2020-02-09T00:26:53.816Z,1581208013.816 [Supervisor](DEBUG): Initializing supervisor.
2020-02-09T00:26:53.820Z,1581208013.820 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2020-02-09T00:26:53.820Z,1581208013.820 [SyncHandler](INFO): Protected caller Thread ID is 2512
2020-02-09T00:26:53.821Z,1581208013.821 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2020-02-09T00:26:53.822Z,1581208013.822 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2020-02-09T00:26:53.822Z,1581208013.822 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 2513
2020-02-09T00:26:53.825Z,1581208013.825 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2020-02-09T00:26:53.838Z,1581208013.838 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2020-02-09T00:26:53.839Z,1581208013.839 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2020-02-09T00:26:53.839Z,1581208013.839 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 2514
2020-02-09T00:26:53.840Z,1581208013.840 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2020-02-09T00:26:53.840Z,1581208013.840 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2020-02-09T00:26:53.841Z,1581208013.841 [logger ThreadHandler](INFO): Protected caller Thread ID is 2515
2020-02-09T00:26:53.843Z,1581208013.843 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2020-02-09T00:26:53.843Z,1581208013.843 [Supervisor](INFO): Looking for Config files in directory: Config/
2020-02-09T00:26:53.845Z,1581208013.845 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2020-02-09T00:26:54.295Z,1581208014.295 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2020-02-09T00:26:54.296Z,1581208014.296 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2020-02-09T00:26:54.394Z,1581208014.394 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2020-02-09T00:26:54.395Z,1581208014.395 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2020-02-09T00:26:54.717Z,1581208014.717 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2020-02-09T00:26:54.717Z,1581208014.717 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2020-02-09T00:26:54.855Z,1581208014.855 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2020-02-09T00:26:54.856Z,1581208014.856 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2020-02-09T00:26:55.047Z,1581208015.047 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2020-02-09T00:26:55.047Z,1581208015.047 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2020-02-09T00:26:55.490Z,1581208015.490 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2020-02-09T00:26:55.490Z,1581208015.490 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2020-02-09T00:26:55.704Z,1581208015.704 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2020-02-09T00:26:55.705Z,1581208015.705 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2020-02-09T00:26:55.852Z,1581208015.852 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2020-02-09T00:26:55.853Z,1581208015.853 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2020-02-09T00:26:56.042Z,1581208016.042 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2020-02-09T00:26:56.043Z,1581208016.043 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2020-02-09T00:26:56.140Z,1581208016.140 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2020-02-09T00:26:56.140Z,1581208016.140 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2020-02-09T00:26:56.437Z,1581208016.437 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2020-02-09T00:26:56.438Z,1581208016.438 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2020-02-09T00:26:56.520Z,1581208016.520 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2020-02-09T00:26:56.625Z,1581208016.625 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2020-02-09T00:26:56.626Z,1581208016.626 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2020-02-09T00:26:57.257Z,1581208017.257 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2020-02-09T00:26:57.258Z,1581208017.258 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2020-02-09T00:26:57.664Z,1581208017.664 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2020-02-09T00:26:57.666Z,1581208017.666 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/
2020-02-09T00:26:57.666Z,1581208017.666 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/vehicle.cfg
2020-02-09T00:26:57.876Z,1581208017.876 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Control.cfg
2020-02-09T00:26:57.976Z,1581208017.976 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/BIT.cfg
2020-02-09T00:26:58.075Z,1581208018.075 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Battery.cfg
2020-02-09T00:26:58.301Z,1581208018.301 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2020-02-09T00:26:58.301Z,1581208018.301 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Simulator.cfg
2020-02-09T00:26:58.387Z,1581208018.387 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Navigation.cfg
2020-02-09T00:26:58.482Z,1581208018.482 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/logger.cfg
2020-02-09T00:26:58.580Z,1581208018.580 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/secure.cfg
2020-02-09T00:26:58.664Z,1581208018.664 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Servo.cfg
2020-02-09T00:26:58.772Z,1581208018.772 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/workSite.cfg
2020-02-09T00:26:58.866Z,1581208018.866 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Sensor.cfg
2020-02-09T00:26:59.050Z,1581208019.050 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Science.cfg
2020-02-09T00:26:59.182Z,1581208019.182 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/root/
2020-02-09T00:26:59.182Z,1581208019.182 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2020-02-09T00:26:59.189Z,1581208019.189 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2020-02-09T00:26:59.936Z,1581208019.936 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_orientation
2020-02-09T00:26:59.941Z,1581208019.941 [AHRS_M2](INFO): created writer for : platform_orientation
2020-02-09T00:26:59.950Z,1581208019.950 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_magnetic_orientation
2020-02-09T00:26:59.969Z,1581208019.969 [AHRS_M2](INFO): created writer for : platform_magnetic_orientation
2020-02-09T00:26:59.970Z,1581208019.970 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_pitch_angle
2020-02-09T00:26:59.987Z,1581208019.987 [AHRS_M2](INFO): created writer for : platform_pitch_angle
2020-02-09T00:26:59.987Z,1581208019.987 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_roll_angle
2020-02-09T00:26:59.992Z,1581208019.992 [AHRS_M2](INFO): created writer for : platform_roll_angle
2020-02-09T00:27:00.100Z,1581208020.100 [AHRS_M2] Loaded
2020-02-09T00:27:00.100Z,1581208020.100 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2020-02-09T00:27:00.179Z,1581208020.179 [DataOverHttps] Loaded
2020-02-09T00:27:00.180Z,1581208020.180 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2020-02-09T00:27:00.181Z,1581208020.181 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 407684E0
2020-02-09T00:27:00.181Z,1581208020.181 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 2597
2020-02-09T00:27:00.244Z,1581208020.244 [DDM] Loaded
2020-02-09T00:27:00.244Z,1581208020.244 [ComponentRegistry](DEBUG): SyncComponent "DDM" handled in the control thread.
2020-02-09T00:27:00.277Z,1581208020.277 [Depth_Keller] Loaded
2020-02-09T00:27:00.277Z,1581208020.277 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2020-02-09T00:27:00.302Z,1581208020.302 [DropWeight] Loaded
2020-02-09T00:27:00.302Z,1581208020.302 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2020-02-09T00:27:00.365Z,1581208020.365 [DUSBL_Hydroid] Loaded
2020-02-09T00:27:00.365Z,1581208020.365 [ComponentRegistry](DEBUG): SyncComponent "DUSBL_Hydroid" handled in the control thread.
2020-02-09T00:27:00.409Z,1581208020.409 [Micromodem] Loaded
2020-02-09T00:27:00.410Z,1581208020.410 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2020-02-09T00:27:00.502Z,1581208020.502 [NAL9602] Loaded
