2020-01-23T22:27:47.454Z,1579818467.454 [Supervisor](DEBUG): Initializing supervisor.
2020-01-23T22:27:47.457Z,1579818467.457 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2020-01-23T22:27:47.457Z,1579818467.457 [SyncHandler](INFO): Protected caller Thread ID is 4208
2020-01-23T22:27:47.458Z,1579818467.458 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2020-01-23T22:27:47.459Z,1579818467.459 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2020-01-23T22:27:47.459Z,1579818467.459 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 4209
2020-01-23T22:27:47.462Z,1579818467.462 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2020-01-23T22:27:47.473Z,1579818467.473 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2020-01-23T22:27:47.474Z,1579818467.474 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2020-01-23T22:27:47.475Z,1579818467.475 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 4210
2020-01-23T22:27:47.475Z,1579818467.475 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2020-01-23T22:27:47.476Z,1579818467.476 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2020-01-23T22:27:47.477Z,1579818467.477 [logger ThreadHandler](INFO): Protected caller Thread ID is 4211
2020-01-23T22:27:47.478Z,1579818467.478 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2020-01-23T22:27:47.479Z,1579818467.479 [Supervisor](INFO): Looking for Config files in directory: Config/
2020-01-23T22:27:47.480Z,1579818467.480 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2020-01-23T22:27:47.914Z,1579818467.914 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2020-01-23T22:27:47.914Z,1579818467.914 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2020-01-23T22:27:48.010Z,1579818468.010 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2020-01-23T22:27:48.011Z,1579818468.011 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2020-01-23T22:27:48.322Z,1579818468.322 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2020-01-23T22:27:48.322Z,1579818468.322 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2020-01-23T22:27:48.458Z,1579818468.458 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2020-01-23T22:27:48.458Z,1579818468.458 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2020-01-23T22:27:48.648Z,1579818468.648 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2020-01-23T22:27:48.648Z,1579818468.648 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2020-01-23T22:27:49.090Z,1579818469.090 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2020-01-23T22:27:49.091Z,1579818469.091 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2020-01-23T22:27:49.297Z,1579818469.297 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2020-01-23T22:27:49.298Z,1579818469.298 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2020-01-23T22:27:49.440Z,1579818469.440 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2020-01-23T22:27:49.441Z,1579818469.441 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2020-01-23T22:27:49.629Z,1579818469.629 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2020-01-23T22:27:49.629Z,1579818469.629 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2020-01-23T22:27:49.723Z,1579818469.723 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2020-01-23T22:27:49.724Z,1579818469.724 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2020-01-23T22:27:50.019Z,1579818470.019 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2020-01-23T22:27:50.020Z,1579818470.020 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2020-01-23T22:27:50.098Z,1579818470.098 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2020-01-23T22:27:50.198Z,1579818470.198 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2020-01-23T22:27:50.198Z,1579818470.198 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2020-01-23T22:27:50.906Z,1579818470.906 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2020-01-23T22:27:50.907Z,1579818470.907 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2020-01-23T22:27:51.311Z,1579818471.311 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2020-01-23T22:27:51.313Z,1579818471.313 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/
2020-01-23T22:27:51.313Z,1579818471.313 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/vehicle.cfg
2020-01-23T22:27:51.522Z,1579818471.522 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Control.cfg
2020-01-23T22:27:51.620Z,1579818471.620 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/BIT.cfg
2020-01-23T22:27:51.717Z,1579818471.717 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Battery.cfg
2020-01-23T22:27:51.943Z,1579818471.943 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2020-01-23T22:27:51.943Z,1579818471.943 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Simulator.cfg
2020-01-23T22:27:52.026Z,1579818472.026 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Navigation.cfg
2020-01-23T22:27:52.135Z,1579818472.135 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/logger.cfg
2020-01-23T22:27:52.423Z,1579818472.423 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/secure.cfg
2020-01-23T22:27:52.526Z,1579818472.526 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Servo.cfg
2020-01-23T22:27:52.670Z,1579818472.670 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/workSite.cfg
2020-01-23T22:27:52.773Z,1579818472.773 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Sensor.cfg
2020-01-23T22:27:53.103Z,1579818473.103 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Science.cfg
2020-01-23T22:27:53.231Z,1579818473.231 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/root/
2020-01-23T22:27:53.231Z,1579818473.231 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2020-01-23T22:27:53.237Z,1579818473.237 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2020-01-23T22:27:53.522Z,1579818473.522 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_orientation
2020-01-23T22:27:53.528Z,1579818473.528 [AHRS_M2](INFO): created writer for : platform_orientation
2020-01-23T22:27:53.529Z,1579818473.529 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_magnetic_orientation
2020-01-23T22:27:53.534Z,1579818473.534 [AHRS_M2](INFO): created writer for : platform_magnetic_orientation
2020-01-23T22:27:53.535Z,1579818473.535 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_pitch_angle
2020-01-23T22:27:53.540Z,1579818473.540 [AHRS_M2](INFO): created writer for : platform_pitch_angle
2020-01-23T22:27:53.540Z,1579818473.540 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_roll_angle
2020-01-23T22:27:53.546Z,1579818473.546 [AHRS_M2](INFO): created writer for : platform_roll_angle
2020-01-23T22:27:53.614Z,1579818473.614 [AHRS_M2] Loaded
2020-01-23T22:27:53.614Z,1579818473.614 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2020-01-23T22:27:53.698Z,1579818473.698 [DataOverHttps] Loaded
2020-01-23T22:27:53.698Z,1579818473.698 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2020-01-23T22:27:53.699Z,1579818473.699 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 407684E0
2020-01-23T22:27:53.699Z,1579818473.699 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 4294
2020-01-23T22:27:53.723Z,1579818473.723 [DDM] Loaded
2020-01-23T22:27:53.723Z,1579818473.723 [ComponentRegistry](DEBUG): SyncComponent "DDM" handled in the control thread.
