2021-08-16T00:03:57.191Z,1629072237.191 [Supervisor](DEBUG): Initializing supervisor.
2021-08-16T00:03:57.195Z,1629072237.195 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2021-08-16T00:03:57.196Z,1629072237.196 [SyncHandler](INFO): Protected caller Thread ID is 835
2021-08-16T00:03:57.196Z,1629072237.196 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2021-08-16T00:03:57.197Z,1629072237.197 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2021-08-16T00:03:57.198Z,1629072237.198 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 836
2021-08-16T00:03:57.202Z,1629072237.202 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2021-08-16T00:03:57.222Z,1629072237.222 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2021-08-16T00:03:57.223Z,1629072237.223 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2021-08-16T00:03:57.223Z,1629072237.223 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 837
2021-08-16T00:03:57.226Z,1629072237.226 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2021-08-16T00:03:57.227Z,1629072237.227 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2021-08-16T00:03:57.227Z,1629072237.227 [logger ThreadHandler](INFO): Protected caller Thread ID is 838
2021-08-16T00:03:57.231Z,1629072237.231 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2021-08-16T00:03:57.231Z,1629072237.231 [Supervisor](INFO): Looking for Config files in directory: Config/
2021-08-16T00:03:57.236Z,1629072237.236 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2021-08-16T00:03:57.659Z,1629072237.659 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2021-08-16T00:03:57.659Z,1629072237.659 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2021-08-16T00:03:57.740Z,1629072237.740 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2021-08-16T00:03:58.074Z,1629072238.074 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2021-08-16T00:03:58.076Z,1629072238.076 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2021-08-16T00:03:58.184Z,1629072238.184 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2021-08-16T00:03:58.186Z,1629072238.186 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2021-08-16T00:03:58.388Z,1629072238.388 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2021-08-16T00:03:58.390Z,1629072238.390 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2021-08-16T00:03:58.913Z,1629072238.913 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2021-08-16T00:03:58.915Z,1629072238.915 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2021-08-16T00:03:59.159Z,1629072239.159 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2021-08-16T00:03:59.161Z,1629072239.161 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2021-08-16T00:03:59.317Z,1629072239.317 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2021-08-16T00:03:59.317Z,1629072239.317 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2021-08-16T00:03:59.511Z,1629072239.511 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2021-08-16T00:03:59.512Z,1629072239.512 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2021-08-16T00:03:59.610Z,1629072239.610 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2021-08-16T00:03:59.610Z,1629072239.610 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2021-08-16T00:03:59.839Z,1629072239.839 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2021-08-16T00:03:59.840Z,1629072239.840 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2021-08-16T00:04:00.226Z,1629072240.226 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2021-08-16T00:04:00.227Z,1629072240.227 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2021-08-16T00:04:00.308Z,1629072240.308 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2021-08-16T00:04:00.436Z,1629072240.436 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2021-08-16T00:04:00.438Z,1629072240.438 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2021-08-16T00:04:01.742Z,1629072241.742 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2021-08-16T00:04:01.744Z,1629072241.744 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2021-08-16T00:04:02.124Z,1629072242.124 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2021-08-16T00:04:02.126Z,1629072242.126 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-polaris/
2021-08-16T00:04:02.131Z,1629072242.131 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/vehicle.cfg
2021-08-16T00:04:02.335Z,1629072242.335 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Control.cfg
2021-08-16T00:04:02.438Z,1629072242.438 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Estimation.cfg
2021-08-16T00:04:02.539Z,1629072242.539 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/BIT.cfg
2021-08-16T00:04:02.638Z,1629072242.638 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Battery.cfg
2021-08-16T00:04:02.903Z,1629072242.903 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2021-08-16T00:04:02.904Z,1629072242.904 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Simulator.cfg
2021-08-16T00:04:02.990Z,1629072242.990 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Navigation.cfg
2021-08-16T00:04:03.086Z,1629072243.086 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Derivation.cfg
2021-08-16T00:04:03.212Z,1629072243.212 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/logger.cfg
2021-08-16T00:04:03.325Z,1629072243.325 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/secure.cfg
2021-08-16T00:04:03.412Z,1629072243.412 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Dock.cfg
2021-08-16T00:04:03.499Z,1629072243.499 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Servo.cfg
2021-08-16T00:04:03.609Z,1629072243.609 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/workSite.cfg
2021-08-16T00:04:03.709Z,1629072243.709 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Sensor.cfg
2021-08-16T00:04:03.906Z,1629072243.906 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Science.cfg
2021-08-16T00:04:04.071Z,1629072244.071 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2021-08-16T00:04:04.089Z,1629072244.089 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2021-08-16T00:04:04.791Z,1629072244.791 [AHRS_M2] Loaded
2021-08-16T00:04:04.792Z,1629072244.792 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2021-08-16T00:04:05.036Z,1629072245.036 [BackseatComponent] Loaded
2021-08-16T00:04:05.037Z,1629072245.037 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2021-08-16T00:04:05.038Z,1629072245.038 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 4079A4E0
2021-08-16T00:04:05.038Z,1629072245.038 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 932
2021-08-16T00:04:05.041Z,1629072245.041 [LcmUniversalReporter] Loaded
2021-08-16T00:04:05.041Z,1629072245.041 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2021-08-16T00:04:05.822Z,1629072245.822 [BPC1] Loaded
2021-08-16T00:04:05.822Z,1629072245.822 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2021-08-16T00:04:05.960Z,1629072245.960 [DataOverHttps] Loaded
2021-08-16T00:04:05.960Z,1629072245.960 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2021-08-16T00:04:05.961Z,1629072245.961 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 407CA4E0
2021-08-16T00:04:05.962Z,1629072245.962 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 933
2021-08-16T00:04:05.984Z,1629072245.984 [DDM] Loaded
2021-08-16T00:04:05.984Z,1629072245.984 [ComponentRegistry](DEBUG): SyncComponent "DDM" handled in the control thread.
2021-08-16T00:04:06.004Z,1629072246.004 [Depth_Keller] Loaded
2021-08-16T00:04:06.004Z,1629072246.004 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2021-08-16T00:04:06.009Z,1629072246.009 [DropWeight] Loaded
2021-08-16T00:04:06.009Z,1629072246.009 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2021-08-16T00:04:06.054Z,1629072246.054 [DUSBL_Hydroid] Loaded
2021-08-16T00:04:06.054Z,1629072246.054 [ComponentRegistry](DEBUG): SyncComponent "DUSBL_Hydroid" handled in the control thread.
2021-08-16T00:04:06.091Z,1629072246.091 [Micromodem] Loaded
2021-08-16T00:04:06.091Z,1629072246.091 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2021-08-16T00:04:06.151Z,1629072246.151 [NAL9602] Loaded
2021-08-16T00:04:06.151Z,1629072246.151 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2021-08-16T00:04:06.181Z,1629072246.181 [Onboard] Loaded
2021-08-16T00:04:06.181Z,1629072246.181 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2021-08-16T00:04:06.182Z,1629072246.182 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 407FA4E0
2021-08-16T00:04:06.182Z,1629072246.182 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 934
2021-08-16T00:04:06.190Z,1629072246.190 [PowerOnly](INFO): Adding load control power supply at /dev/loadC1
2021-08-16T00:04:06.200Z,1629072246.200 [PowerOnly] Loaded
2021-08-16T00:04:06.201Z,1629072246.201 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2021-08-16T00:04:06.212Z,1629072246.212 [Power24vConverter] Loaded
2021-08-16T00:04:06.212Z,1629072246.212 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2021-08-16T00:04:06.226Z,1629072246.226 [Radio_Surface] Loaded
2021-08-16T00:04:06.227Z,1629072246.227 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2021-08-16T00:04:06.228Z,1629072246.228 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 4082A4E0
2021-08-16T00:04:06.228Z,1629072246.228 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 935
2021-08-16T00:04:06.272Z,1629072246.272 [RDI_Pathfinder] Loaded
2021-08-16T00:04:06.272Z,1629072246.272 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2021-08-16T00:04:06.299Z,1629072246.299 [RDI_PathfinderUp] Loaded
2021-08-16T00:04:06.299Z,1629072246.299 [ComponentRegistry](DEBUG): SyncComponent "RDI_PathfinderUp" handled in the control thread.
2021-08-16T00:04:06.300Z,1629072246.300 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2021-08-16T00:04:06.302Z,1629072246.302 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2021-08-16T00:04:06.319Z,1629072246.319 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2021-08-16T00:04:06.320Z,1629072246.320 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2021-08-16T00:04:07.130Z,1629072247.130 [DeadReckonUsingMultipleVelocitySources] Loaded
2021-08-16T00:04:07.130Z,1629072247.130 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2021-08-16T00:04:07.143Z,1629072247.143 [NavChart] Loaded
2021-08-16T00:04:07.144Z,1629072247.144 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2021-08-16T00:04:07.149Z,1629072247.149 [UniversalFixResidualReporter] Loaded
2021-08-16T00:04:07.150Z,1629072247.150 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2021-08-16T00:04:07.160Z,1629072247.160 [WorkSite] Loaded
2021-08-16T00:04:07.161Z,1629072247.161 [ComponentRegistry](DEBUG): SyncComponent "WorkSite" handled in the control thread.
2021-08-16T00:04:07.161Z,1629072247.161 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2021-08-16T00:04:07.162Z,1629072247.162 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2021-08-16T00:04:07.283Z,1629072247.283 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2021-08-16T00:04:07.283Z,1629072247.283 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2021-08-16T00:04:07.447Z,1629072247.447 [BuoyancyServo] Loaded
2021-08-16T00:04:07.448Z,1629072247.448 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2021-08-16T00:04:07.470Z,1629072247.470 [ElevatorServo] Loaded
2021-08-16T00:04:07.470Z,1629072247.470 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2021-08-16T00:04:07.491Z,1629072247.491 [MassServo] Loaded