2020-02-09T00:27:00.502Z,1581208020.502 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2020-02-09T00:27:00.540Z,1581208020.540 [Onboard] Loaded
2020-02-09T00:27:00.540Z,1581208020.540 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2020-02-09T00:27:00.546Z,1581208020.546 [PowerOnly] Loaded
2020-02-09T00:27:00.546Z,1581208020.546 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2020-02-09T00:27:00.552Z,1581208020.552 [Radio_Surface] Loaded
2020-02-09T00:27:00.552Z,1581208020.552 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2020-02-09T00:27:00.553Z,1581208020.553 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 407984E0
2020-02-09T00:27:00.554Z,1581208020.554 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 2598
2020-02-09T00:27:00.595Z,1581208020.595 [RDI_Pathfinder] Loaded
2020-02-09T00:27:00.595Z,1581208020.595 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2020-02-09T00:27:02.003Z,1581208022.003 [BPC1] Loaded
2020-02-09T00:27:02.004Z,1581208022.004 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2020-02-09T00:27:02.004Z,1581208022.004 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2020-02-09T00:27:02.005Z,1581208022.005 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2020-02-09T00:27:02.017Z,1581208022.017 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2020-02-09T00:27:02.018Z,1581208022.018 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2020-02-09T00:27:02.131Z,1581208022.131 [DeadReckonUsingMultipleVelocitySources] Loaded
2020-02-09T00:27:02.132Z,1581208022.132 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2020-02-09T00:27:02.151Z,1581208022.151 [NavChart] Loaded
2020-02-09T00:27:02.152Z,1581208022.152 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2020-02-09T00:27:02.156Z,1581208022.156 [UniversalFixResidualReporter] Loaded
2020-02-09T00:27:02.156Z,1581208022.156 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2020-02-09T00:27:02.170Z,1581208022.170 [WorkSite] Loaded
2020-02-09T00:27:02.170Z,1581208022.170 [ComponentRegistry](DEBUG): SyncComponent "WorkSite" handled in the control thread.
2020-02-09T00:27:02.170Z,1581208022.170 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2020-02-09T00:27:02.171Z,1581208022.171 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2020-02-09T00:27:02.274Z,1581208022.274 [BuoyancyServo] Loaded
2020-02-09T00:27:02.274Z,1581208022.274 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2020-02-09T00:27:02.288Z,1581208022.288 [ElevatorServo] Loaded
2020-02-09T00:27:02.289Z,1581208022.289 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2020-02-09T00:27:02.303Z,1581208022.303 [MassServo] Loaded
2020-02-09T00:27:02.303Z,1581208022.303 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2020-02-09T00:27:02.318Z,1581208022.318 [RudderServo] Loaded
2020-02-09T00:27:02.318Z,1581208022.318 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2020-02-09T00:27:02.332Z,1581208022.332 [ThrusterServo] Loaded
2020-02-09T00:27:02.333Z,1581208022.333 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2020-02-09T00:27:02.333Z,1581208022.333 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2020-02-09T00:27:02.334Z,1581208022.334 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2020-02-09T00:27:02.515Z,1581208022.515 [PAR_Licor] Loaded
2020-02-09T00:27:02.516Z,1581208022.516 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2020-02-09T00:27:02.558Z,1581208022.558 [WetLabsSeaOWL_UV_A] Loaded
2020-02-09T00:27:02.558Z,1581208022.558 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2020-02-09T00:27:02.559Z,1581208022.559 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 408F04E0
2020-02-09T00:27:02.559Z,1581208022.559 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 2599
2020-02-09T00:27:02.560Z,1581208022.560 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2020-02-09T00:27:02.560Z,1581208022.560 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2020-02-09T00:27:02.894Z,1581208022.894 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2020-02-09T00:27:02.894Z,1581208022.894 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2020-02-09T00:27:02.933Z,1581208022.933 [DepthRateCalculator] Loaded
2020-02-09T00:27:02.933Z,1581208022.933 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2020-02-09T00:27:02.939Z,1581208022.939 [PitchRateCalculator] Loaded
2020-02-09T00:27:02.939Z,1581208022.939 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2020-02-09T00:27:02.951Z,1581208022.951 [SpeedCalculator] Loaded
2020-02-09T00:27:02.951Z,1581208022.951 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2020-02-09T00:27:02.971Z,1581208022.971 [TempGradientCalculator] Loaded
2020-02-09T00:27:02.971Z,1581208022.971 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2020-02-09T00:27:02.977Z,1581208022.977 [YawRateCalculator] Loaded
2020-02-09T00:27:02.977Z,1581208022.977 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2020-02-09T00:27:03.015Z,1581208023.015 [ElevatorOffsetCalculator] Loaded
2020-02-09T00:27:03.016Z,1581208023.016 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2020-02-09T00:27:03.016Z,1581208023.016 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2020-02-09T00:27:03.017Z,1581208023.017 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2020-02-09T00:27:03.150Z,1581208023.150 [SBIT](DEBUG): Construct Startup Built In Test.
2020-02-09T00:27:03.171Z,1581208023.171 [SBIT] Loaded
2020-02-09T00:27:03.171Z,1581208023.171 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2020-02-09T00:27:03.172Z,1581208023.172 [IBIT](DEBUG): Construct Initiated Built In Test.
2020-02-09T00:27:03.184Z,1581208023.184 [IBIT] Loaded
2020-02-09T00:27:03.184Z,1581208023.184 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2020-02-09T00:27:03.187Z,1581208023.187 [CBIT](DEBUG): Construct Continuous Built In Test.
2020-02-09T00:27:03.320Z,1581208023.320 [CBIT] Loaded
2020-02-09T00:27:03.320Z,1581208023.320 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2020-02-09T00:27:03.321Z,1581208023.321 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2020-02-09T00:27:03.321Z,1581208023.321 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2020-02-09T00:27:03.399Z,1581208023.399 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2020-02-09T00:27:03.400Z,1581208023.400 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2020-02-09T00:27:03.494Z,1581208023.494 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2020-02-09T00:27:03.494Z,1581208023.494 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2020-02-09T00:27:03.540Z,1581208023.540 [VerticalControl](DEBUG): Construct VerticalControl.
2020-02-09T00:27:03.620Z,1581208023.620 [VerticalControl] Loaded
2020-02-09T00:27:03.620Z,1581208023.620 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2020-02-09T00:27:03.621Z,1581208023.621 [HorizontalControl](DEBUG): Construct HorizontalControl.
2020-02-09T00:27:03.687Z,1581208023.687 [HorizontalControl] Loaded
2020-02-09T00:27:03.688Z,1581208023.688 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2020-02-09T00:27:03.688Z,1581208023.688 [SpeedControl](DEBUG): Construct SpeedControl.
2020-02-09T00:27:03.690Z,1581208023.690 [SpeedControl] Loaded
2020-02-09T00:27:03.690Z,1581208023.690 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2020-02-09T00:27:03.691Z,1581208023.691 [LoopControl](DEBUG): Construct LoopControl.
2020-02-09T00:27:03.691Z,1581208023.691 [LoopControl] Loaded
2020-02-09T00:27:03.692Z,1581208023.692 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2020-02-09T00:27:03.692Z,1581208023.692 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2020-02-09T00:27:03.693Z,1581208023.693 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2020-02-09T00:27:03.723Z,1581208023.723 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2020-02-09T00:27:03.727Z,1581208023.727 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2020-02-09T00:27:03.728Z,1581208023.728 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2020-02-09T00:27:03.734Z,1581208023.734 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2020-02-09T00:27:03.735Z,1581208023.735 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40ADE4E0
