2020-01-22T01:29:24.675Z,1579656564.675 [Supervisor](DEBUG): Initializing supervisor.
2020-01-22T01:29:24.678Z,1579656564.678 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2020-01-22T01:29:24.679Z,1579656564.679 [SyncHandler](INFO): Protected caller Thread ID is 2779
2020-01-22T01:29:24.679Z,1579656564.679 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2020-01-22T01:29:24.680Z,1579656564.680 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2020-01-22T01:29:24.681Z,1579656564.681 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 2780
2020-01-22T01:29:24.684Z,1579656564.684 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2020-01-22T01:29:24.696Z,1579656564.696 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2020-01-22T01:29:24.697Z,1579656564.697 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2020-01-22T01:29:24.697Z,1579656564.697 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 2781
2020-01-22T01:29:24.698Z,1579656564.698 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2020-01-22T01:29:24.699Z,1579656564.699 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2020-01-22T01:29:24.699Z,1579656564.699 [logger ThreadHandler](INFO): Protected caller Thread ID is 2782
2020-01-22T01:29:24.701Z,1579656564.701 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2020-01-22T01:29:24.701Z,1579656564.701 [Supervisor](INFO): Looking for Config files in directory: Config/
2020-01-22T01:29:24.705Z,1579656564.705 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2020-01-22T01:29:25.134Z,1579656565.134 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2020-01-22T01:29:25.135Z,1579656565.135 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2020-01-22T01:29:25.233Z,1579656565.233 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2020-01-22T01:29:25.233Z,1579656565.233 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2020-01-22T01:29:25.543Z,1579656565.543 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2020-01-22T01:29:25.544Z,1579656565.544 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2020-01-22T01:29:25.681Z,1579656565.681 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2020-01-22T01:29:25.682Z,1579656565.682 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2020-01-22T01:29:25.872Z,1579656565.872 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2020-01-22T01:29:25.872Z,1579656565.872 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2020-01-22T01:29:26.309Z,1579656566.309 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2020-01-22T01:29:26.310Z,1579656566.310 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2020-01-22T01:29:26.517Z,1579656566.517 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2020-01-22T01:29:26.518Z,1579656566.518 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2020-01-22T01:29:26.661Z,1579656566.661 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2020-01-22T01:29:26.661Z,1579656566.661 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2020-01-22T01:29:26.850Z,1579656566.850 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2020-01-22T01:29:26.850Z,1579656566.850 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2020-01-22T01:29:26.946Z,1579656566.946 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2020-01-22T01:29:26.947Z,1579656566.947 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2020-01-22T01:29:27.242Z,1579656567.242 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2020-01-22T01:29:27.242Z,1579656567.242 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2020-01-22T01:29:27.323Z,1579656567.323 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2020-01-22T01:29:27.426Z,1579656567.426 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2020-01-22T01:29:27.427Z,1579656567.427 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2020-01-22T01:29:28.052Z,1579656568.052 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2020-01-22T01:29:28.052Z,1579656568.052 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2020-01-22T01:29:28.454Z,1579656568.454 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2020-01-22T01:29:28.456Z,1579656568.456 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/
2020-01-22T01:29:28.457Z,1579656568.457 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/vehicle.cfg
2020-01-22T01:29:28.667Z,1579656568.667 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Control.cfg
2020-01-22T01:29:28.768Z,1579656568.768 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/BIT.cfg
2020-01-22T01:29:28.868Z,1579656568.868 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Battery.cfg
2020-01-22T01:29:29.093Z,1579656569.093 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2020-01-22T01:29:29.094Z,1579656569.094 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Simulator.cfg
2020-01-22T01:29:29.179Z,1579656569.179 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Navigation.cfg
2020-01-22T01:29:29.272Z,1579656569.272 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/logger.cfg
2020-01-22T01:29:29.372Z,1579656569.372 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/secure.cfg
2020-01-22T01:29:29.456Z,1579656569.456 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Servo.cfg
2020-01-22T01:29:29.563Z,1579656569.563 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/workSite.cfg
2020-01-22T01:29:29.667Z,1579656569.667 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Sensor.cfg
2020-01-22T01:29:30.541Z,1579656570.541 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Science.cfg
2020-01-22T01:29:30.991Z,1579656570.991 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/root/
2020-01-22T01:29:30.991Z,1579656570.991 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2020-01-22T01:29:30.999Z,1579656570.999 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2020-01-22T01:29:31.308Z,1579656571.308 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_orientation
2020-01-22T01:29:31.313Z,1579656571.313 [AHRS_M2](INFO): created writer for : platform_orientation
2020-01-22T01:29:31.315Z,1579656571.315 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_magnetic_orientation
2020-01-22T01:29:31.319Z,1579656571.319 [AHRS_M2](INFO): created writer for : platform_magnetic_orientation
2020-01-22T01:29:31.320Z,1579656571.320 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_pitch_angle
2020-01-22T01:29:31.325Z,1579656571.325 [AHRS_M2](INFO): created writer for : platform_pitch_angle
2020-01-22T01:29:31.325Z,1579656571.325 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_roll_angle
2020-01-22T01:29:31.330Z,1579656571.330 [AHRS_M2](INFO): created writer for : platform_roll_angle
2020-01-22T01:29:31.396Z,1579656571.396 [AHRS_M2] Loaded
2020-01-22T01:29:31.396Z,1579656571.396 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2020-01-22T01:29:31.474Z,1579656571.474 [DataOverHttps] Loaded
2020-01-22T01:29:31.474Z,1579656571.474 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2020-01-22T01:29:31.475Z,1579656571.475 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 407684E0
2020-01-22T01:29:31.476Z,1579656571.476 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 2864
2020-01-22T01:29:31.498Z,1579656571.498 [DDM] Loaded
2020-01-22T01:29:31.498Z,1579656571.498 [ComponentRegistry](DEBUG): SyncComponent "DDM" handled in the control thread.
2020-01-22T01:29:31.511Z,1579656571.511 [Depth_Keller] Loaded
2020-01-22T01:29:31.511Z,1579656571.511 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2020-01-22T01:29:31.515Z,1579656571.515 [DropWeight] Loaded
2020-01-22T01:29:31.515Z,1579656571.515 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2020-01-22T01:29:31.572Z,1579656571.572 [DUSBL_Hydroid] Loaded
2020-01-22T01:29:31.573Z,1579656571.573 [ComponentRegistry](DEBUG): SyncComponent "DUSBL_Hydroid" handled in the control thread.
2020-01-22T01:29:31.616Z,1579656571.616 [Micromodem] Loaded
2020-01-22T01:29:31.616Z,1579656571.616 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2020-01-22T01:29:31.706Z,1579656571.706 [NAL9602] Loaded
2020-01-22T01:29:31.707Z,1579656571.707 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2020-01-22T01:29:31.741Z,1579656571.741 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/voltage_now
2020-01-22T01:29:31.742Z,1579656571.742 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/current_now
2020-01-22T01:29:31.742Z,1579656571.742 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/charge_now
2020-01-22T01:29:31.743Z,1579656571.743 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/charge_full
2020-01-22T01:29:31.743Z,1579656571.743 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/voltage_now
2020-01-22T01:29:31.744Z,1579656571.744 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/current_now
2020-01-22T01:29:31.744Z,1579656571.744 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/charge_now
2020-01-22T01:29:31.745Z,1579656571.745 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/charge_full
2020-01-22T01:29:31.745Z,1579656571.745 [Onboard] Loaded
2020-01-22T01:29:31.745Z,1579656571.745 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2020-01-22T01:29:31.751Z,1579656571.751 [PowerOnly] Loaded
2020-01-22T01:29:31.751Z,1579656571.751 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2020-01-22T01:29:31.791Z,1579656571.791 [RDI_Pathfinder] Loaded
2020-01-22T01:29:31.792Z,1579656571.792 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2020-01-22T01:29:33.176Z,1579656573.176 [BPC1] Loaded
2020-01-22T01:29:33.177Z,1579656573.177 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2020-01-22T01:29:33.177Z,1579656573.177 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2020-01-22T01:29:33.177Z,1579656573.177 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2020-01-22T01:29:33.190Z,1579656573.190 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2020-01-22T01:29:33.191Z,1579656573.191 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2020-01-22T01:29:33.288Z,1579656573.288 [DeadReckonUsingMultipleVelocitySources] Loaded
2020-01-22T01:29:33.289Z,1579656573.289 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2020-01-22T01:29:33.308Z,1579656573.308 [NavChart] Loaded
2020-01-22T01:29:33.308Z,1579656573.308 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2020-01-22T01:29:33.311Z,1579656573.311 [UniversalFixResidualReporter] Loaded
2020-01-22T01:29:33.312Z,1579656573.312 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2020-01-22T01:29:33.312Z,1579656573.312 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2020-01-22T01:29:33.313Z,1579656573.313 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2020-01-22T01:29:33.414Z,1579656573.414 [BuoyancyServo] Loaded
2020-01-22T01:29:33.415Z,1579656573.415 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2020-01-22T01:29:33.429Z,1579656573.429 [ElevatorServo] Loaded
2020-01-22T01:29:33.429Z,1579656573.429 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2020-01-22T01:29:33.443Z,1579656573.443 [MassServo] Loaded
2020-01-22T01:29:33.443Z,1579656573.443 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2020-01-22T01:29:33.458Z,1579656573.458 [RudderServo] Loaded
2020-01-22T01:29:33.458Z,1579656573.458 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2020-01-22T01:29:33.471Z,1579656573.471 [ThrusterServo] Loaded
2020-01-22T01:29:33.472Z,1579656573.472 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2020-01-22T01:29:33.472Z,1579656573.472 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2020-01-22T01:29:33.472Z,1579656573.472 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2020-01-22T01:29:33.714Z,1579656573.714 [CTD_NeilBrown] Loaded
2020-01-22T01:29:33.714Z,1579656573.714 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2020-01-22T01:29:33.715Z,1579656573.715 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 408BC4E0
2020-01-22T01:29:33.716Z,1579656573.716 [CTD_NeilBrown ThreadHandler](INFO): Protected caller Thread ID is 2865
2020-01-22T01:29:33.729Z,1579656573.729 [PAR_Licor] Loaded
2020-01-22T01:29:33.730Z,1579656573.730 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2020-01-22T01:29:33.770Z,1579656573.770 [WetLabsSeaOWL_UV_A] Loaded
2020-01-22T01:29:33.771Z,1579656573.771 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2020-01-22T01:29:33.771Z,1579656573.771 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 408EC4E0
2020-01-22T01:29:33.772Z,1579656573.772 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 2866
2020-01-22T01:29:33.772Z,1579656573.772 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2020-01-22T01:29:33.773Z,1579656573.773 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2020-01-22T01:29:34.082Z,1579656574.082 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2020-01-22T01:29:34.082Z,1579656574.082 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2020-01-22T01:29:34.121Z,1579656574.121 [DepthRateCalculator] Loaded
2020-01-22T01:29:34.121Z,1579656574.121 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2020-01-22T01:29:34.127Z,1579656574.127 [PitchRateCalculator] Loaded
2020-01-22T01:29:34.127Z,1579656574.127 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2020-01-22T01:29:34.138Z,1579656574.138 [SpeedCalculator] Loaded
2020-01-22T01:29:34.138Z,1579656574.138 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2020-01-22T01:29:34.158Z,1579656574.158 [TempGradientCalculator] Loaded
2020-01-22T01:29:34.158Z,1579656574.158 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2020-01-22T01:29:34.163Z,1579656574.163 [YawRateCalculator] Loaded
2020-01-22T01:29:34.164Z,1579656574.164 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2020-01-22T01:29:34.202Z,1579656574.202 [ElevatorOffsetCalculator] Loaded
2020-01-22T01:29:34.202Z,1579656574.202 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2020-01-22T01:29:34.202Z,1579656574.202 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2020-01-22T01:29:34.203Z,1579656574.203 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2020-01-22T01:29:34.329Z,1579656574.329 [SBIT](DEBUG): Construct Startup Built In Test.
2020-01-22T01:29:34.352Z,1579656574.352 [SBIT] Loaded
2020-01-22T01:29:34.353Z,1579656574.353 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2020-01-22T01:29:34.353Z,1579656574.353 [IBIT](DEBUG): Construct Initiated Built In Test.
2020-01-22T01:29:34.365Z,1579656574.365 [IBIT] Loaded
2020-01-22T01:29:34.366Z,1579656574.366 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2020-01-22T01:29:34.369Z,1579656574.369 [CBIT](DEBUG): Construct Continuous Built In Test.
2020-01-22T01:29:34.498Z,1579656574.498 [CBIT] Loaded
2020-01-22T01:29:34.499Z,1579656574.499 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2020-01-22T01:29:34.499Z,1579656574.499 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2020-01-22T01:29:34.499Z,1579656574.499 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2020-01-22T01:29:34.576Z,1579656574.576 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2020-01-22T01:29:34.576Z,1579656574.576 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2020-01-22T01:29:34.668Z,1579656574.668 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2020-01-22T01:29:34.669Z,1579656574.669 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2020-01-22T01:29:34.723Z,1579656574.723 [VerticalControl](DEBUG): Construct VerticalControl.
2020-01-22T01:29:34.802Z,1579656574.802 [VerticalControl] Loaded
2020-01-22T01:29:34.802Z,1579656574.802 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2020-01-22T01:29:34.803Z,1579656574.803 [HorizontalControl](DEBUG): Construct HorizontalControl.
2020-01-22T01:29:34.869Z,1579656574.869 [HorizontalControl] Loaded
2020-01-22T01:29:34.869Z,1579656574.869 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2020-01-22T01:29:34.870Z,1579656574.870 [SpeedControl](DEBUG): Construct SpeedControl.
2020-01-22T01:29:34.871Z,1579656574.871 [SpeedControl] Loaded
2020-01-22T01:29:34.872Z,1579656574.872 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2020-01-22T01:29:34.872Z,1579656574.872 [LoopControl](DEBUG): Construct LoopControl.
2020-01-22T01:29:34.873Z,1579656574.873 [LoopControl] Loaded
2020-01-22T01:29:34.873Z,1579656574.873 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2020-01-22T01:29:34.873Z,1579656574.873 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2020-01-22T01:29:34.874Z,1579656574.874 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2020-01-22T01:29:34.905Z,1579656574.905 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2020-01-22T01:29:34.908Z,1579656574.908 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2020-01-22T01:29:34.909Z,1579656574.909 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2020-01-22T01:29:34.915Z,1579656574.915 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2020-01-22T01:29:34.916Z,1579656574.916 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40AD34E0
2020-01-22T01:29:34.917Z,1579656574.917 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 2867
2020-01-22T01:29:34.921Z,1579656574.921 [Supervisor](INFO): Main Thread ID is 2637
2020-01-22T01:29:34.921Z,1579656574.921 [Supervisor](DEBUG): Running supervisor.
2020-01-22T01:29:34.922Z,1579656574.922 [CommandLine ThreadHandler](INFO): Handler Thread ID is 2868
2020-01-22T01:29:34.924Z,1579656574.924 [controlThread ThreadHandler](INFO): Handler Thread ID is 2869
2020-01-22T01:29:34.925Z,1579656574.925 [controlThread](DEBUG): Initializing ControlThread
2020-01-22T01:29:34.932Z,1579656574.932 [NavChart](DEBUG): Initialize NavChart Navigation.
2020-01-22T01:29:34.932Z,1579656574.932 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2020-01-22T01:29:34.937Z,1579656574.937 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2020-01-22T01:29:34.937Z,1579656574.937 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2020-01-22T01:29:34.938Z,1579656574.938 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2020-01-22T01:29:34.938Z,1579656574.938 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2020-01-22T01:29:34.939Z,1579656574.939 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2020-01-22T01:29:34.939Z,1579656574.939 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2020-01-22T01:29:34.940Z,1579656574.940 [SBIT](INFO): Initialize SBIT Component.
2020-01-22T01:29:34.940Z,1579656574.940 [SBIT](IMPORTANT): git: 2019-12-03-66-g3ff2a14
2020-01-22T01:29:34.940Z,1579656574.940 [SBIT](INFO): git hash: 3ff2a141e314d0ff24dfcdecba8589fc2363d401
2020-01-22T01:29:34.941Z,1579656574.941 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2020-01-22T01:29:34.942Z,1579656574.942 [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
2020-01-22T01:29:34.943Z,1579656574.943 [SBIT](INFO): Beginning SBIT in 39.000000 seconds.
2020-01-22T01:29:34.944Z,1579656574.944 [IBIT](INFO): Initialize IBIT Component.
2020-01-22T01:29:34.944Z,1579656574.944 [CBIT](DEBUG): Initialize CBIT Component.
2020-01-22T01:29:34.945Z,1579656574.945 [logger ThreadHandler](INFO): Handler Thread ID is 2870
2020-01-22T01:29:34.957Z,1579656574.957 [CBIT](DEBUG): Initialized mux pins.
2020-01-22T01:29:34.957Z,1579656574.957 [CBIT](DEBUG): Initializing the watchdog timer.
2020-01-22T01:29:34.965Z,1579656574.965 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 2871
2020-01-22T01:29:34.966Z,1579656574.966 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2020-01-22T01:29:34.977Z,1579656574.977 [CTD_NeilBrown ThreadHandler](INFO): Handler Thread ID is 2872
2020-01-22T01:29:34.978Z,1579656574.978 [CTD_NeilBrown](INFO): Powering down
2020-01-22T01:29:34.985Z,1579656574.985 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2020-01-22T01:29:34.985Z,1579656574.985 [CBIT](DEBUG): Initializing heartbeat.
2020-01-22T01:29:35.009Z,1579656575.009 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 2873
2020-01-22T01:29:35.010Z,1579656575.010 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-01-22T01:29:35.041Z,1579656575.041 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 2874
2020-01-22T01:29:35.044Z,1579656575.044 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2020-01-22T01:29:35.044Z,1579656575.044 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2020-01-22T01:29:35.045Z,1579656575.045 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2020-01-22T01:29:35.045Z,1579656575.045 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2020-01-22T01:29:35.045Z,1579656575.045 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2020-01-22T01:29:35.045Z,1579656575.045 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2020-01-22T01:29:35.045Z,1579656575.045 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2020-01-22T01:29:35.045Z,1579656575.045 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2020-01-22T01:29:35.046Z,1579656575.046 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2020-01-22T01:29:35.046Z,1579656575.046 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2020-01-22T01:29:35.046Z,1579656575.046 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2020-01-22T01:29:35.046Z,1579656575.046 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2020-01-22T01:29:35.046Z,1579656575.046 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2020-01-22T01:29:35.046Z,1579656575.046 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2020-01-22T01:29:35.047Z,1579656575.047 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2020-01-22T01:29:35.047Z,1579656575.047 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2020-01-22T01:29:35.057Z,1579656575.057 [CBIT](DEBUG): Deactivating GF circuits.
2020-01-22T01:29:35.057Z,1579656575.057 [CBIT](DEBUG): Deactivating emergency mode.
2020-01-22T01:29:35.093Z,1579656575.093 [CBIT](DEBUG): Backplane powered.
2020-01-22T01:29:35.093Z,1579656575.093 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2020-01-22T01:29:35.095Z,1579656575.095 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2020-01-22T01:29:35.095Z,1579656575.095 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2020-01-22T01:29:35.096Z,1579656575.096 [LoopControl](DEBUG): Initialize LoopControlComponent.
2020-01-22T01:29:35.097Z,1579656575.097 [MissionManager](INFO): Loading Mission: Missions/StartupUnder.xml
2020-01-22T01:29:35.103Z,1579656575.103 [MissionManager](ERROR): Top node has no child nodes: Mission
2020-01-22T01:29:35.103Z,1579656575.103 [MissionManager](ERROR): Could not load startup mission.
2020-01-22T01:29:35.104Z,1579656575.104 [MissionManager](INFO): Loading Mission: Missions/DefaultUnder.xml
2020-01-22T01:29:35.181Z,1579656575.181 [CTD_NeilBrown](FAULT): LCB fault: LCB Watchdog Reset. Invalid Command. Hardware Overcurrent Shutdown. Software Overcurrent. Current Limiter Activated.
2020-01-22T01:29:35.182Z,1579656575.182 [CTD_NeilBrown] Hardware Fault, FailCount= 1
2020-01-22T01:29:35.182Z,1579656575.182 [CTD_NeilBrown](ERROR): Hardware Fault
2020-01-22T01:29:35.344Z,1579656575.344 [MissionManager](INFO): DefineArg DefaultUnder.uModemCommsInterval = 5.000000 min
2020-01-22T01:29:35.363Z,1579656575.363 [MissionManager](INFO): DefineArg DefaultUnder.TransponderCode = 2.000000 count
2020-01-22T01:29:35.366Z,1579656575.366 [MissionManager](INFO): DefineArg DefaultUnder.AcousticUpdatePeriod = 60.000000 s
2020-01-22T01:29:35.398Z,1579656575.398 [MissionManager](INFO): DefineArg DefaultUnder.DockingAcousticUpdatePeriod = 2.500000 s
2020-01-22T01:29:35.401Z,1579656575.401 [MissionManager](INFO): DefineArg DefaultUnder.NumberOfPings = 1.000000 count
2020-01-22T01:29:35.404Z,1579656575.404 [MissionManager](INFO): DefineOutput DefaultUnder.TrackingUpdatePeriod = 60.000000 n/a
2020-01-22T01:29:35.424Z,1579656575.424 [MissionManager](INFO): DefineOutput DefaultUnder.Surface = -1.000000 count
2020-01-22T01:29:35.427Z,1579656575.427 [MissionManager](INFO): DefineOutput DefaultUnder.Docked = 0.000000 count
2020-01-22T01:29:35.439Z,1579656575.439 [MissionManager](INFO): DefineOutput DefaultUnder.Home = 1.000000 count
2020-01-22T01:29:35.443Z,1579656575.443 [MissionManager](INFO): DefineOutput DefaultUnder.DefaultMode = 0.000000 n/a
2020-01-22T01:29:35.474Z,1579656575.474 [MissionManager](INFO): DefineOutput DefaultUnder.CaptureMode = -1.000000 count
2020-01-22T01:29:35.477Z,1579656575.477 [MissionManager](INFO): DefineOutput DefaultUnder.ElapsedSinceDefaultStarted = 0.000000 min
2020-01-22T01:29:35.505Z,1579656575.505 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Construct Wait.
2020-01-22T01:29:35.531Z,1579656575.531 [DefaultUnder:Notify:A:C.Execute](DEBUG): Construct Execute.
2020-01-22T01:29:35.753Z,1579656575.753 [MissionManager](INFO): Inserting Stack: Missions/Insert/LineCapture.xml
2020-01-22T01:29:36.272Z,1579656576.272 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockDepth = 6.000000 _
2020-01-22T01:29:36.276Z,1579656576.276 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockLat = 0.642341 _
2020-01-22T01:29:36.288Z,1579656576.288 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockLon = -2.126200 _
2020-01-22T01:29:36.291Z,1579656576.291 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DetachRange = 8.000000 m
2020-01-22T01:29:36.318Z,1579656576.318 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DetachTimeout = 30.000000 min
2020-01-22T01:29:36.322Z,1579656576.322 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MidcourseDepth = 15.000000 m
2020-01-22T01:29:36.345Z,1579656576.345 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MidcourseSpeed = 1.000000 m/s
2020-01-22T01:29:36.348Z,1579656576.348 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MidcourseTimeout = 12.000000 h
2020-01-22T01:29:36.351Z,1579656576.351 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.TerminalRange = 650.000000 m
2020-01-22T01:29:36.363Z,1579656576.363 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.ArmRange = 40.000000 m
2020-01-22T01:29:36.366Z,1579656576.366 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockRange = 2.000000 m
2020-01-22T01:29:36.394Z,1579656576.394 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockTimeout = 60.000000 s
2020-01-22T01:29:36.397Z,1579656576.397 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.RolloutDistance = 250.000000 m
2020-01-22T01:29:36.400Z,1579656576.400 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.UpdateNav = 1 bool
2020-01-22T01:29:36.419Z,1579656576.419 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.AcousticTimeout = 10.000000 min
2020-01-22T01:29:36.423Z,1579656576.423 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.TerminalSpeed = 0.800000 m/s
2020-01-22T01:29:36.430Z,1579656576.430 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.SearchTimeout = 60.000000 min
2020-01-22T01:29:36.434Z,1579656576.434 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.CircleRadius = 300.000000 m
2020-01-22T01:29:36.461Z,1579656576.461 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.CircleMaxError = 100.000000 m
2020-01-22T01:29:36.464Z,1579656576.464 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.CircleTurnToPort = 0 bool
2020-01-22T01:29:36.468Z,1579656576.468 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DepthDeadband = 0.010000 m
2020-01-22T01:29:36.480Z,1579656576.480 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.RudderDeadband = 0.001000 arcdeg
2020-01-22T01:29:36.483Z,1579656576.483 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MinAltitude = 5.000000 m
2020-01-22T01:29:36.515Z,1579656576.515 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MaxDepth = 205.000000 m
2020-01-22T01:29:36.518Z,1579656576.518 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MinOffshore = 500.000000 m
2020-01-22T01:29:36.530Z,1579656576.530 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Depth = 15.000000 n/a
2020-01-22T01:29:36.533Z,1579656576.533 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Speed = 1.000000 n/a
2020-01-22T01:29:36.557Z,1579656576.557 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.DoneTimeout = -1.000000 count
2020-01-22T01:29:36.560Z,1579656576.560 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Done = 0.000000 count
2020-01-22T01:29:36.564Z,1579656576.564 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.DetachFromDock = 1.000000 count
2020-01-22T01:29:36.575Z,1579656576.575 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Midcourse = 2.000000 count
2020-01-22T01:29:36.579Z,1579656576.579 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Terminal = 3.000000 count
2020-01-22T01:29:36.614Z,1579656576.614 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.GuidanceMode = 1.000000 n/a
2020-01-22T01:29:36.617Z,1579656576.617 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.ElapsedRange = 0.000000 min
2020-01-22T01:29:36.620Z,1579656576.620 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.Range = nan m
2020-01-22T01:29:36.638Z,1579656576.638 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2020-01-22T01:29:36.691Z,1579656576.691 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2020-01-22T01:29:36.695Z,1579656576.695 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2020-01-22T01:29:36.706Z,1579656576.706 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2020-01-22T01:29:36.708Z,1579656576.708 [DefaultUnder:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2020-01-22T01:29:36.715Z,1579656576.715 [DefaultUnder:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-01-22T01:29:36.763Z,1579656576.763 [DefaultUnder:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2020-01-22T01:29:36.803Z,1579656576.803 [DefaultUnder:LineCapture:H.Mass](DEBUG): Construct.
2020-01-22T01:29:36.819Z,1579656576.819 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:B.Buoyancy](DEBUG): Construct Buoyancy.
2020-01-22T01:29:36.858Z,1579656576.858 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:C.SetSpeed](DEBUG): Construct.
2020-01-22T01:29:36.861Z,1579656576.861 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:D.Pitch](DEBUG): Construct.
2020-01-22T01:29:36.878Z,1579656576.878 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed](DEBUG): Construct.
2020-01-22T01:29:36.880Z,1579656576.880 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:B.Pitch](DEBUG): Construct.
2020-01-22T01:29:36.932Z,1579656576.932 [DefaultUnder:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2020-01-22T01:29:36.980Z,1579656576.980 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2020-01-22T01:29:37.030Z,1579656577.030 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:G.Circle](DEBUG): Construct.
2020-01-22T01:29:37.104Z,1579656577.104 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2020-01-22T01:29:37.152Z,1579656577.152 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:H.LineCapture](DEBUG): Construct.
2020-01-22T01:29:37.180Z,1579656577.180 [DefaultUnder:LineCapture:K.Wait](DEBUG): Construct Wait.
2020-01-22T01:29:37.203Z,1579656577.203 [DefaultUnder:E.Wait](DEBUG): Construct Wait.
2020-01-22T01:29:37.225Z,1579656577.225 [DefaultUnder:Default:Docked:run:B.Docked](DEBUG): Construct.
2020-01-22T01:29:37.284Z,1579656577.284 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): Construct GoToSurface.
2020-01-22T01:29:37.304Z,1579656577.304 [DefaultUnder:Default:Surface:run:SurfaceComms:Read_Iridium_uModem:A_Timeout:A.Execute](DEBUG): Construct Execute.
2020-01-22T01:29:37.338Z,1579656577.338 [DefaultUnder:Default:Surface:run:SurfaceComms:C.Wait](DEBUG): Construct Wait.
2020-01-22T01:29:37.383Z,1579656577.383 [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>
            <Arg Name="DefaultMode"/><Eq><Arg Name="Docked"/></Eq>
        </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>


