2020-01-21T19:17:22.164Z,1579634242.164 [Supervisor](DEBUG): Initializing supervisor.
2020-01-21T19:17:22.167Z,1579634242.167 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2020-01-21T19:17:22.168Z,1579634242.168 [SyncHandler](INFO): Protected caller Thread ID is 6411
2020-01-21T19:17:22.168Z,1579634242.168 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2020-01-21T19:17:22.169Z,1579634242.169 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2020-01-21T19:17:22.170Z,1579634242.170 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 6412
2020-01-21T19:17:22.173Z,1579634242.173 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2020-01-21T19:17:22.185Z,1579634242.185 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2020-01-21T19:17:22.186Z,1579634242.186 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2020-01-21T19:17:22.186Z,1579634242.186 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 6413
2020-01-21T19:17:22.187Z,1579634242.187 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2020-01-21T19:17:22.187Z,1579634242.187 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2020-01-21T19:17:22.188Z,1579634242.188 [logger ThreadHandler](INFO): Protected caller Thread ID is 6414
2020-01-21T19:17:22.190Z,1579634242.190 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2020-01-21T19:17:22.190Z,1579634242.190 [Supervisor](INFO): Looking for Config files in directory: Config/
2020-01-21T19:17:22.192Z,1579634242.192 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2020-01-21T19:17:22.619Z,1579634242.619 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2020-01-21T19:17:22.619Z,1579634242.619 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2020-01-21T19:17:22.717Z,1579634242.717 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2020-01-21T19:17:22.718Z,1579634242.718 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2020-01-21T19:17:23.028Z,1579634243.028 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2020-01-21T19:17:23.028Z,1579634243.028 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2020-01-21T19:17:23.166Z,1579634243.166 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2020-01-21T19:17:23.167Z,1579634243.167 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2020-01-21T19:17:23.356Z,1579634243.356 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2020-01-21T19:17:23.357Z,1579634243.357 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2020-01-21T19:17:23.792Z,1579634243.792 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2020-01-21T19:17:23.792Z,1579634243.792 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2020-01-21T19:17:23.999Z,1579634243.999 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2020-01-21T19:17:23.000Z,1579634244.000 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2020-01-21T19:17:24.142Z,1579634244.142 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2020-01-21T19:17:24.143Z,1579634244.143 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2020-01-21T19:17:24.330Z,1579634244.330 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2020-01-21T19:17:24.331Z,1579634244.331 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2020-01-21T19:17:24.427Z,1579634244.427 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2020-01-21T19:17:24.427Z,1579634244.427 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2020-01-21T19:17:24.721Z,1579634244.721 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2020-01-21T19:17:24.722Z,1579634244.722 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2020-01-21T19:17:24.802Z,1579634244.802 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2020-01-21T19:17:24.906Z,1579634244.906 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2020-01-21T19:17:24.906Z,1579634244.906 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2020-01-21T19:17:25.530Z,1579634245.530 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2020-01-21T19:17:25.531Z,1579634245.531 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2020-01-21T19:17:25.932Z,1579634245.932 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2020-01-21T19:17:25.934Z,1579634245.934 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/
2020-01-21T19:17:25.935Z,1579634245.935 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/vehicle.cfg
2020-01-21T19:17:26.144Z,1579634246.144 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Control.cfg
2020-01-21T19:17:26.245Z,1579634246.245 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/BIT.cfg
2020-01-21T19:17:26.344Z,1579634246.344 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Battery.cfg
2020-01-21T19:17:26.568Z,1579634246.568 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2020-01-21T19:17:26.569Z,1579634246.569 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Simulator.cfg
2020-01-21T19:17:26.654Z,1579634246.654 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Navigation.cfg
2020-01-21T19:17:26.748Z,1579634246.748 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/logger.cfg
2020-01-21T19:17:26.848Z,1579634246.848 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/secure.cfg
2020-01-21T19:17:26.931Z,1579634246.931 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Servo.cfg
2020-01-21T19:17:27.039Z,1579634247.039 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/workSite.cfg
2020-01-21T19:17:27.133Z,1579634247.133 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Sensor.cfg
2020-01-21T19:17:27.657Z,1579634247.657 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Science.cfg
2020-01-21T19:17:27.923Z,1579634247.923 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/root/
2020-01-21T19:17:27.923Z,1579634247.923 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2020-01-21T19:17:27.930Z,1579634247.930 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2020-01-21T19:17:28.435Z,1579634248.435 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_orientation
2020-01-21T19:17:28.440Z,1579634248.440 [AHRS_M2](INFO): created writer for : platform_orientation
2020-01-21T19:17:28.441Z,1579634248.441 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_magnetic_orientation
2020-01-21T19:17:28.446Z,1579634248.446 [AHRS_M2](INFO): created writer for : platform_magnetic_orientation
2020-01-21T19:17:28.447Z,1579634248.447 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_pitch_angle
2020-01-21T19:17:28.451Z,1579634248.451 [AHRS_M2](INFO): created writer for : platform_pitch_angle
2020-01-21T19:17:28.452Z,1579634248.452 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_roll_angle
2020-01-21T19:17:28.457Z,1579634248.457 [AHRS_M2](INFO): created writer for : platform_roll_angle
2020-01-21T19:17:28.524Z,1579634248.524 [AHRS_M2] Loaded
2020-01-21T19:17:28.524Z,1579634248.524 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2020-01-21T19:17:28.603Z,1579634248.603 [DataOverHttps] Loaded
2020-01-21T19:17:28.603Z,1579634248.603 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2020-01-21T19:17:28.604Z,1579634248.604 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 407684E0
2020-01-21T19:17:28.604Z,1579634248.604 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 6496
2020-01-21T19:17:28.627Z,1579634248.627 [DDM] Loaded
2020-01-21T19:17:28.627Z,1579634248.627 [ComponentRegistry](DEBUG): SyncComponent "DDM" handled in the control thread.
2020-01-21T19:17:28.639Z,1579634248.639 [Depth_Keller] Loaded
2020-01-21T19:17:28.640Z,1579634248.640 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2020-01-21T19:17:28.644Z,1579634248.644 [DropWeight] Loaded
2020-01-21T19:17:28.644Z,1579634248.644 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2020-01-21T19:17:28.702Z,1579634248.702 [DUSBL_Hydroid] Loaded
2020-01-21T19:17:28.702Z,1579634248.702 [ComponentRegistry](DEBUG): SyncComponent "DUSBL_Hydroid" handled in the control thread.
2020-01-21T19:17:28.746Z,1579634248.746 [Micromodem] Loaded
2020-01-21T19:17:28.746Z,1579634248.746 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2020-01-21T19:17:28.836Z,1579634248.836 [NAL9602] Loaded
2020-01-21T19:17:28.836Z,1579634248.836 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2020-01-21T19:17:28.872Z,1579634248.872 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/voltage_now
2020-01-21T19:17:28.872Z,1579634248.872 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/current_now
2020-01-21T19:17:28.873Z,1579634248.873 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/charge_now
2020-01-21T19:17:28.873Z,1579634248.873 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/charge_full
2020-01-21T19:17:28.874Z,1579634248.874 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/voltage_now
2020-01-21T19:17:28.874Z,1579634248.874 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/current_now
2020-01-21T19:17:28.875Z,1579634248.875 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/charge_now
2020-01-21T19:17:28.875Z,1579634248.875 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/charge_full
2020-01-21T19:17:28.876Z,1579634248.876 [Onboard] Loaded
2020-01-21T19:17:28.876Z,1579634248.876 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2020-01-21T19:17:28.881Z,1579634248.881 [PowerOnly] Loaded
2020-01-21T19:17:28.882Z,1579634248.882 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2020-01-21T19:17:28.888Z,1579634248.888 [Radio_Surface] Loaded
2020-01-21T19:17:28.888Z,1579634248.888 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2020-01-21T19:17:28.889Z,1579634248.889 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 407984E0
2020-01-21T19:17:28.889Z,1579634248.889 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 6497
2020-01-21T19:17:28.930Z,1579634248.930 [RDI_Pathfinder] Loaded
2020-01-21T19:17:28.930Z,1579634248.930 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2020-01-21T19:17:30.306Z,1579634250.306 [BPC1] Loaded
2020-01-21T19:17:30.306Z,1579634250.306 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2020-01-21T19:17:30.307Z,1579634250.307 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2020-01-21T19:17:30.307Z,1579634250.307 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2020-01-21T19:17:30.320Z,1579634250.320 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2020-01-21T19:17:30.320Z,1579634250.320 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2020-01-21T19:17:30.418Z,1579634250.418 [DeadReckonUsingMultipleVelocitySources] Loaded
2020-01-21T19:17:30.418Z,1579634250.418 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2020-01-21T19:17:30.437Z,1579634250.437 [NavChart] Loaded
2020-01-21T19:17:30.437Z,1579634250.437 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2020-01-21T19:17:30.441Z,1579634250.441 [UniversalFixResidualReporter] Loaded
2020-01-21T19:17:30.441Z,1579634250.441 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2020-01-21T19:17:30.442Z,1579634250.442 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2020-01-21T19:17:30.442Z,1579634250.442 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2020-01-21T19:17:30.542Z,1579634250.542 [BuoyancyServo] Loaded
2020-01-21T19:17:30.542Z,1579634250.542 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2020-01-21T19:17:30.557Z,1579634250.557 [ElevatorServo] Loaded
2020-01-21T19:17:30.557Z,1579634250.557 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2020-01-21T19:17:30.571Z,1579634250.571 [MassServo] Loaded
2020-01-21T19:17:30.571Z,1579634250.571 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2020-01-21T19:17:30.586Z,1579634250.586 [RudderServo] Loaded
2020-01-21T19:17:30.586Z,1579634250.586 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2020-01-21T19:17:30.599Z,1579634250.599 [ThrusterServo] Loaded
2020-01-21T19:17:30.600Z,1579634250.600 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2020-01-21T19:17:30.600Z,1579634250.600 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2020-01-21T19:17:30.601Z,1579634250.601 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2020-01-21T19:17:30.841Z,1579634250.841 [CTD_NeilBrown] Loaded
2020-01-21T19:17:30.841Z,1579634250.841 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2020-01-21T19:17:30.842Z,1579634250.842 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 408EC4E0
2020-01-21T19:17:30.843Z,1579634250.843 [CTD_NeilBrown ThreadHandler](INFO): Protected caller Thread ID is 6498
2020-01-21T19:17:30.857Z,1579634250.857 [PAR_Licor] Loaded
2020-01-21T19:17:30.857Z,1579634250.857 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2020-01-21T19:17:30.898Z,1579634250.898 [WetLabsSeaOWL_UV_A] Loaded
2020-01-21T19:17:30.899Z,1579634250.899 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2020-01-21T19:17:30.899Z,1579634250.899 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 4091C4E0
2020-01-21T19:17:30.900Z,1579634250.900 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 6499
2020-01-21T19:17:30.900Z,1579634250.900 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2020-01-21T19:17:30.901Z,1579634250.901 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2020-01-21T19:17:31.213Z,1579634251.213 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2020-01-21T19:17:31.213Z,1579634251.213 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2020-01-21T19:17:31.252Z,1579634251.252 [DepthRateCalculator] Loaded
2020-01-21T19:17:31.252Z,1579634251.252 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2020-01-21T19:17:31.257Z,1579634251.257 [PitchRateCalculator] Loaded
2020-01-21T19:17:31.257Z,1579634251.257 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2020-01-21T19:17:31.269Z,1579634251.269 [SpeedCalculator] Loaded
2020-01-21T19:17:31.269Z,1579634251.269 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2020-01-21T19:17:31.289Z,1579634251.289 [TempGradientCalculator] Loaded
2020-01-21T19:17:31.289Z,1579634251.289 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2020-01-21T19:17:31.294Z,1579634251.294 [YawRateCalculator] Loaded
2020-01-21T19:17:31.295Z,1579634251.295 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2020-01-21T19:17:31.333Z,1579634251.333 [ElevatorOffsetCalculator] Loaded
2020-01-21T19:17:31.334Z,1579634251.334 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2020-01-21T19:17:31.334Z,1579634251.334 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2020-01-21T19:17:31.334Z,1579634251.334 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2020-01-21T19:17:31.460Z,1579634251.460 [SBIT](DEBUG): Construct Startup Built In Test.
2020-01-21T19:17:31.481Z,1579634251.481 [SBIT] Loaded
2020-01-21T19:17:31.481Z,1579634251.481 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2020-01-21T19:17:31.482Z,1579634251.482 [IBIT](DEBUG): Construct Initiated Built In Test.
2020-01-21T19:17:31.493Z,1579634251.493 [IBIT] Loaded
2020-01-21T19:17:31.494Z,1579634251.494 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2020-01-21T19:17:31.497Z,1579634251.497 [CBIT](DEBUG): Construct Continuous Built In Test.
2020-01-21T19:17:31.627Z,1579634251.627 [CBIT] Loaded
2020-01-21T19:17:31.627Z,1579634251.627 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2020-01-21T19:17:31.627Z,1579634251.627 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2020-01-21T19:17:31.628Z,1579634251.628 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2020-01-21T19:17:31.705Z,1579634251.705 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2020-01-21T19:17:31.705Z,1579634251.705 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2020-01-21T19:17:31.795Z,1579634251.795 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2020-01-21T19:17:31.795Z,1579634251.795 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2020-01-21T19:17:31.840Z,1579634251.840 [VerticalControl](DEBUG): Construct VerticalControl.
2020-01-21T19:17:31.919Z,1579634251.919 [VerticalControl] Loaded
2020-01-21T19:17:31.919Z,1579634251.919 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2020-01-21T19:17:31.920Z,1579634251.920 [HorizontalControl](DEBUG): Construct HorizontalControl.
