2022-07-21T20:12:01.850Z,1658434321.850 [Supervisor](DEBUG): Initializing supervisor.
2022-07-21T20:12:01.854Z,1658434321.854 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2022-07-21T20:12:01.855Z,1658434321.855 [SyncHandler](INFO): Protected caller Thread ID is 8573
2022-07-21T20:12:01.855Z,1658434321.855 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2022-07-21T20:12:01.856Z,1658434321.856 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2022-07-21T20:12:01.856Z,1658434321.856 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 8574
2022-07-21T20:12:01.860Z,1658434321.860 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2022-07-21T20:12:01.878Z,1658434321.878 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2022-07-21T20:12:01.879Z,1658434321.879 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2022-07-21T20:12:01.879Z,1658434321.879 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 8575
2022-07-21T20:12:01.883Z,1658434321.883 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2022-07-21T20:12:01.884Z,1658434321.884 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2022-07-21T20:12:01.885Z,1658434321.885 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 8576
2022-07-21T20:12:01.887Z,1658434321.887 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2022-07-21T20:12:01.888Z,1658434321.888 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2022-07-21T20:12:01.888Z,1658434321.888 [logger ThreadHandler](INFO): Protected caller Thread ID is 8577
2022-07-21T20:12:01.892Z,1658434321.892 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2022-07-21T20:12:01.892Z,1658434321.892 [Supervisor](INFO): Looking for Config files in directory: Config/
2022-07-21T20:12:01.894Z,1658434321.894 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2022-07-21T20:12:02.319Z,1658434322.319 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2022-07-21T20:12:02.320Z,1658434322.320 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2022-07-21T20:12:02.402Z,1658434322.402 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2022-07-21T20:12:02.729Z,1658434322.729 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2022-07-21T20:12:02.730Z,1658434322.730 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2022-07-21T20:12:02.838Z,1658434322.838 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2022-07-21T20:12:02.839Z,1658434322.839 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2022-07-21T20:12:03.033Z,1658434323.033 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2022-07-21T20:12:03.033Z,1658434323.033 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2022-07-21T20:12:03.506Z,1658434323.506 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2022-07-21T20:12:03.507Z,1658434323.507 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2022-07-21T20:12:03.821Z,1658434323.821 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2022-07-21T20:12:03.822Z,1658434323.822 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2022-07-21T20:12:04.961Z,1658434324.961 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2022-07-21T20:12:04.962Z,1658434324.962 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2022-07-21T20:12:06.056Z,1658434326.056 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2022-07-21T20:12:06.056Z,1658434326.056 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2022-07-21T20:12:06.483Z,1658434326.483 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2022-07-21T20:12:06.484Z,1658434326.484 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2022-07-21T20:12:07.189Z,1658434327.189 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2022-07-21T20:12:07.189Z,1658434327.189 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2022-07-21T20:12:07.558Z,1658434327.558 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2022-07-21T20:12:07.560Z,1658434327.560 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2022-07-21T20:12:07.644Z,1658434327.644 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2022-07-21T20:12:07.783Z,1658434327.783 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2022-07-21T20:12:07.784Z,1658434327.784 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2022-07-21T20:12:08.482Z,1658434328.482 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2022-07-21T20:12:08.482Z,1658434328.482 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2022-07-21T20:12:08.840Z,1658434328.840 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2022-07-21T20:12:08.842Z,1658434328.842 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-polaris/
2022-07-21T20:12:08.843Z,1658434328.843 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/vehicle.cfg
2022-07-21T20:12:09.045Z,1658434329.045 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Control.cfg
2022-07-21T20:12:09.147Z,1658434329.147 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Estimation.cfg
2022-07-21T20:12:09.248Z,1658434329.248 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/BIT.cfg
2022-07-21T20:12:09.350Z,1658434329.350 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Battery.cfg
2022-07-21T20:12:09.616Z,1658434329.616 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2022-07-21T20:12:09.616Z,1658434329.616 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Simulator.cfg
2022-07-21T20:12:09.726Z,1658434329.726 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Navigation.cfg
2022-07-21T20:12:09.831Z,1658434329.831 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Derivation.cfg
2022-07-21T20:12:09.954Z,1658434329.954 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/logger.cfg
2022-07-21T20:12:10.068Z,1658434330.068 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/secure.cfg
2022-07-21T20:12:10.154Z,1658434330.154 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Dock.cfg
2022-07-21T20:12:10.242Z,1658434330.242 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Servo.cfg
2022-07-21T20:12:10.354Z,1658434330.354 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/originalSimulator.cfg
2022-07-21T20:12:10.463Z,1658434330.463 [ComponentRegistry](DEBUG): Loaded Config Component "Config/originalSimulator
2022-07-21T20:12:10.464Z,1658434330.464 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/workSite.cfg
2022-07-21T20:12:10.570Z,1658434330.570 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Sensor.cfg
2022-07-21T20:12:10.770Z,1658434330.770 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Science.cfg
2022-07-21T20:12:10.927Z,1658434330.927 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2022-07-21T20:12:10.955Z,1658434330.955 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2022-07-21T20:12:11.760Z,1658434331.760 [AHRS_M2] Loaded
2022-07-21T20:12:11.762Z,1658434331.762 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2022-07-21T20:12:11.799Z,1658434331.799 [BackseatComponent] Loaded
2022-07-21T20:12:11.799Z,1658434331.799 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2022-07-21T20:12:11.800Z,1658434331.800 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 407E44E0
2022-07-21T20:12:11.801Z,1658434331.801 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 8674
2022-07-21T20:12:11.803Z,1658434331.803 [LcmUniversalReporter] Loaded
2022-07-21T20:12:11.804Z,1658434331.804 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2022-07-21T20:12:12.582Z,1658434332.582 [BPC1] Loaded
2022-07-21T20:12:12.582Z,1658434332.582 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2022-07-21T20:12:12.654Z,1658434332.654 [DataOverHttps] Loaded
2022-07-21T20:12:12.655Z,1658434332.655 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2022-07-21T20:12:12.656Z,1658434332.656 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 408144E0
2022-07-21T20:12:12.656Z,1658434332.656 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 8675
2022-07-21T20:12:12.679Z,1658434332.679 [DDM] Loaded
2022-07-21T20:12:12.679Z,1658434332.679 [ComponentRegistry](DEBUG): SyncComponent "DDM" handled in the control thread.
2022-07-21T20:12:12.699Z,1658434332.699 [Depth_Keller] Loaded
2022-07-21T20:12:12.699Z,1658434332.699 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2022-07-21T20:12:12.704Z,1658434332.704 [DropWeight] Loaded
2022-07-21T20:12:12.704Z,1658434332.704 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2022-07-21T20:12:12.749Z,1658434332.749 [DUSBL_Hydroid] Loaded
2022-07-21T20:12:12.750Z,1658434332.750 [ComponentRegistry](DEBUG): SyncComponent "DUSBL_Hydroid" handled in the control thread.
2022-07-21T20:12:12.797Z,1658434332.797 [Micromodem] Loaded
2022-07-21T20:12:12.798Z,1658434332.798 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2022-07-21T20:12:12.858Z,1658434332.858 [NAL9602] Loaded
2022-07-21T20:12:12.858Z,1658434332.858 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2022-07-21T20:12:12.887Z,1658434332.887 [Onboard] Loaded
2022-07-21T20:12:12.888Z,1658434332.888 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2022-07-21T20:12:12.889Z,1658434332.889 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 408444E0
2022-07-21T20:12:12.889Z,1658434332.889 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 8676
2022-07-21T20:12:12.895Z,1658434332.895 [PowerOnly](INFO): Adding load control power supply at /dev/loadC1
2022-07-21T20:12:12.906Z,1658434332.906 [PowerOnly] Loaded
2022-07-21T20:12:12.906Z,1658434332.906 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2022-07-21T20:12:12.918Z,1658434332.918 [Power24vConverter] Loaded
2022-07-21T20:12:12.918Z,1658434332.918 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2022-07-21T20:12:12.932Z,1658434332.932 [Radio_Surface] Loaded
2022-07-21T20:12:12.933Z,1658434332.933 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2022-07-21T20:12:12.934Z,1658434332.934 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 408744E0
2022-07-21T20:12:12.934Z,1658434332.934 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 8677
2022-07-21T20:12:12.979Z,1658434332.979 [RDI_Pathfinder] Loaded
2022-07-21T20:12:12.979Z,1658434332.979 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2022-07-21T20:12:13.006Z,1658434333.006 [RDI_PathfinderUp] Loaded
2022-07-21T20:12:13.006Z,1658434333.006 [ComponentRegistry](DEBUG): SyncComponent "RDI_PathfinderUp" handled in the control thread.
2022-07-21T20:12:13.007Z,1658434333.007 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2022-07-21T20:12:13.007Z,1658434333.007 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2022-07-21T20:12:13.017Z,1658434333.017 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2022-07-21T20:12:13.018Z,1658434333.018 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2022-07-21T20:12:13.130Z,1658434333.130 [DeadReckonUsingMultipleVelocitySources] Loaded
2022-07-21T20:12:13.130Z,1658434333.130 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2022-07-21T20:12:13.155Z,1658434333.155 [LBLNavigation] Loaded
2022-07-21T20:12:13.155Z,1658434333.155 [ComponentRegistry](DEBUG): SyncComponent "LBLNavigation" handled in the control thread.
2022-07-21T20:12:13.168Z,1658434333.168 [NavChart] Loaded
2022-07-21T20:12:13.168Z,1658434333.168 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2022-07-21T20:12:13.174Z,1658434333.174 [UniversalFixResidualReporter] Loaded
2022-07-21T20:12:13.174Z,1658434333.174 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2022-07-21T20:12:13.184Z,1658434333.184 [WorkSite] Loaded
2022-07-21T20:12:13.185Z,1658434333.185 [ComponentRegistry](DEBUG): SyncComponent "WorkSite" handled in the control thread.
2022-07-21T20:12:13.185Z,1658434333.185 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2022-07-21T20:12:13.186Z,1658434333.186 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2022-07-21T20:12:13.280Z,1658434333.280 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2022-07-21T20:12:13.280Z,1658434333.280 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2022-07-21T20:12:13.408Z,1658434333.408 [BuoyancyServo] Loaded
2022-07-21T20:12:13.409Z,1658434333.409 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2022-07-21T20:12:13.431Z,1658434333.431 [ElevatorServo] Loaded
2022-07-21T20:12:13.431Z,1658434333.431 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2022-07-21T20:12:13.452Z,1658434333.452 [MassServo] Loaded
2022-07-21T20:12:13.452Z,1658434333.452 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2022-07-21T20:12:13.472Z,1658434333.472 [RudderServo] Loaded
2022-07-21T20:12:13.472Z,1658434333.472 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2022-07-21T20:12:13.488Z,1658434333.488 [ThrusterHE] Loaded
2022-07-21T20:12:13.488Z,1658434333.488 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread.
2022-07-21T20:12:13.489Z,1658434333.489 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2022-07-21T20:12:13.489Z,1658434333.489 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2022-07-21T20:12:13.662Z,1658434333.662 [CTD_Seabird] Loaded
2022-07-21T20:12:13.662Z,1658434333.662 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2022-07-21T20:12:13.663Z,1658434333.663 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 409B24E0
2022-07-21T20:12:13.664Z,1658434333.664 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 8678
2022-07-21T20:12:13.695Z,1658434333.695 [WetLabsSeaOWL_UV_A] Loaded
2022-07-21T20:12:13.696Z,1658434333.696 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2022-07-21T20:12:13.697Z,1658434333.697 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 409E24E0
2022-07-21T20:12:13.697Z,1658434333.697 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 8679
2022-07-21T20:12:13.698Z,1658434333.698 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2022-07-21T20:12:13.698Z,1658434333.698 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2022-07-21T20:12:14.010Z,1658434334.010 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2022-07-21T20:12:14.011Z,1658434334.011 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2022-07-21T20:12:14.061Z,1658434334.061 [DepthRateCalculator] Loaded
2022-07-21T20:12:14.061Z,1658434334.061 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2022-07-21T20:12:14.067Z,1658434334.067 [PitchRateCalculator] Loaded
2022-07-21T20:12:14.067Z,1658434334.067 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2022-07-21T20:12:14.076Z,1658434334.076 [SpeedCalculator] Loaded
2022-07-21T20:12:14.076Z,1658434334.076 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2022-07-21T20:12:14.089Z,1658434334.089 [TempGradientCalculator] Loaded
2022-07-21T20:12:14.089Z,1658434334.089 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2022-07-21T20:12:14.104Z,1658434334.104 [VerticalHomogeneityIndexCalculator] Loaded
2022-07-21T20:12:14.105Z,1658434334.105 [ComponentRegistry](DEBUG): SyncComponent "VerticalHomogeneityIndexCalculator" handled in the control thread.
2022-07-21T20:12:14.109Z,1658434334.109 [YawRateCalculator] Loaded
2022-07-21T20:12:14.109Z,1658434334.109 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2022-07-21T20:12:14.132Z,1658434334.132 [ElevatorOffsetCalculator] Loaded
2022-07-21T20:12:14.132Z,1658434334.132 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2022-07-21T20:12:14.148Z,1658434334.148 [ShortestDistanceToPolygonSidesCalculator] Loaded
2022-07-21T20:12:14.149Z,1658434334.149 [ComponentRegistry](DEBUG): SyncComponent "ShortestDistanceToPolygonSidesCalculator" handled in the control thread.
2022-07-21T20:12:14.149Z,1658434334.149 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2022-07-21T20:12:14.150Z,1658434334.150 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2022-07-21T20:12:14.294Z,1658434334.294 [SBIT](DEBUG): Construct Startup Built In Test.
2022-07-21T20:12:14.308Z,1658434334.308 [SBIT] Loaded
2022-07-21T20:12:14.308Z,1658434334.308 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2022-07-21T20:12:14.311Z,1658434334.311 [IBIT](DEBUG): Construct Initiated Built In Test.
2022-07-21T20:12:14.323Z,1658434334.323 [IBIT] Loaded
2022-07-21T20:12:14.323Z,1658434334.323 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2022-07-21T20:12:14.329Z,1658434334.329 [CBIT](DEBUG): Construct Continuous Built In Test.
2022-07-21T20:12:14.435Z,1658434334.435 [CBIT] Loaded
2022-07-21T20:12:14.435Z,1658434334.435 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2022-07-21T20:12:14.435Z,1658434334.435 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2022-07-21T20:12:14.436Z,1658434334.436 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2022-07-21T20:12:14.493Z,1658434334.493 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2022-07-21T20:12:14.494Z,1658434334.494 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2022-07-21T20:12:14.652Z,1658434334.652 [InternalEnvSim] Loaded
2022-07-21T20:12:14.653Z,1658434334.653 [ComponentRegistry](DEBUG): SyncComponent "InternalEnvSim" handled in the control thread.
2022-07-21T20:12:14.653Z,1658434334.653 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2022-07-21T20:12:14.654Z,1658434334.654 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2022-07-21T20:12:14.704Z,1658434334.704 [VerticalControl](DEBUG): Construct VerticalControl.
2022-07-21T20:12:14.754Z,1658434334.754 [VerticalControl] Loaded
2022-07-21T20:12:14.755Z,1658434334.755 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2022-07-21T20:12:14.758Z,1658434334.758 [HorizontalControl](DEBUG): Construct HorizontalControl.
2022-07-21T20:12:14.796Z,1658434334.796 [HorizontalControl] Loaded
2022-07-21T20:12:14.797Z,1658434334.797 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2022-07-21T20:12:14.799Z,1658434334.799 [SpeedControl](DEBUG): Construct SpeedControl.
2022-07-21T20:12:14.801Z,1658434334.801 [SpeedControl] Loaded
2022-07-21T20:12:14.801Z,1658434334.801 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2022-07-21T20:12:14.804Z,1658434334.804 [LoopControl](DEBUG): Construct LoopControl.
2022-07-21T20:12:14.805Z,1658434334.805 [LoopControl] Loaded
2022-07-21T20:12:14.805Z,1658434334.805 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2022-07-21T20:12:14.805Z,1658434334.805 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2022-07-21T20:12:14.806Z,1658434334.806 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2022-07-21T20:12:14.833Z,1658434334.833 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2022-07-21T20:12:14.839Z,1658434334.839 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2022-07-21T20:12:14.842Z,1658434334.842 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2022-07-21T20:12:14.853Z,1658434334.853 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2022-07-21T20:12:14.854Z,1658434334.854 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40B9E4E0
2022-07-21T20:12:14.854Z,1658434334.854 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 8680
2022-07-21T20:12:14.858Z,1658434334.858 [Supervisor](INFO): Main Thread ID is 831
2022-07-21T20:12:14.859Z,1658434334.859 [Supervisor](DEBUG): Running supervisor.
2022-07-21T20:12:14.859Z,1658434334.859 [CommandExec ThreadHandler](INFO): Handler Thread ID is 8681
2022-07-21T20:12:14.860Z,1658434334.860 [CommandExec](INFO): Initializing the command executive.
2022-07-21T20:12:14.861Z,1658434334.861 [CommandLine ThreadHandler](INFO): Handler Thread ID is 8682
2022-07-21T20:12:14.863Z,1658434334.863 [controlThread ThreadHandler](INFO): Handler Thread ID is 8683
2022-07-21T20:12:14.864Z,1658434334.864 [controlThread](DEBUG): Initializing ControlThread
2022-07-21T20:12:14.873Z,1658434334.873 [NavChart](DEBUG): Initialize NavChart Navigation.
2022-07-21T20:12:14.874Z,1658434334.874 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2022-07-21T20:12:14.874Z,1658434334.874 [WorkSite](DEBUG): Initializing WorkSite component.
2022-07-21T20:12:14.876Z,1658434334.876 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2022-07-21T20:12:14.876Z,1658434334.876 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2022-07-21T20:12:14.877Z,1658434334.877 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2022-07-21T20:12:14.877Z,1658434334.877 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2022-07-21T20:12:14.878Z,1658434334.878 [VerticalHomogeneityIndexCalculator](DEBUG): (re)initializing
2022-07-21T20:12:14.878Z,1658434334.878 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2022-07-21T20:12:14.879Z,1658434334.879 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2022-07-21T20:12:14.879Z,1658434334.879 [ShortestDistanceToPolygonSidesCalculator](DEBUG): Initializing.
2022-07-21T20:12:14.880Z,1658434334.880 [SBIT](INFO): Initialize SBIT Component.
2022-07-21T20:12:14.881Z,1658434334.881 [SBIT](IMPORTANT): git: 2022-07-19
2022-07-21T20:12:14.881Z,1658434334.881 [SBIT](INFO): git hash: 5cf2ac4bea7c8dc88e29788dc94c5ea92404dfea
2022-07-21T20:12:14.881Z,1658434334.881 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2022-07-21T20:12:14.882Z,1658434334.882 [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
2022-07-21T20:12:14.883Z,1658434334.883 [SBIT](INFO): Beginning SBIT in 42.000000 seconds.
2022-07-21T20:12:14.884Z,1658434334.884 [IBIT](INFO): Initialize IBIT Component.
2022-07-21T20:12:14.885Z,1658434334.885 [CBIT](DEBUG): Initialize CBIT Component.
2022-07-21T20:12:14.886Z,1658434334.886 [logger ThreadHandler](INFO): Handler Thread ID is 8684
2022-07-21T20:12:14.897Z,1658434334.897 [CBIT](DEBUG): Initialized mux pins.
2022-07-21T20:12:14.897Z,1658434334.897 [CBIT](DEBUG): Initializing the watchdog timer.
2022-07-21T20:12:14.905Z,1658434334.905 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 8685
2022-07-21T20:12:14.917Z,1658434334.917 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 8686
2022-07-21T20:12:14.918Z,1658434334.918 [DataOverHttps](DEBUG): dashIP=128.128.181.226 starts with a digit so assuming it is a numeric IP
2022-07-21T20:12:14.921Z,1658434334.921 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2022-07-21T20:12:14.922Z,1658434334.922 [CBIT](DEBUG): Initializing heartbeat.
2022-07-21T20:12:14.933Z,1658434334.933 [Onboard ThreadHandler](INFO): Handler Thread ID is 8687
2022-07-21T20:12:14.951Z,1658434334.951 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 8688
2022-07-21T20:12:14.973Z,1658434334.973 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 8689
2022-07-21T20:12:14.974Z,1658434334.974 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2022-07-21T20:12:14.978Z,1658434334.978 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 8691
2022-07-21T20:12:14.986Z,1658434334.986 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 8692
2022-07-21T20:12:14.991Z,1658434334.991 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1AK90M.000
2022-07-21T20:12:14.991Z,1658434334.991 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1AK90M.000
2022-07-21T20:12:14.991Z,1658434334.991 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2AK91M.000
2022-07-21T20:12:14.991Z,1658434334.991 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2AK91M.000
2022-07-21T20:12:14.991Z,1658434334.991 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2AK92M.000
2022-07-21T20:12:14.991Z,1658434334.991 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2AK92M.000
2022-07-21T20:12:14.993Z,1658434334.993 [CBIT](DEBUG): Deactivating GF circuits.
2022-07-21T20:12:14.993Z,1658434334.993 [CBIT](DEBUG): Deactivating emergency mode.
2022-07-21T20:12:15.029Z,1658434335.029 [CBIT](DEBUG): Backplane powered.
2022-07-21T20:12:15.029Z,1658434335.029 [InternalEnvSim](DEBUG):  InternaEnvlSim initializing...
2022-07-21T20:12:15.197Z,1658434335.197 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2022-07-21T20:12:15.199Z,1658434335.199 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2022-07-21T20:12:15.200Z,1658434335.200 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2022-07-21T20:12:15.200Z,1658434335.200 [LoopControl](DEBUG): Initialize LoopControlComponent.
2022-07-21T20:12:15.201Z,1658434335.201 [MissionManager](INFO): Loading Mission from file: Missions/Startup.xml
2022-07-21T20:12:15.241Z,1658434335.241 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2022-07-21T20:12:15.272Z,1658434335.272 [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>


