2020-01-23T00:54:06.222Z,1579740846.222 [Supervisor](DEBUG): Initializing supervisor.
2020-01-23T00:54:06.224Z,1579740846.224 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2020-01-23T00:54:06.225Z,1579740846.225 [SyncHandler](INFO): Protected caller Thread ID is 5777
2020-01-23T00:54:06.225Z,1579740846.225 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2020-01-23T00:54:06.226Z,1579740846.226 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2020-01-23T00:54:06.226Z,1579740846.226 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 5778
2020-01-23T00:54:06.229Z,1579740846.229 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2020-01-23T00:54:06.241Z,1579740846.241 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2020-01-23T00:54:06.242Z,1579740846.242 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2020-01-23T00:54:06.242Z,1579740846.242 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 5779
2020-01-23T00:54:06.243Z,1579740846.243 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2020-01-23T00:54:06.244Z,1579740846.244 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2020-01-23T00:54:06.244Z,1579740846.244 [logger ThreadHandler](INFO): Protected caller Thread ID is 5780
2020-01-23T00:54:06.246Z,1579740846.246 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2020-01-23T00:54:06.246Z,1579740846.246 [Supervisor](INFO): Looking for Config files in directory: Config/
2020-01-23T00:54:06.248Z,1579740846.248 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2020-01-23T00:54:06.679Z,1579740846.679 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2020-01-23T00:54:06.680Z,1579740846.680 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2020-01-23T00:54:06.775Z,1579740846.775 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2020-01-23T00:54:06.776Z,1579740846.776 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2020-01-23T00:54:07.084Z,1579740847.084 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2020-01-23T00:54:07.084Z,1579740847.084 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2020-01-23T00:54:07.219Z,1579740847.219 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2020-01-23T00:54:07.220Z,1579740847.220 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2020-01-23T00:54:07.408Z,1579740847.408 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2020-01-23T00:54:07.408Z,1579740847.408 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2020-01-23T00:54:07.845Z,1579740847.845 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2020-01-23T00:54:07.845Z,1579740847.845 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2020-01-23T00:54:08.050Z,1579740848.050 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2020-01-23T00:54:08.051Z,1579740848.051 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2020-01-23T00:54:08.191Z,1579740848.191 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2020-01-23T00:54:08.192Z,1579740848.192 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2020-01-23T00:54:08.378Z,1579740848.378 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2020-01-23T00:54:08.378Z,1579740848.378 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2020-01-23T00:54:08.471Z,1579740848.471 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2020-01-23T00:54:08.472Z,1579740848.472 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2020-01-23T00:54:08.765Z,1579740848.765 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2020-01-23T00:54:08.765Z,1579740848.765 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2020-01-23T00:54:08.843Z,1579740848.843 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2020-01-23T00:54:08.944Z,1579740848.944 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2020-01-23T00:54:08.944Z,1579740848.944 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2020-01-23T00:54:09.616Z,1579740849.616 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2020-01-23T00:54:09.616Z,1579740849.616 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2020-01-23T00:54:10.016Z,1579740850.016 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2020-01-23T00:54:10.018Z,1579740850.018 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/
2020-01-23T00:54:10.019Z,1579740850.019 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/vehicle.cfg
2020-01-23T00:54:10.226Z,1579740850.226 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Control.cfg
2020-01-23T00:54:10.324Z,1579740850.324 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/BIT.cfg
2020-01-23T00:54:10.422Z,1579740850.422 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Battery.cfg
2020-01-23T00:54:10.644Z,1579740850.644 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2020-01-23T00:54:10.645Z,1579740850.645 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Simulator.cfg
2020-01-23T00:54:10.728Z,1579740850.728 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Navigation.cfg
2020-01-23T00:54:10.819Z,1579740850.819 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/logger.cfg
2020-01-23T00:54:11.032Z,1579740851.032 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/secure.cfg
2020-01-23T00:54:11.281Z,1579740851.281 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Servo.cfg
2020-01-23T00:54:11.395Z,1579740851.395 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/workSite.cfg
2020-01-23T00:54:11.507Z,1579740851.507 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Sensor.cfg
2020-01-23T00:54:11.858Z,1579740851.858 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Science.cfg
2020-01-23T00:54:11.985Z,1579740851.985 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/root/
2020-01-23T00:54:11.986Z,1579740851.986 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2020-01-23T00:54:11.995Z,1579740851.995 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2020-01-23T00:54:12.274Z,1579740852.274 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_orientation
2020-01-23T00:54:12.280Z,1579740852.280 [AHRS_M2](INFO): created writer for : platform_orientation
2020-01-23T00:54:12.281Z,1579740852.281 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_magnetic_orientation
2020-01-23T00:54:12.286Z,1579740852.286 [AHRS_M2](INFO): created writer for : platform_magnetic_orientation
2020-01-23T00:54:12.287Z,1579740852.287 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_pitch_angle
2020-01-23T00:54:12.291Z,1579740852.291 [AHRS_M2](INFO): created writer for : platform_pitch_angle
2020-01-23T00:54:12.292Z,1579740852.292 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_roll_angle
2020-01-23T00:54:12.297Z,1579740852.297 [AHRS_M2](INFO): created writer for : platform_roll_angle
2020-01-23T00:54:12.364Z,1579740852.364 [AHRS_M2] Loaded
2020-01-23T00:54:12.364Z,1579740852.364 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2020-01-23T00:54:12.443Z,1579740852.443 [DataOverHttps] Loaded
2020-01-23T00:54:12.443Z,1579740852.443 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2020-01-23T00:54:12.444Z,1579740852.444 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 407684E0
2020-01-23T00:54:12.444Z,1579740852.444 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 5862
2020-01-23T00:54:12.468Z,1579740852.467 [DDM] Loaded
2020-01-23T00:54:12.468Z,1579740852.468 [ComponentRegistry](DEBUG): SyncComponent "DDM" handled in the control thread.
2020-01-23T00:54:12.480Z,1579740852.480 [Depth_Keller] Loaded
2020-01-23T00:54:12.481Z,1579740852.481 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2020-01-23T00:54:12.485Z,1579740852.485 [DropWeight] Loaded
2020-01-23T00:54:12.485Z,1579740852.485 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2020-01-23T00:54:12.544Z,1579740852.544 [DUSBL_Hydroid] Loaded
2020-01-23T00:54:12.544Z,1579740852.544 [ComponentRegistry](DEBUG): SyncComponent "DUSBL_Hydroid" handled in the control thread.
2020-01-23T00:54:12.588Z,1579740852.588 [Micromodem] Loaded
2020-01-23T00:54:12.589Z,1579740852.589 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2020-01-23T00:54:12.682Z,1579740852.682 [NAL9602] Loaded
2020-01-23T00:54:12.682Z,1579740852.682 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2020-01-23T00:54:12.719Z,1579740852.719 [Onboard] Loaded
2020-01-23T00:54:12.720Z,1579740852.720 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2020-01-23T00:54:12.725Z,1579740852.725 [PowerOnly] Loaded
2020-01-23T00:54:12.725Z,1579740852.725 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2020-01-23T00:54:12.767Z,1579740852.767 [RDI_Pathfinder] Loaded
2020-01-23T00:54:12.767Z,1579740852.767 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2020-01-23T00:54:14.183Z,1579740854.183 [BPC1] Loaded
2020-01-23T00:54:14.183Z,1579740854.183 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2020-01-23T00:54:14.184Z,1579740854.184 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2020-01-23T00:54:14.184Z,1579740854.184 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2020-01-23T00:54:14.197Z,1579740854.197 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2020-01-23T00:54:14.198Z,1579740854.198 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2020-01-23T00:54:14.298Z,1579740854.298 [DeadReckonUsingMultipleVelocitySources] Loaded
2020-01-23T00:54:14.298Z,1579740854.298 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2020-01-23T00:54:14.318Z,1579740854.318 [NavChart] Loaded
2020-01-23T00:54:14.318Z,1579740854.318 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2020-01-23T00:54:14.322Z,1579740854.322 [UniversalFixResidualReporter] Loaded
2020-01-23T00:54:14.322Z,1579740854.322 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2020-01-23T00:54:14.323Z,1579740854.323 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2020-01-23T00:54:14.323Z,1579740854.323 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2020-01-23T00:54:14.427Z,1579740854.427 [BuoyancyServo] Loaded
2020-01-23T00:54:14.428Z,1579740854.428 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2020-01-23T00:54:14.442Z,1579740854.442 [ElevatorServo] Loaded
2020-01-23T00:54:14.443Z,1579740854.443 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2020-01-23T00:54:14.457Z,1579740854.457 [MassServo] Loaded
2020-01-23T00:54:14.457Z,1579740854.457 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2020-01-23T00:54:14.471Z,1579740854.471 [RudderServo] Loaded
2020-01-23T00:54:14.472Z,1579740854.472 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2020-01-23T00:54:14.486Z,1579740854.486 [ThrusterServo] Loaded
2020-01-23T00:54:14.486Z,1579740854.486 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2020-01-23T00:54:14.486Z,1579740854.486 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2020-01-23T00:54:14.487Z,1579740854.487 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2020-01-23T00:54:14.736Z,1579740854.736 [CTD_NeilBrown] Loaded
2020-01-23T00:54:14.736Z,1579740854.736 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2020-01-23T00:54:14.737Z,1579740854.737 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 408BC4E0
2020-01-23T00:54:14.738Z,1579740854.738 [CTD_NeilBrown ThreadHandler](INFO): Protected caller Thread ID is 5863
2020-01-23T00:54:14.752Z,1579740854.752 [PAR_Licor] Loaded
2020-01-23T00:54:14.752Z,1579740854.752 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2020-01-23T00:54:14.793Z,1579740854.793 [WetLabsSeaOWL_UV_A] Loaded
2020-01-23T00:54:14.794Z,1579740854.794 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2020-01-23T00:54:14.795Z,1579740854.795 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 408EC4E0
2020-01-23T00:54:14.795Z,1579740854.795 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 5864
2020-01-23T00:54:14.796Z,1579740854.796 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2020-01-23T00:54:14.796Z,1579740854.796 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2020-01-23T00:54:15.123Z,1579740855.123 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2020-01-23T00:54:15.124Z,1579740855.124 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2020-01-23T00:54:15.163Z,1579740855.163 [DepthRateCalculator] Loaded
2020-01-23T00:54:15.164Z,1579740855.164 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2020-01-23T00:54:15.169Z,1579740855.169 [PitchRateCalculator] Loaded
2020-01-23T00:54:15.169Z,1579740855.169 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2020-01-23T00:54:15.181Z,1579740855.181 [SpeedCalculator] Loaded
2020-01-23T00:54:15.181Z,1579740855.181 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2020-01-23T00:54:15.201Z,1579740855.201 [TempGradientCalculator] Loaded
2020-01-23T00:54:15.202Z,1579740855.202 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2020-01-23T00:54:15.207Z,1579740855.207 [YawRateCalculator] Loaded
2020-01-23T00:54:15.207Z,1579740855.207 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2020-01-23T00:54:15.246Z,1579740855.246 [ElevatorOffsetCalculator] Loaded
2020-01-23T00:54:15.246Z,1579740855.246 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2020-01-23T00:54:15.247Z,1579740855.247 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2020-01-23T00:54:15.247Z,1579740855.247 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2020-01-23T00:54:15.380Z,1579740855.380 [SBIT](DEBUG): Construct Startup Built In Test.
2020-01-23T00:54:15.404Z,1579740855.404 [SBIT] Loaded
2020-01-23T00:54:15.404Z,1579740855.404 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2020-01-23T00:54:15.405Z,1579740855.405 [IBIT](DEBUG): Construct Initiated Built In Test.
2020-01-23T00:54:15.417Z,1579740855.417 [IBIT] Loaded
2020-01-23T00:54:15.417Z,1579740855.417 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2020-01-23T00:54:15.420Z,1579740855.420 [CBIT](DEBUG): Construct Continuous Built In Test.
2020-01-23T00:54:15.553Z,1579740855.553 [CBIT] Loaded
2020-01-23T00:54:15.553Z,1579740855.553 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2020-01-23T00:54:15.554Z,1579740855.554 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2020-01-23T00:54:15.554Z,1579740855.554 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2020-01-23T00:54:15.632Z,1579740855.632 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2020-01-23T00:54:15.633Z,1579740855.633 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2020-01-23T00:54:15.727Z,1579740855.727 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2020-01-23T00:54:15.728Z,1579740855.728 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2020-01-23T00:54:15.774Z,1579740855.774 [VerticalControl](DEBUG): Construct VerticalControl.
2020-01-23T00:54:15.855Z,1579740855.855 [VerticalControl] Loaded
2020-01-23T00:54:15.856Z,1579740855.856 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2020-01-23T00:54:15.856Z,1579740855.856 [HorizontalControl](DEBUG): Construct HorizontalControl.
2020-01-23T00:54:15.922Z,1579740855.922 [HorizontalControl] Loaded
2020-01-23T00:54:15.923Z,1579740855.923 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2020-01-23T00:54:15.923Z,1579740855.923 [SpeedControl](DEBUG): Construct SpeedControl.
2020-01-23T00:54:15.925Z,1579740855.925 [SpeedControl] Loaded
2020-01-23T00:54:15.925Z,1579740855.925 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2020-01-23T00:54:15.926Z,1579740855.926 [LoopControl](DEBUG): Construct LoopControl.
2020-01-23T00:54:15.926Z,1579740855.926 [LoopControl] Loaded
2020-01-23T00:54:15.927Z,1579740855.927 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2020-01-23T00:54:15.927Z,1579740855.927 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2020-01-23T00:54:15.927Z,1579740855.927 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2020-01-23T00:54:15.998Z,1579740855.998 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2020-01-23T00:54:16.076Z,1579740856.076 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2020-01-23T00:54:16.077Z,1579740856.077 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2020-01-23T00:54:16.083Z,1579740856.083 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2020-01-23T00:54:16.084Z,1579740856.084 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40ACC4E0
2020-01-23T00:54:16.085Z,1579740856.085 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 5865
2020-01-23T00:54:16.214Z,1579740856.214 [Supervisor](INFO): Main Thread ID is 5776
2020-01-23T00:54:16.214Z,1579740856.214 [Supervisor](DEBUG): Running supervisor.
2020-01-23T00:54:16.214Z,1579740856.214 [CommandLine ThreadHandler](INFO): Handler Thread ID is 5866
2020-01-23T00:54:16.217Z,1579740856.217 [controlThread ThreadHandler](INFO): Handler Thread ID is 5867
2020-01-23T00:54:16.218Z,1579740856.218 [controlThread](DEBUG): Initializing ControlThread
2020-01-23T00:54:16.224Z,1579740856.224 [NavChart](DEBUG): Initialize NavChart Navigation.
2020-01-23T00:54:16.224Z,1579740856.224 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2020-01-23T00:54:16.229Z,1579740856.229 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2020-01-23T00:54:16.229Z,1579740856.229 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2020-01-23T00:54:16.230Z,1579740856.230 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2020-01-23T00:54:16.230Z,1579740856.230 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2020-01-23T00:54:16.230Z,1579740856.230 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2020-01-23T00:54:16.231Z,1579740856.231 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2020-01-23T00:54:16.231Z,1579740856.231 [SBIT](INFO): Initialize SBIT Component.
2020-01-23T00:54:16.232Z,1579740856.232 [SBIT](IMPORTANT): git: 2019-12-03-66-g3ff2a14
2020-01-23T00:54:16.232Z,1579740856.232 [SBIT](INFO): git hash: 3ff2a141e314d0ff24dfcdecba8589fc2363d401
2020-01-23T00:54:16.232Z,1579740856.232 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2020-01-23T00:54:16.233Z,1579740856.233 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #2 PREEMPT Thu Jan 11 20:13:48 PST 2018
Kernel Reported: #1 PREEMPT Wed Nov 13 12:38:10 PST 2019
2020-01-23T00:54:16.235Z,1579740856.235 [SBIT](INFO): Beginning SBIT in 39.000000 seconds.
2020-01-23T00:54:16.235Z,1579740856.235 [IBIT](INFO): Initialize IBIT Component.
2020-01-23T00:54:16.236Z,1579740856.236 [CBIT](DEBUG): Initialize CBIT Component.
2020-01-23T00:54:16.237Z,1579740856.237 [logger ThreadHandler](INFO): Handler Thread ID is 5868
2020-01-23T00:54:16.249Z,1579740856.249 [CBIT](DEBUG): Initialized mux pins.
2020-01-23T00:54:16.249Z,1579740856.249 [CBIT](DEBUG): Initializing the watchdog timer.
2020-01-23T00:54:16.257Z,1579740856.257 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 5869
2020-01-23T00:54:16.258Z,1579740856.258 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2020-01-23T00:54:16.269Z,1579740856.269 [CTD_NeilBrown ThreadHandler](INFO): Handler Thread ID is 5870
2020-01-23T00:54:16.270Z,1579740856.270 [CTD_NeilBrown](INFO): Powering down
2020-01-23T00:54:16.277Z,1579740856.277 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2020-01-23T00:54:16.277Z,1579740856.277 [CBIT](DEBUG): Initializing heartbeat.
2020-01-23T00:54:16.289Z,1579740856.289 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 5871
2020-01-23T00:54:16.290Z,1579740856.290 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-01-23T00:54:16.321Z,1579740856.321 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 5872
2020-01-23T00:54:16.324Z,1579740856.324 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2020-01-23T00:54:16.324Z,1579740856.324 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2020-01-23T00:54:16.325Z,1579740856.325 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2020-01-23T00:54:16.325Z,1579740856.325 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2020-01-23T00:54:16.325Z,1579740856.325 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2020-01-23T00:54:16.325Z,1579740856.325 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2020-01-23T00:54:16.325Z,1579740856.325 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2020-01-23T00:54:16.325Z,1579740856.325 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2020-01-23T00:54:16.326Z,1579740856.326 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2020-01-23T00:54:16.326Z,1579740856.326 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2020-01-23T00:54:16.326Z,1579740856.326 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2020-01-23T00:54:16.326Z,1579740856.326 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2020-01-23T00:54:16.326Z,1579740856.326 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2020-01-23T00:54:16.326Z,1579740856.326 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2020-01-23T00:54:16.327Z,1579740856.327 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2020-01-23T00:54:16.327Z,1579740856.327 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2020-01-23T00:54:16.349Z,1579740856.349 [CBIT](DEBUG): Deactivating GF circuits.
2020-01-23T00:54:16.349Z,1579740856.349 [CBIT](DEBUG): Deactivating emergency mode.
2020-01-23T00:54:16.385Z,1579740856.385 [CBIT](DEBUG): Backplane powered.
2020-01-23T00:54:16.385Z,1579740856.385 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2020-01-23T00:54:16.387Z,1579740856.387 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2020-01-23T00:54:16.388Z,1579740856.388 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2020-01-23T00:54:16.388Z,1579740856.388 [LoopControl](DEBUG): Initialize LoopControlComponent.
2020-01-23T00:54:16.389Z,1579740856.389 [MissionManager](INFO): Loading Mission: Missions/underIce/StartupUnder.xml
2020-01-23T00:54:16.394Z,1579740856.394 [MissionManager](ERROR): Top node has no child nodes: Mission
2020-01-23T00:54:16.395Z,1579740856.395 [MissionManager](ERROR): Could not load startup mission.
2020-01-23T00:54:16.395Z,1579740856.395 [MissionManager](INFO): Loading Mission: Missions/underIce/DefaultUnder.xml
2020-01-23T00:54:16.473Z,1579740856.473 [CTD_NeilBrown](FAULT): LCB fault: LCB Watchdog Reset. Invalid Command. Hardware Overcurrent Shutdown. Software Overcurrent. Current Limiter Activated.
2020-01-23T00:54:16.474Z,1579740856.474 [CTD_NeilBrown] Hardware Fault, FailCount= 1
2020-01-23T00:54:16.474Z,1579740856.474 [CTD_NeilBrown](ERROR): Hardware Fault
2020-01-23T00:54:16.634Z,1579740856.634 [MissionManager](INFO): DefineArg DefaultUnder.uModemCommsInterval = 5.000000 min
2020-01-23T00:54:16.637Z,1579740856.637 [MissionManager](INFO): DefineArg DefaultUnder.TransponderCode = 2.000000 count
2020-01-23T00:54:16.640Z,1579740856.640 [MissionManager](INFO): DefineArg DefaultUnder.AcousticUpdatePeriod = 60.000000 s
2020-01-23T00:54:16.665Z,1579740856.665 [MissionManager](INFO): DefineArg DefaultUnder.DockingAcousticUpdatePeriod = 2.500000 s
2020-01-23T00:54:16.668Z,1579740856.668 [MissionManager](INFO): DefineArg DefaultUnder.NumberOfPings = 1.000000 count
2020-01-23T00:54:16.688Z,1579740856.688 [MissionManager](INFO): DefineOutput DefaultUnder.TrackingUpdatePeriod = 60.000000 n/a
2020-01-23T00:54:16.691Z,1579740856.691 [MissionManager](INFO): DefineOutput DefaultUnder.Surface = -1.000000 count
2020-01-23T00:54:16.719Z,1579740856.719 [MissionManager](INFO): DefineOutput DefaultUnder.Docked = 0.000000 count
2020-01-23T00:54:16.722Z,1579740856.722 [MissionManager](INFO): DefineOutput DefaultUnder.Home = 1.000000 count
2020-01-23T00:54:16.753Z,1579740856.753 [MissionManager](INFO): DefineOutput DefaultUnder.DefaultMode = 0.000000 n/a
2020-01-23T00:54:16.761Z,1579740856.761 [MissionManager](INFO): DefineOutput DefaultUnder.CaptureMode = -1.000000 count
2020-01-23T00:54:16.765Z,1579740856.765 [MissionManager](INFO): DefineOutput DefaultUnder.ElapsedSinceDefaultStarted = 0.000000 min
2020-01-23T00:54:16.788Z,1579740856.788 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Construct Wait.
2020-01-23T00:54:16.807Z,1579740856.807 [DefaultUnder:Notify:A:C.Execute](DEBUG): Construct Execute.
2020-01-23T00:54:17.022Z,1579740857.022 [MissionManager](INFO): Inserting Stack: Missions/Insert/LineCapture.xml
2020-01-23T00:54:17.562Z,1579740857.562 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockDepth = 6.000000 _
2020-01-23T00:54:17.566Z,1579740857.566 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockLat = 0.642341 _
2020-01-23T00:54:17.593Z,1579740857.593 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockLon = -2.126200 _
2020-01-23T00:54:17.597Z,1579740857.597 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DetachRange = 8.000000 m
2020-01-23T00:54:17.600Z,1579740857.600 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DetachTimeout = 30.000000 min
2020-01-23T00:54:17.615Z,1579740857.615 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MidcourseDepth = 15.000000 m
2020-01-23T00:54:17.619Z,1579740857.619 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MidcourseSpeed = 1.000000 m/s
2020-01-23T00:54:17.650Z,1579740857.650 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MidcourseTimeout = 12.000000 h
2020-01-23T00:54:17.653Z,1579740857.653 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.TerminalRange = 650.000000 m
2020-01-23T00:54:17.665Z,1579740857.665 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.ArmRange = 40.000000 m
2020-01-23T00:54:17.668Z,1579740857.668 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockRange = 2.000000 m
2020-01-23T00:54:17.671Z,1579740857.671 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockTimeout = 60.000000 s
2020-01-23T00:54:17.694Z,1579740857.694 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.RolloutDistance = 250.000000 m
2020-01-23T00:54:17.697Z,1579740857.697 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.UpdateNav = 1 bool
2020-01-23T00:54:17.721Z,1579740857.721 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.AcousticTimeout = 10.000000 min
2020-01-23T00:54:17.724Z,1579740857.724 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.TerminalSpeed = 0.800000 m/s
2020-01-23T00:54:17.727Z,1579740857.727 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.SearchTimeout = 60.000000 min
2020-01-23T00:54:17.751Z,1579740857.751 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.CircleRadius = 300.000000 m
2020-01-23T00:54:17.754Z,1579740857.754 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.CircleMaxError = 100.000000 m
2020-01-23T00:54:17.773Z,1579740857.773 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.CircleTurnToPort = 0 bool
2020-01-23T00:54:17.785Z,1579740857.785 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DepthDeadband = 0.010000 m
2020-01-23T00:54:17.788Z,1579740857.788 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.RudderDeadband = 0.001000 arcdeg
2020-01-23T00:54:17.791Z,1579740857.791 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MinAltitude = 5.000000 m
2020-01-23T00:54:17.803Z,1579740857.803 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MaxDepth = 205.000000 m
2020-01-23T00:54:17.806Z,1579740857.806 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MinOffshore = 500.000000 m
2020-01-23T00:54:17.841Z,1579740857.841 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Depth = 15.000000 n/a
2020-01-23T00:54:17.845Z,1579740857.845 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Speed = 1.000000 n/a
2020-01-23T00:54:17.848Z,1579740857.848 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.DoneTimeout = -1.000000 count
2020-01-23T00:54:17.868Z,1579740857.868 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Done = 0.000000 count
2020-01-23T00:54:17.871Z,1579740857.871 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.DetachFromDock = 1.000000 count
2020-01-23T00:54:17.887Z,1579740857.887 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Midcourse = 2.000000 count
2020-01-23T00:54:17.890Z,1579740857.890 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Terminal = 3.000000 count
2020-01-23T00:54:17.922Z,1579740857.922 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.GuidanceMode = 1.000000 n/a
2020-01-23T00:54:17.925Z,1579740857.925 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.ElapsedRange = 0.000000 min
2020-01-23T00:54:17.945Z,1579740857.945 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.Range = nan m
2020-01-23T00:54:17.947Z,1579740857.947 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2020-01-23T00:54:17.992Z,1579740857.992 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2020-01-23T00:54:17.995Z,1579740857.995 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2020-01-23T00:54:18.022Z,1579740858.022 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2020-01-23T00:54:18.023Z,1579740858.023 [DefaultUnder:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2020-01-23T00:54:18.043Z,1579740858.043 [DefaultUnder:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-01-23T00:54:18.079Z,1579740858.079 [DefaultUnder:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2020-01-23T00:54:18.122Z,1579740858.122 [DefaultUnder:LineCapture:H.Mass](DEBUG): Construct.
2020-01-23T00:54:18.150Z,1579740858.150 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:B.Buoyancy](DEBUG): Construct Buoyancy.
2020-01-23T00:54:18.154Z,1579740858.154 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:C.SetSpeed](DEBUG): Construct.
2020-01-23T00:54:18.173Z,1579740858.173 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:D.Pitch](DEBUG): Construct.
2020-01-23T00:54:18.180Z,1579740858.180 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed](DEBUG): Construct.
2020-01-23T00:54:18.195Z,1579740858.195 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:B.Pitch](DEBUG): Construct.
2020-01-23T00:54:18.227Z,1579740858.227 [DefaultUnder:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2020-01-23T00:54:18.294Z,1579740858.294 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2020-01-23T00:54:18.319Z,1579740858.319 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:G.Circle](DEBUG): Construct.
2020-01-23T00:54:18.425Z,1579740858.425 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2020-01-23T00:54:18.476Z,1579740858.476 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:H.LineCapture](DEBUG): Construct.
2020-01-23T00:54:18.523Z,1579740858.523 [DefaultUnder:LineCapture:K.Wait](DEBUG): Construct Wait.
2020-01-23T00:54:18.526Z,1579740858.526 [DefaultUnder:E.Wait](DEBUG): Construct Wait.
2020-01-23T00:54:18.548Z,1579740858.548 [DefaultUnder:Default:Docked:run:B.Docked](DEBUG): Construct.
2020-01-23T00:54:18.632Z,1579740858.632 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): Construct GoToSurface.
2020-01-23T00:54:18.660Z,1579740858.660 [DefaultUnder:Default:Surface:run:SurfaceComms:Read_Iridium_uModem:A_Timeout:A.Execute](DEBUG): Construct Execute.
2020-01-23T00:54:18.662Z,1579740858.662 [DefaultUnder:Default:Surface:run:SurfaceComms:C.Wait](DEBUG): Construct Wait.
2020-01-23T00:54:18.731Z,1579740858.731 [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>


2020-01-23T00:54:18.737Z,1579740858.737 [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,
2020-01-23T00:54:18.757Z,1579740858.757 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2020-01-23T00:54:18.790Z,1579740858.790 [DDM](INFO): Powering up
2020-01-23T00:54:18.790Z,1579740858.790 [DDM](DEBUG): Initializing DDM.
2020-01-23T00:54:18.822Z,1579740858.822 [Depth_Keller](ERROR): Pressure reading out of range: 1913.424561 decibar
2020-01-23T00:54:18.822Z,1579740858.822 [DUSBL_Hydroid](INFO): Powering up
2020-01-23T00:54:18.823Z,1579740858.823 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2020-01-23T00:54:18.929Z,1579740858.929 [DepthRateCalculator](ERROR): Depth measurement is not active
2020-01-23T00:54:18.955Z,1579740858.955 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2020-01-23T00:54:18.961Z,1579740858.961 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2020-01-23T00:54:18.962Z,1579740858.962 [ElevatorServo](DEBUG): Initializing EZServoServo.
2020-01-23T00:54:18.969Z,1579740858.969 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2020-01-23T00:54:18.970Z,1579740858.970 [MassServo](DEBUG): Initializing EZServoServo.
2020-01-23T00:54:18.977Z,1579740858.977 [MassServo](DEBUG): Initializing MassServo.
2020-01-23T00:54:18.978Z,1579740858.978 [RudderServo](DEBUG): Initializing EZServoServo.
2020-01-23T00:54:18.985Z,1579740858.985 [RudderServo](DEBUG): Initializing RudderServo.
2020-01-23T00:54:18.986Z,1579740858.986 [ThrusterServo](DEBUG): Initializing EZServoServo.
2020-01-23T00:54:18.993Z,1579740858.993 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2020-01-23T00:54:18.998Z,1579740858.998 [CBIT](ERROR): Hardware Fault in component: CTD_NeilBrown
2020-01-23T00:54:18.999Z,1579740858.999 [CBIT](FAULT): Hardware Fault in component: CTD_NeilBrown
2020-01-23T00:54:19.167Z,1579740859.167 [Micromodem](INFO): Powering up
2020-01-23T00:54:19.168Z,1579740859.168 [Micromodem](DEBUG): Initializing Micromodem.
2020-01-23T00:54:19.237Z,1579740859.237 [DepthRateCalculator](ERROR): Depth measurement is not active
2020-01-23T00:54:19.925Z,1579740859.925 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2020-01-23T00:54:19.925Z,1579740859.925 [RudderServo](FAULT): Rudder failed to initialize
2020-01-23T00:54:19.925Z,1579740859.925 [RudderServo] Communications Fault, FailCount= 1
2020-01-23T00:54:19.925Z,1579740859.925 [RudderServo](ERROR): Communications Fault
2020-01-23T00:54:20.036Z,1579740860.036 [CBIT](ERROR): Communications Fault in component: RudderServo
2020-01-23T00:54:20.210Z,1579740860.210 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-01-23T00:54:20.210Z,1579740860.210 [RudderServo](INFO): Powering down
2020-01-23T00:54:20.893Z,1579740860.894 [RudderServo](DEBUG): Initializing EZServoServo.
2020-01-23T00:54:21.014Z,1579740861.014 [RudderServo](DEBUG): Initializing RudderServo.
2020-01-23T00:54:21.018Z,1579740861.018 [CBIT](INFO): Clearing failed state for component RudderServo
2020-01-23T00:54:21.018Z,1579740861.018 [RudderServo] No Fault, FailCount= 1
2020-01-23T00:54:24.125Z,1579740864.125 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2020-01-23T00:54:24.528Z,1579740864.528 [Micromodem](INFO): Nmea in: $CATMG,2020-01-23T00:54:23.894589Z,RTC,RTC*51

2020-01-23T00:54:24.528Z,1579740864.528 [Micromodem](ERROR): CFG response from modem unexpected: $CATMG,2020-01-23T00:54:23.894589Z,RTC,RTC*51

2020-01-23T00:54:24.935Z,1579740864.935 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2020-01-23T00:54:24.935Z,1579740864.935 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2020-01-23T00:54:25.335Z,1579740865.335 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2020-01-23T00:54:25.335Z,1579740865.335 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2020-01-23T00:54:25.739Z,1579740865.739 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2020-01-23T00:54:25.740Z,1579740865.740 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2020-01-23T00:54:26.147Z,1579740866.147 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2020-01-23T00:54:26.148Z,1579740866.148 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2020-01-23T00:54:26.551Z,1579740866.551 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2020-01-23T00:54:26.551Z,1579740866.551 [Micromodem](INFO): Nmea out: $CCCFG,FC0,10000*46

2020-01-23T00:54:26.951Z,1579740866.951 [Micromodem](INFO): Nmea in: $CACFG,FC0,10000*44

2020-01-23T00:54:26.951Z,1579740866.951 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2020-01-23T00:54:27.367Z,1579740867.367 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2020-01-23T00:54:27.367Z,1579740867.367 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2020-01-23T00:54:27.737Z,1579740867.737 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2020-01-23T00:54:27.738Z,1579740867.738 [Micromodem](INFO): Nmea out: $CCCLK,2020,01,23,00,54,28*4F

2020-01-23T00:54:28.147Z,1579740868.147 [Micromodem](INFO): Nmea in: $CACLK,2020,1,23,0,54,28*4D

2020-01-23T00:54:28.544Z,1579740868.544 [Micromodem](INFO): Nmea in: $CATMS,0,2020-01-23T00:54:29Z*7C

2020-01-23T00:54:28.545Z,1579740868.545 [Micromodem](INFO): Nmea in: $CATMG,2020-01-23T00:54:29.028670Z,USER_CMD,RTC*10

2020-01-23T00:54:29.352Z,1579740869.352 [DDM](INFO): Dynamic Docking Module:
2020-01-23T00:54:32.208Z,1579740872.208 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2020-01-23T00:54:37.022Z,1579740877.022 [DUSBL_Hydroid](INFO): DUSBL Version:O
2020-01-23T00:54:41.885Z,1579740881.885 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-23T00:54:41.885Z,1579740881.885 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,20012218055849,35.0, -0.11448.9,  0
2020-01-23T00:54:43.095Z,1579740883.095 [NAL9602](INFO): Powering up NAL9602
2020-01-23T00:54:45.950Z,1579740885.950 [CommandLine](IMPORTANT): got command report mod DDM.cablePresent
2020-01-23T00:54:45.995Z,1579740885.995 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T00:54:47.381Z,1579740887.381 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2020-01-23T00:54:52.246Z,1579740892.246 [CommandLine](IMPORTANT): got command report touch acoustic_contact_range
2020-01-23T00:54:53.999Z,1579740893.999 [NAL9602](INFO): NAL9602 initialized
2020-01-23T00:54:55.712Z,1579740895.712 [SBIT](IMPORTANT): Beginning Startup BIT
2020-01-23T00:54:55.716Z,1579740895.716 [CBIT](IMPORTANT): Beginning ground fault scan
2020-01-23T00:55:00.991Z,1579740900.991 [CommandLine](IMPORTANT): got command run ./Missions/Insert/Docked.xml
2020-01-23T00:55:00.991Z,1579740900.991 [MissionManager](INFO): Loading Mission: ./Missions/Insert/Docked.xml
2020-01-23T00:55:01.150Z,1579740901.150 [MissionManager](INFO): DefineArg Docked.DataTimeout = 600.000000 s
2020-01-23T00:55:01.161Z,1579740901.161 [MissionManager](INFO): DefineArg Docked.MaxDockRange = 8.000000 m
2020-01-23T00:55:01.169Z,1579740901.169 [MissionManager](INFO): DefineArg Docked.DetachedTimeout = 5.000000 min
2020-01-23T00:55:01.172Z,1579740901.172 [MissionManager](INFO): DefineArg Docked.DockedTimeout = 30.000000 s
2020-01-23T00:55:01.200Z,1579740901.200 [MissionManager](INFO): DefineArg Docked.TransponderCode = 2.000000 count
2020-01-23T00:55:01.207Z,1579740901.207 [MissionManager](INFO): DefineArg Docked.TrackingUpdatePeriod = 60.000000 s
2020-01-23T00:55:01.223Z,1579740901.223 [MissionManager](INFO): DefineArg Docked.NumberOfPings = 1.000000 count
2020-01-23T00:55:01.230Z,1579740901.230 [MissionManager](INFO): DefineArg Docked.DepthDeadband = 1.500000 m
2020-01-23T00:55:01.250Z,1579740901.250 [MissionManager](INFO): DefineArg Docked.PitchLimit = 20.000000 arcdeg
2020-01-23T00:55:01.258Z,1579740901.258 [MissionManager](INFO): DefineArg Docked.MinDepth = 1.000000 m
2020-01-23T00:55:01.270Z,1579740901.270 [MissionManager](INFO): DefineArg Docked.MaxDepth = 215.000000 m
2020-01-23T00:55:01.271Z,1579740901.271 [Docked:A.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-01-23T00:55:01.366Z,1579740901.366 [Docked:E.Docked](DEBUG): Construct.
2020-01-23T00:55:01.438Z,1579740901.438 [Docked:G.Wait](DEBUG): Construct Wait.
2020-01-23T00:55:01.460Z,1579740901.460 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<!-- ====================
     Generated by TethysL
     ==================== -->
<Aggregate xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
           xmlns="Tethys"
           xmlns:Units="Tethys/Units"
           xmlns:Universal="Tethys/Universal"
           xmlns:BIT="Tethys/BIT"
           xmlns:Estimation="Tethys/Estimation"
           xmlns:Guidance="Tethys/Guidance"
           xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                               Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                               Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd
                               Tethys/BIT http://okeanids.mbari.org/tethys/Xml/BIT.xsd
                               Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
                               Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd"
       Id="Docked">

   <DefineArg Name="DataTimeout"><Description>
       Maximum range allowed from the dock.
   </Description><Units:second/><Value>600</Value></DefineArg>