2020-01-22T01:29:37.401Z,1579656577.401 [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,
2020-01-22T01:29:37.407Z,1579656577.407 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2020-01-22T01:29:37.441Z,1579656577.441 [DDM](INFO): Powering up
2020-01-22T01:29:37.441Z,1579656577.441 [DDM](DEBUG): Initializing DDM.
2020-01-22T01:29:37.467Z,1579656577.467 [DUSBL_Hydroid](INFO): Powering up
2020-01-22T01:29:37.467Z,1579656577.467 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2020-01-22T01:29:37.710Z,1579656577.710 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2020-01-22T01:29:37.713Z,1579656577.713 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2020-01-22T01:29:37.714Z,1579656577.714 [ElevatorServo](DEBUG): Initializing EZServoServo.
2020-01-22T01:29:37.721Z,1579656577.721 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2020-01-22T01:29:37.722Z,1579656577.722 [MassServo](DEBUG): Initializing EZServoServo.
2020-01-22T01:29:37.729Z,1579656577.729 [MassServo](DEBUG): Initializing MassServo.
2020-01-22T01:29:37.730Z,1579656577.730 [RudderServo](DEBUG): Initializing EZServoServo.
2020-01-22T01:29:37.737Z,1579656577.737 [RudderServo](DEBUG): Initializing RudderServo.
2020-01-22T01:29:37.738Z,1579656577.738 [ThrusterServo](DEBUG): Initializing EZServoServo.
2020-01-22T01:29:37.745Z,1579656577.745 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2020-01-22T01:29:37.751Z,1579656577.751 [CBIT](ERROR): Hardware Fault in component: CTD_NeilBrown
2020-01-22T01:29:37.751Z,1579656577.751 [CBIT](FAULT): Hardware Fault in component: CTD_NeilBrown
2020-01-22T01:29:37.832Z,1579656577.832 [Micromodem](INFO): Powering up
2020-01-22T01:29:37.832Z,1579656577.832 [Micromodem](DEBUG): Initializing Micromodem.
2020-01-22T01:29:38.597Z,1579656578.597 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2020-01-22T01:29:38.597Z,1579656578.597 [RudderServo](FAULT): Rudder failed to initialize
2020-01-22T01:29:38.597Z,1579656578.597 [RudderServo] Communications Fault, FailCount= 1
2020-01-22T01:29:38.597Z,1579656578.597 [RudderServo](ERROR): Communications Fault
2020-01-22T01:29:38.708Z,1579656578.708 [CBIT](ERROR): Communications Fault in component: RudderServo
2020-01-22T01:29:38.870Z,1579656578.870 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-01-22T01:29:38.870Z,1579656578.870 [RudderServo](INFO): Powering down
2020-01-22T01:29:39.587Z,1579656579.587 [RudderServo](DEBUG): Initializing EZServoServo.
2020-01-22T01:29:39.706Z,1579656579.706 [RudderServo](DEBUG): Initializing RudderServo.
2020-01-22T01:29:39.710Z,1579656579.710 [CBIT](INFO): Clearing failed state for component RudderServo
2020-01-22T01:29:39.710Z,1579656579.710 [RudderServo] No Fault, FailCount= 1
2020-01-22T01:29:42.797Z,1579656582.797 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2020-01-22T01:29:43.200Z,1579656583.200 [Micromodem](INFO): Nmea in: $CATMG,2020-01-22T01:29:42.576773Z,RTC,RTC*5A

