2020-12-13T19:42:07.755Z,1607888527.755 [Supervisor](DEBUG): Initializing supervisor.
2020-12-13T19:42:07.760Z,1607888527.760 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2020-12-13T19:42:07.760Z,1607888527.760 [SyncHandler](INFO): Protected caller Thread ID is 1395
2020-12-13T19:42:07.761Z,1607888527.761 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2020-12-13T19:42:07.761Z,1607888527.761 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2020-12-13T19:42:07.762Z,1607888527.762 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 1396
2020-12-13T19:42:07.766Z,1607888527.766 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2020-12-13T19:42:07.785Z,1607888527.785 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2020-12-13T19:42:07.786Z,1607888527.786 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2020-12-13T19:42:07.786Z,1607888527.786 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 1397
2020-12-13T19:42:07.788Z,1607888527.788 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2020-12-13T19:42:07.789Z,1607888527.789 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2020-12-13T19:42:07.789Z,1607888527.789 [logger ThreadHandler](INFO): Protected caller Thread ID is 1398
2020-12-13T19:42:07.793Z,1607888527.793 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2020-12-13T19:42:07.793Z,1607888527.793 [Supervisor](INFO): Looking for Config files in directory: Config/
2020-12-13T19:42:07.795Z,1607888527.795 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2020-12-13T19:42:08.395Z,1607888528.395 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2020-12-13T19:42:08.395Z,1607888528.395 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2020-12-13T19:42:08.510Z,1607888528.510 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2020-12-13T19:42:08.824Z,1607888528.824 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2020-12-13T19:42:08.824Z,1607888528.824 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2020-12-13T19:42:08.921Z,1607888528.921 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2020-12-13T19:42:08.922Z,1607888528.922 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2020-12-13T19:42:09.109Z,1607888529.109 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2020-12-13T19:42:09.110Z,1607888529.110 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2020-12-13T19:42:09.595Z,1607888529.595 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2020-12-13T19:42:09.596Z,1607888529.596 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2020-12-13T19:42:09.823Z,1607888529.823 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2020-12-13T19:42:09.824Z,1607888529.824 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2020-12-13T19:42:09.966Z,1607888529.966 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2020-12-13T19:42:09.967Z,1607888529.967 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2020-12-13T19:42:10.145Z,1607888530.145 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2020-12-13T19:42:10.146Z,1607888530.146 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2020-12-13T19:42:10.240Z,1607888530.240 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2020-12-13T19:42:10.240Z,1607888530.240 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2020-12-13T19:42:10.450Z,1607888530.450 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2020-12-13T19:42:10.450Z,1607888530.450 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2020-12-13T19:42:10.742Z,1607888530.742 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2020-12-13T19:42:10.743Z,1607888530.743 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2020-12-13T19:42:10.823Z,1607888530.823 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2020-12-13T19:42:10.946Z,1607888530.946 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2020-12-13T19:42:10.947Z,1607888530.947 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2020-12-13T19:42:11.566Z,1607888531.566 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2020-12-13T19:42:11.567Z,1607888531.567 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2020-12-13T19:42:11.910Z,1607888531.910 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2020-12-13T19:42:11.912Z,1607888531.912 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/
2020-12-13T19:42:11.913Z,1607888531.913 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/vehicle.cfg
2020-12-13T19:42:12.100Z,1607888532.100 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Control.cfg
2020-12-13T19:42:12.197Z,1607888532.197 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/BIT.cfg
2020-12-13T19:42:12.293Z,1607888532.293 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Battery.cfg
2020-12-13T19:42:12.546Z,1607888532.546 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2020-12-13T19:42:12.546Z,1607888532.546 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Simulator.cfg
2020-12-13T19:42:12.630Z,1607888532.630 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Navigation.cfg
2020-12-13T19:42:12.724Z,1607888532.724 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/logger.cfg
2020-12-13T19:42:12.835Z,1607888532.835 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/secure.cfg
2020-12-13T19:42:12.919Z,1607888532.919 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Dock.cfg
2020-12-13T19:42:13.003Z,1607888533.003 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Servo.cfg
2020-12-13T19:42:13.110Z,1607888533.110 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/workSite.cfg
2020-12-13T19:42:13.207Z,1607888533.207 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Sensor.cfg
2020-12-13T19:42:13.475Z,1607888533.475 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Science.cfg
2020-12-13T19:42:14.051Z,1607888534.051 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2020-12-13T19:42:14.061Z,1607888534.061 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2020-12-13T19:42:14.408Z,1607888534.408 [AHRS_M2] Loaded
2020-12-13T19:42:14.409Z,1607888534.409 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2020-12-13T19:42:15.151Z,1607888535.151 [BPC1] Loaded
2020-12-13T19:42:15.152Z,1607888535.152 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2020-12-13T19:42:15.225Z,1607888535.225 [DataOverHttps] Loaded
2020-12-13T19:42:15.225Z,1607888535.225 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2020-12-13T19:42:15.226Z,1607888535.226 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 407924E0
2020-12-13T19:42:15.227Z,1607888535.227 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 1486
2020-12-13T19:42:15.248Z,1607888535.248 [DDM] Loaded
2020-12-13T19:42:15.248Z,1607888535.248 [ComponentRegistry](DEBUG): SyncComponent "DDM" handled in the control thread.
2020-12-13T19:42:15.266Z,1607888535.266 [Depth_Keller] Loaded
2020-12-13T19:42:15.266Z,1607888535.266 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2020-12-13T19:42:15.271Z,1607888535.271 [DropWeight] Loaded
2020-12-13T19:42:15.271Z,1607888535.271 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2020-12-13T19:42:15.312Z,1607888535.312 [DUSBL_Hydroid] Loaded
2020-12-13T19:42:15.313Z,1607888535.313 [ComponentRegistry](DEBUG): SyncComponent "DUSBL_Hydroid" handled in the control thread.
2020-12-13T19:42:15.347Z,1607888535.347 [Micromodem] Loaded
2020-12-13T19:42:15.347Z,1607888535.347 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2020-12-13T19:42:15.404Z,1607888535.404 [NAL9602] Loaded
2020-12-13T19:42:15.404Z,1607888535.404 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2020-12-13T19:42:15.431Z,1607888535.431 [Onboard] Loaded
2020-12-13T19:42:15.432Z,1607888535.432 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2020-12-13T19:42:15.433Z,1607888535.433 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 407C24E0
2020-12-13T19:42:15.433Z,1607888535.433 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 1487
2020-12-13T19:42:15.438Z,1607888535.438 [PowerOnly](INFO): Adding load control power supply at /dev/loadC1
2020-12-13T19:42:15.448Z,1607888535.448 [PowerOnly] Loaded
2020-12-13T19:42:15.449Z,1607888535.449 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2020-12-13T19:42:15.462Z,1607888535.462 [Radio_Surface] Loaded
2020-12-13T19:42:15.462Z,1607888535.462 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2020-12-13T19:42:15.463Z,1607888535.463 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 407F24E0
2020-12-13T19:42:15.463Z,1607888535.463 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 1488
2020-12-13T19:42:15.492Z,1607888535.492 [RDI_Pathfinder] Loaded
2020-12-13T19:42:15.492Z,1607888535.492 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2020-12-13T19:42:15.517Z,1607888535.517 [RDI_PathfinderUp] Loaded
2020-12-13T19:42:15.517Z,1607888535.517 [ComponentRegistry](DEBUG): SyncComponent "RDI_PathfinderUp" handled in the control thread.
2020-12-13T19:42:15.518Z,1607888535.518 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2020-12-13T19:42:15.518Z,1607888535.518 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2020-12-13T19:42:15.529Z,1607888535.529 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2020-12-13T19:42:15.530Z,1607888535.530 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2020-12-13T19:42:15.606Z,1607888535.606 [DeadReckonUsingMultipleVelocitySources] Loaded
2020-12-13T19:42:15.606Z,1607888535.606 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2020-12-13T19:42:15.619Z,1607888535.619 [NavChart] Loaded
2020-12-13T19:42:15.619Z,1607888535.619 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2020-12-13T19:42:15.625Z,1607888535.625 [UniversalFixResidualReporter] Loaded
2020-12-13T19:42:15.625Z,1607888535.625 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2020-12-13T19:42:15.635Z,1607888535.635 [WorkSite] Loaded
2020-12-13T19:42:15.636Z,1607888535.636 [ComponentRegistry](DEBUG): SyncComponent "WorkSite" handled in the control thread.
2020-12-13T19:42:15.636Z,1607888535.636 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2020-12-13T19:42:15.636Z,1607888535.636 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2020-12-13T19:42:15.719Z,1607888535.719 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2020-12-13T19:42:15.720Z,1607888535.720 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2020-12-13T19:42:15.836Z,1607888535.836 [BuoyancyServo] Loaded
2020-12-13T19:42:15.836Z,1607888535.836 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2020-12-13T19:42:15.857Z,1607888535.857 [ElevatorServo] Loaded
2020-12-13T19:42:15.857Z,1607888535.857 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2020-12-13T19:42:15.876Z,1607888535.876 [MassServo] Loaded
2020-12-13T19:42:15.877Z,1607888535.877 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2020-12-13T19:42:15.896Z,1607888535.896 [RudderServo] Loaded
2020-12-13T19:42:15.896Z,1607888535.896 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2020-12-13T19:42:15.914Z,1607888535.914 [ThrusterServo] Loaded
2020-12-13T19:42:15.914Z,1607888535.914 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2020-12-13T19:42:15.915Z,1607888535.915 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2020-12-13T19:42:15.915Z,1607888535.915 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2020-12-13T19:42:16.082Z,1607888536.082 [CTD_Seabird] Loaded