2020-01-23T22:27:53.735Z,1579818473.735 [Depth_Keller] Loaded
2020-01-23T22:27:53.736Z,1579818473.736 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2020-01-23T22:27:53.740Z,1579818473.740 [DropWeight] Loaded
2020-01-23T22:27:53.740Z,1579818473.740 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2020-01-23T22:27:53.800Z,1579818473.800 [DUSBL_Hydroid] Loaded
2020-01-23T22:27:53.800Z,1579818473.800 [ComponentRegistry](DEBUG): SyncComponent "DUSBL_Hydroid" handled in the control thread.
2020-01-23T22:27:53.846Z,1579818473.846 [Micromodem] Loaded
2020-01-23T22:27:53.846Z,1579818473.846 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2020-01-23T22:27:53.940Z,1579818473.940 [NAL9602] Loaded
2020-01-23T22:27:53.940Z,1579818473.940 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2020-01-23T22:27:53.979Z,1579818473.979 [Onboard] Loaded
2020-01-23T22:27:53.979Z,1579818473.979 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2020-01-23T22:27:53.985Z,1579818473.985 [PowerOnly] Loaded
2020-01-23T22:27:53.985Z,1579818473.985 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2020-01-23T22:27:53.991Z,1579818473.991 [Radio_Surface] Loaded
2020-01-23T22:27:53.992Z,1579818473.992 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2020-01-23T22:27:53.993Z,1579818473.993 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 407984E0
2020-01-23T22:27:53.993Z,1579818473.993 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 4295
2020-01-23T22:27:54.035Z,1579818474.035 [RDI_Pathfinder] Loaded
2020-01-23T22:27:54.035Z,1579818474.035 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2020-01-23T22:27:55.482Z,1579818475.482 [BPC1] Loaded
2020-01-23T22:27:55.482Z,1579818475.482 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2020-01-23T22:27:55.482Z,1579818475.482 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2020-01-23T22:27:55.483Z,1579818475.483 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2020-01-23T22:27:55.496Z,1579818475.496 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2020-01-23T22:27:55.496Z,1579818475.496 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2020-01-23T22:27:55.610Z,1579818475.610 [DeadReckonUsingMultipleVelocitySources] Loaded
2020-01-23T22:27:55.610Z,1579818475.610 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2020-01-23T22:27:55.630Z,1579818475.630 [NavChart] Loaded
2020-01-23T22:27:55.630Z,1579818475.630 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2020-01-23T22:27:55.634Z,1579818475.634 [UniversalFixResidualReporter] Loaded
2020-01-23T22:27:55.634Z,1579818475.634 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2020-01-23T22:27:55.635Z,1579818475.635 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2020-01-23T22:27:55.635Z,1579818475.635 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2020-01-23T22:27:55.742Z,1579818475.742 [BuoyancyServo] Loaded
2020-01-23T22:27:55.742Z,1579818475.742 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2020-01-23T22:27:55.757Z,1579818475.757 [ElevatorServo] Loaded
2020-01-23T22:27:55.757Z,1579818475.757 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2020-01-23T22:27:55.771Z,1579818475.771 [MassServo] Loaded
2020-01-23T22:27:55.771Z,1579818475.771 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2020-01-23T22:27:55.786Z,1579818475.786 [RudderServo] Loaded
2020-01-23T22:27:55.786Z,1579818475.786 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2020-01-23T22:27:55.800Z,1579818475.800 [ThrusterServo] Loaded
2020-01-23T22:27:55.801Z,1579818475.801 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2020-01-23T22:27:55.801Z,1579818475.801 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2020-01-23T22:27:55.802Z,1579818475.802 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2020-01-23T22:27:56.056Z,1579818476.056 [CTD_NeilBrown] Loaded
2020-01-23T22:27:56.057Z,1579818476.057 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2020-01-23T22:27:56.058Z,1579818476.058 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 408EC4E0
2020-01-23T22:27:56.058Z,1579818476.058 [CTD_NeilBrown ThreadHandler](INFO): Protected caller Thread ID is 4296
