2020-01-21T21:16:43.956Z,1579641403.956 [Supervisor](DEBUG): Initializing supervisor.
2020-01-21T21:16:43.959Z,1579641403.959 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2020-01-21T21:16:43.959Z,1579641403.959 [SyncHandler](INFO): Protected caller Thread ID is 3637
2020-01-21T21:16:43.960Z,1579641403.960 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2020-01-21T21:16:43.961Z,1579641403.961 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2020-01-21T21:16:43.961Z,1579641403.961 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 3638
2020-01-21T21:16:43.964Z,1579641403.964 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2020-01-21T21:16:43.977Z,1579641403.977 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2020-01-21T21:16:43.978Z,1579641403.978 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2020-01-21T21:16:43.978Z,1579641403.978 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 3639
2020-01-21T21:16:43.979Z,1579641403.979 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2020-01-21T21:16:43.980Z,1579641403.980 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2020-01-21T21:16:43.980Z,1579641403.980 [logger ThreadHandler](INFO): Protected caller Thread ID is 3640
2020-01-21T21:16:43.982Z,1579641403.982 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2020-01-21T21:16:43.982Z,1579641403.982 [Supervisor](INFO): Looking for Config files in directory: Config/
2020-01-21T21:16:43.984Z,1579641403.984 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2020-01-21T21:16:44.413Z,1579641404.413 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2020-01-21T21:16:44.414Z,1579641404.414 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2020-01-21T21:16:44.512Z,1579641404.512 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2020-01-21T21:16:44.512Z,1579641404.512 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2020-01-21T21:16:44.822Z,1579641404.822 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2020-01-21T21:16:44.823Z,1579641404.823 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2020-01-21T21:16:44.960Z,1579641404.960 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2020-01-21T21:16:44.960Z,1579641404.960 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2020-01-21T21:16:45.150Z,1579641405.150 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2020-01-21T21:16:45.150Z,1579641405.150 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2020-01-21T21:16:45.587Z,1579641405.587 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2020-01-21T21:16:45.587Z,1579641405.587 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2020-01-21T21:16:45.794Z,1579641405.794 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2020-01-21T21:16:45.794Z,1579641405.794 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2020-01-21T21:16:45.937Z,1579641405.937 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2020-01-21T21:16:45.938Z,1579641405.938 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2020-01-21T21:16:46.126Z,1579641406.126 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2020-01-21T21:16:46.126Z,1579641406.126 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2020-01-21T21:16:46.222Z,1579641406.222 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2020-01-21T21:16:46.222Z,1579641406.222 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2020-01-21T21:16:46.517Z,1579641406.517 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2020-01-21T21:16:46.518Z,1579641406.518 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2020-01-21T21:16:46.598Z,1579641406.598 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2020-01-21T21:16:46.701Z,1579641406.701 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2020-01-21T21:16:46.701Z,1579641406.701 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2020-01-21T21:16:47.328Z,1579641407.328 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2020-01-21T21:16:47.329Z,1579641407.329 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2020-01-21T21:16:47.730Z,1579641407.730 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2020-01-21T21:16:47.732Z,1579641407.732 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/
2020-01-21T21:16:47.733Z,1579641407.733 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/vehicle.cfg
2020-01-21T21:16:47.943Z,1579641407.943 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Control.cfg
2020-01-21T21:16:48.044Z,1579641408.044 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/BIT.cfg
2020-01-21T21:16:48.144Z,1579641408.144 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Battery.cfg
2020-01-21T21:16:48.368Z,1579641408.368 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2020-01-21T21:16:48.369Z,1579641408.369 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Simulator.cfg
2020-01-21T21:16:48.454Z,1579641408.454 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Navigation.cfg
2020-01-21T21:16:48.548Z,1579641408.548 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/logger.cfg
2020-01-21T21:16:48.733Z,1579641408.733 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/secure.cfg
2020-01-21T21:16:48.911Z,1579641408.911 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Servo.cfg
2020-01-21T21:16:49.255Z,1579641409.255 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/workSite.cfg
2020-01-21T21:16:49.462Z,1579641409.462 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Sensor.cfg
2020-01-21T21:16:49.782Z,1579641409.782 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Science.cfg
2020-01-21T21:16:49.913Z,1579641409.913 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/root/
2020-01-21T21:16:49.913Z,1579641409.913 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2020-01-21T21:16:49.921Z,1579641409.921 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2020-01-21T21:16:50.187Z,1579641410.187 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_orientation
2020-01-21T21:16:50.192Z,1579641410.192 [AHRS_M2](INFO): created writer for : platform_orientation
2020-01-21T21:16:50.194Z,1579641410.194 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_magnetic_orientation
2020-01-21T21:16:50.199Z,1579641410.199 [AHRS_M2](INFO): created writer for : platform_magnetic_orientation
2020-01-21T21:16:50.199Z,1579641410.199 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_pitch_angle
2020-01-21T21:16:50.204Z,1579641410.204 [AHRS_M2](INFO): created writer for : platform_pitch_angle
2020-01-21T21:16:50.205Z,1579641410.205 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_roll_angle
2020-01-21T21:16:50.210Z,1579641410.210 [AHRS_M2](INFO): created writer for : platform_roll_angle
2020-01-21T21:16:50.277Z,1579641410.277 [AHRS_M2] Loaded
2020-01-21T21:16:50.277Z,1579641410.277 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2020-01-21T21:16:50.365Z,1579641410.365 [DataOverHttps] Loaded
2020-01-21T21:16:50.365Z,1579641410.365 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2020-01-21T21:16:50.366Z,1579641410.366 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 407684E0
2020-01-21T21:16:50.366Z,1579641410.366 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 3722
2020-01-21T21:16:50.389Z,1579641410.389 [DDM] Loaded
2020-01-21T21:16:50.390Z,1579641410.390 [ComponentRegistry](DEBUG): SyncComponent "DDM" handled in the control thread.
2020-01-21T21:16:50.402Z,1579641410.402 [Depth_Keller] Loaded
2020-01-21T21:16:50.403Z,1579641410.403 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2020-01-21T21:16:50.407Z,1579641410.407 [DropWeight] Loaded
2020-01-21T21:16:50.407Z,1579641410.407 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2020-01-21T21:16:50.465Z,1579641410.465 [DUSBL_Hydroid] Loaded
2020-01-21T21:16:50.466Z,1579641410.466 [ComponentRegistry](DEBUG): SyncComponent "DUSBL_Hydroid" handled in the control thread.
2020-01-21T21:16:50.510Z,1579641410.510 [Micromodem] Loaded
2020-01-21T21:16:50.510Z,1579641410.510 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2020-01-21T21:16:50.602Z,1579641410.602 [NAL9602] Loaded
2020-01-21T21:16:50.602Z,1579641410.602 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2020-01-21T21:16:50.637Z,1579641410.637 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/voltage_now
2020-01-21T21:16:50.638Z,1579641410.638 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/current_now
2020-01-21T21:16:50.638Z,1579641410.638 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/charge_now
2020-01-21T21:16:50.639Z,1579641410.639 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/charge_full
2020-01-21T21:16:50.639Z,1579641410.639 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/voltage_now
2020-01-21T21:16:50.640Z,1579641410.640 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/current_now
2020-01-21T21:16:50.640Z,1579641410.640 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/charge_now
2020-01-21T21:16:50.641Z,1579641410.641 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/charge_full
2020-01-21T21:16:50.641Z,1579641410.641 [Onboard] Loaded
2020-01-21T21:16:50.641Z,1579641410.641 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2020-01-21T21:16:50.647Z,1579641410.647 [PowerOnly] Loaded
2020-01-21T21:16:50.647Z,1579641410.647 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2020-01-21T21:16:50.653Z,1579641410.653 [Radio_Surface] Loaded
2020-01-21T21:16:50.653Z,1579641410.653 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2020-01-21T21:16:50.654Z,1579641410.654 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 407984E0
2020-01-21T21:16:50.655Z,1579641410.655 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 3723
2020-01-21T21:16:50.696Z,1579641410.696 [RDI_Pathfinder] Loaded
2020-01-21T21:16:50.696Z,1579641410.696 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2020-01-21T21:16:52.080Z,1579641412.080 [BPC1] Loaded
2020-01-21T21:16:52.081Z,1579641412.081 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2020-01-21T21:16:52.081Z,1579641412.081 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2020-01-21T21:16:52.082Z,1579641412.082 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2020-01-21T21:16:52.094Z,1579641412.094 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2020-01-21T21:16:52.095Z,1579641412.095 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2020-01-21T21:16:52.194Z,1579641412.194 [DeadReckonUsingMultipleVelocitySources] Loaded
2020-01-21T21:16:52.195Z,1579641412.195 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2020-01-21T21:16:52.214Z,1579641412.214 [NavChart] Loaded
2020-01-21T21:16:52.215Z,1579641412.215 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2020-01-21T21:16:52.218Z,1579641412.218 [UniversalFixResidualReporter] Loaded