2020-01-21T19:17:31.986Z,1579634251.986 [HorizontalControl] Loaded
2020-01-21T19:17:31.986Z,1579634251.986 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2020-01-21T19:17:31.987Z,1579634251.987 [SpeedControl](DEBUG): Construct SpeedControl.
2020-01-21T19:17:31.989Z,1579634251.989 [SpeedControl] Loaded
2020-01-21T19:17:31.989Z,1579634251.989 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2020-01-21T19:17:31.989Z,1579634251.989 [LoopControl](DEBUG): Construct LoopControl.
2020-01-21T19:17:31.990Z,1579634251.990 [LoopControl] Loaded
2020-01-21T19:17:31.990Z,1579634251.990 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2020-01-21T19:17:31.991Z,1579634251.991 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2020-01-21T19:17:31.991Z,1579634251.991 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2020-01-21T19:17:32.021Z,1579634252.021 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2020-01-21T19:17:32.024Z,1579634252.024 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2020-01-21T19:17:32.025Z,1579634252.025 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2020-01-21T19:17:32.032Z,1579634252.032 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2020-01-21T19:17:32.033Z,1579634252.033 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40B034E0
2020-01-21T19:17:32.033Z,1579634252.033 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 6500
2020-01-21T19:17:32.038Z,1579634252.038 [Supervisor](INFO): Main Thread ID is 6410
2020-01-21T19:17:32.038Z,1579634252.038 [Supervisor](DEBUG): Running supervisor.
2020-01-21T19:17:32.038Z,1579634252.038 [CommandLine ThreadHandler](INFO): Handler Thread ID is 6501
2020-01-21T19:17:32.041Z,1579634252.041 [controlThread ThreadHandler](INFO): Handler Thread ID is 6502
2020-01-21T19:17:32.041Z,1579634252.041 [controlThread](DEBUG): Initializing ControlThread
2020-01-21T19:17:32.048Z,1579634252.048 [NavChart](DEBUG): Initialize NavChart Navigation.
2020-01-21T19:17:32.048Z,1579634252.048 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2020-01-21T19:17:32.053Z,1579634252.053 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2020-01-21T19:17:32.053Z,1579634252.053 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2020-01-21T19:17:32.054Z,1579634252.054 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2020-01-21T19:17:32.054Z,1579634252.054 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2020-01-21T19:17:32.054Z,1579634252.054 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2020-01-21T19:17:32.055Z,1579634252.055 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2020-01-21T19:17:32.055Z,1579634252.055 [SBIT](INFO): Initialize SBIT Component.
2020-01-21T19:17:32.056Z,1579634252.056 [SBIT](IMPORTANT): git: 2019-12-03-59-g5fe9486
2020-01-21T19:17:32.056Z,1579634252.056 [SBIT](INFO): git hash: 5fe9486a96d29e351d9528fb1f5de3b9dfa3514e
2020-01-21T19:17:32.056Z,1579634252.056 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2020-01-21T19:17:32.057Z,1579634252.057 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #2 PREEMPT Thu Jan 11 20:13:48 PST 2018
Kernel Reported: #2 PREEMPT Wed May 15 08:34:03 PDT 2019
2020-01-21T19:17:32.058Z,1579634252.058 [SBIT](INFO): Beginning SBIT in 39.000000 seconds.
2020-01-21T19:17:32.059Z,1579634252.059 [IBIT](INFO): Initialize IBIT Component.
2020-01-21T19:17:32.060Z,1579634252.060 [CBIT](DEBUG): Initialize CBIT Component.
2020-01-21T19:17:32.061Z,1579634252.061 [logger ThreadHandler](INFO): Handler Thread ID is 6503
2020-01-21T19:17:32.073Z,1579634252.073 [CBIT](DEBUG): Initialized mux pins.
2020-01-21T19:17:32.073Z,1579634252.073 [CBIT](DEBUG): Initializing the watchdog timer.
2020-01-21T19:17:32.081Z,1579634252.081 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 6504
2020-01-21T19:17:32.082Z,1579634252.082 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2020-01-21T19:17:32.093Z,1579634252.093 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 6505
2020-01-21T19:17:32.097Z,1579634252.097 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2020-01-21T19:17:32.097Z,1579634252.097 [CBIT](DEBUG): Initializing heartbeat.
2020-01-21T19:17:32.105Z,1579634252.105 [CTD_NeilBrown ThreadHandler](INFO): Handler Thread ID is 6506
2020-01-21T19:17:32.106Z,1579634252.106 [CTD_NeilBrown](INFO): Powering down
2020-01-21T19:17:32.133Z,1579634252.133 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 6507
2020-01-21T19:17:32.134Z,1579634252.134 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-01-21T19:17:32.157Z,1579634252.157 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 6508
2020-01-21T19:17:32.160Z,1579634252.160 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2020-01-21T19:17:32.160Z,1579634252.160 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2020-01-21T19:17:32.160Z,1579634252.160 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2020-01-21T19:17:32.161Z,1579634252.161 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2020-01-21T19:17:32.161Z,1579634252.161 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2020-01-21T19:17:32.161Z,1579634252.161 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2020-01-21T19:17:32.161Z,1579634252.161 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2020-01-21T19:17:32.161Z,1579634252.161 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2020-01-21T19:17:32.162Z,1579634252.162 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2020-01-21T19:17:32.162Z,1579634252.162 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2020-01-21T19:17:32.162Z,1579634252.162 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2020-01-21T19:17:32.162Z,1579634252.162 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2020-01-21T19:17:32.162Z,1579634252.162 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2020-01-21T19:17:32.162Z,1579634252.162 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2020-01-21T19:17:32.163Z,1579634252.163 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2020-01-21T19:17:32.163Z,1579634252.163 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2020-01-21T19:17:32.169Z,1579634252.169 [CBIT](DEBUG): Deactivating GF circuits.
2020-01-21T19:17:32.169Z,1579634252.169 [CBIT](DEBUG): Deactivating emergency mode.
2020-01-21T19:17:32.205Z,1579634252.205 [CBIT](DEBUG): Backplane powered.
2020-01-21T19:17:32.205Z,1579634252.205 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2020-01-21T19:17:32.207Z,1579634252.207 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2020-01-21T19:17:32.208Z,1579634252.208 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2020-01-21T19:17:32.208Z,1579634252.208 [LoopControl](DEBUG): Initialize LoopControlComponent.
2020-01-21T19:17:32.209Z,1579634252.209 [MissionManager](INFO): Loading Mission: Missions/StartupUnder.xml
2020-01-21T19:17:32.215Z,1579634252.215 [MissionManager](ERROR): Top node has no child nodes: Mission
2020-01-21T19:17:32.215Z,1579634252.215 [MissionManager](ERROR): Could not load startup mission.
2020-01-21T19:17:32.215Z,1579634252.215 [MissionManager](INFO): Loading Mission: Missions/DefaultUnder.xml
2020-01-21T19:17:32.442Z,1579634252.442 [MissionManager](INFO): DefineArg DefaultUnder.uModemCommsInterval = 5.000000 min
2020-01-21T19:17:32.462Z,1579634252.462 [MissionManager](INFO): DefineArg DefaultUnder.TransponderCode = 2.000000 count
2020-01-21T19:17:32.465Z,1579634252.465 [MissionManager](INFO): DefineArg DefaultUnder.AcousticUpdatePeriod = 60.000000 s
2020-01-21T19:17:32.468Z,1579634252.468 [MissionManager](INFO): DefineArg DefaultUnder.DockingAcousticUpdatePeriod = 2.500000 s
2020-01-21T19:17:32.495Z,1579634252.495 [MissionManager](INFO): DefineArg DefaultUnder.NumberOfPings = 1.000000 count
2020-01-21T19:17:32.497Z,1579634252.497 [Radio_Surface](INFO): Powering up
2020-01-21T19:17:32.503Z,1579634252.503 [MissionManager](INFO): DefineOutput DefaultUnder.TrackingUpdatePeriod = 60.000000 n/a
2020-01-21T19:17:32.515Z,1579634252.515 [MissionManager](INFO): DefineOutput DefaultUnder.Surface = -1.000000 count
2020-01-21T19:17:32.518Z,1579634252.518 [MissionManager](INFO): DefineOutput DefaultUnder.Docked = 0.000000 count
2020-01-21T19:17:32.565Z,1579634252.565 [MissionManager](INFO): DefineOutput DefaultUnder.Home = 1.000000 count
2020-01-21T19:17:32.569Z,1579634252.569 [MissionManager](INFO): DefineOutput DefaultUnder.DefaultMode = 0.000000 n/a
2020-01-21T19:17:32.572Z,1579634252.572 [MissionManager](INFO): DefineOutput DefaultUnder.CaptureMode = -1.000000 count
2020-01-21T19:17:32.588Z,1579634252.588 [MissionManager](INFO): DefineOutput DefaultUnder.ElapsedSinceDefaultStarted = 0.000000 min
2020-01-21T19:17:32.611Z,1579634252.611 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Construct Wait.
2020-01-21T19:17:32.633Z,1579634252.633 [DefaultUnder:Notify:A:C.Execute](DEBUG): Construct Execute.
2020-01-21T19:17:32.900Z,1579634252.900 [MissionManager](INFO): Inserting Stack: Missions/Insert/LineCapture.xml
2020-01-21T19:17:33.462Z,1579634253.462 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockDepth = 6.000000 _
2020-01-21T19:17:33.474Z,1579634253.474 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockLat = 0.642341 _
2020-01-21T19:17:33.478Z,1579634253.478 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockLon = -2.126200 _
2020-01-21T19:17:33.505Z,1579634253.505 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DetachRange = 8.000000 m
2020-01-21T19:17:33.509Z,1579634253.509 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DetachTimeout = 30.000000 min
2020-01-21T19:17:33.512Z,1579634253.512 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MidcourseDepth = 15.000000 m
2020-01-21T19:17:33.531Z,1579634253.531 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MidcourseSpeed = 1.000000 m/s
2020-01-21T19:17:33.535Z,1579634253.535 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MidcourseTimeout = 12.000000 h
2020-01-21T19:17:33.538Z,1579634253.538 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.TerminalRange = 650.000000 m
2020-01-21T19:17:33.557Z,1579634253.557 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.ArmRange = 40.000000 m
2020-01-21T19:17:33.561Z,1579634253.561 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockRange = 2.000000 m
2020-01-21T19:17:33.564Z,1579634253.564 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockTimeout = 60.000000 s
2020-01-21T19:17:33.583Z,1579634253.583 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.RolloutDistance = 250.000000 m
2020-01-21T19:17:33.586Z,1579634253.586 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.UpdateNav = 1 bool
2020-01-21T19:17:33.610Z,1579634253.610 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.AcousticTimeout = 10.000000 min
2020-01-21T19:17:33.613Z,1579634253.613 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.TerminalSpeed = 0.800000 m/s
2020-01-21T19:17:33.616Z,1579634253.616 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.SearchTimeout = 60.000000 min
2020-01-21T19:17:33.634Z,1579634253.634 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.CircleRadius = 300.000000 m
2020-01-21T19:17:33.669Z,1579634253.669 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.CircleMaxError = 100.000000 m
2020-01-21T19:17:33.673Z,1579634253.673 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.CircleTurnToPort = 0 bool
2020-01-21T19:17:33.676Z,1579634253.676 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DepthDeadband = 0.010000 m
2020-01-21T19:17:33.695Z,1579634253.695 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.RudderDeadband = 0.001000 arcdeg
2020-01-21T19:17:33.699Z,1579634253.699 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MinAltitude = 5.000000 m
2020-01-21T19:17:33.712Z,1579634253.712 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MaxDepth = 205.000000 m
2020-01-21T19:17:33.715Z,1579634253.715 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MinOffshore = 500.000000 m
2020-01-21T19:17:33.743Z,1579634253.743 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Depth = 15.000000 n/a
2020-01-21T19:17:33.746Z,1579634253.746 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Speed = 1.000000 n/a
2020-01-21T19:17:33.761Z,1579634253.761 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.DoneTimeout = -1.000000 count
2020-01-21T19:17:33.765Z,1579634253.765 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Done = 0.000000 count
2020-01-21T19:17:33.768Z,1579634253.768 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.DetachFromDock = 1.000000 count
2020-01-21T19:17:33.800Z,1579634253.800 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Midcourse = 2.000000 count
2020-01-21T19:17:33.803Z,1579634253.803 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Terminal = 3.000000 count
2020-01-21T19:17:33.812Z,1579634253.812 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.GuidanceMode = 1.000000 n/a
2020-01-21T19:17:33.816Z,1579634253.816 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.ElapsedRange = 0.000000 min
2020-01-21T19:17:33.852Z,1579634253.852 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.Range = nan m
2020-01-21T19:17:33.854Z,1579634253.854 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2020-01-21T19:17:33.910Z,1579634253.910 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2020-01-21T19:17:33.930Z,1579634253.930 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2020-01-21T19:17:33.933Z,1579634253.933 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2020-01-21T19:17:33.934Z,1579634253.934 [DefaultUnder:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2020-01-21T19:17:33.953Z,1579634253.953 [DefaultUnder:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-01-21T19:17:33.977Z,1579634253.977 [DefaultUnder:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2020-01-21T19:17:34.016Z,1579634254.016 [DefaultUnder:LineCapture:H.Mass](DEBUG): Construct.
2020-01-21T19:17:34.060Z,1579634254.060 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:B.Buoyancy](DEBUG): Construct Buoyancy.
2020-01-21T19:17:34.063Z,1579634254.063 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:C.SetSpeed](DEBUG): Construct.
2020-01-21T19:17:34.082Z,1579634254.082 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:D.Pitch](DEBUG): Construct.
2020-01-21T19:17:34.137Z,1579634254.137 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed](DEBUG): Construct.
2020-01-21T19:17:34.146Z,1579634254.146 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:B.Pitch](DEBUG): Construct.
2020-01-21T19:17:34.182Z,1579634254.182 [DefaultUnder:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2020-01-21T19:17:34.265Z,1579634254.265 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2020-01-21T19:17:34.310Z,1579634254.310 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:G.Circle](DEBUG): Construct.
2020-01-21T19:17:34.405Z,1579634254.405 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2020-01-21T19:17:34.468Z,1579634254.468 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:H.LineCapture](DEBUG): Construct.
2020-01-21T19:17:34.511Z,1579634254.511 [DefaultUnder:LineCapture:K.Wait](DEBUG): Construct Wait.
2020-01-21T19:17:34.541Z,1579634254.541 [DefaultUnder:E.Wait](DEBUG): Construct Wait.
2020-01-21T19:17:34.547Z,1579634254.547 [DefaultUnder:Default:Docked:run:B.Docked](DEBUG): Construct.
2020-01-21T19:17:34.666Z,1579634254.666 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): Construct GoToSurface.
2020-01-21T19:17:34.700Z,1579634254.700 [DefaultUnder:Default:Surface:run:SurfaceComms:Read_Iridium_uModem:A_Timeout:A.Execute](DEBUG): Construct Execute.
2020-01-21T19:17:34.703Z,1579634254.703 [DefaultUnder:Default:Surface:run:SurfaceComms:C.Wait](DEBUG): Construct Wait.
2020-01-21T19:17:34.791Z,1579634254.791 [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="DefaultUnder">