2020-12-13T19:42:16.083Z,1607888536.083 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2020-12-13T19:42:16.084Z,1607888536.084 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 409154E0
2020-12-13T19:42:16.084Z,1607888536.084 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 1489
2020-12-13T19:42:16.103Z,1607888536.103 [PAR_Licor] Loaded
2020-12-13T19:42:16.103Z,1607888536.103 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2020-12-13T19:42:16.134Z,1607888536.134 [WetLabsSeaOWL_UV_A] Loaded
2020-12-13T19:42:16.134Z,1607888536.134 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2020-12-13T19:42:16.135Z,1607888536.135 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 409454E0
2020-12-13T19:42:16.136Z,1607888536.136 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 1490
2020-12-13T19:42:16.136Z,1607888536.136 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2020-12-13T19:42:16.137Z,1607888536.137 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2020-12-13T19:42:16.439Z,1607888536.439 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2020-12-13T19:42:16.439Z,1607888536.439 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2020-12-13T19:42:16.479Z,1607888536.479 [DepthRateCalculator] Loaded
2020-12-13T19:42:16.479Z,1607888536.479 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2020-12-13T19:42:16.484Z,1607888536.484 [PitchRateCalculator] Loaded
2020-12-13T19:42:16.485Z,1607888536.485 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2020-12-13T19:42:16.494Z,1607888536.494 [SpeedCalculator] Loaded
2020-12-13T19:42:16.494Z,1607888536.494 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2020-12-13T19:42:16.507Z,1607888536.507 [TempGradientCalculator] Loaded
2020-12-13T19:42:16.507Z,1607888536.507 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2020-12-13T19:42:16.512Z,1607888536.512 [YawRateCalculator] Loaded
2020-12-13T19:42:16.512Z,1607888536.512 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2020-12-13T19:42:16.533Z,1607888536.533 [ElevatorOffsetCalculator] Loaded
2020-12-13T19:42:16.533Z,1607888536.533 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2020-12-13T19:42:16.534Z,1607888536.534 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2020-12-13T19:42:16.534Z,1607888536.534 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2020-12-13T19:42:16.670Z,1607888536.670 [SBIT](DEBUG): Construct Startup Built In Test.
2020-12-13T19:42:16.681Z,1607888536.681 [SBIT] Loaded
2020-12-13T19:42:16.682Z,1607888536.682 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2020-12-13T19:42:16.685Z,1607888536.685 [IBIT](DEBUG): Construct Initiated Built In Test.
2020-12-13T19:42:16.697Z,1607888536.697 [IBIT] Loaded
2020-12-13T19:42:16.697Z,1607888536.697 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2020-12-13T19:42:16.703Z,1607888536.703 [CBIT](DEBUG): Construct Continuous Built In Test.
2020-12-13T19:42:16.802Z,1607888536.802 [CBIT] Loaded
2020-12-13T19:42:16.802Z,1607888536.802 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2020-12-13T19:42:16.802Z,1607888536.802 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2020-12-13T19:42:16.803Z,1607888536.803 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2020-12-13T19:42:16.855Z,1607888536.855 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2020-12-13T19:42:16.855Z,1607888536.855 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2020-12-13T19:42:16.956Z,1607888536.956 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2020-12-13T19:42:16.957Z,1607888536.957 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2020-12-13T19:42:17.005Z,1607888537.005 [VerticalControl](DEBUG): Construct VerticalControl.
2020-12-13T19:42:17.057Z,1607888537.057 [VerticalControl] Loaded
2020-12-13T19:42:17.057Z,1607888537.057 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2020-12-13T19:42:17.060Z,1607888537.060 [HorizontalControl](DEBUG): Construct HorizontalControl.
2020-12-13T19:42:17.095Z,1607888537.095 [HorizontalControl] Loaded
2020-12-13T19:42:17.095Z,1607888537.095 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2020-12-13T19:42:17.098Z,1607888537.098 [SpeedControl](DEBUG): Construct SpeedControl.
2020-12-13T19:42:17.099Z,1607888537.099 [SpeedControl] Loaded
2020-12-13T19:42:17.100Z,1607888537.100 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2020-12-13T19:42:17.102Z,1607888537.102 [LoopControl](DEBUG): Construct LoopControl.
2020-12-13T19:42:17.103Z,1607888537.103 [LoopControl] Loaded
2020-12-13T19:42:17.103Z,1607888537.103 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2020-12-13T19:42:17.104Z,1607888537.104 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2020-12-13T19:42:17.104Z,1607888537.104 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2020-12-13T19:42:17.131Z,1607888537.131 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2020-12-13T19:42:17.137Z,1607888537.137 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2020-12-13T19:42:17.139Z,1607888537.139 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2020-12-13T19:42:17.150Z,1607888537.150 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2020-12-13T19:42:17.151Z,1607888537.151 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40AED4E0
2020-12-13T19:42:17.151Z,1607888537.151 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 1491
2020-12-13T19:42:17.155Z,1607888537.155 [Supervisor](INFO): Main Thread ID is 820
2020-12-13T19:42:17.156Z,1607888537.156 [Supervisor](DEBUG): Running supervisor.
2020-12-13T19:42:17.156Z,1607888537.156 [CommandLine ThreadHandler](INFO): Handler Thread ID is 1492
2020-12-13T19:42:17.158Z,1607888537.158 [controlThread ThreadHandler](INFO): Handler Thread ID is 1493
2020-12-13T19:42:17.159Z,1607888537.159 [controlThread](DEBUG): Initializing ControlThread
2020-12-13T19:42:17.167Z,1607888537.167 [NavChart](DEBUG): Initialize NavChart Navigation.
2020-12-13T19:42:17.168Z,1607888537.168 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2020-12-13T19:42:17.168Z,1607888537.168 [WorkSite](DEBUG): Initializing WorkSite component.
2020-12-13T19:42:17.172Z,1607888537.172 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2020-12-13T19:42:17.172Z,1607888537.172 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2020-12-13T19:42:17.173Z,1607888537.173 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2020-12-13T19:42:17.173Z,1607888537.173 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2020-12-13T19:42:17.174Z,1607888537.174 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2020-12-13T19:42:17.174Z,1607888537.174 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2020-12-13T19:42:17.174Z,1607888537.174 [SBIT](INFO): Initialize SBIT Component.
2020-12-13T19:42:17.175Z,1607888537.175 [SBIT](IMPORTANT): git: 2020-12-13
2020-12-13T19:42:17.175Z,1607888537.175 [SBIT](INFO): git hash: 1d82ba4121471c1bb5e011a2e6a181d1862b6d9e
2020-12-13T19:42:17.176Z,1607888537.176 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2020-12-13T19:42:17.177Z,1607888537.177 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #2 PREEMPT Thu Jan 11 20:13:48 PST 2018
Kernel Reported: #1 PREEMPT Thu Aug 6 12:04:53 PDT 2020
2020-12-13T19:42:17.178Z,1607888537.178 [SBIT](INFO): Beginning SBIT in 21.000000 seconds.
2020-12-13T19:42:17.179Z,1607888537.179 [IBIT](INFO): Initialize IBIT Component.
2020-12-13T19:42:17.179Z,1607888537.179 [CBIT](DEBUG): Initialize CBIT Component.
2020-12-13T19:42:17.180Z,1607888537.180 [logger ThreadHandler](INFO): Handler Thread ID is 1494
2020-12-13T19:42:17.192Z,1607888537.192 [CBIT](DEBUG): Initialized mux pins.
2020-12-13T19:42:17.192Z,1607888537.192 [CBIT](DEBUG): Initializing the watchdog timer.
2020-12-13T19:42:17.200Z,1607888537.200 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 1495
2020-12-13T19:42:17.201Z,1607888537.201 [DataOverHttps](DEBUG): dashIP=128.128.181.155 starts with a digit so assuming it is a numeric IP
2020-12-13T19:42:17.212Z,1607888537.212 [Onboard ThreadHandler](INFO): Handler Thread ID is 1496
2020-12-13T19:42:17.216Z,1607888537.216 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2020-12-13T19:42:17.217Z,1607888537.217 [CBIT](DEBUG): Initializing heartbeat.
2020-12-13T19:42:17.241Z,1607888537.241 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 1497
2020-12-13T19:42:17.244Z,1607888537.244 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 1498
2020-12-13T19:42:17.245Z,1607888537.245 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2020-12-13T19:42:17.249Z,1607888537.249 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 1500
2020-12-13T19:42:17.250Z,1607888537.250 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-12-13T19:42:17.264Z,1607888537.264 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 1501
2020-12-13T19:42:17.267Z,1607888537.267 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2020-12-13T19:42:17.267Z,1607888537.267 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2020-12-13T19:42:17.268Z,1607888537.268 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2020-12-13T19:42:17.268Z,1607888537.268 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2020-12-13T19:42:17.268Z,1607888537.268 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2020-12-13T19:42:17.268Z,1607888537.268 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2020-12-13T19:42:17.268Z,1607888537.268 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2020-12-13T19:42:17.268Z,1607888537.268 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2020-12-13T19:42:17.269Z,1607888537.269 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2020-12-13T19:42:17.269Z,1607888537.269 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2020-12-13T19:42:17.269Z,1607888537.269 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2020-12-13T19:42:17.269Z,1607888537.269 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2020-12-13T19:42:17.269Z,1607888537.269 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2020-12-13T19:42:17.269Z,1607888537.269 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2020-12-13T19:42:17.270Z,1607888537.270 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2020-12-13T19:42:17.270Z,1607888537.270 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2020-12-13T19:42:17.289Z,1607888537.289 [CBIT](DEBUG): Deactivating GF circuits.
2020-12-13T19:42:17.289Z,1607888537.289 [CBIT](DEBUG): Deactivating emergency mode.
2020-12-13T19:42:17.324Z,1607888537.324 [CBIT](DEBUG): Backplane powered.
2020-12-13T19:42:17.324Z,1607888537.324 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2020-12-13T19:42:17.326Z,1607888537.326 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2020-12-13T19:42:17.327Z,1607888537.327 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2020-12-13T19:42:17.327Z,1607888537.327 [LoopControl](DEBUG): Initialize LoopControlComponent.
2020-12-13T19:42:17.328Z,1607888537.328 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2020-12-13T19:42:17.341Z,1607888537.341 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2020-12-13T19:42:17.362Z,1607888537.362 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.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="Startup">

