2020-01-23T16:59:20.164Z,1579798760.164 [Supervisor](DEBUG): Initializing supervisor.
2020-01-23T16:59:20.166Z,1579798760.166 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2020-01-23T16:59:20.167Z,1579798760.167 [SyncHandler](INFO): Protected caller Thread ID is 6706
2020-01-23T16:59:20.167Z,1579798760.167 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2020-01-23T16:59:20.168Z,1579798760.168 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2020-01-23T16:59:20.168Z,1579798760.168 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 6707
2020-01-23T16:59:20.171Z,1579798760.171 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2020-01-23T16:59:20.183Z,1579798760.183 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2020-01-23T16:59:20.184Z,1579798760.184 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2020-01-23T16:59:20.184Z,1579798760.184 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 6708
2020-01-23T16:59:20.185Z,1579798760.185 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2020-01-23T16:59:20.186Z,1579798760.186 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2020-01-23T16:59:20.187Z,1579798760.187 [logger ThreadHandler](INFO): Protected caller Thread ID is 6709
2020-01-23T16:59:20.188Z,1579798760.188 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2020-01-23T16:59:20.189Z,1579798760.189 [Supervisor](INFO): Looking for Config files in directory: Config/
2020-01-23T16:59:20.190Z,1579798760.190 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2020-01-23T16:59:20.623Z,1579798760.623 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2020-01-23T16:59:20.624Z,1579798760.624 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2020-01-23T16:59:20.719Z,1579798760.719 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2020-01-23T16:59:20.720Z,1579798760.720 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2020-01-23T16:59:21.029Z,1579798761.029 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2020-01-23T16:59:21.030Z,1579798761.030 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2020-01-23T16:59:21.165Z,1579798761.165 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2020-01-23T16:59:21.166Z,1579798761.166 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2020-01-23T16:59:21.354Z,1579798761.354 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2020-01-23T16:59:21.355Z,1579798761.355 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2020-01-23T16:59:21.794Z,1579798761.794 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2020-01-23T16:59:21.794Z,1579798761.794 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2020-01-23T16:59:21.000Z,1579798762.000 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2020-01-23T16:59:22.000Z,1579798762.000 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2020-01-23T16:59:22.142Z,1579798762.142 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2020-01-23T16:59:22.142Z,1579798762.142 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2020-01-23T16:59:22.330Z,1579798762.330 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2020-01-23T16:59:22.330Z,1579798762.330 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2020-01-23T16:59:22.424Z,1579798762.424 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2020-01-23T16:59:22.424Z,1579798762.424 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2020-01-23T16:59:22.719Z,1579798762.719 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2020-01-23T16:59:22.719Z,1579798762.719 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2020-01-23T16:59:22.798Z,1579798762.798 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2020-01-23T16:59:22.899Z,1579798762.899 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2020-01-23T16:59:22.899Z,1579798762.899 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2020-01-23T16:59:24.125Z,1579798764.125 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2020-01-23T16:59:24.125Z,1579798764.125 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2020-01-23T16:59:24.528Z,1579798764.528 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2020-01-23T16:59:24.530Z,1579798764.530 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/
2020-01-23T16:59:24.531Z,1579798764.531 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/vehicle.cfg
2020-01-23T16:59:24.739Z,1579798764.739 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Control.cfg
2020-01-23T16:59:24.837Z,1579798764.837 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/BIT.cfg
2020-01-23T16:59:24.935Z,1579798764.935 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Battery.cfg
2020-01-23T16:59:25.158Z,1579798765.158 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2020-01-23T16:59:25.159Z,1579798765.159 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Simulator.cfg
2020-01-23T16:59:25.242Z,1579798765.242 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Navigation.cfg
2020-01-23T16:59:25.334Z,1579798765.334 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/logger.cfg
2020-01-23T16:59:25.429Z,1579798765.429 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/secure.cfg
2020-01-23T16:59:25.510Z,1579798765.510 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Servo.cfg
2020-01-23T16:59:25.615Z,1579798765.615 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/workSite.cfg
2020-01-23T16:59:25.706Z,1579798765.706 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Sensor.cfg
2020-01-23T16:59:25.887Z,1579798765.887 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Science.cfg
2020-01-23T16:59:26.016Z,1579798766.016 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/root/
2020-01-23T16:59:26.016Z,1579798766.016 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2020-01-23T16:59:26.024Z,1579798766.024 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2020-01-23T16:59:26.328Z,1579798766.328 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_orientation
2020-01-23T16:59:26.333Z,1579798766.333 [AHRS_M2](INFO): created writer for : platform_orientation
2020-01-23T16:59:26.335Z,1579798766.335 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_magnetic_orientation
2020-01-23T16:59:26.340Z,1579798766.340 [AHRS_M2](INFO): created writer for : platform_magnetic_orientation
2020-01-23T16:59:26.340Z,1579798766.340 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_pitch_angle
2020-01-23T16:59:26.345Z,1579798766.345 [AHRS_M2](INFO): created writer for : platform_pitch_angle
2020-01-23T16:59:26.346Z,1579798766.346 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_roll_angle
2020-01-23T16:59:26.351Z,1579798766.351 [AHRS_M2](INFO): created writer for : platform_roll_angle
2020-01-23T16:59:26.419Z,1579798766.419 [AHRS_M2] Loaded
2020-01-23T16:59:26.419Z,1579798766.419 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2020-01-23T16:59:26.498Z,1579798766.498 [DataOverHttps] Loaded
2020-01-23T16:59:26.499Z,1579798766.499 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2020-01-23T16:59:26.500Z,1579798766.500 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 407684E0
2020-01-23T16:59:26.500Z,1579798766.500 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 6791
2020-01-23T16:59:26.523Z,1579798766.523 [DDM] Loaded
2020-01-23T16:59:26.524Z,1579798766.524 [ComponentRegistry](DEBUG): SyncComponent "DDM" handled in the control thread.
2020-01-23T16:59:26.536Z,1579798766.536 [Depth_Keller] Loaded
2020-01-23T16:59:26.537Z,1579798766.537 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2020-01-23T16:59:26.541Z,1579798766.541 [DropWeight] Loaded
2020-01-23T16:59:26.541Z,1579798766.541 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2020-01-23T16:59:26.601Z,1579798766.601 [DUSBL_Hydroid] Loaded
2020-01-23T16:59:26.601Z,1579798766.601 [ComponentRegistry](DEBUG): SyncComponent "DUSBL_Hydroid" handled in the control thread.
2020-01-23T16:59:26.647Z,1579798766.647 [Micromodem] Loaded
2020-01-23T16:59:26.647Z,1579798766.647 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2020-01-23T16:59:26.741Z,1579798766.741 [NAL9602] Loaded
2020-01-23T16:59:26.741Z,1579798766.741 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2020-01-23T16:59:26.779Z,1579798766.779 [Onboard] Loaded
2020-01-23T16:59:26.780Z,1579798766.780 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2020-01-23T16:59:26.785Z,1579798766.785 [PowerOnly] Loaded
2020-01-23T16:59:26.786Z,1579798766.786 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2020-01-23T16:59:26.827Z,1579798766.827 [RDI_Pathfinder] Loaded
2020-01-23T16:59:26.828Z,1579798766.828 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2020-01-23T16:59:28.255Z,1579798768.255 [BPC1] Loaded
2020-01-23T16:59:28.255Z,1579798768.255 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2020-01-23T16:59:28.256Z,1579798768.256 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2020-01-23T16:59:28.256Z,1579798768.256 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2020-01-23T16:59:28.269Z,1579798768.269 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2020-01-23T16:59:28.270Z,1579798768.270 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2020-01-23T16:59:28.371Z,1579798768.371 [DeadReckonUsingMultipleVelocitySources] Loaded
2020-01-23T16:59:28.371Z,1579798768.371 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2020-01-23T16:59:28.391Z,1579798768.391 [NavChart] Loaded
2020-01-23T16:59:28.392Z,1579798768.392 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2020-01-23T16:59:28.395Z,1579798768.395 [UniversalFixResidualReporter] Loaded
2020-01-23T16:59:28.396Z,1579798768.396 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2020-01-23T16:59:28.396Z,1579798768.396 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2020-01-23T16:59:28.397Z,1579798768.397 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2020-01-23T16:59:28.503Z,1579798768.503 [BuoyancyServo] Loaded
2020-01-23T16:59:28.503Z,1579798768.503 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2020-01-23T16:59:28.518Z,1579798768.518 [ElevatorServo] Loaded
2020-01-23T16:59:28.518Z,1579798768.518 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2020-01-23T16:59:28.532Z,1579798768.532 [MassServo] Loaded
2020-01-23T16:59:28.533Z,1579798768.533 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2020-01-23T16:59:28.547Z,1579798768.547 [RudderServo] Loaded
2020-01-23T16:59:28.548Z,1579798768.548 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2020-01-23T16:59:28.562Z,1579798768.562 [ThrusterServo] Loaded
2020-01-23T16:59:28.562Z,1579798768.562 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2020-01-23T16:59:28.562Z,1579798768.562 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2020-01-23T16:59:28.563Z,1579798768.563 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2020-01-23T16:59:28.813Z,1579798768.813 [CTD_NeilBrown] Loaded
2020-01-23T16:59:28.814Z,1579798768.814 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2020-01-23T16:59:28.815Z,1579798768.815 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 408BC4E0
2020-01-23T16:59:28.815Z,1579798768.815 [CTD_NeilBrown ThreadHandler](INFO): Protected caller Thread ID is 6792
2020-01-23T16:59:28.829Z,1579798768.829 [PAR_Licor] Loaded
2020-01-23T16:59:28.830Z,1579798768.830 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2020-01-23T16:59:28.872Z,1579798768.872 [WetLabsSeaOWL_UV_A] Loaded
2020-01-23T16:59:28.872Z,1579798768.872 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2020-01-23T16:59:28.873Z,1579798768.873 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 408EC4E0
2020-01-23T16:59:28.873Z,1579798768.873 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 6793
2020-01-23T16:59:28.874Z,1579798768.874 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2020-01-23T16:59:28.874Z,1579798768.874 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2020-01-23T16:59:29.201Z,1579798769.201 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2020-01-23T16:59:29.202Z,1579798769.202 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2020-01-23T16:59:29.347Z,1579798769.347 [DepthRateCalculator] Loaded
2020-01-23T16:59:29.347Z,1579798769.347 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2020-01-23T16:59:29.401Z,1579798769.401 [PitchRateCalculator] Loaded
2020-01-23T16:59:29.401Z,1579798769.401 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2020-01-23T16:59:29.448Z,1579798769.448 [SpeedCalculator] Loaded
2020-01-23T16:59:29.448Z,1579798769.448 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2020-01-23T16:59:29.583Z,1579798769.583 [TempGradientCalculator] Loaded
2020-01-23T16:59:29.583Z,1579798769.583 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2020-01-23T16:59:29.588Z,1579798769.588 [YawRateCalculator] Loaded
2020-01-23T16:59:29.621Z,1579798769.621 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2020-01-23T16:59:29.744Z,1579798769.744 [ElevatorOffsetCalculator] Loaded
2020-01-23T16:59:29.753Z,1579798769.753 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2020-01-23T16:59:29.753Z,1579798769.753 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2020-01-23T16:59:29.754Z,1579798769.754 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2020-01-23T16:59:30.069Z,1579798770.069 [SBIT](DEBUG): Construct Startup Built In Test.
2020-01-23T16:59:30.093Z,1579798770.093 [SBIT] Loaded
2020-01-23T16:59:30.093Z,1579798770.093 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2020-01-23T16:59:30.094Z,1579798770.094 [IBIT](DEBUG): Construct Initiated Built In Test.
2020-01-23T16:59:30.111Z,1579798770.111 [IBIT] Loaded
2020-01-23T16:59:30.111Z,1579798770.111 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2020-01-23T16:59:30.114Z,1579798770.114 [CBIT](DEBUG): Construct Continuous Built In Test.
2020-01-23T16:59:30.248Z,1579798770.248 [CBIT] Loaded
2020-01-23T16:59:30.249Z,1579798770.249 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2020-01-23T16:59:30.249Z,1579798770.249 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2020-01-23T16:59:30.250Z,1579798770.250 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2020-01-23T16:59:30.329Z,1579798770.329 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2020-01-23T16:59:30.330Z,1579798770.330 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2020-01-23T16:59:30.425Z,1579798770.425 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2020-01-23T16:59:30.425Z,1579798770.425 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2020-01-23T16:59:30.472Z,1579798770.472 [VerticalControl](DEBUG): Construct VerticalControl.
2020-01-23T16:59:30.554Z,1579798770.554 [VerticalControl] Loaded
2020-01-23T16:59:30.555Z,1579798770.555 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2020-01-23T16:59:30.555Z,1579798770.555 [HorizontalControl](DEBUG): Construct HorizontalControl.
2020-01-23T16:59:30.622Z,1579798770.622 [HorizontalControl] Loaded
2020-01-23T16:59:30.622Z,1579798770.622 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2020-01-23T16:59:30.623Z,1579798770.623 [SpeedControl](DEBUG): Construct SpeedControl.
2020-01-23T16:59:30.625Z,1579798770.625 [SpeedControl] Loaded
2020-01-23T16:59:30.625Z,1579798770.625 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2020-01-23T16:59:30.626Z,1579798770.626 [LoopControl](DEBUG): Construct LoopControl.
2020-01-23T16:59:30.626Z,1579798770.626 [LoopControl] Loaded
2020-01-23T16:59:30.627Z,1579798770.627 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2020-01-23T16:59:30.627Z,1579798770.627 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2020-01-23T16:59:30.627Z,1579798770.627 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2020-01-23T16:59:30.659Z,1579798770.659 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2020-01-23T16:59:30.663Z,1579798770.663 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2020-01-23T16:59:30.663Z,1579798770.663 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2020-01-23T16:59:30.670Z,1579798770.670 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2020-01-23T16:59:30.671Z,1579798770.671 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40ACC4E0
2020-01-23T16:59:30.671Z,1579798770.671 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 6794
2020-01-23T16:59:30.676Z,1579798770.676 [Supervisor](INFO): Main Thread ID is 6574
2020-01-23T16:59:30.676Z,1579798770.676 [Supervisor](DEBUG): Running supervisor.
2020-01-23T16:59:30.677Z,1579798770.677 [CommandLine ThreadHandler](INFO): Handler Thread ID is 6795
2020-01-23T16:59:30.679Z,1579798770.679 [controlThread ThreadHandler](INFO): Handler Thread ID is 6796
2020-01-23T16:59:30.680Z,1579798770.680 [controlThread](DEBUG): Initializing ControlThread
2020-01-23T16:59:30.689Z,1579798770.689 [NavChart](DEBUG): Initialize NavChart Navigation.
2020-01-23T16:59:30.689Z,1579798770.689 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2020-01-23T16:59:30.693Z,1579798770.693 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2020-01-23T16:59:30.693Z,1579798770.693 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2020-01-23T16:59:30.694Z,1579798770.694 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2020-01-23T16:59:30.694Z,1579798770.694 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2020-01-23T16:59:30.694Z,1579798770.694 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2020-01-23T16:59:30.695Z,1579798770.695 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2020-01-23T16:59:30.695Z,1579798770.695 [SBIT](INFO): Initialize SBIT Component.
2020-01-23T16:59:30.696Z,1579798770.696 [SBIT](IMPORTANT): git: 2019-12-03-66-g3ff2a14
2020-01-23T16:59:30.696Z,1579798770.696 [SBIT](INFO): git hash: 3ff2a141e314d0ff24dfcdecba8589fc2363d401
2020-01-23T16:59:30.696Z,1579798770.696 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2020-01-23T16:59:30.698Z,1579798770.698 [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
2020-01-23T16:59:30.699Z,1579798770.699 [SBIT](INFO): Beginning SBIT in 39.000000 seconds.
2020-01-23T16:59:30.699Z,1579798770.699 [IBIT](INFO): Initialize IBIT Component.
2020-01-23T16:59:30.700Z,1579798770.700 [CBIT](DEBUG): Initialize CBIT Component.
2020-01-23T16:59:30.701Z,1579798770.701 [logger ThreadHandler](INFO): Handler Thread ID is 6797
2020-01-23T16:59:30.713Z,1579798770.713 [CBIT](DEBUG): Initialized mux pins.
2020-01-23T16:59:30.713Z,1579798770.713 [CBIT](DEBUG): Initializing the watchdog timer.
2020-01-23T16:59:30.721Z,1579798770.721 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 6798
2020-01-23T16:59:30.722Z,1579798770.722 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2020-01-23T16:59:30.733Z,1579798770.733 [CTD_NeilBrown ThreadHandler](INFO): Handler Thread ID is 6799
2020-01-23T16:59:30.734Z,1579798770.734 [CTD_NeilBrown](INFO): Powering down
2020-01-23T16:59:30.737Z,1579798770.737 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2020-01-23T16:59:30.737Z,1579798770.737 [CBIT](DEBUG): Initializing heartbeat.
2020-01-23T16:59:30.758Z,1579798770.758 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 6800
2020-01-23T16:59:30.758Z,1579798770.758 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-01-23T16:59:30.789Z,1579798770.789 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 6801
2020-01-23T16:59:30.792Z,1579798770.792 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2020-01-23T16:59:30.792Z,1579798770.792 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2020-01-23T16:59:30.792Z,1579798770.792 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2020-01-23T16:59:30.793Z,1579798770.793 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2020-01-23T16:59:30.793Z,1579798770.793 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2020-01-23T16:59:30.793Z,1579798770.793 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2020-01-23T16:59:30.793Z,1579798770.793 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2020-01-23T16:59:30.794Z,1579798770.794 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2020-01-23T16:59:30.794Z,1579798770.794 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2020-01-23T16:59:30.794Z,1579798770.794 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2020-01-23T16:59:30.794Z,1579798770.794 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2020-01-23T16:59:30.794Z,1579798770.794 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2020-01-23T16:59:30.794Z,1579798770.794 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2020-01-23T16:59:30.795Z,1579798770.795 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2020-01-23T16:59:30.795Z,1579798770.795 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2020-01-23T16:59:30.795Z,1579798770.795 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2020-01-23T16:59:30.809Z,1579798770.809 [CBIT](DEBUG): Deactivating GF circuits.
2020-01-23T16:59:30.809Z,1579798770.809 [CBIT](DEBUG): Deactivating emergency mode.
2020-01-23T16:59:30.845Z,1579798770.845 [CBIT](DEBUG): Backplane powered.
2020-01-23T16:59:30.845Z,1579798770.845 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2020-01-23T16:59:30.847Z,1579798770.847 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2020-01-23T16:59:30.847Z,1579798770.847 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2020-01-23T16:59:30.848Z,1579798770.848 [LoopControl](DEBUG): Initialize LoopControlComponent.
2020-01-23T16:59:30.849Z,1579798770.849 [MissionManager](INFO): Loading Mission: Missions/underIce/StartupUnder.xml
2020-01-23T16:59:30.854Z,1579798770.854 [MissionManager](ERROR): Top node has no child nodes: Mission
2020-01-23T16:59:30.854Z,1579798770.854 [MissionManager](ERROR): Could not load startup mission.
2020-01-23T16:59:30.855Z,1579798770.855 [MissionManager](INFO): Loading Mission: Missions/underIce/DefaultUnder.xml
2020-01-23T16:59:30.937Z,1579798770.937 [CTD_NeilBrown](FAULT): LCB fault: LCB Watchdog Reset. Invalid Command. Hardware Overcurrent Shutdown. Software Overcurrent. Current Limiter Activated.
2020-01-23T16:59:30.938Z,1579798770.938 [CTD_NeilBrown] Hardware Fault, FailCount= 1
2020-01-23T16:59:30.938Z,1579798770.938 [CTD_NeilBrown](ERROR): Hardware Fault
2020-01-23T16:59:31.085Z,1579798771.085 [MissionManager](INFO): DefineArg DefaultUnder.uModemCommsInterval = 5.000000 min
2020-01-23T16:59:31.088Z,1579798771.088 [MissionManager](INFO): DefineArg DefaultUnder.TransponderCode = 2.000000 count
2020-01-23T16:59:31.091Z,1579798771.091 [MissionManager](INFO): DefineArg DefaultUnder.AcousticUpdatePeriod = 60.000000 s
2020-01-23T16:59:31.104Z,1579798771.104 [MissionManager](INFO): DefineArg DefaultUnder.DockingAcousticUpdatePeriod = 2.500000 s
2020-01-23T16:59:31.107Z,1579798771.107 [MissionManager](INFO): DefineArg DefaultUnder.NumberOfPings = 1.000000 count
2020-01-23T16:59:31.139Z,1579798771.139 [MissionManager](INFO): DefineOutput DefaultUnder.TrackingUpdatePeriod = 60.000000 n/a
2020-01-23T16:59:31.142Z,1579798771.142 [MissionManager](INFO): DefineOutput DefaultUnder.Surface = -1.000000 count
2020-01-23T16:59:31.154Z,1579798771.154 [MissionManager](INFO): DefineOutput DefaultUnder.Docked = 0.000000 count
2020-01-23T16:59:31.158Z,1579798771.158 [MissionManager](INFO): DefineOutput DefaultUnder.Home = 1.000000 count
2020-01-23T16:59:31.190Z,1579798771.190 [MissionManager](INFO): DefineOutput DefaultUnder.DefaultMode = 0.000000 n/a
2020-01-23T16:59:31.194Z,1579798771.194 [MissionManager](INFO): DefineOutput DefaultUnder.CaptureMode = -1.000000 count
2020-01-23T16:59:31.208Z,1579798771.208 [MissionManager](INFO): DefineOutput DefaultUnder.ElapsedSinceDefaultStarted = 0.000000 min
2020-01-23T16:59:31.236Z,1579798771.236 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Construct Wait.
2020-01-23T16:59:31.258Z,1579798771.258 [DefaultUnder:Notify:A:C.Execute](DEBUG): Construct Execute.
2020-01-23T16:59:31.487Z,1579798771.487 [MissionManager](INFO): Inserting Stack: Missions/Insert/LineCapture.xml
2020-01-23T16:59:32.028Z,1579798772.028 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockDepth = 6.000000 _
2020-01-23T16:59:32.032Z,1579798772.032 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockLat = 0.642341 _
2020-01-23T16:59:32.044Z,1579798772.044 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockLon = -2.126200 _
2020-01-23T16:59:32.047Z,1579798772.047 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DetachRange = 8.000000 m
2020-01-23T16:59:32.078Z,1579798772.078 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DetachTimeout = 30.000000 min
2020-01-23T16:59:32.082Z,1579798772.082 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MidcourseDepth = 15.000000 m
2020-01-23T16:59:32.101Z,1579798772.101 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MidcourseSpeed = 1.000000 m/s
2020-01-23T16:59:32.110Z,1579798772.110 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MidcourseTimeout = 12.000000 h
2020-01-23T16:59:32.114Z,1579798772.114 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.TerminalRange = 650.000000 m
2020-01-23T16:59:32.125Z,1579798772.125 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.ArmRange = 40.000000 m
2020-01-23T16:59:32.128Z,1579798772.128 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockRange = 2.000000 m
2020-01-23T16:59:32.131Z,1579798772.131 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockTimeout = 60.000000 s
2020-01-23T16:59:32.147Z,1579798772.147 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.RolloutDistance = 250.000000 m
2020-01-23T16:59:32.166Z,1579798772.166 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.UpdateNav = 1 bool
2020-01-23T16:59:32.169Z,1579798772.169 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.AcousticTimeout = 10.000000 min
2020-01-23T16:59:32.193Z,1579798772.193 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.TerminalSpeed = 0.800000 m/s
2020-01-23T16:59:32.196Z,1579798772.196 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.SearchTimeout = 60.000000 min
2020-01-23T16:59:32.199Z,1579798772.199 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.CircleRadius = 300.000000 m
2020-01-23T16:59:32.212Z,1579798772.212 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.CircleMaxError = 100.000000 m
2020-01-23T16:59:32.215Z,1579798772.215 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.CircleTurnToPort = 0 bool
2020-01-23T16:59:32.246Z,1579798772.246 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DepthDeadband = 0.010000 m
2020-01-23T16:59:32.249Z,1579798772.249 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.RudderDeadband = 0.001000 arcdeg
2020-01-23T16:59:32.265Z,1579798772.265 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MinAltitude = 5.000000 m
2020-01-23T16:59:32.268Z,1579798772.268 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MaxDepth = 205.000000 m
2020-01-23T16:59:32.271Z,1579798772.271 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MinOffshore = 500.000000 m
2020-01-23T16:59:32.287Z,1579798772.287 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Depth = 15.000000 n/a
2020-01-23T16:59:32.291Z,1579798772.291 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Speed = 1.000000 n/a
2020-01-23T16:59:32.314Z,1579798772.314 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.DoneTimeout = -1.000000 count
2020-01-23T16:59:32.317Z,1579798772.317 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Done = 0.000000 count
2020-01-23T16:59:32.337Z,1579798772.337 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.DetachFromDock = 1.000000 count
2020-01-23T16:59:32.340Z,1579798772.340 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Midcourse = 2.000000 count
2020-01-23T16:59:32.344Z,1579798772.344 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Terminal = 3.000000 count
2020-01-23T16:59:32.359Z,1579798772.359 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.GuidanceMode = 1.000000 n/a
2020-01-23T16:59:32.363Z,1579798772.363 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.ElapsedRange = 0.000000 min
2020-01-23T16:59:32.398Z,1579798772.398 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.Range = nan m
2020-01-23T16:59:32.400Z,1579798772.400 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2020-01-23T16:59:32.450Z,1579798772.450 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2020-01-23T16:59:32.469Z,1579798772.469 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2020-01-23T16:59:32.473Z,1579798772.473 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2020-01-23T16:59:32.474Z,1579798772.474 [DefaultUnder:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2020-01-23T16:59:32.497Z,1579798772.497 [DefaultUnder:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-01-23T16:59:32.533Z,1579798772.533 [DefaultUnder:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2020-01-23T16:59:32.572Z,1579798772.572 [DefaultUnder:LineCapture:H.Mass](DEBUG): Construct.
2020-01-23T16:59:32.596Z,1579798772.596 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:B.Buoyancy](DEBUG): Construct Buoyancy.
2020-01-23T16:59:32.600Z,1579798772.600 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:C.SetSpeed](DEBUG): Construct.
2020-01-23T16:59:32.611Z,1579798772.611 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:D.Pitch](DEBUG): Construct.
2020-01-23T16:59:32.638Z,1579798772.638 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed](DEBUG): Construct.
2020-01-23T16:59:32.641Z,1579798772.641 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:B.Pitch](DEBUG): Construct.
2020-01-23T16:59:32.686Z,1579798772.686 [DefaultUnder:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2020-01-23T16:59:32.735Z,1579798772.735 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2020-01-23T16:59:32.777Z,1579798772.777 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:G.Circle](DEBUG): Construct.
2020-01-23T16:59:32.857Z,1579798772.857 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2020-01-23T16:59:32.905Z,1579798772.905 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:H.LineCapture](DEBUG): Construct.
2020-01-23T16:59:32.936Z,1579798772.936 [DefaultUnder:LineCapture:K.Wait](DEBUG): Construct Wait.
2020-01-23T16:59:32.959Z,1579798772.959 [DefaultUnder:E.Wait](DEBUG): Construct Wait.
2020-01-23T16:59:32.985Z,1579798772.985 [DefaultUnder:Default:Docked:run:B.Docked](DEBUG): Construct.
2020-01-23T16:59:33.062Z,1579798773.062 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): Construct GoToSurface.
2020-01-23T16:59:33.089Z,1579798773.089 [DefaultUnder:Default:Surface:run:SurfaceComms:Read_Iridium_uModem:A_Timeout:A.Execute](DEBUG): Construct Execute.
2020-01-23T16:59:33.092Z,1579798773.092 [DefaultUnder:Default:Surface:run:SurfaceComms:C.Wait](DEBUG): Construct Wait.
2020-01-23T16:59:33.161Z,1579798773.161 [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>