2020-01-21T21:16:52.219Z,1579641412.219 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2020-01-21T21:16:52.219Z,1579641412.219 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2020-01-21T21:16:52.220Z,1579641412.220 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2020-01-21T21:16:52.320Z,1579641412.320 [BuoyancyServo] Loaded
2020-01-21T21:16:52.320Z,1579641412.320 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2020-01-21T21:16:52.335Z,1579641412.335 [ElevatorServo] Loaded
2020-01-21T21:16:52.335Z,1579641412.335 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2020-01-21T21:16:52.349Z,1579641412.349 [MassServo] Loaded
2020-01-21T21:16:52.350Z,1579641412.350 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2020-01-21T21:16:52.364Z,1579641412.364 [RudderServo] Loaded
2020-01-21T21:16:52.364Z,1579641412.364 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2020-01-21T21:16:52.379Z,1579641412.379 [ThrusterServo] Loaded
2020-01-21T21:16:52.379Z,1579641412.379 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2020-01-21T21:16:52.379Z,1579641412.379 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2020-01-21T21:16:52.380Z,1579641412.380 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2020-01-21T21:16:52.622Z,1579641412.622 [CTD_NeilBrown] Loaded
2020-01-21T21:16:52.622Z,1579641412.622 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2020-01-21T21:16:52.623Z,1579641412.623 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 408EC4E0
2020-01-21T21:16:52.623Z,1579641412.623 [CTD_NeilBrown ThreadHandler](INFO): Protected caller Thread ID is 3724
2020-01-21T21:16:52.637Z,1579641412.637 [PAR_Licor] Loaded
2020-01-21T21:16:52.638Z,1579641412.638 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2020-01-21T21:16:52.679Z,1579641412.679 [WetLabsSeaOWL_UV_A] Loaded
2020-01-21T21:16:52.679Z,1579641412.679 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2020-01-21T21:16:52.680Z,1579641412.680 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 4091C4E0
2020-01-21T21:16:52.681Z,1579641412.681 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 3725
2020-01-21T21:16:52.681Z,1579641412.681 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2020-01-21T21:16:52.682Z,1579641412.682 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2020-01-21T21:16:52.990Z,1579641412.990 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2020-01-21T21:16:52.990Z,1579641412.990 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2020-01-21T21:16:53.029Z,1579641413.029 [DepthRateCalculator] Loaded
2020-01-21T21:16:53.030Z,1579641413.030 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2020-01-21T21:16:53.035Z,1579641413.035 [PitchRateCalculator] Loaded
2020-01-21T21:16:53.035Z,1579641413.035 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2020-01-21T21:16:53.047Z,1579641413.047 [SpeedCalculator] Loaded
2020-01-21T21:16:53.047Z,1579641413.047 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2020-01-21T21:16:53.068Z,1579641413.068 [TempGradientCalculator] Loaded
2020-01-21T21:16:53.068Z,1579641413.068 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2020-01-21T21:16:53.073Z,1579641413.073 [YawRateCalculator] Loaded
2020-01-21T21:16:53.073Z,1579641413.073 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2020-01-21T21:16:53.113Z,1579641413.113 [ElevatorOffsetCalculator] Loaded
2020-01-21T21:16:53.113Z,1579641413.113 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2020-01-21T21:16:53.114Z,1579641413.114 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2020-01-21T21:16:53.114Z,1579641413.114 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2020-01-21T21:16:53.239Z,1579641413.239 [SBIT](DEBUG): Construct Startup Built In Test.
2020-01-21T21:16:53.260Z,1579641413.260 [SBIT] Loaded
2020-01-21T21:16:53.261Z,1579641413.261 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2020-01-21T21:16:53.261Z,1579641413.261 [IBIT](DEBUG): Construct Initiated Built In Test.
2020-01-21T21:16:53.274Z,1579641413.274 [IBIT] Loaded
2020-01-21T21:16:53.274Z,1579641413.274 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2020-01-21T21:16:53.277Z,1579641413.277 [CBIT](DEBUG): Construct Continuous Built In Test.
2020-01-21T21:16:53.410Z,1579641413.410 [CBIT] Loaded
2020-01-21T21:16:53.410Z,1579641413.410 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2020-01-21T21:16:53.411Z,1579641413.411 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2020-01-21T21:16:53.411Z,1579641413.411 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2020-01-21T21:16:53.488Z,1579641413.488 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2020-01-21T21:16:53.488Z,1579641413.488 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2020-01-21T21:16:53.579Z,1579641413.579 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2020-01-21T21:16:53.579Z,1579641413.579 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2020-01-21T21:16:53.624Z,1579641413.624 [VerticalControl](DEBUG): Construct VerticalControl.
2020-01-21T21:16:53.705Z,1579641413.705 [VerticalControl] Loaded
2020-01-21T21:16:53.706Z,1579641413.706 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2020-01-21T21:16:53.706Z,1579641413.706 [HorizontalControl](DEBUG): Construct HorizontalControl.
2020-01-21T21:16:53.774Z,1579641413.774 [HorizontalControl] Loaded
2020-01-21T21:16:53.774Z,1579641413.774 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2020-01-21T21:16:53.775Z,1579641413.775 [SpeedControl](DEBUG): Construct SpeedControl.
2020-01-21T21:16:53.776Z,1579641413.776 [SpeedControl] Loaded
2020-01-21T21:16:53.777Z,1579641413.777 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2020-01-21T21:16:53.777Z,1579641413.777 [LoopControl](DEBUG): Construct LoopControl.
2020-01-21T21:16:53.778Z,1579641413.778 [LoopControl] Loaded
2020-01-21T21:16:53.778Z,1579641413.778 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2020-01-21T21:16:53.779Z,1579641413.779 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2020-01-21T21:16:53.779Z,1579641413.779 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2020-01-21T21:16:53.936Z,1579641413.936 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2020-01-21T21:16:53.940Z,1579641413.940 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2020-01-21T21:16:53.977Z,1579641413.977 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2020-01-21T21:16:53.983Z,1579641413.983 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2020-01-21T21:16:53.985Z,1579641413.985 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40B034E0
2020-01-21T21:16:53.985Z,1579641413.985 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 3726
2020-01-21T21:16:53.996Z,1579641413.996 [Supervisor](INFO): Main Thread ID is 3636
2020-01-21T21:16:53.997Z,1579641413.997 [Supervisor](DEBUG): Running supervisor.
2020-01-21T21:16:53.997Z,1579641413.997 [CommandLine ThreadHandler](INFO): Handler Thread ID is 3727
2020-01-21T21:16:54.055Z,1579641414.055 [controlThread ThreadHandler](INFO): Handler Thread ID is 3728
2020-01-21T21:16:54.056Z,1579641414.056 [controlThread](DEBUG): Initializing ControlThread
2020-01-21T21:16:54.065Z,1579641414.065 [NavChart](DEBUG): Initialize NavChart Navigation.
2020-01-21T21:16:54.066Z,1579641414.066 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2020-01-21T21:16:54.069Z,1579641414.069 [logger ThreadHandler](INFO): Handler Thread ID is 3729
2020-01-21T21:16:54.085Z,1579641414.085 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2020-01-21T21:16:54.085Z,1579641414.085 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2020-01-21T21:16:54.086Z,1579641414.086 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2020-01-21T21:16:54.086Z,1579641414.086 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2020-01-21T21:16:54.087Z,1579641414.087 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2020-01-21T21:16:54.087Z,1579641414.087 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2020-01-21T21:16:54.088Z,1579641414.088 [SBIT](INFO): Initialize SBIT Component.
2020-01-21T21:16:54.088Z,1579641414.088 [SBIT](IMPORTANT): git: 2019-12-03-59-g5fe9486
2020-01-21T21:16:54.088Z,1579641414.088 [SBIT](INFO): git hash: 5fe9486a96d29e351d9528fb1f5de3b9dfa3514e
2020-01-21T21:16:54.088Z,1579641414.088 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2020-01-21T21:16:54.094Z,1579641414.094 [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
2020-01-21T21:16:54.095Z,1579641414.095 [SBIT](INFO): Beginning SBIT in 39.000000 seconds.
2020-01-21T21:16:54.095Z,1579641414.095 [IBIT](INFO): Initialize IBIT Component.
2020-01-21T21:16:54.096Z,1579641414.096 [CBIT](DEBUG): Initialize CBIT Component.
2020-01-21T21:16:54.101Z,1579641414.101 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 3730
2020-01-21T21:16:54.102Z,1579641414.102 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2020-01-21T21:16:54.109Z,1579641414.109 [CBIT](DEBUG): Initialized mux pins.
2020-01-21T21:16:54.109Z,1579641414.109 [CBIT](DEBUG): Initializing the watchdog timer.
2020-01-21T21:16:54.110Z,1579641414.110 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 3731
2020-01-21T21:16:54.117Z,1579641414.117 [CTD_NeilBrown ThreadHandler](INFO): Handler Thread ID is 3732
2020-01-21T21:16:54.118Z,1579641414.118 [CTD_NeilBrown](INFO): Powering down
2020-01-21T21:16:54.137Z,1579641414.137 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2020-01-21T21:16:54.137Z,1579641414.137 [CBIT](DEBUG): Initializing heartbeat.
2020-01-21T21:16:54.138Z,1579641414.138 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 3733
2020-01-21T21:16:54.139Z,1579641414.139 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-01-21T21:16:54.169Z,1579641414.169 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 3734
2020-01-21T21:16:54.172Z,1579641414.172 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2020-01-21T21:16:54.172Z,1579641414.172 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2020-01-21T21:16:54.172Z,1579641414.172 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2020-01-21T21:16:54.173Z,1579641414.173 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2020-01-21T21:16:54.173Z,1579641414.173 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2020-01-21T21:16:54.173Z,1579641414.173 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2020-01-21T21:16:54.174Z,1579641414.174 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2020-01-21T21:16:54.174Z,1579641414.174 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2020-01-21T21:16:54.174Z,1579641414.174 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2020-01-21T21:16:54.174Z,1579641414.174 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2020-01-21T21:16:54.174Z,1579641414.174 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2020-01-21T21:16:54.174Z,1579641414.174 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2020-01-21T21:16:54.174Z,1579641414.174 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2020-01-21T21:16:54.175Z,1579641414.175 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2020-01-21T21:16:54.175Z,1579641414.175 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2020-01-21T21:16:54.175Z,1579641414.175 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2020-01-21T21:16:54.209Z,1579641414.209 [CBIT](DEBUG): Deactivating GF circuits.