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

    <Aggregate Id="StartupSatComms">

        <Sequence/>

        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:latitude_fix/>
        </ReadDatum>

        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:platform_communications/>
        </ReadDatum>

    </Aggregate>

</Mission>


2020-12-13T19:42:17.363Z,1607888537.363 [MissionManager](INFO): Loading Mission: Missions/underIce/DefaultWithUndock.xml
2020-12-13T19:42:17.533Z,1607888537.533 [MissionManager](INFO): DefineArg DefaultWithUndock.ElapsedSinceDefaultStarted = 0.000000 min
2020-12-13T19:42:17.537Z,1607888537.537 [MissionManager](INFO): DefineArg DefaultWithUndock.DetachTimeout = 30.000000 min
2020-12-13T19:42:17.569Z,1607888537.569 [MissionManager](INFO): DefineArg DefaultWithUndock.TransponderCode = 2.000000 count
2020-12-13T19:42:17.573Z,1607888537.573 [MissionManager](INFO): DefineArg DefaultWithUndock.TrackingUpdatePeriod = 2.500000 s
2020-12-13T19:42:17.592Z,1607888537.592 [MissionManager](INFO): DefineArg DefaultWithUndock.NumberOfPings = 1.000000 count
2020-12-13T19:42:17.605Z,1607888537.605 [MissionManager](INFO): DefineArg DefaultWithUndock.DetachModeDDM = 2.000000 count
2020-12-13T19:42:17.607Z,1607888537.607 [DefaultWithUndock:A.Wait](DEBUG): Construct Wait.
2020-12-13T19:42:17.644Z,1607888537.644 [Radio_Surface](INFO): Powering up
2020-12-13T19:42:17.718Z,1607888537.718 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Construct.
2020-12-13T19:42:17.718Z,1607888537.718 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2020-12-13T19:42:17.767Z,1607888537.767 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Construct GoToSurface.
2020-12-13T19:42:17.817Z,1607888537.817 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2020-12-13T19:42:17.819Z,1607888537.819 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Construct Wait.
2020-12-13T19:42:17.841Z,1607888537.841 [DefaultWithUndock:E.Execute](DEBUG): Construct Execute.
2020-12-13T19:42:17.847Z,1607888537.847 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
         xmlns="Tethys"
         xmlns:Dock="Tethys/Dock"
         xmlns:Estimation="Tethys/Estimation"
         xmlns:Guidance="Tethys/Guidance"
         xmlns:Sensor="Tethys/Sensor"
         xmlns:Units="Tethys/Units"
         xmlns:Universal="Tethys/Universal"
         xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                             Tethys/Dock http://okeanids.mbari.org/tethys/Xml/Dock.xsd
                             Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
                             Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                             Tethys/Sensor http://okeanids.mbari.org/tethys/Xml/Sensor.xsd
                             Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                             Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
         Id="DefaultWithUndock">

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

    <DefineArg Name="DetachTimeout"><Description>
        Maximum time duration for the vehicle to detach form the dock.
    </Description><Units:minute/><Value>30</Value></DefineArg>

    <DefineArg Name="TransponderCode"><Description>
        Dock transponder address.
    </Description><Dock:Dock.transponderCode/></DefineArg>

    <DefineArg Name="TrackingUpdatePeriod"><Description>
        Time duration between acoustic range queries while the
        mission is detaching from the dock.
    </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>

    <DefineArg Name="DetachModeDDM"><Description>
        DDM DETACH mode enumeration (whiskers retracted, latch open).
    </Description><Units:count/><Value>2</Value></DefineArg>
        