   <DefineArg Name="MaxDockRange"><Description>
       Maximum range allowed from the dock.
   </Description><Units:meter/><Value>8</Value></DefineArg>

   <DefineArg Name="DetachedTimeout"><Description>
       Time duration limit for determining if the vehicle is detached from the dock.
   </Description><Units:minute/><Value>5</Value></DefineArg>

   <DefineArg Name="DockedTimeout"><Description>
       Time duration limit for determining if the vehicle is ON the dock.
   </Description><Units:second/><Value>30</Value></DefineArg>

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

    <DefineArg Name="TrackingUpdatePeriod"><Description>
        How long to wait between acoustic queries.
    </Description><Units:second/><Value>60</Value></DefineArg>

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

    <DefineArg Name="DepthDeadband"><Description>
        How much vertical drift from the specified depth is allowed while docked.
    </Description><Units:meter/><Value>1.5</Value></DefineArg>

    <DefineArg Name="PitchLimit"><Description>
        Max vehicle pitch (+/-) while on dock.
    </Description><Units:degree/><Value>20</Value></DefineArg>

    <DefineArg Name="MinDepth"><Description>
        Minimum depth while docked.
    </Description><Control:VerticalControl.surfaceThreshold/></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth while docked.
    </Description><BIT:CBIT.stopDepth/></DefineArg>


    <Sequence/>

    <Guidance:DepthEnvelope>
        <Parallel/>
        <Setting><Guidance:DepthEnvelope.minDepth/><Arg Name="MinDepth"/></Setting>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="MaxDepth"/></Setting>
    </Guidance:DepthEnvelope>

    <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>

    <Assign><Parallel/><Control:VerticalControl.pitchLimit/><Arg Name="PitchLimit"/></Assign>
    <Assign><Parallel/><Control:VerticalControl.depthDeadband/><Arg Name="DepthDeadband"/></Assign>

    <Guidance:Docked>
        <Progression/>
        <Setting><Guidance:Docked.DataTimeout/><Arg Name="DataTimeout"/></Setting>
        <Setting><Guidance:Docked.StopDepth/><Arg Name="MaxDepth"/></Setting>
        <Setting><Guidance:Docked.DockRange/><Arg Name="MaxDockRange"/></Setting>
        <Setting><Guidance:Docked.DetachedTimeout/><Arg Name="DetachedTimeout"/></Setting>
        <Setting><Guidance:Docked.DockedTimeout/><Arg Name="DockedTimeout"/></Setting>
    </Guidance:Docked>

    <Syslog Severity="Important">Passed Docked!</Syslog>

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

</Aggregate>


2020-01-23T00:55:01.524Z,1579740901.524 [CommandLine](IMPORTANT): Running ./Missions/Insert/Docked.xml
2020-01-23T00:55:05.686Z,1579740905.686 [CommandLine](IMPORTANT): got command strobe off
2020-01-23T00:55:05.686Z,1579740905.686 [CommandLine](IMPORTANT): Deactivating strobe
2020-01-23T00:55:06.765Z,1579740906.765 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.009679
CHAN A1 (24V): -0.028856
CHAN A2 (12V): -0.007015
CHAN A3 (5V): -0.002352
CHAN B0 (3.3V): 0.000326
CHAN B1 (3.15aV): 0.000005
CHAN B2 (3.15bV): 0.000313
CHAN B3 (GND): 0.001933
OPEN: 0.005265
Full Scale Calc: 4.765 mA, -1.589 mA
2020-01-23T00:55:09.397Z,1579740909.397 [CommandLine](IMPORTANT): got command show stack
2020-01-23T00:55:09.398Z,1579740909.398 [CommandLine](IMPORTANT): Behavior Stack:

2020-01-23T00:55:09.398Z,1579740909.398 [Docked](IMPORTANT): Priority 0: Docked:A.DepthEnvelope
2020-01-23T00:55:09.398Z,1579740909.398 [Docked](IMPORTANT): Priority 1: Docked:B.
2020-01-23T00:55:09.398Z,1579740909.398 [Docked](IMPORTANT): Priority 2: Docked:C
2020-01-23T00:55:09.399Z,1579740909.399 [Docked](IMPORTANT): Priority 3: Docked:D
2020-01-23T00:55:12.561Z,1579740912.561 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-23T00:55:12.561Z,1579740912.561 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2020-01-23T00:55:15.183Z,1579740915.183 [CommandLine](IMPORTANT): got command get DDM.cablePresent
2020-01-23T00:55:15.183Z,1579740915.183 [CommandLine](IMPORTANT): DDM.cablePresent 1 bool
2020-01-23T00:55:30.223Z,1579740930.223 [CommandLine](IMPORTANT): got command get acoustic_contact_range
2020-01-23T00:55:30.223Z,1579740930.223 [CommandLine](FAULT): Element has no value
2020-01-23T00:55:49.064Z,1579740949.064 [SBIT](IMPORTANT): SBIT PASSED
2020-01-23T00:55:49.064Z,1579740949.064 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2020-01-23T00:55:49.065Z,1579740949.065 [SBIT](IMPORTANT): Courier linearApproximation DDM.cablePresent 0.500000 bool;

2020-01-23T00:55:49.065Z,1579740949.065 [SBIT](IMPORTANT): Courier linearApproximation DDM.latchState 0.500000 count;

2020-01-23T00:55:49.065Z,1579740949.065 [SBIT](IMPORTANT): DDM.verbosity=3 count;

2020-01-23T00:55:49.066Z,1579740949.066 [SBIT](IMPORTANT): DUSBL_Hydroid.detectionThreshold=30 count;

2020-01-23T00:55:49.066Z,1579740949.066 [SBIT](IMPORTANT): Micromodem.pwrampTXLevel=0 enum;

2020-01-23T00:55:49.066Z,1579740949.066 [SBIT](IMPORTANT): Micromodem.sendExpress=1 bool;

2020-01-23T00:55:49.066Z,1579740949.066 [SBIT](IMPORTANT): Micromodem.surfaceThreshold=0 meter;

2020-01-23T00:55:49.066Z,1579740949.066 [SBIT](IMPORTANT): Radio_Surface.loadAtStartup=0 bool;

2020-01-23T00:55:49.066Z,1579740949.066 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=105 cubic_centimeter;

2020-01-23T00:55:49.066Z,1579740949.066 [SBIT](IMPORTANT): VerticalControl.massDefault=-5 millimeter;

2020-01-23T00:55:49.480Z,1579740949.480 [MissionManager](IMPORTANT): Started mission Docked
2020-01-23T00:55:49.480Z,1579740949.480 [Docked] Running Loop=1
2020-01-23T00:55:49.480Z,1579740949.480 [Docked](DEBUG): Aggregate::initialize Docked
2020-01-23T00:55:49.480Z,1579740949.480 [Docked:A.DepthEnvelope] Running Loop=1
2020-01-23T00:55:49.480Z,1579740949.480 [Docked:A.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2020-01-23T00:55:49.481Z,1579740949.481 [Docked:B.] Running Loop=1
2020-01-23T00:55:49.481Z,1579740949.481 [Docked:B.](INFO): Initializing TrackAcousticContact.
2020-01-23T00:55:49.481Z,1579740949.481 [Docked:C] Running Loop=1
2020-01-23T00:55:49.481Z,1579740949.481 [Docked:D] Running Loop=1
2020-01-23T00:55:49.481Z,1579740949.481 [Docked:E.Docked] Running Loop=1
2020-01-23T00:55:49.482Z,1579740949.482 [Docked:E.Docked](DEBUG): Initialize.
2020-01-23T00:55:49.482Z,1579740949.482 [Docked:E.Docked](INFO): Depth unspecified. Maintaining workSite beacon depth of 6.000000 m.
2020-01-23T00:55:49.484Z,1579740949.484 [Docked:D] Running Loop=1
2020-01-23T00:55:49.485Z,1579740949.485 [Docked:C] Running Loop=1
2020-01-23T00:55:49.485Z,1579740949.485 [Docked:B.] Running Loop=1
2020-01-23T00:55:49.486Z,1579740949.486 [Docked:A.DepthEnvelope] Running Loop=1
2020-01-23T00:55:50.786Z,1579740950.786 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-23T00:55:52.319Z,1579740952.319 [RDI_Pathfinder](ERROR): Failed to parse:
:SA,   +0.00,   +0.00,  0.00
2020-01-23T00:55:57.556Z,1579740957.556 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-23T00:55:57.557Z,1579740957.557 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,20012218071449,35.0, -0.1,   09,  0
2020-01-23T00:56:01.658Z,1579740961.658 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T00:56:03.375Z,1579740963.375 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-23T00:56:10.892Z,1579740970.892 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-23T00:56:10.892Z,1579740970.892 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2020-01-23T00:56:11.766Z,1579740971.766 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T00:56:13.476Z,1579740973.476 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-23T00:56:21.868Z,1579740981.868 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T00:56:33.978Z,1579740993.978 [CommandLine](IMPORTANT): got command show variable Startup
2020-01-23T00:56:34.003Z,1579740994.003 [CommandLine](IMPORTANT): AsyncPiEstimator.loadAtStartup (bool)
2020-01-23T00:56:34.003Z,1579740994.003 [CommandLine](IMPORTANT): LcmPublisher.loadAtStartup (bool)
2020-01-23T00:56:34.004Z,1579740994.004 [CommandLine](IMPORTANT): LcmListener.loadAtStartup (bool)
2020-01-23T00:56:34.004Z,1579740994.004 [CommandLine](IMPORTANT): HorizontalControl.loadAtStartup (bool)
2020-01-23T00:56:34.005Z,1579740994.005 [CommandLine](IMPORTANT): LoopControl.loadAtStartup (bool)
2020-01-23T00:56:34.005Z,1579740994.005 [CommandLine](IMPORTANT): SpeedControl.loadAtStartup (bool)
2020-01-23T00:56:34.006Z,1579740994.006 [CommandLine](IMPORTANT): VerticalControl.loadAtStartup (bool)
2020-01-23T00:56:34.009Z,1579740994.009 [CommandLine](IMPORTANT): HFRadarModelCalc.loadAtStartup (bool)
2020-01-23T00:56:34.009Z,1579740994.009 [CommandLine](IMPORTANT): HFRadarCompactModelForecaster.loadAtStartup (bool)
2020-01-23T00:56:34.010Z,1579740994.010 [CommandLine](IMPORTANT): HFRCMSpaceInterpolator.loadAtStartup (bool)
2020-01-23T00:56:34.010Z,1579740994.010 [CommandLine](IMPORTANT): HFRCMTimeInterpolator.loadAtStartup (bool)
2020-01-23T00:56:34.010Z,1579740994.010 [CommandLine](IMPORTANT): HFRCMReconstructedInterpolator.loadAtStartup (bool)
2020-01-23T00:56:34.011Z,1579740994.011 [CommandLine](IMPORTANT): HFRCMSurfaceCurrentAtVehicleLocation.loadAtStartup (bool)
2020-01-23T00:56:34.011Z,1579740994.011 [CommandLine](IMPORTANT): HFRCMVirtualSurfaceDrifter.loadAtStartup (bool)
2020-01-23T00:56:34.012Z,1579740994.012 [CommandLine](IMPORTANT): StratificationFrontDetector.loadAtStartup (bool)
2020-01-23T00:56:34.012Z,1579740994.012 [CommandLine](IMPORTANT): DepAvgTempFrontDetector.loadAtStartup (bool)
2020-01-23T00:56:34.045Z,1579740994.045 [CommandLine](IMPORTANT): CBIT.loadAtStartup (bool)
2020-01-23T00:56:34.047Z,1579740994.047 [CommandLine](IMPORTANT): SBIT.loadAtStartup (bool)
2020-01-23T00:56:34.047Z,1579740994.047 [CommandLine](IMPORTANT): IBIT.loadAtStartup (bool)
2020-01-23T00:56:34.048Z,1579740994.048 [CommandLine](IMPORTANT): ExternalSim.loadAtStartup (bool)
2020-01-23T00:56:34.048Z,1579740994.048 [CommandLine](IMPORTANT): InternalSim.loadAtStartup (bool)
2020-01-23T00:56:34.053Z,1579740994.053 [CommandLine](IMPORTANT): NavigationSim.loadAtStartup (bool)
2020-01-23T00:56:34.072Z,1579740994.072 [CommandLine](IMPORTANT): DeadReckonUsingMultipleVelocitySources.loadAtStartup (bool)
2020-01-23T00:56:34.077Z,1579740994.077 [CommandLine](IMPORTANT): DeadReckonUsingSpeedCalculator.loadAtStartup (bool)
2020-01-23T00:56:34.078Z,1579740994.078 [CommandLine](IMPORTANT): DeadReckonWithRespectToWater.loadAtStartup (bool)
2020-01-23T00:56:34.079Z,1579740994.079 [CommandLine](IMPORTANT): DeadReckonWithRespectToSeafloor.loadAtStartup (bool)
2020-01-23T00:56:34.080Z,1579740994.080 [CommandLine](IMPORTANT): DeadReckonUsingDVLWaterTrack.loadAtStartup (bool)
2020-01-23T00:56:34.085Z,1579740994.085 [CommandLine](IMPORTANT): DeadReckonUsingCompactModelForecast.loadAtStartup (bool)
2020-01-23T00:56:34.102Z,1579740994.102 [CommandLine](IMPORTANT): NavChart.loadAtStartup (bool)
2020-01-23T00:56:34.103Z,1579740994.103 [CommandLine](IMPORTANT): UniversalFixResidualReporter.loadAtStartup (bool)
2020-01-23T00:56:34.103Z,1579740994.103 [CommandLine](IMPORTANT): DepthRateCalculator.loadAtStartup (bool)
2020-01-23T00:56:34.104Z,1579740994.104 [CommandLine](IMPORTANT): TempGradientCalculator.loadAtStartup (bool)
2020-01-23T00:56:34.104Z,1579740994.104 [CommandLine](IMPORTANT): PitchRateCalculator.loadAtStartup (bool)
2020-01-23T00:56:34.109Z,1579740994.109 [CommandLine](IMPORTANT): SpeedCalculator.loadAtStartup (bool)
2020-01-23T00:56:34.110Z,1579740994.110 [CommandLine](IMPORTANT): VerticalTemperatureHomogeneityIndexCalculator.loadAtStartup (bool)
2020-01-23T00:56:34.110Z,1579740994.110 [CommandLine](IMPORTANT): YawRateCalculator.loadAtStartup (bool)
2020-01-23T00:56:34.110Z,1579740994.110 [CommandLine](IMPORTANT): ElevatorOffsetCalculator.loadAtStartup (bool)
2020-01-23T00:56:34.111Z,1579740994.111 [CommandLine](IMPORTANT): BuoyancyServo.loadAtStartup (bool)
2020-01-23T00:56:34.123Z,1579740994.123 [CommandLine](IMPORTANT): ElevatorServo.loadAtStartup (bool)
2020-01-23T00:56:34.140Z,1579740994.140 [CommandLine](IMPORTANT): MassServo.loadAtStartup (bool)
2020-01-23T00:56:34.152Z,1579740994.152 [CommandLine](IMPORTANT): RudderServo.loadAtStartup (bool)
2020-01-23T00:56:34.166Z,1579740994.166 [CommandLine](IMPORTANT): ThrusterServo.loadAtStartup (bool)
2020-01-23T00:56:34.168Z,1579740994.168 [CommandLine](IMPORTANT): Config/workSite.startupScript (none)
2020-01-23T00:56:34.168Z,1579740994.168 [CommandLine](IMPORTANT): AHRS_3DMGX3.loadAtStartup (bool)
2020-01-23T00:56:34.169Z,1579740994.169 [CommandLine](IMPORTANT): AHRS_M2.loadAtStartup (bool)
2020-01-23T00:56:34.170Z,1579740994.170 [CommandLine](IMPORTANT): AHRS_sp3003D.loadAtStartup (bool)
2020-01-23T00:56:34.171Z,1579740994.171 [CommandLine](IMPORTANT): AcousticModem_Benthos_ATM900.loadAtStartup (bool)
2020-01-23T00:56:34.181Z,1579740994.181 [CommandLine](IMPORTANT): Batt_Ocean_Server.loadAtStartup (bool)
2020-01-23T00:56:34.181Z,1579740994.181 [CommandLine](IMPORTANT): BPC1.loadAtStartup (bool)
2020-01-23T00:56:34.182Z,1579740994.182 [CommandLine](IMPORTANT): DataOverHttps.loadAtStartup (bool)
2020-01-23T00:56:34.183Z,1579740994.183 [CommandLine](IMPORTANT): DAT.loadAtStartup (bool)
2020-01-23T00:56:34.183Z,1579740994.183 [CommandLine](IMPORTANT): DDM.loadAtStartup (bool)
2020-01-23T00:56:34.184Z,1579740994.184 [CommandLine](IMPORTANT): DUSBL_Hydroid.loadAtStartup (bool)
2020-01-23T00:56:34.190Z,1579740994.190 [CommandLine](IMPORTANT): Depth_Keller.loadAtStartup (bool)
2020-01-23T00:56:34.190Z,1579740994.190 [CommandLine](IMPORTANT): DropWeight.loadAtStartup (bool)
2020-01-23T00:56:34.191Z,1579740994.191 [CommandLine](IMPORTANT): DVL_micro.loadAtStartup (bool)
2020-01-23T00:56:34.191Z,1579740994.191 [CommandLine](IMPORTANT): GobyModem.loadAtStartup (bool)
2020-01-23T00:56:34.192Z,1579740994.192 [CommandLine](IMPORTANT): LineCaptureServo.loadAtStartup (bool)
2020-01-23T00:56:34.192Z,1579740994.192 [CommandLine](IMPORTANT): Micromodem.loadAtStartup (bool)
2020-01-23T00:56:34.197Z,1579740994.197 [CommandLine](IMPORTANT): NAL9602.loadAtStartup (bool)
2020-01-23T00:56:34.198Z,1579740994.198 [CommandLine](IMPORTANT): Onboard.loadAtStartup (bool)
2020-01-23T00:56:34.199Z,1579740994.199 [CommandLine](IMPORTANT): PowerOnly.loadAtStartup (bool)
2020-01-23T00:56:34.200Z,1579740994.200 [CommandLine](IMPORTANT): PNI_TCM.loadAtStartup (bool)
2020-01-23T00:56:34.200Z,1579740994.200 [CommandLine](IMPORTANT): Radio_Surface.loadAtStartup (bool)
2020-01-23T00:56:34.205Z,1579740994.205 [CommandLine](IMPORTANT): RDI_Pathfinder.loadAtStartup (bool)
2020-01-23T00:56:34.205Z,1579740994.205 [CommandLine](IMPORTANT): RDI_PathfinderUp.loadAtStartup (bool)
2020-01-23T00:56:34.206Z,1579740994.206 [CommandLine](IMPORTANT): Rowe_600.loadAtStartup (bool)
2020-01-23T00:56:34.207Z,1579740994.207 [CommandLine](IMPORTANT): Rowe_600LCM.loadAtStartup (bool)
2020-01-23T00:56:34.208Z,1579740994.208 [CommandLine](IMPORTANT): SCPI.loadAtStartup (bool)
2020-01-23T00:56:34.208Z,1579740994.208 [CommandLine](IMPORTANT): BR_Ping1D.loadAtStartup (bool)
2020-01-23T00:56:34.213Z,1579740994.213 [CommandLine](IMPORTANT): Aanderaa_O2.loadAtStartup (bool)
2020-01-23T00:56:34.214Z,1579740994.214 [CommandLine](IMPORTANT): BackSeatDriver.loadAtStartup (bool)
2020-01-23T00:56:34.215Z,1579740994.215 [CommandLine](IMPORTANT): CANONSampler.loadAtStartup (bool)
2020-01-23T00:56:34.215Z,1579740994.215 [CommandLine](IMPORTANT): CTD_NeilBrown.loadAtStartup (bool)
2020-01-23T00:56:34.216Z,1579740994.216 [CommandLine](IMPORTANT): CTD_Seabird.loadAtStartup (bool)
2020-01-23T00:56:34.222Z,1579740994.222 [CommandLine](IMPORTANT): CTD_SeabirdLCM.loadAtStartup (bool)
2020-01-23T00:56:34.223Z,1579740994.223 [CommandLine](IMPORTANT): ESPComponent.loadAtStartup (bool)
2020-01-23T00:56:34.229Z,1579740994.229 [CommandLine](IMPORTANT): ISUS.loadAtStartup (bool)
2020-01-23T00:56:34.230Z,1579740994.230 [CommandLine](IMPORTANT): PAR_Licor.loadAtStartup (bool)
2020-01-23T00:56:34.230Z,1579740994.230 [CommandLine](IMPORTANT): Turner_Cyclops_rhodamine.loadAtStartup (bool)
2020-01-23T00:56:34.231Z,1579740994.231 [CommandLine](IMPORTANT): Turbulence_NPS.loadAtStartup (bool)
2020-01-23T00:56:34.232Z,1579740994.232 [CommandLine](IMPORTANT): VemcoVR2C.loadAtStartup (bool)
2020-01-23T00:56:34.232Z,1579740994.232 [CommandLine](IMPORTANT): WetLabsBB2FL.loadAtStartup (bool)
2020-01-23T00:56:34.238Z,1579740994.238 [CommandLine](IMPORTANT): WetLabsSeaOWL_UV_A.loadAtStartup (bool)
2020-01-23T00:56:34.239Z,1579740994.239 [CommandLine](IMPORTANT): WetLabsUBAT.loadAtStartup (bool)
2020-01-23T00:56:49.666Z,1579741009.666 [Docked:B.](INFO): *** querying acoustic contact ***
2020-01-23T00:56:50.436Z,1579741010.436 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T00:56:50.838Z,1579741010.838 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T00:56:51.375Z,1579741011.375 [Reporter](INFO): acoustic_contact_range 3.360000 m
2020-01-23T00:56:51.658Z,1579741011.658 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005651.35*5F

2020-01-23T00:56:53.078Z,1579741013.078 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-23T00:57:03.878Z,1579741023.878 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T00:57:05.602Z,1579741025.602 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-23T00:57:07.874Z,1579741027.874 [Docked:E.Docked](INFO): Detected possible state switch to DETACHED.
2020-01-23T00:57:07.923Z,1579741027.923 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T00:57:11.891Z,1579741031.891 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-23T00:57:11.891Z,1579741031.891 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2020-01-23T00:57:13.995Z,1579741033.995 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T00:57:15.710Z,1579741035.710 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T00:57:16.366Z,1579741036.366 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2020-01-23T00:57:16.367Z,1579741036.367 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-23T00:57:16.441Z,1579741036.441 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-23T00:57:16.817Z,1579741036.817 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-23T00:57:16.817Z,1579741036.817 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2020-01-23T00:57:24.090Z,1579741044.090 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T00:57:51.471Z,1579741071.471 [Docked:B.](INFO): *** querying acoustic contact ***
2020-01-23T00:57:52.252Z,1579741072.252 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T00:57:52.657Z,1579741072.657 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T00:57:53.179Z,1579741073.179 [Reporter](INFO): acoustic_contact_range 3.360000 m
2020-01-23T00:57:53.478Z,1579741073.478 [Micromodem](INFO): Nmea in: $SNTTA,0.002719,,,,005753.16*4E

2020-01-23T00:57:55.329Z,1579741075.329 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T00:58:06.102Z,1579741086.102 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T00:58:07.878Z,1579741087.878 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T00:58:16.171Z,1579741096.171 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T00:58:17.838Z,1579741097.838 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T00:58:26.350Z,1579741106.350 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T00:58:53.436Z,1579741133.436 [Docked:B.](INFO): *** querying acoustic contact ***
2020-01-23T00:58:54.168Z,1579741134.168 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T00:58:54.565Z,1579741134.565 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T00:58:55.040Z,1579741135.040 [Reporter](INFO): acoustic_contact_range 2.640001 m
2020-01-23T00:58:55.394Z,1579741135.394 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005855.08*5B

2020-01-23T00:58:57.156Z,1579741137.156 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T00:59:07.963Z,1579741147.963 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T00:59:09.678Z,1579741149.678 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T00:59:18.053Z,1579741158.053 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T00:59:19.801Z,1579741159.801 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T00:59:28.143Z,1579741168.143 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T00:59:55.292Z,1579741195.292 [Docked:B.](INFO): *** querying acoustic contact ***
2020-01-23T00:59:55.976Z,1579741195.976 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T00:59:56.383Z,1579741196.383 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T00:59:56.834Z,1579741196.834 [Reporter](INFO): acoustic_contact_range 2.699998 m
2020-01-23T00:59:57.209Z,1579741197.209 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005956.89*50

2020-01-23T00:59:57.603Z,1579741197.603 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2020-01-23T00:59:58.954Z,1579741198.954 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T01:00:09.780Z,1579741209.780 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:00:11.524Z,1579741211.524 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T01:00:17.480Z,1579741217.480 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2020-01-23T01:00:17.480Z,1579741217.480 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-23T01:00:17.511Z,1579741217.511 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-23T01:00:17.860Z,1579741217.860 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-23T01:00:17.860Z,1579741217.860 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2020-01-23T01:00:19.914Z,1579741219.914 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:00:21.569Z,1579741221.569 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T01:00:29.958Z,1579741229.958 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:00:57.011Z,1579741257.011 [Docked:B.](INFO): *** querying acoustic contact ***
2020-01-23T01:00:57.787Z,1579741257.787 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:00:58.216Z,1579741258.216 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:00:59.055Z,1579741259.055 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010058.70*55

2020-01-23T01:01:01.174Z,1579741261.174 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-23T01:01:01.254Z,1579741261.254 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T01:01:12.032Z,1579741272.032 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:01:26.163Z,1579741286.163 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-01-23T01:01:26.164Z,1579741286.164 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +0.00,        +0.   +0.00,   0.00,413.99
2020-01-23T01:01:42.723Z,1579741302.723 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2020-01-23T01:01:42.726Z,1579741302.726 [BPC1](INFO): Received data from all battery sticks.
2020-01-23T01:01:43.257Z,1579741303.257 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T01:01:54.041Z,1579741314.041 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:01:57.273Z,1579741317.273 [Docked:B.](INFO): *** querying acoustic contact ***
2020-01-23T01:01:58.036Z,1579741318.036 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:01:58.447Z,1579741318.447 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:01:59.251Z,1579741319.251 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010158.95*5F

2020-01-23T01:02:01.675Z,1579741321.675 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-23T01:02:08.162Z,1579741328.162 [Docked:E.Docked](IMPORTANT): VEHICLE DETACHED FROM DOCK.
2020-01-23T01:02:08.163Z,1579741328.163 [Docked:F] Running Loop=1
2020-01-23T01:02:08.580Z,1579741328.580 [Docked:F](IMPORTANT): Passed Docked!
2020-01-23T01:02:08.580Z,1579741328.580 [Docked:F] Stopped
2020-01-23T01:02:08.580Z,1579741328.580 [Docked:G.Wait] Running Loop=1
2020-01-23T01:02:08.580Z,1579741328.580 [Docked:G.Wait](DEBUG): Initialize Wait Component.
2020-01-23T01:02:23.522Z,1579741343.522 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00,   0.00
2020-01-23T01:02:25.272Z,1579741345.272 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T01:02:36.057Z,1579741356.057 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:02:57.482Z,1579741377.482 [Docked:B.](INFO): *** querying acoustic contact ***
2020-01-23T01:02:58.232Z,1579741378.232 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:02:58.651Z,1579741378.651 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:02:59.448Z,1579741379.448 [Micromodem](INFO): Nmea in: $SNTTA,,,0.197636,,010259.14*46

2020-01-23T01:03:01.870Z,1579741381.870 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-23T01:03:07.278Z,1579741387.278 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T01:03:18.073Z,1579741398.073 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:03:18.518Z,1579741398.518 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 3
2020-01-23T01:03:18.519Z,1579741398.519 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-23T01:03:18.530Z,1579741398.530 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-23T01:03:18.895Z,1579741398.895 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-23T01:03:18.895Z,1579741398.895 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 3
2020-01-23T01:03:49.402Z,1579741429.402 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T01:03:56.541Z,1579741436.541 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2020-01-23T01:03:57.775Z,1579741437.775 [Docked:B.](INFO): *** querying acoustic contact ***
2020-01-23T01:03:58.528Z,1579741438.528 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:03:58.934Z,1579741438.934 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:03:59.740Z,1579741439.740 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010359.44*50

2020-01-23T01:04:00.185Z,1579741440.185 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:04:02.148Z,1579741442.148 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-23T01:04:31.372Z,1579741471.372 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T01:04:42.210Z,1579741482.210 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:04:55.061Z,1579741495.061 [NAL9602](FAULT): GPS failed to acquire within timeout.
2020-01-23T01:04:55.061Z,1579741495.061 [NAL9602] Data Fault, FailCount= 1
2020-01-23T01:04:55.061Z,1579741495.061 [NAL9602](ERROR): Data Fault
2020-01-23T01:04:55.096Z,1579741495.096 [CBIT](ERROR): Data Fault in component: NAL9602
2020-01-23T01:04:55.464Z,1579741495.464 [NAL9602](INFO): Powering down
2020-01-23T01:04:56.328Z,1579741496.328 [CBIT](INFO): Clearing failed state for component NAL9602
2020-01-23T01:04:56.328Z,1579741496.328 [NAL9602] No Fault, FailCount= 1
2020-01-23T01:04:57.912Z,1579741497.912 [Docked:B.](INFO): *** querying acoustic contact ***
2020-01-23T01:04:58.695Z,1579741498.695 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:04:59.101Z,1579741499.101 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:04:59.914Z,1579741499.914 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010459.61*50

2020-01-23T01:05:02.334Z,1579741502.334 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-23T01:05:13.379Z,1579741513.379 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T01:05:24.228Z,1579741524.228 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:05:25.764Z,1579741525.764 [NAL9602](INFO): Powering up NAL9602
2020-01-23T01:05:36.676Z,1579741536.676 [NAL9602](INFO): NAL9602 initialized
2020-01-23T01:05:55.413Z,1579741555.413 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T01:05:58.156Z,1579741558.156 [Docked:B.](INFO): *** querying acoustic contact ***
2020-01-23T01:05:58.920Z,1579741558.920 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:05:59.345Z,1579741559.345 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:05:59.787Z,1579741559.787 [Reporter](INFO): acoustic_contact_range 5.699999 m
2020-01-23T01:06:00.154Z,1579741560.154 [Micromodem](INFO): Nmea in: $SNTTA,0.005158,,,,010559.83*4A

2020-01-23T01:06:06.223Z,1579741566.223 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:06:07.922Z,1579741567.922 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T01:06:16.428Z,1579741576.428 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:06:18.132Z,1579741578.132 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T01:06:19.655Z,1579741579.655 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 4
2020-01-23T01:06:19.655Z,1579741579.655 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-23T01:06:19.666Z,1579741579.666 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-23T01:06:20.060Z,1579741580.060 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-23T01:06:20.060Z,1579741580.060 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 4
2020-01-23T01:06:26.526Z,1579741586.526 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:06:28.237Z,1579741588.237 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T01:06:36.613Z,1579741596.613 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:06:53.172Z,1579741613.172 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-01-23T01:06:53.172Z,1579741613.172 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +0.00,     ,+0.00,   0.00,740.98
2020-01-23T01:07:00.032Z,1579741620.032 [Docked:B.](INFO): *** querying acoustic contact ***
2020-01-23T01:07:00.792Z,1579741620.792 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:07:01.197Z,1579741621.197 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:07:01.722Z,1579741621.722 [Reporter](INFO): acoustic_contact_range 5.699999 m
2020-01-23T01:07:02.018Z,1579741622.018 [Micromodem](INFO): Nmea in: $SNTTA,0.005146,,,,010701.71*47

2020-01-23T01:07:03.782Z,1579741623.782 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T01:07:09.361Z,1579741629.361 [Docked:G.Wait](INFO): Done Waiting.
2020-01-23T01:07:09.361Z,1579741629.361 [Docked:G.Wait] Stopped
2020-01-23T01:07:09.361Z,1579741629.361 [Docked:G.Wait](DEBUG): Uninitialize Wait Component.
2020-01-23T01:07:09.363Z,1579741629.363 [Docked](INFO): Completed Docked
2020-01-23T01:07:09.363Z,1579741629.363 [MissionManager](INFO): Docked is completed.
2020-01-23T01:07:09.364Z,1579741629.364 [MissionManager](INFO): Uninitializing Mission Docked
2020-01-23T01:07:09.364Z,1579741629.364 [Docked] Stopped
2020-01-23T01:07:09.364Z,1579741629.364 [Docked](DEBUG): Aggregate::uninitialize Docked
2020-01-23T01:07:09.364Z,1579741629.364 [Docked:A.DepthEnvelope] Stopped
2020-01-23T01:07:09.364Z,1579741629.364 [Docked:A.DepthEnvelope](DEBUG): Uninitialize.
2020-01-23T01:07:09.364Z,1579741629.364 [Docked:B.] Stopped
2020-01-23T01:07:09.364Z,1579741629.364 [Docked:C] Stopped
2020-01-23T01:07:09.364Z,1579741629.364 [Docked:D] Stopped
2020-01-23T01:07:09.364Z,1579741629.364 [Docked:E.Docked] Stopped
2020-01-23T01:07:09.721Z,1579741629.721 [MissionManager](IMPORTANT): Started mission DefaultUnder
2020-01-23T01:07:09.722Z,1579741629.722 [DefaultUnder] Running Loop=1
2020-01-23T01:07:09.722Z,1579741629.722 [DefaultUnder](DEBUG): Aggregate::initialize DefaultUnder
2020-01-23T01:07:09.722Z,1579741629.722 [DefaultUnder:uModemComms] Running Loop=1
2020-01-23T01:07:09.722Z,1579741629.722 [DefaultUnder:uModemComms](DEBUG): Aggregate::initialize DefaultUnder:uModemComms
2020-01-23T01:07:09.722Z,1579741629.722 [DefaultUnder:Notify] Running Loop=1
2020-01-23T01:07:09.722Z,1579741629.722 [DefaultUnder:Notify](DEBUG): Aggregate::initialize DefaultUnder:Notify
2020-01-23T01:07:09.722Z,1579741629.722 [DefaultUnder:Notify:A] Running Loop=1
2020-01-23T01:07:09.722Z,1579741629.722 [DefaultUnder:Notify:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A
2020-01-23T01:07:09.722Z,1579741629.722 [DefaultUnder:Notify:A:A] Running Loop=1
2020-01-23T01:07:09.723Z,1579741629.723 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A:A
2020-01-23T01:07:09.723Z,1579741629.723 [DefaultUnder:Notify:A:A:A.Wait] Running Loop=1
2020-01-23T01:07:09.723Z,1579741629.723 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Initialize Wait Component.
2020-01-23T01:07:09.723Z,1579741629.723 [DefaultUnder:C.] Running Loop=1
2020-01-23T01:07:09.723Z,1579741629.723 [DefaultUnder:C.](INFO): Initializing TrackAcousticContact.
2020-01-23T01:07:09.723Z,1579741629.723 [DefaultUnder:E.Wait] Running Loop=1
2020-01-23T01:07:09.723Z,1579741629.723 [DefaultUnder:E.Wait](DEBUG): Initialize Wait Component.
2020-01-23T01:07:09.724Z,1579741629.724 [DefaultUnder:C.] Running Loop=1
2020-01-23T01:07:09.724Z,1579741629.724 [DefaultUnder:Notify] Running Loop=1
2020-01-23T01:07:09.724Z,1579741629.724 [DefaultUnder:uModemComms] Running Loop=1
2020-01-23T01:07:09.724Z,1579741629.724 [DefaultUnder:uModemComms:CheckIn] Running Loop=1
2020-01-23T01:07:09.724Z,1579741629.724 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::initialize DefaultUnder:uModemComms:CheckIn
2020-01-23T01:07:09.725Z,1579741629.725 [DefaultUnder:uModemComms:CheckIn:A] Running Loop=1
2020-01-23T01:07:09.726Z,1579741629.726 [DefaultUnder:uModemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2020-01-23T01:07:09.735Z,1579741629.735 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:07:10.234Z,1579741630.234 [Micromodem](INFO): Outgoing frame #1, 64 bytes: AEEE285E000007005D000004001D1E00000000000000151D80030C5669BF3148E2FA22188B6A3173E51B1C3DE1295C413B9EA27D0D0958A55575A4074CBAA7A5
2020-01-23T01:07:10.234Z,1579741630.234 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 3F6AE7AF0D07E622820F45259E052A3980439491B5FE44BA5725AF9F520D380EF650D1224C2DD44756ABC8376EA4F1C2928328840EB8F148A67DBA8E3F744407
2020-01-23T01:07:10.235Z,1579741630.235 [Micromodem](INFO): Outgoing frame #3, 64 bytes: 8E4C4CBB77E7035800BF8B4B5F3AE11A639D735CF2763F0ADBF67387C97E6E1D260A6CF50CCAA4C0F9510C8CC9B3940D91461B3CA05FCF5092132BF77ACAEBC5
2020-01-23T01:07:10.235Z,1579741630.235 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-23T01:07:10.603Z,1579741630.603 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-23T01:07:11.011Z,1579741631.011 [Micromodem](INFO): Nmea in: $CADRQ,010711,1,12,0,64,1*72

2020-01-23T01:07:11.012Z,1579741631.012 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,AEEE285E000007005D000004001D1E00000000000000151D80030C5669BF3148E2FA22188B6A3173E51B1C3DE1295C413B9EA27D0D0958A55575A4074CBAA7A5*3E

2020-01-23T01:07:11.416Z,1579741631.416 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T01:07:11.999Z,1579741631.999 [Micromodem](INFO): Nmea in: $CADRQ,010711,1,12,0,64,2*71

2020-01-23T01:07:11.000Z,1579741632.000 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,3F6AE7AF0D07E622820F45259E052A3980439491B5FE44BA5725AF9F520D380EF650D1224C2DD44756ABC8376EA4F1C2928328840EB8F148A67DBA8E3F744407*3F