2022-07-21T20:12:15.289Z,1658434335.289 [MissionManager](INFO): Loading Mission from file: Missions/underIce/DefaultWithUndock.xml
2022-07-21T20:12:15.357Z,1658434335.357 [Radio_Surface](INFO): Powering up
2022-07-21T20:12:15.423Z,1658434335.423 [MissionManager](INFO): DefineArg DefaultWithUndock.ElapsedSinceDefaultStarted = 0.000000 min
2022-07-21T20:12:15.455Z,1658434335.455 [MissionManager](INFO): DefineArg DefaultWithUndock.DetachTimeout = 30.000000 min
2022-07-21T20:12:15.459Z,1658434335.459 [MissionManager](INFO): DefineArg DefaultWithUndock.TransponderCode = 2 count
2022-07-21T20:12:15.478Z,1658434335.478 [MissionManager](INFO): DefineArg DefaultWithUndock.TrackingUpdatePeriod = 2.500000 s
2022-07-21T20:12:15.483Z,1658434335.483 [MissionManager](INFO): DefineArg DefaultWithUndock.NumberOfPings = 1.000000 count
2022-07-21T20:12:15.486Z,1658434335.486 [MissionManager](INFO): DefineArg DefaultWithUndock.DetachModeDDM = 2.000000 count
2022-07-21T20:12:15.488Z,1658434335.488 [DefaultWithUndock:A.Wait](DEBUG): Construct Wait.
2022-07-21T20:12:15.647Z,1658434335.647 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Construct.
2022-07-21T20:12:15.647Z,1658434335.647 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2022-07-21T20:12:15.666Z,1658434335.666 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Construct GoToSurface.
2022-07-21T20:12:15.722Z,1658434335.722 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2022-07-21T20:12:15.724Z,1658434335.724 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Construct Wait.
2022-07-21T20:12:15.746Z,1658434335.746 [DefaultWithUndock:E.Execute](DEBUG): Construct Execute.
2022-07-21T20:12:15.751Z,1658434335.751 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
         xmlns="Tethys"
         xmlns:Control="Tethys/Control"
         xmlns:Dock="Tethys/Dock"
         xmlns:Estimation="Tethys/Estimation"
         xmlns:Guidance="Tethys/Guidance"
         xmlns:Sensor="Tethys/Sensor"
         xmlns:Units="Tethys/Units"
         xmlns:Universal="Tethys/Universal"
         xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                             Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                             Tethys/Dock http://okeanids.mbari.org/tethys/Xml/Dock.xsd
                             Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
                             Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                             Tethys/Sensor http://okeanids.mbari.org/tethys/Xml/Sensor.xsd
                             Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                             Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
         Id="DefaultWithUndock">