2020-02-09T00:27:03.736Z,1581208023.736 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 2600
2020-02-09T00:27:03.740Z,1581208023.740 [Supervisor](INFO): Main Thread ID is 816
2020-02-09T00:27:03.740Z,1581208023.740 [Supervisor](DEBUG): Running supervisor.
2020-02-09T00:27:03.741Z,1581208023.741 [CommandLine ThreadHandler](INFO): Handler Thread ID is 2601
2020-02-09T00:27:03.743Z,1581208023.743 [controlThread ThreadHandler](INFO): Handler Thread ID is 2602
2020-02-09T00:27:03.744Z,1581208023.744 [controlThread](DEBUG): Initializing ControlThread
2020-02-09T00:27:03.752Z,1581208023.752 [NavChart](DEBUG): Initialize NavChart Navigation.
2020-02-09T00:27:03.753Z,1581208023.753 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2020-02-09T00:27:03.753Z,1581208023.753 [WorkSite](DEBUG): Initializing WorkSite component.
2020-02-09T00:27:03.757Z,1581208023.757 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2020-02-09T00:27:03.758Z,1581208023.758 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2020-02-09T00:27:03.758Z,1581208023.758 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2020-02-09T00:27:03.758Z,1581208023.758 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2020-02-09T00:27:03.759Z,1581208023.759 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2020-02-09T00:27:03.759Z,1581208023.759 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2020-02-09T00:27:03.760Z,1581208023.760 [SBIT](INFO): Initialize SBIT Component.
2020-02-09T00:27:03.760Z,1581208023.760 [SBIT](IMPORTANT): git: 2020-02-07-4-gd035677
2020-02-09T00:27:03.760Z,1581208023.760 [SBIT](INFO): git hash: d035677a248f214e948623074f8e2fd87c84e0f9
2020-02-09T00:27:03.761Z,1581208023.761 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2020-02-09T00:27:03.762Z,1581208023.762 [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
2020-02-09T00:27:03.763Z,1581208023.763 [SBIT](INFO): Beginning SBIT in 29.000000 seconds.
2020-02-09T00:27:03.764Z,1581208023.764 [IBIT](INFO): Initialize IBIT Component.
2020-02-09T00:27:03.765Z,1581208023.765 [CBIT](DEBUG): Initialize CBIT Component.
2020-02-09T00:27:03.765Z,1581208023.765 [logger ThreadHandler](INFO): Handler Thread ID is 2603
2020-02-09T00:27:03.777Z,1581208023.777 [CBIT](DEBUG): Initialized mux pins.
2020-02-09T00:27:03.777Z,1581208023.777 [CBIT](DEBUG): Initializing the watchdog timer.
2020-02-09T00:27:03.785Z,1581208023.785 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 2604
2020-02-09T00:27:03.786Z,1581208023.786 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2020-02-09T00:27:03.797Z,1581208023.797 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 2605
2020-02-09T00:27:03.801Z,1581208023.801 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2020-02-09T00:27:03.801Z,1581208023.801 [CBIT](DEBUG): Initializing heartbeat.
2020-02-09T00:27:03.809Z,1581208023.809 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 2606
2020-02-09T00:27:03.810Z,1581208023.810 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-02-09T00:27:03.838Z,1581208023.838 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 2607
2020-02-09T00:27:03.841Z,1581208023.841 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2020-02-09T00:27:03.841Z,1581208023.841 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2020-02-09T00:27:03.841Z,1581208023.841 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2020-02-09T00:27:03.841Z,1581208023.841 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2020-02-09T00:27:03.842Z,1581208023.842 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2020-02-09T00:27:03.842Z,1581208023.842 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2020-02-09T00:27:03.842Z,1581208023.842 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2020-02-09T00:27:03.842Z,1581208023.842 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2020-02-09T00:27:03.842Z,1581208023.842 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2020-02-09T00:27:03.842Z,1581208023.842 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2020-02-09T00:27:03.843Z,1581208023.843 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2020-02-09T00:27:03.843Z,1581208023.843 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2020-02-09T00:27:03.843Z,1581208023.843 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2020-02-09T00:27:03.843Z,1581208023.843 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2020-02-09T00:27:03.843Z,1581208023.843 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2020-02-09T00:27:03.843Z,1581208023.843 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2020-02-09T00:27:03.873Z,1581208023.873 [CBIT](DEBUG): Deactivating GF circuits.
2020-02-09T00:27:03.873Z,1581208023.873 [CBIT](DEBUG): Deactivating emergency mode.
2020-02-09T00:27:03.909Z,1581208023.909 [CBIT](DEBUG): Backplane powered.
2020-02-09T00:27:03.909Z,1581208023.909 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2020-02-09T00:27:03.911Z,1581208023.911 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2020-02-09T00:27:03.911Z,1581208023.911 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2020-02-09T00:27:03.912Z,1581208023.912 [LoopControl](DEBUG): Initialize LoopControlComponent.
2020-02-09T00:27:03.913Z,1581208023.913 [MissionManager](INFO): Loading Mission: Missions/underIce/StartupUnder.xml
2020-02-09T00:27:03.918Z,1581208023.918 [MissionManager](ERROR): Top node has no child nodes: Mission
2020-02-09T00:27:03.918Z,1581208023.918 [MissionManager](ERROR): Could not load startup mission.
2020-02-09T00:27:03.919Z,1581208023.919 [MissionManager](INFO): Loading Mission: Missions/underIce/DefaultUnder.xml
2020-02-09T00:27:04.202Z,1581208024.202 [Radio_Surface](INFO): Powering up
2020-02-09T00:27:04.236Z,1581208024.236 [MissionManager](INFO): DefineArg DefaultUnder.CommsInterval = 10.000000 min
2020-02-09T00:27:04.239Z,1581208024.239 [MissionManager](INFO): DefineArg DefaultUnder.HomingCommsInterval = 30.000000 min
2020-02-09T00:27:04.278Z,1581208024.278 [MissionManager](INFO): DefineArg DefaultUnder.TransponderCode = 2.000000 count
2020-02-09T00:27:04.282Z,1581208024.282 [MissionManager](INFO): DefineArg DefaultUnder.AcousticUpdatePeriod = 60.000000 s
2020-02-09T00:27:04.297Z,1581208024.297 [MissionManager](INFO): DefineArg DefaultUnder.HomingAcousticUpdatePeriod = 2.500000 s
2020-02-09T00:27:04.301Z,1581208024.301 [MissionManager](INFO): DefineArg DefaultUnder.NumberOfPings = 1.000000 count
2020-02-09T00:27:04.308Z,1581208024.308 [MissionManager](INFO): DefineOutput DefaultUnder.uModemCommsInterval = 10.000000 min
2020-02-09T00:27:04.322Z,1581208024.322 [MissionManager](INFO): DefineOutput DefaultUnder.TrackingUpdatePeriod = 60.000000 s
2020-02-09T00:27:04.326Z,1581208024.326 [MissionManager](INFO): DefineOutput DefaultUnder.Surface = -1.000000 count
2020-02-09T00:27:04.339Z,1581208024.339 [MissionManager](INFO): DefineOutput DefaultUnder.Docked = 0.000000 count
2020-02-09T00:27:04.342Z,1581208024.342 [MissionManager](INFO): DefineOutput DefaultUnder.Home = 1.000000 count
2020-02-09T00:27:04.377Z,1581208024.377 [MissionManager](INFO): DefineOutput DefaultUnder.DefaultMode = 0.000000 count
2020-02-09T00:27:04.381Z,1581208024.381 [MissionManager](INFO): DefineOutput DefaultUnder.CaptureMode = -1.000000 count
2020-02-09T00:27:04.384Z,1581208024.384 [MissionManager](INFO): DefineOutput DefaultUnder.ElapsedSinceDefaultStarted = 0.000000 min
2020-02-09T00:27:04.406Z,1581208024.406 [DefaultUnder:D.PitchEnvelope](DEBUG): Construct PitchEnvelope.
2020-02-09T00:27:04.464Z,1581208024.464 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Construct Wait.
2020-02-09T00:27:04.493Z,1581208024.493 [DefaultUnder:Notify:A:C.Execute](DEBUG): Construct Execute.
2020-02-09T00:27:04.703Z,1581208024.703 [MissionManager](INFO): Inserting Stack: Missions/Insert/LineCapture.xml
2020-02-09T00:27:05.216Z,1581208025.216 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockDepth = 4.000000 _
2020-02-09T00:27:05.228Z,1581208025.228 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockLat = 0.782733 _
2020-02-09T00:27:05.231Z,1581208025.231 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockLon = -1.179501 _
