2020-01-23T21:38:09.793Z,1579815489.793 [Supervisor](DEBUG): Initializing supervisor.
2020-01-23T21:38:09.796Z,1579815489.796 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2020-01-23T21:38:09.797Z,1579815489.797 [SyncHandler](INFO): Protected caller Thread ID is 2280
2020-01-23T21:38:09.797Z,1579815489.797 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2020-01-23T21:38:09.798Z,1579815489.798 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2020-01-23T21:38:09.799Z,1579815489.799 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 2281
2020-01-23T21:38:09.802Z,1579815489.802 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2020-01-23T21:38:09.814Z,1579815489.814 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2020-01-23T21:38:09.815Z,1579815489.815 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2020-01-23T21:38:09.815Z,1579815489.815 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 2282
2020-01-23T21:38:09.816Z,1579815489.816 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2020-01-23T21:38:09.817Z,1579815489.817 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2020-01-23T21:38:09.817Z,1579815489.817 [logger ThreadHandler](INFO): Protected caller Thread ID is 2283
2020-01-23T21:38:09.819Z,1579815489.819 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2020-01-23T21:38:09.819Z,1579815489.819 [Supervisor](INFO): Looking for Config files in directory: Config/
2020-01-23T21:38:09.821Z,1579815489.821 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2020-01-23T21:38:10.252Z,1579815490.252 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2020-01-23T21:38:10.253Z,1579815490.253 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2020-01-23T21:38:10.350Z,1579815490.350 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2020-01-23T21:38:10.350Z,1579815490.350 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2020-01-23T21:38:10.660Z,1579815490.660 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2020-01-23T21:38:10.661Z,1579815490.661 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2020-01-23T21:38:10.797Z,1579815490.797 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2020-01-23T21:38:10.798Z,1579815490.798 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2020-01-23T21:38:10.986Z,1579815490.986 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2020-01-23T21:38:10.987Z,1579815490.987 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2020-01-23T21:38:11.427Z,1579815491.427 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2020-01-23T21:38:11.427Z,1579815491.427 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2020-01-23T21:38:11.633Z,1579815491.633 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2020-01-23T21:38:11.634Z,1579815491.634 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2020-01-23T21:38:11.776Z,1579815491.776 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2020-01-23T21:38:11.776Z,1579815491.776 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2020-01-23T21:38:11.969Z,1579815491.969 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2020-01-23T21:38:11.970Z,1579815491.970 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2020-01-23T21:38:12.065Z,1579815492.065 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2020-01-23T21:38:12.065Z,1579815492.065 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2020-01-23T21:38:12.359Z,1579815492.359 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2020-01-23T21:38:12.360Z,1579815492.360 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2020-01-23T21:38:12.439Z,1579815492.439 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2020-01-23T21:38:12.541Z,1579815492.541 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2020-01-23T21:38:12.541Z,1579815492.541 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2020-01-23T21:38:13.170Z,1579815493.170 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2020-01-23T21:38:13.170Z,1579815493.170 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2020-01-23T21:38:13.573Z,1579815493.573 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2020-01-23T21:38:13.575Z,1579815493.575 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/
2020-01-23T21:38:13.576Z,1579815493.576 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/vehicle.cfg
2020-01-23T21:38:13.785Z,1579815493.785 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Control.cfg
2020-01-23T21:38:13.957Z,1579815493.957 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/BIT.cfg
2020-01-23T21:38:14.219Z,1579815494.219 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Battery.cfg
2020-01-23T21:38:14.782Z,1579815494.782 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2020-01-23T21:38:14.783Z,1579815494.783 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Simulator.cfg
2020-01-23T21:38:14.876Z,1579815494.876 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Navigation.cfg
2020-01-23T21:38:14.968Z,1579815494.968 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/logger.cfg
2020-01-23T21:38:15.065Z,1579815495.065 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/secure.cfg
2020-01-23T21:38:15.147Z,1579815495.147 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Servo.cfg
2020-01-23T21:38:15.253Z,1579815495.253 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/workSite.cfg
2020-01-23T21:38:15.346Z,1579815495.346 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Sensor.cfg
2020-01-23T21:38:15.527Z,1579815495.527 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Science.cfg
2020-01-23T21:38:15.656Z,1579815495.656 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/root/
2020-01-23T21:38:15.656Z,1579815495.656 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2020-01-23T21:38:15.661Z,1579815495.661 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2020-01-23T21:38:15.964Z,1579815495.964 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_orientation
2020-01-23T21:38:15.969Z,1579815495.969 [AHRS_M2](INFO): created writer for : platform_orientation
2020-01-23T21:38:15.971Z,1579815495.971 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_magnetic_orientation
2020-01-23T21:38:15.975Z,1579815495.975 [AHRS_M2](INFO): created writer for : platform_magnetic_orientation
2020-01-23T21:38:15.976Z,1579815495.976 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_pitch_angle
2020-01-23T21:38:15.981Z,1579815495.981 [AHRS_M2](INFO): created writer for : platform_pitch_angle
2020-01-23T21:38:15.981Z,1579815495.981 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_roll_angle
2020-01-23T21:38:15.986Z,1579815495.986 [AHRS_M2](INFO): created writer for : platform_roll_angle
2020-01-23T21:38:16.053Z,1579815496.053 [AHRS_M2] Loaded
2020-01-23T21:38:16.053Z,1579815496.053 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2020-01-23T21:38:16.133Z,1579815496.133 [DataOverHttps] Loaded
2020-01-23T21:38:16.134Z,1579815496.134 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2020-01-23T21:38:16.135Z,1579815496.135 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 407684E0
2020-01-23T21:38:16.135Z,1579815496.135 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 2365
2020-01-23T21:38:16.158Z,1579815496.158 [DDM] Loaded
2020-01-23T21:38:16.158Z,1579815496.158 [ComponentRegistry](DEBUG): SyncComponent "DDM" handled in the control thread.
2020-01-23T21:38:16.170Z,1579815496.170 [Depth_Keller] Loaded
2020-01-23T21:38:16.171Z,1579815496.171 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2020-01-23T21:38:16.175Z,1579815496.175 [DropWeight] Loaded
2020-01-23T21:38:16.175Z,1579815496.175 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2020-01-23T21:38:16.233Z,1579815496.233 [DUSBL_Hydroid] Loaded
2020-01-23T21:38:16.234Z,1579815496.234 [ComponentRegistry](DEBUG): SyncComponent "DUSBL_Hydroid" handled in the control thread.
2020-01-23T21:38:16.279Z,1579815496.279 [Micromodem] Loaded
2020-01-23T21:38:16.279Z,1579815496.279 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2020-01-23T21:38:16.371Z,1579815496.371 [NAL9602] Loaded
2020-01-23T21:38:16.371Z,1579815496.371 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2020-01-23T21:38:16.409Z,1579815496.409 [Onboard] Loaded
2020-01-23T21:38:16.409Z,1579815496.409 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2020-01-23T21:38:16.414Z,1579815496.414 [PowerOnly] Loaded
2020-01-23T21:38:16.415Z,1579815496.415 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2020-01-23T21:38:16.421Z,1579815496.421 [Radio_Surface] Loaded
2020-01-23T21:38:16.421Z,1579815496.421 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2020-01-23T21:38:16.422Z,1579815496.422 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 407984E0
2020-01-23T21:38:16.422Z,1579815496.422 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 2366
2020-01-23T21:38:16.464Z,1579815496.464 [RDI_Pathfinder] Loaded
2020-01-23T21:38:16.464Z,1579815496.464 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2020-01-23T21:38:17.875Z,1579815497.875 [BPC1] Loaded
2020-01-23T21:38:17.875Z,1579815497.875 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2020-01-23T21:38:17.875Z,1579815497.875 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2020-01-23T21:38:17.876Z,1579815497.876 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2020-01-23T21:38:17.889Z,1579815497.889 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2020-01-23T21:38:17.889Z,1579815497.889 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2020-01-23T21:38:18.000Z,1579815498.000 [DeadReckonUsingMultipleVelocitySources] Loaded
2020-01-23T21:38:18.000Z,1579815498.000 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2020-01-23T21:38:18.020Z,1579815498.020 [NavChart] Loaded
2020-01-23T21:38:18.020Z,1579815498.020 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2020-01-23T21:38:18.024Z,1579815498.024 [UniversalFixResidualReporter] Loaded
2020-01-23T21:38:18.024Z,1579815498.024 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2020-01-23T21:38:18.024Z,1579815498.024 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2020-01-23T21:38:18.025Z,1579815498.025 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2020-01-23T21:38:18.128Z,1579815498.128 [BuoyancyServo] Loaded
2020-01-23T21:38:18.128Z,1579815498.128 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2020-01-23T21:38:18.142Z,1579815498.142 [ElevatorServo] Loaded
