-01-21T19:29:27.085Z,1579634967.085 [RudderServo](DEBUG): Initializing RudderServo.
2020-01-21T19:29:27.086Z,1579634967.086 [ThrusterServo](DEBUG): Initializing EZServoServo.
2020-01-21T19:29:27.093Z,1579634967.093 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2020-01-21T19:29:27.183Z,1579634967.183 [Micromodem](INFO): Powering up
2020-01-21T19:29:27.184Z,1579634967.184 [Micromodem](DEBUG): Initializing Micromodem.
2020-01-21T19:29:27.925Z,1579634967.925 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2020-01-21T19:29:27.925Z,1579634967.925 [RudderServo](FAULT): Rudder failed to initialize
2020-01-21T19:29:27.925Z,1579634967.925 [RudderServo] Communications Fault, FailCount= 1
2020-01-21T19:29:27.925Z,1579634967.925 [RudderServo](ERROR): Communications Fault
2020-01-21T19:29:28.036Z,1579634968.036 [CBIT](ERROR): Communications Fault in component: RudderServo
2020-01-21T19:29:28.206Z,1579634968.206 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-01-21T19:29:28.206Z,1579634968.206 [RudderServo](INFO): Powering down
2020-01-21T19:29:28.913Z,1579634968.913 [RudderServo](DEBUG): Initializing EZServoServo.
2020-01-21T19:29:29.034Z,1579634969.034 [RudderServo](DEBUG): Initializing RudderServo.
2020-01-21T19:29:29.038Z,1579634969.038 [CBIT](INFO): Clearing failed state for component RudderServo
2020-01-21T19:29:29.038Z,1579634969.038 [RudderServo] No Fault, FailCount= 1
2020-01-21T19:29:32.123Z,1579634972.123 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2020-01-21T19:29:32.523Z,1579634972.523 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2020-01-21T19:29:32.524Z,1579634972.524 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2020-01-21T19:29:32.931Z,1579634972.931 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2020-01-21T19:29:32.931Z,1579634972.931 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2020-01-21T19:29:33.323Z,1579634973.323 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2020-01-21T19:29:33.323Z,1579634973.323 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2020-01-21T19:29:33.723Z,1579634973.723 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2020-01-21T19:29:33.724Z,1579634973.724 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2020-01-21T19:29:34.119Z,1579634974.119 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2020-01-21T19:29:34.119Z,1579634974.119 [Micromodem](INFO): Nmea out: $CCCFG,FC0,10000*46

2020-01-21T19:29:34.559Z,1579634974.559 [Micromodem](INFO): Nmea in: $CACFG,FC0,10000*44

2020-01-21T19:29:34.559Z,1579634974.559 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2020-01-21T19:29:34.955Z,1579634974.955 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2020-01-21T19:29:34.955Z,1579634974.955 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2020-01-21T19:29:35.360Z,1579634975.360 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2020-01-21T19:29:35.370Z,1579634975.370 [Micromodem](INFO): Nmea out: $CCCLK,2020,01,21,19,29,36*40

2020-01-21T19:29:35.727Z,1579634975.727 [Micromodem](INFO): Nmea in: $CACLK,2020,1,21,19,29,36*72

2020-01-21T19:29:35.728Z,1579634975.728 [Micromodem](FAULT): Failed to receive CAREV within timeout
2020-01-21T19:29:35.728Z,1579634975.728 [Micromodem] Hardware Fault, FailCount= 1
2020-01-21T19:29:35.728Z,1579634975.728 [Micromodem](ERROR): Hardware Fault
2020-01-21T19:29:35.817Z,1579634975.817 [CBIT](ERROR): Hardware Fault in component: Micromodem
2020-01-21T19:29:36.139Z,1579634976.139 [Micromodem](INFO): Powering down
2020-01-21T19:29:37.049Z,1579634977.049 [CBIT](INFO): Clearing failed state for component Micromodem
2020-01-21T19:29:37.049Z,1579634977.049 [Micromodem] No Fault, FailCount= 1
2020-01-21T19:29:39.767Z,1579634979.767 [Micromodem](INFO): Powering up
2020-01-21T19:29:39.767Z,1579634979.767 [Micromodem](DEBUG): Initializing Micromodem.
2020-01-21T19:29:42.592Z,1579634982.592 [DDM](INFO): Dynamic Docking Module:V1,H_RECOVERY_LATCH
2020-01-21T19:29:44.618Z,1579634984.618 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2020-01-21T19:29:45.018Z,1579634985.018 [DUSBL_Hydroid](INFO): DUSBL Version:O
2020-01-21T19:29:45.034Z,1579634985.034 [Micromodem](INFO): Nmea in: $CATMG,2020-01-21T19:29:44.541739Z,RTC,RTC*5C

2020-01-21T19:29:45.035Z,1579634985.035 [Micromodem](ERROR): CFG response from modem unexpected: $CATMG,2020-01-21T19:29:44.541739Z,RTC,RTC*5C