2020-01-21T21:16:54.209Z,1579641414.209 [CBIT](DEBUG): Deactivating emergency mode.
2020-01-21T21:16:54.245Z,1579641414.245 [CBIT](DEBUG): Backplane powered.
2020-01-21T21:16:54.245Z,1579641414.245 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2020-01-21T21:16:54.247Z,1579641414.247 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2020-01-21T21:16:54.248Z,1579641414.248 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2020-01-21T21:16:54.248Z,1579641414.248 [LoopControl](DEBUG): Initialize LoopControlComponent.
2020-01-21T21:16:54.249Z,1579641414.249 [MissionManager](INFO): Loading Mission: Missions/StartupUnder.xml
2020-01-21T21:16:54.254Z,1579641414.254 [MissionManager](ERROR): Top node has no child nodes: Mission
2020-01-21T21:16:54.255Z,1579641414.255 [MissionManager](ERROR): Could not load startup mission.
2020-01-21T21:16:54.255Z,1579641414.255 [MissionManager](INFO): Loading Mission: Missions/DefaultUnder.xml
2020-01-21T21:16:54.321Z,1579641414.321 [CTD_NeilBrown](FAULT): LCB fault: LCB Watchdog Reset. Invalid Command. Hardware Overcurrent Shutdown. Software Overcurrent. Current Limiter Activated.
2020-01-21T21:16:54.321Z,1579641414.321 [CTD_NeilBrown] Hardware Fault, FailCount= 1
2020-01-21T21:16:54.322Z,1579641414.322 [CTD_NeilBrown](ERROR): Hardware Fault
2020-01-21T21:16:54.461Z,1579641414.461 [MissionManager](INFO): DefineArg DefaultUnder.uModemCommsInterval = 5.000000 min
2020-01-21T21:16:54.464Z,1579641414.464 [MissionManager](INFO): DefineArg DefaultUnder.TransponderCode = 2.000000 count
2020-01-21T21:16:54.491Z,1579641414.491 [MissionManager](INFO): DefineArg DefaultUnder.AcousticUpdatePeriod = 60.000000 s
2020-01-21T21:16:54.494Z,1579641414.494 [MissionManager](INFO): DefineArg DefaultUnder.DockingAcousticUpdatePeriod = 2.500000 s
2020-01-21T21:16:54.510Z,1579641414.510 [MissionManager](INFO): DefineArg DefaultUnder.NumberOfPings = 1.000000 count
2020-01-21T21:16:54.513Z,1579641414.513 [Radio_Surface](INFO): Powering up
2020-01-21T21:16:54.516Z,1579641414.516 [MissionManager](INFO): DefineOutput DefaultUnder.TrackingUpdatePeriod = 60.000000 n/a
2020-01-21T21:16:54.555Z,1579641414.555 [MissionManager](INFO): DefineOutput DefaultUnder.Surface = -1.000000 count
2020-01-21T21:16:54.559Z,1579641414.559 [MissionManager](INFO): DefineOutput DefaultUnder.Docked = 0.000000 count
2020-01-21T21:16:54.575Z,1579641414.575 [MissionManager](INFO): DefineOutput DefaultUnder.Home = 1.000000 count
2020-01-21T21:16:54.578Z,1579641414.578 [MissionManager](INFO): DefineOutput DefaultUnder.DefaultMode = 0.000000 n/a
2020-01-21T21:16:54.606Z,1579641414.606 [MissionManager](INFO): DefineOutput DefaultUnder.CaptureMode = -1.000000 count
2020-01-21T21:16:54.609Z,1579641414.609 [MissionManager](INFO): DefineOutput DefaultUnder.ElapsedSinceDefaultStarted = 0.000000 min
2020-01-21T21:16:54.632Z,1579641414.632 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Construct Wait.
2020-01-21T21:16:54.654Z,1579641414.654 [DefaultUnder:Notify:A:C.Execute](DEBUG): Construct Execute.
2020-01-21T21:16:54.852Z,1579641414.852 [MissionManager](INFO): Inserting Stack: Missions/Insert/LineCapture.xml
2020-01-21T21:16:55.384Z,1579641415.384 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockDepth = 6.000000 _
2020-01-21T21:16:55.387Z,1579641415.387 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockLat = 0.642341 _
2020-01-21T21:16:55.399Z,1579641415.399 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockLon = -2.126200 _
2020-01-21T21:16:55.402Z,1579641415.402 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DetachRange = 8.000000 m
2020-01-21T21:16:55.437Z,1579641415.437 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DetachTimeout = 30.000000 min
2020-01-21T21:16:55.441Z,1579641415.441 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MidcourseDepth = 15.000000 m
2020-01-21T21:16:55.444Z,1579641415.444 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MidcourseSpeed = 1.000000 m/s
2020-01-21T21:16:55.455Z,1579641415.455 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MidcourseTimeout = 12.000000 h
2020-01-21T21:16:55.459Z,1579641415.459 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.TerminalRange = 650.000000 m
2020-01-21T21:16:55.490Z,1579641415.490 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.ArmRange = 40.000000 m
2020-01-21T21:16:55.493Z,1579641415.493 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockRange = 2.000000 m
2020-01-21T21:16:55.496Z,1579641415.496 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockTimeout = 60.000000 s
2020-01-21T21:16:55.516Z,1579641415.516 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.RolloutDistance = 250.000000 m
2020-01-21T21:16:55.519Z,1579641415.519 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.UpdateNav = 1 bool
2020-01-21T21:16:55.530Z,1579641415.530 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.AcousticTimeout = 10.000000 min
2020-01-21T21:16:55.542Z,1579641415.542 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.TerminalSpeed = 0.800000 m/s
2020-01-21T21:16:55.545Z,1579641415.545 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.SearchTimeout = 60.000000 min
2020-01-21T21:16:55.548Z,1579641415.548 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.CircleRadius = 300.000000 m
2020-01-21T21:16:55.568Z,1579641415.568 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.CircleMaxError = 100.000000 m
2020-01-21T21:16:55.571Z,1579641415.571 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.CircleTurnToPort = 0 bool
2020-01-21T21:16:55.582Z,1579641415.582 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DepthDeadband = 0.010000 m
2020-01-21T21:16:55.586Z,1579641415.586 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.RudderDeadband = 0.001000 arcdeg
2020-01-21T21:16:55.613Z,1579641415.613 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MinAltitude = 5.000000 m
2020-01-21T21:16:55.616Z,1579641415.616 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MaxDepth = 205.000000 m
2020-01-21T21:16:55.620Z,1579641415.620 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MinOffshore = 500.000000 m
2020-01-21T21:16:55.632Z,1579641415.632 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Depth = 15.000000 n/a
2020-01-21T21:16:55.670Z,1579641415.670 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Speed = 1.000000 n/a
2020-01-21T21:16:55.673Z,1579641415.673 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.DoneTimeout = -1.000000 count
2020-01-21T21:16:55.685Z,1579641415.685 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Done = 0.000000 count
2020-01-21T21:16:55.688Z,1579641415.688 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.DetachFromDock = 1.000000 count
2020-01-21T21:16:55.691Z,1579641415.691 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Midcourse = 2.000000 count
2020-01-21T21:16:55.700Z,1579641415.700 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Terminal = 3.000000 count
2020-01-21T21:16:55.704Z,1579641415.704 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.GuidanceMode = 1.000000 n/a
2020-01-21T21:16:55.728Z,1579641415.728 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.ElapsedRange = 0.000000 min
2020-01-21T21:16:55.731Z,1579641415.731 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.Range = nan m
2020-01-21T21:16:55.749Z,1579641415.749 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2020-01-21T21:16:55.797Z,1579641415.797 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2020-01-21T21:16:55.801Z,1579641415.801 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2020-01-21T21:16:55.804Z,1579641415.804 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2020-01-21T21:16:55.825Z,1579641415.825 [DefaultUnder:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2020-01-21T21:16:55.832Z,1579641415.832 [DefaultUnder:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-01-21T21:16:55.860Z,1579641415.860 [DefaultUnder:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2020-01-21T21:16:55.911Z,1579641415.911 [DefaultUnder:LineCapture:H.Mass](DEBUG): Construct.
2020-01-21T21:16:55.927Z,1579641415.927 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:B.Buoyancy](DEBUG): Construct Buoyancy.
2020-01-21T21:16:55.966Z,1579641415.966 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:C.SetSpeed](DEBUG): Construct.
2020-01-21T21:16:55.969Z,1579641415.969 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:D.Pitch](DEBUG): Construct.
2020-01-21T21:16:55.984Z,1579641415.984 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed](DEBUG): Construct.
2020-01-21T21:16:55.987Z,1579641415.987 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:B.Pitch](DEBUG): Construct.
2020-01-21T21:16:56.031Z,1579641416.031 [DefaultUnder:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2020-01-21T21:16:56.078Z,1579641416.078 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2020-01-21T21:16:56.096Z,1579641416.096 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:G.Circle](DEBUG): Construct.
2020-01-21T21:16:56.187Z,1579641416.187 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2020-01-21T21:16:56.227Z,1579641416.227 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:H.LineCapture](DEBUG): Construct.
2020-01-21T21:16:56.279Z,1579641416.279 [DefaultUnder:LineCapture:K.Wait](DEBUG): Construct Wait.
2020-01-21T21:16:56.282Z,1579641416.282 [DefaultUnder:E.Wait](DEBUG): Construct Wait.
2020-01-21T21:16:56.312Z,1579641416.312 [DefaultUnder:Default:Docked:run:B.Docked](DEBUG): Construct.
2020-01-21T21:16:56.374Z,1579641416.374 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): Construct GoToSurface.
2020-01-21T21:16:56.405Z,1579641416.405 [DefaultUnder:Default:Surface:run:SurfaceComms:Read_Iridium_uModem:A_Timeout:A.Execute](DEBUG): Construct Execute.
2020-01-21T21:16:56.407Z,1579641416.407 [DefaultUnder:Default:Surface:run:SurfaceComms:C.Wait](DEBUG): Construct Wait.
2020-01-21T21:16:56.481Z,1579641416.481 [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>
            <Arg Name="DefaultMode"/><Eq><Arg Name="Docked"/></Eq>
        </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>


