2022-01-21T20:56:50.504Z,1642798610.504 [Supervisor](DEBUG): Initializing supervisor.
2022-01-21T20:56:50.508Z,1642798610.508 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2022-01-21T20:56:50.509Z,1642798610.509 [SyncHandler](INFO): Protected caller Thread ID is 7515
2022-01-21T20:56:50.509Z,1642798610.509 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2022-01-21T20:56:50.510Z,1642798610.510 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2022-01-21T20:56:50.510Z,1642798610.510 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 7516
2022-01-21T20:56:50.514Z,1642798610.514 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2022-01-21T20:56:50.532Z,1642798610.532 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2022-01-21T20:56:50.533Z,1642798610.533 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2022-01-21T20:56:50.534Z,1642798610.534 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 7517
2022-01-21T20:56:50.538Z,1642798610.538 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2022-01-21T20:56:50.539Z,1642798610.539 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2022-01-21T20:56:50.539Z,1642798610.539 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 7518
2022-01-21T20:56:50.541Z,1642798610.541 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2022-01-21T20:56:50.542Z,1642798610.542 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2022-01-21T20:56:50.542Z,1642798610.542 [logger ThreadHandler](INFO): Protected caller Thread ID is 7519
2022-01-21T20:56:50.546Z,1642798610.546 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2022-01-21T20:56:50.546Z,1642798610.546 [Supervisor](INFO): Looking for Config files in directory: Config/
2022-01-21T20:56:50.553Z,1642798610.553 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2022-01-21T20:56:51.168Z,1642798611.168 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2022-01-21T20:56:51.172Z,1642798611.172 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2022-01-21T20:56:51.259Z,1642798611.259 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2022-01-21T20:56:51.581Z,1642798611.581 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2022-01-21T20:56:51.582Z,1642798611.582 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2022-01-21T20:56:51.690Z,1642798611.690 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2022-01-21T20:56:51.692Z,1642798611.692 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2022-01-21T20:56:51.892Z,1642798611.892 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2022-01-21T20:56:51.894Z,1642798611.894 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2022-01-21T20:56:52.399Z,1642798612.399 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2022-01-21T20:56:52.400Z,1642798612.400 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2022-01-21T20:56:52.663Z,1642798612.663 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2022-01-21T20:56:52.664Z,1642798612.664 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2022-01-21T20:56:52.810Z,1642798612.810 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2022-01-21T20:56:52.812Z,1642798612.812 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2022-01-21T20:56:53.001Z,1642798613.001 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2022-01-21T20:56:53.003Z,1642798613.003 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2022-01-21T20:56:53.101Z,1642798613.101 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2022-01-21T20:56:53.101Z,1642798613.101 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2022-01-21T20:56:53.320Z,1642798613.320 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2022-01-21T20:56:53.322Z,1642798613.322 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2022-01-21T20:56:53.702Z,1642798613.702 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2022-01-21T20:56:53.702Z,1642798613.702 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2022-01-21T20:56:53.784Z,1642798613.784 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2022-01-21T20:56:53.910Z,1642798613.910 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2022-01-21T20:56:53.912Z,1642798613.912 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2022-01-21T20:56:54.594Z,1642798614.594 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2022-01-21T20:56:54.595Z,1642798614.595 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2022-01-21T20:56:54.952Z,1642798614.952 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2022-01-21T20:56:54.954Z,1642798614.954 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-polaris/
2022-01-21T20:56:54.957Z,1642798614.957 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/vehicle.cfg
2022-01-21T20:56:55.155Z,1642798615.155 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Control.cfg
2022-01-21T20:56:55.255Z,1642798615.255 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Estimation.cfg
2022-01-21T20:56:55.355Z,1642798615.355 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/BIT.cfg
2022-01-21T20:56:55.454Z,1642798615.454 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Battery.cfg
2022-01-21T20:56:55.713Z,1642798615.713 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2022-01-21T20:56:55.714Z,1642798615.714 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Simulator.cfg
2022-01-21T20:56:55.800Z,1642798615.800 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Navigation.cfg
2022-01-21T20:56:55.903Z,1642798615.903 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Derivation.cfg
2022-01-21T20:56:56.028Z,1642798616.028 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/logger.cfg
2022-01-21T20:56:56.184Z,1642798616.184 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/secure.cfg
2022-01-21T20:56:56.632Z,1642798616.632 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Dock.cfg
2022-01-21T20:56:57.272Z,1642798617.272 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Servo.cfg
2022-01-21T20:56:57.387Z,1642798617.387 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/workSite.cfg
2022-01-21T20:56:57.486Z,1642798617.486 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Sensor.cfg
2022-01-21T20:56:57.692Z,1642798617.692 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Science.cfg
2022-01-21T20:56:57.853Z,1642798617.853 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2022-01-21T20:56:57.868Z,1642798617.868 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2022-01-21T20:56:58.410Z,1642798618.410 [AHRS_M2] Loaded
2022-01-21T20:56:58.410Z,1642798618.410 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2022-01-21T20:56:58.444Z,1642798618.444 [BackseatComponent] Loaded
2022-01-21T20:56:58.444Z,1642798618.444 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2022-01-21T20:56:58.445Z,1642798618.445 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 407DF4E0
2022-01-21T20:56:58.445Z,1642798618.445 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 7613
2022-01-21T20:56:58.448Z,1642798618.448 [LcmUniversalReporter] Loaded
2022-01-21T20:56:58.448Z,1642798618.448 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2022-01-21T20:56:59.193Z,1642798619.193 [BPC1] Loaded
2022-01-21T20:56:59.194Z,1642798619.194 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2022-01-21T20:56:59.212Z,1642798619.212 [Depth_Keller] Loaded
2022-01-21T20:56:59.213Z,1642798619.213 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2022-01-21T20:56:59.217Z,1642798619.217 [DropWeight] Loaded
2022-01-21T20:56:59.217Z,1642798619.217 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2022-01-21T20:56:59.264Z,1642798619.264 [Micromodem] Loaded
2022-01-21T20:56:59.264Z,1642798619.264 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2022-01-21T20:56:59.321Z,1642798619.321 [NAL9602] Loaded
2022-01-21T20:56:59.321Z,1642798619.321 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2022-01-21T20:56:59.349Z,1642798619.349 [Onboard] Loaded
2022-01-21T20:56:59.349Z,1642798619.349 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2022-01-21T20:56:59.350Z,1642798619.350 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 4080F4E0
2022-01-21T20:56:59.350Z,1642798619.350 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 7614
2022-01-21T20:56:59.356Z,1642798619.356 [PowerOnly](INFO): Adding load control power supply at /dev/loadC1
2022-01-21T20:56:59.366Z,1642798619.366 [PowerOnly] Loaded
2022-01-21T20:56:59.367Z,1642798619.367 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2022-01-21T20:56:59.377Z,1642798619.377 [Power24vConverter] Loaded
2022-01-21T20:56:59.378Z,1642798619.378 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2022-01-21T20:56:59.379Z,1642798619.379 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2022-01-21T20:56:59.379Z,1642798619.379 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2022-01-21T20:56:59.393Z,1642798619.393 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2022-01-21T20:56:59.394Z,1642798619.394 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2022-01-21T20:56:59.515Z,1642798619.515 [DeadReckonUsingMultipleVelocitySources] Loaded
2022-01-21T20:56:59.515Z,1642798619.515 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2022-01-21T20:56:59.538Z,1642798619.538 [LBLNavigation] Loaded
2022-01-21T20:56:59.538Z,1642798619.538 [ComponentRegistry](DEBUG): SyncComponent "LBLNavigation" handled in the control thread.
2022-01-21T20:56:59.551Z,1642798619.551 [NavChart] Loaded
2022-01-21T20:56:59.551Z,1642798619.551 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2022-01-21T20:56:59.556Z,1642798619.556 [UniversalFixResidualReporter] Loaded
2022-01-21T20:56:59.557Z,1642798619.557 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2022-01-21T20:56:59.567Z,1642798619.567 [WorkSite] Loaded
2022-01-21T20:56:59.567Z,1642798619.567 [ComponentRegistry](DEBUG): SyncComponent "WorkSite" handled in the control thread.
2022-01-21T20:56:59.568Z,1642798619.568 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2022-01-21T20:56:59.568Z,1642798619.568 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2022-01-21T20:56:59.671Z,1642798619.671 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2022-01-21T20:56:59.671Z,1642798619.671 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2022-01-21T20:56:59.813Z,1642798619.813 [BuoyancyServo] Loaded
2022-01-21T20:56:59.813Z,1642798619.813 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2022-01-21T20:56:59.834Z,1642798619.834 [ElevatorServo] Loaded
2022-01-21T20:56:59.834Z,1642798619.834 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2022-01-21T20:56:59.854Z,1642798619.854 [MassServo] Loaded
2022-01-21T20:56:59.854Z,1642798619.854 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2022-01-21T20:56:59.873Z,1642798619.873 [RudderServo] Loaded
2022-01-21T20:56:59.873Z,1642798619.873 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2022-01-21T20:56:59.889Z,1642798619.889 [ThrusterHE] Loaded
2022-01-21T20:56:59.890Z,1642798619.890 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread.
2022-01-21T20:56:59.890Z,1642798619.890 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2022-01-21T20:56:59.890Z,1642798619.890 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2022-01-21T20:57:00.089Z,1642798620.089 [CTD_Seabird] Loaded
2022-01-21T20:57:00.090Z,1642798620.090 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2022-01-21T20:57:00.091Z,1642798620.091 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 4094B4E0
2022-01-21T20:57:00.091Z,1642798620.091 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 7615
2022-01-21T20:57:00.110Z,1642798620.110 [PAR_Licor] Loaded
2022-01-21T20:57:00.110Z,1642798620.110 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2022-01-21T20:57:00.141Z,1642798620.141 [WetLabsSeaOWL_UV_A] Loaded
2022-01-21T20:57:00.142Z,1642798620.142 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2022-01-21T20:57:00.142Z,1642798620.142 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 4097B4E0
2022-01-21T20:57:00.143Z,1642798620.143 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 7616
2022-01-21T20:57:00.144Z,1642798620.144 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2022-01-21T20:57:00.144Z,1642798620.144 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2022-01-21T20:57:00.492Z,1642798620.492 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2022-01-21T20:57:00.493Z,1642798620.493 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2022-01-21T20:57:00.546Z,1642798620.546 [DepthRateCalculator] Loaded
2022-01-21T20:57:00.546Z,1642798620.546 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2022-01-21T20:57:00.551Z,1642798620.551 [PitchRateCalculator] Loaded
2022-01-21T20:57:00.551Z,1642798620.551 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2022-01-21T20:57:00.561Z,1642798620.561 [SpeedCalculator] Loaded
2022-01-21T20:57:00.561Z,1642798620.561 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2022-01-21T20:57:00.574Z,1642798620.574 [TempGradientCalculator] Loaded
2022-01-21T20:57:00.574Z,1642798620.574 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2022-01-21T20:57:00.589Z,1642798620.589 [VerticalHomogeneityIndexCalculator] Loaded
2022-01-21T20:57:00.589Z,1642798620.589 [ComponentRegistry](DEBUG): SyncComponent "VerticalHomogeneityIndexCalculator" handled in the control thread.
2022-01-21T20:57:00.594Z,1642798620.594 [YawRateCalculator] Loaded
2022-01-21T20:57:00.594Z,1642798620.594 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2022-01-21T20:57:00.615Z,1642798620.615 [ElevatorOffsetCalculator] Loaded
2022-01-21T20:57:00.615Z,1642798620.615 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2022-01-21T20:57:00.616Z,1642798620.616 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2022-01-21T20:57:00.616Z,1642798620.616 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2022-01-21T20:57:00.777Z,1642798620.777 [SBIT](DEBUG): Construct Startup Built In Test.
2022-01-21T20:57:00.790Z,1642798620.790 [SBIT] Loaded
2022-01-21T20:57:00.791Z,1642798620.791 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2022-01-21T20:57:00.793Z,1642798620.793 [IBIT](DEBUG): Construct Initiated Built In Test.
2022-01-21T20:57:00.806Z,1642798620.806 [IBIT] Loaded
2022-01-21T20:57:00.806Z,1642798620.806 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2022-01-21T20:57:00.811Z,1642798620.811 [CBIT](DEBUG): Construct Continuous Built In Test.
2022-01-21T20:57:00.911Z,1642798620.911 [CBIT] Loaded
2022-01-21T20:57:00.912Z,1642798620.912 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2022-01-21T20:57:00.912Z,1642798620.912 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2022-01-21T20:57:00.912Z,1642798620.912 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2022-01-21T20:57:00.974Z,1642798620.974 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2022-01-21T20:57:00.974Z,1642798620.974 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2022-01-21T20:57:01.093Z,1642798621.093 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2022-01-21T20:57:01.094Z,1642798621.094 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2022-01-21T20:57:01.153Z,1642798621.153 [VerticalControl](DEBUG): Construct VerticalControl.
2022-01-21T20:57:01.202Z,1642798621.202 [VerticalControl] Loaded
2022-01-21T20:57:01.203Z,1642798621.203 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2022-01-21T20:57:01.206Z,1642798621.206 [HorizontalControl](DEBUG): Construct HorizontalControl.
2022-01-21T20:57:01.240Z,1642798621.240 [HorizontalControl] Loaded
2022-01-21T20:57:01.241Z,1642798621.241 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2022-01-21T20:57:01.243Z,1642798621.243 [SpeedControl](DEBUG): Construct SpeedControl.
2022-01-21T20:57:01.245Z,1642798621.245 [SpeedControl] Loaded
2022-01-21T20:57:01.245Z,1642798621.245 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2022-01-21T20:57:01.248Z,1642798621.248 [LoopControl](DEBUG): Construct LoopControl.
2022-01-21T20:57:01.248Z,1642798621.248 [LoopControl] Loaded
2022-01-21T20:57:01.249Z,1642798621.249 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2022-01-21T20:57:01.249Z,1642798621.249 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2022-01-21T20:57:01.249Z,1642798621.249 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2022-01-21T20:57:01.730Z,1642798621.730 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2022-01-21T20:57:01.804Z,1642798621.804 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2022-01-21T20:57:01.807Z,1642798621.807 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2022-01-21T20:57:01.817Z,1642798621.817 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2022-01-21T20:57:01.818Z,1642798621.818 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40B2D4E0
2022-01-21T20:57:01.818Z,1642798621.818 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 7617
2022-01-21T20:57:01.823Z,1642798621.823 [Supervisor](INFO): Main Thread ID is 829
2022-01-21T20:57:01.823Z,1642798621.823 [Supervisor](DEBUG): Running supervisor.
2022-01-21T20:57:01.824Z,1642798621.824 [CommandExec ThreadHandler](INFO): Handler Thread ID is 7618
2022-01-21T20:57:01.824Z,1642798621.824 [CommandExec](INFO): Initializing the command executive.
2022-01-21T20:57:01.826Z,1642798621.826 [CommandLine ThreadHandler](INFO): Handler Thread ID is 7619
2022-01-21T20:57:01.828Z,1642798621.828 [controlThread ThreadHandler](INFO): Handler Thread ID is 7620
2022-01-21T20:57:01.828Z,1642798621.828 [controlThread](DEBUG): Initializing ControlThread
2022-01-21T20:57:01.837Z,1642798621.837 [NavChart](DEBUG): Initialize NavChart Navigation.
2022-01-21T20:57:01.837Z,1642798621.837 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2022-01-21T20:57:01.838Z,1642798621.838 [WorkSite](DEBUG): Initializing WorkSite component.
2022-01-21T20:57:01.842Z,1642798621.842 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2022-01-21T20:57:01.842Z,1642798621.842 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2022-01-21T20:57:01.842Z,1642798621.842 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2022-01-21T20:57:01.843Z,1642798621.843 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2022-01-21T20:57:01.843Z,1642798621.843 [VerticalHomogeneityIndexCalculator](DEBUG): (re)initializing
2022-01-21T20:57:01.844Z,1642798621.844 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2022-01-21T20:57:01.844Z,1642798621.844 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2022-01-21T20:57:01.845Z,1642798621.845 [SBIT](INFO): Initialize SBIT Component.
2022-01-21T20:57:01.845Z,1642798621.845 [SBIT](IMPORTANT): git: 2022-01-19
2022-01-21T20:57:01.846Z,1642798621.846 [SBIT](INFO): git hash: 3c152841e44dce493716324b2ee7dcf988968060
2022-01-21T20:57:01.846Z,1642798621.846 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2022-01-21T20:57:01.847Z,1642798621.847 [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
2022-01-21T20:57:01.848Z,1642798621.848 [SBIT](INFO): Beginning SBIT in 44.000000 seconds.
2022-01-21T20:57:01.849Z,1642798621.849 [IBIT](INFO): Initialize IBIT Component.
2022-01-21T20:57:01.850Z,1642798621.850 [CBIT](DEBUG): Initialize CBIT Component.
2022-01-21T20:57:01.851Z,1642798621.851 [logger ThreadHandler](INFO): Handler Thread ID is 7621
2022-01-21T20:57:01.861Z,1642798621.861 [CBIT](DEBUG): Initialized mux pins.
2022-01-21T20:57:01.861Z,1642798621.861 [CBIT](DEBUG): Initializing the watchdog timer.
2022-01-21T20:57:01.870Z,1642798621.870 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 7622
2022-01-21T20:57:01.882Z,1642798621.882 [Onboard ThreadHandler](INFO): Handler Thread ID is 7623
2022-01-21T20:57:01.886Z,1642798621.886 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2022-01-21T20:57:01.887Z,1642798621.887 [CBIT](DEBUG): Initializing heartbeat.
2022-01-21T20:57:01.902Z,1642798621.902 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 7624
2022-01-21T20:57:01.907Z,1642798621.907 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2022-01-21T20:57:01.922Z,1642798621.922 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 7626
2022-01-21T20:57:01.923Z,1642798621.923 [WetLabsSeaOWL_UV_A](INFO): Powering down
2022-01-21T20:57:01.934Z,1642798621.934 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 7627
2022-01-21T20:57:01.942Z,1642798621.942 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2022-01-21T20:57:01.942Z,1642798621.942 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2022-01-21T20:57:01.943Z,1642798621.943 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2022-01-21T20:57:01.943Z,1642798621.943 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2022-01-21T20:57:01.943Z,1642798621.943 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2022-01-21T20:57:01.943Z,1642798621.943 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2022-01-21T20:57:01.943Z,1642798621.943 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2022-01-21T20:57:01.943Z,1642798621.943 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2022-01-21T20:57:01.944Z,1642798621.944 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2022-01-21T20:57:01.944Z,1642798621.944 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2022-01-21T20:57:01.944Z,1642798621.944 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2022-01-21T20:57:01.944Z,1642798621.944 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2022-01-21T20:57:01.944Z,1642798621.944 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2022-01-21T20:57:01.944Z,1642798621.944 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2022-01-21T20:57:01.944Z,1642798621.944 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2022-01-21T20:57:01.945Z,1642798621.945 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2022-01-21T20:57:01.957Z,1642798621.957 [CBIT](DEBUG): Deactivating GF circuits.
2022-01-21T20:57:01.957Z,1642798621.957 [CBIT](DEBUG): Deactivating emergency mode.
2022-01-21T20:57:01.993Z,1642798621.993 [CBIT](DEBUG): Backplane powered.
2022-01-21T20:57:01.994Z,1642798621.994 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2022-01-21T20:57:01.995Z,1642798621.995 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2022-01-21T20:57:01.996Z,1642798621.996 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2022-01-21T20:57:01.997Z,1642798621.997 [LoopControl](DEBUG): Initialize LoopControlComponent.
2022-01-21T20:57:01.998Z,1642798621.998 [MissionManager](INFO): Loading Mission from file: Missions/Startup.xml
2022-01-21T20:57:02.020Z,1642798622.020 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2022-01-21T20:57:02.052Z,1642798622.052 [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>