2021-08-16T00:04:07.491Z,1629072247.491 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2021-08-16T00:04:07.512Z,1629072247.512 [RudderServo] Loaded
2021-08-16T00:04:07.512Z,1629072247.512 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2021-08-16T00:04:07.531Z,1629072247.531 [ThrusterServo] Loaded
2021-08-16T00:04:07.531Z,1629072247.531 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2021-08-16T00:04:07.532Z,1629072247.532 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2021-08-16T00:04:07.533Z,1629072247.533 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2021-08-16T00:04:07.760Z,1629072247.760 [CTD_Seabird] Loaded
2021-08-16T00:04:07.760Z,1629072247.760 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2021-08-16T00:04:07.761Z,1629072247.761 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 409544E0
2021-08-16T00:04:07.761Z,1629072247.761 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 936
2021-08-16T00:04:07.795Z,1629072247.795 [WetLabsSeaOWL_UV_A] Loaded
2021-08-16T00:04:07.795Z,1629072247.795 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2021-08-16T00:04:07.796Z,1629072247.796 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 409844E0
2021-08-16T00:04:07.797Z,1629072247.797 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 937
2021-08-16T00:04:07.798Z,1629072247.798 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2021-08-16T00:04:07.798Z,1629072247.798 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2021-08-16T00:04:08.185Z,1629072248.185 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2021-08-16T00:04:08.186Z,1629072248.186 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2021-08-16T00:04:08.249Z,1629072248.249 [DepthRateCalculator] Loaded
2021-08-16T00:04:08.249Z,1629072248.249 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2021-08-16T00:04:08.255Z,1629072248.255 [PitchRateCalculator] Loaded
2021-08-16T00:04:08.255Z,1629072248.255 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2021-08-16T00:04:08.264Z,1629072248.264 [SpeedCalculator] Loaded
2021-08-16T00:04:08.265Z,1629072248.265 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2021-08-16T00:04:08.278Z,1629072248.278 [TempGradientCalculator] Loaded
2021-08-16T00:04:08.279Z,1629072248.279 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2021-08-16T00:04:08.283Z,1629072248.283 [YawRateCalculator] Loaded
2021-08-16T00:04:08.284Z,1629072248.284 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2021-08-16T00:04:08.306Z,1629072248.306 [ElevatorOffsetCalculator] Loaded
2021-08-16T00:04:08.306Z,1629072248.306 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2021-08-16T00:04:08.307Z,1629072248.307 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2021-08-16T00:04:08.307Z,1629072248.307 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2021-08-16T00:04:08.486Z,1629072248.486 [SBIT](DEBUG): Construct Startup Built In Test.
2021-08-16T00:04:08.498Z,1629072248.498 [SBIT] Loaded
2021-08-16T00:04:08.499Z,1629072248.499 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2021-08-16T00:04:08.502Z,1629072248.502 [IBIT](DEBUG): Construct Initiated Built In Test.
2021-08-16T00:04:08.515Z,1629072248.515 [IBIT] Loaded
2021-08-16T00:04:08.515Z,1629072248.515 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2021-08-16T00:04:08.521Z,1629072248.521 [CBIT](DEBUG): Construct Continuous Built In Test.
2021-08-16T00:04:08.625Z,1629072248.625 [CBIT] Loaded
2021-08-16T00:04:08.625Z,1629072248.625 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2021-08-16T00:04:08.626Z,1629072248.626 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2021-08-16T00:04:08.626Z,1629072248.626 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2021-08-16T00:04:08.709Z,1629072248.709 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2021-08-16T00:04:08.710Z,1629072248.710 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2021-08-16T00:04:08.847Z,1629072248.847 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2021-08-16T00:04:08.847Z,1629072248.847 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2021-08-16T00:04:08.920Z,1629072248.920 [VerticalControl](DEBUG): Construct VerticalControl.
2021-08-16T00:04:08.975Z,1629072248.975 [VerticalControl] Loaded
2021-08-16T00:04:08.975Z,1629072248.975 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2021-08-16T00:04:08.978Z,1629072248.978 [HorizontalControl](DEBUG): Construct HorizontalControl.
2021-08-16T00:04:09.015Z,1629072249.015 [HorizontalControl] Loaded
2021-08-16T00:04:09.015Z,1629072249.015 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2021-08-16T00:04:09.018Z,1629072249.018 [SpeedControl](DEBUG): Construct SpeedControl.
2021-08-16T00:04:09.020Z,1629072249.020 [SpeedControl] Loaded
2021-08-16T00:04:09.020Z,1629072249.020 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2021-08-16T00:04:09.023Z,1629072249.023 [LoopControl](DEBUG): Construct LoopControl.
2021-08-16T00:04:09.023Z,1629072249.023 [LoopControl] Loaded
2021-08-16T00:04:09.024Z,1629072249.024 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2021-08-16T00:04:09.024Z,1629072249.024 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2021-08-16T00:04:09.025Z,1629072249.025 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2021-08-16T00:04:09.068Z,1629072249.068 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2021-08-16T00:04:09.075Z,1629072249.075 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2021-08-16T00:04:09.077Z,1629072249.077 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2021-08-16T00:04:09.088Z,1629072249.088 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2021-08-16T00:04:09.090Z,1629072249.090 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40B324E0
2021-08-16T00:04:09.090Z,1629072249.090 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 938
2021-08-16T00:04:09.094Z,1629072249.094 [Supervisor](INFO): Main Thread ID is 829
2021-08-16T00:04:09.095Z,1629072249.095 [Supervisor](DEBUG): Running supervisor.
2021-08-16T00:04:09.095Z,1629072249.095 [CommandLine ThreadHandler](INFO): Handler Thread ID is 939
2021-08-16T00:04:09.098Z,1629072249.098 [controlThread ThreadHandler](INFO): Handler Thread ID is 940
2021-08-16T00:04:09.098Z,1629072249.098 [controlThread](DEBUG): Initializing ControlThread
2021-08-16T00:04:09.107Z,1629072249.107 [NavChart](DEBUG): Initialize NavChart Navigation.
2021-08-16T00:04:09.107Z,1629072249.107 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2021-08-16T00:04:09.108Z,1629072249.108 [WorkSite](DEBUG): Initializing WorkSite component.
2021-08-16T00:04:09.109Z,1629072249.109 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2021-08-16T00:04:09.110Z,1629072249.110 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2021-08-16T00:04:09.110Z,1629072249.110 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2021-08-16T00:04:09.110Z,1629072249.110 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2021-08-16T00:04:09.111Z,1629072249.111 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2021-08-16T00:04:09.111Z,1629072249.111 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2021-08-16T00:04:09.112Z,1629072249.112 [SBIT](INFO): Initialize SBIT Component.
2021-08-16T00:04:09.113Z,1629072249.113 [SBIT](IMPORTANT): git: 2021-08-12
2021-08-16T00:04:09.113Z,1629072249.113 [SBIT](INFO): git hash: 4ac1c7994e02762939ba6e7c4596a90b7f61f056
2021-08-16T00:04:09.113Z,1629072249.113 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2021-08-16T00:04:09.114Z,1629072249.114 [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
2021-08-16T00:04:09.116Z,1629072249.116 [SBIT](INFO): Beginning SBIT in 31.000000 seconds.
2021-08-16T00:04:09.116Z,1629072249.116 [IBIT](INFO): Initialize IBIT Component.
2021-08-16T00:04:09.117Z,1629072249.117 [CBIT](DEBUG): Initialize CBIT Component.
2021-08-16T00:04:09.118Z,1629072249.118 [logger ThreadHandler](INFO): Handler Thread ID is 941
2021-08-16T00:04:09.132Z,1629072249.132 [CBIT](DEBUG): Initialized mux pins.
2021-08-16T00:04:09.132Z,1629072249.132 [CBIT](DEBUG): Initializing the watchdog timer.
2021-08-16T00:04:09.136Z,1629072249.136 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 942
2021-08-16T00:04:09.144Z,1629072249.144 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 943
2021-08-16T00:04:09.145Z,1629072249.145 [DataOverHttps](DEBUG): dashIP=128.128.181.155 starts with a digit so assuming it is a numeric IP
2021-08-16T00:04:09.152Z,1629072249.152 [Onboard ThreadHandler](INFO): Handler Thread ID is 944
2021-08-16T00:04:09.157Z,1629072249.157 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2021-08-16T00:04:09.157Z,1629072249.157 [CBIT](DEBUG): Initializing heartbeat.
2021-08-16T00:04:09.173Z,1629072249.173 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 945
2021-08-16T00:04:09.192Z,1629072249.192 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 946
2021-08-16T00:04:09.193Z,1629072249.193 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2021-08-16T00:04:09.197Z,1629072249.197 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 948
2021-08-16T00:04:09.198Z,1629072249.198 [WetLabsSeaOWL_UV_A](INFO): Powering down
2021-08-16T00:04:09.209Z,1629072249.209 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 949
2021-08-16T00:04:09.217Z,1629072249.217 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2021-08-16T00:04:09.217Z,1629072249.217 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2021-08-16T00:04:09.218Z,1629072249.218 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2021-08-16T00:04:09.218Z,1629072249.218 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2021-08-16T00:04:09.218Z,1629072249.218 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2021-08-16T00:04:09.218Z,1629072249.218 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2021-08-16T00:04:09.218Z,1629072249.218 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2021-08-16T00:04:09.218Z,1629072249.218 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2021-08-16T00:04:09.219Z,1629072249.219 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2021-08-16T00:04:09.219Z,1629072249.219 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2021-08-16T00:04:09.219Z,1629072249.219 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2021-08-16T00:04:09.219Z,1629072249.219 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2021-08-16T00:04:09.219Z,1629072249.219 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2021-08-16T00:04:09.219Z,1629072249.219 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2021-08-16T00:04:09.220Z,1629072249.220 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2021-08-16T00:04:09.220Z,1629072249.220 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2021-08-16T00:04:09.228Z,1629072249.228 [CBIT](DEBUG): Deactivating GF circuits.
2021-08-16T00:04:09.228Z,1629072249.228 [CBIT](DEBUG): Deactivating emergency mode.
2021-08-16T00:04:09.264Z,1629072249.264 [CBIT](DEBUG): Backplane powered.
2021-08-16T00:04:09.264Z,1629072249.264 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2021-08-16T00:04:09.266Z,1629072249.266 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2021-08-16T00:04:09.267Z,1629072249.267 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2021-08-16T00:04:09.267Z,1629072249.267 [LoopControl](DEBUG): Initialize LoopControlComponent.
2021-08-16T00:04:09.268Z,1629072249.268 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2021-08-16T00:04:09.296Z,1629072249.296 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2021-08-16T00:04:09.321Z,1629072249.321 [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>