2020-01-23T01:07:12.403Z,1579741632.403 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T01:07:12.807Z,1579741632.807 [Micromodem](INFO): Nmea in: $CADRQ,010712,1,12,0,64,3*73

2020-01-23T01:07:12.808Z,1579741632.808 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,8E4C4CBB77E7035800BF8B4B5F3AE11A639D735CF2763F0ADBF67387C97E6E1D260A6CF50CCAA4C0F9510C8CC9B3940D91461B3CA05FCF5092132BF77ACAEBC5*4C

2020-01-23T01:07:13.207Z,1579741633.207 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T01:07:13.240Z,1579741633.240 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00,   0.00
2020-01-23T01:07:13.616Z,1579741633.616 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-23T01:07:17.250Z,1579741637.250 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2020-01-23T01:07:17.657Z,1579741637.657 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,010713.769704,3,0,200,4000,10000,1,1,12,1,3,3,3,192*75

2020-01-23T01:07:22.947Z,1579741642.947 [DefaultUnder:E.Wait](INFO): Done Waiting.
2020-01-23T01:07:22.947Z,1579741642.947 [DefaultUnder:E.Wait] Stopped
2020-01-23T01:07:22.947Z,1579741642.947 [DefaultUnder:E.Wait](DEBUG): Uninitialize Wait Component.
2020-01-23T01:07:22.947Z,1579741642.947 [DefaultUnder:Default] Running Loop=1
2020-01-23T01:07:22.947Z,1579741642.947 [DefaultUnder:Default](DEBUG): Aggregate::initialize DefaultUnder:Default
2020-01-23T01:07:22.947Z,1579741642.947 [DefaultUnder:Default:Docked] Running Loop=1
2020-01-23T01:07:22.947Z,1579741642.947 [DefaultUnder:Default:Docked](DEBUG): Aggregate::initialize DefaultUnder:Default:Docked
2020-01-23T01:07:22.947Z,1579741642.947 [DefaultUnder:Default:Docked:run] Running Loop=1
2020-01-23T01:07:22.947Z,1579741642.947 [DefaultUnder:Default:Docked:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Docked:run
2020-01-23T01:07:22.948Z,1579741642.948 [DefaultUnder:Default:Docked:run:A] Running Loop=1
2020-01-23T01:07:22.948Z,1579741642.948 [DefaultUnder:Default:Home] Running Loop=1
2020-01-23T01:07:22.948Z,1579741642.948 [DefaultUnder:Default:Home](DEBUG): Aggregate::initialize DefaultUnder:Default:Home
2020-01-23T01:07:22.948Z,1579741642.948 [DefaultUnder:Default:Home:run] Running Loop=1
2020-01-23T01:07:22.948Z,1579741642.948 [DefaultUnder:Default:Home:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Home:run
2020-01-23T01:07:22.948Z,1579741642.948 [DefaultUnder:Default:Home:run:A] Running Loop=1
2020-01-23T01:07:22.948Z,1579741642.948 [DefaultUnder:Default:Surface] Running Loop=1
2020-01-23T01:07:22.948Z,1579741642.948 [DefaultUnder:Default:Surface](DEBUG): Aggregate::initialize DefaultUnder:Default:Surface
2020-01-23T01:07:22.948Z,1579741642.948 [DefaultUnder:Default:Surface:run] Running Loop=1
2020-01-23T01:07:22.948Z,1579741642.948 [DefaultUnder:Default:Surface:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Surface:run
2020-01-23T01:07:22.948Z,1579741642.948 [DefaultUnder:Default:Surface:run:B.GoToSurface] Running Loop=1
2020-01-23T01:07:22.949Z,1579741642.949 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-23T01:07:22.949Z,1579741642.949 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-23T01:07:22.950Z,1579741642.950 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-23T01:07:22.950Z,1579741642.950 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-23T01:07:22.950Z,1579741642.950 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-23T01:07:22.951Z,1579741642.951 [DefaultUnder:Default:Surface:run:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-23T01:07:22.951Z,1579741642.951 [DefaultUnder:Default:Surface:run:A] Running Loop=1
2020-01-23T01:07:23.369Z,1579741643.369 [DefaultUnder:Default:Surface] Stopped
2020-01-23T01:07:23.369Z,1579741643.369 [DefaultUnder:Default:Surface](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Surface
2020-01-23T01:07:23.369Z,1579741643.369 [DefaultUnder:Default:Surface:run] Stopped
2020-01-23T01:07:23.369Z,1579741643.369 [DefaultUnder:Default:Surface:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Surface:run
2020-01-23T01:07:23.369Z,1579741643.369 [DefaultUnder:Default:Surface:run:A] Stopped
2020-01-23T01:07:23.369Z,1579741643.369 [DefaultUnder:Default:Surface:run:B.GoToSurface] Stopped
2020-01-23T01:07:23.370Z,1579741643.370 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-23T01:07:23.370Z,1579741643.370 [DefaultUnder:Default:Home] Stopped
2020-01-23T01:07:23.370Z,1579741643.370 [DefaultUnder:Default:Home](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Home
2020-01-23T01:07:23.370Z,1579741643.370 [DefaultUnder:Default:Home:run] Stopped
2020-01-23T01:07:23.370Z,1579741643.370 [DefaultUnder:Default:Home:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Home:run
2020-01-23T01:07:23.370Z,1579741643.370 [DefaultUnder:Default:Home:run:A] Stopped
2020-01-23T01:07:23.370Z,1579741643.370 [DefaultUnder:Default:Docked] Running Loop=1
2020-01-23T01:07:23.370Z,1579741643.370 [DefaultUnder:Default:Docked:run:A] Stopped
2020-01-23T01:07:23.370Z,1579741643.370 [DefaultUnder:Default:Docked:run:B.Docked] Running Loop=1
2020-01-23T01:07:23.370Z,1579741643.370 [DefaultUnder:Default:Docked:run:B.Docked](DEBUG): Initialize.
2020-01-23T01:07:23.371Z,1579741643.371 [DefaultUnder:Default:Docked:run:B.Docked](INFO): Depth unspecified. Maintaining workSite beacon depth of 6.000000 m.
2020-01-23T01:07:24.718Z,1579741644.718 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T01:07:24.999Z,1579741644.999 [DefaultUnder:Default:Docked:run:B.Docked](INFO): Detected possible state switch to DETACHED.
2020-01-23T01:07:35.510Z,1579741655.510 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:07:37.310Z,1579741657.310 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T01:07:45.618Z,1579741665.618 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:07:47.342Z,1579741667.342 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T01:07:55.719Z,1579741675.719 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:08:09.816Z,1579741689.816 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T01:08:10.580Z,1579741690.580 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:08:10.992Z,1579741690.992 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:08:11.791Z,1579741691.791 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010811.49*5A

2020-01-23T01:08:14.214Z,1579741694.214 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-23T01:08:15.423Z,1579741695.423 [Micromodem](ERROR): Buffer fill timout failure.
2020-01-23T01:08:15.847Z,1579741695.847 [Micromodem](INFO): Outgoing frame #1, 64 bytes: AEEE285E000007005D000004001D1E00000000000000151D80030C5669BF3148E2FA22188B6A3173E51B1C3DE1295C413B9EA27D0D0958A55575A4074CBAA7A5
2020-01-23T01:08:15.848Z,1579741695.848 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 3F6AE7AF0D07E622820F45259E052A3980439491B5FE44BA5725AF9F520D380EF650D1224C2DD44756ABC8376EA4F1C2928328840EB8F148A67DBA8E3F744407
2020-01-23T01:08:15.848Z,1579741695.848 [Micromodem](INFO): Outgoing frame #3, 64 bytes: 8E4C4CBB77E7035800BF8B4B5F3AE11A639D735CF2763F0ADBF67387C97E6E1D260A6CF50CCAA4C0F9510C8CC9B3940D91461B3CA05FCF5092132BF77ACAEBC5
2020-01-23T01:08:15.848Z,1579741695.848 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-23T01:08:16.228Z,1579741696.228 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-23T01:08:16.647Z,1579741696.647 [Micromodem](INFO): Nmea in: $CADRQ,010816,1,12,0,64,1*7A

2020-01-23T01:08:16.648Z,1579741696.648 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,AEEE285E000007005D000004001D1E00000000000000151D80030C5669BF3148E2FA22188B6A3173E51B1C3DE1295C413B9EA27D0D0958A55575A4074CBAA7A5*3E

2020-01-23T01:08:17.051Z,1579741697.051 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T01:08:17.444Z,1579741697.444 [Micromodem](INFO): Nmea in: $CADRQ,010817,1,12,0,64,2*78

2020-01-23T01:08:17.445Z,1579741697.445 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,3F6AE7AF0D07E622820F45259E052A3980439491B5FE44BA5725AF9F520D380EF650D1224C2DD44756ABC8376EA4F1C2928328840EB8F148A67DBA8E3F744407*3F

2020-01-23T01:08:17.851Z,1579741697.851 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T01:08:18.255Z,1579741698.255 [Micromodem](INFO): Nmea in: $CADRQ,010818,1,12,0,64,3*76

2020-01-23T01:08:18.256Z,1579741698.256 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,8E4C4CBB77E7035800BF8B4B5F3AE11A639D735CF2763F0ADBF67387C97E6E1D260A6CF50CCAA4C0F9510C8CC9B3940D91461B3CA05FCF5092132BF77ACAEBC5*4C

2020-01-23T01:08:18.655Z,1579741698.655 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T01:08:19.063Z,1579741699.063 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-23T01:08:22.699Z,1579741702.699 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2020-01-23T01:08:23.912Z,1579741703.912 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,010819.211827,3,0,200,4000,10000,1,1,12,1,3,3,3,192*74

2020-01-23T01:08:26.890Z,1579741706.890 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T01:08:37.715Z,1579741717.715 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:09:05.161Z,1579741745.161 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-01-23T01:09:05.162Z,1579741745.162 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +     +0.00,        +0.00,   0.00,872.97
2020-01-23T01:09:08.885Z,1579741748.885 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T01:09:10.044Z,1579741750.044 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T01:09:10.803Z,1579741750.803 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:09:11.213Z,1579741751.213 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:09:12.015Z,1579741752.015 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010911.72*53

2020-01-23T01:09:14.438Z,1579741754.438 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-23T01:09:16.507Z,1579741756.507 [CBIT](INFO): Clearing failed state for component CTD_NeilBrown
2020-01-23T01:09:16.507Z,1579741756.507 [CTD_NeilBrown] No Fault, FailCount= 1
2020-01-23T01:09:16.613Z,1579741756.613 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2020-01-23T01:09:18.511Z,1579741758.511 [RDI_Pathfinder](ERROR): Failed to parse:
:SA,   +0.00,   +0.00,  0.00
2020-01-23T01:09:19.708Z,1579741759.708 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:09:20.528Z,1579741760.528 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 5
2020-01-23T01:09:20.528Z,1579741760.528 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-23T01:09:20.539Z,1579741760.539 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-23T01:09:20.871Z,1579741760.871 [Micromodem](ERROR): Buffer fill timout failure.
2020-01-23T01:09:20.932Z,1579741760.932 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-23T01:09:20.932Z,1579741760.932 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 5
2020-01-23T01:09:21.282Z,1579741761.282 [Micromodem](INFO): Outgoing frame #1, 64 bytes: AEEE285E000007005D000004001D1E00000000000000151D80030C5669BF3148E2FA22188B6A3173E51B1C3DE1295C413B9EA27D0D0958A55575A4074CBAA7A5
2020-01-23T01:09:21.283Z,1579741761.283 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 3F6AE7AF0D07E622820F45259E052A3980439491B5FE44BA5725AF9F520D380EF650D1224C2DD44756ABC8376EA4F1C2928328840EB8F148A67DBA8E3F744407
2020-01-23T01:09:21.283Z,1579741761.283 [Micromodem](INFO): Outgoing frame #3, 64 bytes: 8E4C4CBB77E7035800BF8B4B5F3AE11A639D735CF2763F0ADBF67387C97E6E1D260A6CF50CCAA4C0F9510C8CC9B3940D91461B3CA05FCF5092132BF77ACAEBC5
2020-01-23T01:09:21.283Z,1579741761.283 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-23T01:09:21.679Z,1579741761.679 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-23T01:09:22.089Z,1579741762.089 [Micromodem](INFO): Nmea in: $CADRQ,010922,1,12,0,64,1*7C

2020-01-23T01:09:22.089Z,1579741762.089 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,AEEE285E000007005D000004001D1E00000000000000151D80030C5669BF3148E2FA22188B6A3173E51B1C3DE1295C413B9EA27D0D0958A55575A4074CBAA7A5*3E

2020-01-23T01:09:22.487Z,1579741762.487 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T01:09:22.891Z,1579741762.891 [Micromodem](INFO): Nmea in: $CADRQ,010922,1,12,0,64,2*7F

2020-01-23T01:09:22.892Z,1579741762.892 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,3F6AE7AF0D07E622820F45259E052A3980439491B5FE44BA5725AF9F520D380EF650D1224C2DD44756ABC8376EA4F1C2928328840EB8F148A67DBA8E3F744407*3F

2020-01-23T01:09:23.291Z,1579741763.291 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T01:09:23.703Z,1579741763.703 [Micromodem](INFO): Nmea in: $CADRQ,010923,1,12,0,64,3*7F

2020-01-23T01:09:23.704Z,1579741763.704 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,8E4C4CBB77E7035800BF8B4B5F3AE11A639D735CF2763F0ADBF67387C97E6E1D260A6CF50CCAA4C0F9510C8CC9B3940D91461B3CA05FCF5092132BF77ACAEBC5*4C

2020-01-23T01:09:24.131Z,1579741764.131 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T01:09:24.519Z,1579741764.519 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-23T01:09:28.149Z,1579741768.149 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2020-01-23T01:09:28.559Z,1579741768.559 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,010924.736918,3,0,200,4000,10000,1,1,12,1,3,3,3,192*76

2020-01-23T01:09:28.580Z,1579741768.580 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-23T01:09:28.580Z,1579741768.580 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00,   I,-32768,-32768,-32768,-32768,V
2020-01-23T01:09:50.945Z,1579741790.945 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T01:10:01.835Z,1579741801.835 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:10:10.270Z,1579741810.270 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T01:10:11.046Z,1579741811.046 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:10:11.459Z,1579741811.459 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:10:11.912Z,1579741811.912 [Reporter](INFO): acoustic_contact_range 4.979999 m
2020-01-23T01:10:12.270Z,1579741812.270 [Micromodem](INFO): Nmea in: $SNTTA,0.009050,,,,011011.96*43

2020-01-23T01:10:14.029Z,1579741814.029 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T01:10:24.826Z,1579741824.826 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:10:26.487Z,1579741826.487 [Micromodem](ERROR): Buffer fill timout failure.
2020-01-23T01:10:26.555Z,1579741826.555 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T01:10:26.826Z,1579741826.826 [Micromodem](INFO): Outgoing frame #1, 64 bytes: AEEE285E000007005D000004001D1E00000000000000151D80030C5669BF3148E2FA22188B6A3173E51B1C3DE1295C413B9EA27D0D0958A55575A4074CBAA7A5
2020-01-23T01:10:26.827Z,1579741826.827 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 3F6AE7AF0D07E622820F45259E052A3980439491B5FE44BA5725AF9F520D380EF650D1224C2DD44756ABC8376EA4F1C2928328840EB8F148A67DBA8E3F744407
2020-01-23T01:10:26.827Z,1579741826.827 [Micromodem](INFO): Outgoing frame #3, 64 bytes: 8E4C4CBB77E7035800BF8B4B5F3AE11A639D735CF2763F0ADBF67387C97E6E1D260A6CF50CCAA4C0F9510C8CC9B3940D91461B3CA05FCF5092132BF77ACAEBC5
2020-01-23T01:10:26.827Z,1579741826.827 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-23T01:10:27.231Z,1579741827.231 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-23T01:10:27.639Z,1579741827.639 [Micromodem](INFO): Nmea in: $CADRQ,011027,1,12,0,64,1*71

2020-01-23T01:10:27.640Z,1579741827.640 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,AEEE285E000007005D000004001D1E00000000000000151D80030C5669BF3148E2FA22188B6A3173E51B1C3DE1295C413B9EA27D0D0958A55575A4074CBAA7A5*3E

2020-01-23T01:10:28.035Z,1579741828.035 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T01:10:28.446Z,1579741828.446 [Micromodem](INFO): Nmea in: $CADRQ,011028,1,12,0,64,2*7D

2020-01-23T01:10:28.447Z,1579741828.447 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,3F6AE7AF0D07E622820F45259E052A3980439491B5FE44BA5725AF9F520D380EF650D1224C2DD44756ABC8376EA4F1C2928328840EB8F148A67DBA8E3F744407*3F

2020-01-23T01:10:28.843Z,1579741828.843 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T01:10:29.244Z,1579741829.244 [Micromodem](INFO): Nmea in: $CADRQ,011029,1,12,0,64,3*7D

2020-01-23T01:10:29.244Z,1579741829.244 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,8E4C4CBB77E7035800BF8B4B5F3AE11A639D735CF2763F0ADBF67387C97E6E1D260A6CF50CCAA4C0F9510C8CC9B3940D91461B3CA05FCF5092132BF77ACAEBC5*4C

2020-01-23T01:10:29.648Z,1579741829.648 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T01:10:30.059Z,1579741830.059 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-23T01:10:33.699Z,1579741833.699 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2020-01-23T01:10:34.880Z,1579741834.880 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,011030.203078,3,0,200,4000,10000,1,1,12,1,3,3,3,192*77

2020-01-23T01:10:34.936Z,1579741834.936 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:10:36.622Z,1579741836.622 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-23T01:10:36.622Z,1579741836.622 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,20012218215349,35.0, -0.1,   0.,  0
2020-01-23T01:10:36.646Z,1579741836.646 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T01:10:45.038Z,1579741845.038 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:11:12.095Z,1579741872.095 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T01:11:12.852Z,1579741872.852 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:11:13.253Z,1579741873.253 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:11:13.491Z,1579741873.491 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.latitude_fix 36.500000 degree
2020-01-23T01:11:13.493Z,1579741873.493 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.latitude_fix" handled in the control thread.
2020-01-23T01:11:13.494Z,1579741873.494 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.longitude_fix -121.900002 degree
2020-01-23T01:11:13.495Z,1579741873.495 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.longitude_fix" handled in the control thread.
2020-01-23T01:11:13.723Z,1579741873.723 [Reporter](INFO): acoustic_contact_range 5.940001 m
2020-01-23T01:11:13.728Z,1579741873.728 [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_NAL9602.latitude_fix,Maintain_NAL9602.longitude_fix,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2020-01-23T01:11:14.086Z,1579741874.086 [Micromodem](INFO): Nmea in: $SNTTA,0.004710,,,,011113.76*40

2020-01-23T01:11:14.148Z,1579741874.148 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-23T01:11:14.148Z,1579741874.148 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 6
2020-01-23T01:11:14.148Z,1579741874.148 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-23T01:11:14.184Z,1579741874.184 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-23T01:11:14.531Z,1579741874.531 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-23T01:11:14.531Z,1579741874.531 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 6
2020-01-23T01:11:15.335Z,1579741875.335 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-23T01:11:15.335Z,1579741875.335 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 7
2020-01-23T01:11:15.335Z,1579741875.335 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-23T01:11:15.347Z,1579741875.347 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-23T01:11:15.841Z,1579741875.841 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-23T01:11:15.841Z,1579741875.841 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 7
2020-01-23T01:11:15.842Z,1579741875.842 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T01:11:16.558Z,1579741876.558 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-23T01:11:16.558Z,1579741876.558 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 8
2020-01-23T01:11:16.558Z,1579741876.558 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-23T01:11:16.610Z,1579741876.610 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-23T01:11:16.981Z,1579741876.981 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-23T01:11:16.981Z,1579741876.981 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 8
2020-01-23T01:11:17.759Z,1579741877.759 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-23T01:11:17.759Z,1579741877.759 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 9
2020-01-23T01:11:17.759Z,1579741877.759 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-23T01:11:17.810Z,1579741877.810 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-23T01:11:18.231Z,1579741878.231 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-23T01:11:18.232Z,1579741878.232 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 9
2020-01-23T01:11:18.990Z,1579741878.990 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-23T01:11:18.990Z,1579741878.990 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 10
2020-01-23T01:11:18.990Z,1579741878.990 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-23T01:11:19.001Z,1579741879.001 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-23T01:11:19.426Z,1579741879.426 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-23T01:11:19.426Z,1579741879.426 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 10
2020-01-23T01:11:20.186Z,1579741880.186 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-23T01:11:20.186Z,1579741880.186 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 11
2020-01-23T01:11:20.186Z,1579741880.186 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-23T01:11:20.198Z,1579741880.198 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-23T01:11:20.615Z,1579741880.615 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-23T01:11:20.615Z,1579741880.615 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 11
2020-01-23T01:11:21.411Z,1579741881.411 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-23T01:11:21.411Z,1579741881.411 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 12
2020-01-23T01:11:21.411Z,1579741881.411 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-23T01:11:21.422Z,1579741881.422 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-23T01:11:21.830Z,1579741881.830 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-23T01:11:21.830Z,1579741881.830 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 12
2020-01-23T01:11:22.607Z,1579741882.607 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-23T01:11:22.607Z,1579741882.607 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 13
2020-01-23T01:11:22.607Z,1579741882.607 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-23T01:11:22.618Z,1579741882.618 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-23T01:11:23.024Z,1579741883.024 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-23T01:11:23.025Z,1579741883.025 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 13
2020-01-23T01:11:23.812Z,1579741883.812 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-23T01:11:23.813Z,1579741883.813 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 14
2020-01-23T01:11:23.813Z,1579741883.813 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-23T01:11:23.865Z,1579741883.865 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-23T01:11:24.264Z,1579741884.264 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-23T01:11:24.264Z,1579741884.264 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 14
2020-01-23T01:11:24.738Z,1579741884.738 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1579741824.000000 second
2020-01-23T01:11:26.633Z,1579741886.633 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:11:28.399Z,1579741888.399 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T01:11:31.871Z,1579741891.871 [Micromodem](ERROR): Buffer fill timout failure.
2020-01-23T01:11:32.286Z,1579741892.286 [Micromodem](INFO): Outgoing frame #1, 64 bytes: AEEE285E000007005D000004001D1E00000000000000151D80030C5669BF3148E2FA22188B6A3173E51B1C3DE1295C413B9EA27D0D0958A55575A4074CBAA7A5
2020-01-23T01:11:32.286Z,1579741892.286 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 3F6AE7AF0D07E622820F45259E052A3980439491B5FE44BA5725AF9F520D380EF650D1224C2DD44756ABC8376EA4F1C2928328840EB8F148A67DBA8E3F744407
2020-01-23T01:11:32.287Z,1579741892.287 [Micromodem](INFO): Outgoing frame #3, 64 bytes: 8E4C4CBB77E7035800BF8B4B5F3AE11A639D735CF2763F0ADBF67387C97E6E1D260A6CF50CCAA4C0F9510C8CC9B3940D91461B3CA05FCF5092132BF77ACAEBC5
2020-01-23T01:11:32.287Z,1579741892.287 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-23T01:11:32.683Z,1579741892.683 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-23T01:11:33.083Z,1579741893.083 [Micromodem](INFO): Nmea in: $CADRQ,011133,1,12,0,64,1*75

2020-01-23T01:11:33.084Z,1579741893.084 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,AEEE285E000007005D000004001D1E00000000000000151D80030C5669BF3148E2FA22188B6A3173E51B1C3DE1295C413B9EA27D0D0958A55575A4074CBAA7A5*3E

2020-01-23T01:11:33.491Z,1579741893.491 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T01:11:33.891Z,1579741893.891 [Micromodem](INFO): Nmea in: $CADRQ,011133,1,12,0,64,2*76

2020-01-23T01:11:33.891Z,1579741893.891 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,3F6AE7AF0D07E622820F45259E052A3980439491B5FE44BA5725AF9F520D380EF650D1224C2DD44756ABC8376EA4F1C2928328840EB8F148A67DBA8E3F744407*3F

2020-01-23T01:11:34.295Z,1579741894.295 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T01:11:34.703Z,1579741894.703 [Micromodem](INFO): Nmea in: $CADRQ,011134,1,12,0,64,3*70

2020-01-23T01:11:34.703Z,1579741894.703 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,8E4C4CBB77E7035800BF8B4B5F3AE11A639D735CF2763F0ADBF67387C97E6E1D260A6CF50CCAA4C0F9510C8CC9B3940D91461B3CA05FCF5092132BF77ACAEBC5*4C

2020-01-23T01:11:35.103Z,1579741895.103 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T01:11:35.507Z,1579741895.507 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-23T01:11:36.733Z,1579741896.733 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:11:38.504Z,1579741898.504 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T01:11:39.151Z,1579741899.151 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2020-01-23T01:11:39.554Z,1579741899.554 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,011135.661918,3,0,200,4000,10000,1,1,12,1,3,3,3,192*7C

2020-01-23T01:11:46.856Z,1579741906.856 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:11:56.083Z,1579741916.083 [NAL9602](INFO): Not Powering down - fast GPS
2020-01-23T01:12:07.267Z,1579741927.267 [CommandLine](IMPORTANT): got command get latitude
2020-01-23T01:12:07.267Z,1579741927.267 [CommandLine](IMPORTANT): latitude 36.500000 arcdeg
2020-01-23T01:12:09.866Z,1579741929.866 [DefaultUnder:Notify:A:A:A.Wait](INFO): Done Waiting.
2020-01-23T01:12:09.866Z,1579741929.866 [DefaultUnder:Notify:A:A:A.Wait] Stopped
2020-01-23T01:12:09.866Z,1579741929.866 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-23T01:12:09.866Z,1579741929.866 [DefaultUnder:Notify:A:A:B] Running Loop=1
2020-01-23T01:12:10.270Z,1579741930.270 [DefaultUnder:Notify:A:A:B] Stopped
2020-01-23T01:12:10.270Z,1579741930.270 [DefaultUnder:Notify:A:A:C] Running Loop=1
2020-01-23T01:12:10.666Z,1579741930.666 [DefaultUnder:Notify:A:A:C](IMPORTANT): Default mission has been running for 5.009140 min 
2020-01-23T01:12:10.666Z,1579741930.666 [DefaultUnder:Notify:A:A:C] Stopped
2020-01-23T01:12:10.666Z,1579741930.666 [DefaultUnder:Notify:A:A](INFO): Completed DefaultUnder:Notify:A:A
2020-01-23T01:12:10.667Z,1579741930.667 [DefaultUnder:Notify:A:A] Stopped
2020-01-23T01:12:10.667Z,1579741930.667 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A:A
2020-01-23T01:12:10.667Z,1579741930.667 [DefaultUnder:Notify:A:A](INFO): Running loop #2
2020-01-23T01:12:10.667Z,1579741930.667 [DefaultUnder:Notify:A:A] Running Loop=2
2020-01-23T01:12:10.667Z,1579741930.667 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A:A
2020-01-23T01:12:10.667Z,1579741930.667 [DefaultUnder:Notify:A:A:A.Wait] Running Loop=1
2020-01-23T01:12:10.667Z,1579741930.667 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Initialize Wait Component.
2020-01-23T01:12:13.894Z,1579741933.894 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T01:12:14.668Z,1579741934.668 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:12:15.077Z,1579741935.077 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:12:15.499Z,1579741935.499 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-23T01:12:15.499Z,1579741935.499 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2020-01-23T01:12:15.538Z,1579741935.538 [Reporter](INFO): acoustic_contact_range 1.800000 m
2020-01-23T01:12:15.894Z,1579741935.894 [Micromodem](INFO): Nmea in: $SNTTA,0.000568,,,,011215.58*40

2020-01-23T01:12:17.678Z,1579741937.678 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T01:12:25.246Z,1579741945.246 [DefaultUnder:Default:Docked:run:B.Docked](IMPORTANT): VEHICLE DETACHED FROM DOCK.
2020-01-23T01:12:25.246Z,1579741945.246 [DefaultUnder:Default:Docked:run:B.Docked] Stopped
2020-01-23T01:12:25.246Z,1579741945.246 [DefaultUnder:Default:Docked:run:C] Running Loop=1
2020-01-23T01:12:25.610Z,1579741945.610 [DefaultUnder:Default:Docked:run:C] Stopped
2020-01-23T01:12:25.610Z,1579741945.610 [DefaultUnder:Default:Docked:run](INFO): Completed DefaultUnder:Default:Docked:run
2020-01-23T01:12:25.610Z,1579741945.610 [DefaultUnder:Default:Docked:run] Stopped
2020-01-23T01:12:25.610Z,1579741945.610 [DefaultUnder:Default:Docked:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Docked:run
2020-01-23T01:12:25.610Z,1579741945.610 [DefaultUnder:Default:Docked](INFO): Completed DefaultUnder:Default:Docked
2020-01-23T01:12:25.622Z,1579741945.622 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:12:26.031Z,1579741946.031 [DefaultUnder:Default:Home] Running Loop=1
2020-01-23T01:12:26.031Z,1579741946.031 [DefaultUnder:Default:Home](DEBUG): Aggregate::initialize DefaultUnder:Default:Home
2020-01-23T01:12:26.032Z,1579741946.032 [DefaultUnder:Default:Home:run] Running Loop=1
2020-01-23T01:12:26.032Z,1579741946.032 [DefaultUnder:Default:Home:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Home:run
2020-01-23T01:12:26.032Z,1579741946.032 [DefaultUnder:Default:Home:run:A] Running Loop=1
2020-01-23T01:12:26.032Z,1579741946.032 [DefaultUnder:Default:Home] Running Loop=1
2020-01-23T01:12:26.032Z,1579741946.032 [DefaultUnder:Default:Home:run:A] Stopped
2020-01-23T01:12:26.032Z,1579741946.032 [DefaultUnder:Default:Home:run:B] Running Loop=1
2020-01-23T01:12:26.033Z,1579741946.033 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T01:12:26.033Z,1579741946.033 [DefaultUnder:uModemComms] Stopped
2020-01-23T01:12:26.033Z,1579741946.033 [DefaultUnder:uModemComms](DEBUG): Aggregate::uninitialize DefaultUnder:uModemComms
2020-01-23T01:12:26.033Z,1579741946.033 [DefaultUnder:uModemComms:CheckIn] Stopped
2020-01-23T01:12:26.034Z,1579741946.034 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::uninitialize DefaultUnder:uModemComms:CheckIn
2020-01-23T01:12:26.034Z,1579741946.034 [DefaultUnder:uModemComms:CheckIn:A] Stopped
2020-01-23T01:12:26.439Z,1579741946.439 [DefaultUnder:Default:Home:run:B] Stopped
2020-01-23T01:12:26.439Z,1579741946.439 [DefaultUnder:Default:Home:run:C] Running Loop=1
2020-01-23T01:12:26.439Z,1579741946.439 [DefaultUnder:Default:Home:run:C](DEBUG): Aggregate::initialize DefaultUnder:Default:Home:run:C
2020-01-23T01:12:26.796Z,1579741946.796 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:12:26.902Z,1579741946.902 [DefaultUnder:LineCapture] Running Loop=1
2020-01-23T01:12:26.902Z,1579741946.902 [DefaultUnder:LineCapture](DEBUG): Aggregate::initialize DefaultUnder:LineCapture
2020-01-23T01:12:26.902Z,1579741946.902 [DefaultUnder:LineCapture:StandardEnvelopes] Running Loop=1
2020-01-23T01:12:26.902Z,1579741946.902 [DefaultUnder:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:StandardEnvelopes
2020-01-23T01:12:26.903Z,1579741946.903 [DefaultUnder:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2020-01-23T01:12:26.903Z,1579741946.903 [DefaultUnder:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2020-01-23T01:12:26.903Z,1579741946.903 [DefaultUnder:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2020-01-23T01:12:26.903Z,1579741946.903 [DefaultUnder:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2020-01-23T01:12:26.903Z,1579741946.903 [DefaultUnder:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2020-01-23T01:12:26.903Z,1579741946.903 [DefaultUnder:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2020-01-23T01:12:26.903Z,1579741946.903 [DefaultUnder:LineCapture:F] Running Loop=1
2020-01-23T01:12:26.903Z,1579741946.903 [DefaultUnder:LineCapture:G] Running Loop=1
2020-01-23T01:12:26.903Z,1579741946.903 [DefaultUnder:LineCapture:H.Mass] Running Loop=1
2020-01-23T01:12:26.903Z,1579741946.903 [DefaultUnder:LineCapture:H.Mass](DEBUG): Initialize.
2020-01-23T01:12:26.904Z,1579741946.904 [DefaultUnder:LineCapture:A] Running Loop=1
2020-01-23T01:12:26.904Z,1579741946.904 [DefaultUnder:LineCapture:H.Mass] Running Loop=1
2020-01-23T01:12:26.904Z,1579741946.904 [DefaultUnder:LineCapture:G] Running Loop=1
2020-01-23T01:12:26.909Z,1579741946.909 [DefaultUnder:LineCapture:F] Running Loop=1
2020-01-23T01:12:26.910Z,1579741946.910 [DefaultUnder:LineCapture:StandardEnvelopes] Running Loop=1
2020-01-23T01:12:26.910Z,1579741946.910 [DefaultUnder:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2020-01-23T01:12:26.910Z,1579741946.910 [DefaultUnder:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2020-01-23T01:12:26.910Z,1579741946.910 [DefaultUnder:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2020-01-23T01:12:26.911Z,1579741946.911 [DefaultUnder:LineCapture:A] Stopped
2020-01-23T01:12:26.911Z,1579741946.911 [DefaultUnder:LineCapture:C] Running Loop=1
2020-01-23T01:12:27.423Z,1579741947.423 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:12:27.524Z,1579741947.524 [DefaultUnder:LineCapture:C] Stopped
2020-01-23T01:12:27.524Z,1579741947.524 [DefaultUnder:LineCapture:D] Running Loop=1
2020-01-23T01:12:27.578Z,1579741947.578 [Reporter](INFO): acoustic_contact_range 1.979998 m
2020-01-23T01:12:27.862Z,1579741947.862 [DefaultUnder:LineCapture:D] Stopped
2020-01-23T01:12:27.862Z,1579741947.862 [DefaultUnder:LineCapture:E] Running Loop=1
2020-01-23T01:12:28.238Z,1579741948.238 [Micromodem](INFO): Nmea in: $SNTTA,0.000599,,,,011227.71*44