2020-01-23T21:38:18.142Z,1579815498.142 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2020-01-23T21:38:18.156Z,1579815498.156 [MassServo] Loaded
2020-01-23T21:38:18.157Z,1579815498.157 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2020-01-23T21:38:18.171Z,1579815498.171 [RudderServo] Loaded
2020-01-23T21:38:18.172Z,1579815498.172 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2020-01-23T21:38:18.185Z,1579815498.185 [ThrusterServo] Loaded
2020-01-23T21:38:18.186Z,1579815498.186 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2020-01-23T21:38:18.186Z,1579815498.186 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2020-01-23T21:38:18.187Z,1579815498.187 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2020-01-23T21:38:18.435Z,1579815498.435 [CTD_NeilBrown] Loaded
2020-01-23T21:38:18.435Z,1579815498.435 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2020-01-23T21:38:18.436Z,1579815498.436 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 408EC4E0
2020-01-23T21:38:18.437Z,1579815498.437 [CTD_NeilBrown ThreadHandler](INFO): Protected caller Thread ID is 2367
2020-01-23T21:38:18.451Z,1579815498.451 [PAR_Licor] Loaded
2020-01-23T21:38:18.451Z,1579815498.451 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2020-01-23T21:38:18.492Z,1579815498.492 [WetLabsSeaOWL_UV_A] Loaded
2020-01-23T21:38:18.493Z,1579815498.493 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2020-01-23T21:38:18.494Z,1579815498.494 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 4091C4E0
2020-01-23T21:38:18.494Z,1579815498.494 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 2368
2020-01-23T21:38:18.495Z,1579815498.495 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2020-01-23T21:38:18.495Z,1579815498.495 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2020-01-23T21:38:18.816Z,1579815498.816 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2020-01-23T21:38:18.817Z,1579815498.817 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2020-01-23T21:38:18.856Z,1579815498.856 [DepthRateCalculator] Loaded
2020-01-23T21:38:18.856Z,1579815498.856 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2020-01-23T21:38:18.862Z,1579815498.862 [PitchRateCalculator] Loaded
2020-01-23T21:38:18.862Z,1579815498.862 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2020-01-23T21:38:18.874Z,1579815498.874 [SpeedCalculator] Loaded
2020-01-23T21:38:18.874Z,1579815498.874 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2020-01-23T21:38:18.894Z,1579815498.894 [TempGradientCalculator] Loaded
2020-01-23T21:38:18.894Z,1579815498.894 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2020-01-23T21:38:18.900Z,1579815498.900 [YawRateCalculator] Loaded
2020-01-23T21:38:18.900Z,1579815498.900 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2020-01-23T21:38:18.938Z,1579815498.938 [ElevatorOffsetCalculator] Loaded
2020-01-23T21:38:18.939Z,1579815498.939 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2020-01-23T21:38:18.939Z,1579815498.939 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2020-01-23T21:38:18.939Z,1579815498.939 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2020-01-23T21:38:19.317Z,1579815499.317 [SBIT](DEBUG): Construct Startup Built In Test.
2020-01-23T21:38:19.338Z,1579815499.338 [SBIT] Loaded
2020-01-23T21:38:19.339Z,1579815499.339 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2020-01-23T21:38:19.339Z,1579815499.339 [IBIT](DEBUG): Construct Initiated Built In Test.
2020-01-23T21:38:19.351Z,1579815499.351 [IBIT] Loaded
2020-01-23T21:38:19.351Z,1579815499.351 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2020-01-23T21:38:19.355Z,1579815499.355 [CBIT](DEBUG): Construct Continuous Built In Test.
2020-01-23T21:38:19.662Z,1579815499.662 [CBIT] Loaded
2020-01-23T21:38:19.662Z,1579815499.662 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2020-01-23T21:38:19.663Z,1579815499.663 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2020-01-23T21:38:19.663Z,1579815499.663 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2020-01-23T21:38:19.743Z,1579815499.743 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2020-01-23T21:38:19.743Z,1579815499.743 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2020-01-23T21:38:19.838Z,1579815499.838 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2020-01-23T21:38:19.838Z,1579815499.838 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2020-01-23T21:38:19.886Z,1579815499.886 [VerticalControl](DEBUG): Construct VerticalControl.
2020-01-23T21:38:19.966Z,1579815499.966 [VerticalControl] Loaded
2020-01-23T21:38:19.966Z,1579815499.966 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2020-01-23T21:38:19.967Z,1579815499.967 [HorizontalControl](DEBUG): Construct HorizontalControl.
2020-01-23T21:38:20.032Z,1579815500.032 [HorizontalControl] Loaded
2020-01-23T21:38:20.033Z,1579815500.033 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2020-01-23T21:38:20.033Z,1579815500.033 [SpeedControl](DEBUG): Construct SpeedControl.
2020-01-23T21:38:20.035Z,1579815500.035 [SpeedControl] Loaded
2020-01-23T21:38:20.035Z,1579815500.035 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2020-01-23T21:38:20.036Z,1579815500.036 [LoopControl](DEBUG): Construct LoopControl.
2020-01-23T21:38:20.036Z,1579815500.036 [LoopControl] Loaded
2020-01-23T21:38:20.037Z,1579815500.037 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2020-01-23T21:38:20.037Z,1579815500.037 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2020-01-23T21:38:20.037Z,1579815500.037 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2020-01-23T21:38:20.069Z,1579815500.069 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2020-01-23T21:38:20.072Z,1579815500.072 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2020-01-23T21:38:20.073Z,1579815500.073 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2020-01-23T21:38:20.080Z,1579815500.080 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2020-01-23T21:38:20.081Z,1579815500.081 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40AFC4E0
2020-01-23T21:38:20.081Z,1579815500.081 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 2369
2020-01-23T21:38:20.085Z,1579815500.085 [Supervisor](INFO): Main Thread ID is 870
2020-01-23T21:38:20.086Z,1579815500.086 [Supervisor](DEBUG): Running supervisor.
2020-01-23T21:38:20.086Z,1579815500.086 [CommandLine ThreadHandler](INFO): Handler Thread ID is 2370
2020-01-23T21:38:20.088Z,1579815500.088 [controlThread ThreadHandler](INFO): Handler Thread ID is 2371
2020-01-23T21:38:20.089Z,1579815500.089 [controlThread](DEBUG): Initializing ControlThread
2020-01-23T21:38:20.096Z,1579815500.096 [NavChart](DEBUG): Initialize NavChart Navigation.
2020-01-23T21:38:20.096Z,1579815500.096 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2020-01-23T21:38:20.101Z,1579815500.101 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2020-01-23T21:38:20.101Z,1579815500.101 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2020-01-23T21:38:20.102Z,1579815500.102 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2020-01-23T21:38:20.102Z,1579815500.102 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2020-01-23T21:38:20.103Z,1579815500.103 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2020-01-23T21:38:20.103Z,1579815500.103 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2020-01-23T21:38:20.103Z,1579815500.103 [SBIT](INFO): Initialize SBIT Component.
2020-01-23T21:38:20.104Z,1579815500.104 [SBIT](IMPORTANT): git: 2019-12-03-78-gb92fbb9
2020-01-23T21:38:20.104Z,1579815500.104 [SBIT](INFO): git hash: b92fbb99b4c8d1793352820b784fbd968d0634e4
2020-01-23T21:38:20.104Z,1579815500.104 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2020-01-23T21:38:20.105Z,1579815500.105 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #2 PREEMPT Thu Jan 11 20:13:48 PST 2018
Kernel Reported: #1 PREEMPT Wed Nov 13 12:38:10 PST 2019
2020-01-23T21:38:20.107Z,1579815500.107 [SBIT](INFO): Beginning SBIT in 39.000000 seconds.
2020-01-23T21:38:20.107Z,1579815500.107 [IBIT](INFO): Initialize IBIT Component.
2020-01-23T21:38:20.108Z,1579815500.108 [CBIT](DEBUG): Initialize CBIT Component.
2020-01-23T21:38:20.109Z,1579815500.109 [logger ThreadHandler](INFO): Handler Thread ID is 2372
2020-01-23T21:38:20.121Z,1579815500.121 [CBIT](DEBUG): Initialized mux pins.
2020-01-23T21:38:20.121Z,1579815500.121 [CBIT](DEBUG): Initializing the watchdog timer.
2020-01-23T21:38:20.129Z,1579815500.129 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 2373
2020-01-23T21:38:20.130Z,1579815500.130 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2020-01-23T21:38:20.141Z,1579815500.141 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 2374
2020-01-23T21:38:20.145Z,1579815500.145 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2020-01-23T21:38:20.145Z,1579815500.145 [CBIT](DEBUG): Initializing heartbeat.
2020-01-23T21:38:20.153Z,1579815500.153 [CTD_NeilBrown ThreadHandler](INFO): Handler Thread ID is 2375
2020-01-23T21:38:20.154Z,1579815500.154 [CTD_NeilBrown](INFO): Powering down
2020-01-23T21:38:20.173Z,1579815500.173 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 2376
2020-01-23T21:38:20.174Z,1579815500.174 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-01-23T21:38:20.205Z,1579815500.205 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 2377
2020-01-23T21:38:20.208Z,1579815500.208 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2020-01-23T21:38:20.208Z,1579815500.208 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2020-01-23T21:38:20.208Z,1579815500.208 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2020-01-23T21:38:20.209Z,1579815500.209 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2020-01-23T21:38:20.209Z,1579815500.209 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2020-01-23T21:38:20.209Z,1579815500.209 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2020-01-23T21:38:20.209Z,1579815500.209 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2020-01-23T21:38:20.209Z,1579815500.209 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2020-01-23T21:38:20.209Z,1579815500.209 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2020-01-23T21:38:20.210Z,1579815500.210 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2020-01-23T21:38:20.210Z,1579815500.210 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2020-01-23T21:38:20.210Z,1579815500.210 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2020-01-23T21:38:20.210Z,1579815500.210 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2020-01-23T21:38:20.210Z,1579815500.210 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2020-01-23T21:38:20.210Z,1579815500.210 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2020-01-23T21:38:20.211Z,1579815500.211 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2020-01-23T21:38:20.217Z,1579815500.217 [CBIT](DEBUG): Deactivating GF circuits.