    <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>30</Value></Setting>
    </Guidance:Wait>

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

        <Timeout Duration="DetachTimeout">
            <Syslog Severity="Important">Timed out while trying to detach from dock at current depth of <Universal:depth/><Units:meter/>.</Syslog>
        </Timeout>

        <!-- Acoustic tracking directives -->
        <Estimation:TrackAcousticContact>
            <Parallel/>
            <Setting><Estimation:TrackAcousticContact.contactLabelSetting/><Arg Name="TransponderCode"/></Setting>
            <Setting><Estimation:TrackAcousticContact.numberOfSamplesSetting/><Arg Name="NumberOfPings"/></Setting>
            <Setting><Estimation:TrackAcousticContact.updatePeriodSetting/><Arg Name="TrackingUpdatePeriod"/></Setting>
        </Estimation:TrackAcousticContact>

        <!-- Leave the dock -->
        <Dock:Undock>
            <Sequence/>
        </Dock:Undock>

    </Aggregate>


    <Aggregate Id="SurfaceDefault">

        <Sequence/>

        <Aggregate Id="HoldLatchOpen">

            <While>
                <Universal:depth/>
                <Gt><Control:VerticalControl.surfaceThreshold/></Gt>
            </While>

            <!-- Power the DDM -->
            <ReadData>
                <Sensor:DDM.DDMMode/>
            </ReadData>

            <!-- Hold the DDM in DETACH mode (whiskers retracted, latch open) -->
            <Assign><Parallel/><Sensor:DDM.DDMModeCmd/><Arg Name="DetachModeDDM"/></Assign>

        </Aggregate>

        <!-- This mission assumes open water so from here on it's the same old default that's always used -->
        <Guidance:GoToSurface>
            <Progression/>
        </Guidance:GoToSurface>

        <Aggregate Id="CheckIn">

            <Sequence Repeat="288"/>

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

            <ReadDatum Id="Read_Iridium">
                <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>

            <Assign><Sequence/><Arg Name="ElapsedSinceDefaultStarted"/><Elapsed><Universal:mission_started/></Elapsed></Assign>

            <Syslog Severity="Important">Default mission has been running for <Arg Name="ElapsedSinceDefaultStarted"/><Units:minute/></Syslog>

        </Aggregate>

    </Aggregate>

    <Syslog Severity="Important">Restarting logs and Default mission.</Syslog>

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

</Mission>


2020-12-13T19:42:17.857Z,1607888537.857 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,DDM,Depth_Keller,DropWeight,DUSBL_Hydroid,Micromodem,NAL9602,PowerOnly,RDI_Pathfinder,RDI_PathfinderUp,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,
2020-12-13T19:42:17.868Z,1607888537.868 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2020-12-13T19:42:17.936Z,1607888537.936 [DDM](INFO): Powering up
2020-12-13T19:42:17.937Z,1607888537.937 [DDM](DEBUG): Initializing DDM.
2020-12-13T19:42:17.957Z,1607888537.957 [Depth_Keller](ERROR): Pressure reading out of range: 957.962097 decibar
2020-12-13T19:42:17.958Z,1607888537.958 [DUSBL_Hydroid](INFO): Powering up
2020-12-13T19:42:17.958Z,1607888537.958 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2020-12-13T19:42:18.001Z,1607888538.001 [DepthRateCalculator](ERROR): Depth measurement is not active
2020-12-13T19:42:18.038Z,1607888538.038 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2020-12-13T19:42:18.044Z,1607888538.044 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2020-12-13T19:42:18.045Z,1607888538.045 [ElevatorServo](DEBUG): Initializing EZServoServo.
2020-12-13T19:42:18.052Z,1607888538.052 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2020-12-13T19:42:18.053Z,1607888538.053 [MassServo](DEBUG): Initializing EZServoServo.
2020-12-13T19:42:18.060Z,1607888538.060 [MassServo](DEBUG): Initializing MassServo.
2020-12-13T19:42:18.061Z,1607888538.061 [RudderServo](DEBUG): Initializing EZServoServo.
2020-12-13T19:42:18.068Z,1607888538.068 [RudderServo](DEBUG): Initializing RudderServo.
2020-12-13T19:42:18.069Z,1607888538.069 [ThrusterServo](DEBUG): Initializing EZServoServo.
2020-12-13T19:42:18.076Z,1607888538.076 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2020-12-13T19:42:18.284Z,1607888538.284 [Micromodem](INFO): Powering up
2020-12-13T19:42:18.285Z,1607888538.285 [Micromodem](DEBUG): Initializing Micromodem.
2020-12-13T19:42:19.004Z,1607888539.004 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2020-12-13T19:42:19.004Z,1607888539.004 [RudderServo](FAULT): Rudder failed to initialize
2020-12-13T19:42:19.004Z,1607888539.004 [RudderServo] Communications Fault, FailCount= 1
2020-12-13T19:42:19.004Z,1607888539.004 [RudderServo](ERROR): Communications Fault
2020-12-13T19:42:19.104Z,1607888539.104 [CBIT](ERROR): Communications Fault in component: RudderServo
2020-12-13T19:42:19.309Z,1607888539.309 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-12-13T19:42:19.309Z,1607888539.309 [RudderServo](INFO): Powering down
2020-12-13T19:42:19.940Z,1607888539.940 [RudderServo](DEBUG): Initializing EZServoServo.
2020-12-13T19:42:20.061Z,1607888540.061 [RudderServo](DEBUG): Initializing RudderServo.
2020-12-13T19:42:20.065Z,1607888540.065 [CBIT](INFO): Clearing failed state for component RudderServo
2020-12-13T19:42:20.065Z,1607888540.065 [RudderServo] No Fault, FailCount= 1
2020-12-13T19:42:23.196Z,1607888543.196 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2020-12-13T19:42:23.599Z,1607888543.599 [Micromodem](INFO): Nmea in: $CATMG,2020-12-13T19:42:22.485019Z,RTC,RTC*5E

2020-12-13T19:42:23.599Z,1607888543.599 [Micromodem](ERROR): CFG response from modem unexpected: $CATMG,2020-12-13T19:42:22.485019Z,RTC,RTC*5E

2020-12-13T19:42:24.002Z,1607888544.002 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2020-12-13T19:42:24.002Z,1607888544.002 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2020-12-13T19:42:24.277Z,1607888544.277 [CTD_Seabird](ERROR): Device message queue exceeded the allowed limit.
2020-12-13T19:42:24.406Z,1607888544.406 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2020-12-13T19:42:24.406Z,1607888544.406 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2020-12-13T19:42:24.806Z,1607888544.806 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2020-12-13T19:42:24.807Z,1607888544.807 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2020-12-13T19:42:25.214Z,1607888545.214 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2020-12-13T19:42:25.214Z,1607888545.214 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2020-12-13T19:42:25.618Z,1607888545.618 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2020-12-13T19:42:25.618Z,1607888545.618 [Micromodem](INFO): Nmea out: $CCCFG,FC0,14500*47

2020-12-13T19:42:26.018Z,1607888546.018 [Micromodem](INFO): Nmea in: $CACFG,FC0,14500*45

2020-12-13T19:42:26.018Z,1607888546.018 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2020-12-13T19:42:26.414Z,1607888546.414 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2020-12-13T19:42:26.414Z,1607888546.414 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2020-12-13T19:42:26.806Z,1607888546.806 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2020-12-13T19:42:26.807Z,1607888546.807 [Micromodem](INFO): Nmea out: $CCCLK,2020,12,13,19,42,27*4E

2020-12-13T19:42:27.203Z,1607888547.203 [Micromodem](INFO): Nmea in: $CACLK,2020,12,13,19,42,27*4C

2020-12-13T19:42:28.010Z,1607888548.010 [Micromodem](INFO): Nmea in: $CATMS,0,2020-12-13T19:42:28Z*73