2020-01-22T01:29:43.200Z,1579656583.200 [Micromodem](ERROR): CFG response from modem unexpected: $CATMG,2020-01-22T01:29:42.576773Z,RTC,RTC*5A

2020-01-22T01:29:43.607Z,1579656583.607 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2020-01-22T01:29:43.607Z,1579656583.607 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2020-01-22T01:29:44.008Z,1579656584.008 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2020-01-22T01:29:44.008Z,1579656584.008 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2020-01-22T01:29:44.415Z,1579656584.415 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2020-01-22T01:29:44.415Z,1579656584.415 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2020-01-22T01:29:44.815Z,1579656584.815 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2020-01-22T01:29:44.815Z,1579656584.815 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2020-01-22T01:29:45.223Z,1579656585.223 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2020-01-22T01:29:45.223Z,1579656585.223 [Micromodem](INFO): Nmea out: $CCCFG,FC0,10000*46

2020-01-22T01:29:45.623Z,1579656585.623 [Micromodem](INFO): Nmea in: $CACFG,FC0,10000*44

2020-01-22T01:29:45.623Z,1579656585.623 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2020-01-22T01:29:46.041Z,1579656586.041 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2020-01-22T01:29:46.041Z,1579656586.041 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2020-01-22T01:29:46.407Z,1579656586.407 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2020-01-22T01:29:46.408Z,1579656586.408 [Micromodem](INFO): Nmea out: $CCCLK,2020,01,22,01,29,47*4C

2020-01-22T01:29:46.819Z,1579656586.819 [Micromodem](INFO): Nmea in: $CACLK,2020,1,22,1,29,47*4E

2020-01-22T01:29:47.216Z,1579656587.216 [Micromodem](INFO): Nmea in: $CATMS,0,2020-01-22T01:29:48Z*71

2020-01-22T01:29:47.217Z,1579656587.217 [Micromodem](INFO): Nmea in: $CATMG,2020-01-22T01:29:48.029143Z,USER_CMD,RTC*1B