2022-01-21T20:57:02.053Z,1642798622.053 [MissionManager](INFO): Loading Mission from file: Missions/Default.xml
2022-01-21T20:57:02.138Z,1642798622.138 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2022-01-21T20:57:02.139Z,1642798622.139 [Default:A.Wait](DEBUG): Construct Wait.
2022-01-21T20:57:02.149Z,1642798622.149 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2022-01-21T20:57:02.185Z,1642798622.185 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2022-01-21T20:57:02.187Z,1642798622.187 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2022-01-21T20:57:02.213Z,1642798622.213 [Default:E.Execute](DEBUG): Construct Execute.
2022-01-21T20:57:02.216Z,1642798622.216 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
         xmlns="Tethys"
         xmlns:Units="Tethys/Units"
         xmlns:Guidance="Tethys/Guidance"
         xmlns:Universal="Tethys/Universal"
         xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                             Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                             Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                             Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
         Id="Default">

    <DefineArg Name="ElapsedSinceDefaultStarted"><Units:minute/><Value>0</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>13</Value></Setting>
    </Guidance:Wait>

    <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>

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

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

</Mission>


2022-01-21T20:57:02.230Z,1642798622.230 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,Depth_Keller,DropWeight,Micromodem,NAL9602,PowerOnly,Power24vConverter,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,VerticalHomogeneityIndexCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,WorkSite,LBLNavigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterHE,SBIT,IBIT,CBIT,LcmUniversalReporter,Reporter,LogSplitter,
2022-01-21T20:57:02.242Z,1642798622.242 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2022-01-21T20:57:02.428Z,1642798622.428 [Power24vConverter](INFO): Powering up.
2022-01-21T20:57:02.471Z,1642798622.471 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2022-01-21T20:57:02.478Z,1642798622.478 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2022-01-21T20:57:02.479Z,1642798622.479 [ElevatorServo](DEBUG): Initializing EZServoServo.
2022-01-21T20:57:02.486Z,1642798622.486 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2022-01-21T20:57:02.487Z,1642798622.487 [MassServo](DEBUG): Initializing EZServoServo.
2022-01-21T20:57:02.494Z,1642798622.494 [MassServo](DEBUG): Initializing MassServo.
2022-01-21T20:57:02.494Z,1642798622.494 [RudderServo](DEBUG): Initializing EZServoServo.
2022-01-21T20:57:02.502Z,1642798622.502 [RudderServo](DEBUG): Initializing RudderServo.
2022-01-21T20:57:02.503Z,1642798622.503 [ThrusterHE](DEBUG): Initializing EZServoServo.
2022-01-21T20:57:02.510Z,1642798622.510 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2022-01-21T20:57:02.658Z,1642798622.658 [Micromodem](INFO): Powering up
2022-01-21T20:57:02.658Z,1642798622.658 [Micromodem](DEBUG): Initializing Micromodem.
2022-01-21T20:57:03.377Z,1642798623.377 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2022-01-21T20:57:03.378Z,1642798623.378 [RudderServo](FAULT): Rudder failed to initialize
2022-01-21T20:57:03.378Z,1642798623.378 [RudderServo] Communications Fault, FailCount= 1
2022-01-21T20:57:03.378Z,1642798623.378 [RudderServo](ERROR): Communications Fault
2022-01-21T20:57:03.381Z,1642798623.381 [CBIT](ERROR): Communications Fault in component: RudderServo
2022-01-21T20:57:03.606Z,1642798623.606 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2022-01-21T20:57:03.607Z,1642798623.607 [RudderServo](INFO): Powering down
2022-01-21T20:57:04.278Z,1642798624.278 [RudderServo](DEBUG): Initializing EZServoServo.
2022-01-21T20:57:04.398Z,1642798624.398 [RudderServo](DEBUG): Initializing RudderServo.
2022-01-21T20:57:04.402Z,1642798624.402 [CBIT](INFO): Clearing failed state for component RudderServo
2022-01-21T20:57:04.402Z,1642798624.402 [RudderServo] No Fault, FailCount= 1
2022-01-21T20:57:07.529Z,1642798627.529 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2022-01-21T20:57:07.937Z,1642798627.937 [Micromodem](INFO): Nmea in: $CATMG,2022-01-21T20:57:07.688514Z,RTC,RTC*51