2020-01-21T19:29:45.423Z,1579634985.423 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2020-01-21T19:29:45.423Z,1579634985.423 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2020-01-21T19:29:45.835Z,1579634985.835 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2020-01-21T19:29:45.835Z,1579634985.835 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2020-01-21T19:29:46.247Z,1579634986.247 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2020-01-21T19:29:46.247Z,1579634986.247 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2020-01-21T19:29:46.635Z,1579634986.635 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2020-01-21T19:29:46.635Z,1579634986.635 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2020-01-21T19:29:47.051Z,1579634987.051 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2020-01-21T19:29:47.052Z,1579634987.052 [Micromodem](INFO): Nmea out: $CCCFG,FC0,10000*46

2020-01-21T19:29:47.443Z,1579634987.443 [Micromodem](INFO): Nmea in: $CACFG,FC0,10000*44

2020-01-21T19:29:47.443Z,1579634987.443 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2020-01-21T19:29:47.847Z,1579634987.847 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2020-01-21T19:29:47.847Z,1579634987.847 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2020-01-21T19:29:48.251Z,1579634988.251 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2020-01-21T19:29:48.251Z,1579634988.251 [Micromodem](INFO): Nmea out: $CCCLK,2020,01,21,19,29,49*48

2020-01-21T19:29:48.679Z,1579634988.679 [Micromodem](INFO): Nmea in: $CACLK,2020,1,21,19,29,49*7A

2020-01-21T19:29:49.475Z,1579634989.475 [Micromodem](INFO): Nmea in: $CATMS,0,2020-01-21T19:29:50Z*72

2020-01-21T19:29:49.476Z,1579634989.476 [Micromodem](INFO): Nmea in: $CATMG,2020-01-21T19:29:50.026131Z,USER_CMD,RTC*12

2020-01-21T19:29:49.882Z,1579634989.882 [RDI_Pathfinder](ERROR): No DVL communication! Re-initializing
2020-01-21T19:29:49.883Z,1579634989.883 [RDI_Pathfinder] Communications Fault, FailCount= 1
2020-01-21T19:29:49.883Z,1579634989.883 [RDI_Pathfinder](ERROR): Communications Fault
2020-01-21T19:29:49.982Z,1579634989.982 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2020-01-21T19:29:50.357Z,1579634990.357 [RDI_Pathfinder](INFO): Powering down
2020-01-21T19:29:51.080Z,1579634991.080 [NAL9602](INFO): Powering up NAL9602
2020-01-21T19:29:51.182Z,1579634991.182 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2020-01-21T19:29:51.182Z,1579634991.182 [RDI_Pathfinder] No Fault, FailCount= 1
2020-01-21T19:29:52.775Z,1579634992.775 [SBIT](IMPORTANT): Beginning Startup BIT
2020-01-21T19:29:52.780Z,1579634992.780 [CBIT](IMPORTANT): Beginning ground fault scan
2020-01-21T19:30:02.248Z,1579635002.248 [NAL9602](INFO): NAL9602 initialized
2020-01-21T19:30:04.001Z,1579635004.001 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.020874
CHAN A1 (24V): -0.029011
CHAN A2 (12V): -0.007233
CHAN A3 (5V): -0.002106
CHAN B0 (3.3V): 0.000249
CHAN B1 (3.15aV): -0.000220
CHAN B2 (3.15bV): 0.000478
CHAN B3 (GND): 0.002000
OPEN: 0.005286
Full Scale Calc: 4.765 mA, -1.589 mA
2020-01-21T19:30:04.675Z,1579635004.675 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2020-01-21T19:30:16.846Z,1579635016.846 [CommandLine](IMPORTANT): got command show stack
2020-01-21T19:30:16.846Z,1579635016.846 [CommandLine](IMPORTANT): Behavior Stack:

2020-01-21T19:30:16.861Z,1579635016.861 [DefaultUnder](IMPORTANT): Priority 0: DefaultUnder:C.
2020-01-21T19:30:21.094Z,1579635021.094 [CommandLine](IMPORTANT): got command failComponent
2020-01-21T19:30:21.094Z,1579635021.094 [CommandLine](IMPORTANT): Failed components:
2020-01-21T19:30:21.095Z,1579635021.095 [CommandLine](IMPORTANT): No failed Components.
2020-01-21T19:30:34.747Z,1579635034.747 [RDI_Pathfinder](ERROR): Failed to parse:
:BI,-32768,-32768,-32768,-32768,V
2020-01-21T19:30:38.683Z,1579635038.683 [CommandLine](IMPORTANT): got command report touch acoustic_contact_range
2020-01-21T19:30:41.182Z,1579635041.182 [CommandLine](IMPORTANT): got command show variable cable
2020-01-21T19:30:41.266Z,1579635041.266 [CommandLine](IMPORTANT): DDM.cablePresent (bool)
2020-01-21T19:30:46.602Z,1579635046.602 [SBIT](IMPORTANT): SBIT PASSED
2020-01-21T19:30:46.602Z,1579635046.602 [SBIT](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2020-01-21T19:30:46.982Z,1579635046.982 [MissionManager](IMPORTANT): Started mission DefaultUnder
2020-01-21T19:30:46.983Z,1579635046.983 [DefaultUnder] Running Loop=1
2020-01-21T19:30:46.983Z,1579635046.983 [DefaultUnder](DEBUG): Aggregate::initialize DefaultUnder
2020-01-21T19:30:46.983Z,1579635046.983 [DefaultUnder:uModemComms] Running Loop=1
2020-01-21T19:30:46.983Z,1579635046.983 [DefaultUnder:uModemComms](DEBUG): Aggregate::initialize DefaultUnder:uModemComms
2020-01-21T19:30:46.983Z,1579635046.983 [DefaultUnder:Notify] Running Loop=1
2020-01-21T19:30:46.983Z,1579635046.983 [DefaultUnder:Notify](DEBUG): Aggregate::initialize DefaultUnder:Notify
2020-01-21T19:30:46.983Z,1579635046.983 [DefaultUnder:Notify:A] Running Loop=1
2020-01-21T19:30:46.984Z,1579635046.984 [DefaultUnder:Notify:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A
2020-01-21T19:30:46.984Z,1579635046.984 [DefaultUnder:Notify:A:A] Running Loop=1
2020-01-21T19:30:46.984Z,1579635046.984 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A:A
2020-01-21T19:30:46.984Z,1579635046.984 [DefaultUnder:Notify:A:A:A.Wait] Running Loop=1
2020-01-21T19:30:46.984Z,1579635046.984 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Initialize Wait Component.
2020-01-21T19:30:46.984Z,1579635046.984 [DefaultUnder:C.] Running Loop=1
2020-01-21T19:30:46.984Z,1579635046.984 [DefaultUnder:C.](INFO): Initializing TrackAcousticContact.
2020-01-21T19:30:46.984Z,1579635046.984 [DefaultUnder:E.Wait] Running Loop=1
2020-01-21T19:30:46.984Z,1579635046.984 [DefaultUnder:E.Wait](DEBUG): Initialize Wait Component.
2020-01-21T19:30:46.986Z,1579635046.986 [DefaultUnder:C.] Running Loop=1
2020-01-21T19:30:46.986Z,1579635046.986 [DefaultUnder:Notify] Running Loop=1
2020-01-21T19:30:46.986Z,1579635046.986 [DefaultUnder:uModemComms] Running Loop=1
2020-01-21T19:30:46.986Z,1579635046.986 [DefaultUnder:uModemComms:CheckIn] Running Loop=1
2020-01-21T19:30:46.987Z,1579635046.987 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::initialize DefaultUnder:uModemComms:CheckIn
2020-01-21T19:30:46.987Z,1579635046.987 [DefaultUnder:uModemComms:CheckIn:A] Running Loop=1
2020-01-21T19:30:46.988Z,1579635046.988 [DefaultUnder:uModemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2020-01-21T19:30:48.102Z,1579635048.102 [CommandLine](IMPORTANT): got command report touch DDM.cablePresent
2020-01-21T19:31:00.311Z,1579635060.311 [DefaultUnder:E.Wait](INFO): Done Waiting.
2020-01-21T19:31:00.312Z,1579635060.312 [DefaultUnder:E.Wait] Stopped
2020-01-21T19:31:00.312Z,1579635060.312 [DefaultUnder:E.Wait](DEBUG): Uninitialize Wait Component.
2020-01-21T19:31:00.312Z,1579635060.312 [DefaultUnder:Default] Running Loop=1
2020-01-21T19:31:00.312Z,1579635060.312 [DefaultUnder:Default](DEBUG): Aggregate::initialize DefaultUnder:Default
2020-01-21T19:31:00.312Z,1579635060.312 [DefaultUnder:Default:Docked] Running Loop=1
2020-01-21T19:31:00.312Z,1579635060.312 [DefaultUnder:Default:Docked](DEBUG): Aggregate::initialize DefaultUnder:Default:Docked
2020-01-21T19:31:00.312Z,1579635060.312 [DefaultUnder:Default:Docked:run] Running Loop=1
2020-01-21T19:31:00.312Z,1579635060.312 [DefaultUnder:Default:Docked:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Docked:run
2020-01-21T19:31:00.312Z,1579635060.312 [DefaultUnder:Default:Docked:run:A] Running Loop=1
2020-01-21T19:31:00.313Z,1579635060.313 [DefaultUnder:Default:Home] Running Loop=1
2020-01-21T19:31:00.313Z,1579635060.313 [DefaultUnder:Default:Home](DEBUG): Aggregate::initialize DefaultUnder:Default:Home
2020-01-21T19:31:00.313Z,1579635060.313 [DefaultUnder:Default:Home:run] Running Loop=1
2020-01-21T19:31:00.313Z,1579635060.313 [DefaultUnder:Default:Home:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Home:run
2020-01-21T19:31:00.313Z,1579635060.313 [DefaultUnder:Default:Home:run:A] Running Loop=1
2020-01-21T19:31:00.313Z,1579635060.313 [DefaultUnder:Default:Surface] Running Loop=1
2020-01-21T19:31:00.313Z,1579635060.313 [DefaultUnder:Default:Surface](DEBUG): Aggregate::initialize DefaultUnder:Default:Surface
2020-01-21T19:31:00.313Z,1579635060.313 [DefaultUnder:Default:Surface:run] Running Loop=1
2020-01-21T19:31:00.313Z,1579635060.313 [DefaultUnder:Default:Surface:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Surface:run