2020-01-23T22:27:56.072Z,1579818476.072 [PAR_Licor] Loaded
2020-01-23T22:27:56.072Z,1579818476.072 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2020-01-23T22:27:56.115Z,1579818476.115 [WetLabsSeaOWL_UV_A] Loaded
2020-01-23T22:27:56.115Z,1579818476.115 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2020-01-23T22:27:56.116Z,1579818476.116 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 4091C4E0
2020-01-23T22:27:56.117Z,1579818476.117 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 4297
2020-01-23T22:27:56.117Z,1579818476.117 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2020-01-23T22:27:56.118Z,1579818476.118 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2020-01-23T22:27:56.452Z,1579818476.452 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2020-01-23T22:27:56.452Z,1579818476.452 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2020-01-23T22:27:56.493Z,1579818476.493 [DepthRateCalculator] Loaded
2020-01-23T22:27:56.493Z,1579818476.493 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2020-01-23T22:27:56.498Z,1579818476.498 [PitchRateCalculator] Loaded
2020-01-23T22:27:56.499Z,1579818476.499 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2020-01-23T22:27:56.511Z,1579818476.511 [SpeedCalculator] Loaded
2020-01-23T22:27:56.511Z,1579818476.511 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2020-01-23T22:27:56.531Z,1579818476.531 [TempGradientCalculator] Loaded
2020-01-23T22:27:56.531Z,1579818476.531 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2020-01-23T22:27:56.537Z,1579818476.537 [YawRateCalculator] Loaded
2020-01-23T22:27:56.537Z,1579818476.537 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2020-01-23T22:27:56.576Z,1579818476.576 [ElevatorOffsetCalculator] Loaded
2020-01-23T22:27:56.577Z,1579818476.577 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2020-01-23T22:27:56.577Z,1579818476.577 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2020-01-23T22:27:56.578Z,1579818476.578 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2020-01-23T22:27:56.714Z,1579818476.714 [SBIT](DEBUG): Construct Startup Built In Test.
2020-01-23T22:27:56.735Z,1579818476.735 [SBIT] Loaded
2020-01-23T22:27:56.735Z,1579818476.735 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2020-01-23T22:27:56.736Z,1579818476.736 [IBIT](DEBUG): Construct Initiated Built In Test.
2020-01-23T22:27:56.748Z,1579818476.748 [IBIT] Loaded
2020-01-23T22:27:56.748Z,1579818476.748 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2020-01-23T22:27:56.751Z,1579818476.751 [CBIT](DEBUG): Construct Continuous Built In Test.
2020-01-23T22:27:56.885Z,1579818476.885 [CBIT] Loaded
2020-01-23T22:27:56.885Z,1579818476.885 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2020-01-23T22:27:56.886Z,1579818476.886 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2020-01-23T22:27:56.886Z,1579818476.886 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2020-01-23T22:27:56.967Z,1579818476.967 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2020-01-23T22:27:56.968Z,1579818476.968 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2020-01-23T22:27:57.066Z,1579818477.066 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2020-01-23T22:27:57.067Z,1579818477.067 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2020-01-23T22:27:57.115Z,1579818477.115 [VerticalControl](DEBUG): Construct VerticalControl.
2020-01-23T22:27:57.196Z,1579818477.196 [VerticalControl] Loaded
2020-01-23T22:27:57.196Z,1579818477.196 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2020-01-23T22:27:57.197Z,1579818477.197 [HorizontalControl](DEBUG): Construct HorizontalControl.
2020-01-23T22:27:57.264Z,1579818477.264 [HorizontalControl] Loaded
2020-01-23T22:27:57.264Z,1579818477.264 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2020-01-23T22:27:57.264Z,1579818477.264 [SpeedControl](DEBUG): Construct SpeedControl.
2020-01-23T22:27:57.266Z,1579818477.266 [SpeedControl] Loaded
2020-01-23T22:27:57.266Z,1579818477.266 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2020-01-23T22:27:57.267Z,1579818477.267 [LoopControl](DEBUG): Construct LoopControl.