2020-01-22T01:29:48.022Z,1579656588.022 [DDM](INFO): Dynamic Docking Module:
2020-01-22T01:29:50.869Z,1579656590.869 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2020-01-22T01:29:55.283Z,1579656595.283 [DUSBL_Hydroid](INFO): DUSBL Version:O
2020-01-22T01:30:01.756Z,1579656601.756 [NAL9602](INFO): Powering up NAL9602
2020-01-22T01:30:05.181Z,1579656605.181 [CommandLine](IMPORTANT): got command show variable cablePres
2020-01-22T01:30:05.356Z,1579656605.356 [CommandLine](IMPORTANT): DDM.cablePresent (bool)
2020-01-22T01:30:06.097Z,1579656606.097 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2020-01-22T01:30:12.659Z,1579656612.659 [NAL9602](INFO): NAL9602 initialized
2020-01-22T01:30:13.351Z,1579656613.351 [CommandLine](IMPORTANT): got command report mod DDM.cablePresent
2020-01-22T01:30:13.598Z,1579656613.598 [Reporter](INFO): DDM.cablePresent no_value
2020-01-22T01:30:14.375Z,1579656614.375 [SBIT](IMPORTANT): Beginning Startup BIT
2020-01-22T01:30:14.379Z,1579656614.379 [CBIT](IMPORTANT): Beginning ground fault scan
2020-01-22T01:30:14.736Z,1579656614.736 [RDI_Pathfinder](ERROR): Failed to parse:
:BI,-32768,-32768,-32768,-32768,V
2020-01-22T01:30:22.943Z,1579656622.943 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-01-22T01:30:22.943Z,1579656622.943 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-2768,-32768,V
2020-01-22T01:30:25.462Z,1579656625.462 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.021031
CHAN A1 (24V): -0.029044
CHAN A2 (12V): -0.007244
CHAN A3 (5V): -0.002271
CHAN B0 (3.3V): 0.000281
CHAN B1 (3.15aV): -0.000501
CHAN B2 (3.15bV): 0.000146
CHAN B3 (GND): 0.002131
OPEN: 0.005091
Full Scale Calc: 4.765 mA, -1.589 mA
2020-01-22T01:30:50.514Z,1579656650.514 [CommandLine](IMPORTANT): got command strobe off
2020-01-22T01:30:50.515Z,1579656650.515 [CommandLine](IMPORTANT): Deactivating strobe
2020-01-22T01:30:56.227Z,1579656656.227 [CommandLine](IMPORTANT): got command maintain sensor Depth_Keller.depth 6.000000 meter
2020-01-22T01:30:56.228Z,1579656656.228 [ComponentRegistry](DEBUG): SyncComponent "Maintain_Depth_Keller.depth" handled in the control thread.
2020-01-22T01:30:56.759Z,1579656656.759 [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,
2020-01-22T01:31:07.739Z,1579656667.739 [SBIT](IMPORTANT): SBIT PASSED
2020-01-22T01:31:07.739Z,1579656667.739 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2020-01-22T01:31:07.740Z,1579656667.740 [SBIT](IMPORTANT): DDM.verbosity=3 count;

2020-01-22T01:31:07.740Z,1579656667.740 [SBIT](IMPORTANT): DUSBL_Hydroid.detectionThreshold=30 count;

2020-01-22T01:31:07.740Z,1579656667.740 [SBIT](IMPORTANT): Micromodem.pwrampTXLevel=0 enum;

2020-01-22T01:31:07.741Z,1579656667.741 [SBIT](IMPORTANT): Micromodem.sendExpress=1 bool;

2020-01-22T01:31:07.741Z,1579656667.741 [SBIT](IMPORTANT): Micromodem.surfaceThreshold=0 meter;

2020-01-22T01:31:07.741Z,1579656667.741 [SBIT](IMPORTANT): Radio_Surface.loadAtStartup=0 bool;

2020-01-22T01:31:07.741Z,1579656667.741 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=105 cubic_centimeter;

2020-01-22T01:31:07.741Z,1579656667.741 [SBIT](IMPORTANT): VerticalControl.massDefault=-5 millimeter;

2020-01-22T01:31:08.146Z,1579656668.146 [MissionManager](IMPORTANT): Started mission DefaultUnder
2020-01-22T01:31:08.146Z,1579656668.146 [DefaultUnder] Running Loop=1
2020-01-22T01:31:08.146Z,1579656668.146 [DefaultUnder](DEBUG): Aggregate::initialize DefaultUnder
2020-01-22T01:31:08.146Z,1579656668.146 [DefaultUnder:uModemComms] Running Loop=1
2020-01-22T01:31:08.146Z,1579656668.146 [DefaultUnder:uModemComms](DEBUG): Aggregate::initialize DefaultUnder:uModemComms
2020-01-22T01:31:08.146Z,1579656668.146 [DefaultUnder:Notify] Running Loop=1
2020-01-22T01:31:08.146Z,1579656668.146 [DefaultUnder:Notify](DEBUG): Aggregate::initialize DefaultUnder:Notify
2020-01-22T01:31:08.147Z,1579656668.147 [DefaultUnder:Notify:A] Running Loop=1
2020-01-22T01:31:08.147Z,1579656668.147 [DefaultUnder:Notify:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A
2020-01-22T01:31:08.147Z,1579656668.147 [DefaultUnder:Notify:A:A] Running Loop=1
2020-01-22T01:31:08.147Z,1579656668.147 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A:A
2020-01-22T01:31:08.147Z,1579656668.147 [DefaultUnder:Notify:A:A:A.Wait] Running Loop=1
2020-01-22T01:31:08.147Z,1579656668.147 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Initialize Wait Component.
2020-01-22T01:31:08.147Z,1579656668.147 [DefaultUnder:C.] Running Loop=1
2020-01-22T01:31:08.147Z,1579656668.147 [DefaultUnder:C.](INFO): Initializing TrackAcousticContact.
2020-01-22T01:31:08.148Z,1579656668.148 [DefaultUnder:E.Wait] Running Loop=1
2020-01-22T01:31:08.148Z,1579656668.148 [DefaultUnder:E.Wait](DEBUG): Initialize Wait Component.
2020-01-22T01:31:08.148Z,1579656668.148 [DefaultUnder:C.] Running Loop=1
2020-01-22T01:31:08.149Z,1579656668.149 [DefaultUnder:Notify] Running Loop=1
2020-01-22T01:31:08.150Z,1579656668.150 [DefaultUnder:uModemComms] Running Loop=1
2020-01-22T01:31:08.150Z,1579656668.150 [DefaultUnder:uModemComms:CheckIn] Running Loop=1
2020-01-22T01:31:08.150Z,1579656668.150 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::initialize DefaultUnder:uModemComms:CheckIn
2020-01-22T01:31:08.150Z,1579656668.150 [DefaultUnder:uModemComms:CheckIn:A] Running Loop=1
2020-01-22T01:31:08.151Z,1579656668.151 [DefaultUnder:uModemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2020-01-22T01:31:08.567Z,1579656668.567 [Micromodem](INFO): Using rate 5 for 22 bytes.
2020-01-22T01:31:08.567Z,1579656668.567 [Micromodem](INFO): Outgoing frame #1, 22 bytes: D06A275E040000008F48B1D5E4AE49D864FB5AD3671B
2020-01-22T01:31:08.567Z,1579656668.567 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,1*6B

2020-01-22T01:31:08.895Z,1579656668.895 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,1*69

2020-01-22T01:31:09.295Z,1579656669.295 [Micromodem](INFO): Nmea in: $CADRQ,013109,1,12,0,64,1*7E

2020-01-22T01:31:09.296Z,1579656669.296 [Micromodem](ERROR): Received CADRQ with bad size: 64 expected <= 32
2020-01-22T01:31:09.296Z,1579656669.296 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,D06A275E040000008F48B1D5E4AE49D864FB5AD3671B*3A

2020-01-22T01:31:09.438Z,1579656669.438 [Micromodem](INFO): Using rate 0 for 22 bytes.
2020-01-22T01:31:09.438Z,1579656669.438 [Micromodem](INFO): Outgoing frame #1, 22 bytes: D06A275E040000008F48B1D5E4AE49D864FB5AD3671B
2020-01-22T01:31:09.703Z,1579656669.703 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,22*49

2020-01-22T01:31:09.704Z,1579656669.704 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,1*6B

2020-01-22T01:31:10.109Z,1579656670.109 [Micromodem](INFO): Nmea in: $CATXP,22*72

2020-01-22T01:31:10.109Z,1579656670.109 [Micromodem](ERROR): Response from modem unexpected: $CATXP,22*72

2020-01-22T01:31:11.315Z,1579656671.315 [Micromodem](INFO): Nmea in: $CATXF,22*64

2020-01-22T01:31:11.315Z,1579656671.315 [Micromodem](ERROR): Response from modem unexpected: $CATXF,22*64

2020-01-22T01:31:11.759Z,1579656671.759 [Micromodem](INFO): Nmea in: $CAXST,6,20200122,013110.225036,3,0,200,4000,10000,1,1,12,1,1,1,3,22*43

2020-01-22T01:31:11.759Z,1579656671.759 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20200122,013110.225036,3,0,200,4000,10000,1,1,12,1,1,1,3,22*43

2020-01-22T01:31:13.340Z,1579656673.340 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-22T01:31:13.340Z,1579656673.340 [Micromodem](INFO): Sent 14 bytes from file Logs/20200121T211912/Courier0004.lzma.parts
2020-01-22T01:31:13.345Z,1579656673.345 [Micromodem](INFO): Packets left to send: 0
2020-01-22T01:31:13.744Z,1579656673.744 [Micromodem](INFO): Nmea in: $CACST,6,0,20200122013112.938130,06,4635,36,0371,0150,59,02,02,00,04,1,012,001,0,4,1,0,150,29.1,12.00,21,-9.00,-01,-0.01,24,10000,4000*4E

2020-01-22T01:31:13.745Z,1579656673.745 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20200122013112.938130,06,4635,36,0371,0150,59,02,02,00,04,1,012,001,0,4,1,0,150,29.1,12.00,21,-9.00,-01,-0.01,24,10000,4000*4E

2020-01-22T01:31:13.854Z,1579656673.854 [Micromodem](INFO): Outgoing frame #1, 64 bytes: EA92275E000000005D000004003C0100000000000000151D80030C5669BF3148E2FA22188B6A316CB341FA2208D03B2B9B32C3C10A70A7C01315A162EB88A1EB
2020-01-22T01:31:13.854Z,1579656673.854 [Micromodem](INFO): Outgoing frame #2, 64 bytes: BF7D53FA13ADDCAF8A6841E9F913914665EC9B7B634BB00059FFFE7B92B9B53BC0E19179E23DC776A7C3AC971D54D2DEBAC667F1B91CD16D99A28C3DB4DC557E
2020-01-22T01:31:13.855Z,1579656673.855 [Micromodem](INFO): Outgoing frame #3, 61 bytes: 6AF97B85BD0FF6FBDA060E1BC49D07CFB94CD4F6A85BF4A6BE3593E8D7DA1322DE71209CD5D2CA7FC22BCFD256EFAA296E3F8A169B63D62C5CB84FA500
2020-01-22T01:31:21.015Z,1579656681.015 [Micromodem](ERROR): Nmea resend: $CCCYC,0,1,12,1,0,1*6B

2020-01-22T01:31:21.420Z,1579656681.420 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,1*69