2020-01-21T19:31:00.314Z,1579635060.314 [DefaultUnder:Default:Surface:run:B.GoToSurface] Running Loop=1
2020-01-21T19:31:00.314Z,1579635060.314 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-21T19:31:00.314Z,1579635060.314 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-21T19:31:00.315Z,1579635060.315 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-21T19:31:00.315Z,1579635060.315 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-21T19:31:00.315Z,1579635060.315 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-21T19:31:00.316Z,1579635060.316 [DefaultUnder:Default:Surface:run:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-21T19:31:00.316Z,1579635060.316 [DefaultUnder:Default:Surface:run:A] Running Loop=1
2020-01-21T19:31:00.809Z,1579635060.809 [DefaultUnder:Default:Surface] Stopped
2020-01-21T19:31:00.809Z,1579635060.809 [DefaultUnder:Default:Surface](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Surface
2020-01-21T19:31:00.809Z,1579635060.809 [DefaultUnder:Default:Surface:run] Stopped
2020-01-21T19:31:00.810Z,1579635060.810 [DefaultUnder:Default:Surface:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Surface:run
2020-01-21T19:31:00.810Z,1579635060.810 [DefaultUnder:Default:Surface:run:A] Stopped
2020-01-21T19:31:00.810Z,1579635060.810 [DefaultUnder:Default:Surface:run:B.GoToSurface] Stopped
2020-01-21T19:31:00.810Z,1579635060.810 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-21T19:31:00.810Z,1579635060.810 [DefaultUnder:Default:Home] Stopped
2020-01-21T19:31:00.810Z,1579635060.810 [DefaultUnder:Default:Home](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Home
2020-01-21T19:31:00.810Z,1579635060.810 [DefaultUnder:Default:Home:run] Stopped
2020-01-21T19:31:00.810Z,1579635060.810 [DefaultUnder:Default:Home:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Home:run
2020-01-21T19:31:00.810Z,1579635060.810 [DefaultUnder:Default:Home:run:A] Stopped
2020-01-21T19:31:00.810Z,1579635060.810 [DefaultUnder:Default:Docked] Running Loop=1
2020-01-21T19:31:00.810Z,1579635060.810 [DefaultUnder:Default:Docked:run:A] Stopped
2020-01-21T19:31:00.810Z,1579635060.810 [DefaultUnder:Default:Docked:run:B.Docked] Running Loop=1
2020-01-21T19:31:00.811Z,1579635060.811 [DefaultUnder:Default:Docked:run:B.Docked](DEBUG): Initialize.
2020-01-21T19:31:00.811Z,1579635060.811 [DefaultUnder:Default:Docked:run:B.Docked](INFO): Depth unspecified. Maintaining workSite beacon depth of 6.000000 m.
2020-01-21T19:31:02.466Z,1579635062.466 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-21T19:31:02.894Z,1579635062.894 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-21T19:31:03.222Z,1579635063.222 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-21T19:31:03.678Z,1579635063.678 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-21T19:31:04.090Z,1579635064.090 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-21T19:31:04.498Z,1579635064.498 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-21T19:31:04.882Z,1579635064.882 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-21T19:31:05.278Z,1579635065.278 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-21T19:31:05.682Z,1579635065.682 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-21T19:31:06.098Z,1579635066.098 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-21T19:31:06.527Z,1579635066.527 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-21T19:31:06.898Z,1579635066.898 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-21T19:31:07.301Z,1579635067.301 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-21T19:31:07.710Z,1579635067.710 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-21T19:31:08.090Z,1579635068.090 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-21T19:31:08.515Z,1579635068.515 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-21T19:31:08.928Z,1579635068.928 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-21T19:31:09.304Z,1579635069.304 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-21T19:31:09.373Z,1579635069.373 [CommandLine](IMPORTANT): got command report clear
2020-01-21T19:31:14.847Z,1579635074.847 [CommandLine](IMPORTANT): got command report touch acoustic_contact_range
2020-01-21T19:31:24.495Z,1579635084.495 [CommandLine](IMPORTANT): got command maintain sensor Depth_Keller.depth 6.000000 meter
2020-01-21T19:31:24.496Z,1579635084.496 [ComponentRegistry](DEBUG): SyncComponent "Maintain_Depth_Keller.depth" handled in the control thread.
2020-01-21T19:31:24.703Z,1579635084.703 [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_Depth_Keller.depth,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2020-01-21T19:31:31.175Z,1579635091.175 [CommandLine](IMPORTANT): got command get depth
2020-01-21T19:31:31.175Z,1579635091.175 [CommandLine](IMPORTANT): depth 6.000000 m
2020-01-21T19:31:47.220Z,1579635107.220 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-21T19:31:47.984Z,1579635107.984 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-21T19:31:48.397Z,1579635108.397 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-21T19:31:48.893Z,1579635108.893 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-21T19:31:49.210Z,1579635109.210 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193148.95*54