    <DefineArg Name="uModemCommsInterval"><Description>
        How often to trigger uModem communications
    </Description><Units:minute/><Value>5</Value></DefineArg>

    <DefineArg Name="TransponderCode"><Description>
        Dock transponder Address.
    </Description><Units:count/><Value>2</Value></DefineArg>

    <DefineArg Name="AcousticUpdatePeriod"><Description>
        How long to wait between acoustic queries while the mission
        is in an idle state (on the dock or surface).
    </Description><Units:second/><Value>60</Value></DefineArg>

    <DefineArg Name="DockingAcousticUpdatePeriod"><Description>
        How long to wait between acoustic queries while the mission
        is actively docking (line capture)
    </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>

    <!-- Mission Variables (don't change!) -->

    <DefineOutput Name="TrackingUpdatePeriod"><Description>
        How long to wait between acoustic queries.
    </Description><Arg Name="AcousticUpdatePeriod"/></DefineOutput>

    <DefineOutput Name="Surface"><Description>
        Mission variable (don't change).
        The mission will run in this mode to go to the surface after homing attempts have failed.
    </Description><Units:count/><Value>-1</Value></DefineOutput>

    <DefineOutput Name="Docked"><Description>
        Mission variable (don't change).
        The mission will run in this mode when the vehicle is docked.
    </Description><Units:count/><Value>0</Value></DefineOutput>

    <DefineOutput Name="Home"><Description>
        Mission variable (don't change).
        The mission will run in this mode when homing to the dock.
    </Description><Units:count/><Value>1</Value></DefineOutput>

    <DefineOutput Name="DefaultMode"><Description>
        Mission variable (don't change).
        The mission sets this variable to switch between default modes.
    </Description><Arg Name="Docked"/></DefineOutput>

    <DefineOutput Name="CaptureMode"><Description>
        Mission variable (don't change).
        The mission sets this variable to reflect the termination status of the LineCapture insert.
    </Description><Units:count/><Value>-1</Value></DefineOutput>

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

    <!-- TODO: Safety nets and surfacing behaviors? -->

    <!-- Communication directives -->

    <Aggregate Id="uModemComms">
        <While>
            <Not><Arg Name="DefaultMode"/><Eq><Arg Name="Surface"/></Eq></Not>
        </While>

        <Aggregate Id="CheckIn">

            <When>
                <Elapsed><Universal:platform_communications/></Elapsed>
                <Gt><Arg Name="uModemCommsInterval"/></Gt>
            </When>

            <ReadDatum>
                <Timeout Duration="P10M"/>
                <Universal:platform_communications/>
            </ReadDatum>

        </Aggregate>
    </Aggregate>

    <!-- Notify directives. -->

    <Aggregate Id="Notify">
        <Parallel/>

        <Aggregate>
            <Sequence/>

            <Aggregate>
                <Sequence Repeat="288"/>

                <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.</Syslog>

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

   <!-- Add track acoustic contact 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>