2022-01-21T20:57:07.938Z,1642798627.938 [Micromodem](ERROR): CFG response from modem unexpected: $CATMG,2022-01-21T20:57:07.688514Z,RTC,RTC*51

2022-01-21T20:57:08.262Z,1642798628.262 [ThrusterHE](ERROR): Zero Speed Commanded.
2022-01-21T20:57:08.340Z,1642798628.340 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2022-01-21T20:57:08.340Z,1642798628.340 [Micromodem](INFO): Nmea out: $CCCFG,POW,20*08

2022-01-21T20:57:08.731Z,1642798628.731 [Micromodem](INFO): Nmea in: $CACFG,POW,20*0A

2022-01-21T20:57:08.732Z,1642798628.732 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2022-01-21T20:57:08.958Z,1642798628.958 [CTD_Seabird](ERROR): Device message queue exceeded the allowed limit.
2022-01-21T20:57:09.147Z,1642798629.147 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2022-01-21T20:57:09.148Z,1642798629.148 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2022-01-21T20:57:09.540Z,1642798629.540 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2022-01-21T20:57:09.540Z,1642798629.540 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2022-01-21T20:57:09.956Z,1642798629.956 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2022-01-21T20:57:09.956Z,1642798629.956 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2022-01-21T20:57:10.347Z,1642798630.347 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2022-01-21T20:57:10.348Z,1642798630.348 [Micromodem](INFO): Nmea out: $CCCFG,FC0,14500*47

2022-01-21T20:57:10.756Z,1642798630.756 [Micromodem](INFO): Nmea in: $CACFG,FC0,14500*45

2022-01-21T20:57:10.756Z,1642798630.756 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2022-01-21T20:57:11.144Z,1642798631.144 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2022-01-21T20:57:11.144Z,1642798631.144 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2022-01-21T20:57:11.535Z,1642798631.535 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2022-01-21T20:57:11.539Z,1642798631.539 [Micromodem](INFO): Nmea out: $CCCLK,2022,01,21,20,57,12*47

2022-01-21T20:57:11.955Z,1642798631.955 [Micromodem](INFO): Nmea in: $CACLK,2022,1,21,20,57,12*75

2022-01-21T20:57:11.958Z,1642798631.958 [Micromodem](INFO): Nmea in: $CATMS,0,2022-01-21T20:57:13Z*74

2022-01-21T20:57:12.352Z,1642798632.352 [Micromodem](INFO): Nmea in: $CATMG,2022-01-21T20:57:13.028957Z,USER_CMD,RTC*12

2022-01-21T20:57:29.722Z,1642798649.722 [NAL9602](INFO): Powering up NAL9602
2022-01-21T20:57:40.624Z,1642798660.624 [NAL9602](INFO): NAL9602 initialized
2022-01-21T20:57:46.322Z,1642798666.322 [SBIT](IMPORTANT): Beginning Startup BIT
2022-01-21T20:57:46.350Z,1642798666.350 [CBIT](IMPORTANT): Beginning ground fault scan
2022-01-21T20:57:53.153Z,1642798673.153 [NAL9602](INFO): SBD MO Status=0, MOMSN=31414, MT Status=0, MTMSN=0
2022-01-21T20:57:53.153Z,1642798673.153 [NAL9602](INFO): No messages in MT queue
2022-01-21T20:57:57.279Z,1642798677.279 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.008179
CHAN A1 (24V): -0.025933
CHAN A2 (12V): -0.005984
CHAN A3 (5V): -0.001680
CHAN B0 (3.3V): 0.000364
CHAN B1 (3.15aV): 0.000278
CHAN B2 (3.15bV): 0.000013
CHAN B3 (GND): 0.002572
OPEN: 0.005341
Full Scale: +/- 1 mA
2022-01-21T20:58:40.454Z,1642798720.454 [SBIT](IMPORTANT): SBIT PASSED
2022-01-21T20:58:40.454Z,1642798720.454 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2022-01-21T20:58:40.455Z,1642798720.455 [SBIT](IMPORTANT): BuoyancyServo.fastPumpCoefficient=2 none;

2022-01-21T20:58:40.455Z,1642798720.455 [SBIT](IMPORTANT): BuoyancyServo.velocity=800 none;

2022-01-21T20:58:40.455Z,1642798720.455 [SBIT](IMPORTANT): CBIT.gfScanTimeout=2 hour;

2022-01-21T20:58:40.455Z,1642798720.455 [SBIT](IMPORTANT): DataOverHttps.loadAtStartup=0 bool;

2022-01-21T20:58:40.455Z,1642798720.455 [SBIT](IMPORTANT): Express none CTD_Seabird.bin_median_sea_water_salinity;

2022-01-21T20:58:40.456Z,1642798720.456 [SBIT](IMPORTANT): Express none CTD_Seabird.bin_median_sea_water_temperature;

2022-01-21T20:58:40.456Z,1642798720.456 [SBIT](IMPORTANT): Express none WetLabsSeaOWL_UV_A.mass_concentration_of_chlorophyll_in_sea_water;

2022-01-21T20:58:40.456Z,1642798720.456 [SBIT](IMPORTANT): Express none platform_average_current;

2022-01-21T20:58:40.456Z,1642798720.456 [SBIT](IMPORTANT): NAL9602.fastGPSFix=0 bool;

2022-01-21T20:58:40.456Z,1642798720.456 [SBIT](IMPORTANT): RDI_Pathfinder.loadAtStartup=0 bool;

2022-01-21T20:58:40.456Z,1642798720.456 [SBIT](IMPORTANT): RDI_PathfinderUp.loadAtStartup=0 bool;

2022-01-21T20:58:40.456Z,1642798720.456 [SBIT](IMPORTANT): Radio_Surface.loadAtStartup=0 bool;

2022-01-21T20:58:40.456Z,1642798720.456 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=154 cubic_centimeter;

2022-01-21T20:58:40.456Z,1642798720.456 [SBIT](IMPORTANT): VerticalControl.massDefault=6 millimeter;