2020-12-13T19:42:28.012Z,1607888548.012 [Micromodem](INFO): Nmea in: $CATMG,2020-12-13T19:42:28.027354Z,USER_CMD,RTC*13

2020-12-13T19:42:33.657Z,1607888553.657 [DDM](INFO): Dynamic Docking Module:
2020-12-13T19:42:36.099Z,1607888556.099 [DUSBL_Hydroid](INFO): DUSBL Version:O
2020-12-13T19:42:38.947Z,1607888558.947 [SBIT](IMPORTANT): Beginning Startup BIT
2020-12-13T19:42:38.959Z,1607888558.959 [CBIT](IMPORTANT): Beginning ground fault scan
2020-12-13T19:42:45.783Z,1607888565.783 [NAL9602](INFO): Powering up NAL9602
2020-12-13T19:42:49.916Z,1607888569.916 [CBIT](IMPORTANT): Ground fault detected
mA:
CHAN A0 (Batt): 0.106637
CHAN A1 (24V): 0.171471
CHAN A2 (12V): 0.075797
CHAN A3 (5V): 0.014092
CHAN B0 (3.3V): 0.003587
CHAN B1 (3.15aV): 0.002941
CHAN B2 (3.15bV): 0.003729
CHAN B3 (GND): -0.023392
OPEN: 0.006877
Full Scale Calc: 4.765 mA, -1.589 mA
2020-12-13T19:42:56.699Z,1607888576.699 [NAL9602](INFO): NAL9602 initialized
2020-12-13T19:43:19.323Z,1607888599.323 [NAL9602](INFO): SBD MO Status=2, MOMSN=12837, MT Status=2, MTMSN=0
2020-12-13T19:43:19.323Z,1607888599.323 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2020-12-13T19:43:31.456Z,1607888611.456 [NAL9602](INFO): SBD MO Status=0, MOMSN=12837, MT Status=0, MTMSN=0
2020-12-13T19:43:31.456Z,1607888611.456 [NAL9602](INFO): No messages in MT queue
2020-12-13T19:43:33.097Z,1607888613.097 [SBIT](IMPORTANT): SBIT PASSED
2020-12-13T19:43:33.097Z,1607888613.097 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2020-12-13T19:43:33.098Z,1607888613.098 [SBIT](IMPORTANT): Express none CTD_Seabird.bin_median_sea_water_salinity;

2020-12-13T19:43:33.098Z,1607888613.098 [SBIT](IMPORTANT): Express none CTD_Seabird.bin_median_sea_water_temperature;

2020-12-13T19:43:33.098Z,1607888613.098 [SBIT](IMPORTANT): Express none CurrentEstimator.current_direction_navigation_frame;

2020-12-13T19:43:33.098Z,1607888613.098 [SBIT](IMPORTANT): Express none CurrentEstimator.current_direction_vehicle_frame;

2020-12-13T19:43:33.098Z,1607888613.098 [SBIT](IMPORTANT): Express none CurrentEstimator.current_speed_navigation_frame;

2020-12-13T19:43:33.098Z,1607888613.098 [SBIT](IMPORTANT): Express none CurrentEstimator.current_speed_vehicle_frame;

2020-12-13T19:43:33.098Z,1607888613.098 [SBIT](IMPORTANT): LBLNavigation.loadAtStartup=0 bool;

2020-12-13T19:43:33.099Z,1607888613.099 [SBIT](IMPORTANT): Micromodem.destinationAddress=9 enum;

2020-12-13T19:43:33.099Z,1607888613.099 [SBIT](IMPORTANT): PowerOnly.loadAtStartup=1 bool;

2020-12-13T19:43:33.099Z,1607888613.099 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=114.655585 cubic_centimeter;

2020-12-13T19:43:33.099Z,1607888613.099 [SBIT](IMPORTANT): VerticalControl.massDefault=-0.364238 millimeter;

2020-12-13T19:43:33.511Z,1607888613.511 [WorkSite](IMPORTANT): Reading workSite position from Data/workSite.cfg
2020-12-13T19:43:33.514Z,1607888613.514 [WorkSite](IMPORTANT): WorkSite fix at 20201213T194204: (41.557738, -70.703306)
2020-12-13T19:43:33.520Z,1607888613.520 [MissionManager](IMPORTANT): Started mission Startup
2020-12-13T19:43:33.520Z,1607888613.520 [Startup] Running Loop=1
2020-12-13T19:43:33.520Z,1607888613.520 [Startup](DEBUG): Aggregate::initialize Startup
2020-12-13T19:43:33.521Z,1607888613.521 [Startup:A.GoToSurface] Running Loop=1
2020-12-13T19:43:33.521Z,1607888613.521 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-12-13T19:43:33.521Z,1607888613.521 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-12-13T19:43:33.522Z,1607888613.522 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-12-13T19:43:33.522Z,1607888613.522 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-12-13T19:43:33.522Z,1607888613.522 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-12-13T19:43:33.523Z,1607888613.523 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-12-13T19:43:33.528Z,1607888613.528 [Startup:StartupSatComms] Running Loop=1
2020-12-13T19:43:33.528Z,1607888613.528 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2020-12-13T19:43:33.529Z,1607888613.529 [Startup:StartupSatComms:A] Running Loop=1
2020-12-13T19:43:33.894Z,1607888613.894 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2020-12-13T19:43:47.242Z,1607888627.242 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2020-12-13T19:43:47.246Z,1607888627.246 [RDI_PathfinderUp](ERROR): DVL BIT error. See manual. Result code: 9
2020-12-13T19:44:19.529Z,1607888659.529 [BPC1](ERROR): BPC1B: No match for serial number FFFF in BPC1B's battery stick inventory (sticks 32-63 in onboard configuration file).
2020-12-13T19:44:20.348Z,1607888660.348 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-13T19:44:22.415Z,1607888662.415 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-13T19:44:33.669Z,1607888673.669 [Startup:StartupSatComms:A](INFO): Timed out from 2020-12-13T19:43:33.5Z
2020-12-13T19:44:33.669Z,1607888673.669 [Startup:StartupSatComms:A] Stopped
2020-12-13T19:44:33.669Z,1607888673.669 [Startup:StartupSatComms:B] Running Loop=1
2020-12-13T19:44:34.104Z,1607888674.104 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2020-12-13T19:44:34.479Z,1607888674.479 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T19:45:02.877Z,1607888702.877 [NAL9602](INFO): SBD MO Status=2, MOMSN=12838, MT Status=2, MTMSN=0
2020-12-13T19:45:02.877Z,1607888702.877 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2020-12-13T19:45:22.032Z,1607888722.032 [NAL9602](INFO): SBD MO Status=1, MOMSN=12838, MT Status=0, MTMSN=0
2020-12-13T19:45:22.088Z,1607888722.088 [NAL9602](INFO): Sent 52 bytes from file Logs/20201213T182820/Courier0031.lzma
2020-12-13T19:45:22.088Z,1607888722.088 [NAL9602](INFO): Packets left to send: 0
2020-12-13T19:45:33.067Z,1607888733.067 [NAL9602](INFO): SBD MO Status=1, MOMSN=12839, MT Status=0, MTMSN=0
2020-12-13T19:45:33.120Z,1607888733.120 [NAL9602](INFO): Sent 184 bytes from file Logs/20201213T194207/Courier0000.lzma
2020-12-13T19:45:33.120Z,1607888733.120 [NAL9602](INFO): Packets left to send: 1
2020-12-13T19:45:33.736Z,1607888733.736 [Startup:StartupSatComms:B](INFO): Timed out from 2020-12-13T19:44:33.7Z
2020-12-13T19:45:33.736Z,1607888733.736 [Startup:StartupSatComms:B] Stopped
2020-12-13T19:45:33.737Z,1607888733.737 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2020-12-13T19:45:33.737Z,1607888733.737 [Startup:StartupSatComms] Stopped
2020-12-13T19:45:33.737Z,1607888733.737 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2020-12-13T19:45:33.737Z,1607888733.737 [Startup](INFO): Completed Startup
2020-12-13T19:45:33.738Z,1607888733.738 [MissionManager](INFO): Startup is completed.
2020-12-13T19:45:33.738Z,1607888733.738 [MissionManager](INFO): Uninitializing Mission Startup
2020-12-13T19:45:33.738Z,1607888733.738 [Startup] Stopped
2020-12-13T19:45:33.738Z,1607888733.738 [Startup](DEBUG): Aggregate::uninitialize Startup
2020-12-13T19:45:33.738Z,1607888733.738 [Startup:A.GoToSurface] Stopped
2020-12-13T19:45:33.738Z,1607888733.738 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-12-13T19:45:35.930Z,1607888735.930 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2020-12-13T19:45:35.930Z,1607888735.930 [DefaultWithUndock] Running Loop=1
2020-12-13T19:45:35.930Z,1607888735.930 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2020-12-13T19:45:35.930Z,1607888735.930 [DefaultWithUndock:A.Wait] Running Loop=1
2020-12-13T19:45:35.930Z,1607888735.930 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2020-12-13T19:45:41.619Z,1607888741.619 [NAL9602](INFO): SBD MO Status=1, MOMSN=12840, MT Status=0, MTMSN=0
2020-12-13T19:45:41.692Z,1607888741.692 [NAL9602](INFO): Sent 79 bytes from file Logs/20201213T194207/Courier0000.lzma
2020-12-13T19:45:41.692Z,1607888741.692 [NAL9602](INFO): Packets left to send: 0
2020-12-13T19:45:59.457Z,1607888759.457 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T19:46:06.306Z,1607888766.306 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2020-12-13T19:46:06.306Z,1607888766.306 [DefaultWithUndock:A.Wait] Stopped
2020-12-13T19:46:06.306Z,1607888766.306 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2020-12-13T19:46:06.306Z,1607888766.306 [DefaultWithUndock:LeaveDock] Running Loop=1
2020-12-13T19:46:06.307Z,1607888766.307 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2020-12-13T19:46:06.307Z,1607888766.307 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2020-12-13T19:46:06.307Z,1607888766.307 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2020-12-13T19:46:06.307Z,1607888766.307 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2020-12-13T19:46:06.307Z,1607888766.307 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2020-12-13T19:46:06.307Z,1607888766.307 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2020-12-13T19:46:06.676Z,1607888766.676 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2020-12-13T19:46:07.068Z,1607888767.068 [PowerOnly](INFO): Powering up loadControl
2020-12-13T19:46:09.129Z,1607888769.129 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-13T19:46:09.931Z,1607888769.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T19:46:10.356Z,1607888770.356 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T19:46:10.431Z,1607888770.431 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock.
2020-12-13T19:46:10.745Z,1607888770.745 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2020-12-13T19:46:11.154Z,1607888771.154 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194610.33*55