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

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

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

    <DefineArg Name="TrackingUpdatePeriod"><Description>
        Time duration between acoustic range queries while the mission is
        detaching from the dock.
    </Description><Units:second/><Value>2.5</Value></DefineArg>

    <DefineArg Name="NumberOfPings"><Description>
        Number of pings requested each time.
    </Description><Units:count/><Value>1</Value></DefineArg>

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

    <Guidance:Wait>
        <Description>
            Wait a moment to see if the scheduler starts a new mission before
            starting to actually run Default.
        </Description>
        <Sequence/>
        <Setting><Guidance:Wait.duration/><Units:second/><Value>30</Value></Setting>
    </Guidance:Wait>

    <Aggregate Id="LeaveDock">

        <Sequence/>

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

<!-- Acoustic tracking directives -->

        <Estimation:TrackAcousticContact>
            <Parallel/>
            <Setting><Estimation:TrackAcousticContact.contactLabelSetting/><Arg Name="TransponderCode"/></Setting>
            <Setting><Estimation:TrackAcousticContact.numberOfSamplesSetting/><Arg Name="NumberOfPings"/></Setting>
            <Setting><Estimation:TrackAcousticContact.updatePeriodSetting/><Arg Name="TrackingUpdatePeriod"/></Setting>
        </Estimation:TrackAcousticContact>

<!-- Leave the dock -->

        <Dock:Undock>
            <Sequence/>
        </Dock:Undock>

    </Aggregate>

    <Aggregate Id="SurfaceDefault">

        <Sequence/>

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

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

        <Aggregate Id="CheckIn">

            <Sequence Repeat="288"/>

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

            <ReadDatum Id="Read_Iridium">
                <Timeout Duration="P2H">
                    <Guidance:Execute>
                        <Sequence/>
                        <Setting><Guidance:Execute.command/><String>Burn on</String></Setting>
                    </Guidance:Execute>
                    <Syslog Severity="Critical">Dropped weight due to communications timeout.</Syslog>
                </Timeout>
                <Universal:platform_communications/>
            </ReadDatum>

            <Guidance:Wait>
                <Sequence/>
                <Setting><Guidance:Wait.duration/><Units:minute/><Value>5</Value></Setting>
            </Guidance:Wait>

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

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

        </Aggregate>

    </Aggregate>

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

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

</Mission>


2022-07-21T20:12:15.757Z,1658434335.757 [controlThread](DEBUG): Component order: CycleStarter,InternalEnvSim,AHRS_M2,BPC1,DDM,Depth_Keller,DropWeight,DUSBL_Hydroid,Micromodem,NAL9602,PowerOnly,Power24vConverter,RDI_Pathfinder,RDI_PathfinderUp,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,VerticalHomogeneityIndexCalculator,YawRateCalculator,ElevatorOffsetCalculator,ShortestDistanceToPolygonSidesCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,WorkSite,LBLNavigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterHE,SBIT,IBIT,CBIT,LcmUniversalReporter,Reporter,LogSplitter,
2022-07-21T20:12:15.780Z,1658434335.780 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2022-07-21T20:12:15.838Z,1658434335.838 [DDM](INFO): Powering up
2022-07-21T20:12:15.838Z,1658434335.838 [DDM](DEBUG): Initializing DDM.
2022-07-21T20:12:15.862Z,1658434335.862 [Depth_Keller](ERROR): Pressure reading out of range: 1913.424561 decibar
2022-07-21T20:12:15.863Z,1658434335.863 [DUSBL_Hydroid](INFO): Powering up
2022-07-21T20:12:15.863Z,1658434335.863 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2022-07-21T20:12:15.882Z,1658434335.882 [Power24vConverter](INFO): Powering up.
2022-07-21T20:12:15.883Z,1658434335.883 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2022-07-21T20:12:15.901Z,1658434335.901 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-07-21T20:12:15.927Z,1658434335.927 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2022-07-21T20:12:15.933Z,1658434335.933 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2022-07-21T20:12:15.934Z,1658434335.934 [ElevatorServo](DEBUG): Initializing EZServoServo.
2022-07-21T20:12:15.941Z,1658434335.941 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2022-07-21T20:12:15.942Z,1658434335.942 [MassServo](DEBUG): Initializing EZServoServo.
2022-07-21T20:12:15.949Z,1658434335.949 [MassServo](DEBUG): Initializing MassServo.
2022-07-21T20:12:15.950Z,1658434335.950 [RudderServo](DEBUG): Initializing EZServoServo.
2022-07-21T20:12:15.957Z,1658434335.957 [RudderServo](DEBUG): Initializing RudderServo.
2022-07-21T20:12:15.958Z,1658434335.958 [ThrusterHE](DEBUG): Initializing EZServoServo.
2022-07-21T20:12:15.965Z,1658434335.965 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2022-07-21T20:12:16.213Z,1658434336.213 [Micromodem](INFO): Powering up
2022-07-21T20:12:16.213Z,1658434336.213 [Micromodem](DEBUG): Initializing Micromodem.
2022-07-21T20:12:16.889Z,1658434336.889 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2022-07-21T20:12:16.889Z,1658434336.889 [RudderServo](FAULT): Rudder failed to initialize
2022-07-21T20:12:16.889Z,1658434336.889 [RudderServo] Communications Fault, FailCount= 1
2022-07-21T20:12:16.889Z,1658434336.889 [RudderServo](ERROR): Communications Fault
2022-07-21T20:12:16.893Z,1658434336.893 [CBIT](ERROR): Communications Fault in component: RudderServo
2022-07-21T20:12:17.110Z,1658434337.110 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2022-07-21T20:12:17.110Z,1658434337.110 [RudderServo](INFO): Powering down
2022-07-21T20:12:17.801Z,1658434337.801 [RudderServo](DEBUG): Initializing EZServoServo.
2022-07-21T20:12:17.922Z,1658434337.922 [RudderServo](DEBUG): Initializing RudderServo.
2022-07-21T20:12:17.927Z,1658434337.927 [CBIT](INFO): Clearing failed state for component RudderServo
2022-07-21T20:12:17.928Z,1658434337.928 [RudderServo] No Fault, FailCount= 1
2022-07-21T20:12:21.066Z,1658434341.066 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2022-07-21T20:12:21.468Z,1658434341.468 [Micromodem](INFO): Nmea in: $CATMG,2022-07-21T20:12:22.096130Z,RTC,RTC*5A