2021-08-16T00:04:09.322Z,1629072249.322 [MissionManager](INFO): Loading Mission: Missions/underIce/DefaultWithUndock.xml
2021-08-16T00:04:09.492Z,1629072249.492 [MissionManager](INFO): DefineArg DefaultWithUndock.ElapsedSinceDefaultStarted = 0.000000 min
2021-08-16T00:04:09.511Z,1629072249.511 [MissionManager](INFO): DefineArg DefaultWithUndock.DetachTimeout = 30.000000 min
2021-08-16T00:04:09.515Z,1629072249.515 [MissionManager](INFO): DefineArg DefaultWithUndock.TransponderCode = 2.000000 count
2021-08-16T00:04:09.535Z,1629072249.535 [MissionManager](INFO): DefineArg DefaultWithUndock.TrackingUpdatePeriod = 2.500000 s
2021-08-16T00:04:09.539Z,1629072249.539 [MissionManager](INFO): DefineArg DefaultWithUndock.NumberOfPings = 1.000000 count
2021-08-16T00:04:09.563Z,1629072249.563 [MissionManager](INFO): DefineArg DefaultWithUndock.DetachModeDDM = 2.000000 count
2021-08-16T00:04:09.565Z,1629072249.565 [DefaultWithUndock:A.Wait](DEBUG): Construct Wait.
2021-08-16T00:04:09.576Z,1629072249.576 [Radio_Surface](INFO): Powering up
2021-08-16T00:04:09.684Z,1629072249.684 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Construct.
2021-08-16T00:04:09.684Z,1629072249.684 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2021-08-16T00:04:09.760Z,1629072249.760 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-08-16T00:04:09.804Z,1629072249.804 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2021-08-16T00:04:09.807Z,1629072249.807 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Construct Wait.
2021-08-16T00:04:09.825Z,1629072249.825 [DefaultWithUndock:E.Execute](DEBUG): Construct Execute.
2021-08-16T00:04:09.831Z,1629072249.831 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
         xmlns="Tethys"
         xmlns:Control="Tethys/Control"
         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/Control http://okeanids.mbari.org/tethys/Xml/Control.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>
                <Dock:Dock.docking_state/>
            </ReadData>

