2021-12-07T23:23:44.861Z,1638919424.861 [Supervisor](DEBUG): Initializing supervisor.
2021-12-07T23:23:44.866Z,1638919424.866 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2021-12-07T23:23:44.866Z,1638919424.866 [SyncHandler](INFO): Protected caller Thread ID is 5462
2021-12-07T23:23:44.866Z,1638919424.866 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2021-12-07T23:23:44.867Z,1638919424.867 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2021-12-07T23:23:44.868Z,1638919424.868 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 5463
2021-12-07T23:23:44.872Z,1638919424.872 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2021-12-07T23:23:44.890Z,1638919424.890 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2021-12-07T23:23:44.891Z,1638919424.891 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2021-12-07T23:23:44.891Z,1638919424.891 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 5464
2021-12-07T23:23:44.895Z,1638919424.895 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2021-12-07T23:23:44.896Z,1638919424.896 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2021-12-07T23:23:44.897Z,1638919424.897 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 5465
2021-12-07T23:23:44.899Z,1638919424.899 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2021-12-07T23:23:44.900Z,1638919424.900 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2021-12-07T23:23:44.900Z,1638919424.900 [logger ThreadHandler](INFO): Protected caller Thread ID is 5466
2021-12-07T23:23:44.904Z,1638919424.904 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2021-12-07T23:23:44.905Z,1638919424.905 [Supervisor](INFO): Looking for Config files in directory: Config/
2021-12-07T23:23:44.906Z,1638919424.906 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2021-12-07T23:23:45.356Z,1638919425.356 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2021-12-07T23:23:45.357Z,1638919425.357 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2021-12-07T23:23:45.436Z,1638919425.436 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2021-12-07T23:23:45.757Z,1638919425.757 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2021-12-07T23:23:45.757Z,1638919425.757 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2021-12-07T23:23:45.866Z,1638919425.866 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2021-12-07T23:23:45.867Z,1638919425.867 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2021-12-07T23:23:46.065Z,1638919426.065 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2021-12-07T23:23:46.065Z,1638919426.065 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2021-12-07T23:23:46.597Z,1638919426.597 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2021-12-07T23:23:46.597Z,1638919426.597 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2021-12-07T23:23:46.828Z,1638919426.828 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2021-12-07T23:23:46.828Z,1638919426.828 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2021-12-07T23:23:46.975Z,1638919426.975 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2021-12-07T23:23:46.976Z,1638919426.976 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2021-12-07T23:23:47.162Z,1638919427.162 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2021-12-07T23:23:47.163Z,1638919427.163 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2021-12-07T23:23:47.262Z,1638919427.262 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2021-12-07T23:23:47.262Z,1638919427.262 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2021-12-07T23:23:47.479Z,1638919427.479 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2021-12-07T23:23:47.479Z,1638919427.479 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2021-12-07T23:23:47.864Z,1638919427.864 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2021-12-07T23:23:47.865Z,1638919427.865 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2021-12-07T23:23:47.946Z,1638919427.946 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2021-12-07T23:23:48.074Z,1638919428.074 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2021-12-07T23:23:48.074Z,1638919428.074 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2021-12-07T23:23:48.753Z,1638919428.753 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2021-12-07T23:23:48.754Z,1638919428.754 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2021-12-07T23:23:49.111Z,1638919429.111 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2021-12-07T23:23:49.113Z,1638919429.113 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-polaris/
2021-12-07T23:23:49.114Z,1638919429.114 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/vehicle.cfg
2021-12-07T23:23:49.309Z,1638919429.309 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Control.cfg
2021-12-07T23:23:49.408Z,1638919429.408 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Estimation.cfg
2021-12-07T23:23:49.506Z,1638919429.506 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/BIT.cfg
2021-12-07T23:23:49.605Z,1638919429.605 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Battery.cfg
2021-12-07T23:23:49.868Z,1638919429.868 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2021-12-07T23:23:49.869Z,1638919429.869 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Simulator.cfg
2021-12-07T23:23:49.954Z,1638919429.954 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Navigation.cfg
2021-12-07T23:23:50.049Z,1638919430.049 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Derivation.cfg
2021-12-07T23:23:50.172Z,1638919430.172 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/logger.cfg
2021-12-07T23:23:50.283Z,1638919430.283 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/secure.cfg
2021-12-07T23:23:50.382Z,1638919430.382 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Dock.cfg
2021-12-07T23:23:50.509Z,1638919430.509 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Servo.cfg
2021-12-07T23:23:50.879Z,1638919430.879 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/workSite.cfg
2021-12-07T23:23:51.142Z,1638919431.142 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Sensor.cfg
2021-12-07T23:23:51.500Z,1638919431.500 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Science.cfg
2021-12-07T23:23:51.664Z,1638919431.664 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2021-12-07T23:23:51.677Z,1638919431.677 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2021-12-07T23:23:52.110Z,1638919432.110 [AHRS_M2] Loaded
2021-12-07T23:23:52.110Z,1638919432.110 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2021-12-07T23:23:52.139Z,1638919432.139 [BackseatComponent] Loaded
2021-12-07T23:23:52.139Z,1638919432.139 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2021-12-07T23:23:52.140Z,1638919432.140 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 407D54E0
2021-12-07T23:23:52.141Z,1638919432.141 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 5560
2021-12-07T23:23:52.144Z,1638919432.144 [LcmUniversalReporter] Loaded
2021-12-07T23:23:52.144Z,1638919432.144 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2021-12-07T23:23:52.940Z,1638919432.940 [BPC1] Loaded
2021-12-07T23:23:52.940Z,1638919432.940 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2021-12-07T23:23:53.022Z,1638919433.022 [DataOverHttps] Loaded
2021-12-07T23:23:53.022Z,1638919433.022 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2021-12-07T23:23:53.023Z,1638919433.023 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 408054E0
2021-12-07T23:23:53.024Z,1638919433.024 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 5561
2021-12-07T23:23:53.046Z,1638919433.046 [DDM] Loaded
2021-12-07T23:23:53.046Z,1638919433.046 [ComponentRegistry](DEBUG): SyncComponent "DDM" handled in the control thread.
2021-12-07T23:23:53.066Z,1638919433.066 [Depth_Keller] Loaded
2021-12-07T23:23:53.066Z,1638919433.066 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2021-12-07T23:23:53.071Z,1638919433.071 [DropWeight] Loaded
2021-12-07T23:23:53.071Z,1638919433.071 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2021-12-07T23:23:53.115Z,1638919433.115 [DUSBL_Hydroid] Loaded
2021-12-07T23:23:53.116Z,1638919433.116 [ComponentRegistry](DEBUG): SyncComponent "DUSBL_Hydroid" handled in the control thread.
2021-12-07T23:23:53.127Z,1638919433.127 [Micromodem](CRITICAL): Could not find element Micromodem.loadControl2
2021-12-07T23:23:53.128Z,1638919433.128 [Micromodem](ERROR): Could not open device '/dev/invalid' at Micromodem.loadControl2
2021-12-07T23:23:53.153Z,1638919433.153 [Micromodem] Loaded
2021-12-07T23:23:53.153Z,1638919433.153 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2021-12-07T23:23:53.213Z,1638919433.213 [NAL9602] Loaded
2021-12-07T23:23:53.213Z,1638919433.213 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2021-12-07T23:23:53.242Z,1638919433.242 [Onboard] Loaded
2021-12-07T23:23:53.242Z,1638919433.242 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2021-12-07T23:23:53.244Z,1638919433.244 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 408354E0
2021-12-07T23:23:53.244Z,1638919433.244 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 5562
2021-12-07T23:23:53.257Z,1638919433.257 [Power24vConverter] Loaded
2021-12-07T23:23:53.258Z,1638919433.258 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2021-12-07T23:23:53.272Z,1638919433.272 [Radio_Surface] Loaded
2021-12-07T23:23:53.272Z,1638919433.272 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2021-12-07T23:23:53.273Z,1638919433.273 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 408654E0
2021-12-07T23:23:53.273Z,1638919433.273 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 5563
2021-12-07T23:23:53.274Z,1638919433.274 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2021-12-07T23:23:53.275Z,1638919433.275 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2021-12-07T23:23:53.286Z,1638919433.286 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2021-12-07T23:23:53.286Z,1638919433.286 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2021-12-07T23:23:53.369Z,1638919433.369 [DeadReckonUsingMultipleVelocitySources] Loaded
2021-12-07T23:23:53.370Z,1638919433.370 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2021-12-07T23:23:53.383Z,1638919433.383 [NavChart] Loaded
2021-12-07T23:23:53.384Z,1638919433.384 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2021-12-07T23:23:53.389Z,1638919433.389 [UniversalFixResidualReporter] Loaded
2021-12-07T23:23:53.390Z,1638919433.390 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2021-12-07T23:23:53.400Z,1638919433.400 [WorkSite] Loaded
2021-12-07T23:23:53.401Z,1638919433.401 [ComponentRegistry](DEBUG): SyncComponent "WorkSite" handled in the control thread.
2021-12-07T23:23:53.401Z,1638919433.401 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2021-12-07T23:23:53.401Z,1638919433.401 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2021-12-07T23:23:53.506Z,1638919433.506 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2021-12-07T23:23:53.506Z,1638919433.506 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2021-12-07T23:23:53.643Z,1638919433.643 [BuoyancyServo] Loaded
2021-12-07T23:23:53.643Z,1638919433.643 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2021-12-07T23:23:53.665Z,1638919433.665 [ElevatorServo] Loaded
2021-12-07T23:23:53.665Z,1638919433.665 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2021-12-07T23:23:53.687Z,1638919433.687 [MassServo] Loaded