    <!-- Add LineCapture directives. -->

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

    <!-- Default mission sequence. -->

    <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>

    <Aggregate Id="Default">

        <Sequence/>

        <Aggregate Id="Docked">

            <While>
                <Arg Name="DefaultMode"/><Eq><Arg Name="Docked"/></Eq>
            </While>

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

                <Assign><Sequence/><Arg Name="TrackingUpdatePeriod"/><Arg Name="AcousticUpdatePeriod"/></Assign>

                <Guidance:Docked>
                    <Sequence/>
                </Guidance:Docked>

                <Assign><Sequence/><Arg Name="DefaultMode"/><Arg Name="Home"/></Assign>

            </Aggregate>
        </Aggregate>


        <Aggregate Id="Home">

            <While>
                <Arg Name="DefaultMode"/><Eq><Arg Name="Home"/></Eq>
            </While>

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

                <Assign><Sequence/><Arg Name="TrackingUpdatePeriod"/><Arg Name="DockingAcousticUpdatePeriod"/></Assign>

                <Assign><Sequence/><Arg Name="CaptureMode"/><Arg Name="Surface"/></Assign>

                <Call RefId="LineCapture"/>

                <Assign><Sequence/><Arg Name="CaptureMode"/><Arg Name="LineCapture:GuidanceMode"/></Assign>

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

                    <Break>
                        <Not><Arg Name="CaptureMode"/><Eq><Arg Name="Docked"/></Eq></Not>
                    </Break>

                    <Assign><Sequence/><Arg Name="DefaultMode"/><Arg Name="Docked"/></Assign>
                </Aggregate>

                <Assign><Sequence/><Arg Name="DefaultMode"/><Arg Name="Surface"/></Assign>

            </Aggregate>
        </Aggregate>


        <Aggregate Id="Surface">

            <While>
                <Arg Name="DefaultMode"/><Eq><Arg Name="Surface"/></Eq>
            </While>

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

                <Assign><Sequence/><Arg Name="TrackingUpdatePeriod"/><Arg Name="AcousticUpdatePeriod"/></Assign>

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

                <Aggregate Id="SurfaceComms">

                    <Sequence Repeat="288"/>

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

                    <ReadDatum Id="Read_Iridium_uModem">
                        <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>

                </Aggregate>
            </Aggregate>

        </Aggregate>

    </Aggregate>

</Mission>


2020-01-21T19:17:34.796Z,1579634254.796 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,DDM,Depth_Keller,DropWeight,DUSBL_Hydroid,Micromodem,NAL9602,Onboard,PowerOnly,RDI_Pathfinder,BPC1,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2020-01-21T19:17:34.809Z,1579634254.809 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2020-01-21T19:17:34.854Z,1579634254.854 [DDM](INFO): Powering up
2020-01-21T19:17:34.854Z,1579634254.854 [DDM](DEBUG): Initializing DDM.
2020-01-21T19:17:34.883Z,1579634254.883 [DUSBL_Hydroid](INFO): Powering up
2020-01-21T19:17:34.883Z,1579634254.883 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2020-01-21T19:17:35.110Z,1579634255.110 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2020-01-21T19:17:35.121Z,1579634255.121 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2020-01-21T19:17:35.122Z,1579634255.122 [ElevatorServo](DEBUG): Initializing EZServoServo.
2020-01-21T19:17:35.133Z,1579634255.133 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2020-01-21T19:17:35.134Z,1579634255.134 [MassServo](DEBUG): Initializing EZServoServo.
2020-01-21T19:17:35.145Z,1579634255.145 [MassServo](DEBUG): Initializing MassServo.
2020-01-21T19:17:35.146Z,1579634255.146 [RudderServo](DEBUG): Initializing EZServoServo.
2020-01-21T19:17:35.157Z,1579634255.157 [RudderServo](DEBUG): Initializing RudderServo.
2020-01-21T19:17:35.158Z,1579634255.158 [ThrusterServo](DEBUG): Initializing EZServoServo.
2020-01-21T19:17:35.169Z,1579634255.169 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2020-01-21T19:17:35.328Z,1579634255.328 [Micromodem](INFO): Powering up
2020-01-21T19:17:35.328Z,1579634255.328 [Micromodem](DEBUG): Initializing Micromodem.
2020-01-21T19:17:35.993Z,1579634255.993 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2020-01-21T19:17:35.993Z,1579634255.993 [RudderServo](FAULT): Rudder failed to initialize
2020-01-21T19:17:35.993Z,1579634255.993 [RudderServo] Communications Fault, FailCount= 1
2020-01-21T19:17:35.993Z,1579634255.993 [RudderServo](ERROR): Communications Fault
2020-01-21T19:17:36.104Z,1579634256.104 [CBIT](ERROR): Communications Fault in component: RudderServo
2020-01-21T19:17:36.282Z,1579634256.282 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-01-21T19:17:36.282Z,1579634256.282 [RudderServo](INFO): Powering down
2020-01-21T19:17:36.988Z,1579634256.988 [RudderServo](DEBUG): Initializing EZServoServo.
2020-01-21T19:17:37.106Z,1579634257.106 [RudderServo](DEBUG): Initializing RudderServo.
2020-01-21T19:17:37.110Z,1579634257.110 [CBIT](INFO): Clearing failed state for component RudderServo
2020-01-21T19:17:37.110Z,1579634257.110 [RudderServo] No Fault, FailCount= 1
2020-01-21T19:17:40.190Z,1579634260.190 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2020-01-21T19:17:40.600Z,1579634260.600 [Micromodem](INFO): Nmea in: $CATMG,2020-01-21T19:17:40.116189Z,RTC,RTC*5E

2020-01-21T19:17:40.600Z,1579634260.600 [Micromodem](ERROR): CFG response from modem unexpected: $CATMG,2020-01-21T19:17:40.116189Z,RTC,RTC*5E

2020-01-21T19:17:41.079Z,1579634261.079 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2020-01-21T19:17:41.079Z,1579634261.079 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2020-01-21T19:17:41.483Z,1579634261.483 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2020-01-21T19:17:41.483Z,1579634261.483 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2020-01-21T19:17:41.887Z,1579634261.887 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2020-01-21T19:17:41.888Z,1579634261.888 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,1*2E

2020-01-21T19:17:42.295Z,1579634262.295 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,1*2C

2020-01-21T19:17:42.295Z,1579634262.295 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2020-01-21T19:17:42.695Z,1579634262.695 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2020-01-21T19:17:42.695Z,1579634262.695 [Micromodem](INFO): Nmea out: $CCCFG,FC0,10000*46

2020-01-21T19:17:43.087Z,1579634263.087 [Micromodem](INFO): Nmea in: $CACFG,FC0,10000*44

2020-01-21T19:17:43.087Z,1579634263.087 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2020-01-21T19:17:43.507Z,1579634263.507 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2020-01-21T19:17:43.508Z,1579634263.508 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2020-01-21T19:17:43.886Z,1579634263.886 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2020-01-21T19:17:43.887Z,1579634263.887 [Micromodem](INFO): Nmea out: $CCCLK,2020,01,21,19,17,44*48

2020-01-21T19:17:44.319Z,1579634264.319 [Micromodem](INFO): Nmea in: $CACLK,2020,1,21,19,17,44*7A

2020-01-21T19:17:44.329Z,1579634264.329 [Micromodem](INFO): Nmea in: $CATMS,0,2020-01-21T19:17:45Z*7B

2020-01-21T19:17:44.330Z,1579634264.330 [Micromodem](INFO): Nmea in: $CATMG,2020-01-21T19:17:45.028350Z,USER_CMD,RTC*10

2020-01-21T19:17:45.500Z,1579634265.500 [DDM](INFO): Dynamic Docking Module:�

!C REMUS Capture Rev 1.1
2020-01-21T19:17:46.303Z,1579634266.303 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.005180
2020-01-21T19:17:48.752Z,1579634268.752 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2020-01-21T19:17:52.802Z,1579634272.802 [DUSBL_Hydroid](INFO): DUSBL Version:O
2020-01-21T19:17:58.863Z,1579634278.863 [NAL9602](INFO): Powering up NAL9602
2020-01-21T19:18:09.780Z,1579634289.780 [NAL9602](INFO): NAL9602 initialized
2020-01-21T19:18:11.498Z,1579634291.498 [SBIT](IMPORTANT): Beginning Startup BIT
2020-01-21T19:18:11.506Z,1579634291.506 [CBIT](IMPORTANT): Beginning ground fault scan
2020-01-21T19:18:22.618Z,1579634302.618 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.020766
CHAN A1 (24V): -0.028597
CHAN A2 (12V): -0.006735
CHAN A3 (5V): -0.001893
CHAN B0 (3.3V): 0.000367
CHAN B1 (3.15aV): 0.000107
CHAN B2 (3.15bV): 0.000404
CHAN B3 (GND): 0.001882
OPEN: 0.005377
Full Scale Calc: 4.765 mA, -1.589 mA
2020-01-21T19:18:30.772Z,1579634310.772 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-21T19:18:30.772Z,1579634310.772 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2020-01-21T19:18:49.770Z,1579634329.770 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-21T19:18:49.770Z,1579634329.770 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,200121125.0, -0.1,   0.0,1448.9,  0
2020-01-21T19:19:04.878Z,1579634344.878 [SBIT](IMPORTANT): SBIT PASSED
2020-01-21T19:19:04.878Z,1579634344.878 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2020-01-21T19:19:04.879Z,1579634344.879 [SBIT](IMPORTANT): DDM.verbosity=3 count;

2020-01-21T19:19:04.879Z,1579634344.879 [SBIT](IMPORTANT): DUSBL_Hydroid.detectionThreshold=30 count;

2020-01-21T19:19:04.879Z,1579634344.879 [SBIT](IMPORTANT): Micromodem.pwrampTXLevel=1 enum;

2020-01-21T19:19:04.879Z,1579634344.879 [SBIT](IMPORTANT): Micromodem.sendExpress=1 bool;

2020-01-21T19:19:04.879Z,1579634344.879 [SBIT](IMPORTANT): Micromodem.surfaceThreshold=0 meter;

2020-01-21T19:19:04.879Z,1579634344.879 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=105 cubic_centimeter;

2020-01-21T19:19:04.879Z,1579634344.879 [SBIT](IMPORTANT): VerticalControl.massDefault=-5 millimeter;