2020-01-23T16:59:33.173Z,1579798773.173 [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,
2020-01-23T16:59:33.187Z,1579798773.187 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2020-01-23T16:59:33.229Z,1579798773.229 [DDM](INFO): Powering up
2020-01-23T16:59:33.229Z,1579798773.229 [DDM](DEBUG): Initializing DDM.
2020-01-23T16:59:33.254Z,1579798773.254 [Depth_Keller](ERROR): Pressure reading out of range: 1913.424561 decibar
2020-01-23T16:59:33.255Z,1579798773.255 [DUSBL_Hydroid](INFO): Powering up
2020-01-23T16:59:33.255Z,1579798773.255 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2020-01-23T16:59:33.473Z,1579798773.473 [DepthRateCalculator](ERROR): Depth measurement is not active
2020-01-23T16:59:33.503Z,1579798773.503 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2020-01-23T16:59:33.509Z,1579798773.509 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2020-01-23T16:59:33.510Z,1579798773.510 [ElevatorServo](DEBUG): Initializing EZServoServo.
2020-01-23T16:59:33.517Z,1579798773.517 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2020-01-23T16:59:33.518Z,1579798773.518 [MassServo](DEBUG): Initializing EZServoServo.
2020-01-23T16:59:33.525Z,1579798773.525 [MassServo](DEBUG): Initializing MassServo.
2020-01-23T16:59:33.526Z,1579798773.526 [RudderServo](DEBUG): Initializing EZServoServo.
2020-01-23T16:59:33.533Z,1579798773.533 [RudderServo](DEBUG): Initializing RudderServo.
2020-01-23T16:59:33.534Z,1579798773.534 [ThrusterServo](DEBUG): Initializing EZServoServo.
2020-01-23T16:59:33.541Z,1579798773.541 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2020-01-23T16:59:33.546Z,1579798773.546 [CBIT](ERROR): Hardware Fault in component: CTD_NeilBrown
2020-01-23T16:59:33.547Z,1579798773.547 [CBIT](FAULT): Hardware Fault in component: CTD_NeilBrown
2020-01-23T16:59:33.688Z,1579798773.688 [Micromodem](INFO): Powering up
2020-01-23T16:59:33.697Z,1579798773.697 [Micromodem](DEBUG): Initializing Micromodem.
2020-01-23T16:59:34.385Z,1579798774.385 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2020-01-23T16:59:34.385Z,1579798774.385 [RudderServo](FAULT): Rudder failed to initialize
2020-01-23T16:59:34.385Z,1579798774.385 [RudderServo] Communications Fault, FailCount= 1
2020-01-23T16:59:34.385Z,1579798774.385 [RudderServo](ERROR): Communications Fault
2020-01-23T16:59:34.496Z,1579798774.496 [CBIT](ERROR): Communications Fault in component: RudderServo
2020-01-23T16:59:34.694Z,1579798774.694 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-01-23T16:59:34.694Z,1579798774.694 [RudderServo](INFO): Powering down
2020-01-23T16:59:35.391Z,1579798775.391 [RudderServo](DEBUG): Initializing EZServoServo.
2020-01-23T16:59:35.510Z,1579798775.510 [RudderServo](DEBUG): Initializing RudderServo.
2020-01-23T16:59:35.514Z,1579798775.514 [CBIT](INFO): Clearing failed state for component RudderServo
2020-01-23T16:59:35.514Z,1579798775.514 [RudderServo] No Fault, FailCount= 1
2020-01-23T16:59:38.585Z,1579798778.585 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2020-01-23T16:59:38.988Z,1579798778.988 [Micromodem](INFO): Nmea in: $CATMG,2020-01-23T16:59:38.419481Z,RTC,RTC*51

2020-01-23T16:59:38.988Z,1579798778.988 [Micromodem](ERROR): CFG response from modem unexpected: $CATMG,2020-01-23T16:59:38.419481Z,RTC,RTC*51

2020-01-23T16:59:39.395Z,1579798779.395 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2020-01-23T16:59:39.395Z,1579798779.395 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2020-01-23T16:59:39.799Z,1579798779.799 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2020-01-23T16:59:39.799Z,1579798779.799 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2020-01-23T16:59:40.203Z,1579798780.203 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2020-01-23T16:59:40.204Z,1579798780.204 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2020-01-23T16:59:40.607Z,1579798780.607 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2020-01-23T16:59:40.607Z,1579798780.607 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2020-01-23T16:59:41.011Z,1579798781.011 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2020-01-23T16:59:41.011Z,1579798781.011 [Micromodem](INFO): Nmea out: $CCCFG,FC0,10000*46

2020-01-23T16:59:41.411Z,1579798781.411 [Micromodem](INFO): Nmea in: $CACFG,FC0,10000*44

2020-01-23T16:59:41.411Z,1579798781.411 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2020-01-23T16:59:41.827Z,1579798781.827 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2020-01-23T16:59:41.827Z,1579798781.827 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2020-01-23T16:59:42.199Z,1579798782.199 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2020-01-23T16:59:42.200Z,1579798782.200 [Micromodem](INFO): Nmea out: $CCCLK,2020,01,23,16,59,43*48

2020-01-23T16:59:42.607Z,1579798782.607 [Micromodem](INFO): Nmea in: $CACLK,2020,1,23,16,59,43*7A

2020-01-23T16:59:43.406Z,1579798783.406 [Micromodem](INFO): Nmea in: $CATMS,0,2020-01-23T16:59:44Z*7D

2020-01-23T16:59:43.418Z,1579798783.418 [Micromodem](INFO): Nmea in: $CATMG,2020-01-23T16:59:44.027626Z,USER_CMD,RTC*1D

2020-01-23T16:59:43.810Z,1579798783.810 [DDM](INFO): Dynamic Docking Module:
2020-01-23T16:59:46.676Z,1579798786.676 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2020-01-23T16:59:51.074Z,1579798791.074 [DUSBL_Hydroid](INFO): DUSBL Version:O
2020-01-23T16:59:57.135Z,1579798797.135 [NAL9602](INFO): Powering up NAL9602
2020-01-23T17:00:01.861Z,1579798801.861 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2020-01-23T17:00:03.386Z,1579798803.386 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.latitude_fix 36.500000 degree
2020-01-23T17:00:03.388Z,1579798803.388 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.latitude_fix" handled in the control thread.
2020-01-23T17:00:03.393Z,1579798803.393 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.longitude_fix -121.900002 degree
2020-01-23T17:00:03.394Z,1579798803.394 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.longitude_fix" handled in the control thread.
2020-01-23T17:00:03.726Z,1579798803.726 [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,
2020-01-23T17:00:04.051Z,1579798804.051 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-23T17:00:04.051Z,1579798804.051 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2020-01-23T17:00:04.051Z,1579798804.051 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-23T17:00:04.098Z,1579798804.098 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-23T17:00:04.486Z,1579798804.486 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-23T17:00:04.486Z,1579798804.486 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2020-01-23T17:00:05.256Z,1579798805.256 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-23T17:00:05.256Z,1579798805.256 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2020-01-23T17:00:05.256Z,1579798805.256 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-23T17:00:05.309Z,1579798805.309 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-23T17:00:05.742Z,1579798805.742 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-23T17:00:05.742Z,1579798805.742 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2020-01-23T17:00:06.458Z,1579798806.458 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-23T17:00:06.458Z,1579798806.458 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 3
2020-01-23T17:00:06.458Z,1579798806.458 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-23T17:00:06.516Z,1579798806.516 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-23T17:00:06.922Z,1579798806.922 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-23T17:00:06.922Z,1579798806.922 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 3
2020-01-23T17:00:07.732Z,1579798807.732 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-23T17:00:07.732Z,1579798807.732 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 4
2020-01-23T17:00:07.732Z,1579798807.732 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-23T17:00:07.794Z,1579798807.794 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-23T17:00:08.043Z,1579798808.043 [NAL9602](INFO): NAL9602 initialized
2020-01-23T17:00:08.134Z,1579798808.134 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-23T17:00:08.134Z,1579798808.134 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 4
2020-01-23T17:00:08.945Z,1579798808.945 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-23T17:00:08.946Z,1579798808.946 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 5
2020-01-23T17:00:08.946Z,1579798808.946 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-23T17:00:09.012Z,1579798809.012 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-23T17:00:09.342Z,1579798809.342 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-23T17:00:09.342Z,1579798809.342 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 5
2020-01-23T17:00:10.167Z,1579798810.167 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-23T17:00:10.167Z,1579798810.167 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 6
2020-01-23T17:00:10.167Z,1579798810.167 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-23T17:00:10.211Z,1579798810.211 [SBIT](IMPORTANT): Beginning Startup BIT
2020-01-23T17:00:10.239Z,1579798810.239 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-23T17:00:10.240Z,1579798810.240 [CBIT](IMPORTANT): Beginning ground fault scan
2020-01-23T17:00:10.646Z,1579798810.646 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-23T17:00:10.646Z,1579798810.646 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 6
2020-01-23T17:00:11.347Z,1579798811.347 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-23T17:00:11.347Z,1579798811.347 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 7
2020-01-23T17:00:11.347Z,1579798811.347 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-23T17:00:11.454Z,1579798811.454 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-23T17:00:11.925Z,1579798811.925 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-23T17:00:11.925Z,1579798811.925 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 7
2020-01-23T17:00:12.702Z,1579798812.702 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-23T17:00:12.702Z,1579798812.702 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 8
2020-01-23T17:00:12.702Z,1579798812.702 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-23T17:00:12.837Z,1579798812.837 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-23T17:00:13.209Z,1579798813.209 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-23T17:00:13.209Z,1579798813.209 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 8
2020-01-23T17:00:13.907Z,1579798813.907 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-23T17:00:13.907Z,1579798813.907 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 9
2020-01-23T17:00:13.907Z,1579798813.907 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-23T17:00:14.193Z,1579798814.193 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-23T17:00:14.406Z,1579798814.406 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-23T17:00:14.406Z,1579798814.406 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 9
2020-01-23T17:00:15.149Z,1579798815.149 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-23T17:00:15.149Z,1579798815.149 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 10
2020-01-23T17:00:15.149Z,1579798815.149 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-23T17:00:15.349Z,1579798815.349 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-23T17:00:15.582Z,1579798815.582 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-23T17:00:15.582Z,1579798815.582 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 10
2020-01-23T17:00:16.326Z,1579798816.326 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-23T17:00:16.326Z,1579798816.326 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 11
2020-01-23T17:00:16.326Z,1579798816.326 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-23T17:00:16.406Z,1579798816.406 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-23T17:00:16.802Z,1579798816.802 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-23T17:00:16.802Z,1579798816.802 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 11
2020-01-23T17:00:17.557Z,1579798817.557 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-23T17:00:17.557Z,1579798817.557 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 12
2020-01-23T17:00:17.557Z,1579798817.557 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-23T17:00:17.639Z,1579798817.639 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-23T17:00:18.046Z,1579798818.046 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-23T17:00:18.046Z,1579798818.046 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 12
2020-01-23T17:00:18.747Z,1579798818.747 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-23T17:00:18.747Z,1579798818.747 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 13
2020-01-23T17:00:18.747Z,1579798818.747 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-23T17:00:18.830Z,1579798818.830 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-23T17:00:19.222Z,1579798819.222 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-23T17:00:19.222Z,1579798819.222 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 13
2020-01-23T17:00:19.870Z,1579798819.870 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1579798784.000000 second
2020-01-23T17:00:21.253Z,1579798821.253 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.009246
CHAN A1 (24V): -0.028770
CHAN A2 (12V): -0.007162
CHAN A3 (5V): -0.002040
CHAN B0 (3.3V): 0.000123
CHAN B1 (3.15aV): 0.000172
CHAN B2 (3.15bV): 0.000101
CHAN B3 (GND): 0.002233
OPEN: 0.005080
Full Scale Calc: 4.765 mA, -1.589 mA
2020-01-23T17:00:22.550Z,1579798822.550 [CommandLine](IMPORTANT): got command get latitude
2020-01-23T17:00:22.550Z,1579798822.550 [CommandLine](IMPORTANT): latitude 36.500000 arcdeg
2020-01-23T17:00:26.398Z,1579798826.398 [CommandLine](IMPORTANT): got command maintain clear
2020-01-23T17:00:26.754Z,1579798826.754 [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,
2020-01-23T17:00:38.087Z,1579798838.087 [CommandLine](IMPORTANT): got command report touch acoustic_contact_range
2020-01-23T17:00:43.535Z,1579798843.535 [CommandLine](IMPORTANT): got command report mod DDM.cablePresent
2020-01-23T17:00:43.566Z,1579798843.566 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T17:01:03.915Z,1579798863.915 [SBIT](IMPORTANT): SBIT PASSED
2020-01-23T17:01:03.916Z,1579798863.916 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2020-01-23T17:01:03.916Z,1579798863.916 [SBIT](IMPORTANT): DDM.verbosity=3 count;

2020-01-23T17:01:03.921Z,1579798863.921 [SBIT](IMPORTANT): DUSBL_Hydroid.detectionThreshold=30 count;

2020-01-23T17:01:03.921Z,1579798863.921 [SBIT](IMPORTANT): Micromodem.pwrampTXLevel=0 enum;

2020-01-23T17:01:03.921Z,1579798863.921 [SBIT](IMPORTANT): Micromodem.sendExpress=1 bool;

2020-01-23T17:01:03.921Z,1579798863.921 [SBIT](IMPORTANT): Micromodem.surfaceThreshold=0 meter;

2020-01-23T17:01:03.921Z,1579798863.921 [SBIT](IMPORTANT): Radio_Surface.loadAtStartup=0 bool;

2020-01-23T17:01:03.921Z,1579798863.921 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=105 cubic_centimeter;

2020-01-23T17:01:03.921Z,1579798863.921 [SBIT](IMPORTANT): VerticalControl.massDefault=-5 millimeter;

2020-01-23T17:01:04.288Z,1579798864.288 [MissionManager](IMPORTANT): Started mission DefaultUnder
2020-01-23T17:01:04.289Z,1579798864.289 [DefaultUnder] Running Loop=1
2020-01-23T17:01:04.289Z,1579798864.289 [DefaultUnder](DEBUG): Aggregate::initialize DefaultUnder
2020-01-23T17:01:04.289Z,1579798864.289 [DefaultUnder:uModemComms] Running Loop=1
2020-01-23T17:01:04.289Z,1579798864.289 [DefaultUnder:uModemComms](DEBUG): Aggregate::initialize DefaultUnder:uModemComms
2020-01-23T17:01:04.289Z,1579798864.289 [DefaultUnder:Notify] Running Loop=1
2020-01-23T17:01:04.289Z,1579798864.289 [DefaultUnder:Notify](DEBUG): Aggregate::initialize DefaultUnder:Notify
2020-01-23T17:01:04.289Z,1579798864.289 [DefaultUnder:Notify:A] Running Loop=1
2020-01-23T17:01:04.290Z,1579798864.290 [DefaultUnder:Notify:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A
2020-01-23T17:01:04.290Z,1579798864.290 [DefaultUnder:Notify:A:A] Running Loop=1
2020-01-23T17:01:04.290Z,1579798864.290 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A:A
2020-01-23T17:01:04.290Z,1579798864.290 [DefaultUnder:Notify:A:A:A.Wait] Running Loop=1
2020-01-23T17:01:04.290Z,1579798864.290 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Initialize Wait Component.
2020-01-23T17:01:04.290Z,1579798864.290 [DefaultUnder:C.] Running Loop=1
2020-01-23T17:01:04.290Z,1579798864.290 [DefaultUnder:C.](INFO): Initializing TrackAcousticContact.
2020-01-23T17:01:04.291Z,1579798864.291 [DefaultUnder:E.Wait] Running Loop=1
2020-01-23T17:01:04.291Z,1579798864.291 [DefaultUnder:E.Wait](DEBUG): Initialize Wait Component.
2020-01-23T17:01:04.291Z,1579798864.291 [DefaultUnder:C.] Running Loop=1
2020-01-23T17:01:04.292Z,1579798864.292 [DefaultUnder:Notify] Running Loop=1
2020-01-23T17:01:04.292Z,1579798864.292 [DefaultUnder:uModemComms] Running Loop=1
2020-01-23T17:01:04.292Z,1579798864.292 [DefaultUnder:uModemComms:CheckIn] Running Loop=1
2020-01-23T17:01:04.292Z,1579798864.292 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::initialize DefaultUnder:uModemComms:CheckIn
2020-01-23T17:01:04.293Z,1579798864.293 [DefaultUnder:uModemComms:CheckIn:A] Running Loop=1
2020-01-23T17:01:04.294Z,1579798864.294 [DefaultUnder:uModemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2020-01-23T17:01:04.653Z,1579798864.653 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E8D0295E000001005D00000400450100000000000000151D80030C5669BF3148E2FA22188B6A3173E51B1C3DE1295C413B9EA27D0D0958A55575A4074CBAA7A5
2020-01-23T17:01:04.654Z,1579798864.654 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 3F6AE7AF0D07E622820F45259E052A3980439491B5FE44BA5725AF9F520D380EF650D1224C2DD44756ABC8376EA4F1C2928328840EB8F148A67DBA8E3F744407
2020-01-23T17:01:04.654Z,1579798864.654 [Micromodem](INFO): Outgoing frame #3, 64 bytes: 8E4C4CBB77E7035800BF8B4B5F3B1C1E63FCA9C027E2A76B442BB37A659A18AD13016CEE9AD3E7D0920706133E44278DEB4D0D106B1D4EC33D1C0F987EB77554
2020-01-23T17:01:04.654Z,1579798864.654 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-23T17:01:05.059Z,1579798865.059 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-23T17:01:05.458Z,1579798865.458 [Micromodem](INFO): Nmea in: $CADRQ,170105,1,12,0,64,1*76

2020-01-23T17:01:05.459Z,1579798865.459 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,E8D0295E000001005D00000400450100000000000000151D80030C5669BF3148E2FA22188B6A3173E51B1C3DE1295C413B9EA27D0D0958A55575A4074CBAA7A5*35

2020-01-23T17:01:05.872Z,1579798865.872 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:01:06.275Z,1579798866.275 [Micromodem](INFO): Nmea in: $CADRQ,170106,1,12,0,64,2*76

2020-01-23T17:01:06.275Z,1579798866.275 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,3F6AE7AF0D07E622820F45259E052A3980439491B5FE44BA5725AF9F520D380EF650D1224C2DD44756ABC8376EA4F1C2928328840EB8F148A67DBA8E3F744407*3F

2020-01-23T17:01:06.682Z,1579798866.682 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:01:07.079Z,1579798867.079 [Micromodem](INFO): Nmea in: $CADRQ,170107,1,12,0,64,3*76

2020-01-23T17:01:07.079Z,1579798867.079 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,8E4C4CBB77E7035800BF8B4B5F3B1C1E63FCA9C027E2A76B442BB37A659A18AD13016CEE9AD3E7D0920706133E44278DEB4D0D106B1D4EC33D1C0F987EB77554*31

2020-01-23T17:01:07.483Z,1579798867.483 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:01:07.891Z,1579798867.891 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-23T17:01:11.532Z,1579798871.532 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2020-01-23T17:01:11.589Z,1579798871.589 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-01-23T17:01:11.590Z,1579798871.590 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-32768V
2020-01-23T17:01:11.934Z,1579798871.934 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,170108.036088,3,0,200,4000,10000,1,1,12,1,3,3,3,192*70