2020-01-21T21:16:56.493Z,1579641416.493 [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,
2020-01-21T21:16:56.501Z,1579641416.501 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2020-01-21T21:16:56.534Z,1579641416.534 [DDM](INFO): Powering up
2020-01-21T21:16:56.534Z,1579641416.534 [DDM](DEBUG): Initializing DDM.
2020-01-21T21:16:56.559Z,1579641416.559 [DUSBL_Hydroid](INFO): Powering up
2020-01-21T21:16:56.559Z,1579641416.559 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2020-01-21T21:16:56.738Z,1579641416.738 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2020-01-21T21:16:56.745Z,1579641416.745 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2020-01-21T21:16:56.746Z,1579641416.746 [ElevatorServo](DEBUG): Initializing EZServoServo.
2020-01-21T21:16:56.753Z,1579641416.753 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2020-01-21T21:16:56.754Z,1579641416.754 [MassServo](DEBUG): Initializing EZServoServo.
2020-01-21T21:16:56.761Z,1579641416.761 [MassServo](DEBUG): Initializing MassServo.
2020-01-21T21:16:56.762Z,1579641416.762 [RudderServo](DEBUG): Initializing EZServoServo.
2020-01-21T21:16:56.769Z,1579641416.769 [RudderServo](DEBUG): Initializing RudderServo.
2020-01-21T21:16:56.770Z,1579641416.770 [ThrusterServo](DEBUG): Initializing EZServoServo.
2020-01-21T21:16:56.777Z,1579641416.777 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2020-01-21T21:16:56.783Z,1579641416.783 [CBIT](ERROR): Hardware Fault in component: CTD_NeilBrown
2020-01-21T21:16:56.783Z,1579641416.783 [CBIT](FAULT): Hardware Fault in component: CTD_NeilBrown
2020-01-21T21:16:56.924Z,1579641416.924 [Micromodem](INFO): Powering up
2020-01-21T21:16:56.924Z,1579641416.924 [Micromodem](DEBUG): Initializing Micromodem.
2020-01-21T21:16:57.681Z,1579641417.681 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2020-01-21T21:16:57.681Z,1579641417.681 [RudderServo](FAULT): Rudder failed to initialize
2020-01-21T21:16:57.681Z,1579641417.681 [RudderServo] Communications Fault, FailCount= 1
2020-01-21T21:16:57.681Z,1579641417.681 [RudderServo](ERROR): Communications Fault
2020-01-21T21:16:57.792Z,1579641417.792 [CBIT](ERROR): Communications Fault in component: RudderServo
2020-01-21T21:16:57.994Z,1579641417.994 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-01-21T21:16:57.994Z,1579641417.994 [RudderServo](INFO): Powering down
2020-01-21T21:16:58.691Z,1579641418.691 [RudderServo](DEBUG): Initializing EZServoServo.
2020-01-21T21:16:58.810Z,1579641418.810 [RudderServo](DEBUG): Initializing RudderServo.
2020-01-21T21:16:58.814Z,1579641418.814 [CBIT](INFO): Clearing failed state for component RudderServo
2020-01-21T21:16:58.814Z,1579641418.814 [RudderServo] No Fault, FailCount= 1
2020-01-21T21:17:01.881Z,1579641421.881 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2020-01-21T21:17:02.288Z,1579641422.288 [Micromodem](INFO): Nmea in: $CATMG,2020-01-21T21:17:01.707972Z,RTC,RTC*5A