2020-01-21T19:31:55.735Z,1579635115.735 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004432
2020-01-21T19:32:04.501Z,1579635124.501 [DataOverHttps](INFO): Sending 2612 bytes from file Logs/20200121T191722/Courier0004.lzma
2020-01-21T19:32:06.502Z,1579635126.502 [DataOverHttps](INFO): Moved sent file to Logs/20200121T191722/Courier0004.lzma.bak
2020-01-21T19:32:06.503Z,1579635126.503 [DataOverHttps](INFO): SBD MOMSN=12197889
2020-01-21T19:32:24.490Z,1579635144.490 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2020-01-21T19:32:24.490Z,1579635144.490 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-21T19:32:24.537Z,1579635144.537 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-21T19:32:24.903Z,1579635144.903 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-21T19:32:24.904Z,1579635144.904 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2020-01-21T19:32:28.958Z,1579635148.958 [DataOverHttps](INFO): Sending 1345 bytes from file Logs/20200121T191722/Courier0007.lzma
2020-01-21T19:32:30.962Z,1579635150.962 [DataOverHttps](INFO): Moved sent file to Logs/20200121T191722/Courier0007.lzma.bak
2020-01-21T19:32:30.962Z,1579635150.962 [DataOverHttps](INFO): SBD MOMSN=12197891
2020-01-21T19:32:49.323Z,1579635169.323 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-21T19:32:49.884Z,1579635169.884 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-21T19:32:50.285Z,1579635170.285 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-21T19:32:50.817Z,1579635170.817 [Reporter](INFO): acoustic_contact_range 0.360000 m
2020-01-21T19:32:51.110Z,1579635171.110 [Micromodem](INFO): Nmea in: $SNTTA,0.305764,,,,193250.85*42