2020-01-21T19:19:05.259Z,1579634345.259 [MissionManager](IMPORTANT): Started mission DefaultUnder
2020-01-21T19:19:05.259Z,1579634345.259 [DefaultUnder] Running Loop=1
2020-01-21T19:19:05.259Z,1579634345.259 [DefaultUnder](DEBUG): Aggregate::initialize DefaultUnder
2020-01-21T19:19:05.259Z,1579634345.259 [DefaultUnder:uModemComms] Running Loop=1
2020-01-21T19:19:05.259Z,1579634345.259 [DefaultUnder:uModemComms](DEBUG): Aggregate::initialize DefaultUnder:uModemComms
2020-01-21T19:19:05.260Z,1579634345.260 [DefaultUnder:Notify] Running Loop=1
2020-01-21T19:19:05.260Z,1579634345.260 [DefaultUnder:Notify](DEBUG): Aggregate::initialize DefaultUnder:Notify
2020-01-21T19:19:05.260Z,1579634345.260 [DefaultUnder:Notify:A] Running Loop=1
2020-01-21T19:19:05.260Z,1579634345.260 [DefaultUnder:Notify:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A
2020-01-21T19:19:05.260Z,1579634345.260 [DefaultUnder:Notify:A:A] Running Loop=1
2020-01-21T19:19:05.260Z,1579634345.260 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A:A
2020-01-21T19:19:05.260Z,1579634345.260 [DefaultUnder:Notify:A:A:A.Wait] Running Loop=1
2020-01-21T19:19:05.260Z,1579634345.260 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Initialize Wait Component.
2020-01-21T19:19:05.260Z,1579634345.260 [DefaultUnder:C.] Running Loop=1
2020-01-21T19:19:05.261Z,1579634345.261 [DefaultUnder:C.](INFO): Initializing TrackAcousticContact.
2020-01-21T19:19:05.261Z,1579634345.261 [DefaultUnder:E.Wait] Running Loop=1
2020-01-21T19:19:05.261Z,1579634345.261 [DefaultUnder:E.Wait](DEBUG): Initialize Wait Component.
2020-01-21T19:19:05.262Z,1579634345.262 [DefaultUnder:C.] Running Loop=1
2020-01-21T19:19:05.263Z,1579634345.263 [DefaultUnder:Notify] Running Loop=1
2020-01-21T19:19:05.263Z,1579634345.263 [DefaultUnder:uModemComms] Running Loop=1
2020-01-21T19:19:05.263Z,1579634345.263 [DefaultUnder:uModemComms:CheckIn] Running Loop=1
2020-01-21T19:19:05.263Z,1579634345.263 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::initialize DefaultUnder:uModemComms:CheckIn
2020-01-21T19:19:05.263Z,1579634345.263 [DefaultUnder:uModemComms:CheckIn:A] Running Loop=1
2020-01-21T19:19:05.264Z,1579634345.264 [DefaultUnder:uModemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2020-01-21T19:19:05.695Z,1579634345.695 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 424E275E000000005D000004003C0100000000000000151D80030C5669BF3148E2FA22188B6A316CB341FA2208D03B2B9B32C3C10A70A7C01315A162EB88A1EB
2020-01-21T19:19:05.696Z,1579634345.696 [Micromodem](INFO): Outgoing frame #2, 64 bytes: BF7D53FA13ADDCAF8A6841E9F913914665EC9B7B634BB00059FFFE7B92B9B53BC0E19179E23DC776A7C3AC971D54D2DEBAC667F1B91CD16D99A28C3DB4DC557E
2020-01-21T19:19:05.696Z,1579634345.696 [Micromodem](INFO): Outgoing frame #3, 61 bytes: 6AF97B85BD0FF6FBDA060E1BC4A41250B50526E9A8E08DFC248CFCC75657C1C28983027BC6F553483850C1C510E66B7399154893ABBB7B539A32C50800
2020-01-21T19:19:05.716Z,1579634345.716 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-21T19:19:06.023Z,1579634346.023 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-21T19:19:06.432Z,1579634346.432 [Micromodem](INFO): Nmea in: $CADRQ,191906,1,12,0,64,1*72

2020-01-21T19:19:06.433Z,1579634346.433 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,424E275E000000005D000004003C0100000000000000151D80030C5669BF3148E2FA22188B6A316CB341FA2208D03B2B9B32C3C10A70A7C01315A162EB88A1EB*46

2020-01-21T19:19:06.834Z,1579634346.834 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-21T19:19:07.235Z,1579634347.235 [Micromodem](INFO): Nmea in: $CADRQ,191907,1,12,0,64,2*70

2020-01-21T19:19:07.236Z,1579634347.236 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,BF7D53FA13ADDCAF8A6841E9F913914665EC9B7B634BB00059FFFE7B92B9B53BC0E19179E23DC776A7C3AC971D54D2DEBAC667F1B91CD16D99A28C3DB4DC557E*4A

2020-01-21T19:19:07.649Z,1579634347.649 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-21T19:19:08.039Z,1579634348.039 [Micromodem](INFO): Nmea in: $CADRQ,191908,1,12,0,64,3*7E

2020-01-21T19:19:08.040Z,1579634348.040 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,6AF97B85BD0FF6FBDA060E1BC4A41250B50526E9A8E08DFC248CFCC75657C1C28983027BC6F553483850C1C510E66B7399154893ABBB7B539A32C50800*43

2020-01-21T19:19:08.443Z,1579634348.443 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,61*4E

2020-01-21T19:19:08.865Z,1579634348.865 [Micromodem](INFO): Nmea in: $CATXP,189*42

2020-01-21T19:19:12.487Z,1579634352.487 [Micromodem](INFO): Nmea in: $CATXF,189*54

2020-01-21T19:19:12.892Z,1579634352.892 [Micromodem](INFO): Nmea in: $CAXST,6,20200121,191909.054554,3,0,200,4000,10000,1,1,12,1,3,3,3,189*7E

2020-01-21T19:19:14.472Z,1579634354.472 [DataOverHttps](INFO): Sending 181 bytes from file Logs/20200121T191722/Courier0000.lzma
2020-01-21T19:19:16.478Z,1579634356.478 [DataOverHttps](INFO): Moved sent file to Logs/20200121T191722/Courier0000.lzma.bak
2020-01-21T19:19:16.479Z,1579634356.479 [DataOverHttps](INFO): SBD MOMSN=12197863
2020-01-21T19:19:18.593Z,1579634358.593 [DefaultUnder:E.Wait](INFO): Done Waiting.
2020-01-21T19:19:18.594Z,1579634358.594 [DefaultUnder:E.Wait] Stopped
2020-01-21T19:19:18.594Z,1579634358.594 [DefaultUnder:E.Wait](DEBUG): Uninitialize Wait Component.
2020-01-21T19:19:18.594Z,1579634358.594 [DefaultUnder:Default] Running Loop=1
2020-01-21T19:19:18.594Z,1579634358.594 [DefaultUnder:Default](DEBUG): Aggregate::initialize DefaultUnder:Default
2020-01-21T19:19:18.594Z,1579634358.594 [DefaultUnder:Default:Docked] Running Loop=1
2020-01-21T19:19:18.594Z,1579634358.594 [DefaultUnder:Default:Docked](DEBUG): Aggregate::initialize DefaultUnder:Default:Docked
2020-01-21T19:19:18.594Z,1579634358.594 [DefaultUnder:Default:Docked:run] Running Loop=1
2020-01-21T19:19:18.594Z,1579634358.594 [DefaultUnder:Default:Docked:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Docked:run
2020-01-21T19:19:18.594Z,1579634358.594 [DefaultUnder:Default:Docked:run:A] Running Loop=1
2020-01-21T19:19:18.594Z,1579634358.594 [DefaultUnder:Default:Home] Running Loop=1
2020-01-21T19:19:18.595Z,1579634358.595 [DefaultUnder:Default:Home](DEBUG): Aggregate::initialize DefaultUnder:Default:Home
2020-01-21T19:19:18.595Z,1579634358.595 [DefaultUnder:Default:Home:run] Running Loop=1
2020-01-21T19:19:18.595Z,1579634358.595 [DefaultUnder:Default:Home:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Home:run
2020-01-21T19:19:18.595Z,1579634358.595 [DefaultUnder:Default:Home:run:A] Running Loop=1
2020-01-21T19:19:18.595Z,1579634358.595 [DefaultUnder:Default:Surface] Running Loop=1
2020-01-21T19:19:18.595Z,1579634358.595 [DefaultUnder:Default:Surface](DEBUG): Aggregate::initialize DefaultUnder:Default:Surface
2020-01-21T19:19:18.595Z,1579634358.595 [DefaultUnder:Default:Surface:run] Running Loop=1
2020-01-21T19:19:18.595Z,1579634358.595 [DefaultUnder:Default:Surface:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Surface:run
2020-01-21T19:19:18.595Z,1579634358.595 [DefaultUnder:Default:Surface:run:B.GoToSurface] Running Loop=1
2020-01-21T19:19:18.595Z,1579634358.595 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-21T19:19:18.596Z,1579634358.596 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-21T19:19:18.596Z,1579634358.596 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-21T19:19:18.596Z,1579634358.596 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-21T19:19:18.597Z,1579634358.597 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-21T19:19:18.597Z,1579634358.597 [DefaultUnder:Default:Surface:run:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-21T19:19:18.598Z,1579634358.598 [DefaultUnder:Default:Surface:run:A] Running Loop=1
2020-01-21T19:19:18.996Z,1579634358.996 [DefaultUnder:Default:Surface] Stopped
2020-01-21T19:19:18.996Z,1579634358.996 [DefaultUnder:Default:Surface](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Surface
2020-01-21T19:19:18.996Z,1579634358.996 [DefaultUnder:Default:Surface:run] Stopped
2020-01-21T19:19:18.996Z,1579634358.996 [DefaultUnder:Default:Surface:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Surface:run
2020-01-21T19:19:18.996Z,1579634358.996 [DefaultUnder:Default:Surface:run:A] Stopped
2020-01-21T19:19:18.996Z,1579634358.996 [DefaultUnder:Default:Surface:run:B.GoToSurface] Stopped
2020-01-21T19:19:18.996Z,1579634358.996 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-21T19:19:18.996Z,1579634358.996 [DefaultUnder:Default:Home] Stopped
2020-01-21T19:19:18.997Z,1579634358.997 [DefaultUnder:Default:Home](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Home
2020-01-21T19:19:18.997Z,1579634358.997 [DefaultUnder:Default:Home:run] Stopped
2020-01-21T19:19:18.997Z,1579634358.997 [DefaultUnder:Default:Home:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Home:run
2020-01-21T19:19:18.997Z,1579634358.997 [DefaultUnder:Default:Home:run:A] Stopped
2020-01-21T19:19:18.997Z,1579634358.997 [DefaultUnder:Default:Docked] Running Loop=1
2020-01-21T19:19:18.998Z,1579634358.998 [DefaultUnder:Default:Docked:run:A] Stopped
2020-01-21T19:19:18.998Z,1579634358.998 [DefaultUnder:Default:Docked:run:B.Docked] Running Loop=1
2020-01-21T19:19:18.998Z,1579634358.998 [DefaultUnder:Default:Docked:run:B.Docked](DEBUG): Initialize.
2020-01-21T19:19:18.999Z,1579634358.999 [DefaultUnder:Default:Docked:run:B.Docked](INFO): Depth unspecified. Maintaining workSite beacon depth of 6.000000 m.
2020-01-21T19:19:36.406Z,1579634376.406 [BPC1](ERROR): BPC1B: No match for serial number FFFF in BPC1B's battery stick inventory (sticks 32-63 in onboard configuration file).
2020-01-21T19:19:37.202Z,1579634377.202 [CommandLine](IMPORTANT): got command report touch acoustic_contact_range
2020-01-21T19:19:40.448Z,1579634380.448 [DataOverHttps](INFO): Sending 107 bytes from file Logs/20200121T174459/Express0008.lzma
2020-01-21T19:19:42.455Z,1579634382.455 [DataOverHttps](INFO): Moved sent file to Logs/20200121T174459/Express0008.lzma.bak
2020-01-21T19:19:42.455Z,1579634382.455 [DataOverHttps](INFO): SBD MOMSN=12197866
2020-01-21T19:19:54.595Z,1579634394.595 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00,   0.00
2020-01-21T19:20:04.498Z,1579634404.498 [CommandLine](IMPORTANT): got command show stack
2020-01-21T19:20:04.498Z,1579634404.498 [CommandLine](IMPORTANT): Behavior Stack:

2020-01-21T19:20:04.498Z,1579634404.498 [DefaultUnder:uModemComms:CheckIn](IMPORTANT): Priority 0: DefaultUnder:uModemComms:CheckIn:A
2020-01-21T19:20:04.499Z,1579634404.499 [DefaultUnder:Notify:A:A](IMPORTANT): Priority 1: DefaultUnder:Notify:A:A:A.Wait
2020-01-21T19:20:04.499Z,1579634404.499 [DefaultUnder](IMPORTANT): Priority 2: DefaultUnder:C.
2020-01-21T19:20:04.499Z,1579634404.499 [DefaultUnder:Default:Docked:run](IMPORTANT): Priority 3: DefaultUnder:Default:Docked:run:B.Docked
2020-01-21T19:20:05.504Z,1579634405.504 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-21T19:20:05.961Z,1579634405.961 [DataOverHttps](INFO): Sending 762 bytes from file Logs/20200121T191722/Express0001.lzma
2020-01-21T19:20:06.267Z,1579634406.267 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-21T19:20:06.679Z,1579634406.679 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-21T19:20:07.162Z,1579634407.162 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-21T19:20:07.494Z,1579634407.494 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192007.24*55

2020-01-21T19:20:07.966Z,1579634407.966 [DataOverHttps](INFO): Moved sent file to Logs/20200121T191722/Express0001.lzma.bak
2020-01-21T19:20:07.966Z,1579634407.966 [DataOverHttps](INFO): SBD MOMSN=12197870
2020-01-21T19:20:09.553Z,1579634409.553 [DefaultUnder:uModemComms:CheckIn:A] Stopped
2020-01-21T19:20:09.553Z,1579634409.553 [DefaultUnder:uModemComms:CheckIn](INFO): Completed DefaultUnder:uModemComms:CheckIn
2020-01-21T19:20:09.553Z,1579634409.553 [DefaultUnder:uModemComms:CheckIn] Stopped
2020-01-21T19:20:09.553Z,1579634409.553 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::uninitialize DefaultUnder:uModemComms:CheckIn
2020-01-21T19:20:31.367Z,1579634431.367 [CommandLine](IMPORTANT): got command show variable period
2020-01-21T19:20:31.469Z,1579634431.469 [CommandLine](IMPORTANT): DataOverHttps.period (second)
2020-01-21T19:20:31.475Z,1579634431.475 [CommandLine](IMPORTANT): Rowe_600.pausePeriod (millisecond)
2020-01-21T19:20:31.484Z,1579634431.484 [CommandLine](IMPORTANT): WetLabsSeaOWL_UV_A.period (second)
2020-01-21T19:20:31.544Z,1579634431.544 [CommandLine](IMPORTANT): LoopControl.periodCmd (second)
2020-01-21T19:20:31.547Z,1579634431.547 [CommandLine](IMPORTANT): DefaultUnder.AcousticUpdatePeriod (second)
2020-01-21T19:20:31.547Z,1579634431.547 [CommandLine](IMPORTANT): DefaultUnder.DockingAcousticUpdatePeriod (second)
2020-01-21T19:20:31.547Z,1579634431.547 [CommandLine](IMPORTANT): DefaultUnder.TrackingUpdatePeriod (none)
2020-01-21T19:20:32.150Z,1579634432.150 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2020-01-21T19:20:32.150Z,1579634432.150 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-21T19:20:32.190Z,1579634432.190 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-21T19:20:32.601Z,1579634432.601 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-21T19:20:32.601Z,1579634432.601 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2020-01-21T19:20:37.628Z,1579634437.628 [CommandLine](IMPORTANT): got command get DefaultUnder.DockingAcousticUpdatePeriod
2020-01-21T19:20:37.628Z,1579634437.628 [CommandLine](IMPORTANT): DefaultUnder.DockingAcousticUpdatePeriod 2.500000 s
2020-01-21T19:20:47.416Z,1579634447.416 [CommandLine](IMPORTANT): got command get DefaultUnder.AcousticUpdatePeriod
2020-01-21T19:20:47.417Z,1579634447.417 [CommandLine](IMPORTANT): DefaultUnder.AcousticUpdatePeriod 60.000000 s
2020-01-21T19:21:07.312Z,1579634467.312 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-21T19:21:08.080Z,1579634468.080 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-21T19:21:08.489Z,1579634468.489 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-21T19:21:08.936Z,1579634468.936 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-21T19:21:09.302Z,1579634469.302 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192109.05*59

2020-01-21T19:21:38.817Z,1579634498.817 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2020-01-21T19:22:00.222Z,1579634520.222 [CommandLine](IMPORTANT): got command show variable cable
2020-01-21T19:22:00.438Z,1579634520.438 [CommandLine](IMPORTANT): DDM.cablePresent (bool)
2020-01-21T19:22:05.779Z,1579634525.779 [CommandLine](IMPORTANT): got command get DDM.cablePresent
2020-01-21T19:22:05.779Z,1579634525.779 [CommandLine](IMPORTANT): DDM.cablePresent 1 bool
2020-01-21T19:22:09.120Z,1579634529.120 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-21T19:22:09.895Z,1579634529.895 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-21T19:22:10.307Z,1579634530.307 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-21T19:22:10.767Z,1579634530.767 [Reporter](INFO): acoustic_contact_range 0.239999 m
2020-01-21T19:22:11.126Z,1579634531.126 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192210.87*58

2020-01-21T19:22:52.747Z,1579634572.747 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00,   0.00
2020-01-21T19:22:58.415Z,1579634578.415 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2020-01-21T19:22:58.415Z,1579634578.415 [RDI_Pathfinder](ERROR): Failed to parse:
:BS768,-32768,-32768,V
2020-01-21T19:23:10.932Z,1579634590.932 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-21T19:23:11.699Z,1579634591.699 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-21T19:23:12.113Z,1579634592.113 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-21T19:23:12.752Z,1579634592.752 [Reporter](INFO): acoustic_contact_range 0.239999 m
2020-01-21T19:23:12.930Z,1579634592.930 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192312.67*55

2020-01-21T19:23:13.323Z,1579634593.323 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2020-01-21T19:23:33.161Z,1579634613.161 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2020-01-21T19:23:33.161Z,1579634613.161 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-21T19:23:33.172Z,1579634613.172 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-21T19:23:33.564Z,1579634613.564 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-21T19:23:33.564Z,1579634613.564 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2020-01-21T19:23:58.159Z,1579634638.159 [CommandLine](IMPORTANT): got command maintain sensor Depth_Keller.depth 6.000000 meter
2020-01-21T19:23:58.160Z,1579634638.160 [ComponentRegistry](DEBUG): SyncComponent "Maintain_Depth_Keller.depth" handled in the control thread.
2020-01-21T19:23:58.240Z,1579634638.240 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,DDM,Depth_Keller,DropWeight,DUSBL_Hydroid,Micromodem,NAL9602,Onboard,PowerOnly,RDI_Pathfinder,BPC1,PAR_Licor,Depth_Keller,PAR_Licor,Maintain_Depth_Keller.depth,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2020-01-21T19:24:02.190Z,1579634642.190 [CommandLine](IMPORTANT): got command get depth
2020-01-21T19:24:02.190Z,1579634642.190 [CommandLine](IMPORTANT): depth 6.000000 m
2020-01-21T19:24:05.573Z,1579634645.573 [DefaultUnder:Notify:A:A:A.Wait](INFO): Done Waiting.
2020-01-21T19:24:05.573Z,1579634645.573 [DefaultUnder:Notify:A:A:A.Wait] Stopped
2020-01-21T19:24:05.574Z,1579634645.574 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-21T19:24:05.574Z,1579634645.574 [DefaultUnder:Notify:A:A:B] Running Loop=1
2020-01-21T19:24:05.989Z,1579634645.989 [DefaultUnder:Notify:A:A:B] Stopped
2020-01-21T19:24:05.989Z,1579634645.989 [DefaultUnder:Notify:A:A:C] Running Loop=1
2020-01-21T19:24:06.320Z,1579634646.320 [DefaultUnder:Notify:A:A:C](IMPORTANT): Default mission has been running for 5.012157 min 
2020-01-21T19:24:06.320Z,1579634646.320 [DefaultUnder:Notify:A:A:C] Stopped
2020-01-21T19:24:06.320Z,1579634646.320 [DefaultUnder:Notify:A:A](INFO): Completed DefaultUnder:Notify:A:A
2020-01-21T19:24:06.320Z,1579634646.320 [DefaultUnder:Notify:A:A] Stopped
2020-01-21T19:24:06.320Z,1579634646.320 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A:A
2020-01-21T19:24:06.320Z,1579634646.320 [DefaultUnder:Notify:A:A](INFO): Running loop #2
2020-01-21T19:24:06.320Z,1579634646.320 [DefaultUnder:Notify:A:A] Running Loop=2
2020-01-21T19:24:06.320Z,1579634646.320 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A:A
2020-01-21T19:24:06.320Z,1579634646.320 [DefaultUnder:Notify:A:A:A.Wait] Running Loop=1
2020-01-21T19:24:06.320Z,1579634646.320 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Initialize Wait Component.
2020-01-21T19:24:12.750Z,1579634652.750 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-21T19:24:13.515Z,1579634653.515 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-21T19:24:13.921Z,1579634653.921 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-21T19:24:14.446Z,1579634654.446 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-21T19:24:14.749Z,1579634654.749 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192414.48*59