2020-01-23T21:38:20.217Z,1579815500.217 [CBIT](DEBUG): Deactivating emergency mode.
2020-01-23T21:38:20.253Z,1579815500.253 [CBIT](DEBUG): Backplane powered.
2020-01-23T21:38:20.253Z,1579815500.253 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2020-01-23T21:38:20.255Z,1579815500.255 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2020-01-23T21:38:20.256Z,1579815500.256 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2020-01-23T21:38:20.256Z,1579815500.256 [LoopControl](DEBUG): Initialize LoopControlComponent.
2020-01-23T21:38:20.257Z,1579815500.257 [MissionManager](INFO): Loading Mission: Missions/underIce/StartupUnder.xml
2020-01-23T21:38:20.262Z,1579815500.262 [MissionManager](ERROR): Top node has no child nodes: Mission
2020-01-23T21:38:20.263Z,1579815500.263 [MissionManager](ERROR): Could not load startup mission.
2020-01-23T21:38:20.263Z,1579815500.263 [MissionManager](INFO): Loading Mission: Missions/underIce/DefaultUnder.xml
2020-01-23T21:38:20.496Z,1579815500.496 [MissionManager](INFO): DefineArg DefaultUnder.uModemCommsInterval = 5.000000 min
2020-01-23T21:38:20.499Z,1579815500.499 [MissionManager](INFO): DefineArg DefaultUnder.TransponderCode = 2.000000 count
2020-01-23T21:38:20.518Z,1579815500.518 [MissionManager](INFO): DefineArg DefaultUnder.AcousticUpdatePeriod = 60.000000 s
2020-01-23T21:38:20.542Z,1579815500.542 [MissionManager](INFO): DefineArg DefaultUnder.DockingAcousticUpdatePeriod = 2.500000 s
2020-01-23T21:38:20.545Z,1579815500.545 [Radio_Surface](INFO): Powering up
2020-01-23T21:38:20.549Z,1579815500.549 [MissionManager](INFO): DefineArg DefaultUnder.NumberOfPings = 1.000000 count
2020-01-23T21:38:20.552Z,1579815500.552 [MissionManager](INFO): DefineOutput DefaultUnder.TrackingUpdatePeriod = 60.000000 n/a
2020-01-23T21:38:20.572Z,1579815500.572 [MissionManager](INFO): DefineOutput DefaultUnder.Surface = -1.000000 count
2020-01-23T21:38:20.575Z,1579815500.575 [MissionManager](INFO): DefineOutput DefaultUnder.Docked = 0.000000 count
2020-01-23T21:38:20.587Z,1579815500.587 [MissionManager](INFO): DefineOutput DefaultUnder.Home = 1.000000 count
2020-01-23T21:38:20.590Z,1579815500.590 [MissionManager](INFO): DefineOutput DefaultUnder.DefaultMode = 0.000000 n/a
2020-01-23T21:38:20.634Z,1579815500.634 [MissionManager](INFO): DefineOutput DefaultUnder.CaptureMode = -1.000000 count
2020-01-23T21:38:20.637Z,1579815500.637 [MissionManager](INFO): DefineOutput DefaultUnder.ElapsedSinceDefaultStarted = 0.000000 min
2020-01-23T21:38:20.662Z,1579815500.662 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Construct Wait.
2020-01-23T21:38:20.682Z,1579815500.682 [DefaultUnder:Notify:A:C.Execute](DEBUG): Construct Execute.
2020-01-23T21:38:20.885Z,1579815500.885 [MissionManager](INFO): Inserting Stack: Missions/Insert/LineCapture.xml
2020-01-23T21:38:21.411Z,1579815501.411 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockDepth = 6.000000 _
2020-01-23T21:38:21.415Z,1579815501.415 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockLat = 0.642341 _
2020-01-23T21:38:21.435Z,1579815501.435 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockLon = -2.126200 _
2020-01-23T21:38:21.438Z,1579815501.438 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DetachRange = 8.000000 m
2020-01-23T21:38:21.453Z,1579815501.453 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DetachTimeout = 30.000000 min
2020-01-23T21:38:21.456Z,1579815501.456 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MidcourseDepth = 15.000000 m
2020-01-23T21:38:21.460Z,1579815501.460 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MidcourseSpeed = 1.000000 m/s
2020-01-23T21:38:21.475Z,1579815501.475 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MidcourseTimeout = 12.000000 h
2020-01-23T21:38:21.478Z,1579815501.478 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.TerminalRange = 650.000000 m
2020-01-23T21:38:21.505Z,1579815501.505 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.ArmRange = 40.000000 m
2020-01-23T21:38:21.509Z,1579815501.509 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockRange = 2.000000 m
2020-01-23T21:38:21.512Z,1579815501.512 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockTimeout = 60.000000 s
2020-01-23T21:38:21.527Z,1579815501.527 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.RolloutDistance = 250.000000 m
2020-01-23T21:38:21.530Z,1579815501.530 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.UpdateNav = 1 bool
2020-01-23T21:38:21.561Z,1579815501.561 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.AcousticTimeout = 10.000000 min
2020-01-23T21:38:21.565Z,1579815501.565 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.TerminalSpeed = 0.800000 m/s
2020-01-23T21:38:21.568Z,1579815501.568 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.SearchTimeout = 60.000000 min
2020-01-23T21:38:21.584Z,1579815501.584 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.CircleRadius = 300.000000 m
2020-01-23T21:38:21.587Z,1579815501.587 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.CircleMaxError = 100.000000 m
2020-01-23T21:38:21.599Z,1579815501.599 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.CircleTurnToPort = 0 bool
2020-01-23T21:38:21.602Z,1579815501.602 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DepthDeadband = 0.010000 m
2020-01-23T21:38:21.629Z,1579815501.629 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.RudderDeadband = 0.001000 arcdeg
2020-01-23T21:38:21.633Z,1579815501.633 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MinAltitude = 5.000000 m
2020-01-23T21:38:21.636Z,1579815501.636 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MaxDepth = 205.000000 m
2020-01-23T21:38:21.655Z,1579815501.655 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MinOffshore = 500.000000 m
2020-01-23T21:38:21.659Z,1579815501.659 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Depth = 15.000000 n/a
2020-01-23T21:38:21.678Z,1579815501.678 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Speed = 1.000000 n/a
2020-01-23T21:38:21.682Z,1579815501.682 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.DoneTimeout = -1.000000 count
2020-01-23T21:38:21.713Z,1579815501.713 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Done = 0.000000 count
2020-01-23T21:38:21.716Z,1579815501.716 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.DetachFromDock = 1.000000 count
2020-01-23T21:38:21.720Z,1579815501.720 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Midcourse = 2.000000 count
2020-01-23T21:38:21.739Z,1579815501.739 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Terminal = 3.000000 count
2020-01-23T21:38:21.743Z,1579815501.743 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.GuidanceMode = 1.000000 n/a
2020-01-23T21:38:21.758Z,1579815501.758 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.ElapsedRange = 0.000000 min
2020-01-23T21:38:21.762Z,1579815501.762 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.Range = nan m
2020-01-23T21:38:21.764Z,1579815501.764 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2020-01-23T21:38:21.816Z,1579815501.816 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2020-01-23T21:38:21.820Z,1579815501.820 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2020-01-23T21:38:21.839Z,1579815501.839 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2020-01-23T21:38:21.840Z,1579815501.840 [DefaultUnder:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2020-01-23T21:38:21.856Z,1579815501.856 [DefaultUnder:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-01-23T21:38:21.900Z,1579815501.900 [DefaultUnder:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2020-01-23T21:38:21.955Z,1579815501.955 [DefaultUnder:LineCapture:H.Mass](DEBUG): Construct.
2020-01-23T21:38:21.979Z,1579815501.979 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:B.Buoyancy](DEBUG): Construct Buoyancy.
2020-01-23T21:38:21.982Z,1579815501.982 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:C.SetSpeed](DEBUG): Construct.
2020-01-23T21:38:22.005Z,1579815502.005 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:D.Pitch](DEBUG): Construct.
2020-01-23T21:38:22.012Z,1579815502.012 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed](DEBUG): Construct.
2020-01-23T21:38:22.023Z,1579815502.023 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:B.Pitch](DEBUG): Construct.
2020-01-23T21:38:22.059Z,1579815502.059 [DefaultUnder:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2020-01-23T21:38:22.130Z,1579815502.130 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2020-01-23T21:38:22.152Z,1579815502.152 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:G.Circle](DEBUG): Construct.
2020-01-23T21:38:22.249Z,1579815502.249 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2020-01-23T21:38:22.252Z,1579815502.252 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:H.LineCapture](DEBUG): Construct.
2020-01-23T21:38:22.291Z,1579815502.291 [DefaultUnder:LineCapture:K.Wait](DEBUG): Construct Wait.
2020-01-23T21:38:22.294Z,1579815502.294 [DefaultUnder:E.Wait](DEBUG): Construct Wait.
2020-01-23T21:38:22.316Z,1579815502.316 [DefaultUnder:Default:Docked:run:B.Docked](DEBUG): Construct.
2020-01-23T21:38:22.396Z,1579815502.396 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): Construct GoToSurface.
2020-01-23T21:38:22.444Z,1579815502.444 [DefaultUnder:Default:Surface:run:SurfaceComms:Read_Iridium_uModem:A_Timeout:A.Execute](DEBUG): Construct Execute.
2020-01-23T21:38:22.447Z,1579815502.447 [DefaultUnder:Default:Surface:run:SurfaceComms:C.Wait](DEBUG): Construct Wait.
2020-01-23T21:38:22.516Z,1579815502.516 [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>