2020-01-21T19:32:55.024Z,1579635175.024 [DataOverHttps](INFO): Sending 181 bytes from file Logs/20200121T192914/Courier0000.lzma
2020-01-21T19:32:57.037Z,1579635177.037 [DataOverHttps](INFO): Moved sent file to Logs/20200121T192914/Courier0000.lzma.bak
2020-01-21T19:32:57.037Z,1579635177.037 [DataOverHttps](INFO): SBD MOMSN=12197893
2020-01-21T19:33:17.841Z,1579635197.842 [DataOverHttps](INFO): Sending 737 bytes from file Logs/20200121T191722/Express0005.lzma
2020-01-21T19:33:19.846Z,1579635199.846 [DataOverHttps](INFO): Moved sent file to Logs/20200121T191722/Express0005.lzma.bak
2020-01-21T19:33:19.847Z,1579635199.847 [DataOverHttps](INFO): SBD MOMSN=12197896
2020-01-21T19:33:30.473Z,1579635210.473 [BuoyancyServo](FAULT): Reading outside of valid range:0.000000

2020-01-21T19:33:30.473Z,1579635210.473 [BuoyancyServo](FAULT): Buoyancy engine reporting null position
2020-01-21T19:33:30.473Z,1579635210.473 [BuoyancyServo] Hardware Fault, FailCount= 1
2020-01-21T19:33:30.473Z,1579635210.473 [BuoyancyServo](ERROR): Hardware Fault
2020-01-21T19:33:30.478Z,1579635210.478 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo
2020-01-21T19:33:32.349Z,1579635212.349 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2020-01-21T19:33:32.349Z,1579635212.349 [BuoyancyServo](INFO): Powering down
2020-01-21T19:33:33.179Z,1579635213.179 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2020-01-21T19:33:33.179Z,1579635213.179 [BuoyancyServo] No Fault, FailCount= 1
2020-01-21T19:33:33.566Z,1579635213.566 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2020-01-21T19:33:33.567Z,1579635213.567 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2020-01-21T19:33:34.380Z,1579635214.380 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-01-21T19:33:34.380Z,1579635214.380 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-3278,V
2020-01-21T19:33:41.160Z,1579635221.160 [DataOverHttps](INFO): Sending 18 bytes from file Logs/20200121T191722/Express0008.lzma
2020-01-21T19:33:43.166Z,1579635223.166 [DataOverHttps](INFO): Moved sent file to Logs/20200121T191722/Express0008.lzma.bak
2020-01-21T19:33:43.167Z,1579635223.167 [DataOverHttps](INFO): SBD MOMSN=12197926
2020-01-21T19:33:50.943Z,1579635230.943 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-21T19:33:51.711Z,1579635231.711 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-21T19:33:52.113Z,1579635232.113 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-21T19:33:52.643Z,1579635232.643 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-21T19:33:52.938Z,1579635232.938 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193352.68*5F