2022-07-21T20:12:21.468Z,1658434341.468 [Micromodem](ERROR): CFG response from modem unexpected: $CATMG,2022-07-21T20:12:22.096130Z,RTC,RTC*5A

2022-07-21T20:12:21.702Z,1658434341.702 [ThrusterHE](ERROR): Zero Speed Commanded.
2022-07-21T20:12:21.872Z,1658434341.872 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2022-07-21T20:12:21.872Z,1658434341.872 [Micromodem](INFO): Nmea out: $CCCFG,POW,20*08

2022-07-21T20:12:22.276Z,1658434342.276 [Micromodem](INFO): Nmea in: $CACFG,POW,20*0A

2022-07-21T20:12:22.276Z,1658434342.276 [Micromodem](INFO): Nmea out: $CCCFG,SRC,0*30

2022-07-21T20:12:22.680Z,1658434342.680 [Micromodem](INFO): Nmea in: $CACFG,SRC,0*32

2022-07-21T20:12:22.680Z,1658434342.680 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2022-07-21T20:12:23.088Z,1658434343.088 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2022-07-21T20:12:23.088Z,1658434343.088 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2022-07-21T20:12:23.488Z,1658434343.488 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2022-07-21T20:12:23.488Z,1658434343.488 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2022-07-21T20:12:23.888Z,1658434343.888 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2022-07-21T20:12:23.888Z,1658434343.888 [Micromodem](INFO): Nmea out: $CCCFG,FC0,14500*47

2022-07-21T20:12:24.284Z,1658434344.284 [Micromodem](INFO): Nmea in: $CACFG,FC0,14500*45

2022-07-21T20:12:24.284Z,1658434344.284 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2022-07-21T20:12:24.676Z,1658434344.676 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2022-07-21T20:12:24.676Z,1658434344.676 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2022-07-21T20:12:25.068Z,1658434345.068 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2022-07-21T20:12:25.070Z,1658434345.070 [Micromodem](INFO): Nmea out: $CCCLK,2022,07,21,20,12,26*47

2022-07-21T20:12:25.476Z,1658434345.476 [Micromodem](INFO): Nmea in: $CACLK,2022,7,21,20,12,26*75

2022-07-21T20:12:26.280Z,1658434346.280 [Micromodem](INFO): Nmea in: $CATMS,0,2022-07-21T20:12:27Z*74

2022-07-21T20:12:26.281Z,1658434346.281 [Micromodem](INFO): Nmea in: $CATMG,2022-07-21T20:12:27.028548Z,USER_CMD,RTC*10

2022-07-21T20:12:31.524Z,1658434351.524 [DDM](INFO): Latch/Whisker Boards:V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
2022-07-21T20:12:31.625Z,1658434351.625 [DDM](INFO): Dynamic Docking Module:C REMUS Capture Rev 1.1
2022-07-21T20:12:33.951Z,1658434353.951 [DUSBL_Hydroid](INFO): DUSBL Version:O
2022-07-21T20:12:43.252Z,1658434363.252 [NAL9602](INFO): Powering up NAL9602
2022-07-21T20:12:54.149Z,1658434374.149 [NAL9602](INFO): NAL9602 initialized
2022-07-21T20:12:57.431Z,1658434377.431 [SBIT](IMPORTANT): Beginning Startup BIT
2022-07-21T20:12:57.436Z,1658434377.436 [CBIT](IMPORTANT): Beginning ground fault scan
2022-07-21T20:13:07.886Z,1658434387.886 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=42743, MT Status=1, MTMSN=1602
2022-07-21T20:13:07.886Z,1658434387.886 [NAL9602](INFO): Data available in MT queue
2022-07-21T20:13:08.414Z,1658434388.414 [NAL9602](INFO): Received command: get InternalEnvSim.att1;get InternalEnvSim.att3
2022-07-21T20:13:08.530Z,1658434388.530 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.000315
CHAN A1 (24V): -0.009601
CHAN A2 (12V): 0.000839
CHAN A3 (5V): -0.000127
CHAN B0 (3.3V): 0.001043
CHAN B1 (3.15aV): 0.001022
CHAN B2 (3.15bV): 0.001373
CHAN B3 (GND): 0.001694
OPEN: 0.006422
Full Scale: +/- 1 mA
2022-07-21T20:13:09.952Z,1658434389.952 [CommandExec](IMPORTANT): got command get InternalEnvSim.att1
2022-07-21T20:13:09.952Z,1658434389.952 [CommandExec](IMPORTANT): InternalEnvSim.att1 false_easting:476155
2022-07-21T20:13:09.957Z,1658434389.957 [CommandExec](IMPORTANT): got command get InternalEnvSim.att3
2022-07-21T20:13:09.958Z,1658434389.958 [CommandExec](IMPORTANT): InternalEnvSim.att3 longitude_of_central_meridian:-165
2022-07-21T20:13:50.726Z,1658434430.726 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201351.00,A,7119.89787,N,15645.93769,W,0.719,266.52,210722,,,A*70
2022-07-21T20:13:50.730Z,1658434430.730 [NAL9602](INFO): GPS fix at 20220721T201351: (71.331631, -156.765628)
2022-07-21T20:13:50.742Z,1658434430.742 [LBLNavigation](INFO): Reset ping filters
2022-07-21T20:13:50.742Z,1658434430.742 [LBLNavigation](INFO): Reset fix filter
2022-07-21T20:13:51.580Z,1658434431.580 [SBIT](IMPORTANT): SBIT PASSED
2022-07-21T20:13:51.581Z,1658434431.581 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2022-07-21T20:13:51.582Z,1658434431.582 [SBIT](IMPORTANT): CBIT.gfScanTimeout=2 hour;

2022-07-21T20:13:51.582Z,1658434431.582 [SBIT](IMPORTANT): Courier linearApproximation WetLabsSeaOWL_UV_A.mass_concentration_of_petroleum_hydrocarbons_in_sea_water 0.200000 kilogram_per_cubic_meter;

2022-07-21T20:13:51.582Z,1658434431.582 [SBIT](IMPORTANT): Courier linearApproximation depth 3.000000 meter;

2022-07-21T20:13:51.582Z,1658434431.582 [SBIT](IMPORTANT): Dock.depth=4 meter;

2022-07-21T20:13:51.582Z,1658434431.582 [SBIT](IMPORTANT): Dock.lat=71.3336 angular_degree;

2022-07-21T20:13:51.582Z,1658434431.582 [SBIT](IMPORTANT): Dock.lon=-156.73 angular_degree;

2022-07-21T20:13:51.583Z,1658434431.583 [SBIT](IMPORTANT): Express none CTD_Seabird.bin_median_sea_water_salinity;

2022-07-21T20:13:51.583Z,1658434431.583 [SBIT](IMPORTANT): Express none CTD_Seabird.sea_water_salinity;

2022-07-21T20:13:51.583Z,1658434431.583 [SBIT](IMPORTANT): Express none WetLabsSeaOWL_UV_A.concentration_of_colored_dissolved_organic_matter_in_sea_water;

2022-07-21T20:13:51.583Z,1658434431.583 [SBIT](IMPORTANT): Express linearApproximation WetLabsSeaOWL_UV_A.mass_concentration_of_petroleum_hydrocarbons_in_sea_water 0.200000 kilogram_per_cubic_meter;

2022-07-21T20:13:51.583Z,1658434431.583 [SBIT](IMPORTANT): Express none concentration_of_colored_dissolved_organic_matter_in_sea_water;

2022-07-21T20:13:51.583Z,1658434431.583 [SBIT](IMPORTANT): Express none mass_concentration_of_chlorophyll_in_sea_water;

2022-07-21T20:13:51.583Z,1658434431.583 [SBIT](IMPORTANT): InternalEnvSim.loadAtStartup=1 bool;

2022-07-21T20:13:51.583Z,1658434431.583 [SBIT](IMPORTANT): InternalEnvSim.timeAdjust=1.25 day;

2022-07-21T20:13:51.584Z,1658434431.584 [SBIT](IMPORTANT): LineCapture.armSpeed=1.2 meter_per_second;

2022-07-21T20:13:51.584Z,1658434431.584 [SBIT](IMPORTANT): LineCapture.midcourseSpeed=1.2 meter_per_second;

2022-07-21T20:13:51.584Z,1658434431.584 [SBIT](IMPORTANT): LineCapture.rolloutTimeout=6 minute;

2022-07-21T20:13:51.584Z,1658434431.584 [SBIT](IMPORTANT): LineCapture.shortFinalRange=-1 meter;

2022-07-21T20:13:51.584Z,1658434431.584 [SBIT](IMPORTANT): LineCapture.terminalRange=300 meter;

2022-07-21T20:13:51.584Z,1658434431.584 [SBIT](IMPORTANT): LineCapture.verbose=1 bool;

2022-07-21T20:13:51.584Z,1658434431.584 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.latVertex1=71.3257 degree;

2022-07-21T20:13:51.584Z,1658434431.584 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.latVertex2=71.3556 degree;