2020-01-21T21:17:02.288Z,1579641422.288 [Micromodem](ERROR): CFG response from modem unexpected: $CATMG,2020-01-21T21:17:01.707972Z,RTC,RTC*5A

2020-01-21T21:17:02.691Z,1579641422.691 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2020-01-21T21:17:02.691Z,1579641422.691 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2020-01-21T21:17:03.091Z,1579641423.091 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2020-01-21T21:17:03.091Z,1579641423.091 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2020-01-21T21:17:03.499Z,1579641423.499 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2020-01-21T21:17:03.500Z,1579641423.500 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2020-01-21T21:17:03.899Z,1579641423.899 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2020-01-21T21:17:03.900Z,1579641423.900 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2020-01-21T21:17:04.307Z,1579641424.307 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2020-01-21T21:17:04.307Z,1579641424.307 [Micromodem](INFO): Nmea out: $CCCFG,FC0,10000*46

2020-01-21T21:17:04.707Z,1579641424.707 [Micromodem](INFO): Nmea in: $CACFG,FC0,10000*44

2020-01-21T21:17:04.707Z,1579641424.707 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2020-01-21T21:17:05.131Z,1579641425.131 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2020-01-21T21:17:05.131Z,1579641425.131 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2020-01-21T21:17:05.503Z,1579641425.503 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2020-01-21T21:17:05.504Z,1579641425.504 [Micromodem](INFO): Nmea out: $CCCLK,2020,01,21,21,17,06*45

2020-01-21T21:17:05.919Z,1579641425.919 [Micromodem](INFO): Nmea in: $CACLK,2020,1,21,21,17,6*47

2020-01-21T21:17:06.296Z,1579641426.296 [Micromodem](INFO): Nmea in: $CATMS,0,2020-01-21T21:17:07Z*76

2020-01-21T21:17:06.302Z,1579641426.302 [Micromodem](INFO): Nmea in: $CATMG,2020-01-21T21:17:07.028537Z,USER_CMD,RTC*1A

2020-01-21T21:17:07.115Z,1579641427.115 [DDM](INFO): Dynamic Docking Module:‚	
2020-01-21T21:17:10.355Z,1579641430.355 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2020-01-21T21:17:11.494Z,1579641431.494 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004415
2020-01-21T21:17:12.371Z,1579641432.371 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-21T21:17:12.371Z,1579641432.371 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2020-01-21T21:17:14.370Z,1579641434.370 [DUSBL_Hydroid](INFO): DUSBL Version:O
2020-01-21T21:17:20.837Z,1579641440.837 [NAL9602](INFO): Powering up NAL9602
2020-01-21T21:17:31.751Z,1579641451.751 [NAL9602](INFO): NAL9602 initialized
2020-01-21T21:17:32.602Z,1579641452.602 [CommandLine](IMPORTANT): got command configSet Radio_Surface.loadAtStartup 0.000000 bool persist
2020-01-21T21:17:32.602Z,1579641452.602 [CommandLine](IMPORTANT): configSet Radio_Surface.loadAtStartup requires a restart to take effect.
2020-01-21T21:17:33.431Z,1579641453.431 [SBIT](IMPORTANT): Beginning Startup BIT
2020-01-21T21:17:33.443Z,1579641453.443 [CBIT](IMPORTANT): Beginning ground fault scan
2020-01-21T21:17:44.634Z,1579641464.634 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.020647
CHAN A1 (24V): -0.028887
CHAN A2 (12V): -0.007070
CHAN A3 (5V): -0.002377
CHAN B0 (3.3V): 0.000352
CHAN B1 (3.15aV): 0.000143
CHAN B2 (3.15bV): 0.000272
CHAN B3 (GND): 0.002081
OPEN: 0.005292
Full Scale Calc: 4.765 mA, -1.589 mA
2020-01-21T21:17:52.002Z,1579641472.002 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-01-21T21:17:52.002Z,1579641472.002 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-32768V
2020-01-21T21:18:17.177Z,1579641497.177 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-01-21T21:18:17.177Z,1579641497.177 [RDI_Pathfinder](ERROR): Failed to parse::BS,-32768,-3268,V
2020-01-21T21:18:26.868Z,1579641506.868 [SBIT](IMPORTANT): SBIT PASSED
2020-01-21T21:18:26.868Z,1579641506.868 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2020-01-21T21:18:26.873Z,1579641506.873 [SBIT](IMPORTANT): DDM.verbosity=3 count;

2020-01-21T21:18:26.873Z,1579641506.873 [SBIT](IMPORTANT): DUSBL_Hydroid.detectionThreshold=30 count;

2020-01-21T21:18:26.873Z,1579641506.873 [SBIT](IMPORTANT): Micromodem.pwrampTXLevel=0 enum;