<!-- Hold the DDM in DETACH mode (whiskers retracted, latch open) -->

            <Assign><Parallel/><Dock:Dock.docking_state_cmd/><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>


2021-08-16T00:04:09.845Z,1629072249.845 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,DDM,Depth_Keller,DropWeight,DUSBL_Hydroid,Micromodem,NAL9602,PowerOnly,Power24vConverter,RDI_Pathfinder,RDI_PathfinderUp,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,WorkSite,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,LcmUniversalReporter,Reporter,LogSplitter,
2021-08-16T00:04:09.856Z,1629072249.856 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2021-08-16T00:04:10.021Z,1629072250.021 [DDM](INFO): Powering up
2021-08-16T00:04:10.021Z,1629072250.021 [DDM](DEBUG): Initializing DDM.
2021-08-16T00:04:10.151Z,1629072250.151 [DUSBL_Hydroid](INFO): Powering up
2021-08-16T00:04:10.151Z,1629072250.151 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2021-08-16T00:04:10.169Z,1629072250.169 [Power24vConverter](INFO): Powering up.
2021-08-16T00:04:10.227Z,1629072250.227 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-08-16T00:04:10.228Z,1629072250.228 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-08-16T00:04:10.230Z,1629072250.230 [ElevatorServo](DEBUG): Initializing EZServoServo.
2021-08-16T00:04:10.236Z,1629072250.236 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2021-08-16T00:04:10.237Z,1629072250.237 [MassServo](DEBUG): Initializing EZServoServo.
2021-08-16T00:04:10.248Z,1629072250.248 [MassServo](DEBUG): Initializing MassServo.
2021-08-16T00:04:10.249Z,1629072250.249 [RudderServo](DEBUG): Initializing EZServoServo.
2021-08-16T00:04:10.256Z,1629072250.256 [RudderServo](DEBUG): Initializing RudderServo.
2021-08-16T00:04:10.257Z,1629072250.257 [ThrusterServo](DEBUG): Initializing EZServoServo.
2021-08-16T00:04:10.264Z,1629072250.264 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2021-08-16T00:04:10.363Z,1629072250.363 [Micromodem](INFO): Powering up
2021-08-16T00:04:10.363Z,1629072250.363 [Micromodem](DEBUG): Initializing Micromodem.
2021-08-16T00:04:15.175Z,1629072255.175 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2021-08-16T00:04:17.199Z,1629072257.199 [Micromodem](INFO): Nmea in: $CATMG,2021-08-16T00:04:16.090399Z,RTC,RTC*57

2021-08-16T00:04:17.199Z,1629072257.199 [Micromodem](ERROR): CFG response from modem unexpected: $CATMG,2021-08-16T00:04:16.090399Z,RTC,RTC*57

2021-08-16T00:04:25.648Z,1629072265.648 [DDM](INFO): Dynamic Docking Module:
2021-08-16T00:04:26.482Z,1629072266.482 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2021-08-16T00:04:26.855Z,1629072266.855 [Micromodem](INFO): Nmea in: $CAERR,000427,NI  ,12,Unknown command*4D

2021-08-16T00:04:26.855Z,1629072266.855 [Micromodem](ERROR): Got error from modem: $CAERR,000427,NI  ,12,Unknown command*4D

2021-08-16T00:04:28.066Z,1629072268.066 [DUSBL_Hydroid](INFO): DUSBL Version:O
2021-08-16T00:04:36.167Z,1629072276.167 [NAL9602](INFO): Powering up NAL9602
2021-08-16T00:04:37.778Z,1629072277.778 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2021-08-16T00:04:38.188Z,1629072278.188 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2021-08-16T00:04:38.189Z,1629072278.189 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2021-08-16T00:04:38.628Z,1629072278.628 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2021-08-16T00:04:38.629Z,1629072278.629 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2021-08-16T00:04:38.990Z,1629072278.990 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2021-08-16T00:04:38.991Z,1629072278.991 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2021-08-16T00:04:39.400Z,1629072279.400 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2021-08-16T00:04:39.400Z,1629072279.400 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2021-08-16T00:04:39.798Z,1629072279.798 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2021-08-16T00:04:39.798Z,1629072279.798 [Micromodem](INFO): Nmea out: $CCCFG,FC0,14500*47

2021-08-16T00:04:40.202Z,1629072280.202 [Micromodem](INFO): Nmea in: $CACFG,FC0,14500*45

2021-08-16T00:04:40.202Z,1629072280.202 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2021-08-16T00:04:40.629Z,1629072280.629 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2021-08-16T00:04:40.630Z,1629072280.630 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2021-08-16T00:04:40.743Z,1629072280.743 [SBIT](IMPORTANT): Beginning Startup BIT
2021-08-16T00:04:40.751Z,1629072280.751 [CBIT](IMPORTANT): Beginning ground fault scan
2021-08-16T00:04:41.026Z,1629072281.026 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2021-08-16T00:04:41.027Z,1629072281.027 [Micromodem](INFO): Nmea out: $CCCLK,2021,08,16,00,04,42*48

2021-08-16T00:04:41.422Z,1629072281.422 [Micromodem](INFO): Nmea in: $CACLK,2021,8,16,0,4,42*7A

2021-08-16T00:04:41.424Z,1629072281.424 [Micromodem](INFO): Nmea in: $CATMS,0,2021-08-16T00:04:43Z*7B

2021-08-16T00:04:41.426Z,1629072281.426 [Micromodem](INFO): Nmea in: $CATMG,2021-08-16T00:04:43.028586Z,USER_CMD,RTC*1D