2020-01-21T19:24:58.780Z,1579634698.780 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2020-01-21T19:24:58.784Z,1579634698.784 [BPC1](INFO): Received data from all battery sticks.
2020-01-21T19:24:58.953Z,1579634698.953 [Radio_Surface](INFO): Powering down
2020-01-21T19:25:09.297Z,1579634709.297 [DefaultUnder:uModemComms:CheckIn] Running Loop=1
2020-01-21T19:25:09.297Z,1579634709.297 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::initialize DefaultUnder:uModemComms:CheckIn
2020-01-21T19:25:09.298Z,1579634709.298 [DefaultUnder:uModemComms:CheckIn:A] Running Loop=1
2020-01-21T19:25:10.382Z,1579634710.382 [Micromodem](ERROR): Buffer fill timout failure.
2020-01-21T19:25:10.801Z,1579634710.801 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 424E275E04000E005D00000400143E00000000000000151D80030C5669BF72F575697EB2E064445E4E2A011152DE7EA1A6FB7241E1EA7519F590095C07CE85ED
2020-01-21T19:25:10.802Z,1579634710.802 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 62E734639E70286680048716C4D5277B3B9206DD9C7FE52A4C3CCA3B7DF51B48713119DE2D8834E40DA07701FD22F5FBAF918C6D4534F4A2EEB4819B614D82A4
2020-01-21T19:25:10.802Z,1579634710.802 [Micromodem](INFO): Outgoing frame #3, 64 bytes: 4A10EC3DD1B81218FAADE4300AFEFF9174F8AAA598BF159E27C3E7E682A519EE5E5D14CB95F880020E49051699D803D49B4BE5808722B8A590FEA045624A120B
2020-01-21T19:25:10.803Z,1579634710.803 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-21T19:25:11.147Z,1579634711.147 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-21T19:25:11.543Z,1579634711.543 [Micromodem](INFO): Nmea in: $CADRQ,192511,1,12,0,64,1*7B

2020-01-21T19:25:11.544Z,1579634711.544 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,424E275E04000E005D00000400143E00000000000000151D80030C5669BF72F575697EB2E064445E4E2A011152DE7EA1A6FB7241E1EA7519F590095C07CE85ED*47

2020-01-21T19:25:11.951Z,1579634711.951 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-21T19:25:12.364Z,1579634712.364 [Micromodem](INFO): Nmea in: $CADRQ,192512,1,12,0,64,2*7B

2020-01-21T19:25:12.370Z,1579634712.370 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,62E734639E70286680048716C4D5277B3B9206DD9C7FE52A4C3CCA3B7DF51B48713119DE2D8834E40DA07701FD22F5FBAF918C6D4534F4A2EEB4819B614D82A4*32

2020-01-21T19:25:12.755Z,1579634712.755 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-21T19:25:13.166Z,1579634713.166 [Micromodem](INFO): Nmea in: $CADRQ,192513,1,12,0,64,3*7B

2020-01-21T19:25:13.167Z,1579634713.167 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,4A10EC3DD1B81218FAADE4300AFEFF9174F8AAA598BF159E27C3E7E682A519EE5E5D14CB95F880020E49051699D803D49B4BE5808722B8A590FEA045624A120B*31

2020-01-21T19:25:13.567Z,1579634713.567 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-21T19:25:13.971Z,1579634713.971 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-21T19:25:14.400Z,1579634714.400 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-21T19:25:15.180Z,1579634715.180 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-21T19:25:17.611Z,1579634717.611 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2020-01-21T19:25:17.612Z,1579634717.612 [Micromodem](ERROR): Response from modem unexpected: $CATXF,192*5E

2020-01-21T19:25:18.009Z,1579634718.009 [Micromodem](INFO): Nmea in: $CAXST,6,20200121,192514.181586,3,0,200,4000,10000,1,1,12,1,3,3,3,192*71

2020-01-21T19:25:18.009Z,1579634718.009 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20200121,192514.181586,3,0,200,4000,10000,1,1,12,1,3,3,3,192*71

2020-01-21T19:25:26.491Z,1579634726.491 [Micromodem](ERROR): Nmea resend: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-21T19:25:26.550Z,1579634726.550 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2020-01-21T19:25:26.904Z,1579634726.904 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-21T19:25:27.721Z,1579634727.721 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192527.46*56

2020-01-21T19:25:30.565Z,1579634730.565 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.927582
2020-01-21T19:25:46.728Z,1579634746.728 [CommandLine](IMPORTANT): got command show variable pwr
2020-01-21T19:25:46.841Z,1579634746.841 [CommandLine](IMPORTANT): Micromodem.pwrampTXLevel (enum)
2020-01-21T19:25:55.159Z,1579634755.159 [CommandLine](IMPORTANT): got command get Micromodem.pwrampTXLevel
2020-01-21T19:25:55.159Z,1579634755.159 [CommandLine](IMPORTANT): Micromodem.pwrampTXLevel 1 enum
2020-01-21T19:26:14.619Z,1579634774.619 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-21T19:26:15.376Z,1579634775.376 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-21T19:26:15.782Z,1579634775.782 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-21T19:26:16.184Z,1579634776.184 [Micromodem](ERROR): Buffer fill timout failure.
2020-01-21T19:26:16.259Z,1579634776.259 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-21T19:26:16.610Z,1579634776.610 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192616.34*52

2020-01-21T19:26:16.696Z,1579634776.696 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 424E275E04000E005D00000400143E00000000000000151D80030C5669BF72F575697EB2E064445E4E2A011152DE7EA1A6FB7241E1EA7519F590095C07CE85ED
2020-01-21T19:26:16.697Z,1579634776.697 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 62E734639E70286680048716C4D5277B3B9206DD9C7FE52A4C3CCA3B7DF51B48713119DE2D8834E40DA07701FD22F5FBAF918C6D4534F4A2EEB4819B614D82A4
2020-01-21T19:26:16.698Z,1579634776.698 [Micromodem](INFO): Outgoing frame #3, 64 bytes: 4A10EC3DD1B81218FAADE4300AFEFF9174F8AAA598BF159E27C3E7E682A519EE5E5D14CB95F880020E49051699D803D49B4BE5808722B8A590FEA045624A120B
2020-01-21T19:26:16.698Z,1579634776.698 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-21T19:26:16.767Z,1579634776.767 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-21T19:26:16.767Z,1579634776.767 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2020-01-21T19:26:17.814Z,1579634777.814 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-21T19:26:18.215Z,1579634778.215 [Micromodem](INFO): Nmea in: $CADRQ,192617,1,12,0,64,1*7E

2020-01-21T19:26:18.216Z,1579634778.216 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,424E275E04000E005D00000400143E00000000000000151D80030C5669BF72F575697EB2E064445E4E2A011152DE7EA1A6FB7241E1EA7519F590095C07CE85ED*47

2020-01-21T19:26:18.618Z,1579634778.618 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-21T19:26:19.011Z,1579634779.011 [Micromodem](INFO): Nmea in: $CADRQ,192619,1,12,0,64,2*73

2020-01-21T19:26:19.012Z,1579634779.012 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,62E734639E70286680048716C4D5277B3B9206DD9C7FE52A4C3CCA3B7DF51B48713119DE2D8834E40DA07701FD22F5FBAF918C6D4534F4A2EEB4819B614D82A4*32

2020-01-21T19:26:19.428Z,1579634779.428 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-21T19:26:19.819Z,1579634779.819 [Micromodem](INFO): Nmea in: $CADRQ,192619,1,12,0,64,3*72

2020-01-21T19:26:19.820Z,1579634779.820 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,4A10EC3DD1B81218FAADE4300AFEFF9174F8AAA598BF159E27C3E7E682A519EE5E5D14CB95F880020E49051699D803D49B4BE5808722B8A590FEA045624A120B*31

2020-01-21T19:26:20.227Z,1579634780.227 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-21T19:26:20.627Z,1579634780.627 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-21T19:26:24.263Z,1579634784.263 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2020-01-21T19:26:24.668Z,1579634784.668 [Micromodem](INFO): Nmea in: $CAXST,6,20200121,192620.835343,3,0,200,4000,10000,1,1,12,1,3,3,3,192*7C

2020-01-21T19:26:26.751Z,1579634786.751 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-01-21T19:26:26.751Z,1579634786.751 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-3268,-32768,V
2020-01-21T19:26:33.993Z,1579634793.993 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 3
2020-01-21T19:26:33.993Z,1579634793.993 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-21T19:26:34.005Z,1579634794.005 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-21T19:26:34.430Z,1579634794.430 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-21T19:26:34.431Z,1579634794.431 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 3
2020-01-21T19:27:12.400Z,1579634832.400 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-01-21T19:27:12.400Z,1579634832.400 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +     +0.00,        +0.00,   0.00,563.99
2020-01-21T19:27:16.415Z,1579634836.415 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-21T19:27:17.191Z,1579634837.191 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-21T19:27:17.602Z,1579634837.602 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-21T19:27:18.062Z,1579634838.062 [Reporter](INFO): acoustic_contact_range 0.239999 m
2020-01-21T19:27:18.418Z,1579634838.418 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192718.16*5D

2020-01-21T19:27:22.038Z,1579634842.038 [Micromodem](ERROR): Buffer fill timout failure.
2020-01-21T19:27:22.510Z,1579634842.510 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 424E275E04000E005D00000400143E00000000000000151D80030C5669BF72F575697EB2E064445E4E2A011152DE7EA1A6FB7241E1EA7519F590095C07CE85ED
2020-01-21T19:27:22.511Z,1579634842.511 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 62E734639E70286680048716C4D5277B3B9206DD9C7FE52A4C3CCA3B7DF51B48713119DE2D8834E40DA07701FD22F5FBAF918C6D4534F4A2EEB4819B614D82A4
2020-01-21T19:27:22.511Z,1579634842.511 [Micromodem](INFO): Outgoing frame #3, 64 bytes: 4A10EC3DD1B81218FAADE4300AFEFF9174F8AAA598BF159E27C3E7E682A519EE5E5D14CB95F880020E49051699D803D49B4BE5808722B8A590FEA045624A120B
2020-01-21T19:27:22.512Z,1579634842.512 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-21T19:27:22.840Z,1579634842.840 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-21T19:27:23.252Z,1579634843.252 [Micromodem](INFO): Nmea in: $CADRQ,192723,1,12,0,64,1*78