2020-01-21T19:34:02.786Z,1579635242.786 [DataOverHttps](INFO): Sending 857 bytes from file Logs/20200121T192914/Express0001.lzma
2020-01-21T19:34:04.790Z,1579635244.790 [DataOverHttps](INFO): Moved sent file to Logs/20200121T192914/Express0001.lzma.bak
2020-01-21T19:34:04.790Z,1579635244.790 [DataOverHttps](INFO): SBD MOMSN=12197928
2020-01-21T19:34:06.275Z,1579635246.275 [DefaultUnder:uModemComms:CheckIn:A] Stopped
2020-01-21T19:34:06.275Z,1579635246.275 [DefaultUnder:uModemComms:CheckIn](INFO): Completed DefaultUnder:uModemComms:CheckIn
2020-01-21T19:34:06.275Z,1579635246.275 [DefaultUnder:uModemComms:CheckIn] Stopped
2020-01-21T19:34:06.275Z,1579635246.275 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::uninitialize DefaultUnder:uModemComms:CheckIn
2020-01-21T19:34:14.380Z,1579635254.380 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-01-21T19:34:14.380Z,1579635254.380 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +0.00,     ,        +0.00,   0.00,250.00
2020-01-21T19:34:52.772Z,1579635292.772 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-21T19:34:53.522Z,1579635293.522 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-21T19:34:53.935Z,1579635293.935 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-21T19:34:54.424Z,1579635294.424 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-21T19:34:54.742Z,1579635294.742 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193454.49*5D

2020-01-21T19:35:05.639Z,1579635305.639 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2020-01-21T19:35:25.494Z,1579635325.494 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2020-01-21T19:35:25.494Z,1579635325.494 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-21T19:35:25.579Z,1579635325.579 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-21T19:35:25.953Z,1579635325.953 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-21T19:35:25.953Z,1579635325.953 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2020-01-21T19:35:41.650Z,1579635341.650 [RDI_Pathfinder](ERROR): Failed to parse:
:SA,   +0.00,   +0.00,  0.00
2020-01-21T19:35:47.285Z,1579635347.285 [DefaultUnder:Notify:A:A:A.Wait](INFO): Done Waiting.
2020-01-21T19:35:47.285Z,1579635347.285 [DefaultUnder:Notify:A:A:A.Wait] Stopped
2020-01-21T19:35:47.285Z,1579635347.285 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-21T19:35:47.286Z,1579635347.286 [DefaultUnder:Notify:A:A:B] Running Loop=1
2020-01-21T19:35:47.708Z,1579635347.708 [DefaultUnder:Notify:A:A:B] Stopped
2020-01-21T19:35:47.708Z,1579635347.708 [DefaultUnder:Notify:A:A:C] Running Loop=1
2020-01-21T19:35:48.108Z,1579635348.108 [DefaultUnder:Notify:A:A:C](IMPORTANT): Default mission has been running for 5.012082 min 
2020-01-21T19:35:48.108Z,1579635348.108 [DefaultUnder:Notify:A:A:C] Stopped
2020-01-21T19:35:48.109Z,1579635348.109 [DefaultUnder:Notify:A:A](INFO): Completed DefaultUnder:Notify:A:A
2020-01-21T19:35:48.109Z,1579635348.109 [DefaultUnder:Notify:A:A] Stopped
2020-01-21T19:35:48.109Z,1579635348.109 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A:A
2020-01-21T19:35:48.109Z,1579635348.109 [DefaultUnder:Notify:A:A](INFO): Running loop #2
2020-01-21T19:35:48.109Z,1579635348.109 [DefaultUnder:Notify:A:A] Running Loop=2
2020-01-21T19:35:48.110Z,1579635348.110 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A:A
2020-01-21T19:35:48.110Z,1579635348.110 [DefaultUnder:Notify:A:A:A.Wait] Running Loop=1
2020-01-21T19:35:48.110Z,1579635348.110 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Initialize Wait Component.
2020-01-21T19:35:54.589Z,1579635354.589 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-21T19:35:55.336Z,1579635355.336 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-21T19:35:55.737Z,1579635355.737 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-21T19:35:56.210Z,1579635356.210 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-21T19:35:56.562Z,1579635356.562 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193556.30*50

2020-01-21T19:36:14.754Z,1579635374.754 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2020-01-21T19:36:18.501Z,1579635378.501 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2020-01-21T19:36:18.533Z,1579635378.533 [Radio_Surface](INFO): Powering down
2020-01-21T19:36:20.426Z,1579635380.426 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-21T19:36:20.426Z,1579635380.426 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2020-01-21T19:36:52.752Z,1579635412.752 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2020-01-21T19:36:52.755Z,1579635412.755 [BPC1](INFO): Received data from all battery sticks.
2020-01-21T19:36:56.397Z,1579635416.397 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-21T19:36:57.154Z,1579635417.154 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-21T19:36:57.553Z,1579635417.553 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-21T19:36:58.003Z,1579635418.003 [Reporter](INFO): acoustic_contact_range 0.360000 m
2020-01-21T19:36:58.386Z,1579635418.386 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193658.12*5D