2020-01-23T22:27:57.267Z,1579818477.267 [LoopControl] Loaded
2020-01-23T22:27:57.268Z,1579818477.268 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2020-01-23T22:27:57.268Z,1579818477.268 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2020-01-23T22:27:57.269Z,1579818477.269 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2020-01-23T22:27:57.397Z,1579818477.397 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2020-01-23T22:27:57.409Z,1579818477.409 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2020-01-23T22:27:57.410Z,1579818477.410 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2020-01-23T22:27:57.418Z,1579818477.418 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2020-01-23T22:27:57.419Z,1579818477.419 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40AFC4E0
2020-01-23T22:27:57.419Z,1579818477.419 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 4298
2020-01-23T22:27:57.424Z,1579818477.424 [Supervisor](INFO): Main Thread ID is 4207
2020-01-23T22:27:57.424Z,1579818477.424 [Supervisor](DEBUG): Running supervisor.
2020-01-23T22:27:57.424Z,1579818477.424 [CommandLine ThreadHandler](INFO): Handler Thread ID is 4299
2020-01-23T22:27:57.427Z,1579818477.427 [controlThread ThreadHandler](INFO): Handler Thread ID is 4300
2020-01-23T22:27:57.427Z,1579818477.427 [controlThread](DEBUG): Initializing ControlThread
2020-01-23T22:27:57.432Z,1579818477.432 [NavChart](DEBUG): Initialize NavChart Navigation.
2020-01-23T22:27:57.432Z,1579818477.432 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2020-01-23T22:27:57.437Z,1579818477.437 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2020-01-23T22:27:57.437Z,1579818477.437 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2020-01-23T22:27:57.438Z,1579818477.438 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2020-01-23T22:27:57.438Z,1579818477.438 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2020-01-23T22:27:57.438Z,1579818477.438 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2020-01-23T22:27:57.439Z,1579818477.439 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2020-01-23T22:27:57.439Z,1579818477.439 [SBIT](INFO): Initialize SBIT Component.
2020-01-23T22:27:57.440Z,1579818477.440 [SBIT](IMPORTANT): git: 2019-12-03-78-gb92fbb9
2020-01-23T22:27:57.440Z,1579818477.440 [SBIT](INFO): git hash: b92fbb99b4c8d1793352820b784fbd968d0634e4
2020-01-23T22:27:57.440Z,1579818477.440 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2020-01-23T22:27:57.441Z,1579818477.441 [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
2020-01-23T22:27:57.442Z,1579818477.442 [SBIT](INFO): Beginning SBIT in 39.000000 seconds.
2020-01-23T22:27:57.443Z,1579818477.443 [IBIT](INFO): Initialize IBIT Component.
2020-01-23T22:27:57.444Z,1579818477.444 [CBIT](DEBUG): Initialize CBIT Component.
2020-01-23T22:27:57.445Z,1579818477.445 [logger ThreadHandler](INFO): Handler Thread ID is 4301
2020-01-23T22:27:57.457Z,1579818477.457 [CBIT](DEBUG): Initialized mux pins.
2020-01-23T22:27:57.457Z,1579818477.457 [CBIT](DEBUG): Initializing the watchdog timer.
2020-01-23T22:27:57.465Z,1579818477.465 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 4302
2020-01-23T22:27:57.466Z,1579818477.466 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2020-01-23T22:27:57.477Z,1579818477.477 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 4303
2020-01-23T22:27:57.481Z,1579818477.481 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2020-01-23T22:27:57.481Z,1579818477.481 [CBIT](DEBUG): Initializing heartbeat.
2020-01-23T22:27:57.489Z,1579818477.489 [CTD_NeilBrown ThreadHandler](INFO): Handler Thread ID is 4304
2020-01-23T22:27:57.490Z,1579818477.490 [CTD_NeilBrown](INFO): Powering down
2020-01-23T22:27:57.518Z,1579818477.518 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 4305
2020-01-23T22:27:57.518Z,1579818477.518 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-01-23T22:27:57.544Z,1579818477.544 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 4306
2020-01-23T22:27:57.546Z,1579818477.546 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2020-01-23T22:27:57.547Z,1579818477.547 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2020-01-23T22:27:57.547Z,1579818477.547 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2020-01-23T22:27:57.547Z,1579818477.547 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2020-01-23T22:27:57.547Z,1579818477.547 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2020-01-23T22:27:57.547Z,1579818477.547 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2020-01-23T22:27:57.547Z,1579818477.547 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2020-01-23T22:27:57.548Z,1579818477.548 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2020-01-23T22:27:57.548Z,1579818477.548 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2020-01-23T22:27:57.548Z,1579818477.548 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2020-01-23T22:27:57.548Z,1579818477.548 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2020-01-23T22:27:57.548Z,1579818477.548 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2020-01-23T22:27:57.548Z,1579818477.548 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2020-01-23T22:27:57.549Z,1579818477.549 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2020-01-23T22:27:57.549Z,1579818477.549 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2020-01-23T22:27:57.549Z,1579818477.549 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2020-01-23T22:27:57.553Z,1579818477.553 [CBIT](DEBUG): Deactivating GF circuits.