2020-01-22T01:31:21.420Z,1579656681.420 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-22T01:31:21.496Z,1579656681.496 [DefaultUnder:E.Wait](INFO): Done Waiting.
2020-01-22T01:31:21.501Z,1579656681.501 [DefaultUnder:E.Wait] Stopped
2020-01-22T01:31:21.501Z,1579656681.501 [DefaultUnder:E.Wait](DEBUG): Uninitialize Wait Component.
2020-01-22T01:31:21.501Z,1579656681.501 [DefaultUnder:Default] Running Loop=1
2020-01-22T01:31:21.501Z,1579656681.501 [DefaultUnder:Default](DEBUG): Aggregate::initialize DefaultUnder:Default
2020-01-22T01:31:21.501Z,1579656681.501 [DefaultUnder:Default:Docked] Running Loop=1
2020-01-22T01:31:21.501Z,1579656681.501 [DefaultUnder:Default:Docked](DEBUG): Aggregate::initialize DefaultUnder:Default:Docked
2020-01-22T01:31:21.501Z,1579656681.501 [DefaultUnder:Default:Docked:run] Running Loop=1
2020-01-22T01:31:21.502Z,1579656681.502 [DefaultUnder:Default:Docked:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Docked:run
2020-01-22T01:31:21.502Z,1579656681.502 [DefaultUnder:Default:Docked:run:A] Running Loop=1
2020-01-22T01:31:21.502Z,1579656681.502 [DefaultUnder:Default:Home] Running Loop=1
2020-01-22T01:31:21.502Z,1579656681.502 [DefaultUnder:Default:Home](DEBUG): Aggregate::initialize DefaultUnder:Default:Home
2020-01-22T01:31:21.502Z,1579656681.502 [DefaultUnder:Default:Home:run] Running Loop=1
2020-01-22T01:31:21.502Z,1579656681.502 [DefaultUnder:Default:Home:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Home:run
2020-01-22T01:31:21.502Z,1579656681.502 [DefaultUnder:Default:Home:run:A] Running Loop=1
2020-01-22T01:31:21.502Z,1579656681.502 [DefaultUnder:Default:Surface] Running Loop=1
2020-01-22T01:31:21.502Z,1579656681.502 [DefaultUnder:Default:Surface](DEBUG): Aggregate::initialize DefaultUnder:Default:Surface
2020-01-22T01:31:21.502Z,1579656681.502 [DefaultUnder:Default:Surface:run] Running Loop=1
2020-01-22T01:31:21.503Z,1579656681.503 [DefaultUnder:Default:Surface:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Surface:run
2020-01-22T01:31:21.503Z,1579656681.503 [DefaultUnder:Default:Surface:run:B.GoToSurface] Running Loop=1
2020-01-22T01:31:21.503Z,1579656681.503 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-22T01:31:21.503Z,1579656681.503 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-22T01:31:21.504Z,1579656681.504 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-22T01:31:21.504Z,1579656681.504 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-22T01:31:21.504Z,1579656681.504 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-22T01:31:21.506Z,1579656681.506 [DefaultUnder:Default:Surface:run:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-22T01:31:21.506Z,1579656681.506 [DefaultUnder:Default:Surface:run:A] Running Loop=1
2020-01-22T01:31:21.819Z,1579656681.819 [Micromodem](INFO): Nmea in: $CADRQ,013121,1,12,0,64,1*74

2020-01-22T01:31:21.820Z,1579656681.820 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,013121,1,12,0,64,1*74

2020-01-22T01:31:21.902Z,1579656681.902 [DefaultUnder:Default:Surface] Stopped
2020-01-22T01:31:21.902Z,1579656681.902 [DefaultUnder:Default:Surface](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Surface
2020-01-22T01:31:21.902Z,1579656681.902 [DefaultUnder:Default:Surface:run] Stopped
2020-01-22T01:31:21.902Z,1579656681.902 [DefaultUnder:Default:Surface:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Surface:run
2020-01-22T01:31:21.902Z,1579656681.902 [DefaultUnder:Default:Surface:run:A] Stopped
2020-01-22T01:31:21.902Z,1579656681.902 [DefaultUnder:Default:Surface:run:B.GoToSurface] Stopped
2020-01-22T01:31:21.902Z,1579656681.902 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-22T01:31:21.902Z,1579656681.902 [DefaultUnder:Default:Home] Stopped
2020-01-22T01:31:21.902Z,1579656681.902 [DefaultUnder:Default:Home](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Home
2020-01-22T01:31:21.902Z,1579656681.902 [DefaultUnder:Default:Home:run] Stopped
2020-01-22T01:31:21.903Z,1579656681.903 [DefaultUnder:Default:Home:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Home:run
2020-01-22T01:31:21.903Z,1579656681.903 [DefaultUnder:Default:Home:run:A] Stopped
2020-01-22T01:31:21.903Z,1579656681.903 [DefaultUnder:Default:Docked] Running Loop=1
2020-01-22T01:31:21.903Z,1579656681.903 [DefaultUnder:Default:Docked:run:A] Stopped
2020-01-22T01:31:21.903Z,1579656681.903 [DefaultUnder:Default:Docked:run:B.Docked] Running Loop=1
2020-01-22T01:31:21.903Z,1579656681.903 [DefaultUnder:Default:Docked:run:B.Docked](DEBUG): Initialize.
2020-01-22T01:31:21.904Z,1579656681.904 [DefaultUnder:Default:Docked:run:B.Docked](INFO): Depth unspecified. Maintaining workSite beacon depth of 6.000000 m.
2020-01-22T01:31:22.227Z,1579656682.227 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-22T01:31:22.627Z,1579656682.627 [Micromodem](INFO): Nmea in: $CADRQ,013122,1,12,0,64,1*77

2020-01-22T01:31:22.628Z,1579656682.628 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,EA92275E000000005D000004003C0100000000000000151D80030C5669BF3148E2FA22188B6A316CB341FA2208D03B2B9B32C3C10A70A7C01315A162EB88A1EB*3E

2020-01-22T01:31:23.131Z,1579656683.131 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-22T01:31:23.185Z,1579656683.185 [DefaultUnder:Default:Docked:run:B.Docked](INFO): Detected possible state switch to DETACHED.
2020-01-22T01:31:23.275Z,1579656683.275 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-22T01:31:23.463Z,1579656683.463 [Micromodem](INFO): Nmea in: $CADRQ,013123,1,12,0,64,2*75

2020-01-22T01:31:23.464Z,1579656683.464 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,BF7D53FA13ADDCAF8A6841E9F913914665EC9B7B634BB00059FFFE7B92B9B53BC0E19179E23DC776A7C3AC971D54D2DEBAC667F1B91CD16D99A28C3DB4DC557E*4A

2020-01-22T01:31:23.867Z,1579656683.867 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-22T01:31:24.275Z,1579656684.275 [Micromodem](INFO): Nmea in: $CADRQ,013124,1,12,0,64,3*73

2020-01-22T01:31:24.275Z,1579656684.275 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,6AF97B85BD0FF6FBDA060E1BC49D07CFB94CD4F6A85BF4A6BE3593E8D7DA1322DE71209CD5D2CA7FC22BCFD256EFAA296E3F8A169B63D62C5CB84FA500*4A

2020-01-22T01:31:24.678Z,1579656684.678 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,61*4E

2020-01-22T01:31:25.079Z,1579656685.079 [Micromodem](INFO): Nmea in: $CATXP,189*42

2020-01-22T01:31:28.719Z,1579656688.719 [Micromodem](INFO): Nmea in: $CATXF,189*54

2020-01-22T01:31:29.132Z,1579656689.132 [Micromodem](INFO): Nmea in: $CAXST,6,20200122,013125.267029,3,0,200,4000,10000,1,1,12,1,3,3,3,189*7D

2020-01-22T01:31:31.951Z,1579656691.951 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-22T01:31:32.352Z,1579656692.352 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-22T01:31:32.772Z,1579656692.772 [Micromodem](INFO): Nmea in: $CAACK,12,1,3,1*7B

2020-01-22T01:31:32.772Z,1579656692.772 [Micromodem](INFO): Sent 181 bytes from file Logs/20200122T001018/Courier0000.lzma.parts
2020-01-22T01:31:32.805Z,1579656692.805 [Micromodem](INFO): Packets left to send: 0
2020-01-22T01:31:33.167Z,1579656693.167 [Micromodem](INFO): Nmea in: $CACST,6,0,20200122013131.693835,06,4632,36,0366,0150,59,02,02,00,04,1,012,001,0,4,1,0,150,22.3,13.00,26,-10.00,-01,-0.01,30,10000,4000*7E

2020-01-22T01:31:33.259Z,1579656693.259 [Micromodem](INFO): Outgoing frame #1, 64 bytes: EA92275E040017005D00000400D16700000000000000151D80030C5669BF72F5757B98D5EAE5B205F3C26A45640F7808BCDD89065A85A5122EF1A99C51D1C365
2020-01-22T01:31:33.260Z,1579656693.260 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 5E75C50842C08AF3B43AD6BE43DBEA9594BE34CBE1CF21F5AB86E4351C431A1E72940C99EC957767F0C4827C1F9ED627EAD393438B51518BD597E63650C0DE3E
2020-01-22T01:31:33.260Z,1579656693.260 [Micromodem](INFO): Outgoing frame #3, 64 bytes: D1DC98BB5B030D3285102DDA5935F0BB53769183B698B6AFC2A7EF3ACC05C57F80E3B1CADDEFC55FE2B06F482B89C39ACDF836BF3AAFBD71C589A0CD424E1E58
2020-01-22T01:31:33.260Z,1579656693.260 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-22T01:31:34.371Z,1579656694.371 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-22T01:31:34.775Z,1579656694.775 [Micromodem](INFO): Nmea in: $CADRQ,013134,1,12,0,64,1*70

2020-01-22T01:31:34.776Z,1579656694.776 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,EA92275E040017005D00000400D16700000000000000151D80030C5669BF72F5757B98D5EAE5B205F3C26A45640F7808BCDD89065A85A5122EF1A99C51D1C365*4A

2020-01-22T01:31:35.179Z,1579656695.179 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-22T01:31:35.583Z,1579656695.583 [Micromodem](INFO): Nmea in: $CADRQ,013135,1,12,0,64,2*72

2020-01-22T01:31:35.584Z,1579656695.584 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,5E75C50842C08AF3B43AD6BE43DBEA9594BE34CBE1CF21F5AB86E4351C431A1E72940C99EC957767F0C4827C1F9ED627EAD393438B51518BD597E63650C0DE3E*45

2020-01-22T01:31:35.987Z,1579656695.987 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-22T01:31:36.391Z,1579656696.391 [Micromodem](INFO): Nmea in: $CADRQ,013136,1,12,0,64,3*70

2020-01-22T01:31:36.392Z,1579656696.392 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,D1DC98BB5B030D3285102DDA5935F0BB53769183B698B6AFC2A7EF3ACC05C57F80E3B1CADDEFC55FE2B06F482B89C39ACDF836BF3AAFBD71C589A0CD424E1E58*47

2020-01-22T01:31:36.800Z,1579656696.800 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-22T01:31:37.199Z,1579656697.199 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-22T01:31:40.839Z,1579656700.839 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2020-01-22T01:31:41.244Z,1579656701.244 [Micromodem](INFO): Nmea in: $CAXST,6,20200122,013137.392981,3,0,200,4000,10000,1,1,12,1,3,3,3,192*74