2020-01-23T21:38:22.521Z,1579815502.520 [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,
2020-01-23T21:38:22.541Z,1579815502.541 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2020-01-23T21:38:22.574Z,1579815502.574 [DDM](INFO): Powering up
2020-01-23T21:38:22.574Z,1579815502.574 [DDM](DEBUG): Initializing DDM.
2020-01-23T21:38:22.599Z,1579815502.599 [DUSBL_Hydroid](INFO): Powering up
2020-01-23T21:38:22.599Z,1579815502.599 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2020-01-23T21:38:22.797Z,1579815502.797 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2020-01-23T21:38:22.806Z,1579815502.806 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2020-01-23T21:38:22.807Z,1579815502.807 [ElevatorServo](DEBUG): Initializing EZServoServo.
2020-01-23T21:38:22.813Z,1579815502.813 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2020-01-23T21:38:22.814Z,1579815502.814 [MassServo](DEBUG): Initializing EZServoServo.
2020-01-23T21:38:22.821Z,1579815502.821 [MassServo](DEBUG): Initializing MassServo.
2020-01-23T21:38:22.822Z,1579815502.822 [RudderServo](DEBUG): Initializing EZServoServo.
2020-01-23T21:38:22.829Z,1579815502.829 [RudderServo](DEBUG): Initializing RudderServo.
2020-01-23T21:38:22.830Z,1579815502.830 [ThrusterServo](DEBUG): Initializing EZServoServo.
2020-01-23T21:38:22.837Z,1579815502.837 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2020-01-23T21:38:22.949Z,1579815502.949 [Depth_Keller](ERROR): Pressure reading out of range: 1913.424561 decibar
2020-01-23T21:38:22.952Z,1579815502.952 [Micromodem](INFO): Powering up
2020-01-23T21:38:22.952Z,1579815502.952 [Micromodem](DEBUG): Initializing Micromodem.
2020-01-23T21:38:23.721Z,1579815503.721 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2020-01-23T21:38:23.721Z,1579815503.721 [RudderServo](FAULT): Rudder failed to initialize
2020-01-23T21:38:23.721Z,1579815503.721 [RudderServo] Communications Fault, FailCount= 1
2020-01-23T21:38:23.721Z,1579815503.721 [RudderServo](ERROR): Communications Fault
2020-01-23T21:38:23.832Z,1579815503.832 [CBIT](ERROR): Communications Fault in component: RudderServo
2020-01-23T21:38:24.034Z,1579815504.034 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-01-23T21:38:24.034Z,1579815504.034 [RudderServo](INFO): Powering down
2020-01-23T21:38:24.686Z,1579815504.686 [RudderServo](DEBUG): Initializing EZServoServo.
2020-01-23T21:38:24.806Z,1579815504.806 [RudderServo](DEBUG): Initializing RudderServo.
2020-01-23T21:38:24.810Z,1579815504.810 [CBIT](INFO): Clearing failed state for component RudderServo
2020-01-23T21:38:24.810Z,1579815504.810 [RudderServo] No Fault, FailCount= 1
2020-01-23T21:38:27.918Z,1579815507.918 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2020-01-23T21:38:28.324Z,1579815508.324 [Micromodem](INFO): Nmea in: $CATMG,2020-01-23T21:38:27.641520Z,RTC,RTC*59