2020-12-13T19:46:12.361Z,1607888772.361 [NAL9602](INFO): Not Powering down - fast GPS
2020-12-13T19:46:14.799Z,1607888774.799 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-13T19:46:15.654Z,1607888775.654 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T19:46:15.996Z,1607888775.996 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T19:46:17.225Z,1607888777.225 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194616.05*56

2020-12-13T19:46:20.477Z,1607888780.477 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-13T19:46:21.274Z,1607888781.274 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T19:46:21.656Z,1607888781.656 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T19:46:22.490Z,1607888782.490 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194621.68*59

2020-12-13T19:46:26.243Z,1607888786.243 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-13T19:46:26.906Z,1607888786.906 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T19:46:27.320Z,1607888787.320 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T19:46:28.133Z,1607888788.133 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194627.31*53

2020-12-13T19:46:30.961Z,1607888790.961 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 797.70 m. Transitioning DDM to standby.
2020-12-13T19:46:31.774Z,1607888791.774 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-13T19:46:32.550Z,1607888792.550 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T19:46:32.961Z,1607888792.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T19:46:33.774Z,1607888793.774 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194632.95*59

2020-12-13T19:46:34.241Z,1607888794.241 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM at standby.
2020-12-13T19:46:34.611Z,1607888794.611 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2020-12-13T19:46:34.611Z,1607888794.611 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2020-12-13T19:46:34.612Z,1607888794.612 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-13T19:46:34.612Z,1607888794.612 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2020-12-13T19:46:34.612Z,1607888794.612 [DefaultWithUndock:LeaveDock] Stopped
2020-12-13T19:46:34.613Z,1607888794.613 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2020-12-13T19:46:34.613Z,1607888794.613 [DefaultWithUndock:LeaveDock:A.] Stopped
2020-12-13T19:46:34.613Z,1607888794.613 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2020-12-13T19:46:34.613Z,1607888794.613 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2020-12-13T19:46:34.613Z,1607888794.613 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Running Loop=1
2020-12-13T19:46:34.613Z,1607888794.613 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2020-12-13T19:46:34.613Z,1607888794.613 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Running Loop=1
2020-12-13T19:46:34.613Z,1607888794.613 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Running Loop=1
2020-12-13T19:46:34.613Z,1607888794.613 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Running Loop=1
2020-12-13T19:46:34.613Z,1607888794.613 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-12-13T19:46:34.614Z,1607888794.614 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-12-13T19:46:34.614Z,1607888794.614 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-12-13T19:46:34.614Z,1607888794.614 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-12-13T19:46:34.614Z,1607888794.614 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-12-13T19:46:34.615Z,1607888794.615 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-12-13T19:46:34.967Z,1607888794.967 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2020-12-13T19:46:34.968Z,1607888794.968 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2020-12-13T19:46:34.968Z,1607888794.968 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2020-12-13T19:46:34.968Z,1607888794.968 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Stopped
2020-12-13T19:46:34.968Z,1607888794.968 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2020-12-13T19:46:34.968Z,1607888794.968 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Stopped
2020-12-13T19:46:34.968Z,1607888794.968 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Stopped
2020-12-13T19:46:35.409Z,1607888795.409 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2020-12-13T19:46:36.968Z,1607888796.968 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,194636.00,A,4133.48090,N,07042.18226,W,0.758,3.73,131220,,,A*73
2020-12-13T19:46:36.971Z,1607888796.971 [NAL9602](INFO): GPS fix at 20201213T194636: (41.558015, -70.703038)
2020-12-13T19:46:37.006Z,1607888797.006 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2020-12-13T19:46:37.006Z,1607888797.006 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2020-12-13T19:46:37.460Z,1607888797.460 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2020-12-13T19:46:50.019Z,1607888810.019 [NAL9602](INFO): SBD MO Status=1, MOMSN=12841, MT Status=0, MTMSN=0
2020-12-13T19:46:50.080Z,1607888810.080 [NAL9602](INFO): Sent 78 bytes from file Logs/20201213T194207/Courier0004.lzma
2020-12-13T19:46:50.080Z,1607888810.080 [NAL9602](INFO): Packets left to send: 0
2020-12-13T19:46:59.040Z,1607888819.040 [NAL9602](INFO): SBD MO Status=1, MOMSN=12842, MT Status=0, MTMSN=0
2020-12-13T19:46:59.092Z,1607888819.092 [NAL9602](INFO): Sent 119 bytes from file Logs/20201213T182820/Express0029.lzma
2020-12-13T19:46:59.092Z,1607888819.092 [NAL9602](INFO): Packets left to send: 0
2020-12-13T19:47:07.804Z,1607888827.804 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2020-12-13T19:47:07.804Z,1607888827.804 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2020-12-13T19:47:07.804Z,1607888827.804 [RDI_PathfinderUp](ERROR): Communications Fault
2020-12-13T19:47:07.849Z,1607888827.849 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2020-12-13T19:47:08.213Z,1607888828.213 [RDI_PathfinderUp](INFO): Powering down
2020-12-13T19:47:08.950Z,1607888828.950 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2020-12-13T19:47:08.950Z,1607888828.950 [RDI_PathfinderUp] No Fault, FailCount= 1
2020-12-13T19:47:09.750Z,1607888829.750 [NAL9602](INFO): SBD MO Status=1, MOMSN=12843, MT Status=0, MTMSN=0
2020-12-13T19:47:09.800Z,1607888829.800 [NAL9602](INFO): Sent 170 bytes from file Logs/20201213T182820/Express0032.lzma
2020-12-13T19:47:09.800Z,1607888829.800 [NAL9602](INFO): Packets left to send: 0
2020-12-13T19:47:17.876Z,1607888837.876 [NAL9602](INFO): SBD MO Status=1, MOMSN=12844, MT Status=0, MTMSN=0
2020-12-13T19:47:17.928Z,1607888837.928 [NAL9602](INFO): Sent 184 bytes from file Logs/20201213T194207/Express0001.lzma
2020-12-13T19:47:17.928Z,1607888837.928 [NAL9602](INFO): Packets left to send: 5
2020-12-13T19:47:26.855Z,1607888846.855 [NAL9602](INFO): SBD MO Status=1, MOMSN=12845, MT Status=0, MTMSN=0