2020-01-22T01:31:44.068Z,1579656704.068 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-22T01:31:44.478Z,1579656704.478 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-22T01:31:44.875Z,1579656704.875 [Micromodem](INFO): Nmea in: $CAACK,12,1,3,1*7B

2020-01-22T01:31:44.876Z,1579656704.876 [Micromodem](INFO): Sent 184 bytes from file Logs/20200122T001018/Courier0004.lzma.parts
2020-01-22T01:31:44.876Z,1579656704.876 [Micromodem](INFO): Packets left to send: 23
2020-01-22T01:31:45.283Z,1579656705.283 [Micromodem](INFO): Nmea in: $CACST,6,0,20200122013143.816586,06,4617,30,0353,0150,59,02,02,01,04,1,012,001,0,4,1,0,150,22.3,11.00,21,-8.00,-01,-0.01,31,10000,4000*46

2020-01-22T01:31:45.368Z,1579656705.368 [Micromodem](INFO): Outgoing frame #1, 64 bytes: EA92275E040016007578304FC9998C939CC6BF7E77803D8939217D28222DFADF352CA7D30611DBDEED9F61FD84E720B9175CA914E80821A315BAE11E31786095
2020-01-22T01:31:45.369Z,1579656705.369 [Micromodem](INFO): Outgoing frame #2, 64 bytes: E9BF5E3C36CD43E1995136048EF8A20614501DB9F4851E9BBA4CEC9CC687DF8959F17096317900B07C8BAB81E4830307F096D3EB852B93760BA5676FAE900F65
2020-01-22T01:31:45.370Z,1579656705.370 [Micromodem](INFO): Outgoing frame #3, 64 bytes: 97CECFE4A32BCE5065AD02ED9A4DF491ED16A328C2BA5BAFEDFA4F4D9F70EEA6F94FC932F9B3E9638CB1E9A0A1989F11317B0B947567C080CD50A96ACD573594
2020-01-22T01:31:45.370Z,1579656705.370 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-22T01:31:46.495Z,1579656706.495 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-22T01:31:46.899Z,1579656706.899 [Micromodem](INFO): Nmea in: $CADRQ,013146,1,12,0,64,1*75

2020-01-22T01:31:46.900Z,1579656706.900 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,EA92275E040016007578304FC9998C939CC6BF7E77803D8939217D28222DFADF352CA7D30611DBDEED9F61FD84E720B9175CA914E80821A315BAE11E31786095*43

2020-01-22T01:31:47.299Z,1579656707.299 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-22T01:31:47.703Z,1579656707.703 [Micromodem](INFO): Nmea in: $CADRQ,013147,1,12,0,64,2*77

2020-01-22T01:31:47.704Z,1579656707.704 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,E9BF5E3C36CD43E1995136048EF8A20614501DB9F4851E9BBA4CEC9CC687DF8959F17096317900B07C8BAB81E4830307F096D3EB852B93760BA5676FAE900F65*39

2020-01-22T01:31:48.107Z,1579656708.107 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-22T01:31:48.127Z,1579656708.127 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00,   0.00
2020-01-22T01:31:48.511Z,1579656708.511 [Micromodem](INFO): Nmea in: $CADRQ,013148,1,12,0,64,3*79

2020-01-22T01:31:48.512Z,1579656708.512 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,97CECFE4A32BCE5065AD02ED9A4DF491ED16A328C2BA5BAFEDFA4F4D9F70EEA6F94FC932F9B3E9638CB1E9A0A1989F11317B0B947567C080CD50A96ACD573594*4F

2020-01-22T01:31:48.915Z,1579656708.915 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-22T01:31:49.328Z,1579656709.328 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-22T01:31:52.959Z,1579656712.959 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2020-01-22T01:31:53.360Z,1579656713.360 [Micromodem](INFO): Nmea in: $CAXST,6,20200122,013149.513055,3,0,200,4000,10000,1,1,12,1,3,3,3,192*72

2020-01-22T01:31:56.191Z,1579656716.191 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-22T01:31:56.592Z,1579656716.592 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-22T01:31:57.003Z,1579656717.003 [Micromodem](INFO): Nmea in: $CAACK,12,1,3,1*7B

2020-01-22T01:31:57.004Z,1579656717.004 [Micromodem](INFO): Sent 184 bytes from file Logs/20200122T001018/Courier0004.lzma.parts
2020-01-22T01:31:57.005Z,1579656717.005 [Micromodem](INFO): Packets left to send: 22
2020-01-22T01:31:57.407Z,1579656717.407 [Micromodem](INFO): Nmea in: $CACST,6,0,20200122013155.937001,06,1271,31,0380,0150,59,02,02,00,04,1,012,001,0,4,1,0,150,22.7,12.00,22,-9.00,-01,0.00,30,10000,4000*6E

2020-01-22T01:31:57.502Z,1579656717.502 [Micromodem](INFO): Outgoing frame #1, 64 bytes: EA92275E04001500E9745C2F97BB389423904C2808C440A9D1CA5CFC2B190228AD27DA1760EBC671304A7758838318E9A429A3A13375099F11C8239E8677F84D
2020-01-22T01:31:57.502Z,1579656717.502 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 2B1503B20255254B6493BC93F8CD6E09C80CF9515D9411E334DB30A96080F4366BC5D6D9303A1F6715A2B61ED4C5F53EE3422796AE7AD8F71C7B273757DC6927
2020-01-22T01:31:57.503Z,1579656717.503 [Micromodem](INFO): Outgoing frame #3, 64 bytes: EAFE5291548C2E5347A124AF1D97EF4CB2059ADF58401B74458EBF747C0A0D4FF9F98EE33D21A4D097CD8D63275992037817EFE776B9D29701D99D8A5B39016C
2020-01-22T01:31:57.503Z,1579656717.503 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-22T01:31:58.611Z,1579656718.611 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-22T01:31:59.015Z,1579656719.015 [Micromodem](INFO): Nmea in: $CADRQ,013158,1,12,0,64,1*7A

2020-01-22T01:31:59.016Z,1579656719.016 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,EA92275E04001500E9745C2F97BB389423904C2808C440A9D1CA5CFC2B190228AD27DA1760EBC671304A7758838318E9A429A3A13375099F11C8239E8677F84D*37

2020-01-22T01:31:59.431Z,1579656719.431 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-22T01:31:59.827Z,1579656719.827 [Micromodem](INFO): Nmea in: $CADRQ,013159,1,12,0,64,2*78

2020-01-22T01:31:59.827Z,1579656719.827 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,2B1503B20255254B6493BC93F8CD6E09C80CF9515D9411E334DB30A96080F4366BC5D6D9303A1F6715A2B61ED4C5F53EE3422796AE7AD8F71C7B273757DC6927*37

2020-01-22T01:32:00.234Z,1579656720.234 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-22T01:32:00.631Z,1579656720.631 [Micromodem](INFO): Nmea in: $CADRQ,013200,1,12,0,64,3*76

2020-01-22T01:32:00.632Z,1579656720.632 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,EAFE5291548C2E5347A124AF1D97EF4CB2059ADF58401B74458EBF747C0A0D4FF9F98EE33D21A4D097CD8D63275992037817EFE776B9D29701D99D8A5B39016C*3F

2020-01-22T01:32:01.035Z,1579656721.035 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-22T01:32:01.439Z,1579656721.439 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-22T01:32:05.075Z,1579656725.075 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2020-01-22T01:32:05.487Z,1579656725.487 [Micromodem](INFO): Nmea in: $CAXST,6,20200122,013201.627468,3,0,200,4000,10000,1,1,12,1,3,3,3,192*73

2020-01-22T01:32:08.307Z,1579656728.307 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-22T01:32:08.332Z,1579656728.332 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-22T01:32:08.724Z,1579656728.724 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-22T01:32:09.135Z,1579656729.135 [Micromodem](INFO): Nmea in: $CAACK,12,1,3,1*7B

2020-01-22T01:32:09.136Z,1579656729.136 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-22T01:32:09.525Z,1579656729.525 [Micromodem](INFO): Nmea in: $CACST,6,0,20200122013208.050632,06,1316,31,0395,0150,59,02,02,00,03,1,012,001,0,4,1,0,150,22.3,12.00,22,-9.00,-01,0.00,30,10000,4000*6C

2020-01-22T01:32:09.525Z,1579656729.525 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20200122013208.050632,06,1316,31,0395,0150,59,02,02,00,03,1,012,001,0,4,1,0,150,22.3,12.00,22,-9.00,-01,0.00,30,10000,4000*6C

2020-01-22T01:32:09.526Z,1579656729.526 [Micromodem](INFO): Sent 184 bytes from file Logs/20200122T001018/Courier0004.lzma.parts
2020-01-22T01:32:09.526Z,1579656729.526 [Micromodem](INFO): Packets left to send: 21
2020-01-22T01:32:10.005Z,1579656730.005 [Micromodem](INFO): Outgoing frame #1, 64 bytes: EA92275E04001400BA537DD6C3D86DB1EE1695A9F229C35D6BEFB1B4693B9FA0339B42A7C9CCC1941012F7F7629BBB6891A54933BE98ACC08F2E4490E1113CBF
2020-01-22T01:32:10.005Z,1579656730.005 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 2C49D8EDB254CBAD03E0013D4257F0B3FBF218463D47CCDB61AD7F71B62816F198C0043FF0B17DD5263DFA1A7F142946A2FCD6BBF24DD900B946DBEDA9C6F1DF
2020-01-22T01:32:10.006Z,1579656730.006 [Micromodem](INFO): Outgoing frame #3, 64 bytes: 4A6D530D13C38BC54375C26759DD27FF63038BFC62ACEF6CE6B4CE92521CB3BD93730BD45E39477EB9BDCEDA20380505228667939FED61549F7F4441C2EF0855
2020-01-22T01:32:10.761Z,1579656730.761 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-22T01:32:10.773Z,1579656730.773 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-22T01:32:11.146Z,1579656731.146 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-22T01:32:11.550Z,1579656731.550 [Micromodem](INFO): Nmea in: $CADRQ,013211,1,12,0,64,1*74

2020-01-22T01:32:11.550Z,1579656731.550 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,EA92275E04001400BA537DD6C3D86DB1EE1695A9F229C35D6BEFB1B4693B9FA0339B42A7C9CCC1941012F7F7629BBB6891A54933BE98ACC08F2E4490E1113CBF*4D

2020-01-22T01:32:11.954Z,1579656731.954 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-22T01:32:12.358Z,1579656732.358 [Micromodem](INFO): Nmea in: $CADRQ,013212,1,12,0,64,2*74

2020-01-22T01:32:12.358Z,1579656732.358 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,2C49D8EDB254CBAD03E0013D4257F0B3FBF218463D47CCDB61AD7F71B62816F198C0043FF0B17DD5263DFA1A7F142946A2FCD6BBF24DD900B946DBEDA9C6F1DF*48

2020-01-22T01:32:12.770Z,1579656732.770 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-22T01:32:13.155Z,1579656733.155 [Micromodem](INFO): Nmea in: $CADRQ,013213,1,12,0,64,3*74

2020-01-22T01:32:13.156Z,1579656733.156 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,4A6D530D13C38BC54375C26759DD27FF63038BFC62ACEF6CE6B4CE92521CB3BD93730BD45E39477EB9BDCEDA20380505228667939FED61549F7F4441C2EF0855*43