2022-01-21T20:58:40.869Z,1642798720.869 [WorkSite](IMPORTANT): Reading workSite position from Data/workSite.cfg
2022-01-21T20:58:40.872Z,1642798720.872 [WorkSite](IMPORTANT): WorkSite fix at 20220121T205610: (40.906443, -70.649098)
2022-01-21T20:58:40.874Z,1642798720.874 [MissionManager](IMPORTANT): Started mission Startup
2022-01-21T20:58:40.874Z,1642798720.874 [Startup] Running Loop=1
2022-01-21T20:58:40.874Z,1642798720.874 [Startup](DEBUG): Aggregate::initialize Startup
2022-01-21T20:58:40.874Z,1642798720.874 [Startup:A.GoToSurface] Running Loop=1
2022-01-21T20:58:40.874Z,1642798720.874 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2022-01-21T20:58:40.875Z,1642798720.875 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2022-01-21T20:58:40.875Z,1642798720.875 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2022-01-21T20:58:40.876Z,1642798720.876 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2022-01-21T20:58:40.876Z,1642798720.876 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2022-01-21T20:58:40.876Z,1642798720.876 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2022-01-21T20:58:40.878Z,1642798720.878 [Startup:StartupSatComms] Running Loop=1
2022-01-21T20:58:40.878Z,1642798720.878 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2022-01-21T20:58:40.878Z,1642798720.878 [Startup:StartupSatComms:A] Running Loop=1
2022-01-21T20:58:41.267Z,1642798721.267 [LBLNavigation](INFO): Reset ping filters
2022-01-21T20:58:41.267Z,1642798721.267 [LBLNavigation](INFO): Reset fix filter
2022-01-21T20:58:41.268Z,1642798721.268 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2022-01-21T20:59:41.059Z,1642798781.059 [Startup:StartupSatComms:A](INFO): Timed out from 2022-01-21T20:58:40.9Z
2022-01-21T20:59:41.059Z,1642798781.059 [Startup:StartupSatComms:A] Stopped
2022-01-21T20:59:41.059Z,1642798781.059 [Startup:StartupSatComms:B] Running Loop=1
2022-01-21T20:59:41.474Z,1642798781.474 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2022-01-21T20:59:58.840Z,1642798798.840 [NAL9602](INFO): SBD MO Status=1, MOMSN=31415, MT Status=0, MTMSN=0
2022-01-21T20:59:58.894Z,1642798798.894 [NAL9602](INFO): Sent 52 bytes from file Logs/20220121T173303/Courier0018.lzma
2022-01-21T20:59:58.894Z,1642798798.894 [NAL9602](INFO): Packets left to send: 0
2022-01-21T21:00:12.241Z,1642798812.241 [NAL9602](INFO): SBD MO Status=1, MOMSN=31416, MT Status=0, MTMSN=0
2022-01-21T21:00:12.290Z,1642798812.290 [NAL9602](INFO): Sent 184 bytes from file Logs/20220121T205650/Courier0000.lzma
2022-01-21T21:00:12.290Z,1642798812.290 [NAL9602](INFO): Packets left to send: 1
2022-01-21T21:00:17.534Z,1642798817.534 [NAL9602](INFO): SBD MO Status=1, MOMSN=31417, MT Status=0, MTMSN=0
2022-01-21T21:00:17.588Z,1642798817.588 [NAL9602](INFO): Sent 74 bytes from file Logs/20220121T205650/Courier0000.lzma
2022-01-21T21:00:17.588Z,1642798817.588 [NAL9602](INFO): Packets left to send: 0
2022-01-21T21:00:23.662Z,1642798823.662 [NAL9602](INFO): SBD MO Status=1, MOMSN=31418, MT Status=0, MTMSN=0
2022-01-21T21:00:23.710Z,1642798823.710 [NAL9602](INFO): Sent 151 bytes from file Logs/20220121T173303/Express0016.lzma
2022-01-21T21:00:23.710Z,1642798823.710 [NAL9602](INFO): Packets left to send: 0
2022-01-21T21:00:34.633Z,1642798834.633 [NAL9602](INFO): SBD MO Status=1, MOMSN=31419, MT Status=0, MTMSN=0
2022-01-21T21:00:34.690Z,1642798834.690 [NAL9602](INFO): Sent 145 bytes from file Logs/20220121T173303/Express0019.lzma
2022-01-21T21:00:34.690Z,1642798834.690 [NAL9602](INFO): Packets left to send: 0
2022-01-21T21:00:41.167Z,1642798841.167 [Startup:StartupSatComms:B](INFO): Timed out from 2022-01-21T20:59:41.1Z
2022-01-21T21:00:41.167Z,1642798841.167 [Startup:StartupSatComms:B] Stopped
2022-01-21T21:00:41.167Z,1642798841.167 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2022-01-21T21:00:41.167Z,1642798841.167 [Startup:StartupSatComms] Stopped
2022-01-21T21:00:41.167Z,1642798841.167 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2022-01-21T21:00:41.168Z,1642798841.168 [Startup](INFO): Completed Startup
2022-01-21T21:00:41.168Z,1642798841.168 [MissionManager](INFO): Startup is completed.
2022-01-21T21:00:41.168Z,1642798841.168 [MissionManager](INFO): Uninitializing Mission Startup
2022-01-21T21:00:41.168Z,1642798841.168 [Startup] Stopped
2022-01-21T21:00:41.168Z,1642798841.168 [Startup](DEBUG): Aggregate::uninitialize Startup
2022-01-21T21:00:41.168Z,1642798841.168 [Startup:A.GoToSurface] Stopped
2022-01-21T21:00:41.168Z,1642798841.168 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2022-01-21T21:00:41.576Z,1642798841.576 [MissionManager](IMPORTANT): Started mission Default
2022-01-21T21:00:41.577Z,1642798841.577 [Default] Running Loop=1
2022-01-21T21:00:41.577Z,1642798841.577 [Default](DEBUG): Aggregate::initialize Default
2022-01-21T21:00:41.577Z,1642798841.577 [Default:B.GoToSurface] Running Loop=1
2022-01-21T21:00:41.577Z,1642798841.577 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2022-01-21T21:00:41.577Z,1642798841.577 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2022-01-21T21:00:41.578Z,1642798841.578 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2022-01-21T21:00:41.578Z,1642798841.578 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2022-01-21T21:00:41.578Z,1642798841.578 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2022-01-21T21:00:41.579Z,1642798841.579 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2022-01-21T21:00:41.579Z,1642798841.579 [Default:A.Wait] Running Loop=1
2022-01-21T21:00:41.579Z,1642798841.579 [Default:A.Wait](DEBUG): Initialize Wait Component.
2022-01-21T21:00:43.181Z,1642798843.181 [NAL9602](INFO): SBD MO Status=1, MOMSN=31420, MT Status=0, MTMSN=0
2022-01-21T21:00:43.234Z,1642798843.234 [NAL9602](INFO): Sent 184 bytes from file Logs/20220121T205650/Express0001.lzma
2022-01-21T21:00:43.234Z,1642798843.234 [NAL9602](INFO): Packets left to send: 5
2022-01-21T21:00:54.910Z,1642798854.910 [Default:A.Wait](INFO): Done Waiting.
2022-01-21T21:00:54.910Z,1642798854.910 [Default:A.Wait] Stopped
2022-01-21T21:00:54.910Z,1642798854.910 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2022-01-21T21:00:55.307Z,1642798855.307 [Default:CheckIn] Running Loop=1
2022-01-21T21:00:55.307Z,1642798855.307 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2022-01-21T21:00:55.307Z,1642798855.307 [Default:CheckIn:Read_GPS] Running Loop=1
2022-01-21T21:00:55.710Z,1642798855.710 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2022-01-21T21:00:57.312Z,1642798857.312 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,210056.00,A,4054.34393,N,07039.01688,W,0.525,215.93,210122,,,A*71
2022-01-21T21:00:57.315Z,1642798857.315 [NAL9602](INFO): GPS fix at 20220121T210056: (40.905732, -70.650281)
2022-01-21T21:00:57.327Z,1642798857.327 [Default:CheckIn:Read_GPS] Stopped
2022-01-21T21:00:57.327Z,1642798857.327 [Default:CheckIn:Read_Iridium] Running Loop=1
2022-01-21T21:00:57.748Z,1642798857.748 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2022-01-21T21:01:17.617Z,1642798877.617 [NAL9602](INFO): SBD MO Status=1, MOMSN=31421, MT Status=0, MTMSN=0
2022-01-21T21:01:17.666Z,1642798877.666 [NAL9602](INFO): Sent 72 bytes from file Logs/20220121T205650/Courier0004.lzma
2022-01-21T21:01:17.666Z,1642798877.666 [NAL9602](INFO): Packets left to send: 0
2022-01-21T21:01:54.849Z,1642798914.849 [NAL9602](INFO): SBD MO Status=2, MOMSN=31422, MT Status=2, MTMSN=0
2022-01-21T21:01:54.849Z,1642798914.849 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2022-01-21T21:02:10.321Z,1642798930.321 [NAL9602](INFO): SBD MO Status=1, MOMSN=31422, MT Status=0, MTMSN=0
2022-01-21T21:02:10.370Z,1642798930.370 [NAL9602](INFO): Sent 184 bytes from file Logs/20220121T205650/Express0001.lzma
2022-01-21T21:02:10.370Z,1642798930.370 [NAL9602](INFO): Packets left to send: 4
2022-01-21T21:02:20.061Z,1642798940.061 [NAL9602](INFO): SBD MO Status=1, MOMSN=31423, MT Status=0, MTMSN=0
2022-01-21T21:02:20.118Z,1642798940.118 [NAL9602](INFO): Sent 184 bytes from file Logs/20220121T205650/Express0001.lzma
2022-01-21T21:02:20.118Z,1642798940.118 [NAL9602](INFO): Packets left to send: 3
2022-01-21T21:02:37.088Z,1642798957.088 [NAL9602](INFO): SBD MO Status=1, MOMSN=31424, MT Status=0, MTMSN=0
2022-01-21T21:02:37.138Z,1642798957.138 [NAL9602](INFO): Sent 184 bytes from file Logs/20220121T205650/Express0001.lzma
2022-01-21T21:02:37.138Z,1642798957.138 [NAL9602](INFO): Packets left to send: 2
2022-01-21T21:02:49.653Z,1642798969.653 [NAL9602](INFO): SBD MO Status=1, MOMSN=31425, MT Status=0, MTMSN=0
2022-01-21T21:02:49.700Z,1642798969.700 [NAL9602](INFO): Sent 184 bytes from file Logs/20220121T205650/Express0001.lzma
2022-01-21T21:02:49.701Z,1642798969.701 [NAL9602](INFO): Packets left to send: 1
2022-01-21T21:03:05.850Z,1642798985.850 [NAL9602](INFO): SBD MO Status=1, MOMSN=31426, MT Status=0, MTMSN=0
2022-01-21T21:03:05.898Z,1642798985.898 [NAL9602](INFO): Sent 131 bytes from file Logs/20220121T205650/Express0001.lzma
2022-01-21T21:03:05.898Z,1642798985.898 [NAL9602](INFO): Packets left to send: 0
2022-01-21T21:03:31.359Z,1642799011.359 [NAL9602](INFO): SBD MO Status=2, MOMSN=31427, MT Status=2, MTMSN=0
2022-01-21T21:03:31.359Z,1642799011.359 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2022-01-21T21:03:48.001Z,1642799028.001 [NAL9602](INFO): SBD MO Status=1, MOMSN=31427, MT Status=0, MTMSN=0
2022-01-21T21:03:48.054Z,1642799028.054 [NAL9602](INFO): Sent 93 bytes from file Logs/20220121T205650/Express0005.lzma
2022-01-21T21:03:48.054Z,1642799028.054 [NAL9602](INFO): Packets left to send: 0
2022-01-21T21:04:10.218Z,1642799050.218 [NAL9602](INFO): SBD MO Status=2, MOMSN=31428, MT Status=2, MTMSN=0
2022-01-21T21:04:10.219Z,1642799050.219 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2022-01-21T21:04:17.142Z,1642799057.142 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2022-01-21T21:04:21.953Z,1642799061.953 [NAL9602](INFO): SBD MO Status=0, MOMSN=31428, MT Status=0, MTMSN=0
2022-01-21T21:04:22.039Z,1642799062.039 [Default:CheckIn:Read_Iridium] Stopped
2022-01-21T21:04:22.039Z,1642799062.039 [Default:CheckIn:C.Wait] Running Loop=1
2022-01-21T21:04:22.039Z,1642799062.039 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2022-01-21T21:04:23.954Z,1642799063.954 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2022-01-21T21:04:23.957Z,1642799063.957 [BPC1](INFO): Received data from all battery sticks.
2022-01-21T21:04:52.633Z,1642799092.633 [NAL9602](INFO): Powering down
2022-01-21T21:09:22.542Z,1642799362.542 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2022-01-21T21:09:22.542Z,1642799362.542 [Default:CheckIn:C.Wait] Stopped
2022-01-21T21:09:22.542Z,1642799362.542 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2022-01-21T21:09:22.542Z,1642799362.542 [Default:CheckIn:D] Running Loop=1
2022-01-21T21:09:22.933Z,1642799362.933 [Default:CheckIn:D] Stopped
2022-01-21T21:09:22.933Z,1642799362.933 [Default:CheckIn:E] Running Loop=1
2022-01-21T21:09:23.330Z,1642799363.330 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 8.689275 min 
2022-01-21T21:09:23.330Z,1642799363.330 [Default:CheckIn:E] Stopped
2022-01-21T21:09:23.330Z,1642799363.330 [Default:CheckIn](INFO): Completed Default:CheckIn
2022-01-21T21:09:23.330Z,1642799363.330 [Default:CheckIn] Stopped
2022-01-21T21:09:23.330Z,1642799363.330 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2022-01-21T21:09:23.330Z,1642799363.330 [Default:CheckIn](INFO): Running loop #2
2022-01-21T21:09:23.330Z,1642799363.330 [Default:CheckIn] Running Loop=2
2022-01-21T21:09:23.331Z,1642799363.331 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2022-01-21T21:09:23.331Z,1642799363.331 [Default:CheckIn:Read_GPS] Running Loop=1
2022-01-21T21:09:24.123Z,1642799364.123 [NAL9602](INFO): Powering up
2022-01-21T21:09:35.035Z,1642799375.035 [NAL9602](INFO): NAL9602 initialized
2022-01-21T21:09:36.249Z,1642799376.249 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,210934.00,A,4054.28390,N,07039.13701,W,0.603,223.03,210122,,,A*7A
2022-01-21T21:09:36.251Z,1642799376.251 [NAL9602](INFO): GPS fix at 20220121T210934: (40.904732, -70.652283)
2022-01-21T21:09:36.283Z,1642799376.283 [Default:CheckIn:Read_GPS] Stopped
2022-01-21T21:09:36.283Z,1642799376.283 [Default:CheckIn:Read_Iridium] Running Loop=1
2022-01-21T21:09:52.849Z,1642799392.849 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=31429, MT Status=1, MTMSN=1035
2022-01-21T21:09:52.902Z,1642799392.902 [NAL9602](INFO): Sent 184 bytes from file Logs/20220121T205650/Courier0007.lzma
2022-01-21T21:09:52.902Z,1642799392.902 [NAL9602](INFO): Packets left to send: 1
2022-01-21T21:09:53.530Z,1642799393.530 [NAL9602](INFO): Received command: load Transport/transit.xml;set transit.MissionTimeout 1440 min;set transit.NeedCommsTime 180 min;set transit.Latitude 40.584094 degree;set transit.Longitude -70.37598 degree;set transit.Speed .85 m/s;run
2022-01-21T21:09:53.558Z,1642799393.558 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.xml
2022-01-21T21:09:53.558Z,1642799393.558 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.xml
2022-01-21T21:09:53.689Z,1642799393.689 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2022-01-21T21:09:53.695Z,1642799393.695 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2022-01-21T21:09:53.698Z,1642799393.698 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2022-01-21T21:09:53.701Z,1642799393.701 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2022-01-21T21:09:53.720Z,1642799393.720 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2022-01-21T21:09:53.727Z,1642799393.727 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2022-01-21T21:09:53.734Z,1642799393.734 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2022-01-21T21:09:53.736Z,1642799393.736 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2022-01-21T21:09:53.743Z,1642799393.743 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2022-01-21T21:09:53.747Z,1642799393.747 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2022-01-21T21:09:53.758Z,1642799393.758 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2022-01-21T21:09:53.760Z,1642799393.760 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2022-01-21T21:09:53.767Z,1642799393.767 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2022-01-21T21:09:53.767Z,1642799393.767 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.xml
2022-01-21T21:09:53.852Z,1642799393.852 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 3.000000 h
2022-01-21T21:09:53.859Z,1642799393.859 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2022-01-21T21:09:53.863Z,1642799393.863 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2022-01-21T21:09:53.874Z,1642799393.874 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2022-01-21T21:09:53.887Z,1642799393.887 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2022-01-21T21:09:53.894Z,1642799393.894 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2022-01-21T21:09:53.897Z,1642799393.897 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2022-01-21T21:09:53.912Z,1642799393.912 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2022-01-21T21:09:53.949Z,1642799393.949 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.xml
2022-01-21T21:09:53.991Z,1642799393.991 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2022-01-21T21:09:54.006Z,1642799394.006 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2022-01-21T21:09:54.009Z,1642799394.009 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2022-01-21T21:09:54.014Z,1642799394.014 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2022-01-21T21:09:54.030Z,1642799394.030 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2022-01-21T21:09:54.087Z,1642799394.087 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2022-01-21T21:09:54.143Z,1642799394.143 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2022-01-21T21:09:54.147Z,1642799394.147 [transit:MassHold.Pitch](DEBUG): Construct.
2022-01-21T21:09:54.165Z,1642799394.165 [transit:Transit:A.Pitch](DEBUG): Construct.
2022-01-21T21:09:54.171Z,1642799394.171 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2022-01-21T21:09:54.194Z,1642799394.194 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2022-01-21T21:09:54.212Z,1642799394.212 [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="transit">