2020-01-23T17:01:17.642Z,1579798877.642 [DefaultUnder:E.Wait](INFO): Done Waiting.
2020-01-23T17:01:17.642Z,1579798877.642 [DefaultUnder:E.Wait] Stopped
2020-01-23T17:01:17.643Z,1579798877.643 [DefaultUnder:E.Wait](DEBUG): Uninitialize Wait Component.
2020-01-23T17:01:17.643Z,1579798877.643 [DefaultUnder:Default] Running Loop=1
2020-01-23T17:01:17.643Z,1579798877.643 [DefaultUnder:Default](DEBUG): Aggregate::initialize DefaultUnder:Default
2020-01-23T17:01:17.643Z,1579798877.643 [DefaultUnder:Default:Docked] Running Loop=1
2020-01-23T17:01:17.643Z,1579798877.643 [DefaultUnder:Default:Docked](DEBUG): Aggregate::initialize DefaultUnder:Default:Docked
2020-01-23T17:01:17.643Z,1579798877.643 [DefaultUnder:Default:Docked:run] Running Loop=1
2020-01-23T17:01:17.643Z,1579798877.643 [DefaultUnder:Default:Docked:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Docked:run
2020-01-23T17:01:17.643Z,1579798877.643 [DefaultUnder:Default:Docked:run:A] Running Loop=1
2020-01-23T17:01:17.643Z,1579798877.643 [DefaultUnder:Default:Home] Running Loop=1
2020-01-23T17:01:17.644Z,1579798877.644 [DefaultUnder:Default:Home](DEBUG): Aggregate::initialize DefaultUnder:Default:Home
2020-01-23T17:01:17.644Z,1579798877.644 [DefaultUnder:Default:Home:run] Running Loop=1
2020-01-23T17:01:17.644Z,1579798877.644 [DefaultUnder:Default:Home:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Home:run
2020-01-23T17:01:17.644Z,1579798877.644 [DefaultUnder:Default:Home:run:A] Running Loop=1
2020-01-23T17:01:17.644Z,1579798877.644 [DefaultUnder:Default:Surface] Running Loop=1
2020-01-23T17:01:17.644Z,1579798877.644 [DefaultUnder:Default:Surface](DEBUG): Aggregate::initialize DefaultUnder:Default:Surface
2020-01-23T17:01:17.644Z,1579798877.644 [DefaultUnder:Default:Surface:run] Running Loop=1
2020-01-23T17:01:17.644Z,1579798877.644 [DefaultUnder:Default:Surface:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Surface:run
2020-01-23T17:01:17.644Z,1579798877.644 [DefaultUnder:Default:Surface:run:B.GoToSurface] Running Loop=1
2020-01-23T17:01:17.644Z,1579798877.644 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-23T17:01:17.645Z,1579798877.645 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-23T17:01:17.646Z,1579798877.646 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-23T17:01:17.646Z,1579798877.646 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-23T17:01:17.646Z,1579798877.646 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-23T17:01:17.647Z,1579798877.647 [DefaultUnder:Default:Surface:run:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-23T17:01:17.647Z,1579798877.647 [DefaultUnder:Default:Surface:run:A] Running Loop=1
2020-01-23T17:01:18.011Z,1579798878.011 [DefaultUnder:Default:Surface] Stopped
2020-01-23T17:01:18.011Z,1579798878.011 [DefaultUnder:Default:Surface](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Surface
2020-01-23T17:01:18.011Z,1579798878.011 [DefaultUnder:Default:Surface:run] Stopped
2020-01-23T17:01:18.011Z,1579798878.011 [DefaultUnder:Default:Surface:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Surface:run
2020-01-23T17:01:18.012Z,1579798878.012 [DefaultUnder:Default:Surface:run:A] Stopped
2020-01-23T17:01:18.012Z,1579798878.012 [DefaultUnder:Default:Surface:run:B.GoToSurface] Stopped
2020-01-23T17:01:18.012Z,1579798878.012 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-23T17:01:18.012Z,1579798878.012 [DefaultUnder:Default:Home] Stopped
2020-01-23T17:01:18.012Z,1579798878.012 [DefaultUnder:Default:Home](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Home
2020-01-23T17:01:18.012Z,1579798878.012 [DefaultUnder:Default:Home:run] Stopped
2020-01-23T17:01:18.012Z,1579798878.012 [DefaultUnder:Default:Home:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Home:run
2020-01-23T17:01:18.012Z,1579798878.012 [DefaultUnder:Default:Home:run:A] Stopped
2020-01-23T17:01:18.012Z,1579798878.012 [DefaultUnder:Default:Docked] Running Loop=1
2020-01-23T17:01:18.012Z,1579798878.012 [DefaultUnder:Default:Docked:run:A] Stopped
2020-01-23T17:01:18.012Z,1579798878.012 [DefaultUnder:Default:Docked:run:B.Docked] Running Loop=1
2020-01-23T17:01:18.013Z,1579798878.013 [DefaultUnder:Default:Docked:run:B.Docked](DEBUG): Initialize.
2020-01-23T17:01:18.013Z,1579798878.013 [DefaultUnder:Default:Docked:run:B.Docked](INFO): Depth unspecified. Maintaining workSite beacon depth of 6.000000 m.
2020-01-23T17:01:19.434Z,1579798879.434 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T17:01:19.688Z,1579798879.688 [DefaultUnder:Default:Docked:run:B.Docked](INFO): Detected possible state switch to DETACHED.
2020-01-23T17:01:30.239Z,1579798890.239 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T17:01:31.950Z,1579798891.950 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T17:01:32.627Z,1579798892.627 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-01-23T17:01:32.627Z,1579798892.627 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +0.00,        +     +0.00,   0.00,106.00
2020-01-23T17:01:40.322Z,1579798900.322 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T17:01:42.023Z,1579798902.023 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T17:01:50.386Z,1579798910.386 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T17:02:01.682Z,1579798921.682 [CommandLine](IMPORTANT): got command strobe off
2020-01-23T17:02:01.682Z,1579798921.682 [CommandLine](IMPORTANT): Deactivating strobe
2020-01-23T17:02:04.475Z,1579798924.475 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:02:05.256Z,1579798925.256 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:02:05.655Z,1579798925.655 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:02:06.254Z,1579798926.254 [Reporter](INFO): acoustic_contact_range 0.239999 m
2020-01-23T17:02:06.478Z,1579798926.478 [Micromodem](INFO): Nmea in: $SNTTA,0.000199,,,,170206.17*45

2020-01-23T17:02:08.259Z,1579798928.259 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T17:02:09.723Z,1579798929.723 [Micromodem](ERROR): Buffer fill timout failure.
2020-01-23T17:02:10.134Z,1579798930.134 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E8D0295E000001005D00000400450100000000000000151D80030C5669BF3148E2FA22188B6A3173E51B1C3DE1295C413B9EA27D0D0958A55575A4074CBAA7A5
2020-01-23T17:02:10.134Z,1579798930.134 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 3F6AE7AF0D07E622820F45259E052A3980439491B5FE44BA5725AF9F520D380EF650D1224C2DD44756ABC8376EA4F1C2928328840EB8F148A67DBA8E3F744407
2020-01-23T17:02:10.135Z,1579798930.135 [Micromodem](INFO): Outgoing frame #3, 64 bytes: 8E4C4CBB77E7035800BF8B4B5F3B1C1E63FCA9C027E2A76B442BB37A659A18AD13016CEE9AD3E7D0920706133E44278DEB4D0D106B1D4EC33D1C0F987EB77554
2020-01-23T17:02:10.135Z,1579798930.135 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-23T17:02:10.540Z,1579798930.540 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-23T17:02:10.935Z,1579798930.935 [Micromodem](INFO): Nmea in: $CADRQ,170210,1,12,0,64,1*71

2020-01-23T17:02:10.936Z,1579798930.936 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,E8D0295E000001005D00000400450100000000000000151D80030C5669BF3148E2FA22188B6A3173E51B1C3DE1295C413B9EA27D0D0958A55575A4074CBAA7A5*35

2020-01-23T17:02:11.355Z,1579798931.355 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:02:11.747Z,1579798931.747 [Micromodem](INFO): Nmea in: $CADRQ,170211,1,12,0,64,2*73

2020-01-23T17:02:11.747Z,1579798931.747 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,3F6AE7AF0D07E622820F45259E052A3980439491B5FE44BA5725AF9F520D380EF650D1224C2DD44756ABC8376EA4F1C2928328840EB8F148A67DBA8E3F744407*3F

2020-01-23T17:02:12.150Z,1579798932.150 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:02:12.552Z,1579798932.552 [Micromodem](INFO): Nmea in: $CADRQ,170212,1,12,0,64,3*71

2020-01-23T17:02:12.563Z,1579798932.563 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,8E4C4CBB77E7035800BF8B4B5F3B1C1E63FCA9C027E2A76B442BB37A659A18AD13016CEE9AD3E7D0920706133E44278DEB4D0D106B1D4EC33D1C0F987EB77554*31

2020-01-23T17:02:12.666Z,1579798932.666 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2020-01-23T17:02:12.959Z,1579798932.959 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:02:13.363Z,1579798933.363 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-23T17:02:17.015Z,1579798937.015 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2020-01-23T17:02:17.400Z,1579798937.400 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,170213.519511,3,0,200,4000,10000,1,1,12,1,3,3,3,192*74

2020-01-23T17:02:19.075Z,1579798939.075 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T17:02:20.811Z,1579798940.811 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T17:02:29.150Z,1579798949.150 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T17:02:30.883Z,1579798950.883 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T17:02:39.235Z,1579798959.235 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T17:03:06.285Z,1579798986.285 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:03:07.068Z,1579798987.068 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:03:07.891Z,1579798987.891 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:03:07.978Z,1579798987.978 [Reporter](INFO): acoustic_contact_range 0.239999 m
2020-01-23T17:03:08.298Z,1579798988.298 [Micromodem](INFO): Nmea in: $SNTTA,0.000194,,,,170307.98*4F

2020-01-23T17:03:10.069Z,1579798990.069 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T17:03:15.171Z,1579798995.171 [Micromodem](ERROR): Buffer fill timout failure.
2020-01-23T17:03:15.582Z,1579798995.582 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E8D0295E000001005D00000400450100000000000000151D80030C5669BF3148E2FA22188B6A3173E51B1C3DE1295C413B9EA27D0D0958A55575A4074CBAA7A5
2020-01-23T17:03:15.582Z,1579798995.582 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 3F6AE7AF0D07E622820F45259E052A3980439491B5FE44BA5725AF9F520D380EF650D1224C2DD44756ABC8376EA4F1C2928328840EB8F148A67DBA8E3F744407
2020-01-23T17:03:15.583Z,1579798995.583 [Micromodem](INFO): Outgoing frame #3, 64 bytes: 8E4C4CBB77E7035800BF8B4B5F3B1C1E63FCA9C027E2A76B442BB37A659A18AD13016CEE9AD3E7D0920706133E44278DEB4D0D106B1D4EC33D1C0F987EB77554
2020-01-23T17:03:15.583Z,1579798995.583 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-23T17:03:15.983Z,1579798995.983 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-23T17:03:16.383Z,1579798996.383 [Micromodem](INFO): Nmea in: $CADRQ,170316,1,12,0,64,1*76

2020-01-23T17:03:16.384Z,1579798996.384 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,E8D0295E000001005D00000400450100000000000000151D80030C5669BF3148E2FA22188B6A3173E51B1C3DE1295C413B9EA27D0D0958A55575A4074CBAA7A5*35

2020-01-23T17:03:16.787Z,1579798996.787 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:03:17.199Z,1579798997.199 [Micromodem](INFO): Nmea in: $CADRQ,170317,1,12,0,64,2*74

2020-01-23T17:03:17.199Z,1579798997.199 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,3F6AE7AF0D07E622820F45259E052A3980439491B5FE44BA5725AF9F520D380EF650D1224C2DD44756ABC8376EA4F1C2928328840EB8F148A67DBA8E3F744407*3F

2020-01-23T17:03:17.595Z,1579798997.595 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:03:18.003Z,1579798998.003 [Micromodem](INFO): Nmea in: $CADRQ,170318,1,12,0,64,3*7A

2020-01-23T17:03:18.003Z,1579798998.003 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,8E4C4CBB77E7035800BF8B4B5F3B1C1E63FCA9C027E2A76B442BB37A659A18AD13016CEE9AD3E7D0920706133E44278DEB4D0D106B1D4EC33D1C0F987EB77554*31

2020-01-23T17:03:18.407Z,1579798998.407 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:03:18.811Z,1579798998.811 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-23T17:03:20.852Z,1579799000.852 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T17:03:22.531Z,1579799002.531 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2020-01-23T17:03:22.618Z,1579799002.618 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T17:03:22.848Z,1579799002.848 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,170318.960852,3,0,200,4000,10000,1,1,12,1,3,3,3,192*76

2020-01-23T17:03:25.683Z,1579799005.683 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T17:03:26.082Z,1579799006.082 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-23T17:03:26.483Z,1579799006.483 [Micromodem](INFO): Nmea in: $CAACK,12,1,3,1*7B

2020-01-23T17:03:26.484Z,1579799006.484 [Micromodem](INFO): Sent 184 bytes from file Logs/20200123T165920/Courier0000.lzma.parts
2020-01-23T17:03:26.484Z,1579799006.484 [Micromodem](INFO): Packets left to send: 1
2020-01-23T17:03:26.894Z,1579799006.894 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123170325.364394,06,532,27,0177,0150,59,01,01,00,03,1,012,001,0,4,1,0,150,7.2,6.00,19,-3.00,-01,0.01,39,10000,4000*5B

2020-01-23T17:03:26.898Z,1579799006.898 [Micromodem](INFO): Using rate 1 for 27 bytes.
2020-01-23T17:03:26.899Z,1579799006.899 [Micromodem](INFO): Outgoing frame #1, 27 bytes: E8D0295E00000000433423F90059BF6A9D387C097F360263CE8000
2020-01-23T17:03:26.899Z,1579799006.899 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,1*6B

2020-01-23T17:03:28.103Z,1579799008.103 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,1*69

2020-01-23T17:03:28.507Z,1579799008.507 [Micromodem](INFO): Nmea in: $CADRQ,170327,1,12,0,64,1*74

2020-01-23T17:03:28.509Z,1579799008.509 [Micromodem](ERROR): Received CADRQ with bad size: 64 expected <= 32
2020-01-23T17:03:28.510Z,1579799008.510 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,E8D0295E00000000433423F90059BF6A9D387C097F360263CE8000*4E

2020-01-23T17:03:28.528Z,1579799008.528 [Micromodem](INFO): Using rate 0 for 27 bytes.
2020-01-23T17:03:28.547Z,1579799008.547 [Micromodem](INFO): Outgoing frame #1, 27 bytes: E8D0295E00000000433423F90059BF6A9D387C097F360263CE8000
2020-01-23T17:03:28.914Z,1579799008.914 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,27*4C

2020-01-23T17:03:28.914Z,1579799008.914 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,1*6B

2020-01-23T17:03:29.315Z,1579799009.315 [Micromodem](INFO): Nmea in: $CATXP,27*77

2020-01-23T17:03:29.315Z,1579799009.315 [Micromodem](ERROR): Response from modem unexpected: $CATXP,27*77

2020-01-23T17:03:30.543Z,1579799010.543 [Micromodem](INFO): Nmea in: $CATXF,27*61

2020-01-23T17:03:30.543Z,1579799010.543 [Micromodem](ERROR): Response from modem unexpected: $CATXF,27*61

2020-01-23T17:03:30.900Z,1579799010.900 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,170329.401346,3,0,200,4000,10000,1,1,12,1,1,1,3,27*4F

2020-01-23T17:03:30.900Z,1579799010.900 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20200123,170329.401346,3,0,200,4000,10000,1,1,12,1,1,1,3,27*4F

2020-01-23T17:03:30.999Z,1579799010.999 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T17:03:32.619Z,1579799012.619 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T17:03:32.620Z,1579799012.620 [Micromodem](INFO): Sent 19 bytes from file Logs/20200123T165920/Courier0000.lzma.parts
2020-01-23T17:03:32.620Z,1579799012.620 [Micromodem](INFO): Packets left to send: 0
2020-01-23T17:03:32.713Z,1579799012.713 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T17:03:32.954Z,1579799012.954 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123170332.102405,06,725,28,0148,0150,89,02,02,00,03,1,012,001,0,4,1,0,150,-7.0,7.00,20,-4.00,-01,-0.05,50,10000,4000*5F

2020-01-23T17:03:32.955Z,1579799012.955 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20200123170332.102405,06,725,28,0148,0150,89,02,02,00,03,1,012,001,0,4,1,0,150,-7.0,7.00,20,-4.00,-01,-0.05,50,10000,4000*5F

2020-01-23T17:03:32.960Z,1579799012.960 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E8D0295E010006005D00000400440900000000000000151D80030C5669BF31555EAE1409A708D50837CD96632A3B471986A383D0F4DFCC64A6879B643ABEF940
2020-01-23T17:03:32.961Z,1579799012.961 [Micromodem](INFO): Outgoing frame #2, 64 bytes: B5D4D32A3E143F502915E00FC55FE9809EFEA943A957F4F3C49072B29ED834552F35A2859BFFE00F07C12C0293B07C8FEEC7B86DDA18B8D3CD97C353B2FEBF44
2020-01-23T17:03:32.961Z,1579799012.961 [Micromodem](INFO): Outgoing frame #3, 64 bytes: 6CA46869FEB7744B8C83D378DB48136C079D87CAC96158355D0E5748CAFAE8829A40494D5AED29AFA09AF5F54677E7948CD9CE1490340A1446E632E7A0D5D608
2020-01-23T17:03:40.226Z,1579799020.226 [Micromodem](ERROR): Nmea resend: $CCCYC,0,1,12,1,0,1*6B

2020-01-23T17:03:40.627Z,1579799020.627 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,1*69

2020-01-23T17:03:40.627Z,1579799020.627 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-23T17:03:41.003Z,1579799021.003 [Micromodem](INFO): Nmea in: $CADRQ,170341,1,12,0,64,1*74

2020-01-23T17:03:41.003Z,1579799021.003 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,170341,1,12,0,64,1*74

2020-01-23T17:03:41.154Z,1579799021.154 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T17:03:41.443Z,1579799021.443 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-23T17:03:41.811Z,1579799021.811 [Micromodem](INFO): Nmea in: $CADRQ,170341,1,12,0,64,1*74

2020-01-23T17:03:41.812Z,1579799021.812 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,E8D0295E010006005D00000400440900000000000000151D80030C5669BF31555EAE1409A708D50837CD96632A3B471986A383D0F4DFCC64A6879B643ABEF940*40

2020-01-23T17:03:42.215Z,1579799022.215 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:03:42.621Z,1579799022.621 [Micromodem](INFO): Nmea in: $CADRQ,170342,1,12,0,64,2*74

2020-01-23T17:03:42.622Z,1579799022.622 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,B5D4D32A3E143F502915E00FC55FE9809EFEA943A957F4F3C49072B29ED834552F35A2859BFFE00F07C12C0293B07C8FEEC7B86DDA18B8D3CD97C353B2FEBF44*32

2020-01-23T17:03:43.019Z,1579799023.019 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:03:43.427Z,1579799023.427 [Micromodem](INFO): Nmea in: $CADRQ,170343,1,12,0,64,3*74

2020-01-23T17:03:43.427Z,1579799023.427 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,6CA46869FEB7744B8C83D378DB48136C079D87CAC96158355D0E5748CAFAE8829A40494D5AED29AFA09AF5F54677E7948CD9CE1490340A1446E632E7A0D5D608*4E

2020-01-23T17:03:43.843Z,1579799023.843 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:03:44.231Z,1579799024.231 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-23T17:03:47.875Z,1579799027.875 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2020-01-23T17:03:48.280Z,1579799028.280 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,170344.388682,3,0,200,4000,10000,1,1,12,1,3,3,3,192*70

2020-01-23T17:03:51.109Z,1579799031.109 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T17:03:51.502Z,1579799031.502 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-23T17:03:51.916Z,1579799031.916 [Micromodem](INFO): Nmea in: $CAACK,12,1,3,1*7B

2020-01-23T17:03:51.917Z,1579799031.917 [Micromodem](INFO): Sent 184 bytes from file Logs/20200123T165920/Express0001.lzma.parts
2020-01-23T17:03:51.918Z,1579799031.918 [Micromodem](INFO): Packets left to send: 6
2020-01-23T17:03:52.313Z,1579799032.313 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123170350.798337,06,822,29,0190,0150,59,01,01,00,03,1,012,001,0,4,1,0,150,25.5,6.00,14,-3.00,-01,-0.05,21,10000,4000*46

2020-01-23T17:03:52.318Z,1579799032.318 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E8D0295E0100050038ACA48E3A752361E4E3B3181F9584B58559847607E846C30BDC8E103C55C93DD236182DAC5FE7F89F45F5B1E5E79A93F9C53B299CA7DC70
2020-01-23T17:03:52.319Z,1579799032.319 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 93A3CDD98F1E1855FE1B9072073AE85202925D8B5C123C1AC04B193019BFD2FE8C31ABE799992CF1660F337B4AA90E80EE9A1082B14C626A852E404112B343CD
2020-01-23T17:03:52.319Z,1579799032.319 [Micromodem](INFO): Outgoing frame #3, 64 bytes: 08165B2A0D3C99D248C68AF516CB76E79BEE4EEDB25928CBA9B7D80B7EC49232E783161923BF665FDBD90C95F39A20AB1A3CD3DAF08EB40395550C10D3818952
2020-01-23T17:03:52.319Z,1579799032.319 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-23T17:03:53.615Z,1579799033.615 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-23T17:03:54.019Z,1579799034.019 [Micromodem](INFO): Nmea in: $CADRQ,170353,1,12,0,64,1*77

2020-01-23T17:03:54.020Z,1579799034.020 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,E8D0295E0100050038ACA48E3A752361E4E3B3181F9584B58559847607E846C30BDC8E103C55C93DD236182DAC5FE7F89F45F5B1E5E79A93F9C53B299CA7DC70*45

2020-01-23T17:03:54.423Z,1579799034.423 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:03:54.826Z,1579799034.826 [Micromodem](INFO): Nmea in: $CADRQ,170354,1,12,0,64,2*73

2020-01-23T17:03:54.826Z,1579799034.826 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,93A3CDD98F1E1855FE1B9072073AE85202925D8B5C123C1AC04B193019BFD2FE8C31ABE799992CF1660F337B4AA90E80EE9A1082B14C626A852E404112B343CD*49

2020-01-23T17:03:55.237Z,1579799035.237 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:03:55.256Z,1579799035.256 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-23T17:03:55.256Z,1579799035.256 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,20012310151257,35.0  0.0,1448.9,  0
2020-01-23T17:03:55.635Z,1579799035.635 [Micromodem](INFO): Nmea in: $CADRQ,170355,1,12,0,64,3*73

2020-01-23T17:03:55.636Z,1579799035.636 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,08165B2A0D3C99D248C68AF516CB76E79BEE4EEDB25928CBA9B7D80B7EC49232E783161923BF665FDBD90C95F39A20AB1A3CD3DAF08EB40395550C10D3818952*46

2020-01-23T17:03:56.039Z,1579799036.039 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:03:56.450Z,1579799036.450 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-23T17:04:00.079Z,1579799040.079 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2020-01-23T17:04:00.486Z,1579799040.486 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,170356.593084,3,0,200,4000,10000,1,1,12,1,3,3,3,192*7F

2020-01-23T17:04:03.311Z,1579799043.311 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T17:04:03.726Z,1579799043.726 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-23T17:04:04.119Z,1579799044.119 [Micromodem](INFO): Nmea in: $CAACK,12,1,3,1*7B

2020-01-23T17:04:04.120Z,1579799044.120 [Micromodem](INFO): Sent 184 bytes from file Logs/20200123T165920/Express0001.lzma.parts
2020-01-23T17:04:04.120Z,1579799044.120 [Micromodem](INFO): Packets left to send: 5
2020-01-23T17:04:04.527Z,1579799044.527 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123170402.990029,06,450,26,0127,0150,59,01,01,00,03,1,012,001,0,4,1,0,150,27.2,7.00,20,-4.00,-01,0.26,20,10000,4000*6F