2022-07-21T20:13:51.584Z,1658434431.584 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.latVertex3=71.355171 degree;

2022-07-21T20:13:51.585Z,1658434431.585 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.latVertex4=71.323935 degree;

2022-07-21T20:13:51.601Z,1658434431.601 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.loadAtStartup=1 bool;

2022-07-21T20:13:51.601Z,1658434431.601 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.lonVertex1=-156.767 degree;

2022-07-21T20:13:51.601Z,1658434431.601 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.lonVertex2=-156.743 degree;

2022-07-21T20:13:51.601Z,1658434431.601 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.lonVertex3=-156.709149 degree;

2022-07-21T20:13:51.602Z,1658434431.602 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.lonVertex4=-156.715307 degree;

2022-07-21T20:13:51.602Z,1658434431.602 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=411.225225 cubic_centimeter;

2022-07-21T20:13:51.602Z,1658434431.602 [SBIT](IMPORTANT): VerticalControl.massDefault=-5.740576 millimeter;

2022-07-21T20:13:51.954Z,1658434431.954 [WorkSite](INFO): Already have valid position. Ignoring workSite position from Data/workSite.cfg
2022-07-21T20:13:51.977Z,1658434431.977 [MissionManager](IMPORTANT): Started mission Startup
2022-07-21T20:13:51.977Z,1658434431.977 [Startup] Running Loop=1
2022-07-21T20:13:51.978Z,1658434431.978 [Startup](DEBUG): Aggregate::initialize Startup
2022-07-21T20:13:51.978Z,1658434431.978 [Startup:A.GoToSurface] Running Loop=1
2022-07-21T20:13:51.978Z,1658434431.978 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2022-07-21T20:13:51.978Z,1658434431.978 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2022-07-21T20:13:51.979Z,1658434431.979 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2022-07-21T20:13:51.979Z,1658434431.979 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2022-07-21T20:13:51.979Z,1658434431.979 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2022-07-21T20:13:51.980Z,1658434431.980 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2022-07-21T20:13:51.993Z,1658434431.993 [Startup:StartupSatComms] Running Loop=1
2022-07-21T20:13:51.993Z,1658434431.993 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2022-07-21T20:13:51.994Z,1658434431.994 [Startup:StartupSatComms:A] Running Loop=1
2022-07-21T20:13:52.431Z,1658434432.431 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2022-07-21T20:13:53.960Z,1658434433.960 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201354.00,A,7119.89857,N,15645.93842,W,0.156,266.52,210722,,,A*7C
2022-07-21T20:13:53.963Z,1658434433.963 [NAL9602](INFO): GPS fix at 20220721T201354: (71.331643, -156.765640)
2022-07-21T20:13:53.975Z,1658434433.975 [Startup:StartupSatComms:A] Stopped
2022-07-21T20:13:53.976Z,1658434433.976 [Startup:StartupSatComms:B] Running Loop=1
2022-07-21T20:13:54.460Z,1658434434.460 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2022-07-21T20:14:00.703Z,1658434440.703 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2022-07-21T20:14:00.703Z,1658434440.703 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2022-07-21T20:14:01.080Z,1658434441.080 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2022-07-21T20:14:01.483Z,1658434441.483 [Micromodem](INFO): Nmea in: $CACST,6,1,20220721201401.018036,06,1189,24,0093,0150,208,02,02,01,02,-1,-01,-01,1,3,1,0,150,-100.0,0.12,-100,2.88,-01,-0.66,-2147483648,14500,4000*62

2022-07-21T20:14:18.126Z,1658434458.126 [NAL9602](INFO): SBD MO Status=2, MOMSN=42744, MT Status=2, MTMSN=0
2022-07-21T20:14:18.126Z,1658434458.126 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2022-07-21T20:14:38.807Z,1658434478.807 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2022-07-21T20:14:39.221Z,1658434479.221 [Micromodem](INFO): Nmea in: $CACST,6,1,20220721201439.021106,06,228,23,0217,0150,126,01,01,00,01,-1,-01,-01,1,3,6,0,150,19.6,0.02,-100,2.98,-01,-0.58,59,14500,4000*60

2022-07-21T20:14:42.472Z,1658434482.472 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=42744, MT Status=1, MTMSN=1603
2022-07-21T20:14:42.528Z,1658434482.528 [NAL9602](INFO): Sent 61 bytes from file Logs/20220721T033224/Courier0211.lzma
2022-07-21T20:14:42.528Z,1658434482.528 [NAL9602](INFO): Packets left to send: 0
2022-07-21T20:14:42.942Z,1658434482.942 [NAL9602](INFO): Received command: get InternalEnvSim.att1;get InternalEnvSim.att3
2022-07-21T20:14:44.963Z,1658434484.963 [CommandExec](IMPORTANT): got command get InternalEnvSim.att1
2022-07-21T20:14:44.963Z,1658434484.963 [CommandExec](IMPORTANT): InternalEnvSim.att1 false_easting:476155
2022-07-21T20:14:44.963Z,1658434484.963 [CommandExec](IMPORTANT): got command get InternalEnvSim.att3
2022-07-21T20:14:44.963Z,1658434484.963 [CommandExec](IMPORTANT): InternalEnvSim.att3 longitude_of_central_meridian:-165
2022-07-21T20:14:54.248Z,1658434494.248 [Startup:StartupSatComms:B](INFO): Timed out from 2022-07-21T20:13:53.0Z
2022-07-21T20:14:54.248Z,1658434494.248 [Startup:StartupSatComms:B] Stopped
2022-07-21T20:14:54.248Z,1658434494.248 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2022-07-21T20:14:54.248Z,1658434494.248 [Startup:StartupSatComms] Stopped
2022-07-21T20:14:54.248Z,1658434494.248 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2022-07-21T20:14:54.265Z,1658434494.265 [Startup](INFO): Completed Startup
2022-07-21T20:14:54.265Z,1658434494.265 [MissionManager](INFO): Startup is completed.
2022-07-21T20:14:54.265Z,1658434494.265 [MissionManager](INFO): Uninitializing Mission Startup
2022-07-21T20:14:54.266Z,1658434494.266 [Startup] Stopped
2022-07-21T20:14:54.266Z,1658434494.266 [Startup](DEBUG): Aggregate::uninitialize Startup
2022-07-21T20:14:54.266Z,1658434494.266 [Startup:A.GoToSurface] Stopped
2022-07-21T20:14:54.266Z,1658434494.266 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2022-07-21T20:14:54.583Z,1658434494.583 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2022-07-21T20:14:54.583Z,1658434494.583 [DefaultWithUndock] Running Loop=1
2022-07-21T20:14:54.583Z,1658434494.583 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2022-07-21T20:14:54.583Z,1658434494.583 [DefaultWithUndock:A.Wait] Running Loop=1
2022-07-21T20:14:54.583Z,1658434494.583 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2022-07-21T20:15:06.682Z,1658434506.682 [NAL9602](INFO): SBD MO Status=1, MOMSN=42745, MT Status=0, MTMSN=0
2022-07-21T20:15:06.737Z,1658434506.737 [NAL9602](INFO): Sent 184 bytes from file Logs/20220721T201201/Courier0000.lzma
2022-07-21T20:15:06.737Z,1658434506.737 [NAL9602](INFO): Packets left to send: 1
2022-07-21T20:15:09.988Z,1658434509.988 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-63 in onboard configuration file).
2022-07-21T20:15:10.385Z,1658434510.385 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2022-07-21T20:15:24.597Z,1658434524.597 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2022-07-21T20:15:24.598Z,1658434524.598 [DefaultWithUndock:A.Wait] Stopped
2022-07-21T20:15:24.598Z,1658434524.598 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2022-07-21T20:15:24.598Z,1658434524.598 [DefaultWithUndock:LeaveDock] Running Loop=1
2022-07-21T20:15:24.598Z,1658434524.598 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2022-07-21T20:15:24.598Z,1658434524.598 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2022-07-21T20:15:24.598Z,1658434524.598 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2022-07-21T20:15:24.598Z,1658434524.598 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2022-07-21T20:15:24.598Z,1658434524.598 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2022-07-21T20:15:24.599Z,1658434524.599 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2022-07-21T20:15:24.897Z,1658434524.897 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2022-07-21T20:15:25.191Z,1658434525.191 [PowerOnly](INFO): Powering up loadControl
2022-07-21T20:15:27.174Z,1658434527.174 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-07-21T20:15:27.956Z,1658434527.956 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2022-07-21T20:15:28.389Z,1658434528.389 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2022-07-21T20:15:28.452Z,1658434528.452 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock.
2022-07-21T20:15:28.806Z,1658434528.806 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2022-07-21T20:15:29.188Z,1658434529.188 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201529.00*53

2022-07-21T20:15:30.006Z,1658434530.006 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-07-21T20:15:31.591Z,1658434531.591 [DUSBL_Hydroid](ERROR): No response from remote modem.
2022-07-21T20:15:32.825Z,1658434532.825 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-07-21T20:15:33.619Z,1658434533.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2022-07-21T20:15:34.029Z,1658434534.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2022-07-21T20:15:34.855Z,1658434534.855 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201534.66*5F

2022-07-21T20:15:35.661Z,1658434535.661 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-07-21T20:15:37.266Z,1658434537.266 [DUSBL_Hydroid](ERROR): No response from remote modem.
2022-07-21T20:15:37.728Z,1658434537.728 [NAL9602](INFO): Not Powering down - fast GPS
2022-07-21T20:15:38.208Z,1658434538.208 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-07-21T20:15:38.876Z,1658434538.876 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2022-07-21T20:15:39.299Z,1658434539.299 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2022-07-21T20:15:40.139Z,1658434540.139 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201539.92*59

2022-07-21T20:15:40.925Z,1658434540.925 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-07-21T20:15:42.502Z,1658434542.502 [DUSBL_Hydroid](ERROR): No response from remote modem.
2022-07-21T20:15:43.744Z,1658434543.744 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-07-21T20:15:44.520Z,1658434544.520 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2022-07-21T20:15:44.934Z,1658434544.934 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2022-07-21T20:15:45.763Z,1658434545.763 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201545.56*5A