2021-12-07T23:23:53.687Z,1638919433.687 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2021-12-07T23:23:53.707Z,1638919433.707 [RudderServo] Loaded
2021-12-07T23:23:53.707Z,1638919433.707 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2021-12-07T23:23:53.724Z,1638919433.724 [ThrusterHE] Loaded
2021-12-07T23:23:53.724Z,1638919433.724 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread.
2021-12-07T23:23:53.725Z,1638919433.725 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2021-12-07T23:23:53.725Z,1638919433.725 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2021-12-07T23:23:53.882Z,1638919433.882 [WetLabsSeaOWL_UV_A] Loaded
2021-12-07T23:23:53.882Z,1638919433.882 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2021-12-07T23:23:53.883Z,1638919433.883 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 409924E0
2021-12-07T23:23:53.884Z,1638919433.884 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 5564
2021-12-07T23:23:53.884Z,1638919433.884 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2021-12-07T23:23:53.885Z,1638919433.885 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2021-12-07T23:23:54.235Z,1638919434.235 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2021-12-07T23:23:54.236Z,1638919434.236 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2021-12-07T23:23:54.281Z,1638919434.281 [DepthRateCalculator] Loaded
2021-12-07T23:23:54.282Z,1638919434.282 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2021-12-07T23:23:54.287Z,1638919434.287 [PitchRateCalculator] Loaded
2021-12-07T23:23:54.287Z,1638919434.287 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2021-12-07T23:23:54.297Z,1638919434.297 [SpeedCalculator] Loaded
2021-12-07T23:23:54.297Z,1638919434.297 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2021-12-07T23:23:54.311Z,1638919434.311 [TempGradientCalculator] Loaded
2021-12-07T23:23:54.311Z,1638919434.311 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2021-12-07T23:23:54.327Z,1638919434.327 [VerticalHomogeneityIndexCalculator] Loaded
2021-12-07T23:23:54.328Z,1638919434.328 [ComponentRegistry](DEBUG): SyncComponent "VerticalHomogeneityIndexCalculator" handled in the control thread.
2021-12-07T23:23:54.333Z,1638919434.333 [YawRateCalculator] Loaded
2021-12-07T23:23:54.333Z,1638919434.333 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2021-12-07T23:23:54.354Z,1638919434.354 [ElevatorOffsetCalculator] Loaded
2021-12-07T23:23:54.355Z,1638919434.355 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2021-12-07T23:23:54.355Z,1638919434.355 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2021-12-07T23:23:54.356Z,1638919434.356 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2021-12-07T23:23:54.514Z,1638919434.514 [SBIT](DEBUG): Construct Startup Built In Test.
2021-12-07T23:23:54.526Z,1638919434.526 [SBIT] Loaded
2021-12-07T23:23:54.526Z,1638919434.526 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2021-12-07T23:23:54.529Z,1638919434.529 [IBIT](DEBUG): Construct Initiated Built In Test.
2021-12-07T23:23:54.542Z,1638919434.542 [IBIT] Loaded
2021-12-07T23:23:54.543Z,1638919434.543 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2021-12-07T23:23:54.549Z,1638919434.549 [CBIT](DEBUG): Construct Continuous Built In Test.
2021-12-07T23:23:54.651Z,1638919434.651 [CBIT] Loaded
2021-12-07T23:23:54.651Z,1638919434.651 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2021-12-07T23:23:54.651Z,1638919434.651 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2021-12-07T23:23:54.652Z,1638919434.652 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2021-12-07T23:23:54.714Z,1638919434.714 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2021-12-07T23:23:54.715Z,1638919434.715 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2021-12-07T23:23:54.827Z,1638919434.827 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2021-12-07T23:23:54.828Z,1638919434.828 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2021-12-07T23:23:54.886Z,1638919434.886 [VerticalControl](DEBUG): Construct VerticalControl.
2021-12-07T23:23:54.940Z,1638919434.940 [VerticalControl] Loaded
2021-12-07T23:23:54.941Z,1638919434.941 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2021-12-07T23:23:54.944Z,1638919434.944 [HorizontalControl](DEBUG): Construct HorizontalControl.
2021-12-07T23:23:54.980Z,1638919434.980 [HorizontalControl] Loaded
2021-12-07T23:23:54.980Z,1638919434.980 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2021-12-07T23:23:54.982Z,1638919434.982 [SpeedControl](DEBUG): Construct SpeedControl.
2021-12-07T23:23:54.984Z,1638919434.984 [SpeedControl] Loaded
2021-12-07T23:23:54.984Z,1638919434.984 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2021-12-07T23:23:54.987Z,1638919434.987 [LoopControl](DEBUG): Construct LoopControl.
2021-12-07T23:23:54.988Z,1638919434.988 [LoopControl] Loaded
2021-12-07T23:23:54.988Z,1638919434.988 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2021-12-07T23:23:54.989Z,1638919434.989 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2021-12-07T23:23:54.989Z,1638919434.989 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2021-12-07T23:23:55.018Z,1638919435.018 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2021-12-07T23:23:55.024Z,1638919435.024 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2021-12-07T23:23:55.027Z,1638919435.027 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2021-12-07T23:23:55.038Z,1638919435.038 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2021-12-07T23:23:55.039Z,1638919435.039 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40B414E0
2021-12-07T23:23:55.039Z,1638919435.039 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 5565
2021-12-07T23:23:55.044Z,1638919435.044 [Supervisor](INFO): Main Thread ID is 828
2021-12-07T23:23:55.044Z,1638919435.044 [Supervisor](DEBUG): Running supervisor.
2021-12-07T23:23:55.045Z,1638919435.045 [CommandExec ThreadHandler](INFO): Handler Thread ID is 5566
2021-12-07T23:23:55.045Z,1638919435.045 [CommandExec](INFO): Initializing the command executive.
2021-12-07T23:23:55.046Z,1638919435.046 [CommandLine ThreadHandler](INFO): Handler Thread ID is 5567
2021-12-07T23:23:55.049Z,1638919435.049 [controlThread ThreadHandler](INFO): Handler Thread ID is 5568
2021-12-07T23:23:55.049Z,1638919435.049 [controlThread](DEBUG): Initializing ControlThread
2021-12-07T23:23:55.058Z,1638919435.058 [NavChart](DEBUG): Initialize NavChart Navigation.
2021-12-07T23:23:55.058Z,1638919435.058 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2021-12-07T23:23:55.059Z,1638919435.059 [WorkSite](DEBUG): Initializing WorkSite component.
2021-12-07T23:23:55.060Z,1638919435.060 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2021-12-07T23:23:55.060Z,1638919435.060 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2021-12-07T23:23:55.061Z,1638919435.061 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2021-12-07T23:23:55.061Z,1638919435.061 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2021-12-07T23:23:55.062Z,1638919435.062 [VerticalHomogeneityIndexCalculator](DEBUG): (re)initializing
2021-12-07T23:23:55.062Z,1638919435.062 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2021-12-07T23:23:55.063Z,1638919435.063 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2021-12-07T23:23:55.064Z,1638919435.064 [SBIT](INFO): Initialize SBIT Component.
2021-12-07T23:23:55.064Z,1638919435.064 [SBIT](IMPORTANT): git: 2021-11-29-21-g7f40dce80
2021-12-07T23:23:55.064Z,1638919435.064 [SBIT](INFO): git hash: 7f40dce80281801bfa32dd916c1057cb2b47d3e1
2021-12-07T23:23:55.065Z,1638919435.065 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2021-12-07T23:23:55.066Z,1638919435.066 [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
2021-12-07T23:23:55.067Z,1638919435.067 [SBIT](INFO): Beginning SBIT in 32.000000 seconds.
2021-12-07T23:23:55.068Z,1638919435.068 [IBIT](INFO): Initialize IBIT Component.
2021-12-07T23:23:55.069Z,1638919435.069 [CBIT](DEBUG): Initialize CBIT Component.
2021-12-07T23:23:55.070Z,1638919435.070 [logger ThreadHandler](INFO): Handler Thread ID is 5569
2021-12-07T23:23:55.083Z,1638919435.083 [CBIT](DEBUG): Initialized mux pins.
2021-12-07T23:23:55.083Z,1638919435.083 [CBIT](DEBUG): Initializing the watchdog timer.
2021-12-07T23:23:55.088Z,1638919435.088 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 5570
2021-12-07T23:23:55.096Z,1638919435.096 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 5571
2021-12-07T23:23:55.097Z,1638919435.097 [DataOverHttps](DEBUG): dashIP=128.128.181.226 starts with a digit so assuming it is a numeric IP
2021-12-07T23:23:55.107Z,1638919435.107 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2021-12-07T23:23:55.108Z,1638919435.108 [CBIT](DEBUG): Initializing heartbeat.
2021-12-07T23:23:55.108Z,1638919435.108 [Onboard ThreadHandler](INFO): Handler Thread ID is 5572
2021-12-07T23:23:55.128Z,1638919435.128 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 5573
2021-12-07T23:23:55.144Z,1638919435.144 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 5574
2021-12-07T23:23:55.145Z,1638919435.145 [WetLabsSeaOWL_UV_A](INFO): Powering down
2021-12-07T23:23:55.164Z,1638919435.164 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 5575
2021-12-07T23:23:55.167Z,1638919435.167 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2021-12-07T23:23:55.167Z,1638919435.167 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2021-12-07T23:23:55.167Z,1638919435.167 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2021-12-07T23:23:55.168Z,1638919435.168 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2021-12-07T23:23:55.168Z,1638919435.168 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2021-12-07T23:23:55.168Z,1638919435.168 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2021-12-07T23:23:55.168Z,1638919435.168 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2021-12-07T23:23:55.168Z,1638919435.168 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2021-12-07T23:23:55.169Z,1638919435.169 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2021-12-07T23:23:55.169Z,1638919435.169 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2021-12-07T23:23:55.169Z,1638919435.169 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2021-12-07T23:23:55.169Z,1638919435.169 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2021-12-07T23:23:55.169Z,1638919435.169 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2021-12-07T23:23:55.170Z,1638919435.170 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2021-12-07T23:23:55.170Z,1638919435.170 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2021-12-07T23:23:55.170Z,1638919435.170 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2021-12-07T23:23:55.179Z,1638919435.179 [CBIT](DEBUG): Deactivating GF circuits.
2021-12-07T23:23:55.179Z,1638919435.179 [CBIT](DEBUG): Deactivating emergency mode.
2021-12-07T23:23:55.215Z,1638919435.215 [CBIT](DEBUG): Backplane powered.
2021-12-07T23:23:55.216Z,1638919435.216 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2021-12-07T23:23:55.218Z,1638919435.218 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2021-12-07T23:23:55.218Z,1638919435.218 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2021-12-07T23:23:55.219Z,1638919435.219 [LoopControl](DEBUG): Initialize LoopControlComponent.
2021-12-07T23:23:55.220Z,1638919435.220 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2021-12-07T23:23:55.233Z,1638919435.233 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2021-12-07T23:23:55.273Z,1638919435.273 [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>