    <Description>
        Vehicle transits to desired waypoint and can be commanded to use/hold
        mass or buoyancy.
    </Description>

    <DefineArg Name="MissionTimeout"><Description>
        Maximum duration of mission
    </Description><Units:minute/><Value>60</Value></DefineArg>

    <DefineArg Name="NeedCommsTime"><Description>
        How often to surface for commumications
    </Description><Units:minute/><Value>30</Value></DefineArg>

    <DefineArg Name="Latitude"><Description>
        Latitude of waypoint to seek. If set to NaN, uses latitude at mission
        initialization.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Longitude"><Description>
        Longitude of waypoint to seek. If set to NaN, uses longitude at mission
        initialization.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Northings"><Description>
        Northward distance of the waypoint to seek. If combined with Latitude
        and/or Longitude, this is an offset from the specified Latitude and/or
        Longitude.
    </Description><Units:meter/><Value>0</Value></DefineArg>

    <DefineArg Name="Eastings"><Description>
        Eastward distance of the waypoint to seek. If combined with Latitude
        and/or Longitude, this is an offset from the specified Latitude and/or
        Longitude.
    </Description><Units:meter/><Value>0</Value></DefineArg>

    <DefineArg Name="Depth"><Description>
        Depth of flat and level flight during the mission.
    </Description><Units:meter /><Value>10</Value></DefineArg>

    <DefineArg Name="Speed"><Description>
        Speed of vehicle (relative to water) during the mission.
    </Description><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>20</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Description>
        Minimum distance offshore for the entire mission.
    </Description><Units:kilometer/><Value>1</Value></DefineArg>

    <DefineArg Name="MinAltitude"><Description>
        Minimum height above the sea floor for the entire mission.
    </Description><Units:meter/><Value>7</Value></DefineArg>

    <DefineArg Name="MassHold"><Description>
        Set to True in order to hold mass at default position, False to allow
        mass to run on its own.
    </Description><True/></DefineArg>

    <DefineArg Name="BuoyancyHold"><Description>
        Set to True in order to hold buoyancy at neutral position, False to
        allow buoyancy to run on its own.
    </Description><True/></DefineArg>

    <Timeout Duration="MissionTimeout"/>

    <Insert Filename="Insert/NeedComms.xml" Id="NeedComms"/>

    <Assign><Sequence/><Arg Name="NeedComms:DiveInterval"/><Arg Name="NeedCommsTime"/></Assign>

    <Assign><Sequence/><Arg Name="NeedComms:WaitForPitchUp"/><Units:second/><Value>1</Value></Assign>

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

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MinAltitude"/><Arg Name="MinAltitude"/></Assign>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MaxDepth"/><Arg Name="MaxDepth"/></Assign>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MinOffshore"/><Arg Name="MinOffshore"/></Assign>

    <Guidance:Buoyancy Id="BuoyancyHold">
        <While>
            <Arg Name="BuoyancyHold"/>
        </While>
        <Setting><Guidance:Buoyancy.position/><Control:VerticalControl.buoyancyNeutral/></Setting>
    </Guidance:Buoyancy>

    <Guidance:Pitch Id="MassHold">
        <While>
            <Arg Name="MassHold"/>
        </While>
        <Setting><Guidance:Pitch.massPosition/><Control:VerticalControl.massDefault/></Setting>
    </Guidance:Pitch>

    <Aggregate Id="Transit">

        <Sequence/>

        <Guidance:Pitch>
            <Parallel/>
            <Setting><Guidance:Pitch.depth/><Arg Name="Depth"/></Setting>
        </Guidance:Pitch>

        <Guidance:SetSpeed>
            <Parallel/>
            <Setting><Guidance:SetSpeed.speed/><Arg Name="Speed"/></Setting>
        </Guidance:SetSpeed>

        <Guidance:Waypoint Id="Wpt1">
            <Sequence/>
            <Setting><Guidance:Waypoint.latitude/><Arg Name="Latitude"/></Setting>
            <Setting><Guidance:Waypoint.longitude/><Arg Name="Longitude"/></Setting>
            <Setting><Guidance:Waypoint.northingsDelta/><Arg Name="Northings"/></Setting>
            <Setting><Guidance:Waypoint.eastingsDelta/><Arg Name="Eastings"/></Setting>
        </Guidance:Waypoint>