2020-01-23T01:12:28.318Z,1579741948.318 [DefaultUnder:LineCapture:E] Stopped
2020-01-23T01:12:28.318Z,1579741948.318 [DefaultUnder:LineCapture:HomingSequence] Running Loop=1
2020-01-23T01:12:28.318Z,1579741948.318 [DefaultUnder:LineCapture:HomingSequence](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence
2020-01-23T01:12:28.319Z,1579741948.319 [DefaultUnder:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2020-01-23T01:12:28.319Z,1579741948.319 [DefaultUnder:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:DetachFromDock
2020-01-23T01:12:28.319Z,1579741948.319 [DefaultUnder:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2020-01-23T01:12:28.319Z,1579741948.319 [DefaultUnder:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:DetachFromDock:guide
2020-01-23T01:12:28.319Z,1579741948.319 [DefaultUnder:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2020-01-23T01:12:28.319Z,1579741948.319 [DefaultUnder:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2020-01-23T01:12:28.319Z,1579741948.319 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2020-01-23T01:12:28.319Z,1579741948.319 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance
2020-01-23T01:12:28.320Z,1579741948.320 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2020-01-23T01:12:28.320Z,1579741948.320 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide
2020-01-23T01:12:28.320Z,1579741948.320 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:B] Running Loop=1
2020-01-23T01:12:28.320Z,1579741948.320 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2020-01-23T01:12:28.320Z,1579741948.320 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance
2020-01-23T01:12:28.321Z,1579741948.321 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2020-01-23T01:12:28.321Z,1579741948.321 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide
2020-01-23T01:12:28.321Z,1579741948.321 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:C] Running Loop=1
2020-01-23T01:12:28.321Z,1579741948.321 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2020-01-23T01:12:28.321Z,1579741948.321 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2020-01-23T01:12:28.321Z,1579741948.321 [DefaultUnder:LineCapture:HomingSequence:A] Running Loop=1
2020-01-23T01:12:28.322Z,1579741948.322 [DefaultUnder:LineCapture:HomingSequence:A](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:A
2020-01-23T01:12:28.683Z,1579741948.683 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance] Stopped
2020-01-23T01:12:28.683Z,1579741948.683 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance
2020-01-23T01:12:28.683Z,1579741948.683 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2020-01-23T01:12:28.683Z,1579741948.683 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide
2020-01-23T01:12:28.683Z,1579741948.683 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2020-01-23T01:12:28.683Z,1579741948.683 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:C] Stopped
2020-01-23T01:12:28.683Z,1579741948.683 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2020-01-23T01:12:28.683Z,1579741948.683 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2020-01-23T01:12:28.683Z,1579741948.683 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance
2020-01-23T01:12:28.684Z,1579741948.684 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2020-01-23T01:12:28.684Z,1579741948.684 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide
2020-01-23T01:12:28.684Z,1579741948.684 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:B] Stopped
2020-01-23T01:12:28.684Z,1579741948.684 [DefaultUnder:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2020-01-23T01:12:28.684Z,1579741948.684 [DefaultUnder:LineCapture:DiveCmd] Running Loop=1
2020-01-23T01:12:28.684Z,1579741948.684 [DefaultUnder:LineCapture:DiveCmd](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:DiveCmd
2020-01-23T01:12:28.684Z,1579741948.684 [DefaultUnder:LineCapture:DiveCmd:Guided] Running Loop=1
2020-01-23T01:12:28.684Z,1579741948.684 [DefaultUnder:LineCapture:DiveCmd:Guided](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:DiveCmd:Guided
2020-01-23T01:12:28.684Z,1579741948.684 [DefaultUnder:LineCapture:DiveCmd:Guided:dive] Running Loop=1
2020-01-23T01:12:28.685Z,1579741948.685 [DefaultUnder:LineCapture:DiveCmd:Guided:dive](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:DiveCmd:Guided:dive
2020-01-23T01:12:28.685Z,1579741948.685 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:A] Running Loop=1
2020-01-23T01:12:28.685Z,1579741948.685 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:B.Buoyancy] Running Loop=1
2020-01-23T01:12:28.685Z,1579741948.685 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2020-01-23T01:12:28.685Z,1579741948.685 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:C.SetSpeed] Running Loop=1
2020-01-23T01:12:28.685Z,1579741948.685 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:C.SetSpeed](DEBUG): Initialize.
2020-01-23T01:12:28.685Z,1579741948.685 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:D.Pitch] Running Loop=1
2020-01-23T01:12:28.685Z,1579741948.685 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:D.Pitch](DEBUG): Initialize.
2020-01-23T01:12:28.686Z,1579741948.686 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock] Running Loop=1
2020-01-23T01:12:28.686Z,1579741948.686 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock
2020-01-23T01:12:28.686Z,1579741948.686 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive] Running Loop=1
2020-01-23T01:12:28.686Z,1579741948.686 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive
2020-01-23T01:12:28.686Z,1579741948.686 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed] Running Loop=1
2020-01-23T01:12:28.686Z,1579741948.686 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed](DEBUG): Initialize.
2020-01-23T01:12:28.686Z,1579741948.686 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:B.Pitch] Running Loop=1
2020-01-23T01:12:28.686Z,1579741948.686 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:B.Pitch](DEBUG): Initialize.
2020-01-23T01:12:28.687Z,1579741948.687 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock] Running Loop=1
2020-01-23T01:12:28.687Z,1579741948.687 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed] Running Loop=1
2020-01-23T01:12:28.687Z,1579741948.687 [DefaultUnder:LineCapture:DiveCmd:Guided] Stopped
2020-01-23T01:12:28.688Z,1579741948.688 [DefaultUnder:LineCapture:DiveCmd:Guided](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:DiveCmd:Guided
2020-01-23T01:12:28.688Z,1579741948.688 [DefaultUnder:LineCapture:DiveCmd:Guided:dive] Stopped
2020-01-23T01:12:28.688Z,1579741948.688 [DefaultUnder:LineCapture:DiveCmd:Guided:dive](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:DiveCmd:Guided:dive
2020-01-23T01:12:28.688Z,1579741948.688 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:A] Stopped
2020-01-23T01:12:28.688Z,1579741948.688 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:B.Buoyancy] Stopped
2020-01-23T01:12:28.688Z,1579741948.688 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2020-01-23T01:12:28.688Z,1579741948.688 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:C.SetSpeed] Stopped
2020-01-23T01:12:28.688Z,1579741948.688 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:C.SetSpeed](DEBUG): Uninitialize.
2020-01-23T01:12:28.688Z,1579741948.688 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:D.Pitch] Stopped
2020-01-23T01:12:29.675Z,1579741949.675 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T01:12:29.828Z,1579741949.828 [DDM](INFO): Changing to mode: 2
2020-01-23T01:12:29.828Z,1579741949.828 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:12:29.900Z,1579741949.900 [PowerOnly](INFO): Powering up
2020-01-23T01:12:30.233Z,1579741950.233 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:12:30.300Z,1579741950.300 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T01:12:30.635Z,1579741950.635 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:12:31.038Z,1579741951.038 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:12:31.076Z,1579741951.076 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:12:31.447Z,1579741951.447 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:12:31.517Z,1579741951.517 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:12:31.963Z,1579741951.963 [Reporter](INFO): acoustic_contact_range 1.979998 m
2020-01-23T01:12:32.309Z,1579741952.309 [Micromodem](INFO): Nmea in: $SNTTA,0.000606,,,,011231.99*40

2020-01-23T01:12:33.187Z,1579741953.187 [DefaultUnder:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock.
2020-01-23T01:12:34.749Z,1579741954.749 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T01:12:35.520Z,1579741955.520 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:12:35.931Z,1579741955.931 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:12:36.403Z,1579741956.403 [Reporter](INFO): acoustic_contact_range 2.280001 m
2020-01-23T01:12:36.761Z,1579741956.761 [Micromodem](INFO): Nmea in: $SNTTA,0.000547,,,,011236.43*46

2020-01-23T01:12:39.194Z,1579741959.194 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T01:12:39.519Z,1579741959.519 [CommandLine](IMPORTANT): got command get depth
2020-01-23T01:12:39.520Z,1579741959.520 [CommandLine](IMPORTANT): depth 0.215846 m
2020-01-23T01:12:39.959Z,1579741959.959 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:12:40.373Z,1579741960.373 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:12:40.847Z,1579741960.847 [Reporter](INFO): acoustic_contact_range 2.280001 m
2020-01-23T01:12:41.198Z,1579741961.198 [Micromodem](INFO): Nmea in: $SNTTA,0.000543,,,,011240.87*4B

2020-01-23T01:12:43.623Z,1579741963.623 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T01:12:44.407Z,1579741964.407 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:12:44.816Z,1579741964.816 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:12:45.302Z,1579741965.302 [Reporter](INFO): acoustic_contact_range 1.920001 m
2020-01-23T01:12:45.634Z,1579741965.634 [Micromodem](INFO): Nmea in: $SNTTA,0.000595,,,,011245.32*4B

2020-01-23T01:12:48.075Z,1579741968.075 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T01:12:48.855Z,1579741968.855 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:12:49.257Z,1579741969.257 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:12:49.730Z,1579741969.730 [Reporter](INFO): acoustic_contact_range 1.979998 m
2020-01-23T01:12:50.086Z,1579741970.086 [Micromodem](INFO): Nmea in: $SNTTA,0.000588,,,,011249.77*4A

2020-01-23T01:12:52.539Z,1579741972.539 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T01:12:53.298Z,1579741973.298 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:12:53.701Z,1579741973.701 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:12:54.198Z,1579741974.198 [Reporter](INFO): acoustic_contact_range 1.979998 m
2020-01-23T01:12:54.526Z,1579741974.526 [Micromodem](INFO): Nmea in: $SNTTA,0.000595,,,,011254.21*49

2020-01-23T01:12:56.966Z,1579741976.966 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T01:12:57.739Z,1579741977.739 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:12:58.148Z,1579741978.148 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:12:58.629Z,1579741978.629 [Reporter](INFO): acoustic_contact_range 1.920001 m
2020-01-23T01:12:58.966Z,1579741978.966 [Micromodem](INFO): Nmea in: $SNTTA,0.000594,,,,011258.65*44

2020-01-23T01:13:01.412Z,1579741981.412 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T01:13:02.200Z,1579741982.200 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:13:02.597Z,1579741982.597 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:13:03.067Z,1579741983.067 [Reporter](INFO): acoustic_contact_range 1.979998 m
2020-01-23T01:13:03.422Z,1579741983.422 [Micromodem](INFO): Nmea in: $SNTTA,0.000596,,,,011303.11*4A

2020-01-23T01:13:05.852Z,1579741985.852 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T01:13:06.627Z,1579741986.627 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:13:07.041Z,1579741987.041 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:13:07.519Z,1579741987.519 [Reporter](INFO): acoustic_contact_range 1.979998 m
2020-01-23T01:13:07.863Z,1579741987.863 [Micromodem](INFO): Nmea in: $SNTTA,0.000598,,,,011307.54*41

2020-01-23T01:13:09.339Z,1579741989.339 [CommandLine](IMPORTANT): got command maintain sensor Depth_Keller.depth 15.000000 meter
2020-01-23T01:13:09.340Z,1579741989.340 [ComponentRegistry](DEBUG): SyncComponent "Maintain_Depth_Keller.depth" handled in the control thread.
2020-01-23T01:13:09.551Z,1579741989.551 [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_NAL9602.latitude_fix,Maintain_NAL9602.longitude_fix,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,
2020-01-23T01:13:09.923Z,1579741989.923 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:B.Pitch] Stopped
2020-01-23T01:13:09.923Z,1579741989.923 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:C] Running Loop=1
2020-01-23T01:13:10.306Z,1579741990.306 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:C](INFO): Reached target depth of 15.000000 m . Transitioning to midcourse guidance.
2020-01-23T01:13:10.306Z,1579741990.306 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:C] Stopped
2020-01-23T01:13:10.306Z,1579741990.306 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:D] Running Loop=1
2020-01-23T01:13:10.308Z,1579741990.308 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T01:13:10.733Z,1579741990.733 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:D] Stopped
2020-01-23T01:13:10.733Z,1579741990.733 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive](INFO): Completed DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive
2020-01-23T01:13:10.733Z,1579741990.733 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive] Stopped
2020-01-23T01:13:10.733Z,1579741990.733 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive
2020-01-23T01:13:10.733Z,1579741990.733 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed] Stopped
2020-01-23T01:13:10.733Z,1579741990.733 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed](DEBUG): Uninitialize.
2020-01-23T01:13:10.734Z,1579741990.734 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock](INFO): Completed DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock
2020-01-23T01:13:11.067Z,1579741991.067 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:13:11.143Z,1579741991.143 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2020-01-23T01:13:11.143Z,1579741991.143 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance
2020-01-23T01:13:11.143Z,1579741991.143 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2020-01-23T01:13:11.143Z,1579741991.143 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide
2020-01-23T01:13:11.144Z,1579741991.144 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:B] Running Loop=1
2020-01-23T01:13:11.144Z,1579741991.144 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2020-01-23T01:13:11.174Z,1579741991.174 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:B](INFO): Navigating to dock waypoint ( 36.803400 arcdeg , -121.822300 arcdeg )
2020-01-23T01:13:11.174Z,1579741991.174 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:B] Stopped
2020-01-23T01:13:11.174Z,1579741991.174 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:C] Running Loop=1
2020-01-23T01:13:11.175Z,1579741991.175 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2020-01-23T01:13:11.175Z,1579741991.175 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2020-01-23T01:13:11.175Z,1579741991.175 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2020-01-23T01:13:11.175Z,1579741991.175 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 1.979998 m 
2020-01-23T01:13:11.175Z,1579741991.175 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2020-01-23T01:13:11.175Z,1579741991.175 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2020-01-23T01:13:11.175Z,1579741991.175 [DefaultUnder:LineCapture:HomingSequence:DetachFromDock] Stopped
2020-01-23T01:13:11.176Z,1579741991.176 [DefaultUnder:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:DetachFromDock
2020-01-23T01:13:11.176Z,1579741991.176 [DefaultUnder:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2020-01-23T01:13:11.176Z,1579741991.176 [DefaultUnder:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:DetachFromDock:guide
2020-01-23T01:13:11.176Z,1579741991.176 [DefaultUnder:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2020-01-23T01:13:11.176Z,1579741991.176 [DefaultUnder:LineCapture:DiveCmd:Guided] Running Loop=1
2020-01-23T01:13:11.176Z,1579741991.176 [DefaultUnder:LineCapture:DiveCmd:Guided](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:DiveCmd:Guided
2020-01-23T01:13:11.176Z,1579741991.176 [DefaultUnder:LineCapture:DiveCmd:Guided:dive] Running Loop=1
2020-01-23T01:13:11.176Z,1579741991.176 [DefaultUnder:LineCapture:DiveCmd:Guided:dive](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:DiveCmd:Guided:dive
2020-01-23T01:13:11.176Z,1579741991.176 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:A] Running Loop=1
2020-01-23T01:13:11.181Z,1579741991.181 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:B.Buoyancy] Running Loop=1
2020-01-23T01:13:11.181Z,1579741991.181 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2020-01-23T01:13:11.181Z,1579741991.181 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:C.SetSpeed] Running Loop=1
2020-01-23T01:13:11.181Z,1579741991.181 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:C.SetSpeed](DEBUG): Initialize.
2020-01-23T01:13:11.181Z,1579741991.181 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:D.Pitch] Running Loop=1
2020-01-23T01:13:11.181Z,1579741991.181 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:D.Pitch](DEBUG): Initialize.
2020-01-23T01:13:11.181Z,1579741991.181 [DefaultUnder:LineCapture:DiveCmd:Guided] Running Loop=1
2020-01-23T01:13:11.181Z,1579741991.181 [DefaultUnder:LineCapture:DiveCmd:Guided:dive] Running Loop=1
2020-01-23T01:13:11.181Z,1579741991.181 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:D.Pitch] Running Loop=1
2020-01-23T01:13:11.182Z,1579741991.182 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:C.SetSpeed] Running Loop=1
2020-01-23T01:13:11.182Z,1579741991.182 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:B.Buoyancy] Running Loop=1
2020-01-23T01:13:11.182Z,1579741991.182 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:A] Running Loop=1
2020-01-23T01:13:11.452Z,1579741991.452 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:13:11.546Z,1579741991.546 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:C] Stopped
2020-01-23T01:13:11.546Z,1579741991.546 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:D] Running Loop=1
2020-01-23T01:13:11.546Z,1579741991.546 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2020-01-23T01:13:11.547Z,1579741991.547 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2020-01-23T01:13:11.547Z,1579741991.547 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2020-01-23T01:13:11.547Z,1579741991.547 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2020-01-23T01:13:11.574Z,1579741991.574 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:13:11.845Z,1579741991.845 [DDM](INFO): Pause: Retracting whiskers
2020-01-23T01:13:11.890Z,1579741991.890 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2020-01-23T01:13:11.890Z,1579741991.890 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance
2020-01-23T01:13:11.890Z,1579741991.890 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2020-01-23T01:13:11.890Z,1579741991.890 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide
2020-01-23T01:13:11.890Z,1579741991.890 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:C] Running Loop=1
2020-01-23T01:13:11.890Z,1579741991.890 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2020-01-23T01:13:11.890Z,1579741991.890 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2020-01-23T01:13:11.890Z,1579741991.890 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2020-01-23T01:13:11.891Z,1579741991.891 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:13:11.891Z,1579741991.891 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:11.891Z,1579741991.891 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:13:11.891Z,1579741991.891 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:13:11.892Z,1579741991.892 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:13:11.892Z,1579741991.892 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:13:11.892Z,1579741991.892 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:13:11.892Z,1579741991.892 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2020-01-23T01:13:11.892Z,1579741991.892 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:C] Running Loop=1
2020-01-23T01:13:11.892Z,1579741991.892 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2020-01-23T01:13:11.892Z,1579741991.892 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2020-01-23T01:13:11.909Z,1579741991.909 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2020-01-23T01:13:11.909Z,1579741991.909 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2020-01-23T01:13:11.909Z,1579741991.909 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance
2020-01-23T01:13:11.909Z,1579741991.909 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2020-01-23T01:13:11.909Z,1579741991.909 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide
2020-01-23T01:13:11.909Z,1579741991.909 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:D] Stopped
2020-01-23T01:13:12.082Z,1579741992.082 [Reporter](INFO): acoustic_contact_range 2.039999 m
2020-01-23T01:13:12.274Z,1579741992.274 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:13:12.333Z,1579741992.332 [Micromodem](INFO): Nmea in: $SNTTA,0.000607,,,,011311.98*43

2020-01-23T01:13:12.388Z,1579741992.388 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011312: (36.803398, -121.822304)
2020-01-23T01:13:12.388Z,1579741992.388 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:13:12.388Z,1579741992.388 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:13:12.388Z,1579741992.388 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:12.388Z,1579741992.388 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:13:12.393Z,1579741992.393 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:12.393Z,1579741992.393 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2020-01-23T01:13:12.393Z,1579741992.393 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2020-01-23T01:13:12.657Z,1579741992.657 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:13:12.746Z,1579741992.746 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2020-01-23T01:13:12.747Z,1579741992.747 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:H.LineCapture] Running Loop=1
2020-01-23T01:13:12.747Z,1579741992.747 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:H.LineCapture](DEBUG): Initialize.
2020-01-23T01:13:13.063Z,1579741993.063 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:13:14.710Z,1579741994.710 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T01:13:15.370Z,1579741995.370 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T01:13:15.479Z,1579741995.479 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:13:15.533Z,1579741995.533 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:13:15.883Z,1579741995.883 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:13:15.926Z,1579741995.926 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:13:16.286Z,1579741996.286 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:13:16.761Z,1579741996.761 [Reporter](INFO): acoustic_contact_range 1.979998 m
2020-01-23T01:13:16.787Z,1579741996.787 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:13:16.840Z,1579741996.840 [Micromodem](INFO): Nmea in: $SNTTA,0.000592,,,,011316.44*4A

2020-01-23T01:13:17.180Z,1579741997.180 [DDM](INFO): Changing to mode: 1
2020-01-23T01:13:17.180Z,1579741997.180 [DDM](INFO): Extending Whiskers.
2020-01-23T01:13:17.324Z,1579741997.324 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:13:17.324Z,1579741997.324 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:17.324Z,1579741997.324 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:13:17.325Z,1579741997.325 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:13:17.325Z,1579741997.325 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:13:17.325Z,1579741997.325 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:13:17.325Z,1579741997.325 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:13:17.583Z,1579741997.583 [DDM](INFO): Extending Whiskers.
2020-01-23T01:13:17.696Z,1579741997.696 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011317: (36.803398, -121.822304)
2020-01-23T01:13:17.696Z,1579741997.696 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:13:17.696Z,1579741997.696 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:13:17.696Z,1579741997.696 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:17.696Z,1579741997.696 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:13:17.696Z,1579741997.696 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:17.987Z,1579741997.987 [DDM](INFO): Extending Whiskers.
2020-01-23T01:13:18.107Z,1579741998.107 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:13:18.107Z,1579741998.107 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:18.107Z,1579741998.107 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:13:18.107Z,1579741998.107 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:13:18.107Z,1579741998.107 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:13:18.107Z,1579741998.107 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:13:18.107Z,1579741998.107 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:13:18.392Z,1579741998.392 [DDM](INFO): Extending Whiskers.
2020-01-23T01:13:18.425Z,1579741998.425 [DDM](FAULT): Could not parse whisker state
2020-01-23T01:13:18.425Z,1579741998.425 [DDM] Communications Fault, FailCount= 1
2020-01-23T01:13:18.425Z,1579741998.425 [DDM](ERROR): Communications Fault
2020-01-23T01:13:18.515Z,1579741998.515 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011318: (36.803398, -121.822304)
2020-01-23T01:13:18.516Z,1579741998.516 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:13:18.516Z,1579741998.516 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:13:18.516Z,1579741998.516 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:18.516Z,1579741998.516 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:13:18.516Z,1579741998.516 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:18.593Z,1579741998.593 [CBIT](ERROR): Communications Fault in component: DDM
2020-01-23T01:13:18.594Z,1579741998.594 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:13:18.795Z,1579741998.795 [DDM](INFO): Powering down
2020-01-23T01:13:18.918Z,1579741998.918 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:13:18.918Z,1579741998.918 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:18.918Z,1579741998.918 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:13:18.918Z,1579741998.918 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:13:18.918Z,1579741998.918 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:13:18.918Z,1579741998.918 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:13:18.919Z,1579741998.919 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:13:18.938Z,1579741998.938 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T01:13:19.252Z,1579741999.252 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011319: (36.803398, -121.822304)
2020-01-23T01:13:19.253Z,1579741999.253 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:13:19.253Z,1579741999.253 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:13:19.253Z,1579741999.253 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:19.253Z,1579741999.253 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:13:19.253Z,1579741999.253 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:19.613Z,1579741999.613 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:13:19.731Z,1579741999.731 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:13:19.731Z,1579741999.731 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:19.731Z,1579741999.731 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:13:19.732Z,1579741999.732 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:13:19.732Z,1579741999.732 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:13:19.732Z,1579741999.732 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:13:19.732Z,1579741999.732 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:13:19.849Z,1579741999.849 [CBIT](INFO): Clearing failed state for component DDM
2020-01-23T01:13:19.849Z,1579741999.849 [DDM] No Fault, FailCount= 0
2020-01-23T01:13:20.012Z,1579742000.012 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:13:20.091Z,1579742000.091 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011320: (36.803398, -121.822304)
2020-01-23T01:13:20.091Z,1579742000.091 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:13:20.091Z,1579742000.091 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:13:20.091Z,1579742000.091 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:20.091Z,1579742000.091 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:13:20.091Z,1579742000.091 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:20.472Z,1579742000.472 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:13:20.472Z,1579742000.472 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:20.472Z,1579742000.472 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:13:20.474Z,1579742000.474 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:13:20.474Z,1579742000.474 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:13:20.474Z,1579742000.474 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:13:20.474Z,1579742000.474 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:13:20.613Z,1579742000.613 [Reporter](INFO): acoustic_contact_range 1.979998 m
2020-01-23T01:13:20.838Z,1579742000.838 [Micromodem](INFO): Nmea in: $SNTTA,0.000587,,,,011320.53*4D

2020-01-23T01:13:20.898Z,1579742000.898 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011320: (36.803398, -121.822304)
2020-01-23T01:13:20.898Z,1579742000.898 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:13:20.898Z,1579742000.898 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:13:20.898Z,1579742000.898 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:20.898Z,1579742000.898 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:13:20.898Z,1579742000.898 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:21.267Z,1579742001.267 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:13:21.267Z,1579742001.267 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:21.267Z,1579742001.267 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:13:21.267Z,1579742001.267 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:13:21.267Z,1579742001.267 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:13:21.267Z,1579742001.267 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:13:21.267Z,1579742001.267 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:13:21.684Z,1579742001.684 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011321: (36.803398, -121.822304)
2020-01-23T01:13:21.684Z,1579742001.684 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:13:21.684Z,1579742001.684 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:13:21.684Z,1579742001.684 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:21.684Z,1579742001.684 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:13:21.684Z,1579742001.684 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:22.026Z,1579742002.026 [DDM](INFO): Powering up
2020-01-23T01:13:22.027Z,1579742002.027 [DDM](DEBUG): Initializing DDM.
2020-01-23T01:13:22.099Z,1579742002.099 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:13:22.099Z,1579742002.099 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:22.099Z,1579742002.099 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:13:22.099Z,1579742002.099 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:13:22.099Z,1579742002.099 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:13:22.099Z,1579742002.099 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:13:22.099Z,1579742002.099 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:13:22.484Z,1579742002.484 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011322: (36.803398, -121.822304)
2020-01-23T01:13:22.484Z,1579742002.484 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:13:22.484Z,1579742002.484 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:13:22.484Z,1579742002.484 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:22.484Z,1579742002.484 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:13:22.484Z,1579742002.484 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:22.887Z,1579742002.887 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:13:22.887Z,1579742002.887 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:22.887Z,1579742002.887 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:13:22.887Z,1579742002.887 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:13:22.888Z,1579742002.888 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:13:22.888Z,1579742002.888 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:13:22.888Z,1579742002.888 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:13:23.305Z,1579742003.305 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011323: (36.803398, -121.822304)
2020-01-23T01:13:23.305Z,1579742003.305 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:13:23.306Z,1579742003.306 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:13:23.306Z,1579742003.306 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:23.306Z,1579742003.306 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:13:23.306Z,1579742003.306 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:23.309Z,1579742003.309 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T01:13:23.687Z,1579742003.687 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:13:23.687Z,1579742003.687 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:23.687Z,1579742003.687 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:13:23.687Z,1579742003.687 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:13:23.687Z,1579742003.687 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:13:23.687Z,1579742003.687 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:13:23.687Z,1579742003.687 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:13:24.050Z,1579742004.050 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:13:24.174Z,1579742004.174 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011324: (36.803398, -121.822304)
2020-01-23T01:13:24.174Z,1579742004.174 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:13:24.174Z,1579742004.174 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:13:24.174Z,1579742004.174 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:24.175Z,1579742004.175 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:13:24.175Z,1579742004.175 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:24.456Z,1579742004.456 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:13:24.539Z,1579742004.539 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:13:24.539Z,1579742004.539 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:24.540Z,1579742004.540 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:13:24.540Z,1579742004.540 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:13:24.540Z,1579742004.540 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:13:24.540Z,1579742004.540 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:13:24.540Z,1579742004.540 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:13:24.888Z,1579742004.888 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011324: (36.803398, -121.822304)
2020-01-23T01:13:24.888Z,1579742004.888 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:13:24.888Z,1579742004.888 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:13:24.888Z,1579742004.888 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:24.888Z,1579742004.888 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:13:24.889Z,1579742004.889 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:25.011Z,1579742005.011 [Reporter](INFO): acoustic_contact_range 1.920001 m
2020-01-23T01:13:25.282Z,1579742005.282 [Micromodem](INFO): Nmea in: $SNTTA,0.000618,,,,011324.96*45

2020-01-23T01:13:25.320Z,1579742005.320 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:13:25.320Z,1579742005.320 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:25.320Z,1579742005.320 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:13:25.320Z,1579742005.320 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:13:25.349Z,1579742005.349 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:13:25.349Z,1579742005.349 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:13:25.349Z,1579742005.349 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:13:25.728Z,1579742005.728 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011325: (36.803398, -121.822304)
2020-01-23T01:13:25.728Z,1579742005.728 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:13:25.728Z,1579742005.728 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:13:25.728Z,1579742005.728 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:25.728Z,1579742005.728 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:13:25.728Z,1579742005.728 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:26.154Z,1579742006.154 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:13:26.154Z,1579742006.154 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:26.155Z,1579742006.155 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:13:26.155Z,1579742006.155 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.920001 m 
2020-01-23T01:13:26.155Z,1579742006.155 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:13:26.155Z,1579742006.155 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:13:26.155Z,1579742006.155 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:13:26.539Z,1579742006.539 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011326: (36.803398, -121.822304)
2020-01-23T01:13:26.539Z,1579742006.539 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:13:26.539Z,1579742006.539 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:13:26.539Z,1579742006.539 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:26.540Z,1579742006.540 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:13:26.540Z,1579742006.540 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:26.922Z,1579742006.922 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:13:26.923Z,1579742006.923 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:26.923Z,1579742006.923 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:13:26.923Z,1579742006.923 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.920001 m 
2020-01-23T01:13:26.923Z,1579742006.923 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:13:26.923Z,1579742006.923 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:13:26.923Z,1579742006.923 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:13:27.346Z,1579742007.346 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011327: (36.803398, -121.822304)
2020-01-23T01:13:27.346Z,1579742007.346 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:13:27.346Z,1579742007.346 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:13:27.347Z,1579742007.347 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:27.347Z,1579742007.347 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:13:27.347Z,1579742007.347 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:27.733Z,1579742007.733 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:13:27.733Z,1579742007.733 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:27.733Z,1579742007.733 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:13:27.733Z,1579742007.733 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.920001 m 
2020-01-23T01:13:27.734Z,1579742007.734 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:13:27.734Z,1579742007.734 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:13:27.734Z,1579742007.734 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:13:27.741Z,1579742007.741 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T01:13:28.127Z,1579742008.127 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011328: (36.803398, -121.822304)
2020-01-23T01:13:28.127Z,1579742008.127 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:13:28.127Z,1579742008.127 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:13:28.127Z,1579742008.127 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:28.127Z,1579742008.127 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:13:28.127Z,1579742008.127 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:28.496Z,1579742008.496 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:13:28.624Z,1579742008.624 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:13:28.624Z,1579742008.624 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:28.624Z,1579742008.624 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:13:28.630Z,1579742008.630 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.920001 m 
2020-01-23T01:13:28.630Z,1579742008.630 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:13:28.630Z,1579742008.630 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:13:28.631Z,1579742008.631 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:13:28.905Z,1579742008.905 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:13:28.944Z,1579742008.944 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011328: (36.803398, -121.822304)
2020-01-23T01:13:28.974Z,1579742008.974 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:13:28.974Z,1579742008.974 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:13:28.974Z,1579742008.974 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:28.974Z,1579742008.974 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:13:28.974Z,1579742008.974 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:29.379Z,1579742009.379 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:13:29.380Z,1579742009.380 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:29.380Z,1579742009.380 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:13:29.380Z,1579742009.380 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.920001 m 
2020-01-23T01:13:29.380Z,1579742009.380 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:13:29.380Z,1579742009.380 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:13:29.380Z,1579742009.380 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:13:29.505Z,1579742009.505 [Reporter](INFO): acoustic_contact_range 1.979998 m
2020-01-23T01:13:29.732Z,1579742009.732 [Micromodem](INFO): Nmea in: $SNTTA,0.000597,,,,011329.41*46

2020-01-23T01:13:29.768Z,1579742009.768 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011329: (36.803398, -121.822304)
2020-01-23T01:13:29.768Z,1579742009.768 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:13:29.768Z,1579742009.768 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:13:29.768Z,1579742009.768 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:29.768Z,1579742009.768 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:13:29.768Z,1579742009.768 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:30.182Z,1579742010.182 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:13:30.183Z,1579742010.183 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:30.183Z,1579742010.183 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:13:30.183Z,1579742010.183 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:13:30.183Z,1579742010.183 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:13:30.183Z,1579742010.183 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:13:30.183Z,1579742010.183 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:13:30.337Z,1579742010.337 [CommandLine](IMPORTANT): got command get depth
2020-01-23T01:13:30.338Z,1579742010.338 [CommandLine](IMPORTANT): depth 15.000000 m
2020-01-23T01:13:30.599Z,1579742010.599 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011330: (36.803398, -121.822304)
2020-01-23T01:13:30.599Z,1579742010.599 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:13:30.599Z,1579742010.599 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:13:30.599Z,1579742010.599 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:30.599Z,1579742010.599 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:13:30.599Z,1579742010.599 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:30.970Z,1579742010.970 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:13:30.971Z,1579742010.971 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:30.971Z,1579742010.971 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:13:30.971Z,1579742010.971 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:13:30.971Z,1579742010.971 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:13:30.971Z,1579742010.971 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:13:30.971Z,1579742010.971 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:13:31.384Z,1579742011.384 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011331: (36.803398, -121.822304)
2020-01-23T01:13:31.384Z,1579742011.384 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:13:31.384Z,1579742011.384 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:13:31.384Z,1579742011.384 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:31.384Z,1579742011.384 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:13:31.384Z,1579742011.384 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:31.773Z,1579742011.773 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:13:31.773Z,1579742011.773 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:31.773Z,1579742011.773 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:13:31.774Z,1579742011.774 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:13:31.774Z,1579742011.774 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:13:31.774Z,1579742011.774 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:13:31.774Z,1579742011.774 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:13:32.235Z,1579742012.235 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011332: (36.803398, -121.822304)
2020-01-23T01:13:32.235Z,1579742012.235 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:13:32.235Z,1579742012.235 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:13:32.235Z,1579742012.235 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:32.235Z,1579742012.235 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:13:32.236Z,1579742012.236 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:32.243Z,1579742012.243 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T01:13:32.531Z,1579742012.531 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2020-01-23T01:13:32.697Z,1579742012.697 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:13:32.697Z,1579742012.697 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:32.697Z,1579742012.697 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:13:32.698Z,1579742012.698 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:13:32.698Z,1579742012.698 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:13:32.698Z,1579742012.698 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:13:32.698Z,1579742012.698 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:13:32.833Z,1579742012.833 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T01:13:32.971Z,1579742012.971 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:13:33.098Z,1579742013.098 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011333: (36.803398, -121.822304)
2020-01-23T01:13:33.098Z,1579742013.098 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:13:33.098Z,1579742013.098 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:13:33.098Z,1579742013.098 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:33.098Z,1579742013.098 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:13:33.098Z,1579742013.098 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:33.441Z,1579742013.441 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:13:33.504Z,1579742013.504 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:13:33.505Z,1579742013.505 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:33.505Z,1579742013.505 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:13:33.505Z,1579742013.505 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:13:33.505Z,1579742013.505 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:13:33.505Z,1579742013.505 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:13:33.506Z,1579742013.506 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:13:33.870Z,1579742013.870 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011333: (36.803398, -121.822304)
2020-01-23T01:13:33.870Z,1579742013.870 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:13:33.870Z,1579742013.870 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:13:33.871Z,1579742013.871 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:33.871Z,1579742013.871 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:13:33.871Z,1579742013.871 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:34.002Z,1579742014.002 [Reporter](INFO): acoustic_contact_range 1.920001 m
2020-01-23T01:13:34.255Z,1579742014.255 [Micromodem](INFO): Nmea in: $SNTTA,0.000605,,,,011333.88*40

2020-01-23T01:13:34.292Z,1579742014.292 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:13:34.292Z,1579742014.292 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:34.292Z,1579742014.292 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:13:34.293Z,1579742014.293 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:13:34.293Z,1579742014.293 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:13:34.293Z,1579742014.293 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:13:34.293Z,1579742014.293 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:13:34.700Z,1579742014.700 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011334: (36.803398, -121.822304)
2020-01-23T01:13:34.700Z,1579742014.700 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:13:34.700Z,1579742014.700 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:13:34.700Z,1579742014.700 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:34.700Z,1579742014.700 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:13:34.700Z,1579742014.700 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:35.118Z,1579742015.118 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:13:35.118Z,1579742015.118 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:35.119Z,1579742015.119 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:13:35.120Z,1579742015.120 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.920001 m 
2020-01-23T01:13:35.127Z,1579742015.127 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:13:35.127Z,1579742015.127 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:13:35.128Z,1579742015.128 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:13:35.532Z,1579742015.532 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011335: (36.803398, -121.822304)
2020-01-23T01:13:35.541Z,1579742015.541 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:13:35.541Z,1579742015.541 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:13:35.541Z,1579742015.541 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:35.541Z,1579742015.541 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:13:35.541Z,1579742015.541 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:35.903Z,1579742015.903 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:13:35.903Z,1579742015.903 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:35.903Z,1579742015.903 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:13:35.903Z,1579742015.903 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.920001 m 
2020-01-23T01:13:35.903Z,1579742015.903 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:13:35.903Z,1579742015.903 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:13:35.904Z,1579742015.904 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:13:36.354Z,1579742016.354 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011336: (36.803398, -121.822304)
2020-01-23T01:13:36.354Z,1579742016.354 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:13:36.354Z,1579742016.354 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:13:36.355Z,1579742016.355 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:36.355Z,1579742016.355 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:13:36.355Z,1579742016.355 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:36.718Z,1579742016.718 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:13:36.718Z,1579742016.718 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:36.718Z,1579742016.718 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:13:36.718Z,1579742016.718 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.920001 m 
2020-01-23T01:13:36.718Z,1579742016.718 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:13:36.718Z,1579742016.718 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:13:36.718Z,1579742016.718 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:13:36.726Z,1579742016.726 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T01:13:37.182Z,1579742017.182 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011337: (36.803398, -121.822304)
2020-01-23T01:13:37.182Z,1579742017.182 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:13:37.182Z,1579742017.182 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:13:37.182Z,1579742017.182 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:37.182Z,1579742017.182 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:13:37.182Z,1579742017.182 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:37.471Z,1579742017.471 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:13:37.608Z,1579742017.608 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:13:37.608Z,1579742017.608 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:37.608Z,1579742017.608 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:13:37.608Z,1579742017.608 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.920001 m 
2020-01-23T01:13:37.608Z,1579742017.608 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:13:37.608Z,1579742017.608 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:13:37.608Z,1579742017.608 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:13:37.877Z,1579742017.877 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:13:37.947Z,1579742017.947 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011337: (36.803398, -121.822304)
2020-01-23T01:13:37.947Z,1579742017.947 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:13:37.947Z,1579742017.947 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:13:37.948Z,1579742017.948 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:37.948Z,1579742017.948 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:13:37.948Z,1579742017.948 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:38.355Z,1579742018.355 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:13:38.355Z,1579742018.355 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:38.355Z,1579742018.355 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:13:38.356Z,1579742018.356 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.920001 m 
2020-01-23T01:13:38.356Z,1579742018.356 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:13:38.356Z,1579742018.356 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:13:38.356Z,1579742018.356 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:13:38.458Z,1579742018.458 [Reporter](INFO): acoustic_contact_range 1.979998 m
2020-01-23T01:13:38.706Z,1579742018.706 [Micromodem](INFO): Nmea in: $SNTTA,0.000603,,,,011338.38*46

2020-01-23T01:13:38.810Z,1579742018.810 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011338: (36.803398, -121.822304)
2020-01-23T01:13:38.810Z,1579742018.810 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:13:38.810Z,1579742018.810 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:13:38.810Z,1579742018.810 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:38.810Z,1579742018.810 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:13:38.810Z,1579742018.810 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:39.156Z,1579742019.156 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:13:39.156Z,1579742019.156 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:39.181Z,1579742019.181 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:13:39.181Z,1579742019.181 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:13:39.181Z,1579742019.181 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:13:39.182Z,1579742019.182 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:13:39.182Z,1579742019.182 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:13:39.568Z,1579742019.568 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011339: (36.803398, -121.822304)
2020-01-23T01:13:39.568Z,1579742019.568 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:13:39.568Z,1579742019.568 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:13:39.573Z,1579742019.573 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:39.573Z,1579742019.573 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:13:39.573Z,1579742019.573 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:39.946Z,1579742019.946 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:13:39.946Z,1579742019.946 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:39.946Z,1579742019.946 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:13:39.947Z,1579742019.947 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:13:39.947Z,1579742019.947 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:13:39.947Z,1579742019.947 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:13:39.947Z,1579742019.947 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:13:40.397Z,1579742020.397 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011340: (36.803398, -121.822304)
2020-01-23T01:13:40.397Z,1579742020.397 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:13:40.397Z,1579742020.397 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:13:40.397Z,1579742020.397 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:40.398Z,1579742020.398 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:13:40.398Z,1579742020.398 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:40.797Z,1579742020.797 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:13:40.805Z,1579742020.805 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:40.805Z,1579742020.805 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:13:40.806Z,1579742020.806 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:13:40.806Z,1579742020.806 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:13:40.806Z,1579742020.806 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:13:40.806Z,1579742020.806 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:13:41.156Z,1579742021.156 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011341: (36.803398, -121.822304)
2020-01-23T01:13:41.156Z,1579742021.156 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:13:41.156Z,1579742021.156 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:13:41.201Z,1579742021.201 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:41.201Z,1579742021.201 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:13:41.201Z,1579742021.201 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:41.204Z,1579742021.204 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T01:13:41.637Z,1579742021.637 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:13:41.637Z,1579742021.637 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:41.637Z,1579742021.637 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:13:41.638Z,1579742021.638 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:13:41.638Z,1579742021.638 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:13:41.638Z,1579742021.638 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:13:41.638Z,1579742021.638 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:13:41.926Z,1579742021.926 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:13:42.040Z,1579742022.040 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011342: (36.803398, -121.822304)
2020-01-23T01:13:42.040Z,1579742022.040 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:13:42.040Z,1579742022.040 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:13:42.040Z,1579742022.040 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:42.040Z,1579742022.040 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:13:42.040Z,1579742022.040 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:42.346Z,1579742022.346 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:13:42.421Z,1579742022.421 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:13:42.421Z,1579742022.421 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:42.421Z,1579742022.421 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:13:42.422Z,1579742022.422 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:13:42.422Z,1579742022.422 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:13:42.422Z,1579742022.422 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:13:42.422Z,1579742022.422 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:13:42.779Z,1579742022.779 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011342: (36.803398, -121.822304)
2020-01-23T01:13:42.779Z,1579742022.779 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:13:42.779Z,1579742022.779 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:13:42.780Z,1579742022.780 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:42.780Z,1579742022.780 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:13:42.780Z,1579742022.780 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:42.832Z,1579742022.832 [Reporter](INFO): acoustic_contact_range 1.979998 m
2020-01-23T01:13:43.177Z,1579742023.177 [Micromodem](INFO): Nmea in: $SNTTA,0.000624,,,,011342.84*49