2020-02-09T00:27:05.259Z,1581208025.259 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DetachRange = 5.000000 m
2020-02-09T00:27:05.262Z,1581208025.262 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DetachTimeout = 30.000000 min
2020-02-09T00:27:05.277Z,1581208025.277 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MidcourseDepth = 4.500000 m
2020-02-09T00:27:05.280Z,1581208025.280 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MidcourseSpeed = 1.000000 m/s
2020-02-09T00:27:05.284Z,1581208025.284 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MidcourseTimeout = 1.000000 h
2020-02-09T00:27:05.315Z,1581208025.315 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.TerminalRange = 650.000000 m
2020-02-09T00:27:05.318Z,1581208025.318 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.ArmRange = 40.000000 m
2020-02-09T00:27:05.333Z,1581208025.333 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockRange = 2.000000 m
2020-02-09T00:27:05.337Z,1581208025.337 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockTimeout = 60.000000 s
2020-02-09T00:27:05.340Z,1581208025.340 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.RolloutDistance = 100.000000 m
2020-02-09T00:27:05.367Z,1581208025.367 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.AcousticTimeout = 10.000000 min
2020-02-09T00:27:05.370Z,1581208025.370 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.TerminalSpeed = 0.800000 m/s
2020-02-09T00:27:05.390Z,1581208025.390 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.KpHeading = 0.800000 n/a
2020-02-09T00:27:05.393Z,1581208025.393 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.KiHeading = 0.002000 1/s
2020-02-09T00:27:05.396Z,1581208025.396 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.KpHeadingFinal = 1.600000 n/a
2020-02-09T00:27:05.416Z,1581208025.416 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.KiHeadingFinal = 0.004000 1/s
2020-02-09T00:27:05.420Z,1581208025.420 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.SearchTimeout = 60.000000 min
2020-02-09T00:27:05.431Z,1581208025.431 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.CircleRadius = 25.000000 m
2020-02-09T00:27:05.434Z,1581208025.434 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.CircleMaxError = 1.000000 m
2020-02-09T00:27:05.465Z,1581208025.465 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.CircleTurnToPort = 0 bool
2020-02-09T00:27:05.469Z,1581208025.469 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DepthDeadband = 0.010000 m
2020-02-09T00:27:05.472Z,1581208025.472 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.RudderDeadband = 0.001000 arcdeg
2020-02-09T00:27:05.491Z,1581208025.491 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MinAltitude = 3.000000 m
2020-02-09T00:27:05.495Z,1581208025.495 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MaxDepth = 8.000000 m
2020-02-09T00:27:05.510Z,1581208025.510 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MinOffshore = 1.000000 m
2020-02-09T00:27:05.513Z,1581208025.513 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Depth = 7.000000 m
2020-02-09T00:27:05.541Z,1581208025.541 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Speed = 1.000000 m/s
2020-02-09T00:27:05.544Z,1581208025.544 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.DoneTimeout = -1.000000 count
2020-02-09T00:27:05.548Z,1581208025.548 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Done = 0.000000 count
2020-02-09T00:27:05.560Z,1581208025.560 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.DetachFromDock = 1.000000 count
2020-02-09T00:27:05.563Z,1581208025.563 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Midcourse = 2.000000 count
2020-02-09T00:27:05.595Z,1581208025.595 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Terminal = 3.000000 count
2020-02-09T00:27:05.598Z,1581208025.598 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.GuidanceMode = 1.000000 n/a
2020-02-09T00:27:05.611Z,1581208025.611 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.ElapsedRange = 0.000000 min
2020-02-09T00:27:05.614Z,1581208025.614 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.Range = nan m
2020-02-09T00:27:05.616Z,1581208025.616 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2020-02-09T00:27:05.672Z,1581208025.672 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2020-02-09T00:27:05.683Z,1581208025.683 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2020-02-09T00:27:05.687Z,1581208025.687 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2020-02-09T00:27:05.688Z,1581208025.688 [DefaultUnder:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2020-02-09T00:27:05.719Z,1581208025.719 [DefaultUnder:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-02-09T00:27:05.739Z,1581208025.739 [DefaultUnder:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2020-02-09T00:27:05.821Z,1581208025.821 [DefaultUnder:LineCapture:H.Mass](DEBUG): Construct.
2020-02-09T00:27:05.844Z,1581208025.844 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:B.Buoyancy](DEBUG): Construct Buoyancy.
2020-02-09T00:27:05.848Z,1581208025.848 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:C.SetSpeed](DEBUG): Construct.
2020-02-09T00:27:05.863Z,1581208025.863 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:D.Pitch](DEBUG): Construct.
2020-02-09T00:27:05.892Z,1581208025.892 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed](DEBUG): Construct.
2020-02-09T00:27:05.895Z,1581208025.895 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:B.Pitch](DEBUG): Construct.
2020-02-09T00:27:05.948Z,1581208025.948 [DefaultUnder:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2020-02-09T00:27:06.008Z,1581208026.008 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2020-02-09T00:27:06.041Z,1581208026.041 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:G.Circle](DEBUG): Construct.
2020-02-09T00:27:06.111Z,1581208026.111 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Construct.
2020-02-09T00:27:06.136Z,1581208026.136 [DefaultUnder:LineCapture:K.Wait](DEBUG): Construct Wait.
2020-02-09T00:27:06.170Z,1581208026.170 [MissionManager](INFO): Inserting Stack: Missions/Insert/SetNavAcoustic.xml
2020-02-09T00:27:06.228Z,1581208026.228 [MissionManager](INFO): DefineArg DefaultUnder:SetNavAcoustic.DockLat = 0.782733 _
2020-02-09T00:27:06.248Z,1581208026.248 [MissionManager](INFO): DefineArg DefaultUnder:SetNavAcoustic.DockLon = -1.179501 _
2020-02-09T00:27:06.263Z,1581208026.263 [MissionManager](INFO): DefineArg DefaultUnder:SetNavAcoustic.DockRange = 10.000000 m
2020-02-09T00:27:06.267Z,1581208026.267 [MissionManager](INFO): DefineArg DefaultUnder:SetNavAcoustic.RangeTimeout = 5.000000 min
2020-02-09T00:27:06.282Z,1581208026.282 [DefaultUnder:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2020-02-09T00:27:06.309Z,1581208026.309 [DefaultUnder:J.Wait](DEBUG): Construct Wait.
2020-02-09T00:27:06.334Z,1581208026.334 [DefaultUnder:Default:Docked:run:C.Docked](DEBUG): Construct.
2020-02-09T00:27:06.407Z,1581208026.407 [DefaultUnder:Default:Surface:run:C.GoToSurface](DEBUG): Construct GoToSurface.
2020-02-09T00:27:06.465Z,1581208026.465 [DefaultUnder:Default:Surface:run:SurfaceComms:Read_Iridium_uModem:A_Timeout:A.Execute](DEBUG): Construct Execute.
2020-02-09T00:27:06.467Z,1581208026.467 [DefaultUnder:Default:Surface:run:SurfaceComms:C.Wait](DEBUG): Construct Wait.
2020-02-09T00:27:06.542Z,1581208026.542 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
    xmlns="Tethys"
    xmlns:Estimation="Tethys/Estimation"
    xmlns:Guidance="Tethys/Guidance"
    xmlns:Units="Tethys/Units"
    xmlns:Universal="Tethys/Universal"
    xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                        Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
                        Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                        Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                        Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
    Id="DefaultUnder">