2020-01-22T01:32:13.574Z,1579656733.574 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-22T01:32:13.963Z,1579656733.963 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-22T01:32:17.599Z,1579656737.599 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2020-01-22T01:32:18.004Z,1579656738.004 [Micromodem](INFO): Nmea in: $CAXST,6,20200122,013214.154863,3,0,200,4000,10000,1,1,12,1,3,3,3,192*73

2020-01-22T01:32:20.832Z,1579656740.832 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-22T01:32:21.239Z,1579656741.239 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-22T01:32:21.643Z,1579656741.643 [Micromodem](INFO): Nmea in: $CAACK,12,1,3,1*7B

2020-01-22T01:32:21.644Z,1579656741.644 [Micromodem](INFO): Sent 184 bytes from file Logs/20200122T001018/Courier0004.lzma.parts
2020-01-22T01:32:21.644Z,1579656741.644 [Micromodem](INFO): Packets left to send: 20
2020-01-22T01:32:22.047Z,1579656742.047 [Micromodem](INFO): Nmea in: $CACST,6,0,20200122013220.581572,06,4984,36,0379,0150,59,02,02,00,04,1,012,001,0,4,1,0,150,18.4,12.00,25,-9.00,-01,-0.01,34,10000,4000*4F

2020-01-22T01:32:22.134Z,1579656742.134 [Micromodem](INFO): Outgoing frame #1, 64 bytes: EA92275E040013006068B83A205321D49B5CB69B9AE987E9C721E3F73B19AA6CF5BBD7CE9DB8526F41EE563D8DB407D98B6CC2C04078F219072E3ED1742ED738
2020-01-22T01:32:22.134Z,1579656742.134 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 0D7BD71C85375A09A551D1E8FE9BBC9F31A7E0BE850493302331E0A23F6A3C0F548141C0620A03DED1945A61087D8F2FD0A6613B1CB2E2C5D6D8AC14FF5926CB
2020-01-22T01:32:22.135Z,1579656742.135 [Micromodem](INFO): Outgoing frame #3, 64 bytes: DB572A24AB2A99172E7D88A8903ADDFCADFF07E9C764F644E9C556EE094FC5EA28D4E0A5035E116E8ADCB86F351AC723F4D973746DE3D3CCC3C33D1BC7D2D0AF
2020-01-22T01:32:22.135Z,1579656742.135 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-22T01:32:23.256Z,1579656743.256 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-22T01:32:23.655Z,1579656743.655 [Micromodem](INFO): Nmea in: $CADRQ,013223,1,12,0,64,1*75

2020-01-22T01:32:23.656Z,1579656743.656 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,EA92275E040013006068B83A205321D49B5CB69B9AE987E9C721E3F73B19AA6CF5BBD7CE9DB8526F41EE563D8DB407D98B6CC2C04078F219072E3ED1742ED738*3B

2020-01-22T01:32:24.063Z,1579656744.063 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-22T01:32:24.471Z,1579656744.471 [Micromodem](INFO): Nmea in: $CADRQ,013224,1,12,0,64,2*71

2020-01-22T01:32:24.471Z,1579656744.471 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,0D7BD71C85375A09A551D1E8FE9BBC9F31A7E0BE850493302331E0A23F6A3C0F548141C0620A03DED1945A61087D8F2FD0A6613B1CB2E2C5D6D8AC14FF5926CB*43

2020-01-22T01:32:24.871Z,1579656744.871 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-22T01:32:25.283Z,1579656745.283 [Micromodem](INFO): Nmea in: $CADRQ,013225,1,12,0,64,3*71

2020-01-22T01:32:25.284Z,1579656745.284 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,DB572A24AB2A99172E7D88A8903ADDFCADFF07E9C764F644E9C556EE094FC5EA28D4E0A5035E116E8ADCB86F351AC723F4D973746DE3D3CCC3C33D1BC7D2D0AF*35

2020-01-22T01:32:25.675Z,1579656745.675 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-22T01:32:26.083Z,1579656746.083 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-22T01:32:29.726Z,1579656749.726 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2020-01-22T01:32:30.128Z,1579656750.128 [Micromodem](INFO): Nmea in: $CAXST,6,20200122,013226.280568,3,0,200,4000,10000,1,1,12,1,3,3,3,192*7E

2020-01-22T01:32:32.952Z,1579656752.952 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-22T01:32:33.363Z,1579656753.363 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-22T01:32:33.782Z,1579656753.782 [Micromodem](INFO): Nmea in: $CAACK,12,1,3,1*7B

2020-01-22T01:32:33.783Z,1579656753.783 [Micromodem](INFO): Sent 184 bytes from file Logs/20200122T001018/Courier0004.lzma.parts
2020-01-22T01:32:33.783Z,1579656753.783 [Micromodem](INFO): Packets left to send: 19
2020-01-22T01:32:34.167Z,1579656754.167 [Micromodem](INFO): Nmea in: $CACST,6,0,20200122013232.710734,06,1333,31,0394,0150,59,02,02,00,04,1,012,001,0,4,1,0,150,22.9,12.00,24,-9.00,-01,-0.01,30,10000,4000*40

2020-01-22T01:32:34.270Z,1579656754.270 [Micromodem](INFO): Outgoing frame #1, 64 bytes: EA92275E040012006151B450557BBF850A198A762C464CD94B12D25B43223E66E2F894E555029991EE0ADCB01E55E29BDACC0677BD9926015795E9405D6ACE53
2020-01-22T01:32:34.271Z,1579656754.271 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 110F8665F90BC3B5CF96CA96DA969503398D64A4D18A3D7AC1A30714BC35ED72735EA8417081A6DC63D48D3E53B779CD9562877CFFC5D7FC9D8505A7E2F73706
2020-01-22T01:32:34.271Z,1579656754.271 [Micromodem](INFO): Outgoing frame #3, 64 bytes: A956E41CEA6A319FB13EE566BA9964F12EA0FA107A13BC997F006F7BE478808C440BE553330A3548B5335987AD504EF7B2ECC1EEA88A661D0D9722FD1FBC0D2F
2020-01-22T01:32:34.271Z,1579656754.271 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-22T01:32:35.014Z,1579656755.014 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2020-01-22T01:32:35.014Z,1579656755.014 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-22T01:32:35.061Z,1579656755.061 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-22T01:32:35.379Z,1579656755.379 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-22T01:32:35.451Z,1579656755.451 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-22T01:32:35.451Z,1579656755.451 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2020-01-22T01:32:35.791Z,1579656755.791 [Micromodem](INFO): Nmea in: $CADRQ,013235,1,12,0,64,1*72

2020-01-22T01:32:35.792Z,1579656755.792 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,EA92275E040012006151B450557BBF850A198A762C464CD94B12D25B43223E66E2F894E555029991EE0ADCB01E55E29BDACC0677BD9926015795E9405D6ACE53*35

2020-01-22T01:32:36.190Z,1579656756.190 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-22T01:32:36.584Z,1579656756.584 [Micromodem](INFO): Nmea in: $CADRQ,013236,1,12,0,64,2*72

2020-01-22T01:32:36.584Z,1579656756.584 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,110F8665F90BC3B5CF96CA96DA969503398D64A4D18A3D7AC1A30714BC35ED72735EA8417081A6DC63D48D3E53B779CD9562877CFFC5D7FC9D8505A7E2F73706*32

2020-01-22T01:32:36.991Z,1579656756.991 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-22T01:32:37.399Z,1579656757.399 [Micromodem](INFO): Nmea in: $CADRQ,013237,1,12,0,64,3*72

2020-01-22T01:32:37.400Z,1579656757.400 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,A956E41CEA6A319FB13EE566BA9964F12EA0FA107A13BC997F006F7BE478808C440BE553330A3548B5335987AD504EF7B2ECC1EEA88A661D0D9722FD1FBC0D2F*46

2020-01-22T01:32:37.807Z,1579656757.807 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-22T01:32:38.207Z,1579656758.207 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-22T01:32:41.843Z,1579656761.843 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2020-01-22T01:32:42.244Z,1579656762.244 [Micromodem](INFO): Nmea in: $CAXST,6,20200122,013238.400780,3,0,200,4000,10000,1,1,12,1,3,3,3,192*7B

2020-01-22T01:32:43.082Z,1579656763.082 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00,   0.00
2020-01-22T01:32:45.072Z,1579656765.072 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-22T01:32:45.475Z,1579656765.475 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-22T01:32:45.887Z,1579656765.887 [Micromodem](INFO): Nmea in: $CAACK,12,1,3,1*7B

2020-01-22T01:32:45.888Z,1579656765.888 [Micromodem](INFO): Sent 184 bytes from file Logs/20200122T001018/Courier0004.lzma.parts
2020-01-22T01:32:45.888Z,1579656765.888 [Micromodem](INFO): Packets left to send: 18
2020-01-22T01:32:46.287Z,1579656766.287 [Micromodem](INFO): Nmea in: $CACST,6,0,20200122013244.834276,06,5146,31,0376,0150,59,02,02,01,04,1,012,001,0,4,1,0,150,22.9,12.00,22,-9.00,-01,0.00,30,10000,4000*68

2020-01-22T01:32:46.379Z,1579656766.379 [Micromodem](INFO): Outgoing frame #1, 64 bytes: EA92275E0400110040F53CD13EB454A86C3F6B0533D76CA3E2F868E25B09CB3255CC7C26FD6BDC9A3C4C6750EA5336A22F718DBA55071A7FB3104DFD7E2D6610
2020-01-22T01:32:46.380Z,1579656766.380 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 8FA42417100200699510D69BF61C0B6F909D495898BBBDDE8AC55643BEF8832341CF6738A7120AD4CB685D87DE586DEDA43F63FDD2162B7F6E4D748FC8F8C951
2020-01-22T01:32:46.380Z,1579656766.380 [Micromodem](INFO): Outgoing frame #3, 64 bytes: 171285381980A21BD518FA4F89529FF8E557AB3B616D93E4F7236D06979898C3A2A529B685247D62941023922F80867D41EB0EB9C70A08B5E89D28F5D269332C
2020-01-22T01:32:46.381Z,1579656766.381 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-22T01:32:47.503Z,1579656767.503 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-22T01:32:47.904Z,1579656767.904 [Micromodem](INFO): Nmea in: $CADRQ,013247,1,12,0,64,1*77

2020-01-22T01:32:47.905Z,1579656767.905 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,EA92275E0400110040F53CD13EB454A86C3F6B0533D76CA3E2F868E25B09CB3255CC7C26FD6BDC9A3C4C6750EA5336A22F718DBA55071A7FB3104DFD7E2D6610*36

2020-01-22T01:32:48.307Z,1579656768.307 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-22T01:32:48.708Z,1579656768.708 [Micromodem](INFO): Nmea in: $CADRQ,013248,1,12,0,64,2*7B

2020-01-22T01:32:48.708Z,1579656768.708 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,8FA42417100200699510D69BF61C0B6F909D495898BBBDDE8AC55643BEF8832341CF6738A7120AD4CB685D87DE586DEDA43F63FDD2162B7F6E4D748FC8F8C951*40

2020-01-22T01:32:49.119Z,1579656769.119 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-22T01:32:49.527Z,1579656769.527 [Micromodem](INFO): Nmea in: $CADRQ,013249,1,12,0,64,3*7B

2020-01-22T01:32:49.528Z,1579656769.528 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,171285381980A21BD518FA4F89529FF8E557AB3B616D93E4F7236D06979898C3A2A529B685247D62941023922F80867D41EB0EB9C70A08B5E89D28F5D269332C*32