        <Call Id="PhoneHome" RefId="NeedComms"/>

    </Aggregate>

</Mission>


2022-01-21T21:09:54.212Z,1642799394.212 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.xml
2022-01-21T21:10:00.076Z,1642799400.076 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 1440 minute
2022-01-21T21:10:00.077Z,1642799400.077 [CommandExec](IMPORTANT): got command set transit.NeedCommsTime 180 minute
2022-01-21T21:10:00.078Z,1642799400.078 [CommandExec](IMPORTANT): got command set transit.Latitude 40.584094 degree
2022-01-21T21:10:00.078Z,1642799400.078 [CommandExec](IMPORTANT): got command set transit.Longitude -70.37598 degree
2022-01-21T21:10:00.079Z,1642799400.079 [CommandExec](IMPORTANT): got command set transit.Speed .85 meter_per_second
2022-01-21T21:10:00.080Z,1642799400.080 [CommandExec](IMPORTANT): got command run
2022-01-21T21:10:00.082Z,1642799400.082 [CommandExec](IMPORTANT): Running 
2022-01-21T21:10:00.163Z,1642799400.163 [Default] Stopped
2022-01-21T21:10:00.163Z,1642799400.163 [Default](DEBUG): Aggregate::uninitialize Default
2022-01-21T21:10:00.163Z,1642799400.163 [Default:B.GoToSurface] Stopped
2022-01-21T21:10:00.163Z,1642799400.163 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2022-01-21T21:10:00.163Z,1642799400.163 [Default:CheckIn] Stopped
2022-01-21T21:10:00.164Z,1642799400.164 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2022-01-21T21:10:00.164Z,1642799400.164 [Default:CheckIn:Read_Iridium] Stopped
2022-01-21T21:10:00.164Z,1642799400.164 [MissionManager](IMPORTANT): Started mission transit
2022-01-21T21:10:00.164Z,1642799400.164 [transit] Running Loop=1
2022-01-21T21:10:00.164Z,1642799400.164 [transit](DEBUG): Aggregate::initialize transit
2022-01-21T21:10:00.164Z,1642799400.164 [transit:StandardEnvelopes] Running Loop=1
2022-01-21T21:10:00.164Z,1642799400.164 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2022-01-21T21:10:00.164Z,1642799400.164 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2022-01-21T21:10:00.164Z,1642799400.164 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2022-01-21T21:10:00.165Z,1642799400.165 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2022-01-21T21:10:00.165Z,1642799400.165 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2022-01-21T21:10:00.165Z,1642799400.165 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2022-01-21T21:10:00.169Z,1642799400.169 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2022-01-21T21:10:00.169Z,1642799400.169 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2022-01-21T21:10:00.169Z,1642799400.169 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2022-01-21T21:10:00.170Z,1642799400.170 [transit:MassHold.Pitch] Running Loop=1
2022-01-21T21:10:00.170Z,1642799400.170 [transit:MassHold.Pitch](DEBUG): Initialize.
2022-01-21T21:10:00.170Z,1642799400.170 [transit:B] Running Loop=1
2022-01-21T21:10:00.171Z,1642799400.171 [transit:MassHold.Pitch] Running Loop=1
2022-01-21T21:10:00.171Z,1642799400.171 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2022-01-21T21:10:00.171Z,1642799400.171 [transit:StandardEnvelopes] Running Loop=1
2022-01-21T21:10:00.171Z,1642799400.171 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2022-01-21T21:10:00.172Z,1642799400.172 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2022-01-21T21:10:00.173Z,1642799400.173 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2022-01-21T21:10:00.177Z,1642799400.177 [transit:B] Stopped
2022-01-21T21:10:00.177Z,1642799400.177 [transit:C] Running Loop=1
2022-01-21T21:10:00.278Z,1642799400.278 [transit:C] Stopped
2022-01-21T21:10:00.278Z,1642799400.278 [transit:E] Running Loop=1
2022-01-21T21:10:00.647Z,1642799400.647 [transit:E] Stopped
2022-01-21T21:10:00.647Z,1642799400.647 [transit:F] Running Loop=1
2022-01-21T21:10:01.032Z,1642799401.032 [transit:F] Stopped
2022-01-21T21:10:01.032Z,1642799401.032 [transit:G] Running Loop=1
2022-01-21T21:10:01.435Z,1642799401.435 [transit:G] Stopped
2022-01-21T21:10:01.435Z,1642799401.435 [transit:Transit] Running Loop=1
2022-01-21T21:10:01.435Z,1642799401.435 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2022-01-21T21:10:01.435Z,1642799401.435 [transit:Transit:A.Pitch] Running Loop=1
2022-01-21T21:10:01.435Z,1642799401.435 [transit:Transit:A.Pitch](DEBUG): Initialize.
2022-01-21T21:10:01.435Z,1642799401.435 [transit:Transit:B.SetSpeed] Running Loop=1
2022-01-21T21:10:01.435Z,1642799401.435 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2022-01-21T21:10:01.435Z,1642799401.435 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2022-01-21T21:10:01.436Z,1642799401.436 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2022-01-21T21:10:01.438Z,1642799401.438 [transit:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2022-01-21T21:10:01.848Z,1642799401.848 [transit:Transit:B.SetSpeed] Running Loop=1
2022-01-21T21:10:01.848Z,1642799401.848 [transit:Transit:A.Pitch] Running Loop=1
2022-01-21T21:10:16.783Z,1642799416.783 [NAL9602](INFO): SBD MO Status=2, MOMSN=31430, MT Status=2, MTMSN=0
2022-01-21T21:10:16.783Z,1642799416.783 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2022-01-21T21:10:47.480Z,1642799447.480 [NAL9602](INFO): Powering down
2022-01-21T22:11:47.724Z,1642803107.724 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2022-01-21T22:11:47.726Z,1642803107.726 [BPC1](INFO): Received data from all battery sticks.
2022-01-21T22:57:57.634Z,1642805877.634 [CBIT](IMPORTANT): Beginning ground fault scan
2022-01-21T22:58:08.648Z,1642805888.648 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.008481
CHAN A1 (24V): -0.025803
CHAN A2 (12V): -0.006470
CHAN A3 (5V): -0.002051
CHAN B0 (3.3V): -0.000004
CHAN B1 (3.15aV): 0.000581
CHAN B2 (3.15bV): 0.000611
CHAN B3 (GND): 0.002227
OPEN: 0.005827
Full Scale: +/- 1 mA
2022-01-21T23:19:12.572Z,1642807152.572 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2022-01-21T23:19:12.575Z,1642807152.575 [BPC1](INFO): Received data from all battery sticks.
2022-01-22T00:09:36.537Z,1642810176.537 [transit:NeedComms] Running Loop=1
2022-01-22T00:09:36.538Z,1642810176.538 [transit:NeedComms](DEBUG): Aggregate::initialize transit:NeedComms
2022-01-22T00:09:36.538Z,1642810176.538 [transit:NeedComms:B.GoToSurface] Running Loop=1
2022-01-22T00:09:36.538Z,1642810176.538 [transit:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2022-01-22T00:09:36.538Z,1642810176.538 [transit:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2022-01-22T00:09:36.538Z,1642810176.538 [transit:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2022-01-22T00:09:36.539Z,1642810176.539 [transit:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2022-01-22T00:09:36.539Z,1642810176.539 [transit:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2022-01-22T00:09:36.539Z,1642810176.539 [transit:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2022-01-22T00:09:36.540Z,1642810176.540 [transit:NeedComms:A] Running Loop=1
2022-01-22T00:09:36.541Z,1642810176.541 [transit:NeedComms:A](INFO): last time_fix was: 1642799374.000000 second since 1970/01/01T00:00:00Z 
2022-01-22T00:09:36.542Z,1642810176.542 [transit:NeedComms:A] Stopped
2022-01-22T00:10:18.974Z,1642810218.974 [transit:NeedComms:C] Running Loop=1
2022-01-22T00:10:19.354Z,1642810219.354 [transit:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2022-01-22T00:10:19.747Z,1642810219.747 [NAL9602](INFO): Powering up
2022-01-22T00:10:30.647Z,1642810230.647 [NAL9602](INFO): NAL9602 initialized
2022-01-22T00:10:57.721Z,1642810257.721 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=31430, MT Status=1, MTMSN=1036
2022-01-22T00:10:57.721Z,1642810257.721 [NAL9602](INFO): Data available in MT queue
2022-01-22T00:10:58.210Z,1642810258.210 [NAL9602](INFO): Received command: stop
2022-01-22T00:10:58.214Z,1642810258.214 [CommandExec](IMPORTANT): got command stop
2022-01-22T00:10:58.214Z,1642810258.214 [CommandExec](IMPORTANT): Scheduling is paused
2022-01-22T00:10:58.214Z,1642810258.214 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2022-01-22T00:10:58.233Z,1642810258.233 [MissionManager](INFO): MissionManager is completed.
2022-01-22T00:10:58.233Z,1642810258.233 [MissionManager](INFO): Uninitializing Mission transit
2022-01-22T00:10:58.233Z,1642810258.233 [transit] Stopped
2022-01-22T00:10:58.233Z,1642810258.233 [transit](DEBUG): Aggregate::uninitialize transit
2022-01-22T00:10:58.233Z,1642810258.233 [transit:NeedComms] Stopped
2022-01-22T00:10:58.234Z,1642810258.234 [transit:NeedComms](DEBUG): Aggregate::uninitialize transit:NeedComms
2022-01-22T00:10:58.234Z,1642810258.234 [transit:NeedComms:B.GoToSurface] Stopped
2022-01-22T00:10:58.234Z,1642810258.234 [transit:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2022-01-22T00:10:58.234Z,1642810258.234 [transit:NeedComms:C] Stopped
2022-01-22T00:10:58.234Z,1642810258.234 [transit:StandardEnvelopes] Stopped
2022-01-22T00:10:58.234Z,1642810258.234 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes
2022-01-22T00:10:58.234Z,1642810258.234 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2022-01-22T00:10:58.234Z,1642810258.234 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2022-01-22T00:10:58.234Z,1642810258.234 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped
2022-01-22T00:10:58.234Z,1642810258.234 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2022-01-22T00:10:58.234Z,1642810258.234 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2022-01-22T00:10:58.234Z,1642810258.234 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2022-01-22T00:10:58.234Z,1642810258.234 [transit:BuoyancyHold.Buoyancy] Stopped
2022-01-22T00:10:58.234Z,1642810258.234 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2022-01-22T00:10:58.234Z,1642810258.234 [transit:MassHold.Pitch] Stopped
2022-01-22T00:10:58.235Z,1642810258.235 [transit:Transit] Stopped
2022-01-22T00:10:58.235Z,1642810258.235 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit
2022-01-22T00:10:58.235Z,1642810258.235 [transit:Transit:A.Pitch] Stopped
2022-01-22T00:10:58.235Z,1642810258.235 [transit:Transit:B.SetSpeed] Stopped
2022-01-22T00:10:58.235Z,1642810258.235 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize.
2022-01-22T00:10:58.235Z,1642810258.235 [transit:Transit:Wpt1.Waypoint] Stopped
2022-01-22T00:10:58.235Z,1642810258.235 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2022-01-22T00:10:58.542Z,1642810258.542 [MissionManager](IMPORTANT): Started mission Default
2022-01-22T00:10:58.543Z,1642810258.543 [Default] Running Loop=1
2022-01-22T00:10:58.543Z,1642810258.543 [Default](DEBUG): Aggregate::initialize Default
2022-01-22T00:10:58.543Z,1642810258.543 [Default:B.GoToSurface] Running Loop=1
2022-01-22T00:10:58.543Z,1642810258.543 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2022-01-22T00:10:58.543Z,1642810258.543 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2022-01-22T00:10:58.543Z,1642810258.543 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2022-01-22T00:10:58.544Z,1642810258.544 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2022-01-22T00:10:58.544Z,1642810258.544 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2022-01-22T00:10:58.544Z,1642810258.544 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2022-01-22T00:10:58.545Z,1642810258.545 [Default:A.Wait] Running Loop=1