    <DefineArg Name="CommsInterval"><Description>
        How often to trigger uModem communications while the mission is in an idle state
        (on the dock).
    </Description><Units:minute/><Value>10</Value></DefineArg>

    <DefineArg Name="HomingCommsInterval"><Description>
        How often to trigger uModem communications while the mission is actively homing
        to the dock (line capture).
    </Description><Units:minute/><Value>30</Value></DefineArg>

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

    <DefineArg Name="AcousticUpdatePeriod"><Description>
        Time duration 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="HomingAcousticUpdatePeriod"><Description>
        Time duration between acoustic queries while the mission is actively homing to
        the dock (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="uModemCommsInterval"><Description>
        How often to trigger uModem communications
    </Description><Units:minute/><Value>10</Value></DefineOutput>

    <DefineOutput Name="TrackingUpdatePeriod"><Description>
        How long to wait between acoustic queries.
    </Description><Units:second/><Value>60</Value></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><Units:count/><Value>0</Value></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>

    <!-- Initialize mission variables with default values -->

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

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

    <Assign><Sequence/><Arg Name="uModemCommsInterval"/><Arg Name="CommsInterval"/></Assign>

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

    <!-- Safety nets -->

    <Guidance:PitchEnvelope>
        <Parallel/>
    </Guidance:PitchEnvelope>

    <!-- uModem communication directives -->

    <Aggregate Id="uModemComms">

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

        <Aggregate Id="CheckIn">

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

            <!-- Reduce range interrogation rates to minimize interruptions to uModem comms packets -->
            <Assign><Sequence/><Arg Name="TrackingUpdatePeriod"/><Arg Name="AcousticUpdatePeriod"/></Assign>

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

            <Aggregate Id="ResumeTracking">
                <Description>
                    Resume rapid acoustic interrogation rate if the mission is still actively homing
                    to the dock.
                </Description>

                <Sequence/>

                <Break>
                    <Not><Arg Name="DefaultMode"/><Eq><Arg Name="Home"/></Eq></Not>
                </Break>

                <Assign><Sequence/><Arg Name="TrackingUpdatePeriod"/><Arg Name="HomingAcousticUpdatePeriod"/></Assign>
            </Aggregate>

        </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 Under 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. -->

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

       <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>
   </Aggregate>

    <!-- Add LineCapture directives. -->

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

    <!-- Add SetNav directives. -->

    <Insert Filename="Insert/SetNavAcoustic.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">
            <Description>
                Keep the vehicle in an idle state while on the dock, transition to Home mode if
                detached.
            </Description>

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

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

                <Syslog Severity="Info">Running Docked. DefaultMode:<Arg Name="DefaultMode"/><Units:count/></Syslog>

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

                    <Assign><Sequence/><Arg Name="TrackingUpdatePeriod"/><Arg Name="AcousticUpdatePeriod"/></Assign>
                    <Assign><Sequence/><Arg Name="uModemCommsInterval"/><Arg Name="CommsInterval"/></Assign>
                </Aggregate>

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

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

            </Aggregate>
        </Aggregate>


        <Aggregate Id="Home">
            <Description>
                Execute the homing sequence.
            </Description>

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

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

                <Syslog Severity="Info">Running Home sequence. DefaultMode:<Arg Name="DefaultMode"/><Units:count/></Syslog>

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

                    <Assign><Sequence/><Arg Name="TrackingUpdatePeriod"/><Arg Name="HomingAcousticUpdatePeriod"/></Assign>
                    <Assign><Sequence/><Arg Name="uModemCommsInterval"/><Arg Name="HomingCommsInterval"/></Assign>
                    <Assign><Sequence/><Arg Name="CaptureMode"/><Arg Name="Surface"/></Assign>
                </Aggregate>

                <!-- Execute the LineCapture sequence. -->
                <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/>

                <Syslog Severity="Info">Running Surface sequence. DefaultMode:<Arg Name="DefaultMode"/><Units:count/></Syslog>

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

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

                <Guidance:GoToSurface>
                    <Parallel/>
                </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>


2020-02-09T00:27:06.553Z,1581208026.553 [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,WorkSite,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2020-02-09T00:27:06.565Z,1581208026.565 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2020-02-09T00:27:06.598Z,1581208026.598 [DDM](INFO): Powering up
2020-02-09T00:27:06.598Z,1581208026.598 [DDM](DEBUG): Initializing DDM.
2020-02-09T00:27:06.622Z,1581208026.622 [Depth_Keller](ERROR): Pressure reading out of range: 1913.424561 decibar
2020-02-09T00:27:06.622Z,1581208026.622 [DUSBL_Hydroid](INFO): Powering up
2020-02-09T00:27:06.623Z,1581208026.623 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2020-02-09T00:27:06.767Z,1581208026.767 [DepthRateCalculator](ERROR): Depth measurement is not active
2020-02-09T00:27:06.793Z,1581208026.793 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2020-02-09T00:27:06.801Z,1581208026.801 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2020-02-09T00:27:06.802Z,1581208026.802 [ElevatorServo](DEBUG): Initializing EZServoServo.
2020-02-09T00:27:06.809Z,1581208026.809 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2020-02-09T00:27:06.810Z,1581208026.810 [MassServo](DEBUG): Initializing EZServoServo.
2020-02-09T00:27:06.817Z,1581208026.817 [MassServo](DEBUG): Initializing MassServo.
2020-02-09T00:27:06.818Z,1581208026.818 [RudderServo](DEBUG): Initializing EZServoServo.
2020-02-09T00:27:06.825Z,1581208026.825 [RudderServo](DEBUG): Initializing RudderServo.
2020-02-09T00:27:06.826Z,1581208026.826 [ThrusterServo](DEBUG): Initializing EZServoServo.
2020-02-09T00:27:06.833Z,1581208026.833 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2020-02-09T00:27:07.080Z,1581208027.080 [Micromodem](INFO): Powering up
2020-02-09T00:27:07.080Z,1581208027.080 [Micromodem](DEBUG): Initializing Micromodem.
2020-02-09T00:27:07.769Z,1581208027.769 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2020-02-09T00:27:07.769Z,1581208027.769 [RudderServo](FAULT): Rudder failed to initialize
2020-02-09T00:27:07.769Z,1581208027.769 [RudderServo] Communications Fault, FailCount= 1
2020-02-09T00:27:07.769Z,1581208027.769 [RudderServo](ERROR): Communications Fault
2020-02-09T00:27:07.880Z,1581208027.880 [CBIT](ERROR): Communications Fault in component: RudderServo
2020-02-09T00:27:08.062Z,1581208028.062 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-02-09T00:27:08.062Z,1581208028.062 [RudderServo](INFO): Powering down
2020-02-09T00:27:08.751Z,1581208028.751 [RudderServo](DEBUG): Initializing EZServoServo.
2020-02-09T00:27:08.870Z,1581208028.870 [RudderServo](DEBUG): Initializing RudderServo.
2020-02-09T00:27:08.874Z,1581208028.874 [CBIT](INFO): Clearing failed state for component RudderServo
2020-02-09T00:27:08.874Z,1581208028.874 [RudderServo] No Fault, FailCount= 1
2020-02-09T00:27:09.157Z,1581208029.157 [WorkSite](IMPORTANT): Reading workSite position from Data/workSite.cfg
2020-02-09T00:27:09.161Z,1581208029.161 [WorkSite](IMPORTANT): WorkSite fix at 20200209T002003: (44.836943, -67.563624)
2020-02-09T00:27:11.258Z,1581208031.258 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-02-09T00:27:11.258Z,1581208031.258 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2020-02-09T00:27:11.258Z,1581208031.258 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-02-09T00:27:11.328Z,1581208031.328 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:11.657Z,1581208031.657 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:11.657Z,1581208031.657 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2020-02-09T00:27:11.969Z,1581208031.969 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2020-02-09T00:27:12.372Z,1581208032.372 [Micromodem](INFO): Nmea in: $CATMG,2020-02-09T00:27:12.294081Z,RTC,RTC*5B

2020-02-09T00:27:12.372Z,1581208032.372 [Micromodem](ERROR): CFG response from modem unexpected: $CATMG,2020-02-09T00:27:12.294081Z,RTC,RTC*5B

2020-02-09T00:27:12.397Z,1581208032.397 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-02-09T00:27:12.398Z,1581208032.398 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2020-02-09T00:27:12.398Z,1581208032.398 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-02-09T00:27:12.760Z,1581208032.760 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:12.807Z,1581208032.807 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2020-02-09T00:27:12.807Z,1581208032.807 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2020-02-09T00:27:12.893Z,1581208032.893 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:12.893Z,1581208032.893 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2020-02-09T00:27:13.211Z,1581208033.211 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2020-02-09T00:27:13.211Z,1581208033.211 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2020-02-09T00:27:13.617Z,1581208033.617 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2020-02-09T00:27:13.617Z,1581208033.617 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2020-02-09T00:27:13.662Z,1581208033.662 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-02-09T00:27:13.662Z,1581208033.662 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 3
2020-02-09T00:27:13.662Z,1581208033.662 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-02-09T00:27:13.717Z,1581208033.717 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:14.019Z,1581208034.019 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2020-02-09T00:27:14.019Z,1581208034.019 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2020-02-09T00:27:14.153Z,1581208034.153 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:14.153Z,1581208034.153 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 3
2020-02-09T00:27:14.423Z,1581208034.423 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2020-02-09T00:27:14.423Z,1581208034.423 [Micromodem](INFO): Nmea out: $CCCFG,FC0,14500*47