2021-08-16T00:04:47.071Z,1629072287.071 [NAL9602](INFO): NAL9602 initialized
2021-08-16T00:04:51.603Z,1629072291.603 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.006425
CHAN A1 (24V): -0.024776
CHAN A2 (12V): -0.005738
CHAN A3 (5V): -0.001792
CHAN B0 (3.3V): 0.000626
CHAN B1 (3.15aV): 0.000301
CHAN B2 (3.15bV): 0.000599
CHAN B3 (GND): 0.002103
OPEN: 0.006215
Full Scale Calc: 4.765 mA, -1.589 mA
2021-08-16T00:04:59.274Z,1629072299.274 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-16T00:05:02.031Z,1629072302.031 [NAL9602](INFO): SBD MO Status=0, MOMSN=24175, MT Status=0, MTMSN=0
2021-08-16T00:05:02.036Z,1629072302.036 [NAL9602](INFO): No messages in MT queue
2021-08-16T00:05:31.921Z,1629072331.921 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,000530.00,A,4133.28048,N,07042.70006,W,0.467,0.00,160821,,,A*70
2021-08-16T00:05:31.925Z,1629072331.925 [NAL9602](INFO): GPS fix at 20210816T000530: (41.554675, -70.711668)
2021-08-16T00:05:34.797Z,1629072334.797 [SBIT](IMPORTANT): SBIT PASSED
2021-08-16T00:05:34.798Z,1629072334.798 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2021-08-16T00:05:34.799Z,1629072334.799 [SBIT](IMPORTANT): CBIT.gfScanTimeout=2 hour;

2021-08-16T00:05:34.799Z,1629072334.799 [SBIT](IMPORTANT): DUSBL_Hydroid.verbosity=3 enum;

2021-08-16T00:05:34.799Z,1629072334.799 [SBIT](IMPORTANT): Express linearApproximation CTD_Seabird.bin_median_sea_water_salinity 0.200000 practical_salinity_unit;

2021-08-16T00:05:34.799Z,1629072334.799 [SBIT](IMPORTANT): Express linearApproximation CTD_Seabird.bin_median_sea_water_temperature 5.000000 kelvin;

2021-08-16T00:05:34.799Z,1629072334.799 [SBIT](IMPORTANT): Express none mass_concentration_of_chlorophyll_in_sea_water;

2021-08-16T00:05:34.799Z,1629072334.799 [SBIT](IMPORTANT): LBLNavigation.loadAtStartup=0 bool;

2021-08-16T00:05:34.799Z,1629072334.799 [SBIT](IMPORTANT): LineCapture.navigationGain=nan none;

2021-08-16T00:05:34.800Z,1629072334.800 [SBIT](IMPORTANT): LineCapture.rolloutDistance=2000 meter;

2021-08-16T00:05:34.800Z,1629072334.800 [SBIT](IMPORTANT): LineCapture.rolloutSpeed=0 meter_per_second;

2021-08-16T00:05:34.800Z,1629072334.800 [SBIT](IMPORTANT): LineCapture.rolloutTimeout=20 minute;

2021-08-16T00:05:34.800Z,1629072334.800 [SBIT](IMPORTANT): StratificationFrontDetector.loadAtStartup=0 bool;

2021-08-16T00:05:34.800Z,1629072334.800 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=152.268921 cubic_centimeter;

2021-08-16T00:05:34.801Z,1629072334.801 [SBIT](IMPORTANT): VerticalControl.massDefault=2.948202 millimeter;

2021-08-16T00:05:34.801Z,1629072334.801 [SBIT](IMPORTANT): VerticalHomogeneityIndexCalculator.loadAtStartup=0 bool;

2021-08-16T00:05:35.170Z,1629072335.170 [WorkSite](INFO): Already have valid position. Ignoring workSite position from Data/workSite.cfg
2021-08-16T00:05:35.175Z,1629072335.175 [MissionManager](IMPORTANT): Started mission Startup
2021-08-16T00:05:35.176Z,1629072335.176 [Startup] Running Loop=1
2021-08-16T00:05:35.176Z,1629072335.176 [Startup](DEBUG): Aggregate::initialize Startup
2021-08-16T00:05:35.176Z,1629072335.176 [Startup:A.GoToSurface] Running Loop=1
2021-08-16T00:05:35.176Z,1629072335.176 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-08-16T00:05:35.177Z,1629072335.177 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-08-16T00:05:35.178Z,1629072335.178 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-08-16T00:05:35.178Z,1629072335.178 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-08-16T00:05:35.178Z,1629072335.178 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-08-16T00:05:35.179Z,1629072335.179 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-08-16T00:05:35.180Z,1629072335.180 [Startup:StartupSatComms] Running Loop=1
2021-08-16T00:05:35.181Z,1629072335.181 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2021-08-16T00:05:35.181Z,1629072335.181 [Startup:StartupSatComms:A] Running Loop=1
2021-08-16T00:05:35.591Z,1629072335.591 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2021-08-16T00:05:37.208Z,1629072337.208 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,000535.00,A,4133.28068,N,07042.70087,W,0.447,0.00,160821,,,A*7C
2021-08-16T00:05:37.210Z,1629072337.210 [NAL9602](INFO): GPS fix at 20210816T000535: (41.554678, -70.711681)
2021-08-16T00:05:37.221Z,1629072337.221 [Startup:StartupSatComms:A] Stopped
2021-08-16T00:05:37.221Z,1629072337.221 [Startup:StartupSatComms:B] Running Loop=1
2021-08-16T00:05:37.665Z,1629072337.665 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2021-08-16T00:05:46.517Z,1629072346.517 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-16T00:05:46.517Z,1629072346.517 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-16T00:05:46.911Z,1629072346.911 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-16T00:05:47.322Z,1629072347.322 [Micromodem](INFO): Nmea in: $CACST,6,1,20210816000544.257696,06,1274,25,0090,0150,149,03,03,01,03,-1,-01,-01,1,3,7,0,150,79.0,-344.23,-100,-308.13,-01,0.00,-18,14500,4000*57