2020-01-21T21:18:26.873Z,1579641506.873 [SBIT](IMPORTANT): Micromodem.sendExpress=1 bool;

2020-01-21T21:18:26.874Z,1579641506.874 [SBIT](IMPORTANT): Micromodem.surfaceThreshold=0 meter;

2020-01-21T21:18:26.874Z,1579641506.874 [SBIT](IMPORTANT): Radio_Surface.loadAtStartup=0 bool;

2020-01-21T21:18:26.874Z,1579641506.874 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=105 cubic_centimeter;

2020-01-21T21:18:26.874Z,1579641506.874 [SBIT](IMPORTANT): VerticalControl.massDefault=-5 millimeter;

2020-01-21T21:18:27.276Z,1579641507.276 [MissionManager](IMPORTANT): Started mission DefaultUnder
2020-01-21T21:18:27.297Z,1579641507.297 [DefaultUnder] Running Loop=1
2020-01-21T21:18:27.297Z,1579641507.297 [DefaultUnder](DEBUG): Aggregate::initialize DefaultUnder
2020-01-21T21:18:27.297Z,1579641507.297 [DefaultUnder:uModemComms] Running Loop=1
2020-01-21T21:18:27.297Z,1579641507.297 [DefaultUnder:uModemComms](DEBUG): Aggregate::initialize DefaultUnder:uModemComms
2020-01-21T21:18:27.297Z,1579641507.297 [DefaultUnder:Notify] Running Loop=1
2020-01-21T21:18:27.297Z,1579641507.297 [DefaultUnder:Notify](DEBUG): Aggregate::initialize DefaultUnder:Notify
2020-01-21T21:18:27.298Z,1579641507.298 [DefaultUnder:Notify:A] Running Loop=1
2020-01-21T21:18:27.298Z,1579641507.298 [DefaultUnder:Notify:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A
2020-01-21T21:18:27.298Z,1579641507.298 [DefaultUnder:Notify:A:A] Running Loop=1
2020-01-21T21:18:27.298Z,1579641507.298 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A:A
2020-01-21T21:18:27.298Z,1579641507.298 [DefaultUnder:Notify:A:A:A.Wait] Running Loop=1
2020-01-21T21:18:27.298Z,1579641507.298 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Initialize Wait Component.
2020-01-21T21:18:27.298Z,1579641507.298 [DefaultUnder:C.] Running Loop=1
2020-01-21T21:18:27.299Z,1579641507.299 [DefaultUnder:C.](INFO): Initializing TrackAcousticContact.
2020-01-21T21:18:27.299Z,1579641507.299 [DefaultUnder:E.Wait] Running Loop=1
2020-01-21T21:18:27.299Z,1579641507.299 [DefaultUnder:E.Wait](DEBUG): Initialize Wait Component.
2020-01-21T21:18:27.300Z,1579641507.300 [DefaultUnder:C.] Running Loop=1
2020-01-21T21:18:27.300Z,1579641507.300 [DefaultUnder:Notify] Running Loop=1
2020-01-21T21:18:27.300Z,1579641507.300 [DefaultUnder:uModemComms] Running Loop=1
2020-01-21T21:18:27.305Z,1579641507.305 [DefaultUnder:uModemComms:CheckIn] Running Loop=1
2020-01-21T21:18:27.305Z,1579641507.305 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::initialize DefaultUnder:uModemComms:CheckIn
2020-01-21T21:18:27.305Z,1579641507.305 [DefaultUnder:uModemComms:CheckIn:A] Running Loop=1
2020-01-21T21:18:27.306Z,1579641507.306 [DefaultUnder:uModemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2020-01-21T21:18:27.699Z,1579641507.699 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 0A51275E04000E005D00000400AE4000000000000000151D80030C5669BF72F5756B3F2E96D466484B867DE28A054A2D23CFECE4A777DD0F1A9A7B591BCFEA43
2020-01-21T21:18:27.700Z,1579641507.700 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 040CD389DC75A1ED90D9188AAE7325868E47575FFD00A97CF5732045ADFC104E54B9FB57F9930D7B706A202AAED2E20CF87E4C58D4A4473523808180FD281D26
2020-01-21T21:18:27.700Z,1579641507.700 [Micromodem](INFO): Outgoing frame #3, 64 bytes: 17F6824B9B23F7120893F1D2C1407EDC43EFBDF552B1D2630606423FD5B89F4F0A9015BAE08A69EA81CF2C2EA61190D82E305F3E2F6BC19E3D9B1EC3F2715E31
2020-01-21T21:18:27.701Z,1579641507.701 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-21T21:18:28.035Z,1579641508.035 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-21T21:18:28.435Z,1579641508.435 [Micromodem](INFO): Nmea in: $CADRQ,211828,1,12,0,64,1*74

2020-01-21T21:18:28.436Z,1579641508.436 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,0A51275E04000E005D00000400AE4000000000000000151D80030C5669BF72F5756B3F2E96D466484B867DE28A054A2D23CFECE4A777DD0F1A9A7B591BCFEA43*4B

2020-01-21T21:18:28.836Z,1579641508.836 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-21T21:18:29.247Z,1579641509.247 [Micromodem](INFO): Nmea in: $CADRQ,211829,1,12,0,64,2*76

2020-01-21T21:18:29.248Z,1579641509.248 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,040CD389DC75A1ED90D9188AAE7325868E47575FFD00A97CF5732045ADFC104E54B9FB57F9930D7B706A202AAED2E20CF87E4C58D4A4473523808180FD281D26*4E

2020-01-21T21:18:29.665Z,1579641509.665 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-21T21:18:30.055Z,1579641510.055 [Micromodem](INFO): Nmea in: $CADRQ,211830,1,12,0,64,3*7F

2020-01-21T21:18:30.056Z,1579641510.056 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,17F6824B9B23F7120893F1D2C1407EDC43EFBDF552B1D2630606423FD5B89F4F0A9015BAE08A69EA81CF2C2EA61190D82E305F3E2F6BC19E3D9B1EC3F2715E31*4D

2020-01-21T21:18:30.459Z,1579641510.459 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-21T21:18:30.882Z,1579641510.882 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-21T21:18:34.495Z,1579641514.495 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2020-01-21T21:18:35.708Z,1579641515.708 [Micromodem](INFO): Nmea in: $CAXST,6,20200121,211831.066709,3,0,200,4000,10000,1,1,12,1,3,3,3,192*7E