2021-12-07T23:23:55.274Z,1638919435.274 [MissionManager](INFO): Loading Mission: Missions/underIce/DefaultWithUndock.xml
2021-12-07T23:23:55.409Z,1638919435.409 [MissionManager](INFO): DefineArg DefaultWithUndock.ElapsedSinceDefaultStarted = 0.000000 min
2021-12-07T23:23:55.421Z,1638919435.421 [MissionManager](INFO): DefineArg DefaultWithUndock.DetachTimeout = 30.000000 min
2021-12-07T23:23:55.425Z,1638919435.425 [MissionManager](INFO): DefineArg DefaultWithUndock.TransponderCode = 2.000000 count
2021-12-07T23:23:55.465Z,1638919435.465 [MissionManager](INFO): DefineArg DefaultWithUndock.TrackingUpdatePeriod = 2.500000 s
2021-12-07T23:23:55.469Z,1638919435.469 [MissionManager](INFO): DefineArg DefaultWithUndock.NumberOfPings = 1.000000 count
2021-12-07T23:23:55.489Z,1638919435.489 [MissionManager](INFO): DefineArg DefaultWithUndock.DetachModeDDM = 2.000000 count
2021-12-07T23:23:55.490Z,1638919435.490 [DefaultWithUndock:A.Wait](DEBUG): Construct Wait.
2021-12-07T23:23:55.532Z,1638919435.532 [Radio_Surface](INFO): Powering up
2021-12-07T23:23:55.682Z,1638919435.682 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Construct.
2021-12-07T23:23:55.682Z,1638919435.682 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2021-12-07T23:23:55.758Z,1638919435.758 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-12-07T23:23:55.806Z,1638919435.806 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2021-12-07T23:23:55.813Z,1638919435.813 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Construct Wait.
2021-12-07T23:23:55.818Z,1638919435.818 [DefaultWithUndock:E.Execute](DEBUG): Construct Execute.
2021-12-07T23:23:55.837Z,1638919435.837 [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 Docking Module -->