2020-02-09T00:27:14.815Z,1581208034.815 [Micromodem](INFO): Nmea in: $CACFG,FC0,14500*45

2020-02-09T00:27:14.815Z,1581208034.815 [Micromodem](INFO): Nmea out: $CCCFG,BW0,2000*65

2020-02-09T00:27:14.849Z,1581208034.849 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-02-09T00:27:14.850Z,1581208034.850 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 4
2020-02-09T00:27:14.850Z,1581208034.850 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-02-09T00:27:14.905Z,1581208034.905 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:15.234Z,1581208035.234 [Micromodem](INFO): Nmea in: $CACFG,BW0,2000*67

2020-02-09T00:27:15.234Z,1581208035.234 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2020-02-09T00:27:15.369Z,1581208035.369 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:15.369Z,1581208035.369 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 4
2020-02-09T00:27:15.611Z,1581208035.611 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2020-02-09T00:27:15.612Z,1581208035.612 [Micromodem](INFO): Nmea out: $CCCLK,2020,02,09,00,27,16*4D

2020-02-09T00:27:16.023Z,1581208036.023 [Micromodem](INFO): Nmea in: $CACLK,2020,2,9,0,27,16*7F

2020-02-09T00:27:16.025Z,1581208036.025 [Micromodem](INFO): Nmea in: $CATMS,0,2020-02-09T00:27:17Z*7E

2020-02-09T00:27:16.026Z,1581208036.026 [Micromodem](INFO): Nmea in: $CATMG,2020-02-09T00:27:17.027439Z,USER_CMD,RTC*12