2022-01-22T00:10:58.545Z,1642810258.545 [Default:A.Wait](DEBUG): Initialize Wait Component.
2022-01-22T00:11:11.884Z,1642810271.884 [Default:A.Wait](INFO): Done Waiting.
2022-01-22T00:11:11.884Z,1642810271.884 [Default:A.Wait] Stopped
2022-01-22T00:11:11.884Z,1642810271.884 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2022-01-22T00:11:12.279Z,1642810272.279 [Default:CheckIn] Running Loop=1
2022-01-22T00:11:12.279Z,1642810272.279 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2022-01-22T00:11:12.280Z,1642810272.280 [Default:CheckIn:Read_GPS] Running Loop=1
2022-01-22T00:12:05.189Z,1642810325.189 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,001203.00,A,4050.40230,N,07038.54035,W,1.866,154.73,220122,,,A*7F
2022-01-22T00:12:05.191Z,1642810325.191 [NAL9602](INFO): GPS fix at 20220122T001203: (40.840038, -70.642339)
2022-01-22T00:12:05.204Z,1642810325.204 [UniversalFixResidualReporter](INFO): Fix residual: 44.4 %DT, over the last 9094.0 m. Residual distance 4037.1 m at bearing 95.5 degrees. Fix at (40.8400, -70.6423) with 7242.0 m made good.
2022-01-22T00:12:05.225Z,1642810325.225 [Default:CheckIn:Read_GPS] Stopped
2022-01-22T00:12:05.226Z,1642810325.226 [Default:CheckIn:Read_Iridium] Running Loop=1
2022-01-22T00:12:36.367Z,1642810356.367 [NAL9602](INFO): SBD MO Status=2, MOMSN=31431, MT Status=2, MTMSN=0
2022-01-22T00:12:36.367Z,1642810356.367 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2022-01-22T00:13:03.207Z,1642810383.207 [NAL9602](INFO): SBD MO Status=2, MOMSN=31431, MT Status=2, MTMSN=0
2022-01-22T00:13:03.207Z,1642810383.207 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2022-01-22T00:13:42.042Z,1642810422.042 [NAL9602](INFO): SBD MO Status=1, MOMSN=31431, MT Status=0, MTMSN=0
2022-01-22T00:13:42.098Z,1642810422.098 [NAL9602](INFO): Sent 18 bytes from file Logs/20220121T205650/Courier0007.lzma
2022-01-22T00:13:42.098Z,1642810422.098 [NAL9602](INFO): Packets left to send: 0
2022-01-22T00:14:22.481Z,1642810462.481 [NAL9602](INFO): SBD MO Status=2, MOMSN=31432, MT Status=2, MTMSN=0
2022-01-22T00:14:22.481Z,1642810462.481 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2022-01-22T00:14:56.869Z,1642810496.869 [NAL9602](INFO): SBD MO Status=2, MOMSN=31432, MT Status=2, MTMSN=0
2022-01-22T00:14:56.869Z,1642810496.869 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2022-01-22T00:15:25.999Z,1642810525.999 [NAL9602](INFO): SBD MO Status=2, MOMSN=31432, MT Status=2, MTMSN=0
2022-01-22T00:15:25.999Z,1642810525.999 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2022-01-22T00:15:44.633Z,1642810544.633 [NAL9602](INFO): SBD MO Status=1, MOMSN=31432, MT Status=0, MTMSN=0
2022-01-22T00:15:44.682Z,1642810544.682 [NAL9602](INFO): Sent 184 bytes from file Logs/20220121T205650/Courier0010.lzma
2022-01-22T00:15:44.682Z,1642810544.682 [NAL9602](INFO): Packets left to send: 1
2022-01-22T00:16:02.863Z,1642810562.863 [NAL9602](INFO): SBD MO Status=2, MOMSN=31433, MT Status=2, MTMSN=0
2022-01-22T00:16:02.863Z,1642810562.863 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2022-01-22T00:16:22.305Z,1642810582.305 [NAL9602](INFO): SBD MO Status=2, MOMSN=31433, MT Status=2, MTMSN=0
2022-01-22T00:16:22.305Z,1642810582.305 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2022-01-22T00:16:33.661Z,1642810593.661 [NAL9602](INFO): SBD MO Status=1, MOMSN=31433, MT Status=0, MTMSN=0
2022-01-22T00:16:33.722Z,1642810593.722 [NAL9602](INFO): Sent 36 bytes from file Logs/20220121T205650/Courier0010.lzma
2022-01-22T00:16:33.722Z,1642810593.722 [NAL9602](INFO): Packets left to send: 0
2022-01-22T00:16:42.189Z,1642810602.189 [NAL9602](INFO): SBD MO Status=1, MOMSN=31434, MT Status=0, MTMSN=0
2022-01-22T00:16:42.238Z,1642810602.238 [NAL9602](INFO): Sent 151 bytes from file Logs/20220121T205650/Express0008.lzma
2022-01-22T00:16:42.238Z,1642810602.238 [NAL9602](INFO): Packets left to send: 0
2022-01-22T00:16:55.973Z,1642810615.973 [NAL9602](INFO): SBD MO Status=1, MOMSN=31435, MT Status=0, MTMSN=0
2022-01-22T00:16:56.030Z,1642810616.030 [NAL9602](INFO): Sent 184 bytes from file Logs/20220121T205650/Express0011.lzma
2022-01-22T00:16:56.030Z,1642810616.030 [NAL9602](INFO): Packets left to send: 4
2022-01-22T00:17:17.423Z,1642810637.423 [NAL9602](INFO): SBD MO Status=1, MOMSN=31436, MT Status=0, MTMSN=0
2022-01-22T00:17:17.478Z,1642810637.478 [NAL9602](INFO): Sent 184 bytes from file Logs/20220121T205650/Express0011.lzma
2022-01-22T00:17:17.478Z,1642810637.478 [NAL9602](INFO): Packets left to send: 3
2022-01-22T00:17:25.151Z,1642810645.151 [NAL9602](INFO): SBD MO Status=1, MOMSN=31437, MT Status=0, MTMSN=0
2022-01-22T00:17:25.202Z,1642810645.202 [NAL9602](INFO): Sent 184 bytes from file Logs/20220121T205650/Express0011.lzma
2022-01-22T00:17:25.202Z,1642810645.202 [NAL9602](INFO): Packets left to send: 2
2022-01-22T00:17:37.725Z,1642810657.725 [NAL9602](INFO): SBD MO Status=1, MOMSN=31438, MT Status=0, MTMSN=0
2022-01-22T00:17:37.786Z,1642810657.786 [NAL9602](INFO): Sent 184 bytes from file Logs/20220121T205650/Express0011.lzma
2022-01-22T00:17:37.786Z,1642810657.786 [NAL9602](INFO): Packets left to send: 1
2022-01-22T00:17:52.313Z,1642810672.313 [NAL9602](INFO): SBD MO Status=1, MOMSN=31439, MT Status=0, MTMSN=0
2022-01-22T00:17:52.374Z,1642810672.374 [NAL9602](INFO): Sent 169 bytes from file Logs/20220121T205650/Express0011.lzma
2022-01-22T00:17:52.374Z,1642810672.374 [NAL9602](INFO): Packets left to send: 0
2022-01-22T00:17:58.373Z,1642810678.373 [NAL9602](INFO): SBD MO Status=0, MOMSN=31440, MT Status=0, MTMSN=0
2022-01-22T00:18:17.805Z,1642810697.805 [NAL9602](INFO): SBD MO Status=1, MOMSN=31441, MT Status=0, MTMSN=0
2022-01-22T00:18:17.866Z,1642810697.866 [NAL9602](INFO): Sent 52 bytes from file Logs/20220121T205650/Courier0013.lzma
2022-01-22T00:18:17.866Z,1642810697.866 [NAL9602](INFO): Packets left to send: 0
2022-01-22T00:18:40.877Z,1642810720.877 [NAL9602](INFO): SBD MO Status=2, MOMSN=31442, MT Status=2, MTMSN=0
2022-01-22T00:18:40.877Z,1642810720.877 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2022-01-22T00:19:20.929Z,1642810760.929 [NAL9602](INFO): SBD MO Status=1, MOMSN=31442, MT Status=0, MTMSN=0
2022-01-22T00:19:20.978Z,1642810760.978 [NAL9602](INFO): Sent 62 bytes from file Logs/20220121T205650/Express0014.lzma
2022-01-22T00:19:20.978Z,1642810760.978 [NAL9602](INFO): Packets left to send: 0
2022-01-22T00:19:41.961Z,1642810781.961 [NAL9602](INFO): SBD MO Status=2, MOMSN=31443, MT Status=2, MTMSN=0
2022-01-22T00:19:41.961Z,1642810781.961 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2022-01-22T00:19:46.850Z,1642810786.850 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2022-01-22T00:20:07.802Z,1642810807.802 [NAL9602](INFO): SBD MO Status=2, MOMSN=31443, MT Status=2, MTMSN=0
2022-01-22T00:20:07.802Z,1642810807.802 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2022-01-22T00:20:12.702Z,1642810812.702 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2022-01-22T00:20:15.938Z,1642810815.938 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2022-01-22T00:20:36.073Z,1642810836.073 [NAL9602](INFO): SBD MO Status=0, MOMSN=31443, MT Status=0, MTMSN=0
2022-01-22T00:20:36.150Z,1642810836.150 [Default:CheckIn:Read_Iridium] Stopped
2022-01-22T00:20:36.151Z,1642810836.151 [Default:CheckIn:C.Wait] Running Loop=1
2022-01-22T00:20:36.151Z,1642810836.151 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2022-01-22T00:21:06.774Z,1642810866.774 [NAL9602](INFO): Powering down
2022-01-22T00:25:36.655Z,1642811136.655 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2022-01-22T00:25:36.655Z,1642811136.655 [Default:CheckIn:C.Wait] Stopped
2022-01-22T00:25:36.655Z,1642811136.655 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2022-01-22T00:25:36.656Z,1642811136.656 [Default:CheckIn:D] Running Loop=1
2022-01-22T00:25:37.066Z,1642811137.066 [Default:CheckIn:D] Stopped
2022-01-22T00:25:37.066Z,1642811137.066 [Default:CheckIn:E] Running Loop=1
2022-01-22T00:25:37.472Z,1642811137.472 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 14.642059 min 
2022-01-22T00:25:37.472Z,1642811137.472 [Default:CheckIn:E] Stopped
2022-01-22T00:25:37.472Z,1642811137.472 [Default:CheckIn](INFO): Completed Default:CheckIn
2022-01-22T00:25:37.472Z,1642811137.472 [Default:CheckIn] Stopped
2022-01-22T00:25:37.472Z,1642811137.472 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2022-01-22T00:25:37.472Z,1642811137.472 [Default:CheckIn](INFO): Running loop #2
2022-01-22T00:25:37.472Z,1642811137.472 [Default:CheckIn] Running Loop=2
2022-01-22T00:25:37.472Z,1642811137.472 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2022-01-22T00:25:37.472Z,1642811137.472 [Default:CheckIn:Read_GPS] Running Loop=1
2022-01-22T00:25:38.261Z,1642811138.261 [NAL9602](INFO): Powering up
2022-01-22T00:25:49.173Z,1642811149.173 [NAL9602](INFO): NAL9602 initialized
2022-01-22T00:25:50.390Z,1642811150.390 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,002548.00,A,4050.39883,N,07038.77313,W,0.778,295.15,220122,,,A*71
2022-01-22T00:25:50.392Z,1642811150.392 [NAL9602](INFO): GPS fix at 20220122T002548: (40.839981, -70.646219)
2022-01-22T00:25:50.403Z,1642811150.403 [Default:CheckIn:Read_GPS] Stopped
2022-01-22T00:25:50.403Z,1642811150.403 [Default:CheckIn:Read_Iridium] Running Loop=1
2022-01-22T00:26:17.097Z,1642811177.097 [NAL9602](INFO): SBD MO Status=1, MOMSN=31444, MT Status=0, MTMSN=0
2022-01-22T00:26:17.158Z,1642811177.158 [NAL9602](INFO): Sent 72 bytes from file Logs/20220121T205650/Courier0016.lzma
2022-01-22T00:26:17.158Z,1642811177.158 [NAL9602](INFO): Packets left to send: 0
2022-01-22T00:26:34.113Z,1642811194.113 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2022-01-22T00:26:34.115Z,1642811194.115 [BPC1](INFO): Received data from all battery sticks.
2022-01-22T00:26:42.190Z,1642811202.190 [NAL9602](INFO): SBD MO Status=1, MOMSN=31445, MT Status=0, MTMSN=0
2022-01-22T00:26:42.241Z,1642811202.241 [NAL9602](INFO): Sent 120 bytes from file Logs/20220121T205650/Express0017.lzma
2022-01-22T00:26:42.241Z,1642811202.241 [NAL9602](INFO): Packets left to send: 0
2022-01-22T00:26:53.506Z,1642811213.506 [NAL9602](INFO): SBD MO Status=0, MOMSN=31446, MT Status=0, MTMSN=0
2022-01-22T00:26:53.591Z,1642811213.591 [Default:CheckIn:Read_Iridium] Stopped
2022-01-22T00:26:53.591Z,1642811213.591 [Default:CheckIn:C.Wait] Running Loop=1
2022-01-22T00:26:53.591Z,1642811213.591 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2022-01-22T00:27:24.204Z,1642811244.204 [NAL9602](INFO): Powering down
2022-01-22T00:31:54.097Z,1642811514.097 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2022-01-22T00:31:54.097Z,1642811514.097 [Default:CheckIn:C.Wait] Stopped
2022-01-22T00:31:54.097Z,1642811514.097 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2022-01-22T00:31:54.098Z,1642811514.098 [Default:CheckIn:D] Running Loop=1
2022-01-22T00:31:54.494Z,1642811514.494 [Default:CheckIn:D] Stopped
2022-01-22T00:31:54.495Z,1642811514.495 [Default:CheckIn:E] Running Loop=1
2022-01-22T00:31:54.898Z,1642811514.898 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 20.932530 min 