2020-01-23T21:38:28.324Z,1579815508.324 [Micromodem](ERROR): CFG response from modem unexpected: $CATMG,2020-01-23T21:38:27.641520Z,RTC,RTC*59

2020-01-23T21:38:28.727Z,1579815508.727 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2020-01-23T21:38:28.727Z,1579815508.727 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2020-01-23T21:38:29.131Z,1579815509.131 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2020-01-23T21:38:29.131Z,1579815509.131 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2020-01-23T21:38:29.535Z,1579815509.535 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2020-01-23T21:38:29.535Z,1579815509.535 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2020-01-23T21:38:29.943Z,1579815509.943 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2020-01-23T21:38:29.943Z,1579815509.943 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2020-01-23T21:38:30.347Z,1579815510.347 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2020-01-23T21:38:30.347Z,1579815510.347 [Micromodem](INFO): Nmea out: $CCCFG,FC0,10000*46

2020-01-23T21:38:30.747Z,1579815510.747 [Micromodem](INFO): Nmea in: $CACFG,FC0,10000*44

2020-01-23T21:38:30.747Z,1579815510.747 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2020-01-23T21:38:31.155Z,1579815511.155 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2020-01-23T21:38:31.156Z,1579815511.156 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2020-01-23T21:38:31.533Z,1579815511.533 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2020-01-23T21:38:31.534Z,1579815511.533 [Micromodem](INFO): Nmea out: $CCCLK,2020,01,23,21,38,32*4D

2020-01-23T21:38:31.943Z,1579815511.943 [Micromodem](INFO): Nmea in: $CACLK,2020,1,23,21,38,32*7F

2020-01-23T21:38:32.340Z,1579815512.340 [Micromodem](INFO): Nmea in: $CATMS,0,2020-01-23T21:38:33Z*7E

2020-01-23T21:38:32.341Z,1579815512.341 [Micromodem](INFO): Nmea in: $CATMG,2020-01-23T21:38:33.027746Z,USER_CMD,RTC*19

2020-01-23T21:38:33.147Z,1579815513.147 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2020-01-23T21:38:35.992Z,1579815515.992 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2020-01-23T21:38:40.419Z,1579815520.419 [DUSBL_Hydroid](INFO): DUSBL Version:O
2020-01-23T21:38:46.471Z,1579815526.471 [NAL9602](INFO): Powering up NAL9602
2020-01-23T21:38:57.388Z,1579815537.388 [NAL9602](INFO): NAL9602 initialized
2020-01-23T21:38:58.263Z,1579815538.263 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-01-23T21:38:58.264Z,1579815538.264 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-3768,-32768,V
2020-01-23T21:38:59.927Z,1579815539.927 [SBIT](IMPORTANT): Beginning Startup BIT
2020-01-23T21:38:59.935Z,1579815539.935 [CBIT](IMPORTANT): Beginning ground fault scan
2020-01-23T21:39:11.121Z,1579815551.121 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.007842
CHAN A1 (24V): -0.028779
CHAN A2 (12V): -0.006768
CHAN A3 (5V): -0.003376
CHAN B0 (3.3V): 0.001012
CHAN B1 (3.15aV): -0.001178
CHAN B2 (3.15bV): 0.000107
CHAN B3 (GND): 0.001816
OPEN: 0.004986
Full Scale Calc: 4.765 mA, -1.589 mA
2020-01-23T21:39:17.210Z,1579815557.210 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-23T21:39:17.211Z,1579815557.211 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,20012314503502,35.0, -0.1,   0.0,14
2020-01-23T21:39:54.108Z,1579815594.108 [SBIT](IMPORTANT): SBIT PASSED
2020-01-23T21:39:54.108Z,1579815594.108 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2020-01-23T21:39:54.109Z,1579815594.109 [SBIT](IMPORTANT): DUSBL_Hydroid.detectionThreshold=30 count;

2020-01-23T21:39:54.110Z,1579815594.110 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=105 cubic_centimeter;

2020-01-23T21:39:54.110Z,1579815594.110 [SBIT](IMPORTANT): VerticalControl.massDefault=-5 millimeter;

2020-01-23T21:39:54.522Z,1579815594.522 [MissionManager](IMPORTANT): Started mission DefaultUnder
2020-01-23T21:39:54.523Z,1579815594.523 [DefaultUnder] Running Loop=1
2020-01-23T21:39:54.523Z,1579815594.523 [DefaultUnder](DEBUG): Aggregate::initialize DefaultUnder
2020-01-23T21:39:54.523Z,1579815594.523 [DefaultUnder:uModemComms] Running Loop=1
2020-01-23T21:39:54.523Z,1579815594.523 [DefaultUnder:uModemComms](DEBUG): Aggregate::initialize DefaultUnder:uModemComms
2020-01-23T21:39:54.523Z,1579815594.523 [DefaultUnder:Notify] Running Loop=1
2020-01-23T21:39:54.523Z,1579815594.523 [DefaultUnder:Notify](DEBUG): Aggregate::initialize DefaultUnder:Notify
2020-01-23T21:39:54.523Z,1579815594.523 [DefaultUnder:Notify:A] Running Loop=1
2020-01-23T21:39:54.523Z,1579815594.523 [DefaultUnder:Notify:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A
2020-01-23T21:39:54.524Z,1579815594.524 [DefaultUnder:Notify:A:A] Running Loop=1
2020-01-23T21:39:54.524Z,1579815594.524 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A:A
2020-01-23T21:39:54.524Z,1579815594.524 [DefaultUnder:Notify:A:A:A.Wait] Running Loop=1
2020-01-23T21:39:54.524Z,1579815594.524 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Initialize Wait Component.
2020-01-23T21:39:54.524Z,1579815594.524 [DefaultUnder:C.] Running Loop=1
2020-01-23T21:39:54.524Z,1579815594.524 [DefaultUnder:C.](INFO): Initializing TrackAcousticContact.
2020-01-23T21:39:54.524Z,1579815594.524 [DefaultUnder:E.Wait] Running Loop=1
2020-01-23T21:39:54.524Z,1579815594.524 [DefaultUnder:E.Wait](DEBUG): Initialize Wait Component.
2020-01-23T21:39:54.525Z,1579815594.525 [DefaultUnder:C.] Running Loop=1
2020-01-23T21:39:54.526Z,1579815594.526 [DefaultUnder:Notify] Running Loop=1
2020-01-23T21:39:54.526Z,1579815594.526 [DefaultUnder:uModemComms] Running Loop=1
2020-01-23T21:39:54.526Z,1579815594.526 [DefaultUnder:uModemComms:CheckIn] Running Loop=1
2020-01-23T21:39:54.526Z,1579815594.526 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::initialize DefaultUnder:uModemComms:CheckIn
2020-01-23T21:39:54.527Z,1579815594.527 [DefaultUnder:uModemComms:CheckIn:A] Running Loop=1
2020-01-23T21:39:54.527Z,1579815594.527 [DefaultUnder:uModemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2020-01-23T21:40:07.867Z,1579815607.867 [DefaultUnder:E.Wait](INFO): Done Waiting.
2020-01-23T21:40:07.867Z,1579815607.867 [DefaultUnder:E.Wait] Stopped
2020-01-23T21:40:07.867Z,1579815607.867 [DefaultUnder:E.Wait](DEBUG): Uninitialize Wait Component.
2020-01-23T21:40:07.867Z,1579815607.867 [DefaultUnder:Default] Running Loop=1
2020-01-23T21:40:07.867Z,1579815607.867 [DefaultUnder:Default](DEBUG): Aggregate::initialize DefaultUnder:Default
2020-01-23T21:40:07.867Z,1579815607.867 [DefaultUnder:Default:Docked] Running Loop=1
2020-01-23T21:40:07.868Z,1579815607.868 [DefaultUnder:Default:Docked](DEBUG): Aggregate::initialize DefaultUnder:Default:Docked
2020-01-23T21:40:07.868Z,1579815607.868 [DefaultUnder:Default:Docked:run] Running Loop=1
2020-01-23T21:40:07.868Z,1579815607.868 [DefaultUnder:Default:Docked:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Docked:run
2020-01-23T21:40:07.868Z,1579815607.868 [DefaultUnder:Default:Docked:run:A] Running Loop=1
2020-01-23T21:40:07.868Z,1579815607.868 [DefaultUnder:Default:Home] Running Loop=1
2020-01-23T21:40:07.868Z,1579815607.868 [DefaultUnder:Default:Home](DEBUG): Aggregate::initialize DefaultUnder:Default:Home
2020-01-23T21:40:07.868Z,1579815607.868 [DefaultUnder:Default:Home:run] Running Loop=1
2020-01-23T21:40:07.868Z,1579815607.868 [DefaultUnder:Default:Home:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Home:run
2020-01-23T21:40:07.868Z,1579815607.868 [DefaultUnder:Default:Home:run:A] Running Loop=1
2020-01-23T21:40:07.869Z,1579815607.869 [DefaultUnder:Default:Surface] Running Loop=1
2020-01-23T21:40:07.869Z,1579815607.869 [DefaultUnder:Default:Surface](DEBUG): Aggregate::initialize DefaultUnder:Default:Surface
2020-01-23T21:40:07.869Z,1579815607.869 [DefaultUnder:Default:Surface:run] Running Loop=1
2020-01-23T21:40:07.869Z,1579815607.869 [DefaultUnder:Default:Surface:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Surface:run
2020-01-23T21:40:07.869Z,1579815607.869 [DefaultUnder:Default:Surface:run:B.GoToSurface] Running Loop=1
2020-01-23T21:40:07.869Z,1579815607.869 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-23T21:40:07.870Z,1579815607.870 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-23T21:40:07.870Z,1579815607.870 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-23T21:40:07.870Z,1579815607.870 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-23T21:40:07.871Z,1579815607.871 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-23T21:40:07.871Z,1579815607.871 [DefaultUnder:Default:Surface:run:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-23T21:40:07.871Z,1579815607.871 [DefaultUnder:Default:Surface:run:A] Running Loop=1
2020-01-23T21:40:08.273Z,1579815608.273 [DefaultUnder:Default:Surface] Stopped
2020-01-23T21:40:08.273Z,1579815608.273 [DefaultUnder:Default:Surface](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Surface
2020-01-23T21:40:08.273Z,1579815608.273 [DefaultUnder:Default:Surface:run] Stopped
2020-01-23T21:40:08.273Z,1579815608.273 [DefaultUnder:Default:Surface:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Surface:run
2020-01-23T21:40:08.273Z,1579815608.273 [DefaultUnder:Default:Surface:run:A] Stopped
2020-01-23T21:40:08.273Z,1579815608.273 [DefaultUnder:Default:Surface:run:B.GoToSurface] Stopped
2020-01-23T21:40:08.274Z,1579815608.274 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-23T21:40:08.274Z,1579815608.274 [DefaultUnder:Default:Home] Stopped
2020-01-23T21:40:08.274Z,1579815608.274 [DefaultUnder:Default:Home](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Home
2020-01-23T21:40:08.274Z,1579815608.274 [DefaultUnder:Default:Home:run] Stopped
2020-01-23T21:40:08.274Z,1579815608.274 [DefaultUnder:Default:Home:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Home:run
2020-01-23T21:40:08.274Z,1579815608.274 [DefaultUnder:Default:Home:run:A] Stopped
2020-01-23T21:40:08.274Z,1579815608.274 [DefaultUnder:Default:Docked] Running Loop=1
2020-01-23T21:40:08.274Z,1579815608.274 [DefaultUnder:Default:Docked:run:A] Stopped
2020-01-23T21:40:08.274Z,1579815608.274 [DefaultUnder:Default:Docked:run:B.Docked] Running Loop=1
2020-01-23T21:40:08.274Z,1579815608.274 [DefaultUnder:Default:Docked:run:B.Docked](DEBUG): Initialize.
2020-01-23T21:40:08.275Z,1579815608.275 [DefaultUnder:Default:Docked:run:B.Docked](INFO): Depth unspecified. Maintaining workSite beacon depth of 6.000000 m.
2020-01-23T21:40:49.599Z,1579815649.599 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004934
2020-01-23T21:40:51.899Z,1579815651.899 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-01-23T21:40:51.899Z,1579815651.899 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-3768,-32768,V
2020-01-23T21:40:54.727Z,1579815654.727 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T21:40:55.496Z,1579815655.496 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T21:40:55.909Z,1579815655.909 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T21:40:56.714Z,1579815656.714 [Micromodem](INFO): Nmea in: $SNTTA,0.000227,,,,214056.39*49