2020-01-23T01:13:43.215Z,1579742023.215 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:13:43.215Z,1579742023.215 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:43.215Z,1579742023.215 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:13:43.215Z,1579742023.215 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:13:43.216Z,1579742023.216 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:13:43.216Z,1579742023.216 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:13:43.216Z,1579742023.216 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:13:43.599Z,1579742023.599 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011343: (36.803398, -121.822304)
2020-01-23T01:13:43.599Z,1579742023.599 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:13:43.599Z,1579742023.599 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:13:43.600Z,1579742023.600 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:43.600Z,1579742023.600 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:13:43.600Z,1579742023.600 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:43.983Z,1579742023.983 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:13:43.984Z,1579742023.984 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:43.984Z,1579742023.984 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:13:43.984Z,1579742023.984 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:13:43.984Z,1579742023.984 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:13:43.984Z,1579742023.984 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:13:43.984Z,1579742023.984 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:13:44.423Z,1579742024.423 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011344: (36.803398, -121.822304)
2020-01-23T01:13:44.424Z,1579742024.424 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:13:44.424Z,1579742024.424 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:13:44.424Z,1579742024.424 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:44.424Z,1579742024.424 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:13:44.424Z,1579742024.424 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:44.802Z,1579742024.802 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:13:44.803Z,1579742024.803 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:44.803Z,1579742024.803 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:13:44.803Z,1579742024.803 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:13:44.803Z,1579742024.803 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:13:44.803Z,1579742024.803 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:13:44.803Z,1579742024.803 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:13:45.230Z,1579742025.230 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011345: (36.803398, -121.822304)
2020-01-23T01:13:45.230Z,1579742025.230 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:13:45.230Z,1579742025.230 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:13:45.230Z,1579742025.230 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:45.230Z,1579742025.230 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:13:45.230Z,1579742025.230 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:45.598Z,1579742025.598 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:13:45.598Z,1579742025.598 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:45.598Z,1579742025.598 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:13:45.598Z,1579742025.598 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:13:45.598Z,1579742025.598 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:13:45.599Z,1579742025.599 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:13:45.599Z,1579742025.599 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:13:45.602Z,1579742025.602 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T01:13:46.012Z,1579742026.012 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011346: (36.803398, -121.822304)
2020-01-23T01:13:46.012Z,1579742026.012 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:13:46.012Z,1579742026.012 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:13:46.012Z,1579742026.012 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:46.012Z,1579742026.012 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:13:46.012Z,1579742026.012 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:46.367Z,1579742026.367 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:13:46.492Z,1579742026.492 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:13:46.492Z,1579742026.492 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:46.492Z,1579742026.492 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:13:46.497Z,1579742026.497 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:13:46.497Z,1579742026.497 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:13:46.497Z,1579742026.497 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:13:46.497Z,1579742026.497 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:13:46.773Z,1579742026.773 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:13:46.851Z,1579742026.851 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011346: (36.803398, -121.822304)
2020-01-23T01:13:46.852Z,1579742026.852 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:13:46.852Z,1579742026.852 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:13:46.852Z,1579742026.852 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:46.852Z,1579742026.852 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:13:46.852Z,1579742026.852 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:47.244Z,1579742027.244 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:13:47.244Z,1579742027.244 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:47.244Z,1579742027.244 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:13:47.245Z,1579742027.245 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:13:47.245Z,1579742027.245 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:13:47.245Z,1579742027.245 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:13:47.245Z,1579742027.245 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:13:47.442Z,1579742027.442 [Reporter](INFO): acoustic_contact_range 1.979998 m
2020-01-23T01:13:47.602Z,1579742027.602 [Micromodem](INFO): Nmea in: $SNTTA,0.000593,,,,011347.28*45

2020-01-23T01:13:47.655Z,1579742027.655 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011347: (36.803398, -121.822304)
2020-01-23T01:13:47.656Z,1579742027.656 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:13:47.656Z,1579742027.656 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:13:47.656Z,1579742027.656 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:47.656Z,1579742027.656 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:13:47.656Z,1579742027.656 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:48.051Z,1579742028.051 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:13:48.051Z,1579742028.051 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:48.051Z,1579742028.051 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:13:48.051Z,1579742028.051 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:13:48.051Z,1579742028.051 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:13:48.051Z,1579742028.051 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:13:48.051Z,1579742028.051 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:13:48.448Z,1579742028.448 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011348: (36.803398, -121.822304)
2020-01-23T01:13:48.448Z,1579742028.448 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:13:48.448Z,1579742028.448 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:13:48.448Z,1579742028.448 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:48.448Z,1579742028.448 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:13:48.448Z,1579742028.448 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:48.842Z,1579742028.842 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:13:48.842Z,1579742028.842 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:48.842Z,1579742028.842 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:13:48.842Z,1579742028.842 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:13:48.843Z,1579742028.843 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:13:48.843Z,1579742028.843 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:13:48.843Z,1579742028.843 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:13:49.256Z,1579742029.256 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011349: (36.803398, -121.822304)
2020-01-23T01:13:49.256Z,1579742029.256 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:13:49.256Z,1579742029.256 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:13:49.256Z,1579742029.256 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:49.256Z,1579742029.256 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:13:49.256Z,1579742029.256 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:49.646Z,1579742029.646 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:13:49.647Z,1579742029.647 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:49.647Z,1579742029.647 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:13:49.647Z,1579742029.647 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:13:49.647Z,1579742029.647 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:13:49.647Z,1579742029.647 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:13:49.647Z,1579742029.647 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:13:50.043Z,1579742030.043 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011350: (36.803398, -121.822304)
2020-01-23T01:13:50.043Z,1579742030.043 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:13:50.043Z,1579742030.043 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:13:50.044Z,1579742030.044 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:50.044Z,1579742030.044 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:13:50.044Z,1579742030.044 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:50.047Z,1579742030.047 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T01:13:50.463Z,1579742030.463 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:13:50.463Z,1579742030.463 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:50.464Z,1579742030.464 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:13:50.466Z,1579742030.466 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:13:50.466Z,1579742030.466 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:13:50.466Z,1579742030.466 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:13:50.466Z,1579742030.466 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:13:50.811Z,1579742030.811 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:13:50.924Z,1579742030.924 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011350: (36.803398, -121.822304)
2020-01-23T01:13:50.924Z,1579742030.924 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:13:50.924Z,1579742030.924 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:13:50.925Z,1579742030.925 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:50.925Z,1579742030.925 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:13:50.925Z,1579742030.925 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:51.228Z,1579742031.228 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:13:51.295Z,1579742031.295 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:13:51.295Z,1579742031.295 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:51.295Z,1579742031.295 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:13:51.296Z,1579742031.296 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:13:51.296Z,1579742031.296 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:13:51.296Z,1579742031.296 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:13:51.296Z,1579742031.296 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:13:51.676Z,1579742031.676 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011351: (36.803398, -121.822304)
2020-01-23T01:13:51.676Z,1579742031.676 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:13:51.676Z,1579742031.676 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:13:51.676Z,1579742031.676 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:51.676Z,1579742031.676 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:13:51.676Z,1579742031.676 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:51.794Z,1579742031.794 [Reporter](INFO): acoustic_contact_range 1.920001 m
2020-01-23T01:13:52.050Z,1579742032.050 [Micromodem](INFO): Nmea in: $SNTTA,0.000593,,,,011351.73*4C

2020-01-23T01:13:52.098Z,1579742032.099 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:13:52.099Z,1579742032.099 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:52.099Z,1579742032.099 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:13:52.099Z,1579742032.099 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:13:52.099Z,1579742032.099 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:13:52.099Z,1579742032.099 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:13:52.099Z,1579742032.099 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:13:52.511Z,1579742032.511 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011352: (36.803398, -121.822304)
2020-01-23T01:13:52.511Z,1579742032.511 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:13:52.511Z,1579742032.511 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:13:52.512Z,1579742032.512 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:52.512Z,1579742032.512 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:13:52.512Z,1579742032.512 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:52.886Z,1579742032.886 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:13:52.887Z,1579742032.887 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:52.887Z,1579742032.887 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:13:52.887Z,1579742032.887 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.920001 m 
2020-01-23T01:13:52.887Z,1579742032.887 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:13:52.887Z,1579742032.887 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:13:52.887Z,1579742032.887 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:13:53.288Z,1579742033.288 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011353: (36.803398, -121.822304)
2020-01-23T01:13:53.289Z,1579742033.289 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:13:53.289Z,1579742033.289 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:13:53.289Z,1579742033.289 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:53.289Z,1579742033.289 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:13:53.289Z,1579742033.289 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:53.702Z,1579742033.702 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:13:53.703Z,1579742033.703 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:53.703Z,1579742033.703 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:13:53.703Z,1579742033.703 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.920001 m 
2020-01-23T01:13:53.703Z,1579742033.703 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:13:53.703Z,1579742033.703 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:13:53.703Z,1579742033.703 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:13:54.102Z,1579742034.102 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011354: (36.803398, -121.822304)
2020-01-23T01:13:54.102Z,1579742034.102 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:13:54.102Z,1579742034.102 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:13:54.102Z,1579742034.102 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:54.102Z,1579742034.102 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:13:54.102Z,1579742034.102 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:54.493Z,1579742034.493 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:13:54.493Z,1579742034.493 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:54.493Z,1579742034.493 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:13:54.494Z,1579742034.494 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.920001 m 
2020-01-23T01:13:54.494Z,1579742034.494 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:13:54.494Z,1579742034.494 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:13:54.494Z,1579742034.494 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:13:54.497Z,1579742034.497 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T01:13:54.885Z,1579742034.885 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011354: (36.803398, -121.822304)
2020-01-23T01:13:54.885Z,1579742034.885 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:13:54.885Z,1579742034.885 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:13:54.886Z,1579742034.886 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:54.886Z,1579742034.886 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:13:54.886Z,1579742034.886 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:55.263Z,1579742035.263 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:13:55.390Z,1579742035.390 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:13:55.390Z,1579742035.390 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:55.390Z,1579742035.390 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:13:55.391Z,1579742035.391 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.920001 m 
2020-01-23T01:13:55.391Z,1579742035.391 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:13:55.391Z,1579742035.391 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:13:55.391Z,1579742035.391 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:13:55.665Z,1579742035.665 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:13:55.744Z,1579742035.744 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011355: (36.803398, -121.822304)
2020-01-23T01:13:55.744Z,1579742035.744 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:13:55.744Z,1579742035.744 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:13:55.745Z,1579742035.745 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:55.745Z,1579742035.745 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:13:55.745Z,1579742035.745 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:56.130Z,1579742036.130 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:13:56.130Z,1579742036.130 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:56.130Z,1579742036.130 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:13:56.132Z,1579742036.132 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.920001 m 
2020-01-23T01:13:56.132Z,1579742036.132 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:13:56.132Z,1579742036.132 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:13:56.133Z,1579742036.133 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:13:56.278Z,1579742036.278 [Reporter](INFO): acoustic_contact_range 1.979998 m
2020-01-23T01:13:56.498Z,1579742036.498 [Micromodem](INFO): Nmea in: $SNTTA,0.000615,,,,011356.18*4B

2020-01-23T01:13:56.554Z,1579742036.554 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011356: (36.803398, -121.822304)
2020-01-23T01:13:56.554Z,1579742036.554 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:13:56.554Z,1579742036.554 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:13:56.554Z,1579742036.554 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:56.554Z,1579742036.554 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:13:56.554Z,1579742036.554 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:56.938Z,1579742036.938 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:13:56.938Z,1579742036.938 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:56.938Z,1579742036.938 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:13:56.939Z,1579742036.939 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:13:56.939Z,1579742036.939 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:13:56.939Z,1579742036.939 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:13:56.939Z,1579742036.939 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:13:57.328Z,1579742037.328 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011357: (36.803398, -121.822304)
2020-01-23T01:13:57.328Z,1579742037.328 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:13:57.328Z,1579742037.328 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:13:57.328Z,1579742037.328 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:57.328Z,1579742037.328 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:13:57.328Z,1579742037.328 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:57.729Z,1579742037.729 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:13:57.729Z,1579742037.729 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:57.729Z,1579742037.729 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:13:57.730Z,1579742037.730 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:13:57.730Z,1579742037.730 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:13:57.730Z,1579742037.730 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:13:57.730Z,1579742037.730 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:13:58.146Z,1579742038.146 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011358: (36.803398, -121.822304)
2020-01-23T01:13:58.146Z,1579742038.146 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:13:58.146Z,1579742038.146 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:13:58.146Z,1579742038.146 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:58.146Z,1579742038.146 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:13:58.147Z,1579742038.147 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:58.544Z,1579742038.544 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:13:58.544Z,1579742038.544 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:58.544Z,1579742038.544 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:13:58.545Z,1579742038.545 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:13:58.545Z,1579742038.545 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:13:58.545Z,1579742038.545 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:13:58.546Z,1579742038.546 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:13:58.938Z,1579742038.938 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011358: (36.803398, -121.822304)
2020-01-23T01:13:58.939Z,1579742038.939 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:13:58.939Z,1579742038.939 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:13:58.939Z,1579742038.939 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:58.939Z,1579742038.939 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:13:58.939Z,1579742038.939 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:58.946Z,1579742038.946 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T01:13:59.367Z,1579742039.367 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:13:59.367Z,1579742039.367 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:59.367Z,1579742039.367 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:13:59.368Z,1579742039.368 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:13:59.368Z,1579742039.368 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:13:59.368Z,1579742039.368 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:13:59.368Z,1579742039.368 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:13:59.703Z,1579742039.703 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:13:59.819Z,1579742039.819 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011359: (36.803398, -121.822304)
2020-01-23T01:13:59.819Z,1579742039.819 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:13:59.819Z,1579742039.819 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:13:59.819Z,1579742039.819 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:13:59.819Z,1579742039.819 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:13:59.820Z,1579742039.819 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:00.105Z,1579742040.105 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:14:00.166Z,1579742040.166 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:14:00.167Z,1579742040.167 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:00.167Z,1579742040.167 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:14:00.167Z,1579742040.167 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:14:00.167Z,1579742040.167 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:14:00.167Z,1579742040.167 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:14:00.167Z,1579742040.167 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:14:00.622Z,1579742040.622 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011400: (36.803398, -121.822304)
2020-01-23T01:14:00.622Z,1579742040.622 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:14:00.622Z,1579742040.622 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:14:00.622Z,1579742040.622 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:00.622Z,1579742040.622 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:14:00.622Z,1579742040.622 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:00.738Z,1579742040.738 [Reporter](INFO): acoustic_contact_range 1.979998 m
2020-01-23T01:14:00.942Z,1579742040.942 [Micromodem](INFO): Nmea in: $SNTTA,0.000610,,,,011400.62*47

2020-01-23T01:14:00.996Z,1579742040.996 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:14:00.996Z,1579742040.996 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:00.996Z,1579742040.996 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:14:00.997Z,1579742040.997 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:14:00.997Z,1579742040.997 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:14:00.997Z,1579742040.997 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:14:00.997Z,1579742040.997 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:14:01.342Z,1579742041.342 [PowerOnly](INFO): Powering down
2020-01-23T01:14:01.360Z,1579742041.360 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011401: (36.803398, -121.822304)
2020-01-23T01:14:01.360Z,1579742041.360 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:14:01.360Z,1579742041.360 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:14:01.360Z,1579742041.360 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:01.360Z,1579742041.360 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:14:01.360Z,1579742041.360 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:01.776Z,1579742041.776 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:14:01.776Z,1579742041.776 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:01.776Z,1579742041.776 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:14:01.777Z,1579742041.777 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:14:01.777Z,1579742041.777 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:14:01.777Z,1579742041.777 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:14:01.777Z,1579742041.777 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:14:02.170Z,1579742042.170 [PowerOnly](INFO): Powering up
2020-01-23T01:14:02.197Z,1579742042.197 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011402: (36.803398, -121.822304)
2020-01-23T01:14:02.197Z,1579742042.197 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:14:02.197Z,1579742042.197 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:14:02.197Z,1579742042.197 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:02.197Z,1579742042.197 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:14:02.198Z,1579742042.198 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:02.590Z,1579742042.590 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:14:02.591Z,1579742042.591 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:02.591Z,1579742042.591 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:14:02.591Z,1579742042.591 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:14:02.591Z,1579742042.591 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:14:02.591Z,1579742042.591 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:14:02.591Z,1579742042.591 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:14:02.899Z,1579742042.899 [DDM](FAULT): Failed to extend whisker before timeout.
2020-01-23T01:14:02.899Z,1579742042.899 [DDM] Hardware Fault, FailCount= 1
2020-01-23T01:14:02.899Z,1579742042.899 [DDM](ERROR): Hardware Fault
2020-01-23T01:14:02.973Z,1579742042.973 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011402: (36.803398, -121.822304)
2020-01-23T01:14:02.973Z,1579742042.973 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:14:02.973Z,1579742042.973 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:14:02.974Z,1579742042.974 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:02.974Z,1579742042.974 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:14:02.974Z,1579742042.974 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:03.085Z,1579742043.085 [CBIT](ERROR): Hardware Fault in component: DDM
2020-01-23T01:14:03.086Z,1579742043.086 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:14:03.302Z,1579742043.302 [DDM](INFO): Powering down
2020-01-23T01:14:03.426Z,1579742043.426 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:14:03.426Z,1579742043.426 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:03.426Z,1579742043.426 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:14:03.426Z,1579742043.426 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:14:03.426Z,1579742043.426 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:14:03.427Z,1579742043.427 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:14:03.427Z,1579742043.427 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:14:03.430Z,1579742043.430 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T01:14:03.768Z,1579742043.768 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011403: (36.803398, -121.822304)
2020-01-23T01:14:03.768Z,1579742043.768 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:14:03.768Z,1579742043.768 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:14:03.768Z,1579742043.768 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:03.768Z,1579742043.768 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:14:03.768Z,1579742043.768 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:04.131Z,1579742044.131 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:14:04.250Z,1579742044.250 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:14:04.250Z,1579742044.250 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:04.250Z,1579742044.250 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:14:04.251Z,1579742044.251 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:14:04.251Z,1579742044.251 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:14:04.251Z,1579742044.251 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:14:04.251Z,1579742044.251 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:14:04.353Z,1579742044.353 [CBIT](INFO): Clearing failed state for component DDM
2020-01-23T01:14:04.353Z,1579742044.353 [DDM] No Fault, FailCount= 1
2020-01-23T01:14:04.522Z,1579742044.522 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:14:04.604Z,1579742044.604 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011404: (36.803398, -121.822304)
2020-01-23T01:14:04.604Z,1579742044.604 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:14:04.604Z,1579742044.604 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:14:04.604Z,1579742044.604 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:04.604Z,1579742044.604 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:14:04.604Z,1579742044.604 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:04.949Z,1579742044.949 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:14:04.949Z,1579742044.949 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:04.949Z,1579742044.949 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:14:04.949Z,1579742044.949 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:14:04.950Z,1579742044.950 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:14:04.950Z,1579742044.950 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:14:04.950Z,1579742044.950 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:14:05.145Z,1579742045.145 [Reporter](INFO): acoustic_contact_range 1.979998 m
2020-01-23T01:14:05.354Z,1579742045.354 [Micromodem](INFO): Nmea in: $SNTTA,0.000595,,,,011405.05*4D

2020-01-23T01:14:05.440Z,1579742045.440 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011405: (36.803398, -121.822304)
2020-01-23T01:14:05.440Z,1579742045.440 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:14:05.440Z,1579742045.440 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:14:05.440Z,1579742045.440 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:05.440Z,1579742045.440 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:14:05.445Z,1579742045.445 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:05.779Z,1579742045.779 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:14:05.779Z,1579742045.779 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:05.779Z,1579742045.779 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:14:05.779Z,1579742045.779 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:14:05.780Z,1579742045.780 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:14:05.780Z,1579742045.780 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:14:05.780Z,1579742045.780 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:14:06.209Z,1579742046.209 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011406: (36.803398, -121.822304)
2020-01-23T01:14:06.209Z,1579742046.209 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:14:06.209Z,1579742046.209 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:14:06.209Z,1579742046.209 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:06.209Z,1579742046.209 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:14:06.209Z,1579742046.209 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:06.545Z,1579742046.545 [DDM](INFO): Powering up
2020-01-23T01:14:06.545Z,1579742046.545 [DDM](DEBUG): Initializing DDM.
2020-01-23T01:14:06.623Z,1579742046.623 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:14:06.623Z,1579742046.623 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:06.623Z,1579742046.623 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:14:06.623Z,1579742046.623 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:14:06.623Z,1579742046.623 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:14:06.623Z,1579742046.623 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:14:06.624Z,1579742046.624 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:14:07.019Z,1579742047.019 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011407: (36.803398, -121.822304)
2020-01-23T01:14:07.019Z,1579742047.019 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:14:07.019Z,1579742047.019 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:14:07.019Z,1579742047.019 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:07.019Z,1579742047.019 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:14:07.019Z,1579742047.019 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:07.412Z,1579742047.412 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:14:07.412Z,1579742047.412 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:07.412Z,1579742047.412 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:14:07.412Z,1579742047.412 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:14:07.412Z,1579742047.412 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:14:07.412Z,1579742047.412 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:14:07.413Z,1579742047.413 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:14:07.803Z,1579742047.803 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011407: (36.803398, -121.822304)
2020-01-23T01:14:07.803Z,1579742047.803 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:14:07.803Z,1579742047.803 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:14:07.803Z,1579742047.803 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:07.803Z,1579742047.803 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:14:07.803Z,1579742047.803 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:07.807Z,1579742047.807 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T01:14:08.225Z,1579742048.225 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:14:08.225Z,1579742048.225 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:08.225Z,1579742048.225 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:14:08.226Z,1579742048.226 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:14:08.226Z,1579742048.226 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:14:08.226Z,1579742048.226 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:14:08.226Z,1579742048.226 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:14:08.571Z,1579742048.571 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:14:08.687Z,1579742048.687 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011408: (36.803398, -121.822304)
2020-01-23T01:14:08.687Z,1579742048.687 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:14:08.688Z,1579742048.688 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:14:08.688Z,1579742048.688 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:08.688Z,1579742048.688 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:14:08.688Z,1579742048.688 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:08.985Z,1579742048.985 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:14:09.031Z,1579742049.031 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:14:09.031Z,1579742049.031 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:09.031Z,1579742049.031 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:14:09.031Z,1579742049.031 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:14:09.031Z,1579742049.031 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:14:09.031Z,1579742049.031 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:14:09.032Z,1579742049.032 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:14:09.431Z,1579742049.431 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011409: (36.803398, -121.822304)
2020-01-23T01:14:09.431Z,1579742049.431 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:14:09.431Z,1579742049.431 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:14:09.431Z,1579742049.431 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:09.431Z,1579742049.431 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:14:09.431Z,1579742049.431 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:09.614Z,1579742049.614 [Reporter](INFO): acoustic_contact_range 1.979998 m
2020-01-23T01:14:09.798Z,1579742049.798 [Micromodem](INFO): Nmea in: $SNTTA,0.000599,,,,011409.48*44

2020-01-23T01:14:09.850Z,1579742049.850 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:14:09.850Z,1579742049.850 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:09.850Z,1579742049.850 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:14:09.851Z,1579742049.851 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:14:09.851Z,1579742049.851 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:14:09.851Z,1579742049.851 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:14:09.851Z,1579742049.851 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:14:10.245Z,1579742050.245 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011410: (36.803398, -121.822304)
2020-01-23T01:14:10.245Z,1579742050.245 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:14:10.245Z,1579742050.245 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:14:10.246Z,1579742050.246 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:10.246Z,1579742050.246 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:14:10.246Z,1579742050.246 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:10.670Z,1579742050.670 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:14:10.670Z,1579742050.670 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:10.670Z,1579742050.670 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:14:10.671Z,1579742050.671 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:14:10.671Z,1579742050.671 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:14:10.671Z,1579742050.671 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:14:10.671Z,1579742050.671 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:14:11.040Z,1579742051.040 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011411: (36.803398, -121.822304)
2020-01-23T01:14:11.040Z,1579742051.040 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:14:11.040Z,1579742051.040 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:14:11.040Z,1579742051.040 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:11.040Z,1579742051.040 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:14:11.040Z,1579742051.040 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:11.454Z,1579742051.454 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:14:11.454Z,1579742051.454 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:11.454Z,1579742051.454 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:14:11.455Z,1579742051.455 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:14:11.455Z,1579742051.455 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:14:11.455Z,1579742051.455 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:14:11.455Z,1579742051.455 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:14:11.859Z,1579742051.859 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011411: (36.803398, -121.822304)
2020-01-23T01:14:11.859Z,1579742051.859 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:14:11.859Z,1579742051.859 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:14:11.859Z,1579742051.859 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:11.859Z,1579742051.859 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:14:11.859Z,1579742051.859 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:12.244Z,1579742052.244 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:14:12.244Z,1579742052.244 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:12.245Z,1579742052.245 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:14:12.245Z,1579742052.245 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:14:12.245Z,1579742052.245 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:14:12.245Z,1579742052.245 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:14:12.245Z,1579742052.245 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:14:12.249Z,1579742052.249 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T01:14:12.649Z,1579742052.649 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011412: (36.803398, -121.822304)
2020-01-23T01:14:12.649Z,1579742052.649 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:14:12.649Z,1579742052.649 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:14:12.649Z,1579742052.649 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:12.649Z,1579742052.649 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:14:12.650Z,1579742052.650 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:13.003Z,1579742053.003 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:14:13.127Z,1579742053.127 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:14:13.127Z,1579742053.127 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:13.128Z,1579742053.128 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:14:13.134Z,1579742053.134 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:14:13.134Z,1579742053.134 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:14:13.135Z,1579742053.135 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:14:13.135Z,1579742053.135 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:14:13.407Z,1579742053.407 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:14:13.497Z,1579742053.497 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011413: (36.803398, -121.822304)
2020-01-23T01:14:13.497Z,1579742053.497 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:14:13.498Z,1579742053.498 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:14:13.498Z,1579742053.498 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:13.498Z,1579742053.498 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:14:13.498Z,1579742053.498 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:13.851Z,1579742053.851 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:14:13.851Z,1579742053.851 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:13.851Z,1579742053.851 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:14:13.852Z,1579742053.852 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:14:13.852Z,1579742053.852 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:14:13.852Z,1579742053.852 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:14:13.852Z,1579742053.852 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:14:13.974Z,1579742053.974 [Reporter](INFO): acoustic_contact_range 1.979998 m
2020-01-23T01:14:14.234Z,1579742054.234 [Micromodem](INFO): Nmea in: $SNTTA,0.000616,,,,011413.92*4C

2020-01-23T01:14:14.296Z,1579742054.296 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011414: (36.803398, -121.822304)
2020-01-23T01:14:14.297Z,1579742054.297 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:14:14.297Z,1579742054.297 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:14:14.297Z,1579742054.297 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:14.297Z,1579742054.297 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:14:14.298Z,1579742054.298 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:14.695Z,1579742054.695 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:14:14.695Z,1579742054.695 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:14.695Z,1579742054.695 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:14:14.695Z,1579742054.695 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:14:14.695Z,1579742054.695 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:14:14.696Z,1579742054.696 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:14:14.696Z,1579742054.696 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:14:15.079Z,1579742055.079 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011415: (36.803398, -121.822304)
2020-01-23T01:14:15.079Z,1579742055.079 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:14:15.079Z,1579742055.079 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:14:15.079Z,1579742055.079 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:15.079Z,1579742055.079 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:14:15.079Z,1579742055.079 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:15.502Z,1579742055.502 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:14:15.502Z,1579742055.502 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:15.503Z,1579742055.503 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:14:15.503Z,1579742055.503 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:14:15.503Z,1579742055.503 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:14:15.503Z,1579742055.503 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:14:15.503Z,1579742055.503 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:14:15.884Z,1579742055.884 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011415: (36.803398, -121.822304)
2020-01-23T01:14:15.884Z,1579742055.884 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:14:15.884Z,1579742055.884 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:14:15.884Z,1579742055.884 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:15.884Z,1579742055.884 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:14:15.884Z,1579742055.884 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:16.299Z,1579742056.299 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:14:16.299Z,1579742056.299 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:16.299Z,1579742056.299 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:14:16.299Z,1579742056.299 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:14:16.299Z,1579742056.299 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:14:16.299Z,1579742056.299 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:14:16.299Z,1579742056.299 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:14:16.674Z,1579742056.674 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011416: (36.803398, -121.822304)
2020-01-23T01:14:16.674Z,1579742056.674 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:14:16.674Z,1579742056.674 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:14:16.674Z,1579742056.674 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:16.674Z,1579742056.674 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:14:16.674Z,1579742056.674 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:16.678Z,1579742056.678 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T01:14:17.039Z,1579742057.039 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2020-01-23T01:14:17.252Z,1579742057.252 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:14:17.252Z,1579742057.252 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:17.252Z,1579742057.252 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:14:17.253Z,1579742057.253 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:14:17.253Z,1579742057.253 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:14:17.253Z,1579742057.253 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:14:17.253Z,1579742057.253 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:14:17.389Z,1579742057.389 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-23T01:14:17.486Z,1579742057.486 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:14:17.602Z,1579742057.602 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011417: (36.803398, -121.822304)
2020-01-23T01:14:17.602Z,1579742057.602 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:14:17.602Z,1579742057.602 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:14:17.602Z,1579742057.602 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:17.602Z,1579742057.602 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:14:17.602Z,1579742057.602 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:17.887Z,1579742057.887 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:14:17.961Z,1579742057.961 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:14:17.961Z,1579742057.961 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:17.961Z,1579742057.961 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:14:17.962Z,1579742057.962 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:14:17.962Z,1579742057.962 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:14:17.962Z,1579742057.962 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:14:17.962Z,1579742057.962 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:14:18.336Z,1579742058.336 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011418: (36.803398, -121.822304)
2020-01-23T01:14:18.336Z,1579742058.336 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:14:18.336Z,1579742058.336 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:14:18.337Z,1579742058.337 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:18.337Z,1579742058.337 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:14:18.337Z,1579742058.337 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:18.530Z,1579742058.530 [Reporter](INFO): acoustic_contact_range 1.979998 m
2020-01-23T01:14:18.714Z,1579742058.714 [Micromodem](INFO): Nmea in: $SNTTA,0.000597,,,,011418.40*42

2020-01-23T01:14:18.773Z,1579742058.773 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:14:18.773Z,1579742058.773 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:18.773Z,1579742058.773 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:14:18.773Z,1579742058.773 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:14:18.774Z,1579742058.774 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:14:18.774Z,1579742058.774 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:14:18.774Z,1579742058.774 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:14:19.160Z,1579742059.160 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011419: (36.803398, -121.822304)
2020-01-23T01:14:19.160Z,1579742059.160 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:14:19.160Z,1579742059.160 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:14:19.160Z,1579742059.160 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:19.160Z,1579742059.160 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:14:19.161Z,1579742059.161 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:19.243Z,1579742059.243 [CommandLine](IMPORTANT): got command get DDM.cablePresent
2020-01-23T01:14:19.244Z,1579742059.244 [CommandLine](IMPORTANT): DDM.cablePresent 1 bool
2020-01-23T01:14:19.548Z,1579742059.548 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:14:19.548Z,1579742059.548 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:19.549Z,1579742059.549 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:14:19.549Z,1579742059.549 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:14:19.549Z,1579742059.549 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:14:19.549Z,1579742059.549 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:14:19.549Z,1579742059.549 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:14:19.954Z,1579742059.954 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011419: (36.803398, -121.822304)
2020-01-23T01:14:19.955Z,1579742059.955 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:14:19.955Z,1579742059.955 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:14:19.955Z,1579742059.955 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:19.955Z,1579742059.955 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:14:19.955Z,1579742059.955 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:20.339Z,1579742060.339 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:14:20.340Z,1579742060.340 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:20.340Z,1579742060.340 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:14:20.340Z,1579742060.340 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:14:20.340Z,1579742060.340 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:14:20.340Z,1579742060.340 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:14:20.340Z,1579742060.340 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:14:20.799Z,1579742060.799 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011420: (36.803398, -121.822304)
2020-01-23T01:14:20.799Z,1579742060.799 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:14:20.799Z,1579742060.799 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:14:20.800Z,1579742060.800 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:20.800Z,1579742060.800 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:14:20.800Z,1579742060.800 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:21.153Z,1579742061.153 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:14:21.153Z,1579742061.153 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:21.153Z,1579742061.153 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:14:21.154Z,1579742061.154 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:14:21.154Z,1579742061.154 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:14:21.154Z,1579742061.154 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:14:21.154Z,1579742061.154 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:14:21.157Z,1579742061.157 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T01:14:21.593Z,1579742061.593 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011421: (36.803398, -121.822304)
2020-01-23T01:14:21.593Z,1579742061.593 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:14:21.593Z,1579742061.593 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:14:21.594Z,1579742061.594 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:21.594Z,1579742061.594 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:14:21.594Z,1579742061.594 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:21.923Z,1579742061.923 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:14:22.037Z,1579742062.037 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:14:22.037Z,1579742062.037 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:22.037Z,1579742062.037 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:14:22.038Z,1579742062.038 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:14:22.038Z,1579742062.038 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:14:22.038Z,1579742062.038 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:14:22.038Z,1579742062.038 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:14:22.325Z,1579742062.325 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:14:22.395Z,1579742062.395 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011422: (36.803398, -121.822304)
2020-01-23T01:14:22.395Z,1579742062.395 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:14:22.395Z,1579742062.395 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:14:22.395Z,1579742062.395 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:22.395Z,1579742062.395 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:14:22.395Z,1579742062.395 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:22.759Z,1579742062.759 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:14:22.759Z,1579742062.759 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:22.759Z,1579742062.759 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:14:22.759Z,1579742062.759 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:14:22.760Z,1579742062.760 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:14:22.760Z,1579742062.760 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:14:22.760Z,1579742062.760 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:14:22.938Z,1579742062.938 [Reporter](INFO): acoustic_contact_range 1.979998 m
2020-01-23T01:14:23.170Z,1579742063.170 [Micromodem](INFO): Nmea in: $SNTTA,0.000595,,,,011422.83*46

2020-01-23T01:14:23.239Z,1579742063.239 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011423: (36.803398, -121.822304)
2020-01-23T01:14:23.239Z,1579742063.239 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:14:23.239Z,1579742063.239 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:14:23.240Z,1579742063.240 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:23.240Z,1579742063.240 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:14:23.240Z,1579742063.240 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:23.587Z,1579742063.587 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:14:23.587Z,1579742063.587 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:23.587Z,1579742063.587 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:14:23.588Z,1579742063.588 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:14:23.588Z,1579742063.588 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:14:23.588Z,1579742063.588 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:14:23.588Z,1579742063.588 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:14:23.990Z,1579742063.990 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011423: (36.803398, -121.822304)
2020-01-23T01:14:23.990Z,1579742063.990 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:14:23.990Z,1579742063.990 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:14:23.990Z,1579742063.990 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:23.990Z,1579742063.990 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:14:23.990Z,1579742063.990 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:24.418Z,1579742064.418 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:14:24.418Z,1579742064.418 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:24.418Z,1579742064.418 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:14:24.418Z,1579742064.418 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:14:24.418Z,1579742064.418 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:14:24.418Z,1579742064.418 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:14:24.419Z,1579742064.419 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:14:24.798Z,1579742064.798 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011424: (36.803398, -121.822304)
2020-01-23T01:14:24.798Z,1579742064.798 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:14:24.798Z,1579742064.798 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:14:24.798Z,1579742064.798 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:24.798Z,1579742064.798 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:14:24.798Z,1579742064.798 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:25.257Z,1579742065.257 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:14:25.257Z,1579742065.257 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:25.257Z,1579742065.257 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:14:25.258Z,1579742065.258 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:14:25.258Z,1579742065.258 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:14:25.258Z,1579742065.258 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:14:25.258Z,1579742065.258 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:14:25.265Z,1579742065.265 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T01:14:25.608Z,1579742065.608 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011425: (36.803398, -121.822304)
2020-01-23T01:14:25.608Z,1579742065.608 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:14:25.608Z,1579742065.608 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:14:25.608Z,1579742065.608 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:25.608Z,1579742065.608 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:14:25.608Z,1579742065.608 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:25.971Z,1579742065.971 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:14:26.070Z,1579742066.070 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:14:26.070Z,1579742066.070 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:26.071Z,1579742066.071 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:14:26.072Z,1579742066.072 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:14:26.072Z,1579742066.072 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:14:26.072Z,1579742066.072 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:14:26.072Z,1579742066.072 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:14:26.369Z,1579742066.369 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:14:26.437Z,1579742066.437 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011426: (36.803398, -121.822304)
2020-01-23T01:14:26.437Z,1579742066.437 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:14:26.437Z,1579742066.437 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:14:26.437Z,1579742066.437 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:26.437Z,1579742066.437 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:14:26.437Z,1579742066.437 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:26.810Z,1579742066.810 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:14:26.811Z,1579742066.811 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:26.811Z,1579742066.811 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:14:26.811Z,1579742066.811 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:14:26.811Z,1579742066.811 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:14:26.811Z,1579742066.811 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:14:26.811Z,1579742066.811 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:14:26.962Z,1579742066.962 [Reporter](INFO): acoustic_contact_range 1.979998 m
2020-01-23T01:14:27.222Z,1579742067.222 [Micromodem](INFO): Nmea in: $SNTTA,0.000593,,,,011426.89*4E