2020-01-23T22:27:57.553Z,1579818477.553 [CBIT](DEBUG): Deactivating emergency mode.
2020-01-23T22:27:57.589Z,1579818477.589 [CBIT](DEBUG): Backplane powered.
2020-01-23T22:27:57.589Z,1579818477.589 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2020-01-23T22:27:57.591Z,1579818477.591 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2020-01-23T22:27:57.592Z,1579818477.592 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2020-01-23T22:27:57.592Z,1579818477.592 [LoopControl](DEBUG): Initialize LoopControlComponent.
2020-01-23T22:27:57.593Z,1579818477.593 [MissionManager](INFO): Loading Mission: Missions/underIce/StartupUnder.xml
2020-01-23T22:27:57.598Z,1579818477.598 [MissionManager](ERROR): Top node has no child nodes: Mission
2020-01-23T22:27:57.599Z,1579818477.599 [MissionManager](ERROR): Could not load startup mission.
2020-01-23T22:27:57.599Z,1579818477.599 [MissionManager](INFO): Loading Mission: Missions/underIce/DefaultUnder.xml
2020-01-23T22:27:57.839Z,1579818477.839 [MissionManager](INFO): DefineArg DefaultUnder.uModemCommsInterval = 5.000000 min
2020-01-23T22:27:57.862Z,1579818477.862 [MissionManager](INFO): DefineArg DefaultUnder.TransponderCode = 2.000000 count
2020-01-23T22:27:57.865Z,1579818477.865 [MissionManager](INFO): DefineArg DefaultUnder.AcousticUpdatePeriod = 60.000000 s
2020-01-23T22:27:57.868Z,1579818477.868 [MissionManager](INFO): DefineArg DefaultUnder.DockingAcousticUpdatePeriod = 2.500000 s
2020-01-23T22:27:57.881Z,1579818477.881 [Radio_Surface](INFO): Powering up
2020-01-23T22:27:57.888Z,1579818477.888 [MissionManager](INFO): DefineArg DefaultUnder.NumberOfPings = 1.000000 count
2020-01-23T22:27:57.900Z,1579818477.900 [MissionManager](INFO): DefineOutput DefaultUnder.TrackingUpdatePeriod = 60.000000 n/a
2020-01-23T22:27:57.903Z,1579818477.903 [MissionManager](INFO): DefineOutput DefaultUnder.Surface = -1.000000 count
2020-01-23T22:27:57.943Z,1579818477.943 [MissionManager](INFO): DefineOutput DefaultUnder.Docked = 0.000000 count
2020-01-23T22:27:57.947Z,1579818477.947 [MissionManager](INFO): DefineOutput DefaultUnder.Home = 1.000000 count
2020-01-23T22:27:57.950Z,1579818477.950 [MissionManager](INFO): DefineOutput DefaultUnder.DefaultMode = 0.000000 n/a
2020-01-23T22:27:57.969Z,1579818477.969 [MissionManager](INFO): DefineOutput DefaultUnder.CaptureMode = -1.000000 count
2020-01-23T22:27:57.973Z,1579818477.973 [MissionManager](INFO): DefineOutput DefaultUnder.ElapsedSinceDefaultStarted = 0.000000 min
2020-01-23T22:27:57.987Z,1579818477.987 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Construct Wait.
2020-01-23T22:27:58.034Z,1579818478.034 [DefaultUnder:Notify:A:C.Execute](DEBUG): Construct Execute.