2020-01-23T21:40:57.568Z,1579815657.568 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20200123T205444/Courier0022.lzma
2020-01-23T21:40:59.575Z,1579815659.575 [DataOverHttps](INFO): Moved sent file to Logs/20200123T205444/Courier0022.lzma.bak
2020-01-23T21:40:59.575Z,1579815659.575 [DataOverHttps](INFO): SBD MOMSN=12201083
2020-01-23T21:41:17.256Z,1579815677.256 [DataOverHttps](INFO): Sending 151 bytes from file Logs/20200123T213809/Courier0000.lzma
2020-01-23T21:41:19.262Z,1579815679.262 [DataOverHttps](INFO): Moved sent file to Logs/20200123T213809/Courier0000.lzma.bak
2020-01-23T21:41:19.263Z,1579815679.263 [DataOverHttps](INFO): SBD MOMSN=12201085
2020-01-23T21:41:20.180Z,1579815680.180 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2020-01-23T21:41:20.180Z,1579815680.180 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-23T21:41:20.229Z,1579815680.229 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-23T21:41:20.626Z,1579815680.626 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-23T21:41:20.626Z,1579815680.626 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2020-01-23T21:41:36.732Z,1579815696.732 [DataOverHttps](INFO): Sending 170 bytes from file Logs/20200123T205444/Express0023.lzma
2020-01-23T21:41:38.010Z,1579815698.010 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2020-01-23T21:41:38.738Z,1579815698.738 [DataOverHttps](INFO): Moved sent file to Logs/20200123T205444/Express0023.lzma.bak
2020-01-23T21:41:38.738Z,1579815698.738 [DataOverHttps](INFO): SBD MOMSN=12201088
2020-01-23T21:41:56.105Z,1579815716.105 [DataOverHttps](INFO): Sending 693 bytes from file Logs/20200123T213809/Express0001.lzma
2020-01-23T21:41:56.523Z,1579815716.523 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T21:41:57.309Z,1579815717.309 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T21:41:57.709Z,1579815717.709 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T21:41:58.110Z,1579815718.110 [DataOverHttps](INFO): Moved sent file to Logs/20200123T213809/Express0001.lzma.bak
2020-01-23T21:41:58.110Z,1579815718.110 [DataOverHttps](INFO): SBD MOMSN=12201093
2020-01-23T21:41:58.534Z,1579815718.534 [Micromodem](INFO): Nmea in: $SNTTA,0.000219,,0.450554,,214158.21*59

2020-01-23T21:41:59.379Z,1579815719.379 [DefaultUnder:uModemComms:CheckIn:A] Stopped
2020-01-23T21:41:59.379Z,1579815719.379 [DefaultUnder:uModemComms:CheckIn](INFO): Completed DefaultUnder:uModemComms:CheckIn
2020-01-23T21:41:59.379Z,1579815719.379 [DefaultUnder:uModemComms:CheckIn] Stopped
2020-01-23T21:41:59.380Z,1579815719.380 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::uninitialize DefaultUnder:uModemComms:CheckIn
2020-01-23T21:42:34.620Z,1579815754.620 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2020-01-23T21:42:55.553Z,1579815775.553 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-23T21:42:55.554Z,1579815775.554 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2020-01-23T21:42:58.404Z,1579815778.404 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T21:42:59.164Z,1579815779.164 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T21:42:59.561Z,1579815779.561 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T21:43:00.398Z,1579815780.398 [Micromodem](INFO): Nmea in: $SNTTA,0.000240,,,,214300.06*44

2020-01-23T21:43:16.207Z,1579815796.207 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-23T21:43:16.208Z,1579815796.208 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,20012314543402,35.0, 0.0,1448.9,  0
2020-01-23T21:43:27.580Z,1579815807.580 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2020-01-23T21:43:40.206Z,1579815820.206 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2020-01-23T21:43:40.965Z,1579815820.965 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2020-01-23T21:43:55.384Z,1579815835.384 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-23T21:43:55.384Z,1579815835.384 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,20012314551202,35

2020-01-23T21:44:00.240Z,1579815840.240 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T21:44:01.004Z,1579815841.004 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T21:44:01.011Z,1579815841.011 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2020-01-23T21:44:01.401Z,1579815841.401 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T21:44:02.230Z,1579815842.230 [Micromodem](INFO): Nmea in: $SNTTA,0.000214,,,,214401.90*4C