2020-12-13T19:47:26.912Z,1607888846.912 [NAL9602](INFO): Sent 184 bytes from file Logs/20201213T194207/Express0001.lzma
2020-12-13T19:47:26.912Z,1607888846.912 [NAL9602](INFO): Packets left to send: 4
2020-12-13T19:47:35.981Z,1607888855.981 [NAL9602](INFO): SBD MO Status=1, MOMSN=12846, MT Status=0, MTMSN=0
2020-12-13T19:47:36.032Z,1607888856.032 [NAL9602](INFO): Sent 184 bytes from file Logs/20201213T194207/Express0001.lzma
2020-12-13T19:47:36.032Z,1607888856.032 [NAL9602](INFO): Packets left to send: 3
2020-12-13T19:47:39.315Z,1607888859.315 [PowerOnly](INFO): Powering down loadControl
2020-12-13T19:47:50.772Z,1607888870.772 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-13T19:47:51.823Z,1607888871.823 [NAL9602](INFO): SBD MO Status=2, MOMSN=12847, MT Status=2, MTMSN=0
2020-12-13T19:47:51.824Z,1607888871.824 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2020-12-13T19:48:06.887Z,1607888886.887 [NAL9602](INFO): SBD MO Status=1, MOMSN=12847, MT Status=0, MTMSN=0
2020-12-13T19:48:06.944Z,1607888886.944 [NAL9602](INFO): Sent 184 bytes from file Logs/20201213T194207/Express0001.lzma
2020-12-13T19:48:06.944Z,1607888886.944 [NAL9602](INFO): Packets left to send: 2
2020-12-13T19:48:18.945Z,1607888898.945 [NAL9602](INFO): SBD MO Status=1, MOMSN=12848, MT Status=0, MTMSN=0
2020-12-13T19:48:18.995Z,1607888898.995 [NAL9602](INFO): Sent 184 bytes from file Logs/20201213T194207/Express0001.lzma
2020-12-13T19:48:18.995Z,1607888898.995 [NAL9602](INFO): Packets left to send: 1
2020-12-13T19:48:27.215Z,1607888907.215 [NAL9602](INFO): SBD MO Status=1, MOMSN=12849, MT Status=0, MTMSN=0
2020-12-13T19:48:27.268Z,1607888907.268 [NAL9602](INFO): Sent 84 bytes from file Logs/20201213T194207/Express0001.lzma
2020-12-13T19:48:27.268Z,1607888907.268 [NAL9602](INFO): Packets left to send: 0
2020-12-13T19:48:39.007Z,1607888919.007 [NAL9602](INFO): SBD MO Status=1, MOMSN=12850, MT Status=0, MTMSN=0
2020-12-13T19:48:39.056Z,1607888919.056 [NAL9602](INFO): Sent 184 bytes from file Logs/20201213T194207/Express0005.lzma
2020-12-13T19:48:39.056Z,1607888919.056 [NAL9602](INFO): Packets left to send: 1
2020-12-13T19:48:49.654Z,1607888929.654 [NAL9602](INFO): SBD MO Status=1, MOMSN=12851, MT Status=0, MTMSN=0
2020-12-13T19:48:49.704Z,1607888929.704 [NAL9602](INFO): Sent 99 bytes from file Logs/20201213T194207/Express0005.lzma
2020-12-13T19:48:49.704Z,1607888929.704 [NAL9602](INFO): Packets left to send: 0
2020-12-13T19:48:57.039Z,1607888937.039 [NAL9602](INFO): SBD MO Status=0, MOMSN=12852, MT Status=0, MTMSN=0
2020-12-13T19:48:57.116Z,1607888937.116 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2020-12-13T19:48:57.116Z,1607888937.116 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2020-12-13T19:48:57.116Z,1607888937.116 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2020-12-13T19:49:24.460Z,1607888964.460 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2020-12-13T19:49:24.463Z,1607888964.463 [BPC1](INFO): Received data from all battery sticks.
2020-12-13T19:49:27.678Z,1607888967.678 [NAL9602](INFO): Not Powering down - fast GPS
2020-12-13T19:53:57.582Z,1607889237.582 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2020-12-13T19:53:57.582Z,1607889237.582 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2020-12-13T19:53:57.582Z,1607889237.582 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2020-12-13T19:53:57.582Z,1607889237.582 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2020-12-13T19:53:57.961Z,1607889237.961 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2020-12-13T19:53:57.961Z,1607889237.961 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2020-12-13T19:53:58.374Z,1607889238.374 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 8.367182 min 
2020-12-13T19:53:58.374Z,1607889238.374 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2020-12-13T19:53:58.375Z,1607889238.375 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2020-12-13T19:53:58.375Z,1607889238.375 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2020-12-13T19:53:58.375Z,1607889238.375 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2020-12-13T19:53:58.375Z,1607889238.375 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #2
2020-12-13T19:53:58.375Z,1607889238.375 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=2
2020-12-13T19:53:58.375Z,1607889238.375 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2020-12-13T19:53:58.375Z,1607889238.375 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2020-12-13T19:54:00.373Z,1607889240.373 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,195400.00,A,4133.50822,N,07042.15314,W,0.408,1.18,131220,,,A*79
2020-12-13T19:54:00.375Z,1607889240.375 [NAL9602](INFO): GPS fix at 20201213T195400: (41.558470, -70.702552)
2020-12-13T19:54:00.396Z,1607889240.396 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2020-12-13T19:54:00.396Z,1607889240.396 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2020-12-13T19:54:20.700Z,1607889260.700 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=12853, MT Status=1, MTMSN=528
2020-12-13T19:54:20.748Z,1607889260.748 [NAL9602](INFO): Sent 184 bytes from file Logs/20201213T194207/Courier0007.lzma
2020-12-13T19:54:20.748Z,1607889260.748 [NAL9602](INFO): Packets left to send: 1
2020-12-13T19:54:21.186Z,1607889261.186 [NAL9602](INFO): Received command:restart sys
2020-12-13T19:54:21.283Z,1607889261.283 [CommandLine](IMPORTANT): got command restart system
2020-12-13T19:54:23.388Z,1607889263.388 [Supervisor](INFO): Stop Mission called by Supervisor::terminate
2020-12-13T19:54:23.388Z,1607889263.388 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2020-12-13T19:54:23.388Z,1607889263.388 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-12-13T19:54:23.436Z,1607889263.436 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2020-12-13T19:54:23.436Z,1607889263.436 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-12-13T19:54:23.437Z,1607889263.437 [CommandLine](INFO): Join timeout helper Thread ID is 1530
2020-12-13T19:54:23.437Z,1607889263.437 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2020-12-13T19:54:23.437Z,1607889263.437 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-12-13T19:54:23.438Z,1607889263.438 [NavChartDb](INFO): Join timeout helper Thread ID is 1531
2020-12-13T19:54:23.516Z,1607889263.516 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2020-12-13T19:54:23.516Z,1607889263.516 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-12-13T19:54:23.532Z,1607889263.532 [ComponentRegistry](INFO): Shutting down WetLabsSeaOWL_UV_A ThreadHandler
2020-12-13T19:54:23.532Z,1607889263.532 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-12-13T19:54:23.532Z,1607889263.532 [WetLabsSeaOWL_UV_A](INFO): Join timeout helper Thread ID is 1532
2020-12-13T19:54:23.796Z,1607889263.796 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Uninitializing protected caller thread.