            <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>


2021-12-07T23:23:55.852Z,1638919435.852 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,DDM,Depth_Keller,DropWeight,DUSBL_Hydroid,Micromodem,NAL9602,Power24vConverter,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,VerticalHomogeneityIndexCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,WorkSite,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterHE,SBIT,IBIT,CBIT,LcmUniversalReporter,Reporter,LogSplitter,
2021-12-07T23:23:55.863Z,1638919435.863 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2021-12-07T23:23:55.944Z,1638919435.944 [DDM](INFO): Powering up
2021-12-07T23:23:55.944Z,1638919435.944 [DDM](DEBUG): Initializing DDM.
2021-12-07T23:23:55.965Z,1638919435.965 [DUSBL_Hydroid](INFO): Powering up
2021-12-07T23:23:55.966Z,1638919435.966 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2021-12-07T23:23:55.984Z,1638919435.984 [Power24vConverter](INFO): Powering up.
2021-12-07T23:23:55.000Z,1638919436.000 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-12-07T23:23:56.008Z,1638919436.008 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-12-07T23:23:56.009Z,1638919436.009 [ElevatorServo](DEBUG): Initializing EZServoServo.
2021-12-07T23:23:56.016Z,1638919436.016 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2021-12-07T23:23:56.017Z,1638919436.017 [MassServo](DEBUG): Initializing EZServoServo.
2021-12-07T23:23:56.024Z,1638919436.024 [MassServo](DEBUG): Initializing MassServo.
2021-12-07T23:23:56.025Z,1638919436.025 [RudderServo](DEBUG): Initializing EZServoServo.
2021-12-07T23:23:56.031Z,1638919436.031 [RudderServo](DEBUG): Initializing RudderServo.
2021-12-07T23:23:56.032Z,1638919436.032 [ThrusterHE](DEBUG): Initializing EZServoServo.
2021-12-07T23:23:56.040Z,1638919436.040 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2021-12-07T23:23:56.042Z,1638919436.042 [CommandExec](FAULT): Scheduling is paused
2021-12-07T23:23:56.042Z,1638919436.042 [CBIT](INFO): Critical error at 20211207T232353
2021-12-07T23:23:56.043Z,1638919436.043 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2021-12-07T23:23:56.286Z,1638919436.286 [Micromodem](INFO): Powering up
2021-12-07T23:23:56.286Z,1638919436.286 [Micromodem](DEBUG): Initializing Micromodem.
2021-12-07T23:23:56.991Z,1638919436.991 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2021-12-07T23:23:56.991Z,1638919436.991 [RudderServo](FAULT): Rudder failed to initialize
2021-12-07T23:23:56.991Z,1638919436.991 [RudderServo] Communications Fault, FailCount= 1
2021-12-07T23:23:56.992Z,1638919436.992 [RudderServo](ERROR): Communications Fault
2021-12-07T23:23:56.995Z,1638919436.995 [CBIT](ERROR): Communications Fault in component: RudderServo
2021-12-07T23:23:57.204Z,1638919437.204 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2021-12-07T23:23:57.204Z,1638919437.204 [RudderServo](INFO): Powering down
2021-12-07T23:23:57.891Z,1638919437.891 [RudderServo](DEBUG): Initializing EZServoServo.
2021-12-07T23:23:58.012Z,1638919438.012 [RudderServo](DEBUG): Initializing RudderServo.
2021-12-07T23:23:58.016Z,1638919438.016 [CBIT](INFO): Clearing failed state for component RudderServo
2021-12-07T23:23:58.017Z,1638919438.017 [RudderServo] No Fault, FailCount= 1
2021-12-07T23:24:01.152Z,1638919441.152 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2021-12-07T23:24:01.562Z,1638919441.562 [Micromodem](INFO): Nmea in: $CATMG,2021-12-07T23:24:01.549912Z,RTC,RTC*51

2021-12-07T23:24:01.563Z,1638919441.563 [Micromodem](ERROR): CFG response from modem unexpected: $CATMG,2021-12-07T23:24:01.549912Z,RTC,RTC*51

2021-12-07T23:24:01.958Z,1638919441.958 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2021-12-07T23:24:01.958Z,1638919441.958 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2021-12-07T23:24:02.362Z,1638919442.362 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2021-12-07T23:24:02.362Z,1638919442.362 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2021-12-07T23:24:02.770Z,1638919442.770 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2021-12-07T23:24:02.770Z,1638919442.770 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2021-12-07T23:24:03.174Z,1638919443.174 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2021-12-07T23:24:03.174Z,1638919443.174 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2021-12-07T23:24:03.574Z,1638919443.574 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2021-12-07T23:24:03.574Z,1638919443.574 [Micromodem](INFO): Nmea out: $CCCFG,FC0,14500*47