2020-01-23T22:27:58.245Z,1579818478.245 [MissionManager](INFO): Inserting Stack: Missions/Insert/LineCapture.xml
2020-01-23T22:27:58.776Z,1579818478.776 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockDepth = 6.000000 _
2020-01-23T22:27:58.792Z,1579818478.792 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockLat = 0.642341 _
2020-01-23T22:27:58.795Z,1579818478.795 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockLon = -2.126200 _
2020-01-23T22:27:58.827Z,1579818478.827 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DetachRange = 8.000000 m
2020-01-23T22:27:58.830Z,1579818478.830 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DetachTimeout = 30.000000 min
2020-01-23T22:27:58.849Z,1579818478.849 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MidcourseDepth = 15.000000 m
2020-01-23T22:27:58.852Z,1579818478.852 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MidcourseSpeed = 1.000000 m/s
2020-01-23T22:27:58.856Z,1579818478.856 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MidcourseTimeout = 12.000000 h
2020-01-23T22:27:58.871Z,1579818478.871 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.TerminalRange = 650.000000 m
2020-01-23T22:27:58.875Z,1579818478.875 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.ArmRange = 40.000000 m
2020-01-23T22:27:58.906Z,1579818478.906 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockRange = 2.000000 m
2020-01-23T22:27:58.909Z,1579818478.909 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockTimeout = 60.000000 s
2020-01-23T22:27:58.933Z,1579818478.933 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.RolloutDistance = 250.000000 m
2020-01-23T22:27:58.936Z,1579818478.936 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.UpdateNav = 1 bool
2020-01-23T22:27:58.939Z,1579818478.939 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.AcousticTimeout = 10.000000 min
2020-01-23T22:27:58.951Z,1579818478.951 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.TerminalSpeed = 0.800000 m/s
2020-01-23T22:27:58.955Z,1579818478.955 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.SearchTimeout = 60.000000 min
2020-01-23T22:27:58.986Z,1579818478.986 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.CircleRadius = 300.000000 m
2020-01-23T22:27:58.989Z,1579818478.989 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.CircleMaxError = 100.000000 m
2020-01-23T22:27:58.992Z,1579818478.992 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.CircleTurnToPort = 0 bool
2020-01-23T22:27:59.012Z,1579818479.012 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DepthDeadband = 0.010000 m
2020-01-23T22:27:59.015Z,1579818479.015 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.RudderDeadband = 0.001000 arcdeg
2020-01-23T22:27:59.027Z,1579818479.027 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MinAltitude = 5.000000 m
2020-01-23T22:27:59.031Z,1579818479.031 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MaxDepth = 205.000000 m
2020-01-23T22:27:59.058Z,1579818479.058 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MinOffshore = 500.000000 m
2020-01-23T22:27:59.062Z,1579818479.062 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Depth = 15.000000 n/a
2020-01-23T22:27:59.081Z,1579818479.081 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Speed = 1.000000 n/a
2020-01-23T22:27:59.085Z,1579818479.085 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.DoneTimeout = -1.000000 count
2020-01-23T22:27:59.088Z,1579818479.088 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Done = 0.000000 count
2020-01-23T22:27:59.112Z,1579818479.112 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.DetachFromDock = 1.000000 count
2020-01-23T22:27:59.116Z,1579818479.116 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Midcourse = 2.000000 count
2020-01-23T22:27:59.124Z,1579818479.124 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Terminal = 3.000000 count
2020-01-23T22:27:59.128Z,1579818479.128 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.GuidanceMode = 1.000000 n/a
2020-01-23T22:27:59.160Z,1579818479.160 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.ElapsedRange = 0.000000 min
2020-01-23T22:27:59.163Z,1579818479.163 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.Range = nan m
2020-01-23T22:27:59.181Z,1579818479.181 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2020-01-23T22:27:59.214Z,1579818479.214 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2020-01-23T22:27:59.226Z,1579818479.226 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2020-01-23T22:27:59.229Z,1579818479.229 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2020-01-23T22:27:59.230Z,1579818479.230 [DefaultUnder:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2020-01-23T22:27:59.262Z,1579818479.262 [DefaultUnder:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-01-23T22:27:59.278Z,1579818479.278 [DefaultUnder:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2020-01-23T22:27:59.342Z,1579818479.342 [DefaultUnder:LineCapture:H.Mass](DEBUG): Construct.
2020-01-23T22:27:59.374Z,1579818479.374 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:B.Buoyancy](DEBUG): Construct Buoyancy.
2020-01-23T22:27:59.377Z,1579818479.377 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:C.SetSpeed](DEBUG): Construct.
2020-01-23T22:27:59.380Z,1579818479.380 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:D.Pitch](DEBUG): Construct.
2020-01-23T22:27:59.403Z,1579818479.403 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed](DEBUG): Construct.
2020-01-23T22:27:59.422Z,1579818479.422 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:B.Pitch](DEBUG): Construct.
2020-01-23T22:27:59.462Z,1579818479.462 [DefaultUnder:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2020-01-23T22:27:59.532Z,1579818479.532 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2020-01-23T22:27:59.572Z,1579818479.572 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:G.Circle](DEBUG): Construct.
2020-01-23T22:27:59.661Z,1579818479.661 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2020-01-23T22:27:59.664Z,1579818479.664 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:H.LineCapture](DEBUG): Construct.
2020-01-23T22:27:59.707Z,1579818479.707 [DefaultUnder:LineCapture:K.Wait](DEBUG): Construct Wait.
2020-01-23T22:27:59.710Z,1579818479.710 [DefaultUnder:E.Wait](DEBUG): Construct Wait.