2020-01-23T17:04:04.532Z,1579799044.532 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E8D0295E010004004E41F7E54D53260633256A15EEBB69D5DC7FC88FB5555533940F2C9652DDDFEAD05CBCC13B16FCF68DB95978ABBFB39E0222F1DF87942D1E
2020-01-23T17:04:04.533Z,1579799044.533 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 987A9FCFA3DB81E590239DDEE55D1169FED791353E59D3D74D67C31EBDDF73CFD5647E277D02FC51F392590195D2D75DBF6B82B3EABFD5C77B925FA9DEFD3F8C
2020-01-23T17:04:04.533Z,1579799044.533 [Micromodem](INFO): Outgoing frame #3, 64 bytes: 30BB0C1259B462FED1876DEA0F2CD095AAE7B9795E0F11E68B0A87286BC43CFE3F3871F28DA46D4F31B0C5468D987B80B4E61F832B6097E612AEF6E9DE57E21D
2020-01-23T17:04:04.534Z,1579799044.534 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-23T17:04:05.735Z,1579799045.735 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-23T17:04:06.139Z,1579799046.139 [Micromodem](INFO): Nmea in: $CADRQ,170405,1,12,0,64,1*73

2020-01-23T17:04:06.140Z,1579799046.140 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,E8D0295E010004004E41F7E54D53260633256A15EEBB69D5DC7FC88FB5555533940F2C9652DDDFEAD05CBCC13B16FCF68DB95978ABBFB39E0222F1DF87942D1E*3C

2020-01-23T17:04:06.561Z,1579799046.561 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:04:06.955Z,1579799046.955 [Micromodem](INFO): Nmea in: $CADRQ,170407,1,12,0,64,2*72

2020-01-23T17:04:06.955Z,1579799046.955 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,987A9FCFA3DB81E590239DDEE55D1169FED791353E59D3D74D67C31EBDDF73CFD5647E277D02FC51F392590195D2D75DBF6B82B3EABFD5C77B925FA9DEFD3F8C*48

2020-01-23T17:04:07.350Z,1579799047.350 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:04:07.755Z,1579799047.755 [Micromodem](INFO): Nmea in: $CADRQ,170407,1,12,0,64,3*73

2020-01-23T17:04:07.756Z,1579799047.756 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,30BB0C1259B462FED1876DEA0F2CD095AAE7B9795E0F11E68B0A87286BC43CFE3F3871F28DA46D4F31B0C5468D987B80B4E61F832B6097E612AEF6E9DE57E21D*43

2020-01-23T17:04:08.158Z,1579799048.158 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:04:08.205Z,1579799048.205 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:04:08.568Z,1579799048.568 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-23T17:04:08.973Z,1579799048.973 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:04:12.303Z,1579799052.303 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2020-01-23T17:04:12.303Z,1579799052.303 [Micromodem](ERROR): Response from modem unexpected: $CATXF,192*5E

2020-01-23T17:04:12.441Z,1579799052.441 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T17:04:12.645Z,1579799052.645 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,170408.712485,3,0,200,4000,10000,1,1,12,1,3,3,3,192*7D

2020-01-23T17:04:12.646Z,1579799052.646 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20200123,170408.712485,3,0,200,4000,10000,1,1,12,1,3,3,3,192*7D

2020-01-23T17:04:15.467Z,1579799055.467 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T17:04:15.872Z,1579799055.872 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-23T17:04:15.993Z,1579799055.993 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2020-01-23T17:04:15.993Z,1579799055.993 [RDI_Pathfinder] Communications Fault, FailCount= 1
2020-01-23T17:04:15.993Z,1579799055.993 [RDI_Pathfinder](ERROR): Communications Fault
2020-01-23T17:04:15.994Z,1579799055.994 [RDI_Pathfinder](ERROR): Failed to parse:
2020-01-23T17:04:16.018Z,1579799056.018 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2020-01-23T17:04:16.267Z,1579799056.267 [Micromodem](INFO): Nmea in: $CAACK,12,1,3,1*7B

2020-01-23T17:04:16.268Z,1579799056.268 [Micromodem](INFO): Sent 184 bytes from file Logs/20200123T165920/Express0001.lzma.parts
2020-01-23T17:04:16.268Z,1579799056.268 [Micromodem](INFO): Packets left to send: 4
2020-01-23T17:04:16.353Z,1579799056.353 [RDI_Pathfinder](INFO): Powering down
2020-01-23T17:04:16.682Z,1579799056.682 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123170415.116047,06,504,27,0116,0150,89,02,02,00,02,1,012,001,0,4,1,0,150,26.6,5.00,14,-2.00,-01,-0.05,24,10000,4000*46

2020-01-23T17:04:16.682Z,1579799056.682 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20200123170415.116047,06,504,27,0116,0150,89,02,02,00,02,1,012,001,0,4,1,0,150,26.6,5.00,14,-2.00,-01,-0.05,24,10000,4000*46

2020-01-23T17:04:16.687Z,1579799056.687 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E8D0295E01000300884C757538C2CFA5B30B828BE35A1805CFD31C819E916FD46586D5A420D42AB0930651467AA674A5B9B1C333193D255D7223C608F18A2101
2020-01-23T17:04:16.688Z,1579799056.688 [Micromodem](INFO): Outgoing frame #2, 64 bytes: BE85A07529C50CFD98A86F8D386FCE8C574DA4182572FD9597F2ED4A4AD27E58D75983BDA2712E8FF7891CA91486AF407A214FF3EF21F3F13387F5147E65CAE9
2020-01-23T17:04:16.688Z,1579799056.688 [Micromodem](INFO): Outgoing frame #3, 64 bytes: 79CF3077F34D2AEDD74C0C01F45BB3CFDAEAB5C09B4A0E546823E27AB3D6F40B339FC9A2259C7ACE07D80C6EF5C98D48019EC1573DE44ED19B1AAD08059CD816
2020-01-23T17:04:17.140Z,1579799057.140 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2020-01-23T17:04:17.140Z,1579799057.140 [RDI_Pathfinder] No Fault, FailCount= 1
2020-01-23T17:04:20.310Z,1579799060.310 [Micromodem](ERROR): Nmea resend: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:04:20.716Z,1579799060.716 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:04:20.729Z,1579799060.729 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-23T17:04:21.119Z,1579799061.119 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-23T17:04:21.535Z,1579799061.535 [Micromodem](INFO): Nmea in: $CADRQ,170421,1,12,0,64,1*75

2020-01-23T17:04:21.536Z,1579799061.536 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,E8D0295E01000300884C757538C2CFA5B30B828BE35A1805CFD31C819E916FD46586D5A420D42AB0930651467AA674A5B9B1C333193D255D7223C608F18A2101*45

2020-01-23T17:04:21.924Z,1579799061.924 [Micromodem](INFO): Nmea in: $SNTTA,0.000200,,,,170421.22*43

2020-01-23T17:04:21.924Z,1579799061.924 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.000200,,,,170421.22*43

2020-01-23T17:04:23.105Z,1579799063.105 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:04:23.204Z,1579799063.204 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T17:04:23.543Z,1579799063.543 [Micromodem](INFO): Nmea in: $CADRQ,170422,1,12,0,64,2*75

2020-01-23T17:04:23.543Z,1579799063.543 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,BE85A07529C50CFD98A86F8D386FCE8C574DA4182572FD9597F2ED4A4AD27E58D75983BDA2712E8FF7891CA91486AF407A214FF3EF21F3F13387F5147E65CAE9*46

2020-01-23T17:04:23.919Z,1579799063.919 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:04:24.317Z,1579799064.317 [Micromodem](INFO): Nmea in: $CADRQ,170424,1,12,0,64,3*72

2020-01-23T17:04:24.318Z,1579799064.318 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,79CF3077F34D2AEDD74C0C01F45BB3CFDAEAB5C09B4A0E546823E27AB3D6F40B339FC9A2259C7ACE07D80C6EF5C98D48019EC1573DE44ED19B1AAD08059CD816*35

2020-01-23T17:04:24.728Z,1579799064.728 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:04:25.125Z,1579799065.125 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-23T17:04:28.767Z,1579799068.767 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2020-01-23T17:04:29.168Z,1579799069.168 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,170425.278173,3,0,200,4000,10000,1,1,12,1,3,3,3,192*77

2020-01-23T17:04:30.435Z,1579799070.435 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2020-01-23T17:04:31.999Z,1579799071.999 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T17:04:32.400Z,1579799072.400 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-23T17:04:32.813Z,1579799072.813 [Micromodem](INFO): Nmea in: $CAACK,12,1,3,1*7B

2020-01-23T17:04:32.814Z,1579799072.814 [Micromodem](INFO): Sent 184 bytes from file Logs/20200123T165920/Express0001.lzma.parts
2020-01-23T17:04:32.814Z,1579799072.814 [Micromodem](INFO): Packets left to send: 3
2020-01-23T17:04:33.211Z,1579799073.211 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123170431.682190,06,485,26,0150,0150,59,01,01,00,03,1,012,001,0,4,1,0,150,27.1,6.00,15,-3.00,-01,-0.03,20,10000,4000*41

2020-01-23T17:04:33.216Z,1579799073.216 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E8D0295E01000200EE96F6E8D26AE4F8C7CA23688BE6C496253365B6BA4D7B8E4A723DFEB3AD0C4770262160CAA69772D627B43EDDC33A404112CB2FD64BF40F
2020-01-23T17:04:33.216Z,1579799073.216 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4AA73FA6C73765BC481F321873786847142B7D1794C0FFCE13C71BAB7C8E47AA9D9991F00155C4747B15CE3981AB1749AAC196508F77187CA0B08045E4A1331B
2020-01-23T17:04:33.217Z,1579799073.217 [Micromodem](INFO): Outgoing frame #3, 64 bytes: 1C67C448D26D49FA3E6606A281BD4F866333FCB9390C3811C44FA069E3E1A3C5A93DE135A9A6FFD2CF01422039A7532574CBDD5EFF158D8A2596BA14B5F44B49
2020-01-23T17:04:33.218Z,1579799073.218 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-23T17:04:34.428Z,1579799074.428 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-23T17:04:34.827Z,1579799074.827 [Micromodem](INFO): Nmea in: $CADRQ,170434,1,12,0,64,1*71

2020-01-23T17:04:34.827Z,1579799074.827 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,E8D0295E01000200EE96F6E8D26AE4F8C7CA23688BE6C496253365B6BA4D7B8E4A723DFEB3AD0C4770262160CAA69772D627B43EDDC33A404112CB2FD64BF40F*4F

2020-01-23T17:04:35.233Z,1579799075.233 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:04:35.631Z,1579799075.631 [Micromodem](INFO): Nmea in: $CADRQ,170435,1,12,0,64,2*73

2020-01-23T17:04:35.632Z,1579799075.632 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,4AA73FA6C73765BC481F321873786847142B7D1794C0FFCE13C71BAB7C8E47AA9D9991F00155C4747B15CE3981AB1749AAC196508F77187CA0B08045E4A1331B*30

2020-01-23T17:04:36.034Z,1579799076.034 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:04:36.450Z,1579799076.450 [Micromodem](INFO): Nmea in: $CADRQ,170436,1,12,0,64,3*71

2020-01-23T17:04:36.451Z,1579799076.451 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,1C67C448D26D49FA3E6606A281BD4F866333FCB9390C3811C44FA069E3E1A3C5A93DE135A9A6FFD2CF01422039A7532574CBDD5EFF158D8A2596BA14B5F44B49*33

2020-01-23T17:04:36.843Z,1579799076.843 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:04:37.245Z,1579799077.245 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-23T17:04:40.884Z,1579799080.884 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2020-01-23T17:04:41.293Z,1579799081.293 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,170437.410399,3,0,200,4000,10000,1,1,12,1,3,3,3,192*7A

2020-01-23T17:04:44.119Z,1579799084.119 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T17:04:44.523Z,1579799084.523 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-23T17:04:44.927Z,1579799084.927 [Micromodem](INFO): Nmea in: $CAACK,12,1,3,1*7B

2020-01-23T17:04:44.928Z,1579799084.928 [Micromodem](INFO): Sent 184 bytes from file Logs/20200123T165920/Express0001.lzma.parts
2020-01-23T17:04:44.928Z,1579799084.928 [Micromodem](INFO): Packets left to send: 2
2020-01-23T17:04:45.338Z,1579799085.338 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123170443.814595,06,592,27,0175,0150,89,02,02,00,04,1,012,001,0,4,1,0,150,27.6,6.00,18,-3.00,-01,-0.04,24,10000,4000*46

2020-01-23T17:04:45.343Z,1579799085.343 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E8D0295E010001003BE45F8EE0494AED409B8CA63DC6536B200BD607CB78C708584DD0EDAB721DBC4BBF3224292AD10449A1A2C11864270B7D35CA727F0F3322
2020-01-23T17:04:45.344Z,1579799085.344 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 8BF0F19571EB20A3EBCF8AF3777325AC517A75B62799B40931FEB579269B48D3737F21D7D09602CE7FE63528B6CC899276E1D54E15D2CB5B5D9941CAE49B20C2
2020-01-23T17:04:45.344Z,1579799085.344 [Micromodem](INFO): Outgoing frame #3, 64 bytes: 66F936BA42ABA6DAD05FD13DC4966B5EA2C0F50701F644F13995B7F2A0A14F5161A1C0A886164CE82249B1BFED66CC223B3362EA06460433DCECBF781022EA94
2020-01-23T17:04:45.344Z,1579799085.344 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-23T17:04:45.396Z,1579799085.396 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-23T17:04:45.396Z,1579799085.396 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,20012310160340,35.0, -0.1,   0.0,1448.9A,  0.00,   0.00,   0.00,   0.00,   0.00
2020-01-23T17:04:46.543Z,1579799086.543 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-23T17:04:46.943Z,1579799086.943 [Micromodem](INFO): Nmea in: $CADRQ,170446,1,12,0,64,1*74

2020-01-23T17:04:46.944Z,1579799086.944 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,E8D0295E010001003BE45F8EE0494AED409B8CA63DC6536B200BD607CB78C708584DD0EDAB721DBC4BBF3224292AD10449A1A2C11864270B7D35CA727F0F3322*3C

2020-01-23T17:04:47.351Z,1579799087.351 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:04:47.751Z,1579799087.751 [Micromodem](INFO): Nmea in: $CADRQ,170447,1,12,0,64,2*76

2020-01-23T17:04:47.752Z,1579799087.752 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,8BF0F19571EB20A3EBCF8AF3777325AC517A75B62799B40931FEB579269B48D3737F21D7D09602CE7FE63528B6CC899276E1D54E15D2CB5B5D9941CAE49B20C2*34

2020-01-23T17:04:48.173Z,1579799088.173 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:04:48.563Z,1579799088.563 [Micromodem](INFO): Nmea in: $CADRQ,170448,1,12,0,64,3*78

2020-01-23T17:04:48.564Z,1579799088.564 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,66F936BA42ABA6DAD05FD13DC4966B5EA2C0F50701F644F13995B7F2A0A14F5161A1C0A886164CE82249B1BFED66CC223B3362EA06460433DCECBF781022EA94*48

2020-01-23T17:04:48.967Z,1579799088.967 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:04:49.375Z,1579799089.375 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-23T17:04:53.007Z,1579799093.007 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2020-01-23T17:04:53.412Z,1579799093.412 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,170449.524163,3,0,200,4000,10000,1,1,12,1,3,3,3,192*72

2020-01-23T17:04:54.439Z,1579799094.439 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T17:04:56.263Z,1579799096.263 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T17:04:56.671Z,1579799096.671 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-23T17:04:57.075Z,1579799097.075 [Micromodem](INFO): Nmea in: $CAACK,12,1,3,1*7B

2020-01-23T17:04:57.076Z,1579799097.076 [Micromodem](INFO): Sent 184 bytes from file Logs/20200123T165920/Express0001.lzma.parts
2020-01-23T17:04:57.076Z,1579799097.076 [Micromodem](INFO): Packets left to send: 1
2020-01-23T17:04:57.481Z,1579799097.481 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123170455.921803,06,447,26,0153,0150,59,01,01,00,03,1,012,001,0,4,1,0,150,-29.0,7.00,20,-4.00,-01,-0.03,46,10000,4000*69

2020-01-23T17:04:57.488Z,1579799097.488 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E8D0295E010000001F9646ECA016AB83401172B501BF7CD67C1F95C113B197B97C90A8A5973E45CCD24943938C684A1FC552FD1E803ACEE337589626B8703ABD
2020-01-23T17:04:57.490Z,1579799097.490 [Micromodem](INFO): Outgoing frame #2, 23 bytes: 8E8658724E42C0F8130F9143FD3732C9FE02123048B8A0
2020-01-23T17:04:57.491Z,1579799097.491 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,2*68

2020-01-23T17:04:58.695Z,1579799098.695 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,2*6A

2020-01-23T17:04:59.087Z,1579799099.087 [Micromodem](INFO): Nmea in: $CADRQ,170458,1,12,0,64,1*7B

2020-01-23T17:04:59.088Z,1579799099.088 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,E8D0295E010000001F9646ECA016AB83401172B501BF7CD67C1F95C113B197B97C90A8A5973E45CCD24943938C684A1FC552FD1E803ACEE337589626B8703ABD*38

2020-01-23T17:04:59.499Z,1579799099.499 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:04:59.903Z,1579799099.903 [Micromodem](INFO): Nmea in: $CADRQ,170459,1,12,0,64,2*79

2020-01-23T17:04:59.903Z,1579799099.903 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,8E8658724E42C0F8130F9143FD3732C9FE02123048B8A0*4A

2020-01-23T17:05:00.303Z,1579799100.303 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,23*48

2020-01-23T17:05:00.714Z,1579799100.714 [Micromodem](INFO): Nmea in: $CATXP,87*7D

2020-01-23T17:05:03.135Z,1579799103.135 [Micromodem](INFO): Nmea in: $CATXF,87*6B

2020-01-23T17:05:03.543Z,1579799103.543 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,170500.804154,3,0,200,4000,10000,1,1,12,1,2,2,3,87*40

2020-01-23T17:05:05.191Z,1579799105.191 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T17:05:05.559Z,1579799105.559 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T17:05:05.929Z,1579799105.929 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-23T17:05:05.930Z,1579799105.930 [Micromodem](INFO): Sent 79 bytes from file Logs/20200123T165920/Express0001.lzma.parts
2020-01-23T17:05:05.930Z,1579799105.930 [Micromodem](INFO): Packets left to send: 0
2020-01-23T17:05:06.345Z,1579799106.345 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123170505.325912,06,363,25,0126,0150,89,02,02,00,04,1,012,001,0,4,1,0,150,26.0,7.00,17,-4.00,-01,-0.03,24,10000,4000*4A

2020-01-23T17:05:06.439Z,1579799106.439 [DefaultUnder:uModemComms:CheckIn:A] Stopped
2020-01-23T17:05:06.440Z,1579799106.440 [DefaultUnder:uModemComms:CheckIn](INFO): Completed DefaultUnder:uModemComms:CheckIn
2020-01-23T17:05:06.440Z,1579799106.440 [DefaultUnder:uModemComms:CheckIn] Stopped
2020-01-23T17:05:06.440Z,1579799106.440 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::uninitialize DefaultUnder:uModemComms:CheckIn
2020-01-23T17:05:08.399Z,1579799108.399 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:05:09.172Z,1579799109.172 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:05:09.567Z,1579799109.567 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:05:10.048Z,1579799110.048 [Reporter](INFO): acoustic_contact_range 0.360000 m
2020-01-23T17:05:10.406Z,1579799110.406 [Micromodem](INFO): Nmea in: $SNTTA,0.000235,,,,170510.08*4E

2020-01-23T17:05:11.602Z,1579799111.602 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2020-01-23T17:05:12.166Z,1579799112.166 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T17:05:15.263Z,1579799115.263 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T17:05:16.978Z,1579799116.978 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T17:05:25.411Z,1579799125.411 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T17:05:27.102Z,1579799127.102 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T17:05:35.481Z,1579799135.481 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T17:05:37.194Z,1579799137.194 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T17:05:42.323Z,1579799142.323 [NAL9602](INFO): Not Powering down - fast GPS
2020-01-23T17:05:45.582Z,1579799145.582 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T17:05:52.017Z,1579799152.017 [CommandLine](IMPORTANT): got command report
2020-01-23T17:05:52.018Z,1579799152.018 [Reporter](INFO): acoustic_contact_range reporting when touched
2020-01-23T17:05:52.018Z,1579799152.018 [Reporter](INFO): DDM.cablePresent reporting changes
2020-01-23T17:06:04.565Z,1579799164.565 [DefaultUnder:Notify:A:A:A.Wait](INFO): Done Waiting.
2020-01-23T17:06:04.565Z,1579799164.565 [DefaultUnder:Notify:A:A:A.Wait] Stopped
2020-01-23T17:06:04.565Z,1579799164.565 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-23T17:06:04.565Z,1579799164.565 [DefaultUnder:Notify:A:A:B] Running Loop=1
2020-01-23T17:06:04.954Z,1579799164.954 [DefaultUnder:Notify:A:A:B] Stopped
2020-01-23T17:06:04.954Z,1579799164.954 [DefaultUnder:Notify:A:A:C] Running Loop=1
2020-01-23T17:06:05.404Z,1579799165.404 [DefaultUnder:Notify:A:A:C](IMPORTANT): Default mission has been running for 5.011088 min 
2020-01-23T17:06:05.404Z,1579799165.404 [DefaultUnder:Notify:A:A:C] Stopped
2020-01-23T17:06:05.404Z,1579799165.404 [DefaultUnder:Notify:A:A](INFO): Completed DefaultUnder:Notify:A:A
2020-01-23T17:06:05.404Z,1579799165.404 [DefaultUnder:Notify:A:A] Stopped
2020-01-23T17:06:05.404Z,1579799165.404 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A:A
2020-01-23T17:06:05.404Z,1579799165.404 [DefaultUnder:Notify:A:A](INFO): Running loop #2
2020-01-23T17:06:05.404Z,1579799165.404 [DefaultUnder:Notify:A:A] Running Loop=2
2020-01-23T17:06:05.404Z,1579799165.404 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A:A
2020-01-23T17:06:05.405Z,1579799165.405 [DefaultUnder:Notify:A:A:A.Wait] Running Loop=1
2020-01-23T17:06:05.405Z,1579799165.405 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Initialize Wait Component.
2020-01-23T17:06:08.902Z,1579799168.902 [CommandLine](IMPORTANT): got command run ./Missions/Insert/Docked.xml
2020-01-23T17:06:08.903Z,1579799168.903 [MissionManager](INFO): Loading Mission: ./Missions/Insert/Docked.xml
2020-01-23T17:06:09.030Z,1579799169.030 [MissionManager](INFO): DefineArg Docked.MaxDockRange = 8.000000 m
2020-01-23T17:06:09.038Z,1579799169.038 [MissionManager](INFO): DefineArg Docked.DetachedTimeout = 5.000000 min
2020-01-23T17:06:09.050Z,1579799169.050 [MissionManager](INFO): DefineArg Docked.DockedTimeout = 30.000000 s
2020-01-23T17:06:09.060Z,1579799169.060 [MissionManager](INFO): DefineArg Docked.Depth = 5.000000 m
2020-01-23T17:06:09.068Z,1579799169.068 [MissionManager](INFO): DefineArg Docked.TransponderCode = 2.000000 count
2020-01-23T17:06:09.072Z,1579799169.072 [MissionManager](INFO): DefineArg Docked.TrackingUpdatePeriod = 60.000000 s
2020-01-23T17:06:09.083Z,1579799169.083 [MissionManager](INFO): DefineArg Docked.NumberOfPings = 1.000000 count
2020-01-23T17:06:09.086Z,1579799169.086 [MissionManager](INFO): DefineArg Docked.Speed = 0.000000 m/s
2020-01-23T17:06:09.094Z,1579799169.094 [MissionManager](INFO): DefineArg Docked.DepthDeadband = 1.500000 m
2020-01-23T17:06:09.099Z,1579799169.099 [MissionManager](INFO): DefineArg Docked.PitchLimit = 20.000000 arcdeg
2020-01-23T17:06:09.115Z,1579799169.115 [MissionManager](INFO): DefineArg Docked.MinDepth = 1.000000 m
2020-01-23T17:06:09.119Z,1579799169.119 [MissionManager](INFO): DefineArg Docked.MaxDepth = 215.000000 m
2020-01-23T17:06:09.120Z,1579799169.120 [Docked:A.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-01-23T17:06:09.185Z,1579799169.185 [Docked:E.Pitch](DEBUG): Construct.
2020-01-23T17:06:09.210Z,1579799169.210 [Docked:F.SetSpeed](DEBUG): Construct.
2020-01-23T17:06:09.215Z,1579799169.215 [Docked:G.Docked](DEBUG): Construct.
2020-01-23T17:06:09.252Z,1579799169.252 [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="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="Depth"><Description>
        Depth to maintain while docked.
    </Description><Units:meter/><Value>5</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="Speed"><Description>
        Thruster speed while docked.
    </Description><Units:meter_per_second/><Value>0.0</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:Pitch>
        <Parallel/>
        <Setting><Guidance:Pitch.depth/><Arg Name="Depth"/></Setting>
    </Guidance:Pitch>