2020-12-13T19:54:23.796Z,1607889263.796 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-12-13T19:54:23.797Z,1607889263.797 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-12-13T19:54:23.808Z,1607889263.808 [ComponentRegistry](INFO): Shutting down CTD_Seabird ThreadHandler
2020-12-13T19:54:23.808Z,1607889263.808 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2020-12-13T19:54:23.809Z,1607889263.809 [CTD_Seabird](INFO): Join timeout helper Thread ID is 1533
2020-12-13T19:54:24.257Z,1607889264.257 [CTD_Seabird](INFO): Powering down
2020-12-13T19:54:24.273Z,1607889264.273 [CTD_Seabird ThreadHandler](INFO): Uninitializing protected caller thread.
2020-12-13T19:54:24.273Z,1607889264.273 [CTD_Seabird](INFO): Powering down
2020-12-13T19:54:24.288Z,1607889264.288 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2020-12-13T19:54:24.300Z,1607889264.300 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2020-12-13T19:54:24.300Z,1607889264.300 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-12-13T19:54:24.300Z,1607889264.300 [Radio_Surface](INFO): Join timeout helper Thread ID is 1534
2020-12-13T19:54:24.604Z,1607889264.604 [Radio_Surface](INFO): Powering down
2020-12-13T19:54:24.605Z,1607889264.605 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2020-12-13T19:54:24.605Z,1607889264.605 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-12-13T19:54:24.609Z,1607889264.609 [ComponentRegistry](INFO): Shutting down Onboard ThreadHandler
2020-12-13T19:54:24.609Z,1607889264.609 [Onboard ThreadHandler](INFO): Thread cancelled.
2020-12-13T19:54:24.609Z,1607889264.609 [Onboard](INFO): Join timeout helper Thread ID is 1535
2020-12-13T19:54:27.820Z,1607889267.820 [Onboard ThreadHandler](INFO): Uninitializing protected caller thread.
2020-12-13T19:54:27.820Z,1607889267.820 [Onboard ThreadHandler](INFO): Thread cancelled.
2020-12-13T19:54:27.837Z,1607889267.837 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2020-12-13T19:54:27.837Z,1607889267.837 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-12-13T19:54:27.837Z,1607889267.837 [DataOverHttps](INFO): Join timeout helper Thread ID is 1536
2020-12-13T19:54:28.224Z,1607889268.224 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2020-12-13T19:54:28.224Z,1607889268.224 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-12-13T19:54:28.237Z,1607889268.237 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2020-12-13T19:54:28.237Z,1607889268.237 [logger ThreadHandler](INFO): Thread cancelled.
2020-12-13T19:54:28.237Z,1607889268.237 [logger](INFO): Join timeout helper Thread ID is 1537
2020-12-13T19:54:28.268Z,1607889268.268 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2020-12-13T19:54:28.268Z,1607889268.268 [logger ThreadHandler](INFO): Thread cancelled.
2020-12-13T19:54:28.277Z,1607889268.277 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2020-12-13T19:54:28.277Z,1607889268.277 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-12-13T19:54:28.277Z,1607889268.277 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2020-12-13T19:54:28.277Z,1607889268.277 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-12-13T19:54:28.277Z,1607889268.277 [controlThread](INFO): Join timeout helper Thread ID is 1538
2020-12-13T19:54:28.437Z,1607889268.437 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2020-12-13T19:54:28.438Z,1607889268.438 [controlThread](DEBUG): Uninitializing ControlThread
2020-12-13T19:54:28.440Z,1607889268.440 [AHRS_M2](INFO): Powering down
2020-12-13T19:54:28.513Z,1607889268.513 [DDM](INFO): Powering down
2020-12-13T19:54:28.585Z,1607889268.585 [DUSBL_Hydroid](INFO): Powering down
2020-12-13T19:54:28.656Z,1607889268.656 [Micromodem](INFO): Powering down
2020-12-13T19:54:28.752Z,1607889268.752 [NAL9602](INFO): Powering down
2020-12-13T19:54:28.824Z,1607889268.824 [RDI_Pathfinder](INFO): Powering down
2020-12-13T19:54:28.896Z,1607889268.896 [RDI_PathfinderUp](INFO): Powering down
2020-12-13T19:54:28.898Z,1607889268.898 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2020-12-13T19:54:28.898Z,1607889268.898 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2020-12-13T19:54:28.899Z,1607889268.899 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2020-12-13T19:54:28.900Z,1607889268.900 [MissionManager](INFO): Uninitializing Mission DefaultWithUndock
2020-12-13T19:54:28.900Z,1607889268.900 [DefaultWithUndock] Stopped
2020-12-13T19:54:28.900Z,1607889268.900 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2020-12-13T19:54:28.900Z,1607889268.900 [DefaultWithUndock:SurfaceDefault] Stopped
2020-12-13T19:54:28.900Z,1607889268.900 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2020-12-13T19:54:28.900Z,1607889268.900 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Stopped
2020-12-13T19:54:28.900Z,1607889268.900 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-12-13T19:54:28.900Z,1607889268.900 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2020-12-13T19:54:28.900Z,1607889268.900 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2020-12-13T19:54:28.901Z,1607889268.901 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2020-12-13T19:54:28.909Z,1607889268.909 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2020-12-13T19:54:28.909Z,1607889268.909 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2020-12-13T19:54:28.909Z,1607889268.909 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2020-12-13T19:54:28.910Z,1607889268.910 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2020-12-13T19:54:28.910Z,1607889268.910 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2020-12-13T19:54:28.910Z,1607889268.910 [BuoyancyServo](INFO): Powering down
2020-12-13T19:54:28.924Z,1607889268.924 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2020-12-13T19:54:28.924Z,1607889268.924 [ElevatorServo](INFO): Powering down
2020-12-13T19:54:28.925Z,1607889268.925 [MassServo](DEBUG): Uninitialize Mass Servo.
2020-12-13T19:54:28.925Z,1607889268.925 [MassServo](INFO): Powering down
2020-12-13T19:54:28.926Z,1607889268.926 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-12-13T19:54:28.926Z,1607889268.926 [RudderServo](INFO): Powering down
2020-12-13T19:54:28.927Z,1607889268.927 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2020-12-13T19:54:28.927Z,1607889268.927 [ThrusterServo](INFO): Powering down
2020-12-13T19:54:28.928Z,1607889268.928 [SBIT](DEBUG): Uninitialize SBIT Component.
2020-12-13T19:54:28.928Z,1607889268.928 [IBIT](DEBUG): Uninitialize IBIT Component.
2020-12-13T19:54:28.929Z,1607889268.929 [CBIT](DEBUG): Uninitialize CBIT Component.
2020-12-13T19:54:28.929Z,1607889268.929 [CBIT](DEBUG): Powering off loads.
2020-12-13T19:54:28.940Z,1607889268.940 [CBIT](DEBUG): Disabling WDT.
2020-12-13T19:54:28.952Z,1607889268.952 [CBIT](DEBUG): Opening all GF detection circuits.
20