2020-01-23T21:44:21.290Z,1579815861.290 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2020-01-23T21:44:21.290Z,1579815861.290 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-23T21:44:21.314Z,1579815861.314 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-23T21:44:21.755Z,1579815861.755 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-23T21:44:21.755Z,1579815861.755 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2020-01-23T21:44:34.286Z,1579815874.286 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2020-01-23T21:44:54.783Z,1579815894.783 [DefaultUnder:Notify:A:A:A.Wait](INFO): Done Waiting.
2020-01-23T21:44:54.783Z,1579815894.783 [DefaultUnder:Notify:A:A:A.Wait] Stopped
2020-01-23T21:44:54.783Z,1579815894.783 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-23T21:44:54.784Z,1579815894.784 [DefaultUnder:Notify:A:A:B] Running Loop=1
2020-01-23T21:44:55.218Z,1579815895.218 [DefaultUnder:Notify:A:A:B] Stopped
2020-01-23T21:44:55.218Z,1579815895.218 [DefaultUnder:Notify:A:A:C] Running Loop=1
2020-01-23T21:44:55.588Z,1579815895.588 [DefaultUnder:Notify:A:A:C](IMPORTANT): Default mission has been running for 5.011591 min 
2020-01-23T21:44:55.588Z,1579815895.588 [DefaultUnder:Notify:A:A:C] Stopped
2020-01-23T21:44:55.589Z,1579815895.589 [DefaultUnder:Notify:A:A](INFO): Completed DefaultUnder:Notify:A:A
2020-01-23T21:44:55.589Z,1579815895.589 [DefaultUnder:Notify:A:A] Stopped
2020-01-23T21:44:55.589Z,1579815895.589 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A:A
2020-01-23T21:44:55.589Z,1579815895.589 [DefaultUnder:Notify:A:A](INFO): Running loop #2
2020-01-23T21:44:55.589Z,1579815895.589 [DefaultUnder:Notify:A:A] Running Loop=2
2020-01-23T21:44:55.589Z,1579815895.589 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A:A
2020-01-23T21:44:55.589Z,1579815895.589 [DefaultUnder:Notify:A:A:A.Wait] Running Loop=1
2020-01-23T21:44:55.589Z,1579815895.589 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Initialize Wait Component.
2020-01-23T21:44:59.198Z,1579815899.198 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-23T21:44:59.199Z,1579815899.199 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00,   I,-32768,-32768,-32768,-32768,V
2020-01-23T21:45:02.132Z,1579815902.132 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T21:45:02.884Z,1579815902.884 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T21:45:03.285Z,1579815903.285 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T21:45:04.106Z,1579815904.106 [Micromodem](INFO): Nmea in: $SNTTA,0.000229,,,,214503.78*47

2020-01-23T21:45:15.969Z,1579815915.969 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2020-01-23T21:46:03.912Z,1579815963.912 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T21:46:04.696Z,1579815964.696 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T21:46:05.101Z,1579815965.101 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T21:46:05.922Z,1579815965.922 [Micromodem](INFO): Nmea in: $SNTTA,0.000203,,,,214605.59*49

2020-01-23T21:46:08.820Z,1579815968.820 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-23T21:46:08.821Z,1579815968.821 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2020-01-23T21:46:24.548Z,1579815984.548 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2020-01-23T21:46:24.568Z,1579815984.568 [BPC1](INFO): Received data from all battery sticks.
2020-01-23T21:46:59.292Z,1579816019.292 [DefaultUnder:uModemComms:CheckIn] Running Loop=1
2020-01-23T21:46:59.292Z,1579816019.292 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::initialize DefaultUnder:uModemComms:CheckIn
2020-01-23T21:46:59.292Z,1579816019.292 [DefaultUnder:uModemComms:CheckIn:A] Running Loop=1
2020-01-23T21:47:05.740Z,1579816025.740 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T21:47:06.316Z,1579816026.316 [DataOverHttps](INFO): Sending 168 bytes from file Logs/20200123T213809/Courier0004.lzma
2020-01-23T21:47:06.504Z,1579816026.504 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T21:47:06.919Z,1579816026.919 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T21:47:07.726Z,1579816027.726 [Micromodem](INFO): Nmea in: $SNTTA,0.000242,,,,214707.40*47

2020-01-23T21:47:08.323Z,1579816028.323 [DataOverHttps](INFO): Moved sent file to Logs/20200123T213809/Courier0004.lzma.bak
2020-01-23T21:47:08.323Z,1579816028.323 [DataOverHttps](INFO): SBD MOMSN=12201108
2020-01-23T21:47:22.341Z,1579816042.341 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 3
2020-01-23T21:47:22.341Z,1579816042.341 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-23T21:47:22.377Z,1579816042.377 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-23T21:47:22.744Z,1579816042.744 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-23T21:47:22.744Z,1579816042.744 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 3
2020-01-23T21:47:25.181Z,1579816045.181 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2020-01-23T21:47:25.573Z,1579816045.573 [DataOverHttps](INFO): Sending 220 bytes from file Logs/20200123T213809/Express0005.lzma
2020-01-23T21:47:27.578Z,1579816047.578 [DataOverHttps](INFO): Moved sent file to Logs/20200123T213809/Express0005.lzma.bak
2020-01-23T21:47:27.578Z,1579816047.578 [DataOverHttps](INFO): SBD MOMSN=12201110
2020-01-23T21:47:28.894Z,1579816048.894 [DefaultUnder:uModemComms:CheckIn:A] Stopped
2020-01-23T21:47:28.895Z,1579816048.895 [DefaultUnder:uModemComms:CheckIn](INFO): Completed DefaultUnder:uModemComms:CheckIn
2020-01-23T21:47:28.895Z,1579816048.895 [DefaultUnder:uModemComms:CheckIn] Stopped
2020-01-23T21:47:28.895Z,1579816048.895 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::uninitialize DefaultUnder:uModemComms:CheckIn
2020-01-23T21:48:07.639Z,1579816087.639 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T21:48:08.414Z,1579816088.414 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T21:48:08.819Z,1579816088.819 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T21:48:09.630Z,1579816089.630 [Micromodem](INFO): Nmea in: $SNTTA,0.000222,,,,214809.31*46

2020-01-23T21:48:58.904Z,1579816138.904 [NAL9602](FAULT): GPS failed to acquire within timeout.
2020-01-23T21:48:58.904Z,1579816138.904 [NAL9602] Data Fault, FailCount= 1
2020-01-23T21:48:58.904Z,1579816138.904 [NAL9602](ERROR): Data Fault
2020-01-23T21:48:58.991Z,1579816138.991 [CBIT](ERROR): Data Fault in component: NAL9602
2020-01-23T21:48:59.303Z,1579816139.303 [NAL9602](INFO): Powering down
2020-01-23T21:49:00.159Z,1579816140.159 [CBIT](INFO): Clearing failed state for component NAL9602
2020-01-23T21:49:00.159Z,1579816140.159 [NAL9602] No Fault, FailCount= 1
2020-01-23T21:49:09.436Z,1579816149.436 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T21:49:10.212Z,1579816150.212 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T21:49:10.626Z,1579816150.626 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T21:49:11.438Z,1579816151.438 [Micromodem](INFO): Nmea in: $SNTTA,0.000227,,,,214911.11*49