    <Guidance:SetSpeed>
        <Parallel/>
        <Setting><Guidance:SetSpeed.speed/><<Units:meter_per_second/><Value>0.0</Value></Setting>
    </Guidance:SetSpeed>

    <Guidance:Docked>
        <Sequence/>
        <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>

</Aggregate>


2020-01-23T17:06:09.272Z,1579799169.272 [CommandLine](IMPORTANT): Running ./Missions/Insert/Docked.xml
2020-01-23T17:06:09.403Z,1579799169.403 [DefaultUnder] Stopped
2020-01-23T17:06:09.404Z,1579799169.404 [DefaultUnder](DEBUG): Aggregate::uninitialize DefaultUnder
2020-01-23T17:06:09.404Z,1579799169.404 [DefaultUnder:uModemComms] Stopped
2020-01-23T17:06:09.404Z,1579799169.404 [DefaultUnder:uModemComms](DEBUG): Aggregate::uninitialize DefaultUnder:uModemComms
2020-01-23T17:06:09.404Z,1579799169.404 [DefaultUnder:Notify] Stopped
2020-01-23T17:06:09.404Z,1579799169.404 [DefaultUnder:Notify](DEBUG): Aggregate::uninitialize DefaultUnder:Notify
2020-01-23T17:06:09.404Z,1579799169.404 [DefaultUnder:Notify:A] Stopped
2020-01-23T17:06:09.404Z,1579799169.404 [DefaultUnder:Notify:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A
2020-01-23T17:06:09.404Z,1579799169.404 [DefaultUnder:Notify:A:A] Stopped
2020-01-23T17:06:09.404Z,1579799169.404 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A:A
2020-01-23T17:06:09.404Z,1579799169.404 [DefaultUnder:Notify:A:A:A.Wait] Stopped
2020-01-23T17:06:09.404Z,1579799169.404 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-23T17:06:09.404Z,1579799169.404 [DefaultUnder:C.] Stopped
2020-01-23T17:06:09.409Z,1579799169.409 [DefaultUnder:Default] Stopped
2020-01-23T17:06:09.409Z,1579799169.409 [DefaultUnder:Default](DEBUG): Aggregate::uninitialize DefaultUnder:Default
2020-01-23T17:06:09.409Z,1579799169.409 [DefaultUnder:Default:Docked] Stopped
2020-01-23T17:06:09.409Z,1579799169.409 [DefaultUnder:Default:Docked](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Docked
2020-01-23T17:06:09.409Z,1579799169.409 [DefaultUnder:Default:Docked:run] Stopped
2020-01-23T17:06:09.409Z,1579799169.409 [DefaultUnder:Default:Docked:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Docked:run
2020-01-23T17:06:09.409Z,1579799169.409 [DefaultUnder:Default:Docked:run:B.Docked] Stopped
2020-01-23T17:06:09.410Z,1579799169.410 [MissionManager](IMPORTANT): Started mission Docked
2020-01-23T17:06:09.410Z,1579799169.410 [Docked] Running Loop=1
2020-01-23T17:06:09.410Z,1579799169.410 [Docked](DEBUG): Aggregate::initialize Docked
2020-01-23T17:06:09.410Z,1579799169.410 [Docked:A.DepthEnvelope] Running Loop=1
2020-01-23T17:06:09.410Z,1579799169.410 [Docked:A.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2020-01-23T17:06:09.410Z,1579799169.410 [Docked:B.] Running Loop=1
2020-01-23T17:06:09.410Z,1579799169.410 [Docked:B.](INFO): Initializing TrackAcousticContact.
2020-01-23T17:06:09.410Z,1579799169.410 [Docked:C] Running Loop=1
2020-01-23T17:06:09.411Z,1579799169.411 [Docked:D] Running Loop=1
2020-01-23T17:06:09.411Z,1579799169.411 [Docked:E.Pitch] Running Loop=1
2020-01-23T17:06:09.411Z,1579799169.411 [Docked:E.Pitch](DEBUG): Initialize.
2020-01-23T17:06:09.411Z,1579799169.411 [Docked:F.SetSpeed] Running Loop=1
2020-01-23T17:06:09.411Z,1579799169.411 [Docked:F.SetSpeed](DEBUG): Initialize.
2020-01-23T17:06:09.411Z,1579799169.411 [Docked:G.Docked] Running Loop=1
2020-01-23T17:06:09.411Z,1579799169.411 [Docked:G.Docked](DEBUG): Initialize.
2020-01-23T17:06:09.412Z,1579799169.412 [Docked:G.Docked](INFO): Depth unspecified. Maintaining workSite beacon depth of 6.000000 m.
2020-01-23T17:06:09.417Z,1579799169.417 [Docked:F.SetSpeed] Running Loop=1
2020-01-23T17:06:09.417Z,1579799169.417 [Docked:E.Pitch] Running Loop=1
2020-01-23T17:06:09.418Z,1579799169.418 [Docked:D] Running Loop=1
2020-01-23T17:06:09.418Z,1579799169.418 [Docked:C] Running Loop=1
2020-01-23T17:06:09.418Z,1579799169.418 [Docked:B.] Running Loop=1
2020-01-23T17:06:09.425Z,1579799169.425 [Docked:A.DepthEnvelope] Running Loop=1
2020-01-23T17:06:10.774Z,1579799170.774 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T17:06:11.039Z,1579799171.039 [Docked:G.Docked](INFO): Detected possible state switch to DETACHED.
2020-01-23T17:06:21.604Z,1579799181.604 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T17:06:23.356Z,1579799183.356 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T17:06:31.684Z,1579799191.684 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2020-01-23T17:06:31.687Z,1579799191.687 [BPC1](INFO): Received data from all battery sticks.
2020-01-23T17:06:31.737Z,1579799191.737 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T17:06:33.414Z,1579799193.414 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T17:06:36.162Z,1579799196.162 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-23T17:06:41.794Z,1579799201.794 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T17:06:54.751Z,1579799214.751 [CommandLine](IMPORTANT): got command show variable ddm
2020-01-23T17:06:54.768Z,1579799214.768 [CommandLine](IMPORTANT): DDM.loadControl (none)
2020-01-23T17:06:54.773Z,1579799214.773 [CommandLine](IMPORTANT): DDM.uart (none)
2020-01-23T17:06:54.773Z,1579799214.773 [CommandLine](IMPORTANT): DDM.baud (bit_per_second)
2020-01-23T17:06:54.847Z,1579799214.847 [CommandLine](IMPORTANT): DDM.loadAtStartup (bool)
2020-01-23T17:06:54.847Z,1579799214.847 [CommandLine](IMPORTANT): DDM.simulateHardware (bool)
2020-01-23T17:06:54.848Z,1579799214.848 [CommandLine](IMPORTANT): DDM.currentLimit (count)
2020-01-23T17:06:54.848Z,1579799214.848 [CommandLine](IMPORTANT): DDM.PWMLimit (count)
2020-01-23T17:06:54.848Z,1579799214.848 [CommandLine](IMPORTANT): DDM.verbosity (count)
2020-01-23T17:06:54.866Z,1579799214.866 [CommandLine](IMPORTANT): DDM.DDMModeCmd (enum)
2020-01-23T17:06:54.866Z,1579799214.866 [CommandLine](IMPORTANT): DDM.whiskerState (count)
2020-01-23T17:06:54.867Z,1579799214.867 [CommandLine](IMPORTANT): DDM.latchState (count)
2020-01-23T17:06:54.867Z,1579799214.867 [CommandLine](IMPORTANT): DDM.cablePresent (bool)
2020-01-23T17:06:54.868Z,1579799214.868 [CommandLine](IMPORTANT): DDM.DDMMode (enum)
2020-01-23T17:07:00.062Z,1579799220.062 [CommandLine](IMPORTANT): got command report mod DDM.DDMModeCmd
2020-01-23T17:07:00.418Z,1579799220.418 [Reporter](INFO): DDM.DDMModeCmd no_value
2020-01-23T17:07:06.190Z,1579799226.190 [CommandLine](IMPORTANT): got command report
2020-01-23T17:07:06.191Z,1579799226.191 [Reporter](INFO): acoustic_contact_range reporting when touched
2020-01-23T17:07:06.191Z,1579799226.191 [Reporter](INFO): DDM.cablePresent reporting changes
2020-01-23T17:07:06.191Z,1579799226.191 [Reporter](INFO): DDM.DDMModeCmd reporting changes
2020-01-23T17:07:08.583Z,1579799228.583 [CommandLine](IMPORTANT): got command stop
2020-01-23T17:07:08.583Z,1579799228.583 [CommandLine](IMPORTANT): Scheduling is paused
2020-01-23T17:07:08.583Z,1579799228.583 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2020-01-23T17:07:08.854Z,1579799228.854 [MissionManager](INFO): MissionManager is completed.
2020-01-23T17:07:08.854Z,1579799228.854 [MissionManager](INFO): Uninitializing Mission Docked
2020-01-23T17:07:08.854Z,1579799228.854 [Docked] Stopped
2020-01-23T17:07:08.854Z,1579799228.854 [Docked](DEBUG): Aggregate::uninitialize Docked
2020-01-23T17:07:08.854Z,1579799228.854 [Docked:A.DepthEnvelope] Stopped
2020-01-23T17:07:08.854Z,1579799228.854 [Docked:A.DepthEnvelope](DEBUG): Uninitialize.
2020-01-23T17:07:08.854Z,1579799228.854 [Docked:B.] Stopped
2020-01-23T17:07:08.854Z,1579799228.854 [Docked:C] Stopped
2020-01-23T17:07:08.855Z,1579799228.855 [Docked:D] Stopped
2020-01-23T17:07:08.855Z,1579799228.855 [Docked:E.Pitch] Stopped
2020-01-23T17:07:08.855Z,1579799228.855 [Docked:F.SetSpeed] Stopped
2020-01-23T17:07:08.855Z,1579799228.855 [Docked:F.SetSpeed](DEBUG): Uninitialize.
2020-01-23T17:07:08.855Z,1579799228.855 [Docked:G.Docked] Stopped
2020-01-23T17:07:09.250Z,1579799229.250 [MissionManager](IMPORTANT): Started mission DefaultUnder
2020-01-23T17:07:09.250Z,1579799229.250 [DefaultUnder] Running Loop=1
2020-01-23T17:07:09.250Z,1579799229.250 [DefaultUnder](DEBUG): Aggregate::initialize DefaultUnder
2020-01-23T17:07:09.250Z,1579799229.250 [DefaultUnder:uModemComms] Running Loop=1
2020-01-23T17:07:09.251Z,1579799229.251 [DefaultUnder:uModemComms](DEBUG): Aggregate::initialize DefaultUnder:uModemComms
2020-01-23T17:07:09.251Z,1579799229.251 [DefaultUnder:Notify] Running Loop=1
2020-01-23T17:07:09.251Z,1579799229.251 [DefaultUnder:Notify](DEBUG): Aggregate::initialize DefaultUnder:Notify
2020-01-23T17:07:09.252Z,1579799229.252 [DefaultUnder:Notify:A] Running Loop=1
2020-01-23T17:07:09.252Z,1579799229.252 [DefaultUnder:Notify:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A
2020-01-23T17:07:09.252Z,1579799229.252 [DefaultUnder:Notify:A:A] Running Loop=1
2020-01-23T17:07:09.252Z,1579799229.252 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A:A
2020-01-23T17:07:09.252Z,1579799229.252 [DefaultUnder:Notify:A:A:A.Wait] Running Loop=1
2020-01-23T17:07:09.252Z,1579799229.252 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Initialize Wait Component.
2020-01-23T17:07:09.254Z,1579799229.254 [DefaultUnder:C.] Running Loop=1
2020-01-23T17:07:09.254Z,1579799229.254 [DefaultUnder:C.](INFO): Initializing TrackAcousticContact.
2020-01-23T17:07:09.254Z,1579799229.254 [DefaultUnder:E.Wait] Running Loop=1
2020-01-23T17:07:09.254Z,1579799229.254 [DefaultUnder:E.Wait](DEBUG): Initialize Wait Component.
2020-01-23T17:07:14.710Z,1579799234.710 [CommandLine](IMPORTANT): got command run ./Missions/Insert/Docked.xml
2020-01-23T17:07:14.711Z,1579799234.711 [MissionManager](INFO): Loading Mission: ./Missions/Insert/Docked.xml
2020-01-23T17:07:14.768Z,1579799234.768 [MissionManager](INFO): DefineArg Docked.MaxDockRange = 8.000000 m
2020-01-23T17:07:14.771Z,1579799234.771 [MissionManager](INFO): DefineArg Docked.DetachedTimeout = 5.000000 min
2020-01-23T17:07:14.776Z,1579799234.776 [MissionManager](INFO): DefineArg Docked.DockedTimeout = 30.000000 s
2020-01-23T17:07:14.779Z,1579799234.779 [MissionManager](INFO): DefineArg Docked.Depth = 5.000000 m
2020-01-23T17:07:14.782Z,1579799234.782 [MissionManager](INFO): DefineArg Docked.TransponderCode = 2.000000 count
2020-01-23T17:07:14.784Z,1579799234.784 [MissionManager](INFO): DefineArg Docked.TrackingUpdatePeriod = 60.000000 s
2020-01-23T17:07:14.786Z,1579799234.786 [MissionManager](INFO): DefineArg Docked.NumberOfPings = 1.000000 count
2020-01-23T17:07:14.788Z,1579799234.788 [MissionManager](INFO): DefineArg Docked.Speed = 0.000000 m/s
2020-01-23T17:07:14.790Z,1579799234.790 [MissionManager](INFO): DefineArg Docked.DepthDeadband = 1.500000 m
2020-01-23T17:07:14.792Z,1579799234.792 [MissionManager](INFO): DefineArg Docked.PitchLimit = 20.000000 arcdeg
2020-01-23T17:07:14.815Z,1579799234.815 [MissionManager](INFO): DefineArg Docked.MinDepth = 1.000000 m
2020-01-23T17:07:14.821Z,1579799234.821 [MissionManager](INFO): DefineArg Docked.MaxDepth = 215.000000 m
2020-01-23T17:07:14.822Z,1579799234.822 [Docked:A.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-01-23T17:07:14.919Z,1579799234.919 [Docked:E.Pitch](DEBUG): Construct.
2020-01-23T17:07:14.939Z,1579799234.939 [Docked:F.SetSpeed](DEBUG): Construct.
2020-01-23T17:07:14.950Z,1579799234.950 [Docked:G.Docked](DEBUG): Construct.
2020-01-23T17:07:14.983Z,1579799234.983 [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="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="Depth"><Description>
        Depth to maintain while docked.
    </Description><Units:meter/><Value>5</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="Speed"><Description>
        Thruster speed while docked.
    </Description><Units:meter_per_second/><Value>0.0</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:Pitch>
        <Parallel/>
        <Setting><Guidance:Pitch.depth/><Arg Name="Depth"/></Setting>
    </Guidance:Pitch>

    <Guidance:SetSpeed>
        <Parallel/>
        <Setting><Guidance:SetSpeed.speed/><<Units:meter_per_second/><Value>0.0</Value></Setting>
    </Guidance:SetSpeed>

    <Guidance:Docked>
        <Sequence/>
        <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>

</Aggregate>


2020-01-23T17:07:14.989Z,1579799234.989 [CommandLine](IMPORTANT): Running ./Missions/Insert/Docked.xml
2020-01-23T17:07:15.312Z,1579799235.312 [DefaultUnder] Stopped
2020-01-23T17:07:15.312Z,1579799235.312 [DefaultUnder](DEBUG): Aggregate::uninitialize DefaultUnder
2020-01-23T17:07:15.312Z,1579799235.312 [DefaultUnder:uModemComms] Stopped
2020-01-23T17:07:15.312Z,1579799235.312 [DefaultUnder:uModemComms](DEBUG): Aggregate::uninitialize DefaultUnder:uModemComms
2020-01-23T17:07:15.312Z,1579799235.312 [DefaultUnder:Notify] Stopped
2020-01-23T17:07:15.312Z,1579799235.312 [DefaultUnder:Notify](DEBUG): Aggregate::uninitialize DefaultUnder:Notify
2020-01-23T17:07:15.312Z,1579799235.312 [DefaultUnder:Notify:A] Stopped
2020-01-23T17:07:15.312Z,1579799235.312 [DefaultUnder:Notify:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A
2020-01-23T17:07:15.312Z,1579799235.312 [DefaultUnder:Notify:A:A] Stopped
2020-01-23T17:07:15.312Z,1579799235.312 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A:A
2020-01-23T17:07:15.313Z,1579799235.313 [DefaultUnder:Notify:A:A:A.Wait] Stopped
2020-01-23T17:07:15.313Z,1579799235.313 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-23T17:07:15.313Z,1579799235.313 [DefaultUnder:C.] Stopped
2020-01-23T17:07:15.313Z,1579799235.313 [DefaultUnder:E.Wait] Stopped
2020-01-23T17:07:15.313Z,1579799235.313 [DefaultUnder:E.Wait](DEBUG): Uninitialize Wait Component.
2020-01-23T17:07:15.313Z,1579799235.313 [MissionManager](IMPORTANT): Started mission Docked
2020-01-23T17:07:15.313Z,1579799235.313 [Docked] Running Loop=1
2020-01-23T17:07:15.313Z,1579799235.313 [Docked](DEBUG): Aggregate::initialize Docked
2020-01-23T17:07:15.314Z,1579799235.314 [Docked:A.DepthEnvelope] Running Loop=1
2020-01-23T17:07:15.314Z,1579799235.314 [Docked:A.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2020-01-23T17:07:15.314Z,1579799235.314 [Docked:B.] Running Loop=1
2020-01-23T17:07:15.314Z,1579799235.314 [Docked:B.](INFO): Initializing TrackAcousticContact.
2020-01-23T17:07:15.314Z,1579799235.314 [Docked:C] Running Loop=1
2020-01-23T17:07:15.314Z,1579799235.314 [Docked:D] Running Loop=1
2020-01-23T17:07:15.314Z,1579799235.314 [Docked:E.Pitch] Running Loop=1
2020-01-23T17:07:15.314Z,1579799235.314 [Docked:E.Pitch](DEBUG): Initialize.
2020-01-23T17:07:15.314Z,1579799235.314 [Docked:F.SetSpeed] Running Loop=1
2020-01-23T17:07:15.314Z,1579799235.314 [Docked:F.SetSpeed](DEBUG): Initialize.
2020-01-23T17:07:15.315Z,1579799235.315 [Docked:G.Docked] Running Loop=1
2020-01-23T17:07:15.315Z,1579799235.315 [Docked:G.Docked](DEBUG): Initialize.
2020-01-23T17:07:15.316Z,1579799235.316 [Docked:G.Docked](INFO): Depth unspecified. Maintaining workSite beacon depth of 6.000000 m.
2020-01-23T17:07:15.316Z,1579799235.316 [Docked:F.SetSpeed] Running Loop=1
2020-01-23T17:07:15.316Z,1579799235.316 [Docked:E.Pitch] Running Loop=1
2020-01-23T17:07:15.317Z,1579799235.317 [Docked:D] Running Loop=1
2020-01-23T17:07:15.317Z,1579799235.317 [Docked:C] Running Loop=1
2020-01-23T17:07:15.318Z,1579799235.318 [Docked:B.] Running Loop=1
2020-01-23T17:07:15.320Z,1579799235.320 [Docked:A.DepthEnvelope] Running Loop=1
2020-01-23T17:07:16.710Z,1579799236.710 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-23T17:07:23.647Z,1579799243.647 [CommandLine](IMPORTANT): got command maintain sensor Depth_Keller.depth 6.000000 meter
2020-01-23T17:07:23.648Z,1579799243.648 [ComponentRegistry](DEBUG): SyncComponent "Maintain_Depth_Keller.depth" handled in the control thread.
2020-01-23T17:07:23.898Z,1579799243.898 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,DDM,Depth_Keller,DropWeight,DUSBL_Hydroid,Micromodem,NAL9602,Onboard,PowerOnly,RDI_Pathfinder,BPC1,PAR_Licor,Depth_Keller,PAR_Licor,Maintain_Depth_Keller.depth,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2020-01-23T17:07:27.496Z,1579799247.496 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T17:07:29.294Z,1579799249.294 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-23T17:07:35.982Z,1579799255.982 [CommandLine](IMPORTANT): got command show stack
2020-01-23T17:07:35.982Z,1579799255.982 [CommandLine](IMPORTANT): Behavior Stack:

2020-01-23T17:07:35.983Z,1579799255.983 [Docked](IMPORTANT): Priority 0: Docked:A.DepthEnvelope
2020-01-23T17:07:35.983Z,1579799255.983 [Docked](IMPORTANT): Priority 1: Docked:B.
2020-01-23T17:07:35.983Z,1579799255.983 [Docked](IMPORTANT): Priority 2: Docked:C
2020-01-23T17:07:35.984Z,1579799255.984 [Docked](IMPORTANT): Priority 3: Docked:D
2020-01-23T17:07:35.984Z,1579799255.984 [Docked](IMPORTANT): Priority 4: Docked:E.Pitch
2020-01-23T17:07:35.984Z,1579799255.984 [Docked](IMPORTANT): Priority 5: Docked:F.SetSpeed
2020-01-23T17:07:35.985Z,1579799255.985 [Docked](IMPORTANT): Priority 6: Docked:G.Docked
2020-01-23T17:07:37.642Z,1579799257.642 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T17:07:39.291Z,1579799259.291 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-23T17:07:47.723Z,1579799267.723 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T17:08:01.380Z,1579799281.380 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-23T17:08:01.380Z,1579799281.380 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2020-01-23T17:08:13.522Z,1579799293.522 [CommandLine](IMPORTANT): got command get depth
2020-01-23T17:08:13.522Z,1579799293.522 [CommandLine](IMPORTANT): depth 6.000000 m
2020-01-23T17:08:15.562Z,1579799295.562 [Docked:B.](INFO): *** querying acoustic contact ***
2020-01-23T17:08:16.297Z,1579799296.297 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:08:16.578Z,1579799296.578 [CommandLine](IMPORTANT): got command get latitude
2020-01-23T17:08:16.578Z,1579799296.578 [CommandLine](IMPORTANT): latitude 36.500000 arcdeg
2020-01-23T17:08:16.686Z,1579799296.686 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:08:17.178Z,1579799297.178 [Reporter](INFO): acoustic_contact_range 0.239999 m
2020-01-23T17:08:17.537Z,1579799297.537 [Micromodem](INFO): Nmea in: $SNTTA,0.000193,,,,170817.21*40

2020-01-23T17:08:18.959Z,1579799298.959 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-23T17:08:19.234Z,1579799299.234 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T17:08:29.711Z,1579799309.711 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T17:08:31.452Z,1579799311.452 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T17:08:37.731Z,1579799317.731 [CommandLine](IMPORTANT): got command show stack
2020-01-23T17:08:37.731Z,1579799317.731 [CommandLine](IMPORTANT): Behavior Stack:

2020-01-23T17:08:37.731Z,1579799317.731 [Docked](IMPORTANT): Priority 0: Docked:A.DepthEnvelope
2020-01-23T17:08:37.732Z,1579799317.732 [Docked](IMPORTANT): Priority 1: Docked:B.
2020-01-23T17:08:37.732Z,1579799317.732 [Docked](IMPORTANT): Priority 2: Docked:C
2020-01-23T17:08:37.732Z,1579799317.732 [Docked](IMPORTANT): Priority 3: Docked:D
2020-01-23T17:08:37.732Z,1579799317.732 [Docked](IMPORTANT): Priority 4: Docked:E.Pitch
2020-01-23T17:08:37.733Z,1579799317.733 [Docked](IMPORTANT): Priority 5: Docked:F.SetSpeed
2020-01-23T17:08:37.733Z,1579799317.733 [Docked](IMPORTANT): Priority 6: Docked:G.Docked
2020-01-23T17:08:39.818Z,1579799319.818 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T17:08:41.562Z,1579799321.562 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T17:08:49.918Z,1579799329.918 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T17:09:17.330Z,1579799357.330 [Docked:B.](INFO): *** querying acoustic contact ***
2020-01-23T17:09:18.095Z,1579799358.095 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:09:18.498Z,1579799358.498 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:09:18.983Z,1579799358.983 [Reporter](INFO): acoustic_contact_range 0.239999 m
2020-01-23T17:09:19.326Z,1579799359.326 [Micromodem](INFO): Nmea in: $SNTTA,0.000197,,,,170919.01*49

2020-01-23T17:09:21.074Z,1579799361.074 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T17:09:31.946Z,1579799371.946 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T17:09:33.632Z,1579799373.632 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T17:09:42.022Z,1579799382.022 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T17:09:43.767Z,1579799383.767 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T17:09:47.278Z,1579799387.278 [CommandLine](IMPORTANT): got command maintain sensor DUSBL_Hydroid.acoustic_contact_range 10.000000 meter
2020-01-23T17:09:47.279Z,1579799387.279 [ComponentRegistry](DEBUG): SyncComponent "Maintain_DUSBL_Hydroid.acoustic_contact_range" handled in the control thread.
2020-01-23T17:09:47.727Z,1579799387.727 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,DDM,Depth_Keller,DropWeight,DUSBL_Hydroid,Micromodem,NAL9602,Onboard,PowerOnly,RDI_Pathfinder,BPC1,PAR_Licor,Depth_Keller,PAR_Licor,Maintain_Depth_Keller.depth,Maintain_DUSBL_Hydroid.acoustic_contact_range,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2020-01-23T17:09:48.089Z,1579799388.089 [Reporter](INFO): acoustic_contact_range 10.000000 m
2020-01-23T17:09:48.450Z,1579799388.450 [Docked:G.Docked](INFO): Detected possible state switch to DETACHED.
2020-01-23T17:09:48.514Z,1579799388.514 [Reporter](INFO): acoustic_contact_range 10.000000 m
2020-01-23T17:09:48.926Z,1579799388.926 [Reporter](INFO): acoustic_contact_range 10.000000 m
2020-01-23T17:09:49.314Z,1579799389.314 [Reporter](INFO): acoustic_contact_range 10.000000 m
2020-01-23T17:09:49.729Z,1579799389.729 [Reporter](INFO): acoustic_contact_range 10.000000 m
2020-01-23T17:09:50.186Z,1579799390.186 [Reporter](INFO): acoustic_contact_range 10.000000 m
2020-01-23T17:09:50.922Z,1579799390.922 [Reporter](INFO): acoustic_contact_range 10.000000 m
2020-01-23T17:09:51.102Z,1579799391.102 [Reporter](INFO): acoustic_contact_range 10.000000 m
2020-01-23T17:09:51.562Z,1579799391.562 [Reporter](INFO): acoustic_contact_range 10.000000 m
2020-01-23T17:09:51.902Z,1579799391.902 [Reporter](INFO): acoustic_contact_range 10.000000 m
2020-01-23T17:09:52.266Z,1579799392.266 [Reporter](INFO): acoustic_contact_range 10.000000 m
2020-01-23T17:09:52.267Z,1579799392.267 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T17:09:52.806Z,1579799392.806 [Reporter](INFO): acoustic_contact_range 10.000000 m
2020-01-23T17:09:53.016Z,1579799393.016 [Reporter](INFO): acoustic_contact_range 10.000000 m
2020-01-23T17:09:53.439Z,1579799393.439 [Reporter](INFO): acoustic_contact_range 10.000000 m
2020-01-23T17:09:53.912Z,1579799393.912 [Reporter](INFO): acoustic_contact_range 10.000000 m
2020-01-23T17:09:53.913Z,1579799393.913 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T17:09:54.364Z,1579799394.364 [Reporter](INFO): acoustic_contact_range 10.000000 m
2020-01-23T17:09:54.806Z,1579799394.806 [Reporter](INFO): acoustic_contact_range 10.000000 m
2020-01-23T17:09:55.055Z,1579799395.055 [Reporter](INFO): acoustic_contact_range 10.000000 m
2020-01-23T17:09:55.503Z,1579799395.503 [Reporter](INFO): acoustic_contact_range 10.000000 m
2020-01-23T17:09:55.883Z,1579799395.883 [Reporter](INFO): acoustic_contact_range 10.000000 m
2020-01-23T17:09:56.283Z,1579799396.283 [Reporter](INFO): acoustic_contact_range 10.000000 m
2020-01-23T17:09:56.702Z,1579799396.702 [Reporter](INFO): acoustic_contact_range 10.000000 m
2020-01-23T17:09:57.071Z,1579799397.071 [Reporter](INFO): acoustic_contact_range 10.000000 m
2020-01-23T17:09:57.494Z,1579799397.494 [Reporter](INFO): acoustic_contact_range 10.000000 m
2020-01-23T17:09:57.902Z,1579799397.902 [Reporter](INFO): acoustic_contact_range 10.000000 m
2020-01-23T17:09:58.291Z,1579799398.291 [Reporter](INFO): acoustic_contact_range 10.000000 m
2020-01-23T17:09:58.730Z,1579799398.730 [Reporter](INFO): acoustic_contact_range 10.000000 m
2020-01-23T17:09:59.123Z,1579799399.123 [Reporter](INFO): acoustic_contact_range 10.000000 m
2020-01-23T17:09:59.491Z,1579799399.491 [Reporter](INFO): acoustic_contact_range 10.000000 m
2020-01-23T17:09:59.927Z,1579799399.927 [Reporter](INFO): acoustic_contact_range 10.000000 m
2020-01-23T17:09:59.985Z,1579799399.985 [CommandLine](IMPORTANT): got command stop
2020-01-23T17:09:59.986Z,1579799399.986 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2020-01-23T17:10:00.295Z,1579799400.295 [MissionManager](INFO): MissionManager is completed.
2020-01-23T17:10:00.295Z,1579799400.295 [MissionManager](INFO): Uninitializing Mission Docked
2020-01-23T17:10:00.295Z,1579799400.295 [Docked] Stopped
2020-01-23T17:10:00.295Z,1579799400.295 [Docked](DEBUG): Aggregate::uninitialize Docked
2020-01-23T17:10:00.295Z,1579799400.295 [Docked:A.DepthEnvelope] Stopped
2020-01-23T17:10:00.295Z,1579799400.295 [Docked:A.DepthEnvelope](DEBUG): Uninitialize.
2020-01-23T17:10:00.295Z,1579799400.295 [Docked:B.] Stopped
2020-01-23T17:10:00.295Z,1579799400.295 [Docked:C] Stopped
2020-01-23T17:10:00.295Z,1579799400.295 [Docked:D] Stopped
2020-01-23T17:10:00.295Z,1579799400.295 [Docked:E.Pitch] Stopped
2020-01-23T17:10:00.295Z,1579799400.295 [Docked:F.SetSpeed] Stopped
2020-01-23T17:10:00.296Z,1579799400.296 [Docked:F.SetSpeed](DEBUG): Uninitialize.
2020-01-23T17:10:00.296Z,1579799400.296 [Docked:G.Docked] Stopped
2020-01-23T17:10:00.310Z,1579799400.310 [Reporter](INFO): acoustic_contact_range 10.000000 m
2020-01-23T17:10:00.680Z,1579799400.680 [MissionManager](IMPORTANT): Started mission DefaultUnder
2020-01-23T17:10:00.680Z,1579799400.680 [DefaultUnder] Running Loop=1
2020-01-23T17:10:00.680Z,1579799400.680 [DefaultUnder](DEBUG): Aggregate::initialize DefaultUnder
2020-01-23T17:10:00.681Z,1579799400.681 [DefaultUnder:uModemComms] Running Loop=1
2020-01-23T17:10:00.681Z,1579799400.681 [DefaultUnder:uModemComms](DEBUG): Aggregate::initialize DefaultUnder:uModemComms
2020-01-23T17:10:00.681Z,1579799400.681 [DefaultUnder:Notify] Running Loop=1
2020-01-23T17:10:00.681Z,1579799400.681 [DefaultUnder:Notify](DEBUG): Aggregate::initialize DefaultUnder:Notify
2020-01-23T17:10:00.681Z,1579799400.681 [DefaultUnder:Notify:A] Running Loop=1
2020-01-23T17:10:00.681Z,1579799400.681 [DefaultUnder:Notify:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A
2020-01-23T17:10:00.682Z,1579799400.682 [DefaultUnder:Notify:A:A] Running Loop=1
2020-01-23T17:10:00.682Z,1579799400.682 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A:A
2020-01-23T17:10:00.682Z,1579799400.682 [DefaultUnder:Notify:A:A:A.Wait] Running Loop=1
2020-01-23T17:10:00.682Z,1579799400.682 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Initialize Wait Component.
2020-01-23T17:10:00.682Z,1579799400.682 [DefaultUnder:C.] Running Loop=1
2020-01-23T17:10:00.682Z,1579799400.682 [DefaultUnder:C.](INFO): Initializing TrackAcousticContact.
2020-01-23T17:10:00.682Z,1579799400.682 [DefaultUnder:E.Wait] Running Loop=1
2020-01-23T17:10:00.682Z,1579799400.682 [DefaultUnder:E.Wait](DEBUG): Initialize Wait Component.
2020-01-23T17:10:00.693Z,1579799400.693 [Reporter](INFO): acoustic_contact_range 10.000000 m
2020-01-23T17:10:00.693Z,1579799400.693 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T17:10:01.112Z,1579799401.112 [Reporter](INFO): acoustic_contact_range 10.000000 m
2020-01-23T17:10:01.582Z,1579799401.582 [Reporter](INFO): acoustic_contact_range 10.000000 m
2020-01-23T17:10:01.958Z,1579799401.958 [Reporter](INFO): acoustic_contact_range 10.000000 m
2020-01-23T17:10:02.714Z,1579799402.714 [Reporter](INFO): acoustic_contact_range 10.000000 m
2020-01-23T17:10:02.866Z,1579799402.866 [Reporter](INFO): acoustic_contact_range 10.000000 m
2020-01-23T17:10:03.262Z,1579799403.262 [Reporter](INFO): acoustic_contact_range 10.000000 m
2020-01-23T17:10:03.672Z,1579799403.672 [Reporter](INFO): acoustic_contact_range 10.000000 m
2020-01-23T17:10:03.934Z,1579799403.934 [CommandLine](IMPORTANT): got command maintain clear
2020-01-23T17:10:04.078Z,1579799404.078 [Reporter](INFO): acoustic_contact_range 10.000000 m
2020-01-23T17:10:04.084Z,1579799404.084 [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,
2020-01-23T17:10:06.430Z,1579799406.430 [DefaultUnder:uModemComms:CheckIn] Running Loop=1
2020-01-23T17:10:06.431Z,1579799406.431 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::initialize DefaultUnder:uModemComms:CheckIn
2020-01-23T17:10:06.431Z,1579799406.431 [DefaultUnder:uModemComms:CheckIn:A] Running Loop=1
2020-01-23T17:10:06.772Z,1579799406.772 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E8D0295E040000005D00000400BD0000000000000000151D80030C5669BF3148E2FA22188B6A3173E5573572661C0BCBDFFAB423BD32D9A51E8904B0A920CE9A
2020-01-23T17:10:06.773Z,1579799406.773 [Micromodem](INFO): Outgoing frame #2, 64 bytes: EF9F66414C9B9FD6761AD008C3E3DC4FCA2E4E25B6359B14B772C42AD2EC5E54CD5F36943CEE1B636250FE035655B6928105C24D4EC1216EF4EA7FDC2A988AC7
2020-01-23T17:10:06.773Z,1579799406.773 [Micromodem](INFO): Outgoing frame #3, 49 bytes: 4539A4949DC05DB8C627478A1310945EDA3E5DCCFD911268F4F78F558F0F2D2D403943B5BDC34E39B2B300153B3A000B00
2020-01-23T17:10:06.774Z,1579799406.774 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-23T17:10:07.175Z,1579799407.175 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-23T17:10:07.588Z,1579799407.588 [Micromodem](INFO): Nmea in: $CADRQ,171007,1,12,0,64,1*74

2020-01-23T17:10:07.588Z,1579799407.588 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,E8D0295E040000005D00000400BD0000000000000000151D80030C5669BF3148E2FA22188B6A3173E5573572661C0BCBDFFAB423BD32D9A51E8904B0A920CE9A*38

2020-01-23T17:10:07.983Z,1579799407.983 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:10:08.386Z,1579799408.386 [Micromodem](INFO): Nmea in: $CADRQ,171008,1,12,0,64,2*78

2020-01-23T17:10:08.386Z,1579799408.386 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,EF9F66414C9B9FD6761AD008C3E3DC4FCA2E4E25B6359B14B772C42AD2EC5E54CD5F36943CEE1B636250FE035655B6928105C24D4EC1216EF4EA7FDC2A988AC7*31

2020-01-23T17:10:08.795Z,1579799408.795 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:10:09.199Z,1579799409.199 [Micromodem](INFO): Nmea in: $CADRQ,171009,1,12,0,64,3*78

2020-01-23T17:10:09.199Z,1579799409.199 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,4539A4949DC05DB8C627478A1310945EDA3E5DCCFD911268F4F78F558F0F2D2D403943B5BDC34E39B2B300153B3A000B00*3E

2020-01-23T17:10:09.597Z,1579799409.597 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,49*44

2020-01-23T17:10:10.003Z,1579799410.003 [Micromodem](INFO): Nmea in: $CATXP,177*43

2020-01-23T17:10:13.646Z,1579799413.646 [Micromodem](INFO): Nmea in: $CATXF,177*55

2020-01-23T17:10:14.078Z,1579799414.078 [DefaultUnder:E.Wait](INFO): Done Waiting.
2020-01-23T17:10:14.078Z,1579799414.078 [DefaultUnder:E.Wait] Stopped
2020-01-23T17:10:14.078Z,1579799414.078 [DefaultUnder:E.Wait](DEBUG): Uninitialize Wait Component.
2020-01-23T17:10:14.078Z,1579799414.078 [DefaultUnder:Default] Running Loop=1
2020-01-23T17:10:14.078Z,1579799414.078 [DefaultUnder:Default](DEBUG): Aggregate::initialize DefaultUnder:Default
2020-01-23T17:10:14.078Z,1579799414.078 [DefaultUnder:Default:Docked] Running Loop=1
2020-01-23T17:10:14.078Z,1579799414.078 [DefaultUnder:Default:Docked](DEBUG): Aggregate::initialize DefaultUnder:Default:Docked
2020-01-23T17:10:14.078Z,1579799414.078 [DefaultUnder:Default:Docked:run] Running Loop=1
2020-01-23T17:10:14.079Z,1579799414.079 [DefaultUnder:Default:Docked:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Docked:run
2020-01-23T17:10:14.079Z,1579799414.079 [DefaultUnder:Default:Docked:run:A] Running Loop=1
2020-01-23T17:10:14.079Z,1579799414.079 [DefaultUnder:Default:Home] Running Loop=1
2020-01-23T17:10:14.079Z,1579799414.079 [DefaultUnder:Default:Home](DEBUG): Aggregate::initialize DefaultUnder:Default:Home
2020-01-23T17:10:14.079Z,1579799414.079 [DefaultUnder:Default:Home:run] Running Loop=1
2020-01-23T17:10:14.079Z,1579799414.079 [DefaultUnder:Default:Home:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Home:run
2020-01-23T17:10:14.079Z,1579799414.079 [DefaultUnder:Default:Home:run:A] Running Loop=1
2020-01-23T17:10:14.079Z,1579799414.079 [DefaultUnder:Default:Surface] Running Loop=1
2020-01-23T17:10:14.079Z,1579799414.079 [DefaultUnder:Default:Surface](DEBUG): Aggregate::initialize DefaultUnder:Default:Surface
2020-01-23T17:10:14.079Z,1579799414.079 [DefaultUnder:Default:Surface:run] Running Loop=1
2020-01-23T17:10:14.080Z,1579799414.080 [DefaultUnder:Default:Surface:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Surface:run
2020-01-23T17:10:14.080Z,1579799414.080 [DefaultUnder:Default:Surface:run:B.GoToSurface] Running Loop=1
2020-01-23T17:10:14.080Z,1579799414.080 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-23T17:10:14.080Z,1579799414.080 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-23T17:10:14.080Z,1579799414.080 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-23T17:10:14.081Z,1579799414.081 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-23T17:10:14.081Z,1579799414.081 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-23T17:10:14.082Z,1579799414.082 [DefaultUnder:Default:Surface:run:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-23T17:10:14.082Z,1579799414.082 [DefaultUnder:Default:Surface:run:A] Running Loop=1
2020-01-23T17:10:14.490Z,1579799414.490 [DefaultUnder:Default:Surface] Stopped
2020-01-23T17:10:14.490Z,1579799414.490 [DefaultUnder:Default:Surface](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Surface
2020-01-23T17:10:14.490Z,1579799414.490 [DefaultUnder:Default:Surface:run] Stopped
2020-01-23T17:10:14.490Z,1579799414.490 [DefaultUnder:Default:Surface:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Surface:run
2020-01-23T17:10:14.491Z,1579799414.490 [DefaultUnder:Default:Surface:run:A] Stopped
2020-01-23T17:10:14.491Z,1579799414.491 [DefaultUnder:Default:Surface:run:B.GoToSurface] Stopped
2020-01-23T17:10:14.491Z,1579799414.491 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-23T17:10:14.491Z,1579799414.491 [DefaultUnder:Default:Home] Stopped
2020-01-23T17:10:14.491Z,1579799414.491 [DefaultUnder:Default:Home](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Home
2020-01-23T17:10:14.491Z,1579799414.491 [DefaultUnder:Default:Home:run] Stopped
2020-01-23T17:10:14.491Z,1579799414.491 [DefaultUnder:Default:Home:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Home:run
2020-01-23T17:10:14.491Z,1579799414.491 [DefaultUnder:Default:Home:run:A] Stopped
2020-01-23T17:10:14.491Z,1579799414.491 [DefaultUnder:Default:Docked:run:A] Stopped
2020-01-23T17:10:14.491Z,1579799414.491 [DefaultUnder:Default:Docked:run:B.Docked] Running Loop=1
2020-01-23T17:10:14.492Z,1579799414.492 [DefaultUnder:Default:Docked:run:B.Docked](DEBUG): Initialize.
2020-01-23T17:10:14.492Z,1579799414.492 [DefaultUnder:Default:Docked:run:B.Docked](INFO): Depth unspecified. Maintaining workSite beacon depth of 6.000000 m.
2020-01-23T17:10:14.852Z,1579799414.852 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,171010.143937,3,0,200,4000,10000,1,1,12,1,3,3,3,177*7C

2020-01-23T17:10:14.881Z,1579799414.881 [DefaultUnder:Default:Docked:run:B.Docked](IMPORTANT): VEHICLE DETACHED FROM DOCK.
2020-01-23T17:10:14.881Z,1579799414.881 [DefaultUnder:Default:Docked:run:B.Docked] Stopped
2020-01-23T17:10:14.881Z,1579799414.881 [DefaultUnder:Default:Docked:run:C] Running Loop=1
2020-01-23T17:10:15.287Z,1579799415.287 [DefaultUnder:Default:Docked:run:C] Stopped
2020-01-23T17:10:15.287Z,1579799415.287 [DefaultUnder:Default:Docked:run](INFO): Completed DefaultUnder:Default:Docked:run
2020-01-23T17:10:15.287Z,1579799415.287 [DefaultUnder:Default:Docked:run] Stopped
2020-01-23T17:10:15.287Z,1579799415.287 [DefaultUnder:Default:Docked:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Docked:run
2020-01-23T17:10:15.287Z,1579799415.287 [DefaultUnder:Default:Docked](INFO): Completed DefaultUnder:Default:Docked
2020-01-23T17:10:15.810Z,1579799415.810 [DefaultUnder:Default:Home] Running Loop=1
2020-01-23T17:10:15.810Z,1579799415.810 [DefaultUnder:Default:Home](DEBUG): Aggregate::initialize DefaultUnder:Default:Home
2020-01-23T17:10:15.810Z,1579799415.810 [DefaultUnder:Default:Home:run] Running Loop=1
2020-01-23T17:10:15.810Z,1579799415.810 [DefaultUnder:Default:Home:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Home:run
2020-01-23T17:10:15.810Z,1579799415.810 [DefaultUnder:Default:Home:run:A] Running Loop=1
2020-01-23T17:10:15.810Z,1579799415.810 [DefaultUnder:Default:Home] Running Loop=1
2020-01-23T17:10:15.810Z,1579799415.810 [DefaultUnder:Default:Home:run:A] Stopped
2020-01-23T17:10:15.811Z,1579799415.811 [DefaultUnder:Default:Home:run:B] Running Loop=1
2020-01-23T17:10:15.811Z,1579799415.811 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:10:15.811Z,1579799415.811 [DefaultUnder:uModemComms] Stopped
2020-01-23T17:10:15.811Z,1579799415.811 [DefaultUnder:uModemComms](DEBUG): Aggregate::uninitialize DefaultUnder:uModemComms
2020-01-23T17:10:15.811Z,1579799415.811 [DefaultUnder:uModemComms:CheckIn] Stopped
2020-01-23T17:10:15.812Z,1579799415.812 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::uninitialize DefaultUnder:uModemComms:CheckIn
2020-01-23T17:10:15.812Z,1579799415.812 [DefaultUnder:uModemComms:CheckIn:A] Stopped
2020-01-23T17:10:15.866Z,1579799415.866 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T17:10:16.105Z,1579799416.105 [DefaultUnder:Default:Home:run:B] Stopped
2020-01-23T17:10:16.105Z,1579799416.105 [DefaultUnder:Default:Home:run:C] Running Loop=1
2020-01-23T17:10:16.106Z,1579799416.106 [DefaultUnder:Default:Home:run:C](DEBUG): Aggregate::initialize DefaultUnder:Default:Home:run:C
2020-01-23T17:10:16.146Z,1579799416.146 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T17:10:16.495Z,1579799416.495 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:10:16.603Z,1579799416.603 [DefaultUnder:LineCapture] Running Loop=1
2020-01-23T17:10:16.603Z,1579799416.603 [DefaultUnder:LineCapture](DEBUG): Aggregate::initialize DefaultUnder:LineCapture
2020-01-23T17:10:16.603Z,1579799416.603 [DefaultUnder:LineCapture:StandardEnvelopes] Running Loop=1
2020-01-23T17:10:16.603Z,1579799416.603 [DefaultUnder:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:StandardEnvelopes
2020-01-23T17:10:16.604Z,1579799416.604 [DefaultUnder:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2020-01-23T17:10:16.604Z,1579799416.604 [DefaultUnder:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2020-01-23T17:10:16.604Z,1579799416.604 [DefaultUnder:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2020-01-23T17:10:16.604Z,1579799416.604 [DefaultUnder:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2020-01-23T17:10:16.604Z,1579799416.604 [DefaultUnder:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2020-01-23T17:10:16.604Z,1579799416.604 [DefaultUnder:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2020-01-23T17:10:16.604Z,1579799416.604 [DefaultUnder:LineCapture:F] Running Loop=1
2020-01-23T17:10:16.604Z,1579799416.604 [DefaultUnder:LineCapture:G] Running Loop=1
2020-01-23T17:10:16.604Z,1579799416.604 [DefaultUnder:LineCapture:H.Mass] Running Loop=1
2020-01-23T17:10:16.604Z,1579799416.604 [DefaultUnder:LineCapture:H.Mass](DEBUG): Initialize.
2020-01-23T17:10:16.605Z,1579799416.605 [DefaultUnder:LineCapture:A] Running Loop=1
2020-01-23T17:10:16.605Z,1579799416.605 [DefaultUnder:LineCapture:H.Mass] Running Loop=1
2020-01-23T17:10:16.606Z,1579799416.606 [DefaultUnder:LineCapture:G] Running Loop=1
2020-01-23T17:10:16.606Z,1579799416.606 [DefaultUnder:LineCapture:F] Running Loop=1
2020-01-23T17:10:16.606Z,1579799416.606 [DefaultUnder:LineCapture:StandardEnvelopes] Running Loop=1
2020-01-23T17:10:16.606Z,1579799416.606 [DefaultUnder:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2020-01-23T17:10:16.607Z,1579799416.607 [DefaultUnder:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2020-01-23T17:10:16.607Z,1579799416.607 [DefaultUnder:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2020-01-23T17:10:16.607Z,1579799416.607 [DefaultUnder:LineCapture:A] Stopped
2020-01-23T17:10:16.608Z,1579799416.608 [DefaultUnder:LineCapture:C] Running Loop=1
2020-01-23T17:10:16.873Z,1579799416.873 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:10:16.950Z,1579799416.950 [DefaultUnder:LineCapture:C] Stopped
2020-01-23T17:10:16.950Z,1579799416.950 [DefaultUnder:LineCapture:D] Running Loop=1
2020-01-23T17:10:17.299Z,1579799417.299 [DefaultUnder:LineCapture:D] Stopped
2020-01-23T17:10:17.299Z,1579799417.299 [DefaultUnder:LineCapture:E] Running Loop=1
2020-01-23T17:10:17.338Z,1579799417.338 [Reporter](INFO): acoustic_contact_range 0.360000 m
2020-01-23T17:10:17.703Z,1579799417.703 [Micromodem](INFO): Nmea in: $SNTTA,0.000239,,0.003002,,171017.41*53