2021-12-07T23:24:03.970Z,1638919443.970 [Micromodem](INFO): Nmea in: $CACFG,FC0,14500*45

2021-12-07T23:24:03.970Z,1638919443.970 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2021-12-07T23:24:04.366Z,1638919444.366 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2021-12-07T23:24:04.366Z,1638919444.366 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2021-12-07T23:24:04.762Z,1638919444.762 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2021-12-07T23:24:04.762Z,1638919444.762 [Micromodem](INFO): Nmea out: $CCCLK,2021,12,07,23,24,05*43

2021-12-07T23:24:05.162Z,1638919445.162 [Micromodem](INFO): Nmea in: $CACLK,2021,12,7,23,24,5*41

2021-12-07T23:24:05.970Z,1638919445.970 [Micromodem](INFO): Nmea in: $CATMS,0,2021-12-07T23:24:06Z*72

2021-12-07T23:24:05.972Z,1638919445.972 [Micromodem](INFO): Nmea in: $CATMG,2021-12-07T23:24:06.028098Z,USER_CMD,RTC*1E

2021-12-07T23:24:11.618Z,1638919451.618 [DDM](INFO): Latch/Whisker Boards:V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
2021-12-07T23:24:11.719Z,1638919451.719 [DDM](INFO): Dynamic Docking Module:C REMUS Capture Rev 1.1
2021-12-07T23:24:14.093Z,1638919454.093 [DUSBL_Hydroid](INFO): DUSBL Version:O
2021-12-07T23:24:23.338Z,1638919463.338 [NAL9602](INFO): Powering up NAL9602
2021-12-07T23:24:27.825Z,1638919467.825 [SBIT](IMPORTANT): Beginning Startup BIT
2021-12-07T23:24:27.829Z,1638919467.829 [CBIT](IMPORTANT): Beginning ground fault scan
2021-12-07T23:24:34.246Z,1638919474.246 [NAL9602](INFO): NAL9602 initialized
2021-12-07T23:24:38.763Z,1638919478.763 [CBIT](IMPORTANT): Ground fault detected
mA:
CHAN A0 (Batt): 0.277047
CHAN A1 (24V): 0.523908
CHAN A2 (12V): 0.073400
CHAN A3 (5V): -0.001283
CHAN B0 (3.3V): 0.000558
CHAN B1 (3.15aV): 0.000099
CHAN B2 (3.15bV): 0.000773
CHAN B3 (GND): 0.001721
OPEN: 0.005929
Full Scale: +/- 1 mA
2021-12-07T23:24:41.162Z,1638919481.162 [SBIT](FAULT): Mass: EXPECTED:0.003447 ACTUAL:0.002954
2021-12-07T23:24:51.626Z,1638919491.626 [NAL9602](INFO): SBD MO Status=0, MOMSN=30479, MT Status=0, MTMSN=0
2021-12-07T23:24:51.626Z,1638919491.626 [NAL9602](INFO): No messages in MT queue
2021-12-07T23:25:04.953Z,1638919504.953 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,232503.00,A,4133.22858,N,07042.38630,W,0.641,0.00,071221,,,A*72
2021-12-07T23:25:04.956Z,1638919504.956 [NAL9602](INFO): GPS fix at 20211207T232503: (41.553810, -70.706438)
2021-12-07T23:25:21.956Z,1638919521.956 [SBIT](CRITICAL): SBIT FAILED
2021-12-07T23:25:21.956Z,1638919521.956 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2021-12-07T23:25:21.957Z,1638919521.957 [SBIT](IMPORTANT): CBIT.gfScanTimeout=2 hour;

2021-12-07T23:25:21.957Z,1638919521.957 [SBIT](IMPORTANT): CTD_Seabird.loadAtStartup=0 bool;

2021-12-07T23:25:21.958Z,1638919521.958 [SBIT](IMPORTANT): Express linearApproximation platform_average_current 0.500000 ampere;

2021-12-07T23:25:21.958Z,1638919521.958 [SBIT](IMPORTANT): LineCapture.latchDelayTimeout=10 second;

2021-12-07T23:25:21.958Z,1638919521.958 [SBIT](IMPORTANT): LineCapture.navigationGain=3 none;

2021-12-07T23:25:21.958Z,1638919521.958 [SBIT](IMPORTANT): LineCapture.rolloutDistance=250 meter;

2021-12-07T23:25:21.958Z,1638919521.958 [SBIT](IMPORTANT): LineCapture.rolloutSpeed=0 meter_per_second;

2021-12-07T23:25:21.958Z,1638919521.958 [SBIT](IMPORTANT): LineCapture.rolloutTimeout=25 minute;

2021-12-07T23:25:21.958Z,1638919521.958 [SBIT](IMPORTANT): PowerOnly.loadAtStartup=0 bool;

2021-12-07T23:25:21.959Z,1638919521.959 [SBIT](IMPORTANT): RDI_Pathfinder.loadAtStartup=0 bool;

2021-12-07T23:25:21.959Z,1638919521.959 [SBIT](IMPORTANT): RDI_PathfinderUp.loadAtStartup=0 bool;

2021-12-07T23:25:21.959Z,1638919521.959 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=216.317193 cubic_centimeter;

2021-12-07T23:25:21.959Z,1638919521.959 [SBIT](IMPORTANT): VerticalControl.massDefault=-3.152899 millimeter;