2020-01-23T01:14:27.279Z,1579742067.279 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011427: (36.803398, -121.822304)
2020-01-23T01:14:27.279Z,1579742067.279 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:14:27.279Z,1579742067.279 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:14:27.279Z,1579742067.279 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:27.279Z,1579742067.279 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:14:27.279Z,1579742067.279 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:27.623Z,1579742067.623 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:14:27.623Z,1579742067.623 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:27.623Z,1579742067.623 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:14:27.624Z,1579742067.624 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:14:27.624Z,1579742067.624 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:14:27.624Z,1579742067.624 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:14:27.624Z,1579742067.624 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:14:28.048Z,1579742068.048 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011428: (36.803398, -121.822304)
2020-01-23T01:14:28.048Z,1579742068.048 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:14:28.048Z,1579742068.048 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:14:28.048Z,1579742068.048 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:28.048Z,1579742068.048 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:14:28.048Z,1579742068.048 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:28.441Z,1579742068.441 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:14:28.441Z,1579742068.441 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:28.441Z,1579742068.441 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:14:28.442Z,1579742068.442 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:14:28.442Z,1579742068.442 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:14:28.442Z,1579742068.442 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:14:28.442Z,1579742068.442 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:14:28.837Z,1579742068.837 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011428: (36.803398, -121.822304)
2020-01-23T01:14:28.838Z,1579742068.838 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:14:28.838Z,1579742068.838 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:14:28.838Z,1579742068.838 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:28.838Z,1579742068.838 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:14:28.838Z,1579742068.838 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:29.255Z,1579742069.255 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:14:29.255Z,1579742069.255 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:29.255Z,1579742069.255 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:14:29.256Z,1579742069.256 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:14:29.256Z,1579742069.256 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:14:29.256Z,1579742069.256 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:14:29.256Z,1579742069.256 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:14:29.646Z,1579742069.646 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011429: (36.803398, -121.822304)
2020-01-23T01:14:29.646Z,1579742069.646 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:14:29.646Z,1579742069.646 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:14:29.646Z,1579742069.646 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:29.646Z,1579742069.646 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:14:29.646Z,1579742069.646 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:29.650Z,1579742069.650 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T01:14:30.043Z,1579742070.043 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:14:30.043Z,1579742070.043 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:30.043Z,1579742070.043 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:14:30.043Z,1579742070.043 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:14:30.043Z,1579742070.043 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:14:30.043Z,1579742070.043 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:14:30.043Z,1579742070.043 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:14:30.404Z,1579742070.404 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:14:30.521Z,1579742070.521 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011430: (36.803398, -121.822304)
2020-01-23T01:14:30.521Z,1579742070.521 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:14:30.521Z,1579742070.521 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:14:30.522Z,1579742070.522 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:30.522Z,1579742070.522 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:14:30.522Z,1579742070.522 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:30.809Z,1579742070.809 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:14:30.911Z,1579742070.911 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:14:30.911Z,1579742070.911 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:30.911Z,1579742070.911 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:14:30.911Z,1579742070.911 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:14:30.912Z,1579742070.912 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:14:30.912Z,1579742070.912 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:14:30.912Z,1579742070.912 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:14:31.244Z,1579742071.244 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011431: (36.803398, -121.822304)
2020-01-23T01:14:31.244Z,1579742071.244 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:14:31.244Z,1579742071.244 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:14:31.244Z,1579742071.244 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:31.244Z,1579742071.244 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:14:31.244Z,1579742071.244 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:31.451Z,1579742071.451 [Reporter](INFO): acoustic_contact_range 1.920001 m
2020-01-23T01:14:31.642Z,1579742071.642 [Micromodem](INFO): Nmea in: $SNTTA,0.000593,,,,011431.32*48

2020-01-23T01:14:31.696Z,1579742071.696 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:14:31.696Z,1579742071.696 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:31.696Z,1579742071.696 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:14:31.697Z,1579742071.697 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:14:31.697Z,1579742071.697 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:14:31.697Z,1579742071.697 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:14:31.697Z,1579742071.697 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:14:32.070Z,1579742072.070 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011432: (36.803398, -121.822304)
2020-01-23T01:14:32.070Z,1579742072.070 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:14:32.070Z,1579742072.070 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:14:32.070Z,1579742072.070 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:32.070Z,1579742072.070 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:14:32.070Z,1579742072.070 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:32.471Z,1579742072.471 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:14:32.472Z,1579742072.472 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:32.472Z,1579742072.472 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:14:32.472Z,1579742072.472 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.920001 m 
2020-01-23T01:14:32.472Z,1579742072.472 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:14:32.472Z,1579742072.472 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:14:32.472Z,1579742072.472 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:14:32.818Z,1579742072.818 [CommandLine](IMPORTANT): got command show stack
2020-01-23T01:14:32.818Z,1579742072.818 [CommandLine](IMPORTANT): Behavior Stack:

2020-01-23T01:14:32.819Z,1579742072.819 [DefaultUnder:Notify:A:A](IMPORTANT): Priority 0: DefaultUnder:Notify:A:A:A.Wait
2020-01-23T01:14:32.819Z,1579742072.819 [DefaultUnder](IMPORTANT): Priority 1: DefaultUnder:C.
2020-01-23T01:14:32.820Z,1579742072.820 [DefaultUnder:LineCapture:StandardEnvelopes](IMPORTANT): Priority 2: DefaultUnder:LineCapture:StandardEnvelopes:A.AltitudeEnvelope
2020-01-23T01:14:32.820Z,1579742072.820 [DefaultUnder:LineCapture:StandardEnvelopes](IMPORTANT): Priority 3: DefaultUnder:LineCapture:StandardEnvelopes:B.DepthEnvelope
2020-01-23T01:14:32.820Z,1579742072.820 [DefaultUnder:LineCapture:StandardEnvelopes](IMPORTANT): Priority 4: DefaultUnder:LineCapture:StandardEnvelopes:C.OffshoreEnvelope
2020-01-23T01:14:32.820Z,1579742072.820 [DefaultUnder:LineCapture](IMPORTANT): Priority 5: DefaultUnder:LineCapture:F
2020-01-23T01:14:32.821Z,1579742072.821 [DefaultUnder:LineCapture](IMPORTANT): Priority 6: DefaultUnder:LineCapture:G
2020-01-23T01:14:32.821Z,1579742072.821 [DefaultUnder:LineCapture](IMPORTANT): Priority 7: DefaultUnder:LineCapture:H.Mass
2020-01-23T01:14:32.821Z,1579742072.821 [DefaultUnder:LineCapture:DiveCmd:Guided:dive](IMPORTANT): Priority 8: DefaultUnder:LineCapture:DiveCmd:Guided:dive:A
2020-01-23T01:14:32.822Z,1579742072.822 [DefaultUnder:LineCapture:DiveCmd:Guided:dive](IMPORTANT): Priority 9: DefaultUnder:LineCapture:DiveCmd:Guided:dive:B.Buoyancy
2020-01-23T01:14:32.822Z,1579742072.822 [DefaultUnder:LineCapture:DiveCmd:Guided:dive](IMPORTANT): Priority 10: DefaultUnder:LineCapture:DiveCmd:Guided:dive:C.SetSpeed
2020-01-23T01:14:32.822Z,1579742072.822 [DefaultUnder:LineCapture:DiveCmd:Guided:dive](IMPORTANT): Priority 11: DefaultUnder:LineCapture:DiveCmd:Guided:dive:D.Pitch
2020-01-23T01:14:32.823Z,1579742072.823 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide](IMPORTANT): Priority 12: DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:C
2020-01-23T01:14:32.823Z,1579742072.823 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide](IMPORTANT): Priority 13: DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:D
2020-01-23T01:14:32.823Z,1579742072.823 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](IMPORTANT): Priority 14: DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav
2020-01-23T01:14:32.824Z,1579742072.824 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide](IMPORTANT): Priority 15: DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:H.LineCapture
2020-01-23T01:14:32.923Z,1579742072.923 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011432: (36.803398, -121.822304)
2020-01-23T01:14:32.924Z,1579742072.924 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:14:32.924Z,1579742072.924 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:14:32.924Z,1579742072.924 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:32.924Z,1579742072.924 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:14:32.924Z,1579742072.924 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:33.304Z,1579742073.304 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:14:33.304Z,1579742073.304 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:33.304Z,1579742073.304 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:14:33.305Z,1579742073.305 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.920001 m 
2020-01-23T01:14:33.305Z,1579742073.305 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:14:33.305Z,1579742073.305 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:14:33.305Z,1579742073.305 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:14:33.706Z,1579742073.706 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011433: (36.803398, -121.822304)
2020-01-23T01:14:33.706Z,1579742073.706 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:14:33.706Z,1579742073.706 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:14:33.706Z,1579742073.706 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:33.706Z,1579742073.706 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:14:33.707Z,1579742073.707 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:34.079Z,1579742074.079 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:14:34.079Z,1579742074.079 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:34.079Z,1579742074.079 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:14:34.080Z,1579742074.080 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.920001 m 
2020-01-23T01:14:34.080Z,1579742074.080 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:14:34.080Z,1579742074.080 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:14:34.080Z,1579742074.080 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:14:34.083Z,1579742074.083 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T01:14:34.497Z,1579742074.497 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011434: (36.803398, -121.822304)
2020-01-23T01:14:34.498Z,1579742074.498 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:14:34.498Z,1579742074.498 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:14:34.498Z,1579742074.498 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:34.498Z,1579742074.498 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:14:34.498Z,1579742074.498 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:34.851Z,1579742074.851 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:14:34.951Z,1579742074.951 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:14:34.951Z,1579742074.951 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:34.951Z,1579742074.951 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:14:34.952Z,1579742074.952 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.920001 m 
2020-01-23T01:14:34.952Z,1579742074.952 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:14:34.952Z,1579742074.952 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:14:34.952Z,1579742074.952 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:14:35.266Z,1579742075.266 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:14:35.362Z,1579742075.362 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011435: (36.803398, -121.822304)
2020-01-23T01:14:35.362Z,1579742075.362 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:14:35.362Z,1579742075.362 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:14:35.362Z,1579742075.362 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:35.362Z,1579742075.362 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:14:35.362Z,1579742075.362 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:35.707Z,1579742075.707 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:14:35.707Z,1579742075.707 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:35.707Z,1579742075.707 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:14:35.707Z,1579742075.707 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.920001 m 
2020-01-23T01:14:35.707Z,1579742075.707 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:14:35.707Z,1579742075.707 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:14:35.707Z,1579742075.707 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:14:35.810Z,1579742075.810 [Reporter](INFO): acoustic_contact_range 1.979998 m
2020-01-23T01:14:36.094Z,1579742076.094 [Micromodem](INFO): Nmea in: $SNTTA,0.000617,,,,011435.76*43

2020-01-23T01:14:36.174Z,1579742076.174 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011436: (36.803398, -121.822304)
2020-01-23T01:14:36.174Z,1579742076.174 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:14:36.174Z,1579742076.174 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:14:36.174Z,1579742076.174 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:36.174Z,1579742076.174 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:14:36.175Z,1579742076.175 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:36.550Z,1579742076.550 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:14:36.550Z,1579742076.550 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:36.550Z,1579742076.550 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:14:36.550Z,1579742076.550 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:14:36.550Z,1579742076.550 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:14:36.550Z,1579742076.550 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:14:36.551Z,1579742076.551 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:14:36.924Z,1579742076.924 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011436: (36.803398, -121.822304)
2020-01-23T01:14:36.924Z,1579742076.924 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:14:36.924Z,1579742076.924 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:14:36.924Z,1579742076.924 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:36.924Z,1579742076.924 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:14:36.924Z,1579742076.924 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:37.325Z,1579742077.325 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:14:37.325Z,1579742077.325 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:37.325Z,1579742077.325 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:14:37.326Z,1579742077.326 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:14:37.326Z,1579742077.326 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:14:37.326Z,1579742077.326 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:14:37.326Z,1579742077.326 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:14:37.734Z,1579742077.734 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011437: (36.803398, -121.822304)
2020-01-23T01:14:37.734Z,1579742077.734 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:14:37.734Z,1579742077.734 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:14:37.734Z,1579742077.734 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:37.735Z,1579742077.735 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:14:37.735Z,1579742077.735 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:38.115Z,1579742078.115 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:14:38.115Z,1579742078.115 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:38.115Z,1579742078.115 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:14:38.116Z,1579742078.116 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:14:38.116Z,1579742078.116 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:14:38.116Z,1579742078.116 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:14:38.116Z,1579742078.116 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:14:38.533Z,1579742078.533 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011438: (36.803398, -121.822304)
2020-01-23T01:14:38.533Z,1579742078.533 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:14:38.533Z,1579742078.533 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:14:38.533Z,1579742078.533 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:38.533Z,1579742078.533 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:14:38.534Z,1579742078.534 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:38.537Z,1579742078.537 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T01:14:38.928Z,1579742078.928 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:14:38.928Z,1579742078.928 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:38.929Z,1579742078.929 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:14:38.929Z,1579742078.929 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:14:38.929Z,1579742078.929 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:14:38.929Z,1579742078.929 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:14:38.929Z,1579742078.929 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:14:39.310Z,1579742079.310 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:14:39.429Z,1579742079.429 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011439: (36.803398, -121.822304)
2020-01-23T01:14:39.429Z,1579742079.429 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:14:39.429Z,1579742079.429 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:14:39.429Z,1579742079.429 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:39.429Z,1579742079.429 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:14:39.429Z,1579742079.429 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:39.713Z,1579742079.713 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:14:39.787Z,1579742079.787 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:14:39.787Z,1579742079.787 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:39.787Z,1579742079.787 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:14:39.787Z,1579742079.787 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:14:39.787Z,1579742079.787 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:14:39.787Z,1579742079.787 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:14:39.787Z,1579742079.787 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:14:40.157Z,1579742080.157 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011440: (36.803398, -121.822304)
2020-01-23T01:14:40.157Z,1579742080.157 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:14:40.158Z,1579742080.158 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:14:40.158Z,1579742080.158 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:40.158Z,1579742080.158 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:14:40.158Z,1579742080.158 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:40.290Z,1579742080.290 [Reporter](INFO): acoustic_contact_range 1.979998 m
2020-01-23T01:14:40.541Z,1579742080.541 [Micromodem](INFO): Nmea in: $SNTTA,0.000614,,,,011440.22*43

2020-01-23T01:14:40.601Z,1579742080.601 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:14:40.601Z,1579742080.601 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:40.601Z,1579742080.601 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:14:40.602Z,1579742080.602 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:14:40.602Z,1579742080.602 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:14:40.602Z,1579742080.602 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:14:40.602Z,1579742080.602 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:14:40.991Z,1579742080.991 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011440: (36.803398, -121.822304)
2020-01-23T01:14:40.991Z,1579742080.991 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:14:40.991Z,1579742080.991 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:14:40.991Z,1579742080.991 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:40.991Z,1579742080.991 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:14:40.991Z,1579742080.991 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:41.375Z,1579742081.375 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:14:41.375Z,1579742081.375 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:41.375Z,1579742081.375 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:14:41.376Z,1579742081.376 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:14:41.376Z,1579742081.376 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:14:41.376Z,1579742081.376 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:14:41.376Z,1579742081.376 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:14:41.786Z,1579742081.786 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T011441: (36.803398, -121.822304)
2020-01-23T01:14:41.786Z,1579742081.786 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:14:41.786Z,1579742081.786 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:14:41.786Z,1579742081.786 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:41.786Z,1579742081.786 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:14:41.786Z,1579742081.786 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:42.170Z,1579742082.170 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-23T01:14:42.170Z,1579742082.170 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2020-01-23T01:14:42.186Z,1579742082.186 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T01:14:42.187Z,1579742082.187 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:42.187Z,1579742082.187 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T01:14:42.187Z,1579742082.187 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 1.979998 m 
2020-01-23T01:14:42.187Z,1579742082.187 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T01:14:42.187Z,1579742082.187 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T01:14:42.187Z,1579742082.187 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T01:14:42.248Z,1579742082.248 [CommandLine](IMPORTANT): got command run ./Missions/Insert/Docked.xml
2020-01-23T01:14:42.249Z,1579742082.249 [MissionManager](INFO): Loading Mission: ./Missions/Insert/Docked.xml
2020-01-23T01:14:42.354Z,1579742082.354 [MissionManager](INFO): DefineArg Docked.DataTimeout = 600.000000 s
2020-01-23T01:14:42.356Z,1579742082.356 [MissionManager](INFO): DefineArg Docked.MaxDockRange = 8.000000 m
2020-01-23T01:14:42.358Z,1579742082.358 [MissionManager](INFO): DefineArg Docked.DetachedTimeout = 5.000000 min
2020-01-23T01:14:42.360Z,1579742082.360 [MissionManager](INFO): DefineArg Docked.DockedTimeout = 30.000000 s
2020-01-23T01:14:42.363Z,1579742082.363 [MissionManager](INFO): DefineArg Docked.TransponderCode = 2.000000 count
2020-01-23T01:14:42.365Z,1579742082.365 [MissionManager](INFO): DefineArg Docked.TrackingUpdatePeriod = 60.000000 s
2020-01-23T01:14:42.367Z,1579742082.367 [MissionManager](INFO): DefineArg Docked.NumberOfPings = 1.000000 count
2020-01-23T01:14:42.369Z,1579742082.369 [MissionManager](INFO): DefineArg Docked.DepthDeadband = 1.500000 m
2020-01-23T01:14:42.371Z,1579742082.371 [MissionManager](INFO): DefineArg Docked.PitchLimit = 20.000000 arcdeg
2020-01-23T01:14:42.373Z,1579742082.373 [MissionManager](INFO): DefineArg Docked.MinDepth = 1.000000 m
2020-01-23T01:14:42.376Z,1579742082.376 [MissionManager](INFO): DefineArg Docked.MaxDepth = 215.000000 m
2020-01-23T01:14:42.377Z,1579742082.377 [Docked:A.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-01-23T01:14:42.395Z,1579742082.395 [Docked:E.Docked](DEBUG): Construct.
2020-01-23T01:14:42.417Z,1579742082.417 [Docked:G.Wait](DEBUG): Construct Wait.
2020-01-23T01:14:42.426Z,1579742082.426 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<!-- ====================
     Generated by TethysL
     ==================== -->
<Aggregate xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
           xmlns="Tethys"
           xmlns:Units="Tethys/Units"
           xmlns:Universal="Tethys/Universal"
           xmlns:BIT="Tethys/BIT"
           xmlns:Estimation="Tethys/Estimation"
           xmlns:Guidance="Tethys/Guidance"
           xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                               Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                               Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd
                               Tethys/BIT http://okeanids.mbari.org/tethys/Xml/BIT.xsd
                               Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
                               Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd"
       Id="Docked">

   <DefineArg Name="DataTimeout"><Description>
       Maximum range allowed from the dock.
   </Description><Units:second/><Value>600</Value></DefineArg>

   <DefineArg Name="MaxDockRange"><Description>
       Maximum range allowed from the dock.
   </Description><Units:meter/><Value>8</Value></DefineArg>

   <DefineArg Name="DetachedTimeout"><Description>
       Time duration limit for determining if the vehicle is detached from the dock.
   </Description><Units:minute/><Value>5</Value></DefineArg>

   <DefineArg Name="DockedTimeout"><Description>
       Time duration limit for determining if the vehicle is ON the dock.
   </Description><Units:second/><Value>30</Value></DefineArg>

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

    <DefineArg Name="TrackingUpdatePeriod"><Description>
        How long to wait between acoustic queries.
    </Description><Units:second/><Value>60</Value></DefineArg>

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

    <DefineArg Name="DepthDeadband"><Description>
        How much vertical drift from the specified depth is allowed while docked.
    </Description><Units:meter/><Value>1.5</Value></DefineArg>

    <DefineArg Name="PitchLimit"><Description>
        Max vehicle pitch (+/-) while on dock.
    </Description><Units:degree/><Value>20</Value></DefineArg>

    <DefineArg Name="MinDepth"><Description>
        Minimum depth while docked.
    </Description><Control:VerticalControl.surfaceThreshold/></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth while docked.
    </Description><BIT:CBIT.stopDepth/></DefineArg>


    <Sequence/>

    <Guidance:DepthEnvelope>
        <Parallel/>
        <Setting><Guidance:DepthEnvelope.minDepth/><Arg Name="MinDepth"/></Setting>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="MaxDepth"/></Setting>
    </Guidance:DepthEnvelope>

    <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>

    <Assign><Parallel/><Control:VerticalControl.pitchLimit/><Arg Name="PitchLimit"/></Assign>
    <Assign><Parallel/><Control:VerticalControl.depthDeadband/><Arg Name="DepthDeadband"/></Assign>

    <Guidance:Docked>
        <Progression/>
        <Setting><Guidance:Docked.DataTimeout/><Arg Name="DataTimeout"/></Setting>
        <Setting><Guidance:Docked.StopDepth/><Arg Name="MaxDepth"/></Setting>
        <Setting><Guidance:Docked.DockRange/><Arg Name="MaxDockRange"/></Setting>
        <Setting><Guidance:Docked.DetachedTimeout/><Arg Name="DetachedTimeout"/></Setting>
        <Setting><Guidance:Docked.DockedTimeout/><Arg Name="DockedTimeout"/></Setting>
    </Guidance:Docked>

    <Syslog Severity="Important">Passed Docked!</Syslog>

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

</Aggregate>


2020-01-23T01:14:42.428Z,1579742082.428 [CommandLine](IMPORTANT): Running ./Missions/Insert/Docked.xml
2020-01-23T01:14:42.570Z,1579742082.570 [DefaultUnder] Stopped
2020-01-23T01:14:42.570Z,1579742082.570 [DefaultUnder](DEBUG): Aggregate::uninitialize DefaultUnder
2020-01-23T01:14:42.570Z,1579742082.570 [DefaultUnder:Notify] Stopped
2020-01-23T01:14:42.570Z,1579742082.570 [DefaultUnder:Notify](DEBUG): Aggregate::uninitialize DefaultUnder:Notify
2020-01-23T01:14:42.570Z,1579742082.570 [DefaultUnder:Notify:A] Stopped
2020-01-23T01:14:42.570Z,1579742082.570 [DefaultUnder:Notify:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A
2020-01-23T01:14:42.570Z,1579742082.570 [DefaultUnder:Notify:A:A] Stopped
2020-01-23T01:14:42.570Z,1579742082.570 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A:A
2020-01-23T01:14:42.570Z,1579742082.570 [DefaultUnder:Notify:A:A:A.Wait] Stopped
2020-01-23T01:14:42.571Z,1579742082.571 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-23T01:14:42.571Z,1579742082.571 [DefaultUnder:C.] Stopped
2020-01-23T01:14:42.571Z,1579742082.571 [DefaultUnder:LineCapture] Stopped
2020-01-23T01:14:42.571Z,1579742082.571 [DefaultUnder:LineCapture](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture
2020-01-23T01:14:42.571Z,1579742082.571 [DefaultUnder:LineCapture:StandardEnvelopes] Stopped
2020-01-23T01:14:42.571Z,1579742082.571 [DefaultUnder:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:StandardEnvelopes
2020-01-23T01:14:42.571Z,1579742082.571 [DefaultUnder:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2020-01-23T01:14:42.571Z,1579742082.571 [DefaultUnder:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2020-01-23T01:14:42.571Z,1579742082.571 [DefaultUnder:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2020-01-23T01:14:42.571Z,1579742082.571 [DefaultUnder:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2020-01-23T01:14:42.571Z,1579742082.571 [DefaultUnder:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2020-01-23T01:14:42.571Z,1579742082.571 [DefaultUnder:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2020-01-23T01:14:42.571Z,1579742082.571 [DefaultUnder:LineCapture:F] Stopped
2020-01-23T01:14:42.571Z,1579742082.571 [DefaultUnder:LineCapture:G] Stopped
2020-01-23T01:14:42.571Z,1579742082.571 [DefaultUnder:LineCapture:H.Mass] Stopped
2020-01-23T01:14:42.572Z,1579742082.572 [DefaultUnder:LineCapture:H.Mass](DEBUG): Uninitialize.
2020-01-23T01:14:42.572Z,1579742082.572 [DefaultUnder:LineCapture:DiveCmd] Stopped
2020-01-23T01:14:42.572Z,1579742082.572 [DefaultUnder:LineCapture:DiveCmd](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:DiveCmd
2020-01-23T01:14:42.572Z,1579742082.572 [DefaultUnder:LineCapture:DiveCmd:Guided] Stopped
2020-01-23T01:14:42.572Z,1579742082.572 [DefaultUnder:LineCapture:DiveCmd:Guided](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:DiveCmd:Guided
2020-01-23T01:14:42.572Z,1579742082.572 [DefaultUnder:LineCapture:DiveCmd:Guided:dive] Stopped
2020-01-23T01:14:42.572Z,1579742082.572 [DefaultUnder:LineCapture:DiveCmd:Guided:dive](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:DiveCmd:Guided:dive
2020-01-23T01:14:42.572Z,1579742082.572 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:A] Stopped
2020-01-23T01:14:42.572Z,1579742082.572 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:B.Buoyancy] Stopped
2020-01-23T01:14:42.572Z,1579742082.572 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2020-01-23T01:14:42.572Z,1579742082.572 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:C.SetSpeed] Stopped
2020-01-23T01:14:42.572Z,1579742082.572 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:C.SetSpeed](DEBUG): Uninitialize.
2020-01-23T01:14:42.572Z,1579742082.572 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:D.Pitch] Stopped
2020-01-23T01:14:42.572Z,1579742082.572 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock] Stopped
2020-01-23T01:14:42.573Z,1579742082.573 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock
2020-01-23T01:14:42.573Z,1579742082.573 [DefaultUnder:LineCapture:HomingSequence] Stopped
2020-01-23T01:14:42.573Z,1579742082.573 [DefaultUnder:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence
2020-01-23T01:14:42.573Z,1579742082.573 [DefaultUnder:LineCapture:HomingSequence:A] Stopped
2020-01-23T01:14:42.573Z,1579742082.573 [DefaultUnder:LineCapture:HomingSequence:A](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:A
2020-01-23T01:14:42.573Z,1579742082.573 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance] Stopped
2020-01-23T01:14:42.573Z,1579742082.573 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance
2020-01-23T01:14:42.573Z,1579742082.573 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2020-01-23T01:14:42.573Z,1579742082.573 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide
2020-01-23T01:14:42.574Z,1579742082.574 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:C] Stopped
2020-01-23T01:14:42.574Z,1579742082.574 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2020-01-23T01:14:42.574Z,1579742082.574 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T01:14:42.574Z,1579742082.574 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T01:14:42.574Z,1579742082.574 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T01:14:42.574Z,1579742082.574 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T01:14:42.574Z,1579742082.574 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:H.LineCapture] Stopped
2020-01-23T01:14:42.574Z,1579742082.574 [DefaultUnder:Default] Stopped
2020-01-23T01:14:42.574Z,1579742082.574 [DefaultUnder:Default](DEBUG): Aggregate::uninitialize DefaultUnder:Default
2020-01-23T01:14:42.574Z,1579742082.574 [DefaultUnder:Default:Docked] Stopped
2020-01-23T01:14:42.574Z,1579742082.574 [DefaultUnder:Default:Docked](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Docked
2020-01-23T01:14:42.574Z,1579742082.574 [DefaultUnder:Default:Home] Stopped
2020-01-23T01:14:42.574Z,1579742082.574 [DefaultUnder:Default:Home](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Home
2020-01-23T01:14:42.574Z,1579742082.574 [DefaultUnder:Default:Home:run] Stopped
2020-01-23T01:14:42.575Z,1579742082.575 [DefaultUnder:Default:Home:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Home:run
2020-01-23T01:14:42.575Z,1579742082.575 [DefaultUnder:Default:Home:run:C] Stopped
2020-01-23T01:14:42.575Z,1579742082.575 [DefaultUnder:Default:Home:run:C](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Home:run:C
2020-01-23T01:14:42.575Z,1579742082.575 [MissionManager](IMPORTANT): Started mission Docked
2020-01-23T01:14:42.575Z,1579742082.575 [Docked] Running Loop=1
2020-01-23T01:14:42.575Z,1579742082.575 [Docked](DEBUG): Aggregate::initialize Docked
2020-01-23T01:14:42.575Z,1579742082.575 [Docked:A.DepthEnvelope] Running Loop=1
2020-01-23T01:14:42.575Z,1579742082.575 [Docked:A.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2020-01-23T01:14:42.576Z,1579742082.576 [Docked:B.] Running Loop=1
2020-01-23T01:14:42.576Z,1579742082.576 [Docked:B.](INFO): Initializing TrackAcousticContact.
2020-01-23T01:14:42.576Z,1579742082.576 [Docked:C] Running Loop=1
2020-01-23T01:14:42.576Z,1579742082.576 [Docked:D] Running Loop=1
2020-01-23T01:14:42.576Z,1579742082.576 [Docked:E.Docked] Running Loop=1
2020-01-23T01:14:42.576Z,1579742082.576 [Docked:E.Docked](DEBUG): Initialize.
2020-01-23T01:14:42.576Z,1579742082.576 [Docked:E.Docked](INFO): Depth unspecified. Maintaining workSite beacon depth of 6.000000 m.
2020-01-23T01:14:42.578Z,1579742082.578 [Docked:D] Running Loop=1
2020-01-23T01:14:42.578Z,1579742082.578 [Docked:C] Running Loop=1
2020-01-23T01:14:42.578Z,1579742082.578 [Docked:B.] Running Loop=1
2020-01-23T01:14:42.581Z,1579742082.581 [Docked:A.DepthEnvelope] Running Loop=1
2020-01-23T01:14:47.343Z,1579742087.343 [DDM](FAULT): Failed to extend whisker before timeout.
2020-01-23T01:14:47.343Z,1579742087.343 [DDM] Hardware Fault, FailCount= 1
2020-01-23T01:14:47.343Z,1579742087.343 [DDM](ERROR): Hardware Fault
2020-01-23T01:14:47.501Z,1579742087.501 [CBIT](ERROR): Hardware Fault in component: DDM
2020-01-23T01:14:47.502Z,1579742087.502 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:14:47.744Z,1579742087.744 [DDM](INFO): Powering down
2020-01-23T01:14:48.720Z,1579742088.720 [CBIT](INFO): Clearing failed state for component DDM
2020-01-23T01:14:48.720Z,1579742088.720 [DDM] No Fault, FailCount= 1
2020-01-23T01:14:50.974Z,1579742090.974 [DDM](INFO): Powering up
2020-01-23T01:14:50.974Z,1579742090.974 [DDM](DEBUG): Initializing DDM.
2020-01-23T01:14:51.436Z,1579742091.436 [CommandLine](IMPORTANT): got command maintain sensor Depth_Keller.depth 6.000000 meter
2020-01-23T01:15:01.503Z,1579742101.503 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2020-01-23T01:15:01.684Z,1579742101.684 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-23T01:15:12.472Z,1579742112.472 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:15:12.792Z,1579742112.792 [DDM](INFO): Pause: Retracting whiskers
2020-01-23T01:15:13.225Z,1579742113.225 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:15:13.625Z,1579742113.625 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:15:16.263Z,1579742116.263 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-23T01:15:16.426Z,1579742116.426 [DDM](INFO): Extending Whiskers.
2020-01-23T01:15:16.449Z,1579742116.449 [DDM](INFO): Arming. Opening Latch
2020-01-23T01:15:16.831Z,1579742116.831 [DDM](INFO): Extending Whiskers.
2020-01-23T01:15:16.857Z,1579742116.857 [DDM](INFO): Arming. Opening Latch
2020-01-23T01:15:17.235Z,1579742117.235 [DDM](INFO): Extending Whiskers.
2020-01-23T01:15:17.261Z,1579742117.261 [DDM](INFO): Arming. Opening Latch
2020-01-23T01:15:17.640Z,1579742117.640 [DDM](INFO): Extending Whiskers.
2020-01-23T01:15:17.665Z,1579742117.665 [DDM](INFO): Arming. Opening Latch
2020-01-23T01:15:18.043Z,1579742118.043 [DDM](INFO): Extending Whiskers.
2020-01-23T01:15:22.546Z,1579742122.546 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:15:22.895Z,1579742122.895 [DDM](INFO): Pause: Retracting whiskers
2020-01-23T01:15:23.321Z,1579742123.321 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:15:23.721Z,1579742123.721 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:15:33.417Z,1579742133.417 [PowerOnly](INFO): Powering down
2020-01-23T01:15:42.727Z,1579742142.727 [Docked:B.](INFO): *** querying acoustic contact ***
2020-01-23T01:15:43.500Z,1579742143.500 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:15:43.903Z,1579742143.903 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:15:44.370Z,1579742144.370 [Reporter](INFO): acoustic_contact_range 1.979998 m
2020-01-23T01:15:44.730Z,1579742144.730 [Micromodem](INFO): Nmea in: $SNTTA,0.000611,,,,011544.41*46

2020-01-23T01:15:46.488Z,1579742146.488 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-23T01:15:46.728Z,1579742146.728 [DDM](INFO): Extending Whiskers.
2020-01-23T01:15:46.753Z,1579742146.753 [DDM](INFO): Arming. Opening Latch
2020-01-23T01:15:47.154Z,1579742147.154 [DDM](INFO): Extending Whiskers.
2020-01-23T01:15:47.181Z,1579742147.181 [DDM](INFO): Arming. Opening Latch
2020-01-23T01:15:47.534Z,1579742147.534 [DDM](INFO): Extending Whiskers.
2020-01-23T01:15:47.562Z,1579742147.562 [DDM](INFO): Arming. Opening Latch
2020-01-23T01:15:47.938Z,1579742147.938 [DDM](INFO): Extending Whiskers.
2020-01-23T01:15:47.965Z,1579742147.965 [DDM](INFO): Arming. Opening Latch
2020-01-23T01:15:48.345Z,1579742148.345 [DDM](INFO): Extending Whiskers.
2020-01-23T01:15:54.426Z,1579742154.426 [CommandLine](IMPORTANT): got command show stack
2020-01-23T01:15:54.427Z,1579742154.427 [CommandLine](IMPORTANT): Behavior Stack:

2020-01-23T01:15:54.427Z,1579742154.427 [Docked](IMPORTANT): Priority 0: Docked:A.DepthEnvelope
2020-01-23T01:15:54.427Z,1579742154.427 [Docked](IMPORTANT): Priority 1: Docked:B.
2020-01-23T01:15:54.427Z,1579742154.427 [Docked](IMPORTANT): Priority 2: Docked:C
2020-01-23T01:15:54.428Z,1579742154.428 [Docked](IMPORTANT): Priority 3: Docked:D
2020-01-23T01:15:54.428Z,1579742154.428 [Docked](IMPORTANT): Priority 4: Docked:E.Docked
2020-01-23T01:15:57.294Z,1579742157.294 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:15:57.638Z,1579742157.638 [DDM](INFO): Pause: Retracting whiskers
2020-01-23T01:15:58.073Z,1579742158.073 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:15:58.473Z,1579742158.473 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:15:58.874Z,1579742158.874 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:15:59.277Z,1579742159.277 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:16:11.941Z,1579742171.941 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-23T01:16:12.178Z,1579742172.178 [DDM](INFO): Extending Whiskers.
2020-01-23T01:16:12.201Z,1579742172.201 [DDM](INFO): Arming. Opening Latch
2020-01-23T01:16:12.582Z,1579742172.582 [DDM](INFO): Extending Whiskers.
2020-01-23T01:16:12.609Z,1579742172.609 [DDM](INFO): Arming. Opening Latch
2020-01-23T01:16:12.986Z,1579742172.986 [DDM](INFO): Extending Whiskers.
2020-01-23T01:16:13.021Z,1579742173.021 [DDM](INFO): Arming. Opening Latch
2020-01-23T01:16:13.390Z,1579742173.390 [DDM](INFO): Extending Whiskers.
2020-01-23T01:16:13.424Z,1579742173.424 [DDM](INFO): Arming. Opening Latch
2020-01-23T01:16:13.795Z,1579742173.795 [DDM](INFO): Extending Whiskers.
2020-01-23T01:16:16.433Z,1579742176.433 [CommandLine](IMPORTANT): got command stop
2020-01-23T01:16:16.434Z,1579742176.434 [CommandLine](IMPORTANT): Scheduling is paused
2020-01-23T01:16:16.434Z,1579742176.434 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2020-01-23T01:16:16.687Z,1579742176.687 [MissionManager](INFO): MissionManager is completed.
2020-01-23T01:16:16.687Z,1579742176.687 [MissionManager](INFO): Uninitializing Mission Docked
2020-01-23T01:16:16.688Z,1579742176.688 [Docked] Stopped
2020-01-23T01:16:16.688Z,1579742176.688 [Docked](DEBUG): Aggregate::uninitialize Docked
2020-01-23T01:16:16.688Z,1579742176.688 [Docked:A.DepthEnvelope] Stopped
2020-01-23T01:16:16.688Z,1579742176.688 [Docked:A.DepthEnvelope](DEBUG): Uninitialize.
2020-01-23T01:16:16.688Z,1579742176.688 [Docked:B.] Stopped
2020-01-23T01:16:16.688Z,1579742176.688 [Docked:C] Stopped
2020-01-23T01:16:16.688Z,1579742176.688 [Docked:D] Stopped
2020-01-23T01:16:16.688Z,1579742176.688 [Docked:E.Docked] Stopped
2020-01-23T01:16:17.069Z,1579742177.069 [MissionManager](IMPORTANT): Started mission DefaultUnder
2020-01-23T01:16:17.069Z,1579742177.069 [DefaultUnder] Running Loop=1
2020-01-23T01:16:17.069Z,1579742177.069 [DefaultUnder](DEBUG): Aggregate::initialize DefaultUnder
2020-01-23T01:16:17.069Z,1579742177.069 [DefaultUnder:uModemComms] Running Loop=1
2020-01-23T01:16:17.069Z,1579742177.069 [DefaultUnder:uModemComms](DEBUG): Aggregate::initialize DefaultUnder:uModemComms
2020-01-23T01:16:17.069Z,1579742177.069 [DefaultUnder:Notify] Running Loop=1
2020-01-23T01:16:17.070Z,1579742177.070 [DefaultUnder:Notify](DEBUG): Aggregate::initialize DefaultUnder:Notify
2020-01-23T01:16:17.070Z,1579742177.070 [DefaultUnder:Notify:A] Running Loop=1
2020-01-23T01:16:17.070Z,1579742177.070 [DefaultUnder:Notify:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A
2020-01-23T01:16:17.070Z,1579742177.070 [DefaultUnder:Notify:A:A] Running Loop=1
2020-01-23T01:16:17.070Z,1579742177.070 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A:A
2020-01-23T01:16:17.070Z,1579742177.070 [DefaultUnder:Notify:A:A:A.Wait] Running Loop=1
2020-01-23T01:16:17.070Z,1579742177.070 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Initialize Wait Component.
2020-01-23T01:16:17.070Z,1579742177.070 [DefaultUnder:C.] Running Loop=1
2020-01-23T01:16:17.071Z,1579742177.071 [DefaultUnder:C.](INFO): Initializing TrackAcousticContact.
2020-01-23T01:16:17.071Z,1579742177.071 [DefaultUnder:E.Wait] Running Loop=1
2020-01-23T01:16:17.071Z,1579742177.071 [DefaultUnder:E.Wait](DEBUG): Initialize Wait Component.
2020-01-23T01:16:17.072Z,1579742177.072 [DefaultUnder:uModemComms] Stopped
2020-01-23T01:16:17.072Z,1579742177.072 [DefaultUnder:uModemComms](DEBUG): Aggregate::uninitialize DefaultUnder:uModemComms
2020-01-23T01:16:17.097Z,1579742177.097 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:16:17.431Z,1579742177.431 [DDM](INFO): Pause: Retracting whiskers
2020-01-23T01:16:17.857Z,1579742177.857 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:16:18.265Z,1579742178.265 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:16:19.925Z,1579742179.925 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T01:16:20.695Z,1579742180.695 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:16:21.113Z,1579742181.113 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:16:21.626Z,1579742181.626 [Reporter](INFO): acoustic_contact_range 1.979998 m
2020-01-23T01:16:21.940Z,1579742181.940 [Micromodem](INFO): Nmea in: $SNTTA,0.000599,,,,011621.61*47

2020-01-23T01:16:24.375Z,1579742184.375 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T01:16:25.139Z,1579742185.139 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:16:25.521Z,1579742185.521 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:16:25.987Z,1579742185.987 [Reporter](INFO): acoustic_contact_range 1.979998 m
2020-01-23T01:16:26.354Z,1579742186.354 [Micromodem](INFO): Nmea in: $SNTTA,0.000615,,,,011626.05*45

2020-01-23T01:16:28.792Z,1579742188.792 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T01:16:29.554Z,1579742189.554 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:16:29.979Z,1579742189.979 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:16:30.408Z,1579742190.408 [DefaultUnder:E.Wait](INFO): Done Waiting.
2020-01-23T01:16:30.408Z,1579742190.408 [DefaultUnder:E.Wait] Stopped
2020-01-23T01:16:30.408Z,1579742190.408 [DefaultUnder:E.Wait](DEBUG): Uninitialize Wait Component.
2020-01-23T01:16:30.408Z,1579742190.408 [DefaultUnder:Default] Running Loop=1
2020-01-23T01:16:30.408Z,1579742190.408 [DefaultUnder:Default](DEBUG): Aggregate::initialize DefaultUnder:Default
2020-01-23T01:16:30.408Z,1579742190.408 [DefaultUnder:Default:Docked] Running Loop=1
2020-01-23T01:16:30.413Z,1579742190.413 [DefaultUnder:Default:Docked](DEBUG): Aggregate::initialize DefaultUnder:Default:Docked
2020-01-23T01:16:30.413Z,1579742190.413 [DefaultUnder:Default:Docked:run] Running Loop=1
2020-01-23T01:16:30.413Z,1579742190.413 [DefaultUnder:Default:Docked:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Docked:run
2020-01-23T01:16:30.413Z,1579742190.413 [DefaultUnder:Default:Docked:run:A] Running Loop=1
2020-01-23T01:16:30.413Z,1579742190.413 [DefaultUnder:Default:Home] Running Loop=1
2020-01-23T01:16:30.413Z,1579742190.413 [DefaultUnder:Default:Home](DEBUG): Aggregate::initialize DefaultUnder:Default:Home
2020-01-23T01:16:30.413Z,1579742190.413 [DefaultUnder:Default:Home:run] Running Loop=1
2020-01-23T01:16:30.413Z,1579742190.413 [DefaultUnder:Default:Home:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Home:run
2020-01-23T01:16:30.414Z,1579742190.414 [DefaultUnder:Default:Home:run:A] Running Loop=1
2020-01-23T01:16:30.414Z,1579742190.414 [DefaultUnder:Default:Surface] Running Loop=1
2020-01-23T01:16:30.414Z,1579742190.414 [DefaultUnder:Default:Surface](DEBUG): Aggregate::initialize DefaultUnder:Default:Surface
2020-01-23T01:16:30.414Z,1579742190.414 [DefaultUnder:Default:Surface:run] Running Loop=1
2020-01-23T01:16:30.414Z,1579742190.414 [DefaultUnder:Default:Surface:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Surface:run
2020-01-23T01:16:30.414Z,1579742190.414 [DefaultUnder:Default:Surface:run:B.GoToSurface] Running Loop=1
2020-01-23T01:16:30.414Z,1579742190.414 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-23T01:16:30.414Z,1579742190.414 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-23T01:16:30.415Z,1579742190.415 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-23T01:16:30.415Z,1579742190.415 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-23T01:16:30.415Z,1579742190.415 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-23T01:16:30.416Z,1579742190.416 [DefaultUnder:Default:Surface:run:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-23T01:16:30.416Z,1579742190.416 [DefaultUnder:Default:Surface:run:A] Running Loop=1
2020-01-23T01:16:30.476Z,1579742190.476 [Reporter](INFO): acoustic_contact_range 1.979998 m
2020-01-23T01:16:30.792Z,1579742190.792 [Micromodem](INFO): Nmea in: $SNTTA,0.000591,,,,011630.47*4B

2020-01-23T01:16:30.862Z,1579742190.862 [DefaultUnder:Default:Surface] Stopped
2020-01-23T01:16:30.862Z,1579742190.862 [DefaultUnder:Default:Surface](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Surface
2020-01-23T01:16:30.862Z,1579742190.862 [DefaultUnder:Default:Surface:run] Stopped
2020-01-23T01:16:30.862Z,1579742190.862 [DefaultUnder:Default:Surface:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Surface:run
2020-01-23T01:16:30.862Z,1579742190.862 [DefaultUnder:Default:Surface:run:A] Stopped
2020-01-23T01:16:30.862Z,1579742190.862 [DefaultUnder:Default:Surface:run:B.GoToSurface] Stopped
2020-01-23T01:16:30.862Z,1579742190.862 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-23T01:16:30.863Z,1579742190.863 [DefaultUnder:Default:Home:run:A] Stopped
2020-01-23T01:16:30.863Z,1579742190.863 [DefaultUnder:Default:Home:run:B] Running Loop=1
2020-01-23T01:16:30.863Z,1579742190.863 [DefaultUnder:Default:Docked] Stopped
2020-01-23T01:16:30.863Z,1579742190.863 [DefaultUnder:Default:Docked](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Docked
2020-01-23T01:16:30.863Z,1579742190.863 [DefaultUnder:Default:Docked:run] Stopped
2020-01-23T01:16:30.863Z,1579742190.863 [DefaultUnder:Default:Docked:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Docked:run
2020-01-23T01:16:30.863Z,1579742190.863 [DefaultUnder:Default:Docked:run:A] Stopped
2020-01-23T01:16:31.229Z,1579742191.229 [DefaultUnder:Default:Home:run:B] Stopped
2020-01-23T01:16:31.230Z,1579742191.230 [DefaultUnder:Default:Home:run:C] Running Loop=1
2020-01-23T01:16:31.230Z,1579742191.230 [DefaultUnder:Default:Home:run:C](DEBUG): Aggregate::initialize DefaultUnder:Default:Home:run:C
2020-01-23T01:16:31.629Z,1579742191.629 [DefaultUnder:LineCapture] Running Loop=1
2020-01-23T01:16:31.629Z,1579742191.629 [DefaultUnder:LineCapture](DEBUG): Aggregate::initialize DefaultUnder:LineCapture
2020-01-23T01:16:31.629Z,1579742191.629 [DefaultUnder:LineCapture:StandardEnvelopes] Running Loop=1
2020-01-23T01:16:31.629Z,1579742191.629 [DefaultUnder:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:StandardEnvelopes
2020-01-23T01:16:31.629Z,1579742191.629 [DefaultUnder:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2020-01-23T01:16:31.629Z,1579742191.629 [DefaultUnder:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2020-01-23T01:16:31.629Z,1579742191.629 [DefaultUnder:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2020-01-23T01:16:31.630Z,1579742191.630 [DefaultUnder:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2020-01-23T01:16:31.630Z,1579742191.630 [DefaultUnder:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2020-01-23T01:16:31.630Z,1579742191.630 [DefaultUnder:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2020-01-23T01:16:31.630Z,1579742191.630 [DefaultUnder:LineCapture:F] Running Loop=1
2020-01-23T01:16:31.630Z,1579742191.630 [DefaultUnder:LineCapture:G] Running Loop=1
2020-01-23T01:16:31.630Z,1579742191.630 [DefaultUnder:LineCapture:H.Mass] Running Loop=1
2020-01-23T01:16:31.630Z,1579742191.630 [DefaultUnder:LineCapture:H.Mass](DEBUG): Initialize.
2020-01-23T01:16:31.630Z,1579742191.630 [DefaultUnder:LineCapture:A] Running Loop=1
2020-01-23T01:16:31.632Z,1579742191.632 [DefaultUnder:LineCapture:A] Stopped
2020-01-23T01:16:31.632Z,1579742191.632 [DefaultUnder:LineCapture:C] Running Loop=1
2020-01-23T01:16:32.066Z,1579742192.066 [DefaultUnder:LineCapture:C] Stopped
2020-01-23T01:16:32.066Z,1579742192.066 [DefaultUnder:LineCapture:D] Running Loop=1
2020-01-23T01:16:32.435Z,1579742192.435 [DefaultUnder:LineCapture:D] Stopped
2020-01-23T01:16:32.435Z,1579742192.435 [DefaultUnder:LineCapture:E] Running Loop=1
2020-01-23T01:16:32.842Z,1579742192.842 [DefaultUnder:LineCapture:E] Stopped
2020-01-23T01:16:32.842Z,1579742192.842 [DefaultUnder:LineCapture:HomingSequence] Running Loop=1
2020-01-23T01:16:32.842Z,1579742192.842 [DefaultUnder:LineCapture:HomingSequence](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence
2020-01-23T01:16:32.843Z,1579742192.843 [DefaultUnder:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2020-01-23T01:16:32.843Z,1579742192.843 [DefaultUnder:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:DetachFromDock
2020-01-23T01:16:32.843Z,1579742192.843 [DefaultUnder:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2020-01-23T01:16:32.843Z,1579742192.843 [DefaultUnder:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:DetachFromDock:guide
2020-01-23T01:16:32.843Z,1579742192.843 [DefaultUnder:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2020-01-23T01:16:32.843Z,1579742192.843 [DefaultUnder:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2020-01-23T01:16:32.843Z,1579742192.843 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2020-01-23T01:16:32.843Z,1579742192.843 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance
2020-01-23T01:16:32.844Z,1579742192.844 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2020-01-23T01:16:32.844Z,1579742192.844 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide
2020-01-23T01:16:32.844Z,1579742192.844 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:B] Running Loop=1
2020-01-23T01:16:32.844Z,1579742192.844 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2020-01-23T01:16:32.844Z,1579742192.844 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance
2020-01-23T01:16:32.844Z,1579742192.844 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2020-01-23T01:16:32.844Z,1579742192.844 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide
2020-01-23T01:16:32.844Z,1579742192.844 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:C] Running Loop=1
2020-01-23T01:16:32.844Z,1579742192.844 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2020-01-23T01:16:32.844Z,1579742192.844 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2020-01-23T01:16:32.845Z,1579742192.845 [DefaultUnder:LineCapture:HomingSequence:A] Running Loop=1
2020-01-23T01:16:32.845Z,1579742192.845 [DefaultUnder:LineCapture:HomingSequence:A](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:A
2020-01-23T01:16:33.243Z,1579742193.243 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance] Stopped
2020-01-23T01:16:33.244Z,1579742193.244 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance
2020-01-23T01:16:33.244Z,1579742193.244 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2020-01-23T01:16:33.244Z,1579742193.244 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide
2020-01-23T01:16:33.244Z,1579742193.244 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2020-01-23T01:16:33.244Z,1579742193.244 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:C] Stopped
2020-01-23T01:16:33.244Z,1579742193.244 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2020-01-23T01:16:33.244Z,1579742193.244 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2020-01-23T01:16:33.244Z,1579742193.244 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance
2020-01-23T01:16:33.244Z,1579742193.244 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2020-01-23T01:16:33.244Z,1579742193.244 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide
2020-01-23T01:16:33.244Z,1579742193.244 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:B] Stopped
2020-01-23T01:16:33.245Z,1579742193.245 [DefaultUnder:LineCapture:DiveCmd] Running Loop=1
2020-01-23T01:16:33.245Z,1579742193.245 [DefaultUnder:LineCapture:DiveCmd](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:DiveCmd
2020-01-23T01:16:33.245Z,1579742193.245 [DefaultUnder:LineCapture:DiveCmd:Guided] Running Loop=1
2020-01-23T01:16:33.245Z,1579742193.245 [DefaultUnder:LineCapture:DiveCmd:Guided](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:DiveCmd:Guided
2020-01-23T01:16:33.245Z,1579742193.245 [DefaultUnder:LineCapture:DiveCmd:Guided:dive] Running Loop=1
2020-01-23T01:16:33.245Z,1579742193.245 [DefaultUnder:LineCapture:DiveCmd:Guided:dive](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:DiveCmd:Guided:dive
2020-01-23T01:16:33.245Z,1579742193.245 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:A] Running Loop=1
2020-01-23T01:16:33.245Z,1579742193.245 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:B.Buoyancy] Running Loop=1
2020-01-23T01:16:33.245Z,1579742193.245 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2020-01-23T01:16:33.246Z,1579742193.246 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:C.SetSpeed] Running Loop=1
2020-01-23T01:16:33.246Z,1579742193.246 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:C.SetSpeed](DEBUG): Initialize.
2020-01-23T01:16:33.246Z,1579742193.246 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:D.Pitch] Running Loop=1
2020-01-23T01:16:33.246Z,1579742193.246 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:D.Pitch](DEBUG): Initialize.
2020-01-23T01:16:33.246Z,1579742193.246 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock] Running Loop=1
2020-01-23T01:16:33.246Z,1579742193.246 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock
2020-01-23T01:16:33.246Z,1579742193.246 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive] Running Loop=1
2020-01-23T01:16:33.246Z,1579742193.246 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive
2020-01-23T01:16:33.246Z,1579742193.246 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed] Running Loop=1
2020-01-23T01:16:33.247Z,1579742193.247 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed](DEBUG): Initialize.
2020-01-23T01:16:33.247Z,1579742193.247 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:B.Pitch] Running Loop=1
2020-01-23T01:16:33.247Z,1579742193.247 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:B.Pitch](DEBUG): Initialize.
2020-01-23T01:16:33.248Z,1579742193.248 [DefaultUnder:LineCapture:DiveCmd:Guided] Stopped
2020-01-23T01:16:33.248Z,1579742193.248 [DefaultUnder:LineCapture:DiveCmd:Guided](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:DiveCmd:Guided
2020-01-23T01:16:33.248Z,1579742193.248 [DefaultUnder:LineCapture:DiveCmd:Guided:dive] Stopped
2020-01-23T01:16:33.248Z,1579742193.248 [DefaultUnder:LineCapture:DiveCmd:Guided:dive](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:DiveCmd:Guided:dive
2020-01-23T01:16:33.248Z,1579742193.248 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:A] Stopped
2020-01-23T01:16:33.248Z,1579742193.248 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:B.Buoyancy] Stopped
2020-01-23T01:16:33.248Z,1579742193.248 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2020-01-23T01:16:33.248Z,1579742193.248 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:C.SetSpeed] Stopped
2020-01-23T01:16:33.248Z,1579742193.248 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:C.SetSpeed](DEBUG): Uninitialize.
2020-01-23T01:16:33.248Z,1579742193.248 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:D.Pitch] Stopped
2020-01-23T01:16:33.250Z,1579742193.250 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T01:16:34.123Z,1579742194.123 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:16:34.206Z,1579742194.206 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-01-23T01:16:34.207Z,1579742194.207 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +0.00,        +0.00,     ,   0.00,1321.92
2020-01-23T01:16:34.346Z,1579742194.346 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-23T01:16:34.415Z,1579742194.415 [DDM](INFO): Changing to mode: 2
2020-01-23T01:16:34.415Z,1579742194.415 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:16:34.465Z,1579742194.465 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:16:34.491Z,1579742194.491 [PowerOnly](INFO): Powering up
2020-01-23T01:16:34.808Z,1579742194.808 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:16:34.935Z,1579742194.935 [Reporter](INFO): acoustic_contact_range 1.979998 m
2020-01-23T01:16:35.210Z,1579742195.210 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:16:35.298Z,1579742195.298 [DefaultUnder:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock.
2020-01-23T01:16:35.614Z,1579742195.614 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:16:35.666Z,1579742195.666 [Micromodem](INFO): Nmea in: $SNTTA,0.000594,,,,011635.04*4C

2020-01-23T01:16:37.700Z,1579742197.700 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T01:16:38.479Z,1579742198.479 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:16:38.884Z,1579742198.884 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:16:39.415Z,1579742199.415 [Reporter](INFO): acoustic_contact_range 1.920001 m
2020-01-23T01:16:39.713Z,1579742199.713 [Micromodem](INFO): Nmea in: $SNTTA,0.000595,,,,011639.39*4F

2020-01-23T01:16:41.014Z,1579742201.014 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T01:16:42.193Z,1579742202.193 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T01:16:42.923Z,1579742202.923 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:16:43.329Z,1579742203.329 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:16:43.815Z,1579742203.815 [Reporter](INFO): acoustic_contact_range 1.979998 m
2020-01-23T01:16:44.162Z,1579742204.162 [Micromodem](INFO): Nmea in: $SNTTA,0.000624,,,,011643.84*4D

2020-01-23T01:16:46.599Z,1579742206.599 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T01:16:47.370Z,1579742207.370 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:16:47.773Z,1579742207.773 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:16:48.334Z,1579742208.334 [Reporter](INFO): acoustic_contact_range 1.979998 m
2020-01-23T01:16:48.594Z,1579742208.594 [Micromodem](INFO): Nmea in: $SNTTA,0.000609,,,,011648.29*4E

2020-01-23T01:16:51.040Z,1579742211.040 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T01:16:51.811Z,1579742211.811 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:16:52.223Z,1579742212.223 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:16:52.672Z,1579742212.672 [Reporter](INFO): acoustic_contact_range 1.979998 m
2020-01-23T01:16:53.053Z,1579742213.053 [Micromodem](INFO): Nmea in: $SNTTA,0.000601,,,,011652.72*43

2020-01-23T01:16:55.489Z,1579742215.489 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T01:16:56.255Z,1579742216.255 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:16:56.654Z,1579742216.654 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:16:57.163Z,1579742217.163 [Reporter](INFO): acoustic_contact_range 1.979998 m
2020-01-23T01:16:57.486Z,1579742217.486 [Micromodem](INFO): Nmea in: $SNTTA,0.000612,,,,011657.16*46

2020-01-23T01:16:59.932Z,1579742219.932 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T01:17:00.702Z,1579742220.702 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:17:01.105Z,1579742221.105 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:17:01.617Z,1579742221.617 [Reporter](INFO): acoustic_contact_range 1.920001 m
2020-01-23T01:17:01.934Z,1579742221.934 [Micromodem](INFO): Nmea in: $SNTTA,0.000608,,,,011701.61*4F

2020-01-23T01:17:04.390Z,1579742224.390 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T01:17:05.163Z,1579742225.163 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:17:05.548Z,1579742225.548 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:17:06.010Z,1579742226.010 [Reporter](INFO): acoustic_contact_range 1.979998 m
2020-01-23T01:17:06.367Z,1579742226.367 [Micromodem](INFO): Nmea in: $SNTTA,0.000602,,,,011706.08*4D

2020-01-23T01:17:08.822Z,1579742228.822 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T01:17:09.595Z,1579742229.595 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:17:10.001Z,1579742230.001 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:17:10.475Z,1579742230.475 [Reporter](INFO): acoustic_contact_range 1.979998 m
2020-01-23T01:17:10.814Z,1579742230.814 [Micromodem](INFO): Nmea in: $SNTTA,0.000611,,,,011710.51*44

2020-01-23T01:17:13.268Z,1579742233.268 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T01:17:14.027Z,1579742234.027 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:17:14.437Z,1579742234.437 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:17:14.905Z,1579742234.905 [Reporter](INFO): acoustic_contact_range 1.979998 m
2020-01-23T01:17:15.265Z,1579742235.265 [Micromodem](INFO): Nmea in: $SNTTA,0.000613,,,,011714.94*4B

2020-01-23T01:17:17.691Z,1579742237.691 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T01:17:18.476Z,1579742238.476 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:17:18.877Z,1579742238.877 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:17:19.364Z,1579742239.364 [Reporter](INFO): acoustic_contact_range 1.979998 m
2020-01-23T01:17:19.706Z,1579742239.706 [Micromodem](INFO): Nmea in: $SNTTA,0.000598,,,,011719.39*41

2020-01-23T01:17:22.178Z,1579742242.178 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T01:17:22.923Z,1579742242.923 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:17:23.322Z,1579742243.322 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:17:23.870Z,1579742243.870 [Reporter](INFO): acoustic_contact_range 1.800000 m
2020-01-23T01:17:24.158Z,1579742244.158 [Micromodem](INFO): Nmea in: $SNTTA,0.000605,,,,011723.84*49

2020-01-23T01:17:26.588Z,1579742246.588 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T01:17:27.367Z,1579742247.367 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:17:27.780Z,1579742247.780 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:17:28.278Z,1579742248.278 [Reporter](INFO): acoustic_contact_range 1.800000 m
2020-01-23T01:17:28.586Z,1579742248.586 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011728.28*59

2020-01-23T01:17:31.032Z,1579742251.032 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T01:17:31.803Z,1579742251.803 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:17:32.205Z,1579742252.205 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:17:32.382Z,1579742252.382 [CommandLine](IMPORTANT): got command run ./Missions/Insert/Docked.xml
2020-01-23T01:17:32.382Z,1579742252.382 [MissionManager](INFO): Loading Mission: ./Missions/Insert/Docked.xml
2020-01-23T01:17:32.448Z,1579742252.448 [MissionManager](INFO): DefineArg Docked.DataTimeout = 600.000000 s
2020-01-23T01:17:32.458Z,1579742252.458 [MissionManager](INFO): DefineArg Docked.MaxDockRange = 8.000000 m
2020-01-23T01:17:32.460Z,1579742252.460 [MissionManager](INFO): DefineArg Docked.DetachedTimeout = 5.000000 min
2020-01-23T01:17:32.462Z,1579742252.462 [MissionManager](INFO): DefineArg Docked.DockedTimeout = 30.000000 s
2020-01-23T01:17:32.464Z,1579742252.464 [MissionManager](INFO): DefineArg Docked.TransponderCode = 2.000000 count
2020-01-23T01:17:32.467Z,1579742252.467 [MissionManager](INFO): DefineArg Docked.TrackingUpdatePeriod = 60.000000 s
2020-01-23T01:17:32.468Z,1579742252.468 [MissionManager](INFO): DefineArg Docked.NumberOfPings = 1.000000 count
2020-01-23T01:17:32.471Z,1579742252.471 [MissionManager](INFO): DefineArg Docked.DepthDeadband = 1.500000 m
2020-01-23T01:17:32.473Z,1579742252.473 [MissionManager](INFO): DefineArg Docked.PitchLimit = 20.000000 arcdeg
2020-01-23T01:17:32.475Z,1579742252.475 [MissionManager](INFO): DefineArg Docked.MinDepth = 1.000000 m
2020-01-23T01:17:32.478Z,1579742252.478 [MissionManager](INFO): DefineArg Docked.MaxDepth = 215.000000 m
2020-01-23T01:17:32.478Z,1579742252.478 [Docked:A.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-01-23T01:17:32.495Z,1579742252.495 [Docked:E.Docked](DEBUG): Construct.
2020-01-23T01:17:32.521Z,1579742252.521 [Docked:G.Wait](DEBUG): Construct Wait.
2020-01-23T01:17:32.531Z,1579742252.531 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<!-- ====================
     Generated by TethysL
     ==================== -->
<Aggregate xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
           xmlns="Tethys"
           xmlns:Units="Tethys/Units"
           xmlns:Universal="Tethys/Universal"
           xmlns:BIT="Tethys/BIT"
           xmlns:Estimation="Tethys/Estimation"
           xmlns:Guidance="Tethys/Guidance"
           xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                               Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                               Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd
                               Tethys/BIT http://okeanids.mbari.org/tethys/Xml/BIT.xsd
                               Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
                               Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd"
       Id="Docked">

   <DefineArg Name="DataTimeout"><Description>
       Maximum range allowed from the dock.
   </Description><Units:second/><Value>600</Value></DefineArg>

   <DefineArg Name="MaxDockRange"><Description>
       Maximum range allowed from the dock.
   </Description><Units:meter/><Value>8</Value></DefineArg>

   <DefineArg Name="DetachedTimeout"><Description>
       Time duration limit for determining if the vehicle is detached from the dock.
   </Description><Units:minute/><Value>5</Value></DefineArg>

   <DefineArg Name="DockedTimeout"><Description>
       Time duration limit for determining if the vehicle is ON the dock.
   </Description><Units:second/><Value>30</Value></DefineArg>

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

    <DefineArg Name="TrackingUpdatePeriod"><Description>
        How long to wait between acoustic queries.
    </Description><Units:second/><Value>60</Value></DefineArg>

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

    <DefineArg Name="DepthDeadband"><Description>
        How much vertical drift from the specified depth is allowed while docked.
    </Description><Units:meter/><Value>1.5</Value></DefineArg>

    <DefineArg Name="PitchLimit"><Description>
        Max vehicle pitch (+/-) while on dock.
    </Description><Units:degree/><Value>20</Value></DefineArg>

    <DefineArg Name="MinDepth"><Description>
        Minimum depth while docked.
    </Description><Control:VerticalControl.surfaceThreshold/></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth while docked.
    </Description><BIT:CBIT.stopDepth/></DefineArg>


    <Sequence/>

    <Guidance:DepthEnvelope>
        <Parallel/>
        <Setting><Guidance:DepthEnvelope.minDepth/><Arg Name="MinDepth"/></Setting>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="MaxDepth"/></Setting>
    </Guidance:DepthEnvelope>

    <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>

    <Assign><Parallel/><Control:VerticalControl.pitchLimit/><Arg Name="PitchLimit"/></Assign>
    <Assign><Parallel/><Control:VerticalControl.depthDeadband/><Arg Name="DepthDeadband"/></Assign>

    <Guidance:Docked>
        <Progression/>
        <Setting><Guidance:Docked.DataTimeout/><Arg Name="DataTimeout"/></Setting>
        <Setting><Guidance:Docked.StopDepth/><Arg Name="MaxDepth"/></Setting>
        <Setting><Guidance:Docked.DockRange/><Arg Name="MaxDockRange"/></Setting>
        <Setting><Guidance:Docked.DetachedTimeout/><Arg Name="DetachedTimeout"/></Setting>
        <Setting><Guidance:Docked.DockedTimeout/><Arg Name="DockedTimeout"/></Setting>
    </Guidance:Docked>

    <Syslog Severity="Important">Passed Docked!</Syslog>

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

</Aggregate>


2020-01-23T01:17:32.532Z,1579742252.532 [CommandLine](IMPORTANT): Running ./Missions/Insert/Docked.xml
2020-01-23T01:17:32.684Z,1579742252.684 [DefaultUnder] Stopped
2020-01-23T01:17:32.685Z,1579742252.685 [DefaultUnder](DEBUG): Aggregate::uninitialize DefaultUnder
2020-01-23T01:17:32.685Z,1579742252.685 [DefaultUnder:Notify] Stopped
2020-01-23T01:17:32.685Z,1579742252.685 [DefaultUnder:Notify](DEBUG): Aggregate::uninitialize DefaultUnder:Notify
2020-01-23T01:17:32.685Z,1579742252.685 [DefaultUnder:Notify:A] Stopped
2020-01-23T01:17:32.685Z,1579742252.685 [DefaultUnder:Notify:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A
2020-01-23T01:17:32.685Z,1579742252.685 [DefaultUnder:Notify:A:A] Stopped
2020-01-23T01:17:32.685Z,1579742252.685 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A:A
2020-01-23T01:17:32.685Z,1579742252.685 [DefaultUnder:Notify:A:A:A.Wait] Stopped
2020-01-23T01:17:32.685Z,1579742252.685 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-23T01:17:32.686Z,1579742252.686 [DefaultUnder:C.] Stopped
2020-01-23T01:17:32.686Z,1579742252.686 [DefaultUnder:LineCapture] Stopped
2020-01-23T01:17:32.686Z,1579742252.686 [DefaultUnder:LineCapture](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture
2020-01-23T01:17:32.686Z,1579742252.686 [DefaultUnder:LineCapture:StandardEnvelopes] Stopped
2020-01-23T01:17:32.686Z,1579742252.686 [DefaultUnder:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:StandardEnvelopes
2020-01-23T01:17:32.686Z,1579742252.686 [DefaultUnder:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2020-01-23T01:17:32.686Z,1579742252.686 [DefaultUnder:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2020-01-23T01:17:32.686Z,1579742252.686 [DefaultUnder:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2020-01-23T01:17:32.686Z,1579742252.686 [DefaultUnder:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2020-01-23T01:17:32.686Z,1579742252.686 [DefaultUnder:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2020-01-23T01:17:32.686Z,1579742252.686 [DefaultUnder:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2020-01-23T01:17:32.686Z,1579742252.686 [DefaultUnder:LineCapture:F] Stopped
2020-01-23T01:17:32.686Z,1579742252.686 [DefaultUnder:LineCapture:G] Stopped
2020-01-23T01:17:32.686Z,1579742252.686 [DefaultUnder:LineCapture:H.Mass] Stopped
2020-01-23T01:17:32.686Z,1579742252.686 [DefaultUnder:LineCapture:H.Mass](DEBUG): Uninitialize.
2020-01-23T01:17:32.687Z,1579742252.687 [DefaultUnder:LineCapture:DiveCmd] Stopped
2020-01-23T01:17:32.687Z,1579742252.687 [DefaultUnder:LineCapture:DiveCmd](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:DiveCmd
2020-01-23T01:17:32.687Z,1579742252.687 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock] Stopped
2020-01-23T01:17:32.687Z,1579742252.687 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock
2020-01-23T01:17:32.687Z,1579742252.687 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive] Stopped
2020-01-23T01:17:32.687Z,1579742252.687 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive
2020-01-23T01:17:32.687Z,1579742252.687 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed] Stopped
2020-01-23T01:17:32.687Z,1579742252.687 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed](DEBUG): Uninitialize.
2020-01-23T01:17:32.687Z,1579742252.687 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:B.Pitch] Stopped
2020-01-23T01:17:32.687Z,1579742252.687 [DefaultUnder:LineCapture:HomingSequence] Stopped
2020-01-23T01:17:32.687Z,1579742252.687 [DefaultUnder:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence
2020-01-23T01:17:32.687Z,1579742252.687 [DefaultUnder:LineCapture:HomingSequence:A] Stopped
2020-01-23T01:17:32.687Z,1579742252.687 [DefaultUnder:LineCapture:HomingSequence:A](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:A
2020-01-23T01:17:32.688Z,1579742252.688 [DefaultUnder:LineCapture:HomingSequence:DetachFromDock] Stopped
2020-01-23T01:17:32.688Z,1579742252.688 [DefaultUnder:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:DetachFromDock
2020-01-23T01:17:32.688Z,1579742252.688 [DefaultUnder:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2020-01-23T01:17:32.688Z,1579742252.688 [DefaultUnder:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:DetachFromDock:guide
2020-01-23T01:17:32.688Z,1579742252.688 [DefaultUnder:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2020-01-23T01:17:32.688Z,1579742252.688 [DefaultUnder:Default] Stopped
2020-01-23T01:17:32.688Z,1579742252.688 [DefaultUnder:Default](DEBUG): Aggregate::uninitialize DefaultUnder:Default
2020-01-23T01:17:32.688Z,1579742252.688 [DefaultUnder:Default:Home] Stopped
2020-01-23T01:17:32.688Z,1579742252.688 [DefaultUnder:Default:Home](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Home
2020-01-23T01:17:32.688Z,1579742252.688 [DefaultUnder:Default:Home:run] Stopped
2020-01-23T01:17:32.688Z,1579742252.688 [DefaultUnder:Default:Home:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Home:run
2020-01-23T01:17:32.688Z,1579742252.688 [DefaultUnder:Default:Home:run:C] Stopped
2020-01-23T01:17:32.689Z,1579742252.689 [DefaultUnder:Default:Home:run:C](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Home:run:C
2020-01-23T01:17:32.689Z,1579742252.689 [MissionManager](IMPORTANT): Started mission Docked
2020-01-23T01:17:32.689Z,1579742252.689 [Docked] Running Loop=1
2020-01-23T01:17:32.689Z,1579742252.689 [Docked](DEBUG): Aggregate::initialize Docked
2020-01-23T01:17:32.689Z,1579742252.689 [Docked:A.DepthEnvelope] Running Loop=1
2020-01-23T01:17:32.689Z,1579742252.689 [Docked:A.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2020-01-23T01:17:32.689Z,1579742252.689 [Docked:B.] Running Loop=1
2020-01-23T01:17:32.690Z,1579742252.690 [Docked:B.](INFO): Initializing TrackAcousticContact.
2020-01-23T01:17:32.690Z,1579742252.690 [Docked:C] Running Loop=1
2020-01-23T01:17:32.690Z,1579742252.690 [Docked:D] Running Loop=1
2020-01-23T01:17:32.690Z,1579742252.690 [Docked:E.Docked] Running Loop=1
2020-01-23T01:17:32.690Z,1579742252.690 [Docked:E.Docked](DEBUG): Initialize.
2020-01-23T01:17:32.690Z,1579742252.690 [Docked:E.Docked](INFO): Depth unspecified. Maintaining workSite beacon depth of 6.000000 m.
2020-01-23T01:17:32.692Z,1579742252.692 [Docked:D] Running Loop=1
2020-01-23T01:17:32.692Z,1579742252.692 [Docked:C] Running Loop=1
2020-01-23T01:17:32.692Z,1579742252.692 [Docked:B.] Running Loop=1
2020-01-23T01:17:32.695Z,1579742252.695 [Docked:A.DepthEnvelope] Running Loop=1
2020-01-23T01:17:32.705Z,1579742252.705 [Reporter](INFO): acoustic_contact_range 1.800000 m
2020-01-23T01:17:33.042Z,1579742253.042 [Micromodem](INFO): Nmea in: $SNTTA,0.000578,,,,011732.72*49