2021-08-16T00:05:54.992Z,1629072354.992 [NAL9602](INFO): SBD MO Status=1, MOMSN=24176, MT Status=0, MTMSN=0
2021-08-16T00:05:55.048Z,1629072355.048 [NAL9602](INFO): Sent 52 bytes from file Logs/20210816T000003/Courier0004.lzma
2021-08-16T00:05:55.048Z,1629072355.048 [NAL9602](INFO): Packets left to send: 0
2021-08-16T00:06:06.401Z,1629072366.401 [NAL9602](INFO): SBD MO Status=1, MOMSN=24177, MT Status=0, MTMSN=0
2021-08-16T00:06:06.460Z,1629072366.460 [NAL9602](INFO): Sent 184 bytes from file Logs/20210816T000357/Courier0000.lzma
2021-08-16T00:06:06.460Z,1629072366.460 [NAL9602](INFO): Packets left to send: 1
2021-08-16T00:06:15.876Z,1629072375.876 [NAL9602](INFO): SBD MO Status=1, MOMSN=24178, MT Status=0, MTMSN=0
2021-08-16T00:06:15.924Z,1629072375.924 [NAL9602](INFO): Sent 76 bytes from file Logs/20210816T000357/Courier0000.lzma
2021-08-16T00:06:15.924Z,1629072375.924 [NAL9602](INFO): Packets left to send: 0
2021-08-16T00:06:28.211Z,1629072388.211 [NAL9602](INFO): SBD MO Status=1, MOMSN=24179, MT Status=0, MTMSN=0
2021-08-16T00:06:28.268Z,1629072388.268 [NAL9602](INFO): Sent 184 bytes from file Logs/20210816T000003/Express0001.lzma
2021-08-16T00:06:28.268Z,1629072388.268 [NAL9602](INFO): Packets left to send: 3
2021-08-16T00:06:37.505Z,1629072397.505 [Startup:StartupSatComms:B](INFO): Timed out from 2021-08-16T00:05:37.2Z
2021-08-16T00:06:37.505Z,1629072397.505 [Startup:StartupSatComms:B] Stopped
2021-08-16T00:06:37.505Z,1629072397.505 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2021-08-16T00:06:37.505Z,1629072397.505 [Startup:StartupSatComms] Stopped
2021-08-16T00:06:37.505Z,1629072397.505 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2021-08-16T00:06:37.506Z,1629072397.506 [Startup](INFO): Completed Startup
2021-08-16T00:06:37.506Z,1629072397.506 [MissionManager](INFO): Startup is completed.
2021-08-16T00:06:37.507Z,1629072397.507 [MissionManager](INFO): Uninitializing Mission Startup
2021-08-16T00:06:37.507Z,1629072397.507 [Startup] Stopped
2021-08-16T00:06:37.507Z,1629072397.507 [Startup](DEBUG): Aggregate::uninitialize Startup
2021-08-16T00:06:37.507Z,1629072397.507 [Startup:A.GoToSurface] Stopped
2021-08-16T00:06:37.507Z,1629072397.507 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-08-16T00:06:37.908Z,1629072397.908 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2021-08-16T00:06:37.908Z,1629072397.908 [DefaultWithUndock] Running Loop=1
2021-08-16T00:06:37.908Z,1629072397.908 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2021-08-16T00:06:37.908Z,1629072397.908 [DefaultWithUndock:A.Wait] Running Loop=1
2021-08-16T00:06:37.908Z,1629072397.908 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2021-08-16T00:06:41.104Z,1629072401.104 [NAL9602](INFO): SBD MO Status=1, MOMSN=24180, MT Status=0, MTMSN=0
2021-08-16T00:06:41.156Z,1629072401.156 [NAL9602](INFO): Sent 184 bytes from file Logs/20210816T000003/Express0001.lzma
2021-08-16T00:06:41.156Z,1629072401.156 [NAL9602](INFO): Packets left to send: 2
2021-08-16T00:07:08.206Z,1629072428.206 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2021-08-16T00:07:08.206Z,1629072428.206 [DefaultWithUndock:A.Wait] Stopped
2021-08-16T00:07:08.206Z,1629072428.206 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2021-08-16T00:07:08.206Z,1629072428.206 [DefaultWithUndock:LeaveDock] Running Loop=1
2021-08-16T00:07:08.207Z,1629072428.207 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2021-08-16T00:07:08.207Z,1629072428.207 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2021-08-16T00:07:08.207Z,1629072428.207 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2021-08-16T00:07:08.207Z,1629072428.207 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2021-08-16T00:07:08.207Z,1629072428.207 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2021-08-16T00:07:08.207Z,1629072428.207 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2021-08-16T00:07:08.640Z,1629072428.640 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2021-08-16T00:07:08.985Z,1629072428.985 [PowerOnly](INFO): Powering up loadControl
2021-08-16T00:07:10.765Z,1629072430.765 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-16T00:07:11.037Z,1629072431.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-16T00:07:11.037Z,1629072431.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-16T00:07:11.037Z,1629072431.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-16T00:07:11.038Z,1629072431.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-16T00:07:11.441Z,1629072431.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
O
2021-08-16T00:07:11.441Z,1629072431.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-16T00:07:11.441Z,1629072431.441 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-16T00:07:11.443Z,1629072431.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-16T00:07:11.862Z,1629072431.862 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-16T00:07:11.877Z,1629072431.877 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-16T00:07:12.711Z,1629072432.711 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000713.18*52

2021-08-16T00:07:12.758Z,1629072432.758 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock.
2021-08-16T00:07:13.071Z,1629072433.071 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-16T00:07:13.551Z,1629072433.551 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-16T00:07:15.069Z,1629072435.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2021-08-16T00:07:15.069Z,1629072435.069 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2021-08-16T00:07:15.070Z,1629072435.070 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-16T00:07:16.322Z,1629072436.322 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-16T00:07:16.717Z,1629072436.717 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-16T00:07:16.717Z,1629072436.717 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-16T00:07:16.717Z,1629072436.717 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-16T00:07:16.718Z,1629072436.718 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-16T00:07:17.105Z,1629072437.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2021-08-16T00:07:17.105Z,1629072437.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-16T00:07:17.105Z,1629072437.105 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-16T00:07:17.107Z,1629072437.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-16T00:07:17.505Z,1629072437.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-16T00:07:18.321Z,1629072438.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D57,000,01DF7,188,80,80,95,FF
2021-08-16T00:07:18.322Z,1629072438.322 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-16T00:07:18.326Z,1629072438.326 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000718.84*5C

2021-08-16T00:07:19.546Z,1629072439.546 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-16T00:07:21.160Z,1629072441.160 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-16T00:07:21.537Z,1629072441.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-16T00:07:21.537Z,1629072441.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-16T00:07:21.537Z,1629072441.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-16T00:07:21.538Z,1629072441.538 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-16T00:07:21.937Z,1629072441.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D57,000,01DF7,188,80,80,95,FF
2021-08-16T00:07:21.937Z,1629072441.937 [DUSBL_Hydroid](INFO): Command Ack
2021-08-16T00:07:21.937Z,1629072441.937 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-16T00:07:21.939Z,1629072441.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-16T00:07:22.357Z,1629072442.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-16T00:07:23.174Z,1629072443.174 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D2B,000,01E07,18A,80,80,9F,FF
2021-08-16T00:07:23.174Z,1629072443.174 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-16T00:07:23.177Z,1629072443.177 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000723.68*56

2021-08-16T00:07:26.044Z,1629072446.044 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-16T00:07:26.393Z,1629072446.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-16T00:07:26.393Z,1629072446.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-16T00:07:26.393Z,1629072446.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-16T00:07:26.394Z,1629072446.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-16T00:07:26.793Z,1629072446.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D2B,000,01E07,18A,80,80,9F,FF
2021-08-16T00:07:26.793Z,1629072446.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-16T00:07:26.794Z,1629072446.794 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-16T00:07:26.795Z,1629072446.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-16T00:07:27.201Z,1629072447.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-16T00:07:28.081Z,1629072448.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D2E,000,01E14,189,80,80,9E,FF
2021-08-16T00:07:28.081Z,1629072448.081 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-16T00:07:28.085Z,1629072448.085 [Micromodem](INFO): Nmea in: $SNTTA,0.285016,,,,000728.53*43