2020-01-23T17:10:17.778Z,1579799417.778 [DefaultUnder:LineCapture:E] Stopped
2020-01-23T17:10:17.778Z,1579799417.778 [DefaultUnder:LineCapture:HomingSequence] Running Loop=1
2020-01-23T17:10:17.778Z,1579799417.778 [DefaultUnder:LineCapture:HomingSequence](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence
2020-01-23T17:10:17.778Z,1579799417.778 [DefaultUnder:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2020-01-23T17:10:17.778Z,1579799417.778 [DefaultUnder:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:DetachFromDock
2020-01-23T17:10:17.779Z,1579799417.779 [DefaultUnder:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2020-01-23T17:10:17.779Z,1579799417.779 [DefaultUnder:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:DetachFromDock:guide
2020-01-23T17:10:17.779Z,1579799417.779 [DefaultUnder:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2020-01-23T17:10:17.779Z,1579799417.779 [DefaultUnder:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2020-01-23T17:10:17.779Z,1579799417.779 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2020-01-23T17:10:17.779Z,1579799417.779 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance
2020-01-23T17:10:17.779Z,1579799417.779 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2020-01-23T17:10:17.780Z,1579799417.780 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide
2020-01-23T17:10:17.780Z,1579799417.780 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:B] Running Loop=1
2020-01-23T17:10:17.780Z,1579799417.780 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2020-01-23T17:10:17.780Z,1579799417.780 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance
2020-01-23T17:10:17.780Z,1579799417.780 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2020-01-23T17:10:17.780Z,1579799417.780 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide
2020-01-23T17:10:17.780Z,1579799417.780 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:C] Running Loop=1
2020-01-23T17:10:17.780Z,1579799417.780 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2020-01-23T17:10:17.785Z,1579799417.785 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2020-01-23T17:10:17.785Z,1579799417.785 [DefaultUnder:LineCapture:HomingSequence:A] Running Loop=1
2020-01-23T17:10:17.785Z,1579799417.785 [DefaultUnder:LineCapture:HomingSequence:A](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:A
2020-01-23T17:10:18.138Z,1579799418.138 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance] Stopped
2020-01-23T17:10:18.139Z,1579799418.139 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance
2020-01-23T17:10:18.139Z,1579799418.139 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2020-01-23T17:10:18.139Z,1579799418.139 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide
2020-01-23T17:10:18.139Z,1579799418.139 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2020-01-23T17:10:18.139Z,1579799418.139 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:C] Stopped
2020-01-23T17:10:18.139Z,1579799418.139 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2020-01-23T17:10:18.139Z,1579799418.139 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2020-01-23T17:10:18.139Z,1579799418.139 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance
2020-01-23T17:10:18.139Z,1579799418.139 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2020-01-23T17:10:18.139Z,1579799418.139 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide
2020-01-23T17:10:18.139Z,1579799418.139 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:B] Stopped
2020-01-23T17:10:18.139Z,1579799418.139 [DefaultUnder:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2020-01-23T17:10:18.140Z,1579799418.140 [DefaultUnder:LineCapture:DiveCmd] Running Loop=1
2020-01-23T17:10:18.140Z,1579799418.140 [DefaultUnder:LineCapture:DiveCmd](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:DiveCmd
2020-01-23T17:10:18.140Z,1579799418.140 [DefaultUnder:LineCapture:DiveCmd:Guided] Running Loop=1
2020-01-23T17:10:18.140Z,1579799418.140 [DefaultUnder:LineCapture:DiveCmd:Guided](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:DiveCmd:Guided
2020-01-23T17:10:18.140Z,1579799418.140 [DefaultUnder:LineCapture:DiveCmd:Guided:dive] Running Loop=1
2020-01-23T17:10:18.140Z,1579799418.140 [DefaultUnder:LineCapture:DiveCmd:Guided:dive](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:DiveCmd:Guided:dive
2020-01-23T17:10:18.140Z,1579799418.140 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:A] Running Loop=1
2020-01-23T17:10:18.140Z,1579799418.140 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:B.Buoyancy] Running Loop=1
2020-01-23T17:10:18.140Z,1579799418.140 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2020-01-23T17:10:18.140Z,1579799418.140 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:C.SetSpeed] Running Loop=1
2020-01-23T17:10:18.141Z,1579799418.141 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:C.SetSpeed](DEBUG): Initialize.
2020-01-23T17:10:18.157Z,1579799418.157 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:D.Pitch] Running Loop=1
2020-01-23T17:10:18.157Z,1579799418.157 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:D.Pitch](DEBUG): Initialize.
2020-01-23T17:10:18.157Z,1579799418.157 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock] Running Loop=1
2020-01-23T17:10:18.157Z,1579799418.157 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock
2020-01-23T17:10:18.157Z,1579799418.157 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive] Running Loop=1
2020-01-23T17:10:18.158Z,1579799418.158 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive
2020-01-23T17:10:18.158Z,1579799418.158 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed] Running Loop=1
2020-01-23T17:10:18.158Z,1579799418.158 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed](DEBUG): Initialize.
2020-01-23T17:10:18.158Z,1579799418.158 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:B.Pitch] Running Loop=1
2020-01-23T17:10:18.158Z,1579799418.158 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:B.Pitch](DEBUG): Initialize.
2020-01-23T17:10:18.158Z,1579799418.158 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock] Running Loop=1
2020-01-23T17:10:18.159Z,1579799418.159 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed] Running Loop=1
2020-01-23T17:10:18.159Z,1579799418.159 [DefaultUnder:LineCapture:DiveCmd:Guided] Stopped
2020-01-23T17:10:18.159Z,1579799418.159 [DefaultUnder:LineCapture:DiveCmd:Guided](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:DiveCmd:Guided
2020-01-23T17:10:18.159Z,1579799418.159 [DefaultUnder:LineCapture:DiveCmd:Guided:dive] Stopped
2020-01-23T17:10:18.159Z,1579799418.159 [DefaultUnder:LineCapture:DiveCmd:Guided:dive](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:DiveCmd:Guided:dive
2020-01-23T17:10:18.159Z,1579799418.159 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:A] Stopped
2020-01-23T17:10:18.159Z,1579799418.159 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:B.Buoyancy] Stopped
2020-01-23T17:10:18.159Z,1579799418.159 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2020-01-23T17:10:18.160Z,1579799418.160 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:C.SetSpeed] Stopped
2020-01-23T17:10:18.160Z,1579799418.160 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:C.SetSpeed](DEBUG): Uninitialize.
2020-01-23T17:10:18.160Z,1579799418.160 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:D.Pitch] Stopped
2020-01-23T17:10:18.165Z,1579799418.165 [DefaultUnder:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2020-01-23T17:10:19.065Z,1579799419.065 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T17:10:19.066Z,1579799419.066 [Reporter](INFO): DDM.DDMModeCmd 2 enum
2020-01-23T17:10:19.294Z,1579799419.294 [DDM](INFO): Changing to mode: 2
2020-01-23T17:10:19.294Z,1579799419.294 [DDM](INFO): Detaching. Opening Latch
2020-01-23T17:10:19.401Z,1579799419.401 [PowerOnly](INFO): Powering up
2020-01-23T17:10:19.721Z,1579799419.721 [DDM](INFO): Detaching. Opening Latch
2020-01-23T17:10:19.828Z,1579799419.828 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:10:20.099Z,1579799420.099 [DDM](INFO): Detaching. Opening Latch
2020-01-23T17:10:20.502Z,1579799420.502 [DDM](INFO): Detaching. Opening Latch
2020-01-23T17:10:20.550Z,1579799420.550 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:10:20.945Z,1579799420.945 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:10:21.457Z,1579799421.457 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-23T17:10:21.797Z,1579799421.797 [Micromodem](INFO): Nmea in: $SNTTA,0.000206,,,,171021.46*42

2020-01-23T17:10:21.830Z,1579799421.830 [DefaultUnder:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock.
2020-01-23T17:10:24.216Z,1579799424.216 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:10:24.983Z,1579799424.983 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:10:25.404Z,1579799425.404 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:10:25.923Z,1579799425.923 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-23T17:10:26.220Z,1579799426.220 [Micromodem](INFO): Nmea in: $SNTTA,0.000207,,,,171025.90*4C

2020-01-23T17:10:27.540Z,1579799427.540 [CommandLine](IMPORTANT): got command get latitude
2020-01-23T17:10:27.542Z,1579799427.542 [CommandLine](IMPORTANT): latitude 36.500000 arcdeg
2020-01-23T17:10:28.659Z,1579799428.659 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:10:29.430Z,1579799429.430 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:10:29.833Z,1579799429.833 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:10:30.374Z,1579799430.374 [Reporter](INFO): acoustic_contact_range 0.239999 m
2020-01-23T17:10:30.662Z,1579799430.662 [Micromodem](INFO): Nmea in: $SNTTA,0.000206,,,,171030.34*47

2020-01-23T17:10:31.802Z,1579799431.802 [CommandLine](IMPORTANT): got command get longitude
2020-01-23T17:10:31.802Z,1579799431.802 [CommandLine](IMPORTANT): longitude -121.900002 arcdeg
2020-01-23T17:10:33.109Z,1579799433.109 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:10:33.874Z,1579799433.874 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:10:34.277Z,1579799434.277 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:10:34.808Z,1579799434.808 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-23T17:10:35.102Z,1579799435.102 [Micromodem](INFO): Nmea in: $SNTTA,0.000203,,,,171034.79*4F

2020-01-23T17:10:37.583Z,1579799437.583 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:10:38.324Z,1579799438.324 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:10:38.734Z,1579799438.734 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:10:39.258Z,1579799439.258 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-23T17:10:39.546Z,1579799439.546 [Micromodem](INFO): Nmea in: $SNTTA,0.000202,,,,171039.24*4B

2020-01-23T17:10:41.742Z,1579799441.742 [CommandLine](IMPORTANT): got command get depth
2020-01-23T17:10:41.743Z,1579799441.743 [CommandLine](IMPORTANT): depth 0.231222 m
2020-01-23T17:10:41.995Z,1579799441.995 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:10:42.755Z,1579799442.755 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:10:43.176Z,1579799443.176 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:10:43.655Z,1579799443.655 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-23T17:10:44.001Z,1579799444.001 [Micromodem](INFO): Nmea in: $SNTTA,0.000198,,,,171043.66*40

2020-01-23T17:10:46.486Z,1579799446.486 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:10:47.200Z,1579799447.200 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:10:47.605Z,1579799447.605 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:10:48.064Z,1579799448.064 [Reporter](INFO): acoustic_contact_range 0.239999 m
2020-01-23T17:10:48.434Z,1579799448.434 [Micromodem](INFO): Nmea in: $SNTTA,0.000195,,,,171048.11*46

2020-01-23T17:10:48.668Z,1579799448.668 [CommandLine](IMPORTANT): got command maintain sensor Depth_Keller.depth 15.000000 meter
2020-01-23T17:10:48.669Z,1579799448.669 [ComponentRegistry](DEBUG): SyncComponent "Maintain_Depth_Keller.depth" handled in the control thread.
2020-01-23T17:10:48.890Z,1579799448.890 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,DDM,Depth_Keller,DropWeight,DUSBL_Hydroid,Micromodem,NAL9602,Onboard,PowerOnly,RDI_Pathfinder,BPC1,PAR_Licor,Depth_Keller,PAR_Licor,Maintain_Depth_Keller.depth,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2020-01-23T17:10:49.255Z,1579799449.255 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:B.Pitch] Stopped
2020-01-23T17:10:49.256Z,1579799449.256 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:C] Running Loop=1
2020-01-23T17:10:49.697Z,1579799449.697 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:C](INFO): Reached target depth of 15.000000 m . Transitioning to midcourse guidance.
2020-01-23T17:10:49.698Z,1579799449.698 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:C] Stopped
2020-01-23T17:10:49.698Z,1579799449.698 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:D] Running Loop=1
2020-01-23T17:10:50.090Z,1579799450.090 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:D] Stopped
2020-01-23T17:10:50.090Z,1579799450.090 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive](INFO): Completed DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive
2020-01-23T17:10:50.090Z,1579799450.090 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive] Stopped
2020-01-23T17:10:50.090Z,1579799450.090 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive
2020-01-23T17:10:50.091Z,1579799450.091 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed] Stopped
2020-01-23T17:10:50.091Z,1579799450.091 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed](DEBUG): Uninitialize.
2020-01-23T17:10:50.091Z,1579799450.091 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock](INFO): Completed DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock
2020-01-23T17:10:50.487Z,1579799450.487 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2020-01-23T17:10:50.487Z,1579799450.487 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance
2020-01-23T17:10:50.487Z,1579799450.487 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2020-01-23T17:10:50.487Z,1579799450.487 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide
2020-01-23T17:10:50.487Z,1579799450.487 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:B] Running Loop=1
2020-01-23T17:10:50.488Z,1579799450.488 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2020-01-23T17:10:50.489Z,1579799450.489 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:B](INFO): Navigating to dock waypoint ( 36.803400 arcdeg , -121.822300 arcdeg )
2020-01-23T17:10:50.489Z,1579799450.489 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:B] Stopped
2020-01-23T17:10:50.489Z,1579799450.489 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:C] Running Loop=1
2020-01-23T17:10:50.489Z,1579799450.489 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2020-01-23T17:10:50.489Z,1579799450.489 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2020-01-23T17:10:50.490Z,1579799450.490 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2020-01-23T17:10:50.490Z,1579799450.490 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 0.239999 m 
2020-01-23T17:10:50.490Z,1579799450.490 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2020-01-23T17:10:50.490Z,1579799450.490 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2020-01-23T17:10:50.490Z,1579799450.490 [DefaultUnder:LineCapture:HomingSequence:DetachFromDock] Stopped
2020-01-23T17:10:50.490Z,1579799450.490 [DefaultUnder:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:DetachFromDock
2020-01-23T17:10:50.490Z,1579799450.490 [DefaultUnder:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2020-01-23T17:10:50.490Z,1579799450.490 [DefaultUnder:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:DetachFromDock:guide
2020-01-23T17:10:50.491Z,1579799450.491 [DefaultUnder:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2020-01-23T17:10:50.491Z,1579799450.491 [DefaultUnder:LineCapture:DiveCmd:Guided] Running Loop=1
2020-01-23T17:10:50.491Z,1579799450.491 [DefaultUnder:LineCapture:DiveCmd:Guided](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:DiveCmd:Guided
2020-01-23T17:10:50.491Z,1579799450.491 [DefaultUnder:LineCapture:DiveCmd:Guided:dive] Running Loop=1
2020-01-23T17:10:50.491Z,1579799450.491 [DefaultUnder:LineCapture:DiveCmd:Guided:dive](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:DiveCmd:Guided:dive
2020-01-23T17:10:50.491Z,1579799450.491 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:A] Running Loop=1
2020-01-23T17:10:50.491Z,1579799450.491 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:B.Buoyancy] Running Loop=1
2020-01-23T17:10:50.491Z,1579799450.491 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2020-01-23T17:10:50.491Z,1579799450.491 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:C.SetSpeed] Running Loop=1
2020-01-23T17:10:50.492Z,1579799450.492 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:C.SetSpeed](DEBUG): Initialize.
2020-01-23T17:10:50.492Z,1579799450.492 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:D.Pitch] Running Loop=1
2020-01-23T17:10:50.492Z,1579799450.492 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:D.Pitch](DEBUG): Initialize.
2020-01-23T17:10:50.492Z,1579799450.492 [DefaultUnder:LineCapture:DiveCmd:Guided] Running Loop=1
2020-01-23T17:10:50.492Z,1579799450.492 [DefaultUnder:LineCapture:DiveCmd:Guided:dive] Running Loop=1
2020-01-23T17:10:50.492Z,1579799450.492 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:D.Pitch] Running Loop=1
2020-01-23T17:10:50.492Z,1579799450.492 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:C.SetSpeed] Running Loop=1
2020-01-23T17:10:50.493Z,1579799450.493 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:B.Buoyancy] Running Loop=1
2020-01-23T17:10:50.493Z,1579799450.493 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:A] Running Loop=1
2020-01-23T17:10:50.847Z,1579799450.847 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:C] Stopped
2020-01-23T17:10:50.847Z,1579799450.847 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:D] Running Loop=1
2020-01-23T17:10:50.847Z,1579799450.847 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2020-01-23T17:10:50.848Z,1579799450.848 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2020-01-23T17:10:50.848Z,1579799450.848 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2020-01-23T17:10:50.848Z,1579799450.848 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2020-01-23T17:10:50.851Z,1579799450.851 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:10:50.862Z,1579799450.862 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T17:10:51.206Z,1579799451.206 [DDM](INFO): Pause: Retracting whiskers
2020-01-23T17:10:51.266Z,1579799451.266 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2020-01-23T17:10:51.266Z,1579799451.266 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance
2020-01-23T17:10:51.266Z,1579799451.266 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2020-01-23T17:10:51.266Z,1579799451.266 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide
2020-01-23T17:10:51.266Z,1579799451.266 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:C] Running Loop=1
2020-01-23T17:10:51.266Z,1579799451.266 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2020-01-23T17:10:51.266Z,1579799451.266 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2020-01-23T17:10:51.266Z,1579799451.266 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2020-01-23T17:10:51.267Z,1579799451.267 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:10:51.267Z,1579799451.267 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:10:51.267Z,1579799451.267 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:10:51.267Z,1579799451.267 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:10:51.267Z,1579799451.267 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:10:51.268Z,1579799451.268 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:10:51.268Z,1579799451.268 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:10:51.268Z,1579799451.268 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2020-01-23T17:10:51.268Z,1579799451.268 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:C] Running Loop=1
2020-01-23T17:10:51.268Z,1579799451.268 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2020-01-23T17:10:51.268Z,1579799451.268 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2020-01-23T17:10:51.268Z,1579799451.268 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2020-01-23T17:10:51.271Z,1579799451.271 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2020-01-23T17:10:51.271Z,1579799451.271 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance
2020-01-23T17:10:51.271Z,1579799451.271 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2020-01-23T17:10:51.271Z,1579799451.271 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide
2020-01-23T17:10:51.271Z,1579799451.271 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:D] Stopped
2020-01-23T17:10:51.610Z,1579799451.610 [DDM](INFO): Pausing: Closing Latch
2020-01-23T17:10:51.659Z,1579799451.659 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:10:51.787Z,1579799451.787 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171051: (36.803398, -121.822304)
2020-01-23T17:10:51.788Z,1579799451.788 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:10:51.788Z,1579799451.788 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:10:51.788Z,1579799451.788 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:10:51.788Z,1579799451.788 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:10:51.788Z,1579799451.788 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:10:51.788Z,1579799451.788 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2020-01-23T17:10:51.788Z,1579799451.788 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2020-01-23T17:10:52.025Z,1579799452.025 [DDM](INFO): Pausing: Closing Latch
2020-01-23T17:10:52.061Z,1579799452.061 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:10:52.126Z,1579799452.126 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:10:52.126Z,1579799452.126 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:10:52.127Z,1579799452.127 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:10:52.127Z,1579799452.127 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:10:52.127Z,1579799452.127 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:10:52.127Z,1579799452.127 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:10:52.127Z,1579799452.127 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:10:52.128Z,1579799452.128 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2020-01-23T17:10:52.128Z,1579799452.128 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:H.LineCapture] Running Loop=1
2020-01-23T17:10:52.128Z,1579799452.128 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:H.LineCapture](DEBUG): Initialize.
2020-01-23T17:10:52.418Z,1579799452.418 [DDM](INFO): Pausing: Closing Latch
2020-01-23T17:10:52.514Z,1579799452.514 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171052: (36.803398, -121.822304)
2020-01-23T17:10:52.514Z,1579799452.514 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:10:52.514Z,1579799452.514 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:10:52.514Z,1579799452.514 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:10:52.514Z,1579799452.514 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:10:52.515Z,1579799452.515 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:10:52.594Z,1579799452.594 [Reporter](INFO): acoustic_contact_range 0.239999 m
2020-01-23T17:10:52.874Z,1579799452.874 [Micromodem](INFO): Nmea in: $SNTTA,0.000205,,,,171052.57*45