2020-02-09T00:27:16.079Z,1581208036.079 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-02-09T00:27:16.079Z,1581208036.079 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 5
2020-02-09T00:27:16.079Z,1581208036.079 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-02-09T00:27:16.145Z,1581208036.145 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:16.489Z,1581208036.489 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:16.489Z,1581208036.489 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 5
2020-02-09T00:27:17.261Z,1581208037.261 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-02-09T00:27:17.261Z,1581208037.261 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 6
2020-02-09T00:27:17.261Z,1581208037.261 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-02-09T00:27:17.409Z,1581208037.409 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:17.701Z,1581208037.701 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:17.701Z,1581208037.701 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 6
2020-02-09T00:27:18.481Z,1581208038.481 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-02-09T00:27:18.481Z,1581208038.481 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 7
2020-02-09T00:27:18.481Z,1581208038.481 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-02-09T00:27:18.506Z,1581208038.506 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:18.901Z,1581208038.901 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:18.901Z,1581208038.901 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 7
2020-02-09T00:27:19.667Z,1581208039.667 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-02-09T00:27:19.667Z,1581208039.667 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 8
2020-02-09T00:27:19.667Z,1581208039.667 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-02-09T00:27:19.706Z,1581208039.706 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:20.081Z,1581208040.081 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2020-02-09T00:27:20.120Z,1581208040.120 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:20.120Z,1581208040.120 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 8
2020-02-09T00:27:20.978Z,1581208040.978 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-02-09T00:27:20.978Z,1581208040.978 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 9
2020-02-09T00:27:20.978Z,1581208040.978 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-02-09T00:27:21.010Z,1581208041.010 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:21.358Z,1581208041.358 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:21.358Z,1581208041.358 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 9
2020-02-09T00:27:22.135Z,1581208042.135 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-02-09T00:27:22.135Z,1581208042.135 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 10
2020-02-09T00:27:22.135Z,1581208042.135 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-02-09T00:27:22.169Z,1581208042.169 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:22.538Z,1581208042.538 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:22.538Z,1581208042.538 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 10
2020-02-09T00:27:23.330Z,1581208043.330 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-02-09T00:27:23.330Z,1581208043.330 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 11
2020-02-09T00:27:23.331Z,1581208043.331 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-02-09T00:27:23.372Z,1581208043.372 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:23.778Z,1581208043.778 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:23.778Z,1581208043.778 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 11
2020-02-09T00:27:24.491Z,1581208044.491 [DUSBL_Hydroid](INFO): DUSBL Version:O
2020-02-09T00:27:24.549Z,1581208044.549 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-02-09T00:27:24.549Z,1581208044.549 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 12
2020-02-09T00:27:24.550Z,1581208044.550 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-02-09T00:27:24.575Z,1581208044.575 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:24.995Z,1581208044.995 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:24.995Z,1581208044.995 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 12
2020-02-09T00:27:25.755Z,1581208045.755 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-02-09T00:27:25.755Z,1581208045.755 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 13
2020-02-09T00:27:25.755Z,1581208045.755 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-02-09T00:27:25.785Z,1581208045.785 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:26.174Z,1581208046.174 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:26.174Z,1581208046.174 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 13
2020-02-09T00:27:26.986Z,1581208046.986 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-02-09T00:27:26.986Z,1581208046.986 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 14
2020-02-09T00:27:26.986Z,1581208046.986 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-02-09T00:27:27.020Z,1581208047.020 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:27.379Z,1581208047.379 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:27.379Z,1581208047.379 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 14
2020-02-09T00:27:28.214Z,1581208048.214 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-02-09T00:27:28.214Z,1581208048.214 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 15
2020-02-09T00:27:28.214Z,1581208048.214 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-02-09T00:27:28.232Z,1581208048.232 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:28.634Z,1581208048.634 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:28.634Z,1581208048.634 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 15
2020-02-09T00:27:29.427Z,1581208049.427 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-02-09T00:27:29.427Z,1581208049.427 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 16
2020-02-09T00:27:29.427Z,1581208049.427 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-02-09T00:27:29.473Z,1581208049.473 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:29.838Z,1581208049.838 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:29.838Z,1581208049.838 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 16
2020-02-09T00:27:30.560Z,1581208050.560 [NAL9602](INFO): Powering up NAL9602
2020-02-09T00:27:30.627Z,1581208050.627 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-02-09T00:27:30.627Z,1581208050.627 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 17
2020-02-09T00:27:30.627Z,1581208050.627 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-02-09T00:27:30.661Z,1581208050.661 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:31.070Z,1581208051.070 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:31.070Z,1581208051.070 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 17
2020-02-09T00:27:31.760Z,1581208051.760 [DDM](FAULT): failed to initialize; deviceResponse_ loaded: , available: 43F
2020-02-09T00:27:31.760Z,1581208051.760 [DDM] Communications Fault, FailCount= 1
2020-02-09T00:27:31.760Z,1581208051.760 [DDM](ERROR): Communications Fault
2020-02-09T00:27:31.825Z,1581208051.825 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-02-09T00:27:31.826Z,1581208051.826 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 18
2020-02-09T00:27:31.826Z,1581208051.826 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-02-09T00:27:31.852Z,1581208051.852 [CBIT](ERROR): Communications Fault in component: DDM
2020-02-09T00:27:31.852Z,1581208051.852 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:32.161Z,1581208052.161 [DDM](INFO): Powering down
2020-02-09T00:27:32.307Z,1581208052.307 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-02-09T00:27:32.308Z,1581208052.308 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2020-02-09T00:27:32.390Z,1581208052.390 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:32.390Z,1581208052.390 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 18
2020-02-09T00:27:33.010Z,1581208053.010 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-02-09T00:27:33.010Z,1581208053.010 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 19
2020-02-09T00:27:33.010Z,1581208053.010 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-02-09T00:27:33.044Z,1581208053.044 [CBIT](INFO): Clearing failed state for component DDM
2020-02-09T00:27:33.044Z,1581208053.044 [DDM] No Fault, FailCount= 1
2020-02-09T00:27:33.044Z,1581208053.044 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:33.423Z,1581208053.423 [SBIT](IMPORTANT): Beginning Startup BIT
2020-02-09T00:27:33.431Z,1581208053.431 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:33.431Z,1581208053.431 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 19
2020-02-09T00:27:33.432Z,1581208053.432 [CBIT](IMPORTANT): Beginning ground fault scan
2020-02-09T00:27:34.244Z,1581208054.244 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-02-09T00:27:34.244Z,1581208054.244 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 20
2020-02-09T00:27:34.244Z,1581208054.244 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-02-09T00:27:34.305Z,1581208054.305 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:34.701Z,1581208054.701 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:34.701Z,1581208054.701 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 20
2020-02-09T00:27:35.449Z,1581208055.449 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-02-09T00:27:35.449Z,1581208055.449 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 21
2020-02-09T00:27:35.449Z,1581208055.449 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-02-09T00:27:35.581Z,1581208055.581 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:36.329Z,1581208056.329 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:36.329Z,1581208056.329 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 21
2020-02-09T00:27:36.865Z,1581208056.865 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-02-09T00:27:36.865Z,1581208056.865 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 22
2020-02-09T00:27:36.865Z,1581208056.865 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-02-09T00:27:37.018Z,1581208057.018 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:37.225Z,1581208057.225 [DDM](INFO): Powering up
2020-02-09T00:27:37.225Z,1581208057.225 [DDM](DEBUG): Initializing DDM.
2020-02-09T00:27:37.562Z,1581208057.562 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:37.562Z,1581208057.562 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 22
2020-02-09T00:27:38.133Z,1581208058.133 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-02-09T00:27:38.134Z,1581208058.134 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 23
2020-02-09T00:27:38.134Z,1581208058.134 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-02-09T00:27:38.337Z,1581208058.337 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:38.586Z,1581208058.586 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:38.586Z,1581208058.586 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 23
2020-02-09T00:27:39.328Z,1581208059.328 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-02-09T00:27:39.328Z,1581208059.328 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 24
2020-02-09T00:27:39.328Z,1581208059.328 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-02-09T00:27:39.402Z,1581208059.402 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:39.799Z,1581208059.799 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:39.800Z,1581208059.800 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 24
2020-02-09T00:27:40.557Z,1581208060.557 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-02-09T00:27:40.557Z,1581208060.557 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 25
2020-02-09T00:27:40.557Z,1581208060.557 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-02-09T00:27:40.626Z,1581208060.626 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:41.008Z,1581208061.008 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:41.008Z,1581208061.008 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 25
2020-02-09T00:27:41.711Z,1581208061.711 [NAL9602](INFO): NAL9602 initialized
2020-02-09T00:27:41.741Z,1581208061.741 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-02-09T00:27:41.741Z,1581208061.741 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 26
2020-02-09T00:27:41.741Z,1581208061.741 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-02-09T00:27:41.846Z,1581208061.846 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:42.226Z,1581208062.226 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:42.226Z,1581208062.226 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 26
2020-02-09T00:27:42.959Z,1581208062.959 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-02-09T00:27:42.959Z,1581208062.959 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 27
2020-02-09T00:27:42.959Z,1581208062.959 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-02-09T00:27:43.030Z,1581208063.030 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:43.422Z,1581208063.422 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:43.422Z,1581208063.422 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 27
2020-02-09T00:27:44.205Z,1581208064.205 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-02-09T00:27:44.205Z,1581208064.205 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 28
2020-02-09T00:27:44.205Z,1581208064.205 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-02-09T00:27:44.266Z,1581208064.266 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:44.650Z,1581208064.650 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:44.650Z,1581208064.650 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 28
2020-02-09T00:27:44.654Z,1581208064.654 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): 0.016595
CHAN A1 (24V): -0.028479
CHAN A2 (12V): -0.007451
CHAN A3 (5V): -0.002248
CHAN B0 (3.3V): -0.000390
CHAN B1 (3.15aV): 0.000021
CHAN B2 (3.15bV): -0.000001
CHAN B3 (GND): 0.001769
OPEN: 0.005043
Full Scale Calc: 4.765 mA, -1.589 mA
2020-02-09T00:27:45.394Z,1581208065.394 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-02-09T00:27:45.394Z,1581208065.394 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 29