2020-01-23T22:27:59.732Z,1579818479.732 [DefaultUnder:Default:Docked:run:B.Docked](DEBUG): Construct.
2020-01-23T22:27:59.787Z,1579818479.787 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): Construct GoToSurface.
2020-01-23T22:27:59.843Z,1579818479.843 [DefaultUnder:Default:Surface:run:SurfaceComms:Read_Iridium_uModem:A_Timeout:A.Execute](DEBUG): Construct Execute.
2020-01-23T22:27:59.845Z,1579818479.845 [DefaultUnder:Default:Surface:run:SurfaceComms:C.Wait](DEBUG): Construct Wait.
2020-01-23T22:27:59.917Z,1579818479.917 [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>


2020-01-23T22:27:59.923Z,1579818479.923 [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,
2020-01-23T22:27:59.928Z,1579818479.928 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2020-01-23T22:27:59.973Z,1579818479.973 [DDM](INFO): Powering up
2020-01-23T22:27:59.973Z,1579818479.973 [DDM](DEBUG): Initializing DDM.
2020-01-23T22:27:59.999Z,1579818479.999 [DUSBL_Hydroid](INFO): Powering up
2020-01-23T22:27:59.999Z,1579818479.999 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2020-01-23T22:28:00.230Z,1579818480.230 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2020-01-23T22:28:00.241Z,1579818480.241 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2020-01-23T22:28:00.243Z,1579818480.243 [ElevatorServo](DEBUG): Initializing EZServoServo.
2020-01-23T22:28:00.253Z,1579818480.253 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2020-01-23T22:28:00.254Z,1579818480.254 [MassServo](DEBUG): Initializing EZServoServo.
2020-01-23T22:28:00.265Z,1579818480.265 [MassServo](DEBUG): Initializing MassServo.
2020-01-23T22:28:00.266Z,1579818480.266 [RudderServo](DEBUG): Initializing EZServoServo.
2020-01-23T22:28:00.277Z,1579818480.277 [RudderServo](DEBUG): Initializing RudderServo.
2020-01-23T22:28:00.278Z,1579818480.278 [ThrusterServo](DEBUG): Initializing EZServoServo.
2020-01-23T22:28:00.289Z,1579818480.289 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2020-01-23T22:28:00.358Z,1579818480.358 [Depth_Keller](ERROR): Pressure reading out of range: 1913.424561 decibar
2020-01-23T22:28:00.360Z,1579818480.360 [Micromodem](INFO): Powering up
2020-01-23T22:28:00.361Z,1579818480.361 [Micromodem](DEBUG): Initializing Micromodem.
2020-01-23T22:28:01.109Z,1579818481.109 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2020-01-23T22:28:01.109Z,1579818481.109 [RudderServo](FAULT): Rudder failed to initialize
2020-01-23T22:28:01.109Z,1579818481.109 [RudderServo] Communications Fault, FailCount= 1
2020-01-23T22:28:01.109Z,1579818481.109 [RudderServo](ERROR): Communications Fault
2020-01-23T22:28:01.220Z,1579818481.220 [CBIT](ERROR): Communications Fault in component: RudderServo
2020-01-23T22:28:01.418Z,1579818481.418 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-01-23T22:28:01.418Z,1579818481.418 [RudderServo](INFO): Powering down
2020-01-23T22:28:02.099Z,1579818482.099 [RudderServo](DEBUG): Initializing EZServoServo.
2020-01-23T22:28:02.218Z,1579818482.218 [RudderServo](DEBUG): Initializing RudderServo.