2020-01-21T19:37:05.705Z,1579635425.705 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.254597
2020-01-21T19:37:06.059Z,1579635426.059 [DefaultUnder:uModemComms:CheckIn] Running Loop=1
2020-01-21T19:37:06.059Z,1579635426.059 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::initialize DefaultUnder:uModemComms:CheckIn
2020-01-21T19:37:06.059Z,1579635426.059 [DefaultUnder:uModemComms:CheckIn:A] Running Loop=1
2020-01-21T19:37:08.805Z,1579635428.805 [CommandLine](IMPORTANT): got command quit
2020-01-21T19:37:09.809Z,1579635429.809 [Supervisor](INFO): Stop Mission called by Supervisor::terminate
2020-01-21T19:37:09.811Z,1579635429.811 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-21T19:37:09.811Z,1579635429.811 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-21T19:37:09.989Z,1579635429.989 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2020-01-21T19:37:09.989Z,1579635429.989 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-21T19:37:09.990Z,1579635429.990 [CommandLine](INFO): Join timeout helper Thread ID is 6686
2020-01-21T19:37:09.990Z,1579635429.990 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2020-01-21T19:37:09.990Z,1579635429.990 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-21T19:37:09.991Z,1579635429.991 [NavChartDb](INFO): Join timeout helper Thread ID is 6687
2020-01-21T19:37:10.233Z,1579635430.233 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-21T19:37:10.233Z,1579635430.233 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-21T19:37:10.250Z,1579635430.250 [ComponentRegistry](INFO): Shutting down WetLabsSeaOWL_UV_A ThreadHandler
2020-01-21T19:37:10.250Z,1579635430.250 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-21T19:37:10.250Z,1579635430.250 [WetLabsSeaOWL_UV_A](INFO): Join timeout helper Thread ID is 6688
2020-01-21T19:37:10.301Z,1579635430.301 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-21T19:37:10.301Z,1579635430.301 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-01-21T19:37:10.302Z,1579635430.302 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-21T19:37:10.309Z,1579635430.309 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2020-01-21T19:37:10.309Z,1579635430.309 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-21T19:37:10.309Z,1579635430.309 [CTD_NeilBrown](INFO): Join timeout helper Thread ID is 6689
2020-01-21T19:37:10.505Z,1579635430.505 [CTD_NeilBrown ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-21T19:37:10.505Z,1579635430.505 [CTD_NeilBrown](INFO): Powering down
2020-01-21T19:37:10.517Z,1579635430.517 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-21T19:37:10.525Z,1579635430.525 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2020-01-21T19:37:10.525Z,1579635430.525 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-01-21T19:37:10.525Z,1579635430.525 [Radio_Surface](INFO): Join timeout helper Thread ID is 6690
2020-01-21T19:37:10.649Z,1579635430.649 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-21T19:37:10.650Z,1579635430.650 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-01-21T19:37:10.666Z,1579635430.666 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2020-01-21T19:37:10.666Z,1579635430.666 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-21T19:37:10.666Z,1579635430.666 [DataOverHttps](INFO): Join timeout helper Thread ID is 6691
2020-01-21T19:37:10.741Z,1579635430.741 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-21T19:37:10.741Z,1579635430.741 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-21T19:37:10.746Z,1579635430.746 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2020-01-21T19:37:10.746Z,1579635430.746 [logger ThreadHandler](INFO): Thread cancelled.
2020-01-21T19:37:10.746Z,1579635430.746 [logger](INFO): Join timeout helper Thread ID is 6692
2020-01-21T19:37:10.747Z,1579635430.747 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-21T19:37:10.747Z,1579635430.747 [logger ThreadHandler](INFO): Thread cancelled.
2020-01-21T19:37:10.765Z,1579635430.765 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2020-01-21T19:37:10.766Z,1579635430.766 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-21T19:37:10.766Z,1579635430.766 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2020-01-21T19:37:10.766Z,1579635430.766 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-01-21T19:37:10.766Z,1579635430.766 [controlThread](INFO): Join timeout helper Thread ID is 6693
2020-01-21T19:37:11.029Z,1579635431.029 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-21T19:37:11.029Z,1579635431.029 [controlThread](DEBUG): Uninitializing ControlThread
2020-01-21T19:37:11.030Z,1579635431.030 [AHRS_M2](INFO): Powering down
2020-01-21T19:37:11.101Z,1579635431.101 [DDM](INFO): Powering down
2020-01-21T19:37:11.194Z,1579635431.194 [DUSBL_Hydroid](INFO): Powering down
2020-01-21T19:37:11.265Z,1579635431.265 [Micromodem](INFO): Powering down
2020-01-21T19:37:11.361Z,1579635431.361 [NAL9602](INFO): Powering down
2020-01-21T19:37:11.433Z,1579635431.433 [RDI_Pathfinder](INFO): Powering down
2020-01-21T19:37:11.435Z,1579635431.435 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2020-01-21T19:37:11.435Z,1579635431.435 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2020-01-21T19:37:11.436Z,1579635431.436 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2020-01-21T19:37:11.436Z,1579635431.436 [MissionManager](INFO): Uninitializing Mission DefaultUnder
2020-01-21T19:37:11.436Z,1579635431.436 [DefaultUnder] Stopped
2020-01-21T19:37:11.436Z,1579635431.436 [DefaultUnder](DEBUG): Aggregate::uninitialize DefaultUnder
2020-01-21T19:37:11.437Z,1579635431.437 [DefaultUnder:uModemComms] Stopped
2020-01-21T19:37:11.437Z,1579635431.437 [DefaultUnder:uModemComms](DEBUG): Aggregate::uninitialize DefaultUnder:uModemComms
2020-01-21T19:37:11.437Z,1579635431.437 [DefaultUnder:uModemComms:CheckIn] Stopped
2020-01-21T19:37:11.437Z,1579635431.437 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::uninitialize DefaultUnder:uModemComms:CheckIn
2020-01-21T19:37:11.437Z,1579635431.437 [DefaultUnder:uModemComms:CheckIn:A] Stopped
2020-01-21T19:37:11.437Z,1579635431.437 [DefaultUnder:Notify] Stopped
2020-01-21T19:37:11.437Z,1579635431.437 [DefaultUnder:Notify](DEBUG): Aggregate::uninitialize DefaultUnder:Notify
2020-01-21T19:37:11.437Z,1579635431.437 [DefaultUnder:Notify:A] Stopped
2020-01-21T19:37:11.437Z,1579635431.437 [DefaultUnder:Notify:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A
2020-01-21T19:37:11.437Z,1579635431.437 [DefaultUnder:Notify:A:A] Stopped
2020-01-21T19:37:11.437Z,1579635431.437 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A:A
2020-01-21T19:37:11.438Z,1579635431.438 [DefaultUnder:Notify:A:A:A.Wait] Stopped
2020-01-21T19:37:11.438Z,1579635431.438 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-21T19:37:11.438Z,1579635431.438 [DefaultUnder:C.] Stopped
2020-01-21T19:37:11.438Z,1579635431.438 [DefaultUnder:Default] Stopped
2020-01-21T19:37:11.438Z,1579635431.438 [DefaultUnder:Default](DEBUG): Aggregate::uninitialize DefaultUnder:Default
2020-01-21T19:37:11.438Z,1579635431.438 [DefaultUnder:Default:Docked] Stopped
2020-01-21T19:37:11.438Z,1579635431.438 [DefaultUnder:Default:Docked](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Docked
2020-01-21T19:37:11.438Z,1579635431.438 [DefaultUnder:Default:Docked:run] Stopped
2020-01-21T19:37:11.438Z,1579635431.438 [DefaultUnder:Default:Docked:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Docked:run
2020-01-21T19:37:11.438Z,1579635431.438 [DefaultUnder:Default:Docked:run:B.Docked] Stopped
2020-01-21T19:37:11.466Z,1579635431.466 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2020-01-21T19:37:11.466Z,1579635431.466 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2020-01-21T19:37:11.466Z,1579635431.466 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2020-01-21T19:37:11.466Z,1579635431.466 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2020-01-21T19:37:11.467Z,1579635431.467 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2020-01-21T19:37:11.467Z,1579635431.467 [BuoyancyServo](INFO): Powering down
2020-01-21T19:37:11.481Z,1579635431.481 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2020-01-21T19:37:11.481Z,1579635431.481 [ElevatorServo](INFO): Powering down
2020-01-21T19:37:11.482Z,1579635431.482 [MassServo](DEBUG): Uninitialize Mass Servo.
2020-01-21T19:37:11.482Z,1579635431.482 [MassServo](INFO): Powering down
2020-01-21T19:37:11.483Z,1579635431.483 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-01-21T19:37:11.483Z,1579635431.483 [RudderServo](INFO): Powering down
2020-01-21T19:37:11.483Z,1579635431.483 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2020-01-21T19:37:11.483Z,1579635431.483 [ThrusterServo](INFO): Powering down
2020-01-21T19:37:11.484Z,1579635431.484 [SBIT](DEBUG): Uninitialize SBIT Component.
2020-01-21T19:37:11.484Z,1579635431.484 [IBIT](DEBUG): Uninitialize IBIT Component.
2020-01-21T19:37:11.485Z,1579635431.485 [CBIT](DEBUG): Uninitialize CBIT Component.
2020-01-21T19:37:11.485Z,1579635431.485 [CBIT](DEBUG): Powering off loads.
2020-01-21T19:37:11.497Z,1579635431.497 [CBIT](DEBUG): Disabling WDT.
2020-01-21T19:37:11.509Z,1579635431.509 [CBIT](DEBUG): Opening all GF detection circuits.
2020-01-21T19:37:11.510Z,1579635431.510 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-01-21T19:37:11.569Z,1579635431.569 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-01-21T19:37:11.579Z,1579635431.579 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-21T19:37:11.621Z,1579635431.621 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-21T19:37:11.624Z,1579635431.624 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-21T19:37:11.681Z,1579635431.681 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-21T19:37:11.742Z,1579635431.742 [logger ThreadHandler](INFO): Thread cancelled.