2021-12-07T23:25:21.961Z,1638919521.961 [CBIT](INFO): Critical error at 20211207T232521
2021-12-07T23:25:22.335Z,1638919522.335 [WorkSite](INFO): Already have valid position. Ignoring workSite position from Data/workSite.cfg
2021-12-07T23:25:22.348Z,1638919522.348 [MissionManager](IMPORTANT): Started mission Startup
2021-12-07T23:25:22.348Z,1638919522.348 [Startup] Running Loop=1
2021-12-07T23:25:22.348Z,1638919522.348 [Startup](DEBUG): Aggregate::initialize Startup
2021-12-07T23:25:22.348Z,1638919522.348 [Startup:A.GoToSurface] Running Loop=1
2021-12-07T23:25:22.348Z,1638919522.348 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-12-07T23:25:22.349Z,1638919522.349 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-12-07T23:25:22.349Z,1638919522.349 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-12-07T23:25:22.350Z,1638919522.350 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-12-07T23:25:22.350Z,1638919522.350 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-12-07T23:25:22.351Z,1638919522.351 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-12-07T23:25:22.352Z,1638919522.352 [Startup:StartupSatComms] Running Loop=1
2021-12-07T23:25:22.352Z,1638919522.352 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2021-12-07T23:25:22.353Z,1638919522.353 [Startup:StartupSatComms:A] Running Loop=1
2021-12-07T23:25:22.746Z,1638919522.746 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2021-12-07T23:25:24.349Z,1638919524.349 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,232522.00,A,4133.22936,N,07042.38713,W,0.797,0.00,071221,,,A*72
2021-12-07T23:25:24.351Z,1638919524.351 [NAL9602](INFO): GPS fix at 20211207T232522: (41.553823, -70.706452)
2021-12-07T23:25:24.360Z,1638919524.360 [Startup:StartupSatComms:A] Stopped
2021-12-07T23:25:24.361Z,1638919524.361 [Startup:StartupSatComms:B] Running Loop=1
2021-12-07T23:25:24.797Z,1638919524.797 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2021-12-07T23:25:50.677Z,1638919550.677 [NAL9602](INFO): SBD MO Status=2, MOMSN=30480, MT Status=2, MTMSN=0
2021-12-07T23:25:50.677Z,1638919550.677 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2021-12-07T23:26:08.891Z,1638919568.891 [NAL9602](INFO): SBD MO Status=2, MOMSN=30480, MT Status=2, MTMSN=0
2021-12-07T23:26:08.891Z,1638919568.891 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2021-12-07T23:26:24.782Z,1638919584.782 [Startup:StartupSatComms:B](INFO): Timed out from 2021-12-07T23:25:24.4Z
2021-12-07T23:26:24.782Z,1638919584.782 [Startup:StartupSatComms:B] Stopped
2021-12-07T23:26:24.782Z,1638919584.782 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2021-12-07T23:26:24.782Z,1638919584.782 [Startup:StartupSatComms] Stopped
2021-12-07T23:26:24.782Z,1638919584.782 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2021-12-07T23:26:24.783Z,1638919584.783 [Startup](INFO): Completed Startup
2021-12-07T23:26:24.783Z,1638919584.783 [MissionManager](INFO): Startup is completed.
2021-12-07T23:26:24.784Z,1638919584.784 [MissionManager](INFO): Uninitializing Mission Startup
2021-12-07T23:26:24.784Z,1638919584.784 [Startup] Stopped
2021-12-07T23:26:24.784Z,1638919584.784 [Startup](DEBUG): Aggregate::uninitialize Startup
2021-12-07T23:26:24.784Z,1638919584.784 [Startup:A.GoToSurface] Stopped
2021-12-07T23:26:24.784Z,1638919584.784 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-12-07T23:26:25.129Z,1638919585.129 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2021-12-07T23:26:25.130Z,1638919585.130 [DefaultWithUndock] Running Loop=1
2021-12-07T23:26:25.130Z,1638919585.130 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2021-12-07T23:26:25.130Z,1638919585.130 [DefaultWithUndock:A.Wait] Running Loop=1
2021-12-07T23:26:25.130Z,1638919585.130 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2021-12-07T23:26:36.027Z,1638919596.027 [NAL9602](INFO): SBD MO Status=1, MOMSN=30480, MT Status=0, MTMSN=0
2021-12-07T23:26:36.084Z,1638919596.084 [NAL9602](INFO): Sent 102 bytes from file Logs/20211207T231240/Courier0010.lzma
2021-12-07T23:26:36.084Z,1638919596.084 [NAL9602](INFO): Packets left to send: 0
2021-12-07T23:26:55.434Z,1638919615.434 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2021-12-07T23:26:55.434Z,1638919615.434 [DefaultWithUndock:A.Wait] Stopped
2021-12-07T23:26:55.434Z,1638919615.434 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2021-12-07T23:26:55.434Z,1638919615.434 [DefaultWithUndock:LeaveDock] Running Loop=1
2021-12-07T23:26:55.434Z,1638919615.434 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2021-12-07T23:26:55.434Z,1638919615.434 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2021-12-07T23:26:55.434Z,1638919615.434 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2021-12-07T23:26:55.435Z,1638919615.435 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2021-12-07T23:26:55.435Z,1638919615.435 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2021-12-07T23:26:55.435Z,1638919615.435 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2021-12-07T23:26:55.825Z,1638919615.825 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2021-12-07T23:26:58.306Z,1638919618.306 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock.
2021-12-07T23:26:58.307Z,1638919618.307 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-12-07T23:26:58.760Z,1638919618.760 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2021-12-07T23:26:59.099Z,1638919619.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-07T23:26:59.496Z,1638919619.496 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-07T23:27:00.334Z,1638919620.334 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232659.52*50

2021-12-07T23:27:01.117Z,1638919621.117 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-12-07T23:27:02.723Z,1638919622.723 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-07T23:27:03.940Z,1638919623.940 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-12-07T23:27:04.738Z,1638919624.738 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-07T23:27:05.208Z,1638919625.208 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-07T23:27:05.966Z,1638919625.966 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232705.16*58

2021-12-07T23:27:06.757Z,1638919626.757 [NAL9602](INFO): Not Powering down - fast GPS
2021-12-07T23:27:06.769Z,1638919626.769 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-12-07T23:27:08.369Z,1638919628.369 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-07T23:27:09.611Z,1638919629.611 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-12-07T23:27:10.390Z,1638919630.390 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-07T23:27:10.801Z,1638919630.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-07T23:27:11.614Z,1638919631.614 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232710.81*52

2021-12-07T23:27:12.462Z,1638919632.462 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-12-07T23:27:14.024Z,1638919634.024 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-07T23:27:15.259Z,1638919635.259 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-12-07T23:27:16.054Z,1638919636.054 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-07T23:27:16.460Z,1638919636.460 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-07T23:27:17.282Z,1638919637.282 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232716.47*5E