2021-08-16T00:07:30.888Z,1629072450.888 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-16T00:07:31.233Z,1629072451.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-16T00:07:31.233Z,1629072451.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-16T00:07:31.233Z,1629072451.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-16T00:07:31.234Z,1629072451.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-16T00:07:31.633Z,1629072451.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D2E,000,01E14,189,80,80,9E,FF
2021-08-16T00:07:31.633Z,1629072451.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-16T00:07:31.633Z,1629072451.633 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-16T00:07:31.635Z,1629072451.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-16T00:07:32.037Z,1629072452.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-16T00:07:32.861Z,1629072452.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D27,000,01E26,189,80,80,9C,FF
2021-08-16T00:07:32.861Z,1629072452.861 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-16T00:07:32.864Z,1629072452.864 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000733.37*5D

2021-08-16T00:07:33.029Z,1629072453.029 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004215
2021-08-16T00:07:33.282Z,1629072453.282 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 425.58 m. Transitioning DDM to standby.
2021-08-16T00:07:35.727Z,1629072455.727 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM at standby.
2021-08-16T00:07:35.728Z,1629072455.728 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-16T00:07:36.101Z,1629072456.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-16T00:07:36.101Z,1629072456.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-16T00:07:36.101Z,1629072456.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-16T00:07:36.102Z,1629072456.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-16T00:07:36.163Z,1629072456.163 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2021-08-16T00:07:36.163Z,1629072456.163 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2021-08-16T00:07:36.164Z,1629072456.164 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2021-08-16T00:07:36.164Z,1629072456.164 [DefaultWithUndock:LeaveDock] Stopped
2021-08-16T00:07:36.164Z,1629072456.164 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2021-08-16T00:07:36.164Z,1629072456.164 [DefaultWithUndock:LeaveDock:A.] Stopped
2021-08-16T00:07:36.164Z,1629072456.164 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2021-08-16T00:07:36.165Z,1629072456.165 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2021-08-16T00:07:36.165Z,1629072456.165 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Running Loop=1
2021-08-16T00:07:36.165Z,1629072456.165 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-08-16T00:07:36.165Z,1629072456.165 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Running Loop=1
2021-08-16T00:07:36.165Z,1629072456.165 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Running Loop=1
2021-08-16T00:07:36.165Z,1629072456.165 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Running Loop=1
2021-08-16T00:07:36.165Z,1629072456.165 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-08-16T00:07:36.166Z,1629072456.166 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-08-16T00:07:36.166Z,1629072456.166 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-08-16T00:07:36.166Z,1629072456.166 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-08-16T00:07:36.166Z,1629072456.166 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-08-16T00:07:36.167Z,1629072456.167 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-08-16T00:07:36.512Z,1629072456.512 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2021-08-16T00:07:36.512Z,1629072456.512 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-16T00:07:36.513Z,1629072456.513 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-08-16T00:07:36.513Z,1629072456.513 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Stopped
2021-08-16T00:07:36.513Z,1629072456.513 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-08-16T00:07:36.513Z,1629072456.513 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Stopped
2021-08-16T00:07:36.513Z,1629072456.513 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Stopped
2021-08-16T00:07:36.928Z,1629072456.928 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2021-08-16T00:07:38.492Z,1629072458.492 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,000738.00,A,4133.28757,N,07042.71750,W,0.292,40.50,160821,,,A*4B
2021-08-16T00:07:38.494Z,1629072458.494 [NAL9602](INFO): GPS fix at 20210816T000738: (41.554793, -70.711958)
2021-08-16T00:07:38.515Z,1629072458.515 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-08-16T00:07:38.516Z,1629072458.516 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-08-16T00:07:38.939Z,1629072458.939 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2021-08-16T00:07:42.063Z,1629072462.063 [DataOverHttps](INFO): Sending 78 bytes from file Logs/20210816T000357/Courier0004.lzma
2021-08-16T00:07:43.066Z,1629072463.066 [DataOverHttps](INFO): Moved sent file to Logs/20210816T000357/Courier0004.lzma.bak
2021-08-16T00:07:43.066Z,1629072463.066 [DataOverHttps](INFO): SBD MOMSN=445089
2021-08-16T00:07:49.538Z,1629072469.538 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-16T00:07:52.106Z,1629072472.106 [DataOverHttps](INFO): Sending 923 bytes from file Logs/20210816T000003/Express0001.lzma
2021-08-16T00:07:53.105Z,1629072473.105 [DataOverHttps](INFO): Moved sent file to Logs/20210816T000003/Express0001.lzma.bak
2021-08-16T00:07:53.106Z,1629072473.106 [DataOverHttps](INFO): SBD MOMSN=445092
2021-08-16T00:07:53.937Z,1629072473.937 [NAL9602](INFO): SBD MO Status=0, MOMSN=24181, MT Status=0, MTMSN=0
2021-08-16T00:07:53.937Z,1629072473.937 [NAL9602](INFO): No messages in MT queue
2021-08-16T00:08:02.154Z,1629072482.154 [DataOverHttps](INFO): Sending 203 bytes from file Logs/20210816T000003/Express0005.lzma
2021-08-16T00:08:03.154Z,1629072483.154 [DataOverHttps](INFO): Moved sent file to Logs/20210816T000003/Express0005.lzma.bak
2021-08-16T00:08:03.154Z,1629072483.154 [DataOverHttps](INFO): SBD MOMSN=445108
2021-08-16T00:08:12.196Z,1629072492.196 [DataOverHttps](INFO): Sending 1015 bytes from file Logs/20210816T000357/Express0001.lzma
2021-08-16T00:08:13.194Z,1629072493.194 [DataOverHttps](INFO): Moved sent file to Logs/20210816T000357/Express0001.lzma.bak
2021-08-16T00:08:13.194Z,1629072493.194 [DataOverHttps](INFO): SBD MOMSN=445114
2021-08-16T00:08:22.232Z,1629072502.232 [DataOverHttps](INFO): Sending 284 bytes from file Logs/20210816T000357/Express0005.lzma
2021-08-16T00:08:23.335Z,1629072503.335 [DataOverHttps](INFO): Moved sent file to Logs/20210816T000357/Express0005.lzma.bak
2021-08-16T00:08:23.335Z,1629072503.335 [DataOverHttps](INFO): SBD MOMSN=445139
2021-08-16T00:08:24.675Z,1629072504.675 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-16T00:08:25.057Z,1629072505.057 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-08-16T00:08:25.057Z,1629072505.057 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-08-16T00:08:25.057Z,1629072505.057 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-08-16T00:08:40.379Z,1629072520.379 [PowerOnly](INFO): Powering down loadControl
2021-08-16T00:09:03.716Z,1629072543.716 [Micromodem](INFO): Nmea in: $CAMSG,Error accessing coproc,4*51

2021-08-16T00:09:03.721Z,1629072543.721 [Micromodem](INFO): Nmea in: $CACST,6,1,20210816000904.278205,06,180,22,0094,0150,208,02,02,00,02,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,14500,4000*5B