2020-01-23T21:49:29.635Z,1579816169.635 [NAL9602](INFO): Powering up NAL9602
2020-01-23T21:49:32.570Z,1579816172.570 [CommandLine](IMPORTANT): got command restart application
2020-01-23T21:49:33.573Z,1579816173.573 [Supervisor](INFO): Stop Mission called by Supervisor::terminate
2020-01-23T21:49:33.573Z,1579816173.573 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-23T21:49:33.573Z,1579816173.573 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-23T21:49:33.637Z,1579816173.637 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2020-01-23T21:49:33.637Z,1579816173.637 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-23T21:49:33.638Z,1579816173.638 [CommandLine](INFO): Join timeout helper Thread ID is 2417
2020-01-23T21:49:33.638Z,1579816173.638 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2020-01-23T21:49:33.638Z,1579816173.638 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-23T21:49:33.639Z,1579816173.639 [NavChartDb](INFO): Join timeout helper Thread ID is 2418
2020-01-23T21:49:33.757Z,1579816173.757 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-23T21:49:33.758Z,1579816173.758 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-23T21:49:33.761Z,1579816173.761 [ComponentRegistry](INFO): Shutting down WetLabsSeaOWL_UV_A ThreadHandler
2020-01-23T21:49:33.761Z,1579816173.761 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-23T21:49:33.761Z,1579816173.761 [WetLabsSeaOWL_UV_A](INFO): Join timeout helper Thread ID is 2419
2020-01-23T21:49:34.162Z,1579816174.162 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-23T21:49:34.162Z,1579816174.162 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-01-23T21:49:34.164Z,1579816174.164 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-23T21:49:34.166Z,1579816174.166 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2020-01-23T21:49:34.166Z,1579816174.166 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-23T21:49:34.167Z,1579816174.167 [CTD_NeilBrown](INFO): Join timeout helper Thread ID is 2420
2020-01-23T21:49:34.170Z,1579816174.170 [CTD_NeilBrown ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-23T21:49:34.171Z,1579816174.171 [CTD_NeilBrown](INFO): Powering down
2020-01-23T21:49:34.185Z,1579816174.185 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-23T21:49:34.185Z,1579816174.185 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2020-01-23T21:49:34.185Z,1579816174.185 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-01-23T21:49:34.186Z,1579816174.186 [Radio_Surface](INFO): Join timeout helper Thread ID is 2421
2020-01-23T21:49:34.581Z,1579816174.581 [Radio_Surface](INFO): Powering down
2020-01-23T21:49:34.582Z,1579816174.582 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-23T21:49:34.582Z,1579816174.582 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-01-23T21:49:34.598Z,1579816174.598 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2020-01-23T21:49:34.598Z,1579816174.598 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-23T21:49:34.598Z,1579816174.598 [DataOverHttps](INFO): Join timeout helper Thread ID is 2422
2020-01-23T21:49:34.713Z,1579816174.713 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-23T21:49:34.713Z,1579816174.713 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-23T21:49:34.725Z,1579816174.725 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2020-01-23T21:49:34.725Z,1579816174.725 [logger ThreadHandler](INFO): Thread cancelled.
2020-01-23T21:49:34.725Z,1579816174.725 [logger](INFO): Join timeout helper Thread ID is 2423
2020-01-23T21:49:34.773Z,1579816174.773 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-23T21:49:34.773Z,1579816174.773 [logger ThreadHandler](INFO): Thread cancelled.
2020-01-23T21:49:34.785Z,1579816174.785 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2020-01-23T21:49:34.786Z,1579816174.786 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-23T21:49:34.786Z,1579816174.786 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2020-01-23T21:49:34.786Z,1579816174.786 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-01-23T21:49:34.786Z,1579816174.786 [controlThread](INFO): Join timeout helper Thread ID is 2424
2020-01-23T21:49:34.841Z,1579816174.841 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-23T21:49:34.841Z,1579816174.841 [controlThread](DEBUG): Uninitializing ControlThread
2020-01-23T21:49:34.842Z,1579816174.842 [AHRS_M2](INFO): Powering down
2020-01-23T21:49:34.913Z,1579816174.913 [DDM](INFO): Powering down
2020-01-23T21:49:35.006Z,1579816175.006 [DUSBL_Hydroid](INFO): Powering down
2020-01-23T21:49:35.077Z,1579816175.077 [Micromodem](INFO): Powering down
2020-01-23T21:49:35.173Z,1579816175.173 [NAL9602](INFO): Powering down
2020-01-23T21:49:35.245Z,1579816175.245 [RDI_Pathfinder](INFO): Powering down
2020-01-23T21:49:35.246Z,1579816175.246 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2020-01-23T21:49:35.247Z,1579816175.247 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2020-01-23T21:49:35.248Z,1579816175.248 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2020-01-23T21:49:35.248Z,1579816175.248 [MissionManager](INFO): Uninitializing Mission DefaultUnder
2020-01-23T21:49:35.248Z,1579816175.248 [DefaultUnder] Stopped
2020-01-23T21:49:35.248Z,1579816175.248 [DefaultUnder](DEBUG): Aggregate::uninitialize DefaultUnder
2020-01-23T21:49:35.248Z,1579816175.248 [DefaultUnder:uModemComms] Stopped
2020-01-23T21:49:35.249Z,1579816175.249 [DefaultUnder:uModemComms](DEBUG): Aggregate::uninitialize DefaultUnder:uModemComms
2020-01-23T21:49:35.249Z,1579816175.249 [DefaultUnder:Notify] Stopped
2020-01-23T21:49:35.249Z,1579816175.249 [DefaultUnder:Notify](DEBUG): Aggregate::uninitialize DefaultUnder:Notify
2020-01-23T21:49:35.249Z,1579816175.249 [DefaultUnder:Notify:A] Stopped
2020-01-23T21:49:35.249Z,1579816175.249 [DefaultUnder:Notify:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A
2020-01-23T21:49:35.249Z,1579816175.249 [DefaultUnder:Notify:A:A] Stopped
2020-01-23T21:49:35.249Z,1579816175.249 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A:A
2020-01-23T21:49:35.249Z,1579816175.249 [DefaultUnder:Notify:A:A:A.Wait] Stopped
2020-01-23T21:49:35.249Z,1579816175.249 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-23T21:49:35.249Z,1579816175.249 [DefaultUnder:C.] Stopped
2020-01-23T21:49:35.249Z,1579816175.249 [DefaultUnder:Default] Stopped
2020-01-23T21:49:35.250Z,1579816175.250 [DefaultUnder:Default](DEBUG): Aggregate::uninitialize DefaultUnder:Default
2020-01-23T21:49:35.250Z,1579816175.250 [DefaultUnder:Default:Docked] Stopped
2020-01-23T21:49:35.250Z,1579816175.250 [DefaultUnder:Default:Docked](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Docked
2020-01-23T21:49:35.250Z,1579816175.250 [DefaultUnder:Default:Docked:run] Stopped
2020-01-23T21:49:35.250Z,1579816175.250 [DefaultUnder:Default:Docked:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Docked:run
2020-01-23T21:49:35.250Z,1579816175.250 [DefaultUnder:Default:Docked:run:B.Docked] Stopped
2020-01-23T21:49:35.278Z,1579816175.278 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2020-01-23T21:49:35.278Z,1579816175.278 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2020-01-23T21:49:35.278Z,1579816175.278 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2020-01-23T21:49:35.279Z,1579816175.279 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2020-01-23T21:49:35.279Z,1579816175.279 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2020-01-23T21:49:35.279Z,1579816175.279 [BuoyancyServo](INFO): Powering down
2020-01-23T21:49:35.293Z,1579816175.293 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2020-01-23T21:49:35.293Z,1579816175.293 [ElevatorServo](INFO): Powering down
2020-01-23T21:49:35.294Z,1579816175.294 [MassServo](DEBUG): Uninitialize Mass Servo.
2020-01-23T21:49:35.294Z,1579816175.294 [MassServo](INFO): Powering down
2020-01-23T21:49:35.295Z,1579816175.295 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-01-23T21:49:35.295Z,1579816175.295 [RudderServo](INFO): Powering down
2020-01-23T21:49:35.295Z,1579816175.295 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2020-01-23T21:49:35.296Z,1579816175.296 [ThrusterServo](INFO): Powering down
2020-01-23T21:49:35.296Z,1579816175.296 [SBIT](DEBUG): Uninitialize SBIT Component.
2020-01-23T21:49:35.297Z,1579816175.297 [IBIT](DEBUG): Uninitialize IBIT Component.
2020-01-23T21:49:35.297Z,1579816175.297 [CBIT](DEBUG): Uninitialize CBIT Component.
2020-01-23T21:49:35.297Z,1579816175.297 [CBIT](DEBUG): Powering off loads.
2020-01-23T21:49:35.309Z,1579816175.309 [CBIT](DEBUG): Disabling WDT.
2020-01-23T21:49:35.321Z,1579816175.321 [CBIT](DEBUG): Opening all GF detection circuits.
2020-01-23T21:49:35.322Z,1579816175.322 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-01-23T21:49:35.363Z,1579816175.363 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-01-23T21:49:35.374Z,1579816175.374 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
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