2020-01-22T01:32:49.931Z,1579656769.931 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-22T01:32:50.331Z,1579656770.331 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-22T01:32:53.967Z,1579656773.967 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2020-01-22T01:32:54.372Z,1579656774.372 [Micromodem](INFO): Nmea in: $CAXST,6,20200122,013250.520923,3,0,200,4000,10000,1,1,12,1,3,3,3,192*71

2020-01-22T01:32:56.323Z,1579656776.323 [CommandLine](IMPORTANT): got command quit
2020-01-22T01:32:57.204Z,1579656777.204 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-22T01:32:57.329Z,1579656777.329 [Supervisor](INFO): Stop Mission called by Supervisor::terminate
2020-01-22T01:32:57.329Z,1579656777.329 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-22T01:32:57.329Z,1579656777.329 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-22T01:32:57.417Z,1579656777.417 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2020-01-22T01:32:57.417Z,1579656777.417 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-22T01:32:57.418Z,1579656777.418 [CommandLine](INFO): Join timeout helper Thread ID is 2900
2020-01-22T01:32:57.418Z,1579656777.418 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2020-01-22T01:32:57.418Z,1579656777.418 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-22T01:32:57.419Z,1579656777.419 [NavChartDb](INFO): Join timeout helper Thread ID is 2901
2020-01-22T01:32:57.607Z,1579656777.607 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-22T01:32:57.721Z,1579656777.721 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-22T01:32:57.721Z,1579656777.721 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-22T01:32:57.737Z,1579656777.737 [ComponentRegistry](INFO): Shutting down WetLabsSeaOWL_UV_A ThreadHandler
2020-01-22T01:32:57.737Z,1579656777.737 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-22T01:32:57.737Z,1579656777.737 [WetLabsSeaOWL_UV_A](INFO): Join timeout helper Thread ID is 2902
2020-01-22T01:32:57.845Z,1579656777.845 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-22T01:32:57.845Z,1579656777.845 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-01-22T01:32:57.846Z,1579656777.846 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-22T01:32:57.857Z,1579656777.857 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2020-01-22T01:32:57.857Z,1579656777.857 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-22T01:32:57.857Z,1579656777.857 [CTD_NeilBrown](INFO): Join timeout helper Thread ID is 2903
2020-01-22T01:32:58.011Z,1579656778.011 [Micromodem](INFO): Nmea in: $CAACK,12,1,3,1*7B

2020-01-22T01:32:58.012Z,1579656778.012 [Micromodem](INFO): Sent 184 bytes from file Logs/20200122T001018/Courier0004.lzma.parts
2020-01-22T01:32:58.012Z,1579656778.012 [Micromodem](INFO): Packets left to send: 17
2020-01-22T01:32:58.129Z,1579656778.129 [CTD_NeilBrown ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-22T01:32:58.129Z,1579656778.129 [CTD_NeilBrown](INFO): Powering down
2020-01-22T01:32:58.141Z,1579656778.141 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-22T01:32:58.149Z,1579656778.149 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2020-01-22T01:32:58.149Z,1579656778.149 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-22T01:32:58.149Z,1579656778.149 [DataOverHttps](INFO): Join timeout helper Thread ID is 2904
2020-01-22T01:32:58.422Z,1579656778.422 [Micromodem](INFO): Nmea in: $CACST,6,0,20200122013256.944796,06,4999,30,0359,0150,29,01,01,01,03,1,012,001,0,4,1,0,150,23.1,12.00,23,-9.00,-01,0.00,25,10000,4000*6D

2020-01-22T01:32:58.494Z,1579656778.494 [Micromodem](INFO): Outgoing frame #1, 64 bytes: EA92275E04001000ED44A004559B64B6957372EBC83809B6DB7D1C1A7043562D108D36A1D282254678DD96BDB1C92E4062A4B22706807AA2A04D6A10E36A05D8
2020-01-22T01:32:58.495Z,1579656778.495 [Micromodem](INFO): Outgoing frame #2, 64 bytes: F09F1B729277F533C40D3D3166B59A81710486B8DAED05AB8A87DC6C55A1477CC5350BAF3FE822126F470A32A54A874B37B99CA69396CB680AA2DE6469C55F72
2020-01-22T01:32:58.495Z,1579656778.495 [Micromodem](INFO): Outgoing frame #3, 64 bytes: 9D2F5731970A507BCC3E5987C452F6EE8EEB8268F8A1635CBDCA3463F54C2FEB998A641D2252FBEAF8802604F81C64366BD069D361D3C7A255D4320E4642B611
2020-01-22T01:32:58.496Z,1579656778.496 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-22T01:32:58.801Z,1579656778.801 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-22T01:32:58.801Z,1579656778.801 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-22T01:32:58.822Z,1579656778.822 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2020-01-22T01:32:58.822Z,1579656778.822 [logger ThreadHandler](INFO): Thread cancelled.
2020-01-22T01:32:58.822Z,1579656778.822 [logger](INFO): Join timeout helper Thread ID is 2905
2020-01-22T01:32:58.823Z,1579656778.823 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-22T01:32:58.823Z,1579656778.823 [logger ThreadHandler](INFO): Thread cancelled.
2020-01-22T01:32:58.824Z,1579656778.824 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2020-01-22T01:32:58.824Z,1579656778.824 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-22T01:32:58.824Z,1579656778.824 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2020-01-22T01:32:58.824Z,1579656778.824 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-01-22T01:32:58.825Z,1579656778.825 [controlThread](INFO): Join timeout helper Thread ID is 2906
2020-01-22T01:32:58.860Z,1579656778.860 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-22T01:32:58.860Z,1579656778.860 [controlThread](DEBUG): Uninitializing ControlThread
2020-01-22T01:32:58.860Z,1579656778.860 [AHRS_M2](INFO): Powering down
2020-01-22T01:32:58.933Z,1579656778.933 [DDM](INFO): Powering down
2020-01-22T01:32:59.026Z,1579656779.026 [DUSBL_Hydroid](INFO): Powering down
2020-01-22T01:32:59.097Z,1579656779.097 [Micromodem](INFO): Powering down
2020-01-22T01:32:59.193Z,1579656779.193 [NAL9602](INFO): Powering down
2020-01-22T01:32:59.265Z,1579656779.265 [RDI_Pathfinder](INFO): Powering down
2020-01-22T01:32:59.267Z,1579656779.267 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2020-01-22T01:32:59.268Z,1579656779.268 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2020-01-22T01:32:59.269Z,1579656779.269 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2020-01-22T01:32:59.270Z,1579656779.270 [MissionManager](INFO): Uninitializing Mission DefaultUnder
2020-01-22T01:32:59.270Z,1579656779.270 [DefaultUnder] Stopped
2020-01-22T01:32:59.270Z,1579656779.270 [DefaultUnder](DEBUG): Aggregate::uninitialize DefaultUnder
2020-01-22T01:32:59.270Z,1579656779.270 [DefaultUnder:uModemComms] Stopped
2020-01-22T01:32:59.270Z,1579656779.270 [DefaultUnder:uModemComms](DEBUG): Aggregate::uninitialize DefaultUnder:uModemComms
2020-01-22T01:32:59.270Z,1579656779.270 [DefaultUnder:uModemComms:CheckIn] Stopped
2020-01-22T01:32:59.270Z,1579656779.270 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::uninitialize DefaultUnder:uModemComms:CheckIn
2020-01-22T01:32:59.270Z,1579656779.270 [DefaultUnder:uModemComms:CheckIn:A] Stopped
2020-01-22T01:32:59.270Z,1579656779.270 [DefaultUnder:Notify] Stopped
2020-01-22T01:32:59.270Z,1579656779.270 [DefaultUnder:Notify](DEBUG): Aggregate::uninitialize DefaultUnder:Notify
2020-01-22T01:32:59.270Z,1579656779.270 [DefaultUnder:Notify:A] Stopped
2020-01-22T01:32:59.270Z,1579656779.270 [DefaultUnder:Notify:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A
2020-01-22T01:32:59.270Z,1579656779.270 [DefaultUnder:Notify:A:A] Stopped
2020-01-22T01:32:59.271Z,1579656779.271 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A:A
2020-01-22T01:32:59.271Z,1579656779.271 [DefaultUnder:Notify:A:A:A.Wait] Stopped
2020-01-22T01:32:59.271Z,1579656779.271 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-22T01:32:59.271Z,1579656779.271 [DefaultUnder:C.] Stopped
2020-01-22T01:32:59.271Z,1579656779.271 [DefaultUnder:Default] Stopped
2020-01-22T01:32:59.271Z,1579656779.271 [DefaultUnder:Default](DEBUG): Aggregate::uninitialize DefaultUnder:Default
2020-01-22T01:32:59.271Z,1579656779.271 [DefaultUnder:Default:Docked] Stopped
2020-01-22T01:32:59.271Z,1579656779.271 [DefaultUnder:Default:Docked](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Docked
2020-01-22T01:32:59.271Z,1579656779.271 [DefaultUnder:Default:Docked:run] Stopped
2020-01-22T01:32:59.271Z,1579656779.271 [DefaultUnder:Default:Docked:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Docked:run
2020-01-22T01:32:59.271Z,1579656779.271 [DefaultUnder:Default:Docked:run:B.Docked] Stopped
2020-01-22T01:32:59.375Z,1579656779.375 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2020-01-22T01:32:59.376Z,1579656779.376 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2020-01-22T01:32:59.376Z,1579656779.376 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2020-01-22T01:32:59.376Z,1579656779.376 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2020-01-22T01:32:59.376Z,1579656779.376 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2020-01-22T01:32:59.376Z,1579656779.376 [BuoyancyServo](INFO): Powering down
2020-01-22T01:32:59.389Z,1579656779.389 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2020-01-22T01:32:59.389Z,1579656779.389 [ElevatorServo](INFO): Powering down
2020-01-22T01:32:59.390Z,1579656779.390 [MassServo](DEBUG): Uninitialize Mass Servo.
2020-01-22T01:32:59.390Z,1579656779.390 [MassServo](INFO): Powering down
2020-01-22T01:32:59.391Z,1579656779.391 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-01-22T01:32:59.391Z,1579656779.391 [RudderServo](INFO): Powering down
2020-01-22T01:32:59.391Z,1579656779.391 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2020-01-22T01:32:59.392Z,1579656779.392 [ThrusterServo](INFO): Powering down
2020-01-22T01:32:59.392Z,1579656779.392 [SBIT](DEBUG): Uninitialize SBIT Component.
2020-01-22T01:32:59.392Z,1579656779.392 [IBIT](DEBUG): Uninitialize IBIT Component.
2020-01-22T01:32:59.393Z,1579656779.393 [CBIT](DEBUG): Uninitialize CBIT Component.
2020-01-22T01:32:59.393Z,1579656779.393 [CBIT](DEBUG): Powering off loads.
2020-01-22T01:32:59.405Z,1579656779.405 [CBIT](DEBUG): Disabling WDT.
2020-01-22T01:32:59.417Z,1579656779.417 [CBIT](DEBUG): Opening all GF detection circuits.
2020-01-22T01:32:59.418Z,1579656779.418 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-01-22T01:32:59.472Z,1579656779.472 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-22T01:32:59.513Z,1579656779.513 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-22T01:32:59.515Z,1579656779.515 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-22T01:32:59.573Z,1579656779.573 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-22T01:32:59.632Z,1579656779.632 [logger ThreadHandler](INFO): Thread cancelled.