2021-12-07T23:27:18.079Z,1638919638.079 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-12-07T23:27:18.896Z,1638919638.896 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: nan m. Transitioning DDM to standby.
2021-12-07T23:27:19.697Z,1638919639.697 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-07T23:27:20.934Z,1638919640.934 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM at standby.
2021-12-07T23:27:20.935Z,1638919640.935 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-12-07T23:27:21.313Z,1638919641.313 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2021-12-07T23:27:21.313Z,1638919641.313 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2021-12-07T23:27:21.314Z,1638919641.314 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2021-12-07T23:27:21.314Z,1638919641.314 [DefaultWithUndock:LeaveDock] Stopped
2021-12-07T23:27:21.314Z,1638919641.314 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2021-12-07T23:27:21.314Z,1638919641.314 [DefaultWithUndock:LeaveDock:A.] Stopped
2021-12-07T23:27:21.314Z,1638919641.314 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2021-12-07T23:27:21.314Z,1638919641.314 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2021-12-07T23:27:21.314Z,1638919641.314 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Running Loop=1
2021-12-07T23:27:21.315Z,1638919641.315 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-12-07T23:27:21.315Z,1638919641.315 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Running Loop=1
2021-12-07T23:27:21.315Z,1638919641.315 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Running Loop=1
2021-12-07T23:27:21.315Z,1638919641.315 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Running Loop=1
2021-12-07T23:27:21.315Z,1638919641.315 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-12-07T23:27:21.316Z,1638919641.316 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-12-07T23:27:21.316Z,1638919641.316 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-12-07T23:27:21.316Z,1638919641.316 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-12-07T23:27:21.317Z,1638919641.317 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-12-07T23:27:21.317Z,1638919641.317 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-12-07T23:27:21.683Z,1638919641.683 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2021-12-07T23:27:21.684Z,1638919641.684 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-12-07T23:27:21.684Z,1638919641.684 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-12-07T23:27:21.684Z,1638919641.684 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Stopped
2021-12-07T23:27:21.684Z,1638919641.684 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-12-07T23:27:21.684Z,1638919641.684 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Stopped
2021-12-07T23:27:21.684Z,1638919641.684 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Stopped
2021-12-07T23:27:22.118Z,1638919642.118 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2021-12-07T23:27:23.700Z,1638919643.700 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,232722.00,A,4133.22849,N,07042.37526,W,0.214,66.17,071221,,,A*4A
2021-12-07T23:27:23.703Z,1638919643.703 [NAL9602](INFO): GPS fix at 20211207T232722: (41.553808, -70.706254)
2021-12-07T23:27:23.712Z,1638919643.712 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-12-07T23:27:23.712Z,1638919643.712 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-12-07T23:27:24.125Z,1638919644.125 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2021-12-07T23:27:30.023Z,1638919650.023 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004376
2021-12-07T23:27:34.036Z,1638919654.036 [DataOverHttps](INFO): Sending 348 bytes from file Logs/20211207T232344/Courier0000.lzma
2021-12-07T23:27:35.037Z,1638919655.037 [DataOverHttps](INFO): Moved sent file to Logs/20211207T232344/Courier0000.lzma.bak
2021-12-07T23:27:35.037Z,1638919655.037 [DataOverHttps](INFO): SBD MOMSN=626000
2021-12-07T23:27:44.083Z,1638919664.083 [DataOverHttps](INFO): Sending 77 bytes from file Logs/20211207T232344/Courier0004.lzma
2021-12-07T23:27:45.085Z,1638919665.085 [DataOverHttps](INFO): Moved sent file to Logs/20211207T232344/Courier0004.lzma.bak
2021-12-07T23:27:45.085Z,1638919665.085 [DataOverHttps](INFO): SBD MOMSN=626006
2021-12-07T23:27:46.581Z,1638919666.581 [NAL9602](INFO): SBD MO Status=1, MOMSN=30481, MT Status=0, MTMSN=0
2021-12-07T23:27:46.636Z,1638919666.636 [NAL9602](INFO): Sent 184 bytes from file Logs/20211207T232344/Courier0000.lzma
2021-12-07T23:27:46.636Z,1638919666.636 [NAL9602](INFO): Packets left to send: 1
2021-12-07T23:27:46.684Z,1638919666.684 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-12-07T23:27:46.684Z,1638919666.684 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-12-07T23:27:46.684Z,1638919666.684 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-12-07T23:28:17.274Z,1638919697.274 [NAL9602](INFO): Not Powering down - fast GPS
2021-12-07T23:28:25.249Z,1638919705.249 [DataOverHttps](INFO): Sending 633 bytes from file Logs/20211207T231240/Express0011.lzma
2021-12-07T23:28:26.249Z,1638919706.249 [DataOverHttps](INFO): Moved sent file to Logs/20211207T231240/Express0011.lzma.bak
2021-12-07T23:28:26.249Z,1638919706.249 [DataOverHttps](INFO): SBD MOMSN=626010
2021-12-07T23:30:46.841Z,1638919846.841 [DataOverHttps](IMPORTANT): SBD MTMSN=20211207T233045
2021-12-07T23:30:50.859Z,1638919850.859 [DataOverHttps](INFO): Received command: restart app
2021-12-07T23:30:50.877Z,1638919850.877 [CommandExec](IMPORTANT): got command restart application
2021-12-07T23:30:51.879Z,1638919851.879 [CommandExec ThreadHandler](INFO): Uninitializing protected caller thread.
2021-12-07T23:30:51.879Z,1638919851.879 [CommandExec](INFO): Uninitializing the command executive.
2021-12-07T23:30:51.880Z,1638919851.880 [CommandExec](INFO): Uninitializing the command scheduler.
2021-12-07T23:30:51.880Z,1638919851.880 [CommandExec ThreadHandler](INFO): Thread cancelled.
2021-12-07T23:30:51.943Z,1638919851.943 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2021-12-07T23:30:51.943Z,1638919851.943 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2021-12-07T23:30:51.943Z,1638919851.943 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2021-12-07T23:30:51.944Z,1638919851.944 [NavChartDb](INFO): Join timeout helper Thread ID is 5614
2021-12-07T23:30:52.323Z,1638919852.323 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2021-12-07T23:30:52.324Z,1638919852.324 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2021-12-07T23:30:52.343Z,1638919852.343 [ComponentRegistry](INFO): Shutting down WetLabsSeaOWL_UV_A ThreadHandler
2021-12-07T23:30:52.343Z,1638919852.343 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2021-12-07T23:30:52.344Z,1638919852.344 [WetLabsSeaOWL_UV_A](INFO): Join timeout helper Thread ID is 5615
2021-12-07T23:30:52.583Z,1638919852.583 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Uninitializing protected caller thread.
2021-12-07T23:30:52.584Z,1638919852.584 [WetLabsSeaOWL_UV_A](INFO): Powering down
2021-12-07T23:30:52.584Z,1638919852.584 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2021-12-07T23:30:52.603Z,1638919852.603 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2021-12-07T23:30:52.603Z,1638919852.603 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2021-12-07T23:30:52.604Z,1638919852.604 [Radio_Surface](INFO): Join timeout helper Thread ID is 5616
2021-12-07T23:30:52.951Z,1638919852.951 [Radio_Surface](INFO): Powering down