2021-08-16T00:09:04.641Z,1629072544.641 [DataOverHttps](IMPORTANT): SBD MTMSN=20210816T000903
2021-08-16T00:09:08.659Z,1629072548.659 [DataOverHttps](INFO): Received command:restart sys
2021-08-16T00:09:08.687Z,1629072548.687 [CommandLine](IMPORTANT): got command restart system
2021-08-16T00:09:10.815Z,1629072550.815 [Supervisor](INFO): Stop Mission called by Supervisor::terminate
2021-08-16T00:09:10.816Z,1629072550.816 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2021-08-16T00:09:10.816Z,1629072550.816 [CommandLine ThreadHandler](INFO): Thread cancelled.
2021-08-16T00:09:10.963Z,1629072550.963 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2021-08-16T00:09:10.963Z,1629072550.963 [CommandLine ThreadHandler](INFO): Thread cancelled.
2021-08-16T00:09:10.964Z,1629072550.964 [CommandLine](INFO): Join timeout helper Thread ID is 984
2021-08-16T00:09:10.971Z,1629072550.971 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2021-08-16T00:09:10.971Z,1629072550.971 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2021-08-16T00:09:10.972Z,1629072550.972 [NavChartDb](INFO): Join timeout helper Thread ID is 985
2021-08-16T00:09:11.023Z,1629072551.023 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2021-08-16T00:09:11.024Z,1629072551.024 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2021-08-16T00:09:11.024Z,1629072551.024 [ComponentRegistry](INFO): Shutting down WetLabsSeaOWL_UV_A ThreadHandler
2021-08-16T00:09:11.024Z,1629072551.024 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2021-08-16T00:09:11.025Z,1629072551.025 [WetLabsSeaOWL_UV_A](INFO): Join timeout helper Thread ID is 986
2021-08-16T00:09:11.423Z,1629072551.423 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Uninitializing protected caller thread.
2021-08-16T00:09:11.423Z,1629072551.423 [WetLabsSeaOWL_UV_A](INFO): Powering down
2021-08-16T00:09:11.424Z,1629072551.424 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2021-08-16T00:09:11.439Z,1629072551.439 [ComponentRegistry](INFO): Shutting down CTD_Seabird ThreadHandler
2021-08-16T00:09:11.439Z,1629072551.439 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2021-08-16T00:09:11.439Z,1629072551.439 [CTD_Seabird](INFO): Join timeout helper Thread ID is 987
2021-08-16T00:09:11.695Z,1629072551.695 [CTD_Seabird](INFO): Powering down
2021-08-16T00:09:11.707Z,1629072551.707 [CTD_Seabird ThreadHandler](INFO): Uninitializing protected caller thread.
2021-08-16T00:09:11.707Z,1629072551.707 [CTD_Seabird](INFO): Powering down
2021-08-16T00:09:11.763Z,1629072551.763 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2021-08-16T00:09:11.767Z,1629072551.767 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2021-08-16T00:09:11.767Z,1629072551.767 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2021-08-16T00:09:11.768Z,1629072551.768 [Radio_Surface](INFO): Join timeout helper Thread ID is 988
2021-08-16T00:09:12.119Z,1629072552.119 [Radio_Surface](INFO): Powering down
2021-08-16T00:09:12.120Z,1629072552.120 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2021-08-16T00:09:12.121Z,1629072552.121 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2021-08-16T00:09:12.124Z,1629072552.124 [ComponentRegistry](INFO): Shutting down Onboard ThreadHandler
2021-08-16T00:09:12.124Z,1629072552.124 [Onboard ThreadHandler](INFO): Thread cancelled.
2021-08-16T00:09:12.124Z,1629072552.124 [Onboard](INFO): Join timeout helper Thread ID is 989
2021-08-16T00:09:12.673Z,1629072552.673 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2021-08-16T00:09:14.651Z,1629072554.651 [Onboard ThreadHandler](INFO): Uninitializing protected caller thread.
2021-08-16T00:09:14.652Z,1629072554.652 [Onboard ThreadHandler](INFO): Thread cancelled.
2021-08-16T00:09:14.660Z,1629072554.660 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2021-08-16T00:09:14.660Z,1629072554.660 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2021-08-16T00:09:14.660Z,1629072554.660 [DataOverHttps](INFO): Join timeout helper Thread ID is 990
2021-08-16T00:09:14.680Z,1629072554.680 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2021-08-16T00:09:14.680Z,1629072554.680 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2021-08-16T00:09:14.688Z,1629072554.688 [ComponentRegistry](INFO): Shutting down BackseatComponent ThreadHandler
2021-08-16T00:09:14.688Z,1629072554.688 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2021-08-16T00:09:14.688Z,1629072554.688 [BackseatComponent](INFO): Join timeout helper Thread ID is 991
2021-08-16T00:09:14.837Z,1629072554.837 [BackseatComponent ThreadHandler](INFO): Uninitializing protected caller thread.
2021-08-16T00:09:14.838Z,1629072554.838 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2021-08-16T00:09:14.849Z,1629072554.849 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2021-08-16T00:09:14.850Z,1629072554.850 [logger ThreadHandler](INFO): Thread cancelled.
2021-08-16T00:09:14.851Z,1629072554.851 [logger](INFO): Join timeout helper Thread ID is 992
2021-08-16T00:09:14.888Z,1629072554.888 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2021-08-16T00:09:14.889Z,1629072554.889 [logger ThreadHandler](INFO): Thread cancelled.
2021-08-16T00:09:14.894Z,1629072554.894 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2021-08-16T00:09:14.894Z,1629072554.894 [CommandLine ThreadHandler](INFO): Thread cancelled.
2021-08-16T00:09:14.894Z,1629072554.894 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2021-08-16T00:09:14.895Z,1629072554.895 [controlThread ThreadHandler](INFO): Thread cancelled.
2021-08-16T00:09:14.896Z,1629072554.896 [controlThread](INFO): Join timeout helper Thread ID is 993
2021-08-16T00:09:14.967Z,1629072554.967 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2021-08-16T00:09:14.967Z,1629072554.967 [controlThread](DEBUG): Uninitializing ControlThread
2021-08-16T00:09:14.968Z,1629072554.968 [AHRS_M2](INFO): Powering down
2021-08-16T00:09:15.040Z,1629072555.040 [DDM](INFO): Powering down
2021-08-16T00:09:15.112Z,1629072555.112 [DUSBL_Hydroid](INFO): Powering down
2021-08-16T00:09:15.184Z,1629072555.184 [Micromodem](INFO): Powering down
2021-08-16T00:09:15.279Z,1629072555.279 [NAL9602](INFO): Powering down
2021-08-16T00:09:15.351Z,1629072555.351 [RDI_Pathfinder](INFO): Powering down
2021-08-16T00:09:15.423Z,1629072555.423 [RDI_PathfinderUp](INFO): Powering down
2021-08-16T00:09:15.424Z,1629072555.424 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2021-08-16T00:09:15.425Z,1629072555.425 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2021-08-16T00:09:15.426Z,1629072555.426 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2021-08-16T00:09:15.427Z,1629072555.427 [MissionManager](INFO): Uninitializing Mission DefaultWithUndock
2021-08-16T00:09:15.427Z,1629072555.427 [DefaultWithUndock] Stopped
2021-08-16T00:09:15.427Z,1629072555.427 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2021-08-16T00:09:15.427Z,1629072555.427 [DefaultWithUndock:SurfaceDefault] Stopped
2021-08-16T00:09:15.427Z,1629072555.427 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2021-08-16T00:09:15.427Z,1629072555.427 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Stopped
2021-08-16T00:09:15.427Z,1629072555.427 [DefaultWithU