2022-07-21T20:15:46.257Z,1658434546.257 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-07-21T20:15:48.163Z,1658434548.163 [DUSBL_Hydroid](ERROR): No response from remote modem.
2022-07-21T20:15:48.977Z,1658434548.977 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: nan m. Transitioning docking module to standby.
2022-07-21T20:15:48.978Z,1658434548.978 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-07-21T20:15:49.843Z,1658434549.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2022-07-21T20:15:50.229Z,1658434550.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2022-07-21T20:15:51.023Z,1658434551.023 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201550.88*5D

2022-07-21T20:15:51.070Z,1658434551.070 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Docking module at standby.
2022-07-21T20:15:51.472Z,1658434551.472 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2022-07-21T20:15:51.472Z,1658434551.472 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2022-07-21T20:15:51.472Z,1658434551.472 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2022-07-21T20:15:51.472Z,1658434551.472 [DefaultWithUndock:LeaveDock] Stopped
2022-07-21T20:15:51.472Z,1658434551.472 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2022-07-21T20:15:51.472Z,1658434551.472 [DefaultWithUndock:LeaveDock:A.] Stopped
2022-07-21T20:15:51.472Z,1658434551.472 [DefaultWithUndock:LeaveDock:A.](DEBUG): Uninitializing TrackAcousticContact.
2022-07-21T20:15:51.473Z,1658434551.473 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2022-07-21T20:15:51.473Z,1658434551.473 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2022-07-21T20:15:51.473Z,1658434551.473 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Running Loop=1
2022-07-21T20:15:51.473Z,1658434551.473 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2022-07-21T20:15:51.473Z,1658434551.473 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2022-07-21T20:15:51.474Z,1658434551.474 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2022-07-21T20:15:51.474Z,1658434551.474 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2022-07-21T20:15:51.474Z,1658434551.474 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2022-07-21T20:15:51.475Z,1658434551.475 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2022-07-21T20:15:51.845Z,1658434551.845 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2022-07-21T20:15:51.849Z,1658434551.849 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2022-07-21T20:15:51.849Z,1658434551.849 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2022-07-21T20:15:52.315Z,1658434552.315 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2022-07-21T20:15:53.783Z,1658434553.783 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201554.00,A,7119.89628,N,15646.00313,W,0.505,226.81,210722,,,D*77
2022-07-21T20:15:53.786Z,1658434553.786 [NAL9602](INFO): GPS fix at 20220721T201554: (71.331605, -156.766719)
2022-07-21T20:15:53.819Z,1658434553.819 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2022-07-21T20:15:53.819Z,1658434553.819 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2022-07-21T20:15:54.301Z,1658434554.301 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2022-07-21T20:16:23.269Z,1658434583.269 [NAL9602](INFO): SBD MO Status=1, MOMSN=42746, MT Status=0, MTMSN=0
2022-07-21T20:16:23.325Z,1658434583.325 [NAL9602](INFO): Sent 121 bytes from file Logs/20220721T201201/Courier0000.lzma
2022-07-21T20:16:23.325Z,1658434583.325 [NAL9602](INFO): Packets left to send: 0
2022-07-21T20:16:30.663Z,1658434590.663 [Micromodem](INFO): Nmea in: $CAMSG,BAD_CRC, Data Header,2*00

2022-07-21T20:16:31.059Z,1658434591.059 [Micromodem](INFO): Nmea in: $CACST,6,1,20220721201629.019362,06,162,22,0115,0150,208,02,02,00,02,4,-01,-01,2,3,1,0,150,5.1,-346.37,-100,-305.99,-01,0.00,62,14500,4000*55

2022-07-21T20:16:42.763Z,1658434602.763 [Micromodem](INFO): Nmea in: $CAMSG,Error accessing coproc,4*51

2022-07-21T20:16:42.765Z,1658434602.765 [NAL9602](INFO): SBD MO Status=2, MOMSN=42747, MT Status=2, MTMSN=0
2022-07-21T20:16:42.766Z,1658434602.766 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2022-07-21T20:16:43.163Z,1658434603.163 [Micromodem](INFO): Nmea in: $CACST,6,1,20220721201643.018402,06,213,23,0197,0150,82,01,01,00,01,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,14500,4000*60

2022-07-21T20:16:44.796Z,1658434604.796 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2022-07-21T20:16:45.199Z,1658434605.199 [Micromodem](INFO): Nmea in: $CACST,6,1,20220721201645.008432,06,717,22,0099,0150,149,03,03,01,03,-1,-01,-01,1,3,3,0,150,9.9,-0.94,-100,3.94,-01,-2.85,53,14500,4000*7A

2022-07-21T20:16:55.122Z,1658434615.122 [NAL9602](INFO): SBD MO Status=1, MOMSN=42747, MT Status=0, MTMSN=0
2022-07-21T20:16:55.174Z,1658434615.174 [NAL9602](INFO): Sent 62 bytes from file Logs/20220721T201201/Courier0004.lzma
2022-07-21T20:16:55.174Z,1658434615.174 [NAL9602](INFO): Packets left to send: 0
2022-07-21T20:16:56.846Z,1658434616.846 [PowerOnly](INFO): Powering down loadControl
2022-07-21T20:17:06.919Z,1658434626.919 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2022-07-21T20:17:07.334Z,1658434627.334 [Micromodem](INFO): Nmea in: $CACST,6,1,20220721201707.020375,06,1130,24,0093,0150,149,01,01,01,01,-1,-01,-01,1,3,2,0,150,23.4,0.12,-100,2.88,-01,-1.19,53,14500,4000*52

2022-07-21T20:17:07.337Z,1658434627.337 [NAL9602](INFO): SBD MO Status=1, MOMSN=42748, MT Status=0, MTMSN=0
2022-07-21T20:17:07.386Z,1658434627.386 [NAL9602](INFO): Sent 84 bytes from file Logs/20220721T201201/Courier0007.lzma
2022-07-21T20:17:07.386Z,1658434627.386 [NAL9602](INFO): Packets left to send: 0
2022-07-21T20:17:16.838Z,1658434636.838 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2022-07-21T20:17:16.838Z,1658434636.838 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2022-07-21T20:17:17.244Z,1658434637.244 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2022-07-21T20:17:17.647Z,1658434637.647 [Micromodem](INFO): Nmea in: $CACST,6,1,20220721201717.023448,06,595,21,0101,0150,149,01,01,01,01,-1,-01,-01,1,3,1,0,150,-100.0,-8.60,-100,11.60,-01,-0.69,-2147483648,14500,4000*4A

2022-07-21T20:17:19.659Z,1658434639.659 [NAL9602](INFO): SBD MO Status=1, MOMSN=42749, MT Status=0, MTMSN=0
2022-07-21T20:17:19.719Z,1658434639.719 [NAL9602](INFO): Sent 120 bytes from file Logs/20220721T033224/Express0209.lzma
2022-07-21T20:17:19.719Z,1658434639.719 [NAL9602](INFO): Packets left to send: 0
2022-07-21T20:17:28.377Z,1658434648.377 [NAL9602](INFO): SBD MO Status=1, MOMSN=42750, MT Status=0, MTMSN=0
2022-07-21T20:17:28.429Z,1658434648.429 [NAL9602](INFO): Sent 146 bytes from file Logs/20220721T033224/Express0212.lzma
2022-07-21T20:17:28.430Z,1658434648.430 [NAL9602](INFO): Packets left to send: 0
2022-07-21T20:17:36.989Z,1658434656.989 [NAL9602](INFO): SBD MO Status=1, MOMSN=42751, MT Status=0, MTMSN=0
2022-07-21T20:17:37.039Z,1658434657.039 [NAL9602](INFO): Sent 184 bytes from file Logs/20220721T201201/Express0001.lzma
2022-07-21T20:17:37.039Z,1658434657.039 [NAL9602](INFO): Packets left to send: 7
2022-07-21T20:17:48.970Z,1658434668.970 [NAL9602](INFO): SBD MO Status=1, MOMSN=42752, MT Status=0, MTMSN=0
2022-07-21T20:17:49.025Z,1658434669.025 [NAL9602](INFO): Sent 184 bytes from file Logs/20220721T201201/Express0001.lzma
2022-07-21T20:17:49.025Z,1658434669.025 [NAL9602](INFO): Packets left to send: 6
2022-07-21T20:18:00.245Z,1658434680.245 [NAL9602](INFO): SBD MO Status=1, MOMSN=42753, MT Status=0, MTMSN=0
2022-07-21T20:18:00.297Z,1658434680.297 [NAL9602](INFO): Sent 184 bytes from file Logs/20220721T201201/Express0001.lzma
2022-07-21T20:18:00.297Z,1658434680.297 [NAL9602](INFO): Packets left to send: 5
2022-07-21T20:18:06.856Z,1658434686.856 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2022-07-21T20:18:11.712Z,1658434691.712 [NAL9602](INFO): SBD MO Status=1, MOMSN=42754, MT Status=0, MTMSN=0
2022-07-21T20:18:11.761Z,1658434691.761 [NAL9602](INFO): Sent 184 bytes from file Logs/20220721T201201/Express0001.lzma
2022-07-21T20:18:11.761Z,1658434691.761 [NAL9602](INFO): Packets left to send: 4
2022-07-21T20:18:16.025Z,1658434696.025 [Micromodem](INFO): Nmea in: $CAMSG,Error accessing coproc,4*51

2022-07-21T20:18:16.398Z,1658434696.398 [Micromodem](INFO): Nmea in: $CACST,6,1,20220721201815.076926,06,201,23,0111,0150,208,02,02,00,02,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,14500,4000*50