2021-12-07T23:30:52.952Z,1638919852.952 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2021-12-07T23:30:52.953Z,1638919852.953 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2021-12-07T23:30:52.973Z,1638919852.973 [ComponentRegistry](INFO): Shutting down Onboard ThreadHandler
2021-12-07T23:30:52.973Z,1638919852.973 [Onboard ThreadHandler](INFO): Thread cancelled.
2021-12-07T23:30:52.974Z,1638919852.974 [Onboard](INFO): Join timeout helper Thread ID is 5617
2021-12-07T23:30:53.867Z,1638919853.867 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2021-12-07T23:30:55.459Z,1638919855.459 [Onboard ThreadHandler](INFO): Uninitializing protected caller thread.
2021-12-07T23:30:55.460Z,1638919855.460 [Onboard ThreadHandler](INFO): Thread cancelled.
2021-12-07T23:30:55.470Z,1638919855.470 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2021-12-07T23:30:55.470Z,1638919855.470 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2021-12-07T23:30:55.471Z,1638919855.471 [DataOverHttps](INFO): Join timeout helper Thread ID is 5618
2021-12-07T23:30:55.875Z,1638919855.875 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2021-12-07T23:30:55.876Z,1638919855.876 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2021-12-07T23:30:55.896Z,1638919855.896 [ComponentRegistry](INFO): Shutting down BackseatComponent ThreadHandler
2021-12-07T23:30:55.896Z,1638919855.896 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2021-12-07T23:30:55.897Z,1638919855.897 [BackseatComponent](INFO): Join timeout helper Thread ID is 5619
2021-12-07T23:30:56.003Z,1638919856.003 [BackseatComponent ThreadHandler](INFO): Uninitializing protected caller thread.
2021-12-07T23:30:56.004Z,1638919856.004 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2021-12-07T23:30:56.024Z,1638919856.024 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2021-12-07T23:30:56.024Z,1638919856.024 [logger ThreadHandler](INFO): Thread cancelled.
2021-12-07T23:30:56.025Z,1638919856.025 [logger](INFO): Join timeout helper Thread ID is 5620
2021-12-07T23:30:56.036Z,1638919856.036 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2021-12-07T23:30:56.036Z,1638919856.036 [logger ThreadHandler](INFO): Thread cancelled.
2021-12-07T23:30:56.044Z,1638919856.044 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2021-12-07T23:30:56.044Z,1638919856.044 [CommandLine ThreadHandler](INFO): Thread cancelled.
2021-12-07T23:30:56.045Z,1638919856.045 [CommandLine](INFO): Join timeout helper Thread ID is 5621
2021-12-07T23:30:56.076Z,1638919856.076 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2021-12-07T23:30:56.077Z,1638919856.077 [CommandLine ThreadHandler](INFO): Thread cancelled.
2021-12-07T23:30:56.092Z,1638919856.092 [ComponentRegistry](INFO): Shutting down CommandExec ThreadHandler
2021-12-07T23:30:56.092Z,1638919856.092 [CommandExec ThreadHandler](INFO): Thread cancelled.
2021-12-07T23:30:56.092Z,1638919856.092 [CommandExec](INFO): Join timeout helper Thread ID is 5622
2021-12-07T23:30:56.094Z,1638919856.094 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2021-12-07T23:30:56.094Z,1638919856.094 [controlThread ThreadHandler](INFO): Thread cancelled.
2021-12-07T23:30:56.094Z,1638919856.094 [controlThread](INFO): Join timeout helper Thread ID is 5623
2021-12-07T23:30:56.427Z,1638919856.427 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2021-12-07T23:30:56.428Z,1638919856.428 [controlThread](DEBUG): Uninitializing ControlThread
2021-12-07T23:30:56.428Z,1638919856.428 [AHRS_M2](INFO): Powering down
2021-12-07T23:30:56.500Z,1638919856.500 [DDM](INFO): Powering down
2021-12-07T23:30:56.572Z,1638919856.572 [DUSBL_Hydroid](INFO): Powering down
2021-12-07T23:30:56.643Z,1638919856.643 [Micromodem](INFO): Powering down
2021-12-07T23:30:56.740Z,1638919856.740 [NAL9602](INFO): Powering down
2021-12-07T23:30:56.741Z,1638919856.741 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2021-12-07T23:30:56.742Z,1638919856.742 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2021-12-07T23:30:56.743Z,1638919856.743 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2021-12-07T23:30:56.744Z,1638919856.744 [MissionManager](INFO): Uninitializing Mission DefaultWithUndock
2021-12-07T23:30:56.744Z,1638919856.744 [DefaultWithUndock] Stopped
2021-12-07T23:30:56.744Z,1638919856.744 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2021-12-07T23:30:56.744Z,1638919856.744 [DefaultWithUndock:SurfaceDefault] Stopped
2021-12-07T23:30:56.744Z,1638919856.744 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2021-12-07T23:30:56.744Z,1638919856.744 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Stopped
2021-12-07T23:30:56.744Z,1638919856.744 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-12-07T23:30:56.744Z,1638919856.744 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-12-07T23:30:56.744Z,1638919856.744 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-12-07T23:30:56.744Z,1638919856.744 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-12-07T23:30:56.745Z,1638919856.745 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-12-07T23:30:56.753Z,1638919856.753 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2021-12-07T23:30:56.753Z,1638919856.753 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2021-12-07T23:30:56.754Z,1638919856.754 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2021-12-07T23:30:56.754Z,1638919856.754 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2021-12-07T23:30:56.754Z,1638919856.754 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2021-12-07T23:30:56.754Z,1638919856.754 [BuoyancyServo](INFO): Powering down
2021-12-07T23:30:56.767Z,1638919856.767 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2021-12-07T23:30:56.767Z,1638919856.767 [ElevatorServo](INFO): Powering down
2021-12-07T23:30:56.768Z,1638919856.768 [MassServo](DEBUG): Uninitialize Mass Servo.
2021-12-07T23:30:56.768Z,1638919856.768 [MassServo](INFO): Powering down
2021-12-07T23:30:56.769Z,1638919856.769 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2021-12-07T23:30:56.769Z,1638919856.769 [RudderServo](INFO): Powering down
2021-12-07T23:30:56.770Z,1638919856.770 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2021-12-07T23:30:56.770Z,1638919856.770 [ThrusterHE](INFO): Powering down
2021-12-07T23:30:56.772Z,1638919856.772 [SBIT](DEBUG): Uninitialize SBIT Component.
2021-12-07T23:30:56.772Z,1638919856.772 [IBIT](DEBUG): Uninitialize IBIT Component.
2021-12-07T23:30:56.772Z,1638919856.772 [CBIT](DEBUG): Uninitialize CBIT Component.
2021-12-07T23:30:56.772Z,1638919856.772 [CBIT](DEBUG): Powering off loads.
2021-12-07T23:30:56.783Z,1638919856.783 [CBIT](DEBUG): Disabling WDT.
2021-12-07T23:30:56.795Z,1638919856.795 [CBIT](DEBUG): Opening all GF detection circuits.
2021-12-07T23:30:56.796Z,1638919856.796 [controlThread ThreadHandler](INFO): Thread cancelled.
2021-12-07T23:30:56.813Z,1638919856.813 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2021-12-07T23:30:56.816Z,1638919856.816 [Onboard ThreadHandler](INFO): Thread cancelled.
2021-12-07T23:30:56.827Z,1638919856.827 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2021-12-07T23:30:56.871Z,1638919856.871 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2021-12-07T23:30:56.916Z,1638919856.916 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2021-12-07T23:30:56.973Z,1638919856.973 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2021-12-07T23:30:57.044Z,1638919857.044 [logger ThreadHandler](INFO): Thread cancelled.