2022-01-22T00:31:54.899Z,1642811514.899 [Default:CheckIn:E] Stopped
2022-01-22T00:31:54.899Z,1642811514.899 [Default:CheckIn](INFO): Completed Default:CheckIn
2022-01-22T00:31:54.899Z,1642811514.899 [Default:CheckIn] Stopped
2022-01-22T00:31:54.899Z,1642811514.899 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2022-01-22T00:31:54.899Z,1642811514.899 [Default:CheckIn](INFO): Running loop #3
2022-01-22T00:31:54.899Z,1642811514.899 [Default:CheckIn] Running Loop=3
2022-01-22T00:31:54.899Z,1642811514.899 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2022-01-22T00:31:54.899Z,1642811514.899 [Default:CheckIn:Read_GPS] Running Loop=1
2022-01-22T00:31:55.695Z,1642811515.695 [NAL9602](INFO): Powering up
2022-01-22T00:32:06.602Z,1642811526.602 [NAL9602](INFO): NAL9602 initialized
2022-01-22T00:32:48.211Z,1642811568.211 [NAL9602](INFO): SBD MO Status=2, MOMSN=31447, MT Status=2, MTMSN=0
2022-01-22T00:32:48.211Z,1642811568.211 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2022-01-22T00:33:12.053Z,1642811592.053 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=31447, MT Status=1, MTMSN=1037
2022-01-22T00:33:12.053Z,1642811592.053 [NAL9602](INFO): Data available in MT queue
2022-01-22T00:33:12.586Z,1642811592.586 [NAL9602](INFO): Received command: configSet RDI_Pathfinder.loadAtStartup 1 bool persist
2022-01-22T00:33:12.830Z,1642811592.830 [CommandExec](IMPORTANT): got command configSet RDI_Pathfinder.loadAtStartup 1.000000 bool persist
2022-01-22T00:33:12.831Z,1642811592.831 [CommandExec](IMPORTANT): configSet RDI_Pathfinder.loadAtStartup requires a restart to take effect.
2022-01-22T00:36:49.403Z,1642811809.403 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003648.00,A,4050.39390,N,07038.94912,W,0.894,244.37,220122,,,A*7D
2022-01-22T00:36:49.406Z,1642811809.406 [NAL9602](INFO): GPS fix at 20220122T003648: (40.839898, -70.649152)
2022-01-22T00:36:49.417Z,1642811809.417 [Default:CheckIn:Read_GPS] Stopped
2022-01-22T00:36:49.417Z,1642811809.417 [Default:CheckIn:Read_Iridium] Running Loop=1
2022-01-22T00:37:12.463Z,1642811832.463 [NAL9602](INFO): SBD MO Status=2, MOMSN=31448, MT Status=2, MTMSN=0
2022-01-22T00:37:12.463Z,1642811832.463 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2022-01-22T00:37:27.461Z,1642811847.461 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=31448, MT Status=1, MTMSN=1038
2022-01-22T00:37:27.510Z,1642811847.510 [NAL9602](INFO): Sent 84 bytes from file Logs/20220121T205650/Courier0019.lzma
2022-01-22T00:37:27.510Z,1642811847.510 [NAL9602](INFO): Packets left to send: 0
2022-01-22T00:37:27.958Z,1642811847.958 [NAL9602](INFO): Received command: restart application
2022-01-22T00:37:27.995Z,1642811847.995 [CommandExec](IMPORTANT): got command restart application
2022-01-22T00:37:28.997Z,1642811848.997 [CommandExec ThreadHandler](INFO): Uninitializing protected caller thread.
2022-01-22T00:37:28.998Z,1642811848.998 [CommandExec](INFO): Uninitializing the command executive.
2022-01-22T00:37:28.998Z,1642811848.998 [CommandExec](INFO): Uninitializing the command scheduler.
2022-01-22T00:37:28.998Z,1642811848.998 [CommandExec ThreadHandler](INFO): Thread cancelled.
2022-01-22T00:37:29.137Z,1642811849.137 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2022-01-22T00:37:29.138Z,1642811849.138 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2022-01-22T00:37:29.138Z,1642811849.138 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2022-01-22T00:37:29.139Z,1642811849.139 [NavChartDb](INFO): Join timeout helper Thread ID is 1388
2022-01-22T00:37:29.510Z,1642811849.510 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2022-01-22T00:37:29.510Z,1642811849.510 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2022-01-22T00:37:29.510Z,1642811849.510 [ComponentRegistry](INFO): Shutting down WetLabsSeaOWL_UV_A ThreadHandler
2022-01-22T00:37:29.510Z,1642811849.510 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2022-01-22T00:37:29.511Z,1642811849.511 [WetLabsSeaOWL_UV_A](INFO): Join timeout helper Thread ID is 1389
2022-01-22T00:37:29.637Z,1642811849.637 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Uninitializing protected caller thread.
2022-01-22T00:37:29.638Z,1642811849.638 [WetLabsSeaOWL_UV_A](INFO): Powering down
2022-01-22T00:37:29.638Z,1642811849.638 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2022-01-22T00:37:29.654Z,1642811849.654 [ComponentRegistry](INFO): Shutting down CTD_Seabird ThreadHandler
2022-01-22T00:37:29.654Z,1642811849.654 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2022-01-22T00:37:29.654Z,1642811849.654 [CTD_Seabird](INFO): Join timeout helper Thread ID is 1390
2022-01-22T00:37:29.749Z,1642811849.749 [CTD_Seabird](INFO): Powering down
2022-01-22T00:37:29.761Z,1642811849.761 [CTD_Seabird ThreadHandler](INFO): Uninitializing protected caller thread.
2022-01-22T00:37:29.762Z,1642811849.762 [CTD_Seabird](INFO): Powering down
2022-01-22T00:37:29.773Z,1642811849.773 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2022-01-22T00:37:29.793Z,1642811849.793 [ComponentRegistry](INFO): Shutting down Onboard ThreadHandler
2022-01-22T00:37:29.793Z,1642811849.793 [Onboard ThreadHandler](INFO): Thread cancelled.
2022-01-22T00:37:29.794Z,1642811849.794 [Onboard](INFO): Join timeout helper Thread ID is 1391
2022-01-22T00:37:32.798Z,1642811852.798 [Onboard ThreadHandler](INFO): Uninitializing protected caller thread.
2022-01-22T00:37:32.798Z,1642811852.798 [Onboard ThreadHandler](INFO): Thread cancelled.
2022-01-22T00:37:32.817Z,1642811852.817 [ComponentRegistry](INFO): Shutting down BackseatComponent ThreadHandler
2022-01-22T00:37:32.817Z,1642811852.817 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2022-01-22T00:37:32.818Z,1642811852.818 [BackseatComponent](INFO): Join timeout helper Thread ID is 1392
2022-01-22T00:37:33.010Z,1642811853.010 [BackseatComponent ThreadHandler](INFO): Uninitializing protected caller thread.
2022-01-22T00:37:33.010Z,1642811853.010 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2022-01-22T00:37:33.022Z,1642811853.022 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2022-01-22T00:37:33.022Z,1642811853.022 [logger ThreadHandler](INFO): Thread cancelled.
2022-01-22T00:37:33.023Z,1642811853.023 [logger](INFO): Join timeout helper Thread ID is 1393
2022-01-22T00:37:33.037Z,1642811853.037 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2022-01-22T00:37:33.038Z,1642811853.038 [logger ThreadHandler](INFO): Thread cancelled.
2022-01-22T00:37:33.042Z,1642811853.042 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2022-01-22T00:37:33.042Z,1642811853.042 [CommandLine ThreadHandler](INFO): Thread cancelled.
2022-01-22T00:37:33.043Z,1642811853.043 [CommandLine](INFO): Join timeout helper Thread ID is 1394
2022-01-22T00:37:33.097Z,1642811853.097 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2022-01-22T00:37:33.098Z,1642811853.098 [CommandLine ThreadHandler](INFO): Thread cancelled.
2022-01-22T00:37:33.102Z,1642811853.102 [ComponentRegistry](INFO): Shutting down CommandExec ThreadHandler
2022-01-22T00:37:33.102Z,1642811853.102 [CommandExec ThreadHandler](INFO): Thread cancelled.
2022-01-22T00:37:33.103Z,1642811853.103 [CommandExec](INFO): Join timeout helper Thread ID is 1395
2022-01-22T00:37:33.104Z,1642811853.104 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2022-01-22T00:37:33.104Z,1642811853.104 [controlThread ThreadHandler](INFO): Thread cancelled.
2022-01-22T00:37:33.104Z,1642811853.104 [controlThread](INFO): Join timeout helper Thread ID is 1396
2022-01-22T00:37:34.753Z,1642811854.753 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2022-01-22T00:37:34.754Z,1642811854.754 [controlThread](DEBUG): Uninitializing ControlThread
2022-01-22T00:37:34.754Z,1642811854.754 [AHRS_M2](INFO): Powering down
2022-01-22T00:37:34.826Z,1642811854.826 [Micromodem](INFO): Powering down
2022-01-22T00:37:34.922Z,1642811854.922 [NAL9602](INFO): Powering down
2022-01-22T00:37:34.924Z,1642811854.924 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2022-01-22T00:37:34.925Z,1642811854.925 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2022-01-22T00:37:34.925Z,1642811854.925 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2022-01-22T00:37:34.926Z,1642811854.926 [MissionManager](INFO): Uninitializing Mission Default
2022-01-22T00:37:34.926Z,1642811854.926 [Default] Stopped
2022-01-22T00:37:34.926Z,1642811854.926 [Default](DEBUG): Aggregate::uninitialize Default
2022-01-22T00:37:34.927Z,1642811854.927 [Default:B.GoToSurface] Stopped
2022-01-22T00:37:34.927Z,1642811854.927 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2022-01-22T00:37:34.927Z,1642811854.927 [Default:CheckIn] Stopped
2022-01-22T00:37:34.927Z,1642811854.927 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2022-01-22T00:37:34.927Z,1642811854.927 [Default:CheckIn:Read_Iridium] Stopped
2022-01-22T00:37:34.930Z,1642811854.930 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2022-01-22T00:37:34.930Z,1642811854.930 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2022-01-22T00:37:34.930Z,1642811854.930 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2022-01-22T00:37:34.930Z,1642811854.930 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2022-01-22T00:37:34.931Z,1642811854.931 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2022-01-22T00:37:34.931Z,1642811854.931 [BuoyancyServo](INFO): Powering down
2022-01-22T00:37:34.945Z,1642811854.945 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2022-01-22T00:37:34.946Z,1642811854.946 [ElevatorServo](INFO): Powering down
2022-01-22T00:37:34.946Z,1642811854.946 [MassServo](DEBUG): Uninitialize Mass Servo.
2022-01-22T00:37:34.946Z,1642811854.946 [MassServo](INFO): Powering down
2022-01-22T00:37:34.947Z,1642811854.947 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2022-01-22T00:37:34.947Z,1642811854.947 [RudderServo](INFO): Powering down
2022-01-22T00:37:34.948Z,1642811854.948 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2022-01-22T00:37:34.948Z,1642811854.948 [ThrusterHE](INFO): Powering down
2022-01-22T00:37:34.949Z,1642811854.949 [SBIT](DEBUG): Uninitialize SBIT Component.
2022-01-22T00:37:34.949Z,1642811854.949 [IBIT](DEBUG): Uninitialize IBIT Component.
2022-01-22T00:37:34.950Z,1642811854.950 [CBIT](DEBUG): Uninitialize CBIT Component.
2022-01-22T00:37:34.950Z,1642811854.950 [CBIT](DEBUG): Powering off loads.
2022-01-22T00:37:34.961Z,1642811854.961 [CBIT](DEBUG): Disabling WDT.
2022-01-22T00:37:34.973Z,1642811854.973 [CBIT](DEBUG): Opening all GF detection circuits.
2022-01-22T00:37:34.974Z,1642811854.974 [controlThread ThreadHandler](INFO): Thread cancelled.
2022-01-22T00:37:34.984Z,1642811854.984 [Onboard ThreadHandler](INFO): Thread cancelled.
2022-01-22T00:37:35.029Z,1642811855.029 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2022-01-22T00:37:35.075Z,1642811855.075 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2022-01-22T00:37:35.078Z,1642811855.078 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2022-01-22T00:37:35.136Z,1642811855.136 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2022-01-22T00:37:35.207Z,1642811855.207 [logger ThreadHandler](INFO): Thread cancelled.