2020-01-23T22:28:02.222Z,1579818482.222 [CBIT](INFO): Clearing failed state for component RudderServo
2020-01-23T22:28:02.222Z,1579818482.222 [RudderServo] No Fault, FailCount= 1
2020-01-23T22:28:05.307Z,1579818485.307 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2020-01-23T22:28:07.331Z,1579818487.331 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2020-01-23T22:28:07.332Z,1579818487.332 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2020-01-23T22:28:07.736Z,1579818487.736 [Micromodem](INFO): Nmea in: $CATMG,2020-01-23T22:28:06.211098Z,RTC,RTC*5F

2020-01-23T22:28:07.736Z,1579818487.736 [Micromodem](ERROR): CFG response from modem unexpected: $CATMG,2020-01-23T22:28:06.211098Z,RTC,RTC*5F

2020-01-23T22:28:08.135Z,1579818488.135 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2020-01-23T22:28:08.135Z,1579818488.135 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2020-01-23T22:28:08.552Z,1579818488.552 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2020-01-23T22:28:08.552Z,1579818488.552 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2020-01-23T22:28:08.923Z,1579818488.923 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2020-01-23T22:28:08.923Z,1579818488.923 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2020-01-23T22:28:09.329Z,1579818489.329 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2020-01-23T22:28:09.329Z,1579818489.329 [Micromodem](INFO): Nmea out: $CCCFG,FC0,10000*46

2020-01-23T22:28:09.727Z,1579818489.727 [Micromodem](INFO): Nmea in: $CACFG,FC0,10000*44

2020-01-23T22:28:09.727Z,1579818489.727 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2020-01-23T22:28:10.137Z,1579818490.137 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2020-01-23T22:28:10.137Z,1579818490.137 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2020-01-23T22:28:10.533Z,1579818490.533 [DDM](INFO): Dynamic Docking Module:Ӭ
2020-01-23T22:28:10.647Z,1579818490.647 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2020-01-23T22:28:10.648Z,1579818490.648 [Micromodem](INFO): Nmea out: $CCCLK,2020,01,23,22,28,11*4E

2020-01-23T22:28:10.931Z,1579818490.931 [Micromodem](INFO): Nmea in: $CACLK,2020,1,23,22,28,11*7C

2020-01-23T22:28:11.342Z,1579818491.342 [Micromodem](INFO): Nmea in: $CATMS,0,2020-01-23T22:28:12Z*7F

2020-01-23T22:28:11.343Z,1579818491.343 [Micromodem](INFO): Nmea in: $CATMG,2020-01-23T22:28:12.026139Z,USER_CMD,RTC*17

2020-01-23T22:28:13.458Z,1579818493.458 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2020-01-23T22:28:17.055Z,1579818497.055 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004679
2020-01-23T22:28:18.214Z,1579818498.214 [DUSBL_Hydroid](INFO): DUSBL Version:O
2020-01-23T22:28:24.272Z,1579818504.272 [NAL9602](INFO): Powering up NAL9602
2020-01-23T22:28:34.515Z,1579818514.515 [CommandLine](IMPORTANT): got command restart system
2020-01-23T22:28:35.220Z,1579818515.220 [NAL9602](INFO): NAL9602 initialized
2020-01-23T22:28:36.745Z,1579818516.745 [Supervisor](INFO): Stop Mission called by Supervisor::terminate
2020-01-23T22:28:36.745Z,1579818516.745 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-23T22:28:36.746Z,1579818516.746 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-23T22:28:36.749Z,1579818516.749 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2020-01-23T22:28:36.749Z,1579818516.749 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-23T22:28:36.750Z,1579818516.750 [CommandLine](INFO): Join timeout helper Thread ID is 4331
2020-01-23T22:28:36.770Z,1579818516.770 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2020-01-23T22:28:36.770Z,1579818516.770 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-23T22:28:36.770Z,1579818516.770 [NavChartDb](INFO): Join timeout helper Thread ID is 4332
2020-01-23T22:28:36.951Z,1579818516.951 [SBIT](IMPORTANT): Beginning Startup BIT
2020-01-23T22:28:36.956Z,1579818516.956 [CBIT](IMPORTANT): Beginning ground fault scan
2020-01-23T22:28:39.220Z,1579818519.220 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-23T22:28:39.220Z,1579818519.220 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-23T22:28:39.233Z,1579818519.233 [ComponentRegistry](INFO): Shutting down WetLabsSeaOWL_UV_A ThreadHandler
2020-01-23T22:28:39.233Z,1579818519.233 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-23T22:28:39.233Z,1579818519.233 [WetLabsSeaOWL_UV_A](INFO): Join timeout helper Thread ID is 4335
2020-01-23T22:28:39.565Z,1579818519.565 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-23T22:28:39.565Z,1579818519.565 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-01-23T22:28:39.566Z,1579818519.566 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-23T22:28:39.569Z,1579818519.569 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2020-01-23T22:28:39.569Z,1579818519.569 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-23T22:28:39.570Z,1579818519.570 [CTD_NeilBrown](INFO): Join timeout helper Thread ID is 4336
2020-01-23T22:28:39.766Z,1579818519.766 [CTD_NeilBrown ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-23T22:28:39.766Z,1579818519.766 [CTD_NeilBrown](INFO): Powering down
2020-01-23T22:28:39.781Z,1579818519.781 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-23T22:28:39.801Z,1579818519.801 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2020-01-23T22:28:39.801Z,1579818519.801 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-01-23T22:28:39.802Z,1579818519.802 [Radio_Surface](INFO): Join timeout helper Thread ID is 4337
2020-01-23T22:28:39.897Z,1579818519.897 [Radio_Surface](INFO): Powering down
2020-01-23T22:28:39.898Z,1579818519.898 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-23T22:28:39