2020-01-21T21:18:36.695Z,1579641516.695 [DataOverHttps](INFO): Sending 2730 bytes from file Logs/20200121T192914/Courier0004.lzma
2020-01-21T21:18:38.694Z,1579641518.694 [DataOverHttps](INFO): Moved sent file to Logs/20200121T192914/Courier0004.lzma.bak
2020-01-21T21:18:38.695Z,1579641518.695 [DataOverHttps](INFO): SBD MOMSN=12197951
2020-01-21T21:18:40.599Z,1579641520.599 [DefaultUnder:E.Wait](INFO): Done Waiting.
2020-01-21T21:18:40.599Z,1579641520.599 [DefaultUnder:E.Wait] Stopped
2020-01-21T21:18:40.599Z,1579641520.599 [DefaultUnder:E.Wait](DEBUG): Uninitialize Wait Component.
2020-01-21T21:18:40.599Z,1579641520.599 [DefaultUnder:Default] Running Loop=1
2020-01-21T21:18:40.599Z,1579641520.599 [DefaultUnder:Default](DEBUG): Aggregate::initialize DefaultUnder:Default
2020-01-21T21:18:40.599Z,1579641520.599 [DefaultUnder:Default:Docked] Running Loop=1
2020-01-21T21:18:40.600Z,1579641520.600 [DefaultUnder:Default:Docked](DEBUG): Aggregate::initialize DefaultUnder:Default:Docked
2020-01-21T21:18:40.600Z,1579641520.600 [DefaultUnder:Default:Docked:run] Running Loop=1
2020-01-21T21:18:40.600Z,1579641520.600 [DefaultUnder:Default:Docked:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Docked:run
2020-01-21T21:18:40.600Z,1579641520.600 [DefaultUnder:Default:Docked:run:A] Running Loop=1
2020-01-21T21:18:40.600Z,1579641520.600 [DefaultUnder:Default:Home] Running Loop=1
2020-01-21T21:18:40.600Z,1579641520.600 [DefaultUnder:Default:Home](DEBUG): Aggregate::initialize DefaultUnder:Default:Home
2020-01-21T21:18:40.600Z,1579641520.600 [DefaultUnder:Default:Home:run] Running Loop=1
2020-01-21T21:18:40.600Z,1579641520.600 [DefaultUnder:Default:Home:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Home:run
2020-01-21T21:18:40.600Z,1579641520.600 [DefaultUnder:Default:Home:run:A] Running Loop=1
2020-01-21T21:18:40.600Z,1579641520.600 [DefaultUnder:Default:Surface] Running Loop=1
2020-01-21T21:18:40.601Z,1579641520.601 [DefaultUnder:Default:Surface](DEBUG): Aggregate::initialize DefaultUnder:Default:Surface
2020-01-21T21:18:40.601Z,1579641520.601 [DefaultUnder:Default:Surface:run] Running Loop=1
2020-01-21T21:18:40.601Z,1579641520.601 [DefaultUnder:Default:Surface:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Surface:run
2020-01-21T21:18:40.601Z,1579641520.601 [DefaultUnder:Default:Surface:run:B.GoToSurface] Running Loop=1
2020-01-21T21:18:40.601Z,1579641520.601 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-21T21:18:40.602Z,1579641520.602 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-21T21:18:40.602Z,1579641520.602 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-21T21:18:40.602Z,1579641520.602 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-21T21:18:40.603Z,1579641520.603 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-21T21:18:40.603Z,1579641520.603 [DefaultUnder:Default:Surface:run:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-21T21:18:40.603Z,1579641520.603 [DefaultUnder:Default:Surface:run:A] Running Loop=1
2020-01-21T21:18:41.020Z,1579641521.020 [DefaultUnder:Default:Surface] Stopped
2020-01-21T21:18:41.020Z,1579641521.020 [DefaultUnder:Default:Surface](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Surface
2020-01-21T21:18:41.020Z,1579641521.020 [DefaultUnder:Default:Surface:run] Stopped
2020-01-21T21:18:41.020Z,1579641521.020 [DefaultUnder:Default:Surface:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Surface:run
2020-01-21T21:18:41.020Z,1579641521.020 [DefaultUnder:Default:Surface:run:A] Stopped
2020-01-21T21:18:41.020Z,1579641521.020 [DefaultUnder:Default:Surface:run:B.GoToSurface] Stopped
2020-01-21T21:18:41.020Z,1579641521.020 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-21T21:18:41.020Z,1579641521.020 [DefaultUnder:Default:Home] Stopped
2020-01-21T21:18:41.020Z,1579641521.020 [DefaultUnder:Default:Home](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Home
2020-01-21T21:18:41.020Z,1579641521.020 [DefaultUnder:Default:Home:run] Stopped
2020-01-21T21:18:41.021Z,1579641521.021 [DefaultUnder:Default:Home:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Home:run
2020-01-21T21:18:41.021Z,1579641521.021 [DefaultUnder:Default:Home:run:A] Stopped
2020-01-21T21:18:41.021Z,1579641521.021 [DefaultUnder:Default:Docked] Running Loop=1
2020-01-21T21:18:41.021Z,1579641521.021 [DefaultUnder:Default:Docked:run:A] Stopped
2020-01-21T21:18:41.021Z,1579641521.021 [DefaultUnder:Default:Docked:run:B.Docked] Running Loop=1
2020-01-21T21:18:41.021Z,1579641521.021 [DefaultUnder:Default:Docked:run:B.Docked](DEBUG): Initialize.
2020-01-21T21:18:41.022Z,1579641521.022 [DefaultUnder:Default:Docked:run:B.Docked](INFO): Depth unspecified. Maintaining workSite beacon depth of 6.000000 m.
2020-01-21T21:18:51.755Z,1579641531.755 [CommandLine](IMPORTANT): got command maintain sensor Depth_Keller.depth 6.000000 meter
2020-01-21T21:18:51.756Z,1579641531.756 [ComponentRegistry](DEBUG): SyncComponent "Maintain_Depth_Keller.depth" handled in the control thread.
2020-01-21T21:18:52.016Z,1579641532.016 [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,
2020-01-21T21:19:00.960Z,1579641540.960 [CommandLine](IMPORTANT): got command show variable Radio_Surface.uart
2020-01-21T21:19:02.008Z,1579641542.008 [DataOverHttps](INFO): Sending 92 bytes from file Logs/20200121T192914/Courier0007.lzma
2020-01-21T21:19:04.015Z,1579641544.015 [DataOverHttps](INFO): Moved sent file to Logs/20200121T192914/Courier0007.lzma.bak
2020-01-21T21:19:04.015Z,1579641544.015 [DataOverHttps](INFO): SBD MOMSN=12197953
2020-01-21T21:19:06.283Z,1579641546.283 [CommandLine](IMPORTANT): got command restart application
2020-01-21T21:19:07.289Z,1579641547.289 [Supervisor](INFO): Stop Mission called by Supervisor::terminate
2020-01-21T21:19:07.289Z,1579641547.289 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-21T21:19:07.289Z,1579641547.289 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-21T21:19:07.413Z,1579641547.413 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2020-01-21T21:19:07.413Z,1579641547.413 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-21T21:19:07.414Z,1579641547.414 [CommandLine](INFO): Join timeout helper Thread ID is 3760
2020-01-21T21:19:07.421Z,1579641547.421 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2020-01-21T21:19:07.421Z,1579641547.421 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-21T21:19:07.421Z,1579641547.421 [NavChartDb](INFO): Join timeout helper Thread ID is 3761
2020-01-21T21:19:07.766Z,1579641547.766 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-21T21:19:07.766Z,1579641547.766 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-21T21:19:07.769Z,1579641547.769 [ComponentRegistry](INFO): Shutting down WetLabsSeaOWL_UV_A ThreadHandler
2020-01-21T21:19:07.769Z,1579641547.769 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-21T21:19:07.769Z,1579641547.769 [WetLabsSeaOWL_UV_A](INFO): Join timeout helper Thread ID is 3762
2020-01-21T21:19:07.937Z,1579641547.937 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-21T21:19:07.937Z,1579641547.937 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-01-21T21:19:07.938Z,1579641547.938 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-21T21:19:07.953Z,1579641547.953 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2020-01-21T21:19:07.953Z,1579641547.953 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-21T21:19:07.953Z,1579641547.953 [CTD_NeilBrown](INFO): Join timeout helper Thread ID is 3763