2022-07-21T20:18:21.276Z,1658434701.276 [NAL9602](INFO): SBD MO Status=1, MOMSN=42755, MT Status=0, MTMSN=0
2022-07-21T20:18:21.325Z,1658434701.325 [NAL9602](INFO): Sent 184 bytes from file Logs/20220721T201201/Express0001.lzma
2022-07-21T20:18:21.325Z,1658434701.325 [NAL9602](INFO): Packets left to send: 3
2022-07-21T20:18:29.594Z,1658434709.594 [NAL9602](INFO): SBD MO Status=1, MOMSN=42756, MT Status=0, MTMSN=0
2022-07-21T20:18:29.643Z,1658434709.643 [NAL9602](INFO): Sent 184 bytes from file Logs/20220721T201201/Express0001.lzma
2022-07-21T20:18:29.644Z,1658434709.644 [NAL9602](INFO): Packets left to send: 2
2022-07-21T20:18:31.447Z,1658434711.447 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2022-07-21T20:18:31.779Z,1658434711.779 [Micromodem](INFO): Nmea in: $CACST,6,1,20220721201831.090987,06,654,22,0142,0150,134,03,03,01,03,-1,-01,-01,1,3,1,0,150,7.6,-0.01,-100,3.01,-01,-0.58,57,14500,4000*7B

2022-07-21T20:18:38.790Z,1658434718.790 [NAL9602](INFO): SBD MO Status=1, MOMSN=42757, MT Status=0, MTMSN=0
2022-07-21T20:18:38.837Z,1658434718.837 [NAL9602](INFO): Sent 184 bytes from file Logs/20220721T201201/Express0001.lzma
2022-07-21T20:18:38.838Z,1658434718.838 [NAL9602](INFO): Packets left to send: 1
2022-07-21T20:18:46.705Z,1658434726.705 [NAL9602](INFO): SBD MO Status=1, MOMSN=42758, MT Status=0, MTMSN=0
2022-07-21T20:18:46.753Z,1658434726.753 [NAL9602](INFO): Sent 154 bytes from file Logs/20220721T201201/Express0001.lzma
2022-07-21T20:18:46.753Z,1658434726.753 [NAL9602](INFO): Packets left to send: 0
2022-07-21T20:18:55.815Z,1658434735.815 [NAL9602](INFO): SBD MO Status=1, MOMSN=42759, MT Status=0, MTMSN=0
2022-07-21T20:18:55.869Z,1658434735.869 [NAL9602](INFO): Sent 184 bytes from file Logs/20220721T201201/Express0005.lzma
2022-07-21T20:18:55.869Z,1658434735.869 [NAL9602](INFO): Packets left to send: 1
2022-07-21T20:19:03.753Z,1658434743.753 [NAL9602](INFO): SBD MO Status=1, MOMSN=42760, MT Status=0, MTMSN=0
2022-07-21T20:19:03.805Z,1658434743.805 [NAL9602](INFO): Sent 69 bytes from file Logs/20220721T201201/Express0005.lzma
2022-07-21T20:19:03.805Z,1658434743.805 [NAL9602](INFO): Packets left to send: 0
2022-07-21T20:19:13.063Z,1658434753.063 [NAL9602](INFO): SBD MO Status=1, MOMSN=42761, MT Status=0, MTMSN=0
2022-07-21T20:19:13.117Z,1658434753.117 [NAL9602](INFO): Sent 143 bytes from file Logs/20220721T201201/Express0008.lzma
2022-07-21T20:19:13.117Z,1658434753.117 [NAL9602](INFO): Packets left to send: 0
2022-07-21T20:19:22.010Z,1658434762.010 [NAL9602](INFO): SBD MO Status=0, MOMSN=42762, MT Status=0, MTMSN=0
2022-07-21T20:19:22.092Z,1658434762.092 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2022-07-21T20:19:22.092Z,1658434762.092 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2022-07-21T20:19:22.092Z,1658434762.092 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2022-07-21T20:19:40.574Z,1658434780.574 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2022-07-21T20:19:40.577Z,1658434780.577 [BPC1](INFO): Received data from all battery sticks.
2022-07-21T20:19:52.691Z,1658434792.691 [NAL9602](INFO): Not Powering down - fast GPS
2022-07-21T20:22:00.789Z,1658434920.789 [Micromodem](INFO): Nmea in: $CAMSG,Error accessing coproc,4*51

2022-07-21T20:22:00.797Z,1658434920.797 [Micromodem](INFO): Nmea in: $CACST,6,1,20220721202201.060370,06,562,21,0149,0150,223,02,02,01,02,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,14500,4000*57

2022-07-21T20:22:06.824Z,1658434926.824 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2022-07-21T20:22:06.829Z,1658434926.829 [Micromodem](INFO): Nmea in: $CACST,6,1,20220721202207.073913,06,872,23,0863,0150,208,02,02,01,02,-1,-01,-01,1,3,4,0,150,10.7,-0.02,-100,3.02,-01,2.41,62,14500,4000*68

2022-07-21T20:24:06.843Z,1658435046.843 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2022-07-21T20:24:06.847Z,1658435046.847 [Micromodem](INFO): Nmea in: $CACST,6,1,20220721202407.070968,06,135,21,0146,0150,149,01,01,00,01,-1,-01,-01,1,3,5,0,150,25.9,0.07,-100,2.93,-01,-0.43,53,14500,4000*64

2022-07-21T20:24:22.606Z,1658435062.606 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2022-07-21T20:24:22.606Z,1658435062.606 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2022-07-21T20:24:22.606Z,1658435062.606 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2022-07-21T20:24:22.606Z,1658435062.606 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2022-07-21T20:24:22.996Z,1658435062.996 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2022-07-21T20:24:22.996Z,1658435062.996 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2022-07-21T20:24:23.383Z,1658435063.383 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2022-07-21T20:24:23.384Z,1658435063.384 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2022-07-21T20:24:23.389Z,1658435063.389 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2022-07-21T20:24:23.403Z,1658435063.403 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 9.473551 min 
2022-07-21T20:24:23.403Z,1658435063.403 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2022-07-21T20:24:23.403Z,1658435063.403 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2022-07-21T20:24:23.403Z,1658435063.403 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2022-07-21T20:24:23.403Z,1658435063.403 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2022-07-21T20:24:23.404Z,1658435063.404 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #2
2022-07-21T20:24:23.404Z,1658435063.404 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=2
2022-07-21T20:24:23.404Z,1658435063.404 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2022-07-21T20:24:23.404Z,1658435063.404 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2022-07-21T20:24:23.783Z,1658435063.783 [Micromodem](INFO): Nmea in: $CACST,6,1,20220721202423.078999,06,604,21,0097,0150,208,02,02,01,02,-1,-01,-01,1,3,3,0,150,74.4,0.40,-100,2.60,-01,-1.19,-12,14500,4000*4E

2022-07-21T20:24:25.399Z,1658435065.399 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,202426.00,A,7119.89060,N,15646.25156,W,0.428,277.51,210722,,,D*79
2022-07-21T20:24:25.401Z,1658435065.401 [NAL9602](INFO): GPS fix at 20220721T202426: (71.331510, -156.770859)
2022-07-21T20:24:25.443Z,1658435065.443 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2022-07-21T20:24:25.443Z,1658435065.443 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2022-07-21T20:24:43.382Z,1658435083.382 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=42763, MT Status=1, MTMSN=1604
2022-07-21T20:24:43.437Z,1658435083.437 [NAL9602](INFO): Sent 184 bytes from file Logs/20220721T201201/Courier0010.lzma
2022-07-21T20:24:43.437Z,1658435083.437 [NAL9602](INFO): Packets left to send: 1
2022-07-21T20:24:43.937Z,1658435083.937 [NAL9602](INFO): Received command: ! mv /mnt/mmc/LRAUV/Config/lrauv-polaris/originalSimulator.cfg /mnt/mmc/LRAUV
2022-07-21T20:24:44.010Z,1658435084.010 [CommandExec](IMPORTANT): got command ! mv /mnt/mmc/LRAUV/Config/lrauv-polaris/originalSimulator.cfg /mnt/mmc/LRAUV
2022-07-21T20:25:05.267Z,1658435105.267 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=42764, MT Status=1, MTMSN=1605
2022-07-21T20:25:05.334Z,1658435105.334 [NAL9602](INFO): Sent 28 bytes from file Logs/20220721T201201/Courier0010.lzma
2022-07-21T20:25:05.334Z,1658435105.334 [NAL9602](INFO): Packets left to send: 0
2022-07-21T20:25:05.789Z,1658435105.789 [NAL9602](INFO): Received command: ! ls /mnt/mmc/LRAUV/Config/lrauv-polaris/
2022-07-21T20:25:05.875Z,1658435105.875 [CommandExec](IMPORTANT): got command ! ls /mnt/mmc/LRAUV/Config/lrauv-polaris/
2022-07-21T20:25:05.962Z,1658435105.962 [CommandExec](IMPORTANT): BIT.cfg
  Battery.cfg
  Control.cfg
  Derivation.cfg
  Dock.cfg
  Estimation.cfg
  Navigation.cfg
  Science.cfg
  Sensor.cfg
  Servo.cfg
  Simulator.cfg
  logger.cfg
  secure.cfg
  vehicle.cfg
  workSite.cfg
  