2020-01-23T01:17:35.515Z,1579742255.515 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-23T01:17:43.168Z,1579742263.168 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:17:43.487Z,1579742263.487 [DDM](INFO): Pause: Retracting whiskers
2020-01-23T01:17:43.531Z,1579742263.531 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-23T01:17:43.531Z,1579742263.531 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,20012218290049,35.0, -0.1,   0.0,14
2020-01-23T01:17:43.891Z,1579742263.891 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:17:44.297Z,1579742264.297 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:17:44.707Z,1579742264.707 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:17:47.291Z,1579742267.291 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-23T01:17:47.527Z,1579742267.527 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:17:47.932Z,1579742267.932 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:17:48.335Z,1579742268.335 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:17:48.739Z,1579742268.739 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:17:53.274Z,1579742273.274 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:17:53.587Z,1579742273.587 [DDM](INFO): Pause: Retracting whiskers
2020-01-23T01:17:53.991Z,1579742273.991 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:17:54.397Z,1579742274.397 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:17:54.799Z,1579742274.799 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:17:56.966Z,1579742276.966 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-23T01:17:57.223Z,1579742277.223 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:17:57.628Z,1579742277.628 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:17:58.031Z,1579742278.031 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:17:58.435Z,1579742278.435 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:18:03.346Z,1579742283.346 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:18:03.686Z,1579742283.686 [DDM](INFO): Pause: Retracting whiskers
2020-01-23T01:18:04.097Z,1579742284.097 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:18:04.495Z,1579742284.495 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:18:04.899Z,1579742284.899 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:18:05.780Z,1579742285.780 [PowerOnly](INFO): Powering down
2020-01-23T01:18:06.157Z,1579742286.157 [PowerOnly](FAULT): LCB fault:  Hardware Overcurrent Shutdown.
2020-01-23T01:18:06.157Z,1579742286.157 [PowerOnly] Hardware Fault, FailCount= 1
2020-01-23T01:18:06.157Z,1579742286.157 [PowerOnly](ERROR): Hardware Fault
2020-01-23T01:18:06.232Z,1579742286.232 [CBIT](ERROR): Hardware Fault in component: PowerOnly
2020-01-23T01:18:06.565Z,1579742286.565 [CBIT](INFO): Clearing failed state for component PowerOnly
2020-01-23T01:18:06.565Z,1579742286.565 [PowerOnly] No Fault, FailCount= 1
2020-01-23T01:18:06.936Z,1579742286.936 [PowerOnly](INFO): Powering up
2020-01-23T01:18:13.391Z,1579742293.391 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CAREV,0A
 expected 19
2020-01-23T01:18:19.848Z,1579742299.848 [CommandLine](IMPORTANT): got command show stack
2020-01-23T01:18:19.857Z,1579742299.857 [CommandLine](IMPORTANT): Behavior Stack:

2020-01-23T01:18:19.857Z,1579742299.857 [Docked](IMPORTANT): Priority 0: Docked:A.DepthEnvelope
2020-01-23T01:18:19.857Z,1579742299.857 [Docked](IMPORTANT): Priority 1: Docked:B.
2020-01-23T01:18:19.858Z,1579742299.858 [Docked](IMPORTANT): Priority 2: Docked:C
2020-01-23T01:18:19.858Z,1579742299.858 [Docked](IMPORTANT): Priority 3: Docked:D
2020-01-23T01:18:19.858Z,1579742299.858 [Docked](IMPORTANT): Priority 4: Docked:E.Docked
2020-01-23T01:18:32.823Z,1579742312.823 [Docked:B.](INFO): *** querying acoustic contact ***
2020-01-23T01:18:33.596Z,1579742313.596 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:18:34.009Z,1579742314.009 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:18:34.727Z,1579742314.727 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-23T01:18:34.728Z,1579742314.728 [Reporter](INFO): acoustic_contact_range 1.800000 m
2020-01-23T01:18:34.890Z,1579742314.890 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:18:34.951Z,1579742314.951 [Micromodem](INFO): Nmea in: $SNTTA,0.000580,,,,011834.51*46

2020-01-23T01:18:35.256Z,1579742315.256 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:18:35.665Z,1579742315.665 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:18:36.007Z,1579742316.007 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:18:45.745Z,1579742325.745 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:18:46.127Z,1579742326.127 [DDM](INFO): Pause: Retracting whiskers
2020-01-23T01:18:46.511Z,1579742326.511 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:18:46.915Z,1579742326.915 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:18:47.320Z,1579742327.320 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:18:49.490Z,1579742329.490 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-23T01:18:49.742Z,1579742329.742 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:18:50.147Z,1579742330.147 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:18:50.552Z,1579742330.552 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:18:50.954Z,1579742330.954 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:18:55.859Z,1579742335.859 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:18:56.211Z,1579742336.211 [DDM](INFO): Pause: Retracting whiskers
2020-01-23T01:18:56.615Z,1579742336.615 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:18:57.019Z,1579742337.019 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:18:57.418Z,1579742337.418 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:18:59.592Z,1579742339.592 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-23T01:18:59.843Z,1579742339.843 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:19:00.248Z,1579742340.248 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:19:00.650Z,1579742340.650 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:19:01.055Z,1579742341.055 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:19:06.088Z,1579742346.088 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:19:06.393Z,1579742346.393 [DDM](INFO): Pause: Retracting whiskers
2020-01-23T01:19:06.794Z,1579742346.794 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:19:07.199Z,1579742347.199 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:19:07.602Z,1579742347.602 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:19:34.714Z,1579742374.714 [Docked:B.](INFO): *** querying acoustic contact ***
2020-01-23T01:19:35.487Z,1579742375.487 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:19:35.887Z,1579742375.887 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:19:36.378Z,1579742376.378 [Reporter](INFO): acoustic_contact_range 1.920001 m
2020-01-23T01:19:36.710Z,1579742376.710 [Micromodem](INFO): Nmea in: $SNTTA,0.000599,,,,011936.40*4D

2020-01-23T01:19:37.284Z,1579742377.284 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-23T01:19:37.498Z,1579742377.498 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:19:37.903Z,1579742377.903 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:19:38.307Z,1579742378.307 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:19:38.384Z,1579742378.384 [PowerOnly](INFO): Powering down
2020-01-23T01:19:38.710Z,1579742378.710 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:19:48.061Z,1579742388.061 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:19:48.408Z,1579742388.408 [DDM](INFO): Pause: Retracting whiskers
2020-01-23T01:19:48.810Z,1579742388.810 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:19:49.214Z,1579742389.214 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:19:49.618Z,1579742389.618 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:19:50.024Z,1579742390.024 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:19:52.225Z,1579742392.225 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-23T01:19:52.447Z,1579742392.447 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:19:52.851Z,1579742392.851 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:19:53.257Z,1579742393.257 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:19:53.659Z,1579742393.659 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:19:58.167Z,1579742398.167 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:19:58.517Z,1579742398.517 [DDM](INFO): Pause: Retracting whiskers
2020-01-23T01:19:58.910Z,1579742398.910 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:19:59.331Z,1579742399.331 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:19:59.730Z,1579742399.730 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:20:01.895Z,1579742401.895 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-23T01:20:02.166Z,1579742402.166 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:20:02.546Z,1579742402.546 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:20:02.953Z,1579742402.953 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:20:03.355Z,1579742403.355 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:20:08.280Z,1579742408.280 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:20:08.606Z,1579742408.606 [DDM](INFO): Pause: Retracting whiskers
2020-01-23T01:20:09.010Z,1579742409.010 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:20:09.416Z,1579742409.416 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:20:09.818Z,1579742409.818 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:20:10.222Z,1579742410.222 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:20:36.540Z,1579742436.540 [Docked:B.](INFO): *** querying acoustic contact ***
2020-01-23T01:20:37.299Z,1579742437.299 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:20:37.700Z,1579742437.700 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:20:38.177Z,1579742438.177 [Reporter](INFO): acoustic_contact_range 1.500000 m
2020-01-23T01:20:38.530Z,1579742438.530 [Micromodem](INFO): Nmea in: $SNTTA,0.000575,,,,012038.21*4C

2020-01-23T01:20:39.481Z,1579742439.481 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-23T01:20:39.716Z,1579742439.716 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:20:40.118Z,1579742440.118 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:20:40.522Z,1579742440.522 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:20:40.927Z,1579742440.927 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:20:50.270Z,1579742450.270 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:20:50.623Z,1579742450.623 [DDM](INFO): Pause: Retracting whiskers
2020-01-23T01:20:51.028Z,1579742451.028 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:20:51.430Z,1579742451.430 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:20:51.835Z,1579742451.835 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:20:54.018Z,1579742454.018 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-23T01:20:54.260Z,1579742454.260 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:20:54.662Z,1579742454.662 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:20:55.067Z,1579742455.067 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:20:55.471Z,1579742455.471 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:21:00.379Z,1579742460.379 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:21:00.724Z,1579742460.724 [DDM](INFO): Pause: Retracting whiskers
2020-01-23T01:21:01.127Z,1579742461.127 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:21:01.531Z,1579742461.531 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:21:01.935Z,1579742461.935 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:21:02.341Z,1579742462.341 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:21:04.515Z,1579742464.515 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-23T01:21:04.762Z,1579742464.762 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:21:05.167Z,1579742465.167 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:21:05.572Z,1579742465.572 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:21:05.975Z,1579742465.975 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:21:10.522Z,1579742470.522 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:21:10.822Z,1579742470.822 [DDM](INFO): Pause: Retracting whiskers
2020-01-23T01:21:11.232Z,1579742471.232 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:21:11.635Z,1579742471.635 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:21:12.041Z,1579742472.041 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:21:38.346Z,1579742498.346 [Docked:B.](INFO): *** querying acoustic contact ***
2020-01-23T01:21:39.119Z,1579742499.119 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:21:39.527Z,1579742499.527 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:21:39.976Z,1579742499.976 [Reporter](INFO): acoustic_contact_range 1.860000 m
2020-01-23T01:21:40.346Z,1579742500.346 [Micromodem](INFO): Nmea in: $SNTTA,0.000573,,,,012140.03*44

2020-01-23T01:21:41.750Z,1579742501.750 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-23T01:21:41.938Z,1579742501.938 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:21:42.441Z,1579742502.441 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:21:42.838Z,1579742502.838 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:21:52.585Z,1579742512.585 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:21:52.938Z,1579742512.938 [DDM](INFO): Pause: Retracting whiskers
2020-01-23T01:21:53.345Z,1579742513.345 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:21:53.747Z,1579742513.747 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:21:54.153Z,1579742514.153 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:21:56.339Z,1579742516.339 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-23T01:21:56.577Z,1579742516.577 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:21:56.979Z,1579742516.979 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:21:57.382Z,1579742517.382 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:21:57.787Z,1579742517.787 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:22:02.691Z,1579742522.691 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:22:03.041Z,1579742523.041 [DDM](INFO): Pause: Retracting whiskers
2020-01-23T01:22:03.442Z,1579742523.442 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:22:03.846Z,1579742523.846 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:22:04.251Z,1579742524.251 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:22:04.656Z,1579742524.656 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:22:06.826Z,1579742526.826 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-23T01:22:07.078Z,1579742527.078 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:22:07.484Z,1579742527.484 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:22:07.887Z,1579742527.887 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:22:08.291Z,1579742528.291 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:22:12.789Z,1579742532.789 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:22:13.155Z,1579742533.155 [DDM](INFO): Pause: Retracting whiskers
2020-01-23T01:22:13.553Z,1579742533.553 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:22:13.954Z,1579742533.954 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:22:14.355Z,1579742534.355 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:22:40.254Z,1579742560.254 [Docked:B.](INFO): *** querying acoustic contact ***
2020-01-23T01:22:41.020Z,1579742561.020 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:22:41.429Z,1579742561.429 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:22:41.919Z,1579742561.919 [Reporter](INFO): acoustic_contact_range 1.920001 m
2020-01-23T01:22:42.250Z,1579742562.250 [Micromodem](INFO): Nmea in: $SNTTA,0.000628,,,,012241.93*42

2020-01-23T01:22:44.007Z,1579742564.007 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-23T01:22:44.249Z,1579742564.249 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:22:44.651Z,1579742564.651 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:22:45.054Z,1579742565.054 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:22:45.458Z,1579742565.458 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:22:54.799Z,1579742574.799 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:22:55.154Z,1579742575.154 [DDM](INFO): Pause: Retracting whiskers
2020-01-23T01:22:55.558Z,1579742575.558 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:22:55.962Z,1579742575.962 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:22:56.366Z,1579742576.366 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:22:56.772Z,1579742576.772 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:22:58.936Z,1579742578.936 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-23T01:22:59.195Z,1579742579.195 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:22:59.598Z,1579742579.598 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:23:00.008Z,1579742580.008 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:23:00.407Z,1579742580.407 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:23:04.897Z,1579742584.897 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:23:05.255Z,1579742585.255 [DDM](INFO): Pause: Retracting whiskers
2020-01-23T01:23:05.658Z,1579742585.658 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:23:06.062Z,1579742586.062 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:23:06.468Z,1579742586.468 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:23:08.643Z,1579742588.643 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-23T01:23:08.890Z,1579742588.890 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:23:09.315Z,1579742589.315 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:23:09.701Z,1579742589.701 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:23:10.103Z,1579742590.103 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:23:15.004Z,1579742595.004 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:23:15.354Z,1579742595.354 [DDM](INFO): Pause: Retracting whiskers
2020-01-23T01:23:15.758Z,1579742595.758 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:23:16.164Z,1579742596.164 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:23:16.566Z,1579742596.566 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:23:42.063Z,1579742622.063 [Docked:B.](INFO): *** querying acoustic contact ***
2020-01-23T01:23:42.831Z,1579742622.831 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:23:43.237Z,1579742623.237 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:23:43.695Z,1579742623.695 [Reporter](INFO): acoustic_contact_range 2.280001 m
2020-01-23T01:23:44.058Z,1579742624.058 [Micromodem](INFO): Nmea in: $SNTTA,0.000870,,,,012343.74*4B

2020-01-23T01:23:45.816Z,1579742625.816 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-23T01:23:46.060Z,1579742626.060 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:23:46.462Z,1579742626.462 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:23:46.866Z,1579742626.866 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:23:47.270Z,1579742627.270 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:23:56.626Z,1579742636.626 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:23:56.966Z,1579742636.966 [DDM](INFO): Pause: Retracting whiskers
2020-01-23T01:23:57.372Z,1579742637.372 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:23:57.774Z,1579742637.774 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:23:58.211Z,1579742638.211 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:24:00.783Z,1579742640.783 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-23T01:24:01.013Z,1579742641.013 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:24:01.415Z,1579742641.415 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:24:01.818Z,1579742641.818 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:24:02.220Z,1579742642.220 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:24:05.514Z,1579742645.514 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-23T01:24:05.514Z,1579742645.514 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,2001221835224-0.1,   0.0,1448.9,  0
2020-01-23T01:24:06.732Z,1579742646.732 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:24:07.068Z,1579742647.068 [DDM](INFO): Pause: Retracting whiskers
2020-01-23T01:24:07.470Z,1579742647.470 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:24:07.874Z,1579742647.874 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:24:08.279Z,1579742648.279 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:24:10.444Z,1579742650.444 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-23T01:24:10.702Z,1579742650.702 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:24:11.106Z,1579742651.106 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:24:11.510Z,1579742651.510 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:24:11.916Z,1579742651.916 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:24:17.214Z,1579742657.214 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:24:17.238Z,1579742657.238 [DDM](INFO): Pause: Retracting whiskers
2020-01-23T01:24:17.630Z,1579742657.630 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:24:18.034Z,1579742658.034 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:24:18.438Z,1579742658.438 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:24:43.933Z,1579742683.933 [Docked:B.](INFO): *** querying acoustic contact ***
2020-01-23T01:24:44.711Z,1579742684.711 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:24:45.137Z,1579742685.137 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:24:45.571Z,1579742685.571 [Reporter](INFO): acoustic_contact_range 2.280001 m
2020-01-23T01:24:45.934Z,1579742685.934 [Micromodem](INFO): Nmea in: $SNTTA,0.000869,,,,012445.63*44

2020-01-23T01:24:47.687Z,1579742687.687 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-23T01:24:47.937Z,1579742687.937 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:24:48.335Z,1579742688.335 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:24:48.738Z,1579742688.738 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:24:49.143Z,1579742689.143 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:24:58.493Z,1579742698.493 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:24:58.838Z,1579742698.838 [DDM](INFO): Pause: Retracting whiskers
2020-01-23T01:24:59.244Z,1579742699.244 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:24:59.646Z,1579742699.646 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:25:00.050Z,1579742700.050 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:25:02.247Z,1579742702.247 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-23T01:25:02.475Z,1579742702.475 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:25:02.879Z,1579742702.879 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:25:03.283Z,1579742703.283 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:25:03.687Z,1579742703.687 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:25:08.610Z,1579742708.610 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:25:08.940Z,1579742708.940 [DDM](INFO): Pause: Retracting whiskers
2020-01-23T01:25:09.343Z,1579742709.343 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:25:09.746Z,1579742709.746 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:25:10.151Z,1579742710.151 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:25:12.357Z,1579742712.357 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-23T01:25:12.574Z,1579742712.574 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:25:12.978Z,1579742712.978 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:25:13.382Z,1579742713.382 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:25:13.788Z,1579742713.788 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:25:16.391Z,1579742716.391 [CommandLine](IMPORTANT): got command show stack
2020-01-23T01:25:16.391Z,1579742716.391 [CommandLine](IMPORTANT): Behavior Stack:

2020-01-23T01:25:16.391Z,1579742716.391 [Docked](IMPORTANT): Priority 0: Docked:A.DepthEnvelope
2020-01-23T01:25:16.392Z,1579742716.392 [Docked](IMPORTANT): Priority 1: Docked:B.
2020-01-23T01:25:16.392Z,1579742716.392 [Docked](IMPORTANT): Priority 2: Docked:C
2020-01-23T01:25:16.392Z,1579742716.392 [Docked](IMPORTANT): Priority 3: Docked:D
2020-01-23T01:25:16.392Z,1579742716.392 [Docked](IMPORTANT): Priority 4: Docked:E.Docked
2020-01-23T01:25:18.681Z,1579742718.681 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:25:19.042Z,1579742719.042 [DDM](INFO): Pause: Retracting whiskers
2020-01-23T01:25:19.446Z,1579742719.446 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:25:19.850Z,1579742719.850 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:25:20.255Z,1579742720.255 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:25:20.659Z,1579742720.659 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:25:45.756Z,1579742745.756 [Docked:B.](INFO): *** querying acoustic contact ***
2020-01-23T01:25:46.528Z,1579742746.528 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:25:46.929Z,1579742746.929 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:25:47.411Z,1579742747.411 [Reporter](INFO): acoustic_contact_range 2.280001 m
2020-01-23T01:25:47.750Z,1579742747.750 [Micromodem](INFO): Nmea in: $SNTTA,0.000867,,,,012547.44*4C

2020-01-23T01:25:49.533Z,1579742749.533 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-23T01:25:49.747Z,1579742749.747 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:25:50.151Z,1579742750.151 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:25:50.555Z,1579742750.555 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:25:50.964Z,1579742750.964 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:25:59.358Z,1579742759.358 [CommandLine](IMPORTANT): got command stop
2020-01-23T01:25:59.359Z,1579742759.359 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2020-01-23T01:25:59.535Z,1579742759.535 [MissionManager](INFO): MissionManager is completed.
2020-01-23T01:25:59.536Z,1579742759.536 [MissionManager](INFO): Uninitializing Mission Docked
2020-01-23T01:25:59.536Z,1579742759.536 [Docked] Stopped
2020-01-23T01:25:59.536Z,1579742759.536 [Docked](DEBUG): Aggregate::uninitialize Docked
2020-01-23T01:25:59.536Z,1579742759.536 [Docked:A.DepthEnvelope] Stopped
2020-01-23T01:25:59.536Z,1579742759.536 [Docked:A.DepthEnvelope](DEBUG): Uninitialize.
2020-01-23T01:25:59.536Z,1579742759.536 [Docked:B.] Stopped
2020-01-23T01:25:59.536Z,1579742759.536 [Docked:C] Stopped
2020-01-23T01:25:59.536Z,1579742759.536 [Docked:D] Stopped
2020-01-23T01:25:59.536Z,1579742759.536 [Docked:E.Docked] Stopped
2020-01-23T01:25:59.887Z,1579742759.887 [MissionManager](IMPORTANT): Started mission DefaultUnder
2020-01-23T01:25:59.887Z,1579742759.887 [DefaultUnder] Running Loop=1
2020-01-23T01:25:59.887Z,1579742759.887 [DefaultUnder](DEBUG): Aggregate::initialize DefaultUnder
2020-01-23T01:25:59.887Z,1579742759.887 [DefaultUnder:uModemComms] Running Loop=1
2020-01-23T01:25:59.887Z,1579742759.887 [DefaultUnder:uModemComms](DEBUG): Aggregate::initialize DefaultUnder:uModemComms
2020-01-23T01:25:59.887Z,1579742759.887 [DefaultUnder:Notify] Running Loop=1
2020-01-23T01:25:59.887Z,1579742759.887 [DefaultUnder:Notify](DEBUG): Aggregate::initialize DefaultUnder:Notify
2020-01-23T01:25:59.888Z,1579742759.888 [DefaultUnder:Notify:A] Running Loop=1
2020-01-23T01:25:59.888Z,1579742759.888 [DefaultUnder:Notify:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A
2020-01-23T01:25:59.888Z,1579742759.888 [DefaultUnder:Notify:A:A] Running Loop=1
2020-01-23T01:25:59.888Z,1579742759.888 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A:A
2020-01-23T01:25:59.888Z,1579742759.888 [DefaultUnder:Notify:A:A:A.Wait] Running Loop=1
2020-01-23T01:25:59.888Z,1579742759.888 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Initialize Wait Component.
2020-01-23T01:25:59.888Z,1579742759.888 [DefaultUnder:C.] Running Loop=1
2020-01-23T01:25:59.888Z,1579742759.888 [DefaultUnder:C.](INFO): Initializing TrackAcousticContact.
2020-01-23T01:25:59.889Z,1579742759.889 [DefaultUnder:E.Wait] Running Loop=1
2020-01-23T01:25:59.889Z,1579742759.889 [DefaultUnder:E.Wait](DEBUG): Initialize Wait Component.
2020-01-23T01:25:59.890Z,1579742759.890 [DefaultUnder:uModemComms] Stopped
2020-01-23T01:25:59.890Z,1579742759.890 [DefaultUnder:uModemComms](DEBUG): Aggregate::uninitialize DefaultUnder:uModemComms
2020-01-23T01:25:59.899Z,1579742759.899 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T01:26:00.251Z,1579742760.251 [DDM](INFO): Pause: Retracting whiskers
2020-01-23T01:26:00.657Z,1579742760.657 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:26:01.058Z,1579742761.058 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:26:01.496Z,1579742761.496 [DDM](INFO): Pausing: Closing Latch
2020-01-23T01:26:02.518Z,1579742762.518 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T01:26:03.251Z,1579742763.251 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:26:03.642Z,1579742763.642 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:26:04.171Z,1579742764.171 [Reporter](INFO): acoustic_contact_range 2.220000 m
2020-01-23T01:26:04.482Z,1579742764.482 [Micromodem](INFO): Nmea in: $SNTTA,0.000864,,,,012604.17*4D

2020-01-23T01:26:06.895Z,1579742766.895 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T01:26:07.683Z,1579742767.683 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:26:08.089Z,1579742768.089 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:26:08.589Z,1579742768.589 [Reporter](INFO): acoustic_contact_range 2.280001 m
2020-01-23T01:26:08.910Z,1579742768.910 [Micromodem](INFO): Nmea in: $SNTTA,0.000872,,,,012608.60*46

2020-01-23T01:26:11.354Z,1579742771.354 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T01:26:12.142Z,1579742772.142 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:26:12.540Z,1579742772.540 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:26:12.971Z,1579742772.971 [DefaultUnder:E.Wait](INFO): Done Waiting.
2020-01-23T01:26:12.971Z,1579742772.971 [DefaultUnder:E.Wait] Stopped
2020-01-23T01:26:12.971Z,1579742772.971 [DefaultUnder:E.Wait](DEBUG): Uninitialize Wait Component.
2020-01-23T01:26:12.972Z,1579742772.972 [DefaultUnder:Default] Running Loop=1
2020-01-23T01:26:12.972Z,1579742772.972 [DefaultUnder:Default](DEBUG): Aggregate::initialize DefaultUnder:Default
2020-01-23T01:26:12.972Z,1579742772.972 [DefaultUnder:Default:Docked] Running Loop=1
2020-01-23T01:26:12.972Z,1579742772.972 [DefaultUnder:Default:Docked](DEBUG): Aggregate::initialize DefaultUnder:Default:Docked
2020-01-23T01:26:12.972Z,1579742772.972 [DefaultUnder:Default:Docked:run] Running Loop=1
2020-01-23T01:26:12.972Z,1579742772.972 [DefaultUnder:Default:Docked:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Docked:run
2020-01-23T01:26:12.972Z,1579742772.972 [DefaultUnder:Default:Docked:run:A] Running Loop=1
2020-01-23T01:26:12.972Z,1579742772.972 [DefaultUnder:Default:Home] Running Loop=1
2020-01-23T01:26:12.972Z,1579742772.972 [DefaultUnder:Default:Home](DEBUG): Aggregate::initialize DefaultUnder:Default:Home
2020-01-23T01:26:12.972Z,1579742772.972 [DefaultUnder:Default:Home:run] Running Loop=1
2020-01-23T01:26:12.977Z,1579742772.977 [DefaultUnder:Default:Home:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Home:run
2020-01-23T01:26:12.977Z,1579742772.977 [DefaultUnder:Default:Home:run:A] Running Loop=1
2020-01-23T01:26:12.977Z,1579742772.977 [DefaultUnder:Default:Surface] Running Loop=1
2020-01-23T01:26:12.977Z,1579742772.977 [DefaultUnder:Default:Surface](DEBUG): Aggregate::initialize DefaultUnder:Default:Surface
2020-01-23T01:26:12.977Z,1579742772.977 [DefaultUnder:Default:Surface:run] Running Loop=1
2020-01-23T01:26:12.977Z,1579742772.977 [DefaultUnder:Default:Surface:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Surface:run
2020-01-23T01:26:12.977Z,1579742772.977 [DefaultUnder:Default:Surface:run:B.GoToSurface] Running Loop=1
2020-01-23T01:26:12.977Z,1579742772.977 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-23T01:26:12.978Z,1579742772.978 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-23T01:26:12.978Z,1579742772.978 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-23T01:26:12.978Z,1579742772.978 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-23T01:26:12.979Z,1579742772.979 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-23T01:26:12.979Z,1579742772.979 [DefaultUnder:Default:Surface:run:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-23T01:26:12.979Z,1579742772.979 [DefaultUnder:Default:Surface:run:A] Running Loop=1
2020-01-23T01:26:13.031Z,1579742773.031 [Reporter](INFO): acoustic_contact_range 1.259998 m
2020-01-23T01:26:13.358Z,1579742773.358 [Micromodem](INFO): Nmea in: $SNTTA,0.000226,,,,012613.06*47

2020-01-23T01:26:13.426Z,1579742773.426 [DefaultUnder:Default:Surface] Stopped
2020-01-23T01:26:13.426Z,1579742773.426 [DefaultUnder:Default:Surface](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Surface
2020-01-23T01:26:13.426Z,1579742773.426 [DefaultUnder:Default:Surface:run] Stopped
2020-01-23T01:26:13.426Z,1579742773.426 [DefaultUnder:Default:Surface:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Surface:run
2020-01-23T01:26:13.426Z,1579742773.426 [DefaultUnder:Default:Surface:run:A] Stopped
2020-01-23T01:26:13.426Z,1579742773.426 [DefaultUnder:Default:Surface:run:B.GoToSurface] Stopped
2020-01-23T01:26:13.426Z,1579742773.426 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-23T01:26:13.427Z,1579742773.427 [DefaultUnder:Default:Home:run:A] Stopped
2020-01-23T01:26:13.427Z,1579742773.427 [DefaultUnder:Default:Home:run:B] Running Loop=1
2020-01-23T01:26:13.427Z,1579742773.427 [DefaultUnder:Default:Docked] Stopped
2020-01-23T01:26:13.427Z,1579742773.427 [DefaultUnder:Default:Docked](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Docked
2020-01-23T01:26:13.427Z,1579742773.427 [DefaultUnder:Default:Docked:run] Stopped
2020-01-23T01:26:13.427Z,1579742773.427 [DefaultUnder:Default:Docked:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Docked:run
2020-01-23T01:26:13.427Z,1579742773.427 [DefaultUnder:Default:Docked:run:A] Stopped
2020-01-23T01:26:13.806Z,1579742773.806 [DefaultUnder:Default:Home:run:B] Stopped
2020-01-23T01:26:13.806Z,1579742773.806 [DefaultUnder:Default:Home:run:C] Running Loop=1
2020-01-23T01:26:13.806Z,1579742773.806 [DefaultUnder:Default:Home:run:C](DEBUG): Aggregate::initialize DefaultUnder:Default:Home:run:C
2020-01-23T01:26:14.224Z,1579742774.224 [DefaultUnder:LineCapture] Running Loop=1
2020-01-23T01:26:14.229Z,1579742774.229 [DefaultUnder:LineCapture](DEBUG): Aggregate::initialize DefaultUnder:LineCapture
2020-01-23T01:26:14.229Z,1579742774.229 [DefaultUnder:LineCapture:StandardEnvelopes] Running Loop=1
2020-01-23T01:26:14.229Z,1579742774.229 [DefaultUnder:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:StandardEnvelopes
2020-01-23T01:26:14.229Z,1579742774.229 [DefaultUnder:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2020-01-23T01:26:14.229Z,1579742774.229 [DefaultUnder:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2020-01-23T01:26:14.229Z,1579742774.229 [DefaultUnder:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2020-01-23T01:26:14.229Z,1579742774.229 [DefaultUnder:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2020-01-23T01:26:14.229Z,1579742774.229 [DefaultUnder:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2020-01-23T01:26:14.230Z,1579742774.230 [DefaultUnder:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2020-01-23T01:26:14.230Z,1579742774.230 [DefaultUnder:LineCapture:F] Running Loop=1
2020-01-23T01:26:14.230Z,1579742774.230 [DefaultUnder:LineCapture:G] Running Loop=1
2020-01-23T01:26:14.230Z,1579742774.230 [DefaultUnder:LineCapture:H.Mass] Running Loop=1
2020-01-23T01:26:14.230Z,1579742774.230 [DefaultUnder:LineCapture:H.Mass](DEBUG): Initialize.
2020-01-23T01:26:14.230Z,1579742774.230 [DefaultUnder:LineCapture:A] Running Loop=1
2020-01-23T01:26:14.232Z,1579742774.232 [DefaultUnder:LineCapture:A] Stopped
2020-01-23T01:26:14.232Z,1579742774.232 [DefaultUnder:LineCapture:C] Running Loop=1
2020-01-23T01:26:14.654Z,1579742774.654 [DefaultUnder:LineCapture:C] Stopped
2020-01-23T01:26:14.654Z,1579742774.654 [DefaultUnder:LineCapture:D] Running Loop=1
2020-01-23T01:26:15.004Z,1579742775.004 [DefaultUnder:LineCapture:D] Stopped
2020-01-23T01:26:15.004Z,1579742775.004 [DefaultUnder:LineCapture:E] Running Loop=1
2020-01-23T01:26:15.434Z,1579742775.434 [DefaultUnder:LineCapture:E] Stopped
2020-01-23T01:26:15.434Z,1579742775.434 [DefaultUnder:LineCapture:HomingSequence] Running Loop=1
2020-01-23T01:26:15.434Z,1579742775.434 [DefaultUnder:LineCapture:HomingSequence](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence
2020-01-23T01:26:15.434Z,1579742775.434 [DefaultUnder:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2020-01-23T01:26:15.434Z,1579742775.434 [DefaultUnder:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:DetachFromDock
2020-01-23T01:26:15.434Z,1579742775.434 [DefaultUnder:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2020-01-23T01:26:15.434Z,1579742775.434 [DefaultUnder:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:DetachFromDock:guide
2020-01-23T01:26:15.434Z,1579742775.434 [DefaultUnder:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2020-01-23T01:26:15.434Z,1579742775.434 [DefaultUnder:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2020-01-23T01:26:15.435Z,1579742775.435 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2020-01-23T01:26:15.435Z,1579742775.435 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance
2020-01-23T01:26:15.435Z,1579742775.435 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2020-01-23T01:26:15.435Z,1579742775.435 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide
2020-01-23T01:26:15.435Z,1579742775.435 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:B] Running Loop=1
2020-01-23T01:26:15.435Z,1579742775.435 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2020-01-23T01:26:15.435Z,1579742775.435 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance
2020-01-23T01:26:15.435Z,1579742775.435 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2020-01-23T01:26:15.436Z,1579742775.436 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide
2020-01-23T01:26:15.436Z,1579742775.436 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:C] Running Loop=1
2020-01-23T01:26:15.436Z,1579742775.436 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2020-01-23T01:26:15.436Z,1579742775.436 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2020-01-23T01:26:15.436Z,1579742775.436 [DefaultUnder:LineCapture:HomingSequence:A] Running Loop=1
2020-01-23T01:26:15.436Z,1579742775.436 [DefaultUnder:LineCapture:HomingSequence:A](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:A
2020-01-23T01:26:15.791Z,1579742775.791 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance] Stopped
2020-01-23T01:26:15.791Z,1579742775.791 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance
2020-01-23T01:26:15.791Z,1579742775.791 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2020-01-23T01:26:15.791Z,1579742775.791 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide
2020-01-23T01:26:15.791Z,1579742775.791 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2020-01-23T01:26:15.791Z,1579742775.791 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:C] Stopped
2020-01-23T01:26:15.791Z,1579742775.791 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2020-01-23T01:26:15.791Z,1579742775.791 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2020-01-23T01:26:15.791Z,1579742775.791 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance
2020-01-23T01:26:15.791Z,1579742775.791 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2020-01-23T01:26:15.791Z,1579742775.791 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide
2020-01-23T01:26:15.791Z,1579742775.791 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:B] Stopped
2020-01-23T01:26:15.792Z,1579742775.792 [DefaultUnder:LineCapture:DiveCmd] Running Loop=1
2020-01-23T01:26:15.792Z,1579742775.792 [DefaultUnder:LineCapture:DiveCmd](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:DiveCmd
2020-01-23T01:26:15.792Z,1579742775.792 [DefaultUnder:LineCapture:DiveCmd:Guided] Running Loop=1
2020-01-23T01:26:15.792Z,1579742775.792 [DefaultUnder:LineCapture:DiveCmd:Guided](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:DiveCmd:Guided
2020-01-23T01:26:15.792Z,1579742775.792 [DefaultUnder:LineCapture:DiveCmd:Guided:dive] Running Loop=1
2020-01-23T01:26:15.792Z,1579742775.792 [DefaultUnder:LineCapture:DiveCmd:Guided:dive](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:DiveCmd:Guided:dive
2020-01-23T01:26:15.792Z,1579742775.792 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:A] Running Loop=1
2020-01-23T01:26:15.792Z,1579742775.792 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:B.Buoyancy] Running Loop=1
2020-01-23T01:26:15.792Z,1579742775.792 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2020-01-23T01:26:15.792Z,1579742775.792 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:C.SetSpeed] Running Loop=1
2020-01-23T01:26:15.792Z,1579742775.792 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:C.SetSpeed](DEBUG): Initialize.
2020-01-23T01:26:15.793Z,1579742775.793 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:D.Pitch] Running Loop=1
2020-01-23T01:26:15.793Z,1579742775.793 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:D.Pitch](DEBUG): Initialize.
2020-01-23T01:26:15.793Z,1579742775.793 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock] Running Loop=1
2020-01-23T01:26:15.793Z,1579742775.793 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock
2020-01-23T01:26:15.793Z,1579742775.793 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive] Running Loop=1
2020-01-23T01:26:15.793Z,1579742775.793 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive
2020-01-23T01:26:15.794Z,1579742775.794 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed] Running Loop=1
2020-01-23T01:26:15.794Z,1579742775.794 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed](DEBUG): Initialize.
2020-01-23T01:26:15.794Z,1579742775.794 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:B.Pitch] Running Loop=1
2020-01-23T01:26:15.794Z,1579742775.794 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:B.Pitch](DEBUG): Initialize.
2020-01-23T01:26:15.795Z,1579742775.795 [DefaultUnder:LineCapture:DiveCmd:Guided] Stopped
2020-01-23T01:26:15.795Z,1579742775.795 [DefaultUnder:LineCapture:DiveCmd:Guided](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:DiveCmd:Guided
2020-01-23T01:26:15.795Z,1579742775.795 [DefaultUnder:LineCapture:DiveCmd:Guided:dive] Stopped
2020-01-23T01:26:15.795Z,1579742775.795 [DefaultUnder:LineCapture:DiveCmd:Guided:dive](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:DiveCmd:Guided:dive
2020-01-23T01:26:15.795Z,1579742775.795 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:A] Stopped
2020-01-23T01:26:15.795Z,1579742775.795 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:B.Buoyancy] Stopped
2020-01-23T01:26:15.795Z,1579742775.795 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2020-01-23T01:26:15.795Z,1579742775.795 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:C.SetSpeed] Stopped
2020-01-23T01:26:15.795Z,1579742775.795 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:C.SetSpeed](DEBUG): Uninitialize.
2020-01-23T01:26:15.795Z,1579742775.795 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:D.Pitch] Stopped
2020-01-23T01:26:15.797Z,1579742775.797 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T01:26:16.679Z,1579742776.679 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:26:16.871Z,1579742776.871 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-23T01:26:16.968Z,1579742776.968 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:26:17.005Z,1579742777.005 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:26:17.056Z,1579742777.056 [PowerOnly](INFO): Powering up
2020-01-23T01:26:17.370Z,1579742777.370 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:26:17.507Z,1579742777.507 [Reporter](INFO): acoustic_contact_range 1.259998 m
2020-01-23T01:26:17.775Z,1579742777.775 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:26:17.884Z,1579742777.884 [DefaultUnder:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock.
2020-01-23T01:26:18.205Z,1579742778.205 [DDM](INFO): Detaching. Opening Latch
2020-01-23T01:26:18.254Z,1579742778.254 [Micromodem](INFO): Nmea in: $SNTTA,0.000242,,,,012617.59*4B

2020-01-23T01:26:20.276Z,1579742780.276 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T01:26:21.046Z,1579742781.046 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T01:26:21.449Z,1579742781.449 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T01:26:21.942Z,1579742781.942 [Reporter](INFO): acoustic_contact_range 1.319999 m
2020-01-23T01:26:22.274Z,1579742782.274 [Micromodem](INFO): Nmea in: $SNTTA,0.000231,,,,012621.96*49