2020-01-21T21:19:08.133Z,1579641548.133 [CTD_NeilBrown ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-21T21:19:08.133Z,1579641548.133 [CTD_NeilBrown](INFO): Powering down
2020-01-21T21:19:08.145Z,1579641548.145 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-21T21:19:08.153Z,1579641548.153 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2020-01-21T21:19:08.153Z,1579641548.153 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-01-21T21:19:08.153Z,1579641548.153 [Radio_Surface](INFO): Join timeout helper Thread ID is 3764
2020-01-21T21:19:08.273Z,1579641548.273 [Radio_Surface](INFO): Powering down
2020-01-21T21:19:08.274Z,1579641548.274 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-21T21:19:08.275Z,1579641548.275 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-01-21T21:19:08.291Z,1579641548.291 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2020-01-21T21:19:08.291Z,1579641548.291 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-21T21:19:08.292Z,1579641548.292 [DataOverHttps](INFO): Join timeout helper Thread ID is 3765
2020-01-21T21:19:10.832Z,1579641550.832 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-21T21:19:10.836Z,1579641550.836 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-21T21:19:10.850Z,1579641550.850 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2020-01-21T21:19:10.850Z,1579641550.850 [logger ThreadHandler](INFO): Thread cancelled.
2020-01-21T21:19:10.851Z,1579641550.851 [logger](INFO): Join timeout helper Thread ID is 3766
2020-01-21T21:19:10.881Z,1579641550.881 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-21T21:19:10.881Z,1579641550.881 [logger ThreadHandler](INFO): Thread cancelled.
2020-01-21T21:19:10.891Z,1579641550.891 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2020-01-21T21:19:10.891Z,1579641550.891 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-21T21:19:10.891Z,1579641550.891 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2020-01-21T21:19:10.891Z,1579641550.891 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-01-21T21:19:10.891Z,1579641550.891 [controlThread](INFO): Join timeout helper Thread ID is 3767
2020-01-21T21:19:10.991Z,1579641550.991 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-21T21:19:10.992Z,1579641550.992 [controlThread](DEBUG): Uninitializing ControlThread
2020-01-21T21:19:10.993Z,1579641550.993 [AHRS_M2](INFO): Powering down
2020-01-21T21:19:11.065Z,1579641551.065 [DDM](INFO): Powering down
2020-01-21T21:19:11.158Z,1579641551.158 [DUSBL_Hydroid](INFO): Powering down
2020-01-21T21:19:11.229Z,1579641551.229 [Micromodem](INFO): Powering down
2020-01-21T21:19:11.325Z,1579641551.325 [NAL9602](INFO): Powering down
2020-01-21T21:19:11.397Z,1579641551.397 [RDI_Pathfinder](INFO): Powering down
2020-01-21T21:19:11.399Z,1579641551.399 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2020-01-21T21:19:11.400Z,1579641551.400 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2020-01-21T21:19:11.400Z,1579641551.400 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2020-01-21T21:19:11.401Z,1579641551.401 [MissionManager](INFO): Uninitializing Mission DefaultUnder
2020-01-21T21:19:11.401Z,1579641551.401 [DefaultUnder] Stopped
2020-01-21T21:19:11.401Z,1579641551.401 [DefaultUnder](DEBUG): Aggregate::uninitialize DefaultUnder
2020-01-21T21:19:11.401Z,1579641551.401 [DefaultUnder:uModemComms] Stopped
2020-01-21T21:19:11.401Z,1579641551.401 [DefaultUnder:uModemComms](DEBUG): Aggregate::uninitialize DefaultUnder:uModemComms
2020-01-21T21:19:11.401Z,1579641551.401 [DefaultUnder:uModemComms:CheckIn] Stopped
2020-01-21T21:19:11.401Z,1579641551.401 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::uninitialize DefaultUnder:uModemComms:CheckIn
2020-01-21T21:19:11.402Z,1579641551.402 [DefaultUnder:uModemComms:CheckIn:A] Stopped
2020-01-21T21:19:11.402Z,1579641551.402 [DefaultUnder:Notify] Stopped
2020-01-21T21:19:11.402Z,1579641551.402 [DefaultUnder:Notify](DEBUG): Aggregate::uninitialize DefaultUnder:Notify
2020-01-21T21:19:11.402Z,1579641551.402 [DefaultUnder:Notify:A] Stopped
2020-01-21T21:19:11.402Z,1579641551.402 [DefaultUnder:Notify:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A
2020-01-21T21:19:11.402Z,1579641551.402 [DefaultUnder:Notify:A:A] Stopped
2020-01-21T21:19:11.402Z,1579641551.402 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A:A
2020-01-21T21:19:11.402Z,1579641551.402 [DefaultUnder:Notify:A:A:A.Wait] Stopped
2020-01-21T21:19:11.402Z,1579641551.402 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-21T21:19:11.402Z,1579641551.402 [DefaultUnder:C.] Stopped
2020-01-21T21:19:11.402Z,1579641551.402 [DefaultUnder:Default] Stopped
2020-01-21T21:19:11.402Z,1579641551.402 [DefaultUnder:Default](DEBUG): Aggregate::uninitialize DefaultUnder:Default
2020-01-21T21:19:11.402Z,1579641551.402 [DefaultUnder:Default:Docked] Stopped
2020-01-21T21:19:11.403Z,1579641551.403 [DefaultUnder:Default:Docked](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Docked
2020-01-21T21:19:11.403Z,1579641551.403 [DefaultUnder:Default:Docked:run] Stopped
2020-01-21T21:19:11.403Z,1579641551.403 [DefaultUnder:Default:Docked:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Docked:run
2020-01-21T21:19:11.403Z,1579641551.403 [DefaultUnder:Default:Docked:run:B.Docked] Stopped
2020-01-21T21:19:11.430Z,1579641551.430 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2020-01-21T21:19:11.430Z,1579641551.430 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2020-01-21T21:19:11.430Z,1579641551.430 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2020-01-21T21:19:11.431Z,1579641551.431 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2020-01-21T21:19:11.431Z,1579641551.431 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2020-01-21T21:19:11.431Z,1579641551.431 [BuoyancyServo](INFO): Powering down
2020-01-21T21:19:11.561Z,1579641551.561 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2020-01-21T21:19:11.561Z,1579641551.561 [ElevatorServo](INFO): Powering down
2020-01-21T21:19:11.562Z,1579641551.562 [MassServo](DEBUG): Uninitialize Mass Servo.
2020-01-21T21:19:11.562Z,1579641551.562 [MassServo](INFO): Powering down
2020-01-21T21:19:11.563Z,1579641551.563 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-01-21T21:19:11.563Z,1579641551.563 [RudderServo](INFO): Powering down
2020-01-21T21:19:11.564Z,1579641551.564 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2020-01-21T21:19:11.564Z,1579641551.564 [ThrusterServo](INFO): Powering down
2020-01-21T21:19:11.564Z,1579641551.564 [SBIT](DEBUG): Uninitialize SBIT Component.
2020-01-21T21:19:11.565Z,1579641551.565 [IBIT](DEBUG): Uninitialize IBIT Component.
2020-01-21T21:19:11.565Z,1579641551.565 [CBIT](DEBUG): Uninitialize CBIT Component.
2020-01-21T21:19:11.565Z,1579641551.565 [CBIT](DEBUG): Powering off loads.
2020-01-21T21:19:11.577Z,1579641551.577 [CBIT](DEBUG): Disabling WDT.
2020-01-21T21:19:11.589Z,1579641551.589 [CBIT](DEBUG): Opening all GF detection circuits.
2020-01-21T21:19:11.590Z,1579641551.590 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-01-21T21:19:11.631Z,1579641551.631 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-01-21T21:19:11.641Z,1579641551.641 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-21T21:19:11.683Z,1579641551.683 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-21T21:19:11.686Z,1579641551.686 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-21T21:19:11.744Z,1579641551.744 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-21T21:19:11.804Z,1579641551.804 [logger ThreadHandler](INFO): Thread cancelled.