2020-02-09T00:27:45.394Z,1581208065.394 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-02-09T00:27:45.525Z,1581208065.525 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:45.815Z,1581208065.815 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:45.815Z,1581208065.815 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 29
2020-02-09T00:27:46.613Z,1581208066.613 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-02-09T00:27:46.613Z,1581208066.613 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 30
2020-02-09T00:27:46.613Z,1581208066.613 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-02-09T00:27:46.662Z,1581208066.662 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:47.068Z,1581208067.068 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:47.068Z,1581208067.068 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 30
2020-02-09T00:27:47.810Z,1581208067.810 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-02-09T00:27:47.810Z,1581208067.810 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 31
2020-02-09T00:27:47.810Z,1581208067.810 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-02-09T00:27:47.862Z,1581208067.862 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:48.277Z,1581208068.277 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:48.277Z,1581208068.277 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 31
2020-02-09T00:27:49.263Z,1581208069.263 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-02-09T00:27:49.263Z,1581208069.263 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 32
2020-02-09T00:27:49.263Z,1581208069.263 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-02-09T00:27:49.370Z,1581208069.370 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:49.726Z,1581208069.726 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:49.726Z,1581208069.726 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 32
2020-02-09T00:27:50.425Z,1581208070.425 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-02-09T00:27:50.425Z,1581208070.425 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 33
2020-02-09T00:27:50.425Z,1581208070.425 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-02-09T00:27:50.550Z,1581208070.550 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:50.985Z,1581208070.985 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:50.985Z,1581208070.985 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 33
2020-02-09T00:27:51.621Z,1581208071.621 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-02-09T00:27:51.621Z,1581208071.621 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 34
2020-02-09T00:27:51.621Z,1581208071.621 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-02-09T00:27:51.746Z,1581208071.746 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:52.169Z,1581208072.169 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:52.170Z,1581208072.170 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 34
2020-02-09T00:27:52.807Z,1581208072.807 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2020-02-09T00:27:53.005Z,1581208073.005 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-02-09T00:27:53.005Z,1581208073.005 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 35
2020-02-09T00:27:53.006Z,1581208073.006 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-02-09T00:27:53.110Z,1581208073.110 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:53.338Z,1581208073.338 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:53.338Z,1581208073.338 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 35
2020-02-09T00:27:54.062Z,1581208074.062 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-02-09T00:27:54.062Z,1581208074.062 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 36
2020-02-09T00:27:54.062Z,1581208074.062 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-02-09T00:27:54.237Z,1581208074.237 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:54.753Z,1581208074.753 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:54.753Z,1581208074.753 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 36
2020-02-09T00:27:55.262Z,1581208075.262 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-02-09T00:27:55.262Z,1581208075.262 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 37
2020-02-09T00:27:55.262Z,1581208075.262 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-02-09T00:27:55.318Z,1581208075.318 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:55.718Z,1581208075.718 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:55.718Z,1581208075.718 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 37
2020-02-09T00:27:56.473Z,1581208076.473 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-02-09T00:27:56.474Z,1581208076.474 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 38
2020-02-09T00:27:56.474Z,1581208076.474 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-02-09T00:27:56.541Z,1581208076.541 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:56.948Z,1581208076.948 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:56.948Z,1581208076.948 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 38
2020-02-09T00:27:57.701Z,1581208077.701 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-02-09T00:27:57.701Z,1581208077.701 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 39
2020-02-09T00:27:57.701Z,1581208077.701 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-02-09T00:27:57.754Z,1581208077.754 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:58.165Z,1581208078.165 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:58.165Z,1581208078.165 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 39
2020-02-09T00:27:58.349Z,1581208078.349 [CommandLine](IMPORTANT): got command restart application
2020-02-09T00:27:58.901Z,1581208078.901 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-02-09T00:27:58.901Z,1581208078.901 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 40
2020-02-09T00:27:58.901Z,1581208078.901 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-02-09T00:27:58.958Z,1581208078.958 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:59.353Z,1581208079.353 [Supervisor](INFO): Stop Mission called by Supervisor::terminate
2020-02-09T00:27:59.353Z,1581208079.353 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2020-02-09T00:27:59.354Z,1581208079.354 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-02-09T00:27:59.374Z,1581208079.374 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-02-09T00:27:59.374Z,1581208079.374 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 40
2020-02-09T00:27:59.409Z,1581208079.409 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2020-02-09T00:27:59.409Z,1581208079.409 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-02-09T00:27:59.410Z,1581208079.410 [CommandLine](INFO): Join timeout helper Thread ID is 2627
2020-02-09T00:27:59.421Z,1581208079.421 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2020-02-09T00:27:59.421Z,1581208079.421 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-02-09T00:27:59.421Z,1581208079.421 [NavChartDb](INFO): Join timeout helper Thread ID is 2628
2020-02-09T00:28:00.124Z,1581208080.124 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-02-09T00:28:00.149Z,1581208080.149 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 41
2020-02-09T00:28:00.149Z,1581208080.149 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-02-09T00:28:00.202Z,1581208080.202 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-02-09T00:28:00.558Z,1581208080.558 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-02-09T00:28:00.558Z,1581208080.558 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 41
2020-02-09T00:28:01.321Z,1581208081.321 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-02-09T00:28:01.321Z,1581208081.321 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 42
2020-02-09T00:28:01.321Z,1581208081.321 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-02-09T00:28:01.390Z,1581208081.390 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-02-09T00:28:01.792Z,1581208081.792 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-02-09T00:28:01.792Z,1581208081.792 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 42
2020-02-09T00:28:02.364Z,1581208082.364 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2020-02-09T00:28:02.364Z,1581208082.364 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-02-09T00:28:02.377Z,1581208082.377 [ComponentRegistry](INFO): Shutting down WetLabsSeaOWL_UV_A ThreadHandler
2020-02-09T00:28:02.377Z,1581208082.377 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-02-09T00:28:02.377Z,1581208082.377 [WetLabsSeaOWL_UV_A](INFO): Join timeout helper Thread ID is 2629
2020-02-09T00:28:02.409Z,1581208082.409 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Uninitializing protected caller thread.
2020-02-09T00:28:02.409Z,1581208082.409 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-02-09T00:28:02.410Z,1581208082.410 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-02-09T00:28:02.417Z,1581208082.417 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2020-02-09T00:28:02.417Z,1581208082.417 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-02-09T00:28:02.417Z,1581208082.417 [Radio_Surface](INFO): Join timeout helper Thread ID is 2630
2020-02-09T00:28:02.537Z,1581208082.537 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-02-09T00:28:02.537Z,1581208082.537 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 43
2020-02-09T00:28:02.537Z,1581208082.537 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-02-09T00:28:02.586Z,1581208082.586 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-02-09T00:28:02.805Z,1581208082.805 [Radio_Surface](INFO): Powering down
2020-02-09T00:28:02.806Z,1581208082.806 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2020-02-09T00:28:02.806Z,1581208082.806 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-02-09T00:28:02.809Z,1581208082.809 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2020-02-09T00:28:02.809Z,1581208082.809 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-02-09T00:28:02.809Z,1581208082.809 [DataOverHttps](INFO): Join timeout helper Thread ID is 2631
2020-02-09T00:28:03.014Z,1581208083.014 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-02-09T00:28:03.014Z,1581208083.014 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 43
2020-02-09T00:28:03.077Z,1581208083.077 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2020-02-09T00:28:03.077Z,1581208083.077 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-02-09T00:28:03.090Z,1581208083.090 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2020-02-09T00:28:03.090Z,1581208083.090 [logger ThreadHandler](INFO): Thread cancelled.
2020-02-09T00:28:03.090Z,1581208083.090 [logger](INFO): Join timeout helper Thread ID is 2632
2020-02-09T00:28:03.093Z,1581208083.093 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2020-02-09T00:28:03.094Z,1581208083.094 [logger ThreadHandler](INFO): Thread cancelled.
2020-02-09T00:28:03.111Z,1581208083.111 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2020-02-09T00:28:03.111Z,1581208083.111 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-02-09T00:28:03.112Z,1581208083.112 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2020-02-09T00:28:03.112Z,1581208083.112 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-02-09T00:28:03.112Z,1581208083.112 [controlThread](INFO): Join timeout helper Thread ID is 2633
2020-02-09T00:28:03.293Z,1581208083.293 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2020-02-09T00:28:03.293Z,1581208083.293 [controlThread](DEBUG): Uninitializing ControlThread
2020-02-09T00:28:03.293Z,1581208083.293 [AHRS_M2](INFO): Powering down
2020-02-09T00:28:03.365Z,1581208083.365 [DDM](INFO): Powering down
2020-02-09T00:28:03.438Z,1581208083.438 [DUSBL_Hydroid](INFO): Powering down
2020-02-09T00:28:03.529Z,1581208083.529 [Micromodem](INFO): Powering down
2020-02-09T00:28:03.625Z,1581208083.625 [NAL9602](INFO): Powering down
2020-02-09T00:28:03.705Z,1581208083.705 [RDI_Pathfinder](INFO): Powering down
2020-02-09T00:28:03.707Z,1581208083.707 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2020-02-09T00:28:03.708Z,1581208083.708 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2020-02-09T00:28:03.708Z,1581208083.708 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2020-02-09T00:28:03.709Z,1581208083.709 [MissionManager](INFO): Uninitializing Mission DefaultUnder
2020-02-09T00:28:03.741Z,1581208083.741 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2020-02-09T00:28:03.742Z,1581208083.742 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2020-02-09T00:28:03.742Z,1581208083.742 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2020-02-09T00:28:03.742Z,1581208083.742 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2020-02-09T00:28:03.742Z,1581208083.742 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2020-02-09T00:28:03.742Z,1581208083.742 [BuoyancyServo](INFO): Powering down
2020-02-09T00:28:03.757Z,1581208083.757 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2020-02-09T00:28:03.757Z,1581208083.757 [ElevatorServo](INFO): Powering down
2020-02-09T00:28:03.758Z,1581208083.758 [MassServo](DEBUG): Uninitialize Mass Servo.
2020-02-09T00:28:03.758Z,1581208083.758 [MassServo](INFO): Powering down
2020-02-09T00:28:03.759Z,1581208083.759 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-02-09T00:28:03.759Z,1581208083.759 [RudderServo](INFO): Powering down
2020-02-09T00:28:03.759Z,1581208083.759 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2020-02-09T00:28:03.760Z,1581208083.760 [ThrusterServo](INFO): Powering down
2020-02-09T00:28:03.760Z,1581208083.760 [SBIT](DEBUG): Uninitialize SBIT Component.
2020-02-09T00:28:03.761Z,1581208083.761 [IBIT](DEBUG): Uninitialize IBIT Component.
2020-02-09T00:28:03.761Z,1581208083.761 [CBIT](DEBUG): Uninitialize CBIT Component.
2020-02-09T00:28:03.761Z,1581208083.761 [CBIT](DEBUG): Powering off loads.
2020-02-09T00:28:03.773Z,1581208083.773 [CBIT](DEBUG): Disabling WDT.
2020-02-09T00:28:03.785Z,1581208083.785 [CBIT](DEBUG): Opening all GF detection circuits.
2020-02-09T00:28:03.786Z,1581208083.786 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-02-09T00:28:03.836Z,1581208083.836 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-02-09T00:28:03.846Z,1581208083.846 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-02-09T00:28:04.007Z,1581208084.007 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-02-09T00:28:04.068Z,1581208084.068 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-02-09T00:28:04.128Z,1581208084.128 [logger ThreadHandler](INFO): Thread cancelled.