2020-01-21T19:27:23.252Z,1579634843.252 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,424E275E04000E005D00000400143E00000000000000151D80030C5669BF72F575697EB2E064445E4E2A011152DE7EA1A6FB7241E1EA7519F590095C07CE85ED*47

2020-01-21T19:27:23.651Z,1579634843.651 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-21T19:27:24.056Z,1579634844.056 [Micromodem](INFO): Nmea in: $CADRQ,192724,1,12,0,64,2*7C

2020-01-21T19:27:24.056Z,1579634844.056 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,62E734639E70286680048716C4D5277B3B9206DD9C7FE52A4C3CCA3B7DF51B48713119DE2D8834E40DA07701FD22F5FBAF918C6D4534F4A2EEB4819B614D82A4*32

2020-01-21T19:27:24.476Z,1579634844.476 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-21T19:27:24.863Z,1579634844.863 [Micromodem](INFO): Nmea in: $CADRQ,192725,1,12,0,64,3*7C

2020-01-21T19:27:24.864Z,1579634844.864 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,4A10EC3DD1B81218FAADE4300AFEFF9174F8AAA598BF159E27C3E7E682A519EE5E5D14CB95F880020E49051699D803D49B4BE5808722B8A590FEA045624A120B*31

2020-01-21T19:27:25.267Z,1579634845.267 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-21T19:27:25.675Z,1579634845.675 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-21T19:27:29.315Z,1579634849.315 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2020-01-21T19:27:29.717Z,1579634849.717 [Micromodem](INFO): Nmea in: $CAXST,6,20200121,192725.880557,3,0,200,4000,10000,1,1,12,1,3,3,3,192*75

2020-01-21T19:27:29.752Z,1579634849.752 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-21T19:27:29.752Z,1579634849.752 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2020-01-21T19:27:34.456Z,1579634854.456 [CommandLine](IMPORTANT): got command get Micromodem.pwrampTXLevel
2020-01-21T19:27:34.458Z,1579634854.458 [CommandLine](IMPORTANT): Micromodem.pwrampTXLevel 1 enum
2020-01-21T19:27:44.903Z,1579634864.903 [CommandLine](IMPORTANT): got command configSet Micromodem.pwrampTXLevel 0.000000 enum persist
2020-01-21T19:27:50.406Z,1579634870.406 [CommandLine](IMPORTANT): got command failComponent hardware Micromodem
2020-01-21T19:27:50.406Z,1579634870.406 [Micromodem] Hardware Fault, FailCount= 1
2020-01-21T19:27:50.406Z,1579634870.406 [Micromodem](ERROR): Hardware Fault
2020-01-21T19:27:50.406Z,1579634870.406 [CommandLine](IMPORTANT): Micromodem failureMode is Hardware Fault
2020-01-21T19:27:50.722Z,1579634870.722 [Micromodem](INFO): Powering down
2020-01-21T19:27:50.862Z,1579634870.862 [CBIT](ERROR): Hardware Fault in component: Micromodem
2020-01-21T19:27:51.567Z,1579634871.567 [CBIT](INFO): Clearing failed state for component Micromodem
2020-01-21T19:27:51.567Z,1579634871.567 [Micromodem] No Fault, FailCount= 1
2020-01-21T19:27:54.354Z,1579634874.354 [Micromodem](INFO): Powering up
2020-01-21T19:27:54.355Z,1579634874.355 [Micromodem](DEBUG): Initializing Micromodem.
2020-01-21T19:27:59.201Z,1579634879.201 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2020-01-21T19:27:59.612Z,1579634879.612 [Micromodem](INFO): Nmea in: $CATMG,2020-01-21T19:27:59.132719Z,RTC,RTC*5C

2020-01-21T19:27:59.612Z,1579634879.612 [Micromodem](ERROR): CFG response from modem unexpected: $CATMG,2020-01-21T19:27:59.132719Z,RTC,RTC*5C

2020-01-21T19:28:00.019Z,1579634880.019 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2020-01-21T19:28:00.019Z,1579634880.019 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2020-01-21T19:28:00.418Z,1579634880.418 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2020-01-21T19:28:00.418Z,1579634880.418 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2020-01-21T19:28:00.820Z,1579634880.820 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2020-01-21T19:28:00.820Z,1579634880.820 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2020-01-21T19:28:00.868Z,1579634880.868 [RDI_Pathfinder](ERROR): No DVL communication! Re-initializing
2020-01-21T19:28:00.868Z,1579634880.868 [RDI_Pathfinder] Communications Fault, FailCount= 1
2020-01-21T19:28:00.869Z,1579634880.869 [RDI_Pathfinder](ERROR): Communications Fault
2020-01-21T19:28:00.918Z,1579634880.918 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2020-01-21T19:28:01.216Z,1579634881.216 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2020-01-21T19:28:01.216Z,1579634881.216 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2020-01-21T19:28:01.309Z,1579634881.309 [RDI_Pathfinder](INFO): Powering down
2020-01-21T19:28:01.627Z,1579634881.627 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2020-01-21T19:28:01.627Z,1579634881.627 [Micromodem](INFO): Nmea out: $CCCFG,FC0,10000*46

2020-01-21T19:28:02.038Z,1579634882.038 [Micromodem](INFO): Nmea in: $CACFG,FC0,10000*44

2020-01-21T19:28:02.038Z,1579634882.038 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2020-01-21T19:28:02.078Z,1579634882.078 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2020-01-21T19:28:02.078Z,1579634882.078 [RDI_Pathfinder] No Fault, FailCount= 1
2020-01-21T19:28:02.428Z,1579634882.428 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2020-01-21T19:28:02.428Z,1579634882.428 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2020-01-21T19:28:02.839Z,1579634882.839 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2020-01-21T19:28:02.840Z,1579634882.840 [Micromodem](INFO): Nmea out: $CCCLK,2020,01,21,19,28,03*47

2020-01-21T19:28:03.250Z,1579634883.250 [Micromodem](INFO): Nmea in: $CACLK,2020,1,21,19,28,3*45

2020-01-21T19:28:03.252Z,1579634883.252 [Micromodem](INFO): Nmea in: $CATMS,0,2020-01-21T19:28:04Z*72

2020-01-21T19:28:03.648Z,1579634883.648 [Micromodem](INFO): Nmea in: $CATMG,2020-01-21T19:28:04.028719Z,USER_CMD,RTC*10

2020-01-21T19:28:15.403Z,1579634895.403 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2020-01-21T19:28:18.236Z,1579634898.236 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-21T19:28:19.006Z,1579634899.006 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-21T19:28:19.417Z,1579634899.417 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-21T19:28:19.430Z,1579634899.430 [NAL9602](ERROR): Queried for signal strength and failed to receive proper response. 
2020-01-21T19:28:19.505Z,1579634899.505 [NAL9602](ERROR): received: 
+CSQ:0

OK
2020-01-21T19:28:19.505Z,1579634899.505 [NAL9602] Data Fault, FailCount= 1
2020-01-21T19:28:19.505Z,1579634899.505 [NAL9602](ERROR): Data Fault
2020-01-21T19:28:19.549Z,1579634899.549 [CBIT](ERROR): Data Fault in component: NAL9602
2020-01-21T19:28:19.814Z,1579634899.814 [NAL9602](INFO): Powering down
2020-01-21T19:28:19.888Z,1579634899.888 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-21T19:28:20.230Z,1579634900.230 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192819.97*5A

2020-01-21T19:28:20.231Z,1579634900.231 [NAL9602](FAULT): LCB fault:  Software Overcurrent.
2020-01-21T19:28:20.231Z,1579634900.231 [NAL9602] Hardware Fault, FailCount= 1
2020-01-21T19:28:20.231Z,1579634900.231 [NAL9602](ERROR): Hardware Fault
2020-01-21T19:28:20.674Z,1579634900.674 [CBIT](INFO): Clearing failed state for component NAL9602
2020-01-21T19:28:20.674Z,1579634900.674 [NAL9602] No Fault, FailCount= 1
2020-01-21T19:28:49.134Z,1579634929.134 [CommandLine](IMPORTANT): got command get depth
2020-01-21T19:28:49.135Z,1579634929.135 [CommandLine](IMPORTANT): depth 6.000000 m
2020-01-21T19:28:50.124Z,1579634930.124 [NAL9602](INFO): Powering up NAL9602
2020-01-21T19:28:51.776Z,1579634931.776 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2020-01-21T19:28:59.014Z,1579634939.014 [Micromodem](ERROR): Buffer fill timout failure.
2020-01-21T19:28:59.488Z,1579634939.488 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 424E275E04000E005D00000400143E00000000000000151D80030C5669BF72F575697EB2E064445E4E2A011152DE7EA1A6FB7241E1EA7519F590095C07CE85ED
2020-01-21T19:28:59.489Z,1579634939.489 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 62E734639E70286680048716C4D5277B3B9206DD9C7FE52A4C3CCA3B7DF51B48713119DE2D8834E40DA07701FD22F5FBAF918C6D4534F4A2EEB4819B614D82A4
2020-01-21T19:28:59.489Z,1579634939.489 [Micromodem](INFO): Outgoing frame #3, 64 bytes: 4A10EC3DD1B81218FAADE4300AFEFF9174F8AAA598BF159E27C3E7E682A519EE5E5D14CB95F880020E49051699D803D49B4BE5808722B8A590FEA045624A120B
2020-01-21T19:28:59.490Z,1579634939.490 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-21T19:28:59.819Z,1579634939.819 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-21T19:29:00.223Z,1579634940.223 [Micromodem](INFO): Nmea in: $CADRQ,192900,1,12,0,64,1*77

2020-01-21T19:29:00.224Z,1579634940.224 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,424E275E04000E005D00000400143E00000000000000151D80030C5669BF72F575697EB2E064445E4E2A011152DE7EA1A6FB7241E1EA7519F590095C07CE85ED*47

2020-01-21T19:29:00.631Z,1579634940.631 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-21T19:29:01.031Z,1579634941.031 [Micromodem](INFO): Nmea in: $CADRQ,192901,1,12,0,64,2*75

2020-01-21T19:29:01.032Z,1579634941.032 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,62E734639E70286680048716C4D5277B3B9206DD9C7FE52A4C3CCA3B7DF51B48713119DE2D8834E40DA07701FD22F5FBAF918C6D4534F4A2EEB4819B614D82A4*32

2020-01-21T19:29:01.038Z,1579634941.038 [NAL9602](INFO): NAL9602 initialized
2020-01-21T19:29:01.443Z,1579634941.443 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-21T19:29:01.839Z,1579634941.839 [Micromodem](INFO): Nmea in: $CADRQ,192901,1,12,0,64,3*74

2020-01-21T19:29:01.840Z,1579634941.840 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,4A10EC3DD1B81218FAADE4300AFEFF9174F