2022-07-21T20:25:25.785Z,1658435125.785 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=42765, MT Status=1, MTMSN=1606
2022-07-21T20:25:25.833Z,1658435125.833 [NAL9602](INFO): Sent 168 bytes from file Logs/20220721T201201/Express0011.lzma
2022-07-21T20:25:25.833Z,1658435125.833 [NAL9602](INFO): Packets left to send: 0
2022-07-21T20:25:26.269Z,1658435126.269 [NAL9602](INFO): Received command: restart app
2022-07-21T20:25:26.314Z,1658435126.314 [CommandExec](IMPORTANT): got command restart application
2022-07-21T20:25:27.317Z,1658435127.317 [Supervisor](INFO): Stop Mission called by Supervisor::terminate
2022-07-21T20:25:27.317Z,1658435127.317 [CommandExec ThreadHandler](INFO): Uninitializing protected caller thread.
2022-07-21T20:25:27.318Z,1658435127.318 [CommandExec](INFO): Uninitializing the command executive.
2022-07-21T20:25:27.318Z,1658435127.318 [CommandExec](INFO): Uninitializing the command scheduler.
2022-07-21T20:25:27.318Z,1658435127.318 [CommandExec ThreadHandler](INFO): Thread cancelled.
2022-07-21T20:25:27.409Z,1658435127.409 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2022-07-21T20:25:27.414Z,1658435127.414 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2022-07-21T20:25:27.414Z,1658435127.414 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2022-07-21T20:25:27.415Z,1658435127.415 [NavChartDb](INFO): Join timeout helper Thread ID is 8720
2022-07-21T20:25:27.786Z,1658435127.786 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2022-07-21T20:25:27.787Z,1658435127.787 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2022-07-21T20:25:27.789Z,1658435127.789 [ComponentRegistry](INFO): Shutting down WetLabsSeaOWL_UV_A ThreadHandler
2022-07-21T20:25:27.789Z,1658435127.789 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2022-07-21T20:25:27.790Z,1658435127.790 [WetLabsSeaOWL_UV_A](INFO): Join timeout helper Thread ID is 8721
2022-07-21T20:25:27.865Z,1658435127.865 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Uninitializing protected caller thread.
2022-07-21T20:25:27.866Z,1658435127.866 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2022-07-21T20:25:27.881Z,1658435127.881 [ComponentRegistry](INFO): Shutting down CTD_Seabird ThreadHandler
2022-07-21T20:25:27.881Z,1658435127.881 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2022-07-21T20:25:27.882Z,1658435127.882 [CTD_Seabird](INFO): Join timeout helper Thread ID is 8722
2022-07-21T20:25:28.182Z,1658435128.182 [CTD_Seabird](INFO): Powering down
2022-07-21T20:25:28.194Z,1658435128.194 [CTD_Seabird ThreadHandler](INFO): Uninitializing protected caller thread.
2022-07-21T20:25:28.195Z,1658435128.195 [CTD_Seabird](INFO): Powering down
2022-07-21T20:25:28.210Z,1658435128.210 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2022-07-21T20:25:28.226Z,1658435128.226 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2022-07-21T20:25:28.226Z,1658435128.226 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2022-07-21T20:25:28.227Z,1658435128.227 [Radio_Surface](INFO): Join timeout helper Thread ID is 8723
2022-07-21T20:25:28.545Z,1658435128.545 [Radio_Surface](INFO): Powering down
2022-07-21T20:25:28.546Z,1658435128.546 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2022-07-21T20:25:28.546Z,1658435128.546 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2022-07-21T20:25:28.569Z,1658435128.569 [ComponentRegistry](INFO): Shutting down Onboard ThreadHandler
2022-07-21T20:25:28.569Z,1658435128.569 [Onboard ThreadHandler](INFO): Thread cancelled.
2022-07-21T20:25:28.570Z,1658435128.570 [Onboard](INFO): Join timeout helper Thread ID is 8724
2022-07-21T20:25:30.589Z,1658435130.589 [Onboard ThreadHandler](INFO): Uninitializing protected caller thread.
2022-07-21T20:25:30.589Z,1658435130.589 [Onboard ThreadHandler](INFO): Thread cancelled.
2022-07-21T20:25:30.591Z,1658435130.591 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2022-07-21T20:25:30.591Z,1658435130.591 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2022-07-21T20:25:30.591Z,1658435130.591 [DataOverHttps](INFO): Join timeout helper Thread ID is 8725
2022-07-21T20:25:31.194Z,1658435131.194 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2022-07-21T20:25:31.195Z,1658435131.195 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2022-07-21T20:25:31.204Z,1658435131.204 [ComponentRegistry](INFO): Shutting down BackseatComponent ThreadHandler
2022-07-21T20:25:31.205Z,1658435131.205 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2022-07-21T20:25:31.205Z,1658435131.205 [BackseatComponent](INFO): Join timeout helper Thread ID is 8726
2022-07-21T20:25:31.265Z,1658435131.265 [BackseatComponent ThreadHandler](INFO): Uninitializing protected caller thread.
2022-07-21T20:25:31.266Z,1658435131.266 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2022-07-21T20:25:31.282Z,1658435131.282 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2022-07-21T20:25:31.282Z,1658435131.282 [logger ThreadHandler](INFO): Thread cancelled.
2022-07-21T20:25:31.282Z,1658435131.282 [logger](INFO): Join timeout helper Thread ID is 8727
2022-07-21T20:25:31.321Z,1658435131.321 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2022-07-21T20:25:31.321Z,1658435131.321 [logger ThreadHandler](INFO): Thread cancelled.
2022-07-21T20:25:31.334Z,1658435131.334 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2022-07-21T20:25:31.334Z,1658435131.334 [CommandLine ThreadHandler](INFO): Thread cancelled.
2022-07-21T20:25:31.334Z,1658435131.334 [CommandLine](INFO): Join timeout helper Thread ID is 8728
2022-07-21T20:25:31.417Z,1658435131.417 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2022-07-21T20:25:31.417Z,1658435131.417 [CommandLine ThreadHandler](INFO): Thread cancelled.
2022-07-21T20:25:31.426Z,1658435131.426 [ComponentRegistry](INFO): Shutting down CommandExec ThreadHandler
2022-07-21T20:25:31.426Z,1658435131.426 [CommandExec ThreadHandler](INFO): Thread cancelled.
2022-07-21T20:25:31.426Z,1658435131.426 [CommandExec](INFO): Join timeout helper Thread ID is 8729
2022-07-21T20:25:31.438Z,1658435131.438 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2022-07-21T20:25:31.438Z,1658435131.438 [controlThread ThreadHandler](INFO): Thread cancelled.
2022-07-21T20:25:31.438Z,1658435131.438 [controlThread](INFO): Join timeout helper Thread ID is 8730
2022-07-21T20:25:31.734Z,1658435131.734 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2022-07-21T20:25:31.734Z,1658435131.734 [controlThread](DEBUG): Uninitializing ControlThread
2022-07-21T20:25:31.735Z,1658435131.735 [AHRS_M2](INFO): Powering down
2022-07-21T20:25:31.806Z,1658435131.806 [DDM](INFO): Powering down
2022-07-21T20:25:31.878Z,1658435131.878 [DUSBL_Hydroid](INFO): Powering down
2022-07-21T20:25:31.949Z,1658435131.949 [Micromodem](INFO): Powering down
2022-07-21T20:25:32.045Z,1658435132.045 [NAL9602](INFO): Powering down
2022-07-21T20:25:32.117Z,1658435132.117 [RDI_Pathfinder](INFO): Powering down
2022-07-21T20:25:32.189Z,1658435132.189 [RDI_PathfinderUp](INFO): Powering down
2022-07-21T20:25:32.190Z,1658435132.190 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2022-07-21T20:25:32.191Z,1658435132.191 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2022-07-21T20:25:32.192Z,1658435132.192 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2022-07-21T20:25:32.193Z,1658435132.193 [MissionManager](INFO): Uninitializing Mission DefaultWithUndock
2022-07-21T20:25:32.193Z,1658435132.193 [DefaultWithUndock] Stopped
2022-07-21T20:25:32.193Z,1658435132.193 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2022-07-21T20:25:32.193Z,1658435132.193 [DefaultWithUndock:SurfaceDefault] Stopped
2022-07-21T20:25:32.194Z,1658435132.194 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2022-07-21T20:25:32.194Z,1658435132.194 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Stopped
2022-07-21T20:25:32.194Z,1658435132.194 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2022-07-21T20:25:32.194Z,1658435132.194 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2022-07-21T20:25:32.194Z,1658435132.194 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2022-07-21T20:25:32.194Z,1658435132.194 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2022-07-21T20:25:32.201Z,1658435132.201 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2022-07-21T20:25:32.202Z,1658435132.202 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2022-07-21T20:25:32.202Z,1658435132.202 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2022-07-21T20:25:32.202Z,1658435132.202 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2022-07-21T20:25:32.202Z,1658435132.202 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2022-07-21T20:25:32.203Z,1658435132.203 [BuoyancyServo](INFO): Powering down
2022-07-21T20:25:32.217Z,1658435132.217 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2022-07-21T20:25:32.217Z,1658435132.217 [ElevatorServo](INFO): Powering down
2022-07-21T20:25:32.218Z,1658435132.218 [MassServo](DEBUG): Uninitialize Mass Servo.
2022-07-21T20:25:32.218Z,1658435132.218 [MassServo](INFO): Powering down
2022-07-21T20:25:32.219Z,1658435132.219 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2022-07-21T20:25:32.219Z,1658435132.219 [RudderServo](INFO): Powering down
2022-07-21T20:25:32.220Z,1658435132.220 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2022-07-21T20:25:32.220Z,1658435132.220 [ThrusterHE](INFO): Powering down
2022-07-21T20:25:32.221Z,1658435132.221 [SBIT](DEBUG): Uninitialize SBIT Component.
2022-07-21T20:25:32.222Z,1658435132.222 [IBIT](DEBUG): Uninitialize IBIT Component.
2022-07-21T20:25:32.222Z,1658435132.222 [CBIT](DEBUG): Uninitialize CBIT Component.
2022-07-21T20:25:32.222Z,1658435132.222 [CBIT](DEBUG): Powering off loads.
2022-07-21T20:25:32.233Z,1658435132.233 [CBIT](DEBUG): Disabling WDT.
2022-07-21T20:25:32.245Z,1658435132.245 [CBIT](DEBUG): Opening all GF detection circuits.
2022-07-21T20:25:32.246Z,1658435132.246 [controlThread ThreadHandler](INFO): Thread cancelled.
2022-07-21T20:25:32.254Z,1658435132.254 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2022-07-21T20:25:32.258Z,1658435132.258 [Onboard ThreadHandler](INFO): Thread cancelled.
2022-07-21T20:25:32.269Z,1658435132.269 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2022-07-21T20:25:32.314Z,1658435132.314 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2022-07-21T20:25:32.364Z,1658435132.364 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2022-07-21T20:25:32.366Z,1658435132.366 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2022-07-21T20:25:32.432Z,1658435132.432 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2022-07-21T20:25:32.496Z,1658435132.496 [logger ThreadHandler](INFO): Thread cancelled.