2020-01-23T17:10:52.923Z,1579799452.923 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:10:52.923Z,1579799452.923 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:10:52.923Z,1579799452.923 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:10:52.923Z,1579799452.923 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:10:52.924Z,1579799452.924 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:10:52.924Z,1579799452.924 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:10:52.924Z,1579799452.924 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:10:53.380Z,1579799453.380 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171053: (36.803398, -121.822304)
2020-01-23T17:10:53.380Z,1579799453.380 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:10:53.380Z,1579799453.380 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:10:53.380Z,1579799453.380 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:10:53.380Z,1579799453.380 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:10:53.381Z,1579799453.381 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:10:53.708Z,1579799453.708 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:10:53.708Z,1579799453.708 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:10:53.708Z,1579799453.708 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:10:53.713Z,1579799453.713 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:10:53.713Z,1579799453.713 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:10:53.713Z,1579799453.713 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:10:53.713Z,1579799453.713 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:10:54.099Z,1579799454.099 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171054: (36.803398, -121.822304)
2020-01-23T17:10:54.099Z,1579799454.099 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:10:54.099Z,1579799454.099 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:10:54.100Z,1579799454.100 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:10:54.100Z,1579799454.100 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:10:54.100Z,1579799454.100 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:10:54.610Z,1579799454.610 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:10:54.610Z,1579799454.610 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:10:54.610Z,1579799454.610 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:10:54.611Z,1579799454.611 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:10:54.611Z,1579799454.611 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:10:54.611Z,1579799454.611 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:10:54.611Z,1579799454.611 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:10:54.742Z,1579799454.742 [Reporter](INFO): DDM.cablePresent 0 bool
2020-01-23T17:10:54.843Z,1579799454.843 [DDM](INFO): Detaching. Opening Latch
2020-01-23T17:10:54.947Z,1579799454.947 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171054: (36.803398, -121.822304)
2020-01-23T17:10:54.947Z,1579799454.947 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:10:54.947Z,1579799454.947 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:10:54.947Z,1579799454.947 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:10:54.947Z,1579799454.947 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:10:54.947Z,1579799454.947 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:10:55.248Z,1579799455.248 [DDM](INFO): Detaching. Opening Latch
2020-01-23T17:10:55.323Z,1579799455.323 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:10:55.323Z,1579799455.323 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:10:55.323Z,1579799455.323 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:10:55.323Z,1579799455.323 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:10:55.323Z,1579799455.323 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:10:55.324Z,1579799455.324 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:10:55.324Z,1579799455.324 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:10:55.327Z,1579799455.327 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:10:55.650Z,1579799455.650 [DDM](INFO): Detaching. Opening Latch
2020-01-23T17:10:55.739Z,1579799455.739 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171055: (36.803398, -121.822304)
2020-01-23T17:10:55.739Z,1579799455.739 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:10:55.739Z,1579799455.739 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:10:55.740Z,1579799455.740 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:10:55.740Z,1579799455.740 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:10:55.740Z,1579799455.740 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:10:56.113Z,1579799456.113 [DDM](INFO): Detaching. Opening Latch
2020-01-23T17:10:56.152Z,1579799456.152 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:10:56.257Z,1579799456.257 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:10:56.257Z,1579799456.257 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:10:56.258Z,1579799456.258 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:10:56.258Z,1579799456.258 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:10:56.259Z,1579799456.259 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:10:56.259Z,1579799456.259 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:10:56.259Z,1579799456.259 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:10:56.557Z,1579799456.557 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:10:56.651Z,1579799456.651 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171056: (36.803398, -121.822304)
2020-01-23T17:10:56.652Z,1579799456.652 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:10:56.652Z,1579799456.652 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:10:56.652Z,1579799456.652 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:10:56.652Z,1579799456.652 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:10:56.652Z,1579799456.652 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:10:57.006Z,1579799457.006 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:10:57.006Z,1579799457.006 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:10:57.006Z,1579799457.006 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:10:57.007Z,1579799457.007 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:10:57.007Z,1579799457.007 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:10:57.007Z,1579799457.007 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:10:57.007Z,1579799457.007 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:10:57.114Z,1579799457.114 [Reporter](INFO): acoustic_contact_range 0.239999 m
2020-01-23T17:10:57.378Z,1579799457.378 [Micromodem](INFO): Nmea in: $SNTTA,0.000202,,,,171057.07*42

2020-01-23T17:10:57.430Z,1579799457.430 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171057: (36.803398, -121.822304)
2020-01-23T17:10:57.430Z,1579799457.430 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:10:57.430Z,1579799457.430 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:10:57.430Z,1579799457.430 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:10:57.430Z,1579799457.430 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:10:57.430Z,1579799457.430 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:10:57.566Z,1579799457.566 [Reporter](INFO): DDM.DDMModeCmd 1 enum
2020-01-23T17:10:57.726Z,1579799457.726 [DDM](INFO): Changing to mode: 1
2020-01-23T17:10:57.726Z,1579799457.726 [DDM](INFO): Extending Whiskers.
2020-01-23T17:10:57.840Z,1579799457.840 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:10:57.840Z,1579799457.840 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:10:57.840Z,1579799457.840 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:10:57.841Z,1579799457.841 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:10:57.841Z,1579799457.841 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:10:57.841Z,1579799457.841 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:10:57.841Z,1579799457.841 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:10:58.130Z,1579799458.130 [DDM](INFO): Extending Whiskers.
2020-01-23T17:10:58.231Z,1579799458.231 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171058: (36.803398, -121.822304)
2020-01-23T17:10:58.231Z,1579799458.231 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:10:58.231Z,1579799458.231 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:10:58.231Z,1579799458.231 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:10:58.231Z,1579799458.231 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:10:58.231Z,1579799458.231 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:10:58.534Z,1579799458.534 [DDM](INFO): Extending Whiskers.
2020-01-23T17:10:58.626Z,1579799458.626 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:10:58.627Z,1579799458.627 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:10:58.627Z,1579799458.627 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:10:58.627Z,1579799458.627 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:10:58.627Z,1579799458.627 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:10:58.627Z,1579799458.627 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:10:58.627Z,1579799458.627 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:10:58.938Z,1579799458.938 [DDM](INFO): Extending Whiskers.
2020-01-23T17:10:59.028Z,1579799459.028 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171059: (36.803398, -121.822304)
2020-01-23T17:10:59.029Z,1579799459.029 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:10:59.029Z,1579799459.029 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:10:59.029Z,1579799459.029 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:10:59.029Z,1579799459.029 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:10:59.029Z,1579799459.029 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:10:59.342Z,1579799459.342 [DDM](INFO): Extending Whiskers.
2020-01-23T17:10:59.437Z,1579799459.437 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:10:59.437Z,1579799459.437 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:10:59.438Z,1579799459.438 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:10:59.438Z,1579799459.438 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:10:59.438Z,1579799459.438 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:10:59.438Z,1579799459.438 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:10:59.438Z,1579799459.438 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:10:59.829Z,1579799459.829 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171059: (36.803398, -121.822304)
2020-01-23T17:10:59.829Z,1579799459.829 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:10:59.829Z,1579799459.829 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:10:59.830Z,1579799459.830 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:10:59.830Z,1579799459.830 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:10:59.830Z,1579799459.830 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:10:59.833Z,1579799459.833 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:11:00.223Z,1579799460.223 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:00.224Z,1579799460.224 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:00.224Z,1579799460.224 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:00.224Z,1579799460.224 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:11:00.224Z,1579799460.224 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:00.224Z,1579799460.224 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:00.224Z,1579799460.224 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:00.587Z,1579799460.587 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:11:00.716Z,1579799460.716 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171100: (36.803398, -121.822304)
2020-01-23T17:11:00.716Z,1579799460.716 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:00.716Z,1579799460.716 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:00.716Z,1579799460.716 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:00.716Z,1579799460.716 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:00.721Z,1579799460.721 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:01.000Z,1579799461.000 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:11:01.066Z,1579799461.066 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:01.066Z,1579799461.066 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:01.066Z,1579799461.066 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:01.067Z,1579799461.067 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:11:01.067Z,1579799461.067 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:01.067Z,1579799461.067 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:01.067Z,1579799461.067 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:01.459Z,1579799461.459 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171101: (36.803398, -121.822304)
2020-01-23T17:11:01.459Z,1579799461.459 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:01.459Z,1579799461.459 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:01.459Z,1579799461.459 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:01.459Z,1579799461.459 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:01.459Z,1579799461.459 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:01.586Z,1579799461.586 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-23T17:11:01.826Z,1579799461.826 [Micromodem](INFO): Nmea in: $SNTTA,0.000211,,,,171101.50*40

2020-01-23T17:11:01.875Z,1579799461.875 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:01.875Z,1579799461.875 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:01.875Z,1579799461.875 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:01.875Z,1579799461.875 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:11:01.875Z,1579799461.875 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:01.876Z,1579799461.876 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:01.876Z,1579799461.876 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:02.266Z,1579799462.266 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171102: (36.803398, -121.822304)
2020-01-23T17:11:02.266Z,1579799462.266 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:02.266Z,1579799462.266 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:02.266Z,1579799462.266 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:02.266Z,1579799462.266 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:02.266Z,1579799462.266 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:02.656Z,1579799462.656 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:02.656Z,1579799462.656 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:02.656Z,1579799462.656 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:02.656Z,1579799462.656 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:11:02.657Z,1579799462.657 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:02.657Z,1579799462.657 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:02.657Z,1579799462.657 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:03.060Z,1579799463.060 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171103: (36.803398, -121.822304)
2020-01-23T17:11:03.060Z,1579799463.060 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:03.061Z,1579799463.061 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:03.061Z,1579799463.061 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:03.061Z,1579799463.061 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:03.061Z,1579799463.061 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:03.484Z,1579799463.484 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:03.484Z,1579799463.484 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:03.489Z,1579799463.489 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:03.489Z,1579799463.489 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:11:03.489Z,1579799463.489 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:03.489Z,1579799463.489 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:03.490Z,1579799463.490 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:03.875Z,1579799463.875 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171103: (36.803398, -121.822304)
2020-01-23T17:11:03.875Z,1579799463.875 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:03.875Z,1579799463.875 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:03.876Z,1579799463.876 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:03.876Z,1579799463.876 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:03.876Z,1579799463.876 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:04.248Z,1579799464.248 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:04.248Z,1579799464.248 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:04.249Z,1579799464.249 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:04.249Z,1579799464.249 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:11:04.249Z,1579799464.249 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:04.249Z,1579799464.249 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:04.250Z,1579799464.250 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:04.269Z,1579799464.269 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:11:04.694Z,1579799464.694 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171104: (36.803398, -121.822304)
2020-01-23T17:11:04.694Z,1579799464.694 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:04.694Z,1579799464.694 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:04.695Z,1579799464.695 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:04.695Z,1579799464.695 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:04.695Z,1579799464.695 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:05.035Z,1579799465.035 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:11:05.140Z,1579799465.140 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:05.145Z,1579799465.145 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:05.145Z,1579799465.145 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:05.145Z,1579799465.145 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:11:05.146Z,1579799465.146 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:05.146Z,1579799465.146 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:05.146Z,1579799465.146 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:05.442Z,1579799465.442 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:11:05.507Z,1579799465.507 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171105: (36.803398, -121.822304)
2020-01-23T17:11:05.508Z,1579799465.508 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:05.508Z,1579799465.508 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:05.508Z,1579799465.508 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:05.508Z,1579799465.508 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:05.508Z,1579799465.508 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:05.866Z,1579799465.866 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:05.866Z,1579799465.866 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:05.866Z,1579799465.866 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:05.866Z,1579799465.866 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:11:05.867Z,1579799465.867 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:05.867Z,1579799465.867 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:05.867Z,1579799465.867 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:05.994Z,1579799465.994 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-23T17:11:06.266Z,1579799466.266 [Micromodem](INFO): Nmea in: $SNTTA,0.000212,,,,171105.95*4E

2020-01-23T17:11:06.320Z,1579799466.320 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171106: (36.803398, -121.822304)
2020-01-23T17:11:06.320Z,1579799466.320 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:06.320Z,1579799466.320 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:06.320Z,1579799466.320 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:06.320Z,1579799466.320 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:06.320Z,1579799466.320 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:06.725Z,1579799466.725 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:06.725Z,1579799466.725 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:06.725Z,1579799466.725 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:06.726Z,1579799466.726 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:11:06.726Z,1579799466.726 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:06.726Z,1579799466.726 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:06.726Z,1579799466.726 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:07.103Z,1579799467.103 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171107: (36.803398, -121.822304)
2020-01-23T17:11:07.103Z,1579799467.103 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:07.103Z,1579799467.103 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:07.104Z,1579799467.104 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:07.104Z,1579799467.104 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:07.104Z,1579799467.104 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:07.535Z,1579799467.535 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:07.536Z,1579799467.536 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:07.536Z,1579799467.536 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:07.557Z,1579799467.557 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:11:07.557Z,1579799467.557 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:07.557Z,1579799467.557 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:07.557Z,1579799467.557 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:07.928Z,1579799467.928 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171107: (36.803398, -121.822304)
2020-01-23T17:11:07.928Z,1579799467.928 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:07.928Z,1579799467.928 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:07.928Z,1579799467.928 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:07.929Z,1579799467.929 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:07.929Z,1579799467.929 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:08.299Z,1579799468.299 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:08.299Z,1579799468.299 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:08.299Z,1579799468.299 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:08.300Z,1579799468.300 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:11:08.300Z,1579799468.300 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:08.300Z,1579799468.300 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:08.300Z,1579799468.300 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:08.756Z,1579799468.756 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171108: (36.803398, -121.822304)
2020-01-23T17:11:08.756Z,1579799468.756 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:08.756Z,1579799468.756 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:08.756Z,1579799468.756 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:08.756Z,1579799468.756 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:08.756Z,1579799468.756 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:08.760Z,1579799468.760 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:11:09.125Z,1579799469.125 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:09.125Z,1579799469.125 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:09.125Z,1579799469.125 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:09.125Z,1579799469.125 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:11:09.126Z,1579799469.126 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:09.126Z,1579799469.126 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:09.126Z,1579799469.126 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:09.482Z,1579799469.482 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:11:09.591Z,1579799469.591 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171109: (36.803398, -121.822304)
2020-01-23T17:11:09.591Z,1579799469.591 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:09.591Z,1579799469.591 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:09.591Z,1579799469.591 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:09.591Z,1579799469.591 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:09.591Z,1579799469.591 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:09.885Z,1579799469.885 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:11:09.963Z,1579799469.963 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:09.963Z,1579799469.963 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:09.964Z,1579799469.964 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:09.964Z,1579799469.964 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:11:09.964Z,1579799469.964 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:09.964Z,1579799469.964 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:09.964Z,1579799469.964 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:10.333Z,1579799470.333 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171110: (36.803398, -121.822304)
2020-01-23T17:11:10.333Z,1579799470.333 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:10.333Z,1579799470.333 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:10.334Z,1579799470.334 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:10.334Z,1579799470.334 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:10.334Z,1579799470.334 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:10.470Z,1579799470.470 [Reporter](INFO): acoustic_contact_range 0.239999 m
2020-01-23T17:11:10.742Z,1579799470.742 [Micromodem](INFO): Nmea in: $SNTTA,0.000198,,,,171110.40*43

2020-01-23T17:11:10.803Z,1579799470.803 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:H.LineCapture](INFO): Final approach. Armed for intercept at range: 0.24 m.
2020-01-23T17:11:10.803Z,1579799470.803 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:10.803Z,1579799470.803 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:10.804Z,1579799470.804 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:10.804Z,1579799470.804 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:11:10.804Z,1579799470.804 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:10.804Z,1579799470.804 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:10.804Z,1579799470.804 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:11.159Z,1579799471.159 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171111: (36.803398, -121.822304)
2020-01-23T17:11:11.159Z,1579799471.159 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:11.159Z,1579799471.159 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:11.159Z,1579799471.159 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:11.159Z,1579799471.159 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:11.159Z,1579799471.159 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:11.552Z,1579799471.552 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:11.552Z,1579799471.552 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:11.552Z,1579799471.552 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:11.552Z,1579799471.552 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:11:11.553Z,1579799471.553 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:11.553Z,1579799471.553 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:11.553Z,1579799471.553 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:11.959Z,1579799471.959 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171111: (36.803398, -121.822304)
2020-01-23T17:11:11.959Z,1579799471.959 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:11.959Z,1579799471.959 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:11.960Z,1579799471.960 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:11.960Z,1579799471.960 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:11.960Z,1579799471.960 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:12.374Z,1579799472.374 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:12.374Z,1579799472.374 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:12.374Z,1579799472.374 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:12.374Z,1579799472.374 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:11:12.374Z,1579799472.374 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:12.375Z,1579799472.375 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:12.375Z,1579799472.375 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:12.783Z,1579799472.783 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171112: (36.803398, -121.822304)
2020-01-23T17:11:12.783Z,1579799472.783 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:12.783Z,1579799472.783 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:12.783Z,1579799472.783 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:12.784Z,1579799472.784 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:12.784Z,1579799472.784 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:13.147Z,1579799473.147 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:13.148Z,1579799473.148 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:13.148Z,1579799473.148 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:13.148Z,1579799473.148 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:11:13.148Z,1579799473.148 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:13.148Z,1579799473.148 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:13.148Z,1579799473.148 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:13.152Z,1579799473.152 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:11:13.570Z,1579799473.570 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171113: (36.803398, -121.822304)
2020-01-23T17:11:13.570Z,1579799473.570 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:13.570Z,1579799473.570 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:13.571Z,1579799473.571 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:13.571Z,1579799473.571 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:13.571Z,1579799473.571 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:13.923Z,1579799473.923 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:11:14.006Z,1579799474.006 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:14.006Z,1579799474.006 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:14.007Z,1579799474.007 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:14.007Z,1579799474.007 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:11:14.008Z,1579799474.008 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:14.008Z,1579799474.008 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:14.008Z,1579799474.008 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:14.364Z,1579799474.364 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:11:14.414Z,1579799474.414 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171114: (36.803398, -121.822304)
2020-01-23T17:11:14.414Z,1579799474.414 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:14.414Z,1579799474.414 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:14.414Z,1579799474.414 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:14.414Z,1579799474.414 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:14.415Z,1579799474.415 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:14.770Z,1579799474.770 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:14.770Z,1579799474.770 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:14.770Z,1579799474.770 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:14.770Z,1579799474.770 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:11:14.770Z,1579799474.770 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:14.771Z,1579799474.771 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:14.771Z,1579799474.771 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:14.874Z,1579799474.874 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-23T17:11:15.154Z,1579799475.154 [Micromodem](INFO): Nmea in: $SNTTA,0.000207,,,,171114.84*4A

2020-01-23T17:11:15.198Z,1579799475.198 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:H.LineCapture](INFO): Intercept lockout. Range: 0.30 m.
2020-01-23T17:11:15.200Z,1579799475.200 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171115: (36.803398, -121.822304)
2020-01-23T17:11:15.200Z,1579799475.200 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:15.200Z,1579799475.200 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:15.200Z,1579799475.200 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:15.201Z,1579799475.201 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:15.201Z,1579799475.201 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:15.587Z,1579799475.587 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:15.587Z,1579799475.587 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:15.587Z,1579799475.587 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:15.587Z,1579799475.587 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:11:15.588Z,1579799475.588 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:15.588Z,1579799475.588 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:15.588Z,1579799475.588 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:15.987Z,1579799475.987 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171115: (36.803398, -121.822304)
2020-01-23T17:11:15.987Z,1579799475.987 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:15.987Z,1579799475.987 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:15.988Z,1579799475.988 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:15.988Z,1579799475.988 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:15.988Z,1579799475.988 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:16.389Z,1579799476.389 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:16.389Z,1579799476.389 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:16.389Z,1579799476.389 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:16.390Z,1579799476.390 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:11:16.390Z,1579799476.390 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:16.390Z,1579799476.390 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:16.390Z,1579799476.390 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:16.795Z,1579799476.795 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171116: (36.803398, -121.822304)
2020-01-23T17:11:16.795Z,1579799476.795 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:16.795Z,1579799476.795 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:16.795Z,1579799476.795 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:16.795Z,1579799476.795 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:16.795Z,1579799476.795 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:17.194Z,1579799477.194 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:17.194Z,1579799477.194 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:17.194Z,1579799477.194 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:17.195Z,1579799477.195 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:11:17.195Z,1579799477.195 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:17.195Z,1579799477.195 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:17.195Z,1579799477.195 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:17.616Z,1579799477.616 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171117: (36.803398, -121.822304)
2020-01-23T17:11:17.616Z,1579799477.616 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:17.617Z,1579799477.617 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:17.617Z,1579799477.617 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:17.617Z,1579799477.617 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:17.617Z,1579799477.617 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:17.620Z,1579799477.620 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:11:17.992Z,1579799477.992 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:17.992Z,1579799477.992 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:17.992Z,1579799477.992 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:17.993Z,1579799477.993 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:11:17.993Z,1579799477.993 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:17.993Z,1579799477.993 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:17.993Z,1579799477.993 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:18.367Z,1579799478.367 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:11:18.459Z,1579799478.459 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171118: (36.803398, -121.822304)
2020-01-23T17:11:18.459Z,1579799478.459 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:18.459Z,1579799478.459 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:18.460Z,1579799478.460 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:18.460Z,1579799478.460 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:18.460Z,1579799478.460 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:18.773Z,1579799478.773 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:11:18.832Z,1579799478.832 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:18.832Z,1579799478.832 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:18.832Z,1579799478.832 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:18.832Z,1579799478.832 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:11:18.832Z,1579799478.832 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:18.833Z,1579799478.833 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:18.833Z,1579799478.833 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:19.199Z,1579799479.199 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171119: (36.803398, -121.822304)
2020-01-23T17:11:19.199Z,1579799479.199 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:19.199Z,1579799479.199 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:19.199Z,1579799479.199 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:19.199Z,1579799479.199 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:19.199Z,1579799479.199 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:19.305Z,1579799479.305 [Reporter](INFO): acoustic_contact_range 0.239999 m
2020-01-23T17:11:19.602Z,1579799479.602 [Micromodem](INFO): Nmea in: $SNTTA,0.000207,,,,171119.27*4E

2020-01-23T17:11:19.637Z,1579799479.637 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:19.638Z,1579799479.638 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:19.638Z,1579799479.638 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:19.638Z,1579799479.638 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:11:19.638Z,1579799479.638 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:19.638Z,1579799479.638 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:19.638Z,1579799479.638 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:20.027Z,1579799480.027 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171120: (36.803398, -121.822304)
2020-01-23T17:11:20.027Z,1579799480.027 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:20.027Z,1579799480.027 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:20.028Z,1579799480.028 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:20.028Z,1579799480.028 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:20.028Z,1579799480.028 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:20.458Z,1579799480.458 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:20.458Z,1579799480.458 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:20.458Z,1579799480.458 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:20.458Z,1579799480.458 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:11:20.459Z,1579799480.459 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:20.459Z,1579799480.459 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:20.459Z,1579799480.459 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:20.831Z,1579799480.831 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171120: (36.803398, -121.822304)
2020-01-23T17:11:20.831Z,1579799480.831 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:20.831Z,1579799480.831 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:20.832Z,1579799480.832 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:20.832Z,1579799480.832 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:20.832Z,1579799480.832 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:21.234Z,1579799481.234 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:21.234Z,1579799481.234 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:21.234Z,1579799481.234 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:21.235Z,1579799481.235 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:11:21.235Z,1579799481.235 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:21.235Z,1579799481.235 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:21.235Z,1579799481.235 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:21.647Z,1579799481.647 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171121: (36.803398, -121.822304)
2020-01-23T17:11:21.647Z,1579799481.647 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:21.647Z,1579799481.647 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:21.647Z,1579799481.647 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:21.647Z,1579799481.647 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:21.648Z,1579799481.648 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:22.028Z,1579799482.028 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:22.028Z,1579799482.028 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:22.028Z,1579799482.028 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:22.029Z,1579799482.029 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:11:22.029Z,1579799482.029 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:22.029Z,1579799482.029 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:22.029Z,1579799482.029 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:22.033Z,1579799482.033 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:11:22.468Z,1579799482.468 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171122: (36.803398, -121.822304)
2020-01-23T17:11:22.468Z,1579799482.468 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:22.468Z,1579799482.468 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:22.468Z,1579799482.468 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:22.468Z,1579799482.468 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:22.473Z,1579799482.473 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:22.808Z,1579799482.808 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:11:22.911Z,1579799482.911 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:22.911Z,1579799482.911 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:22.912Z,1579799482.912 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:22.912Z,1579799482.912 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:11:22.912Z,1579799482.912 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:22.912Z,1579799482.912 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:22.912Z,1579799482.912 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:23.225Z,1579799483.225 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:11:23.297Z,1579799483.297 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171123: (36.803398, -121.822304)
2020-01-23T17:11:23.298Z,1579799483.298 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:23.298Z,1579799483.298 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:23.298Z,1579799483.298 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:23.298Z,1579799483.298 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:23.298Z,1579799483.298 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:23.674Z,1579799483.674 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:23.674Z,1579799483.674 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:23.674Z,1579799483.674 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:23.675Z,1579799483.675 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:11:23.675Z,1579799483.675 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:23.675Z,1579799483.675 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:23.675Z,1579799483.675 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:23.742Z,1579799483.742 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-23T17:11:24.058Z,1579799484.058 [Micromodem](INFO): Nmea in: $SNTTA,0.000201,,,,171123.72*41

2020-01-23T17:11:24.103Z,1579799484.103 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171124: (36.803398, -121.822304)
2020-01-23T17:11:24.103Z,1579799484.103 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:24.103Z,1579799484.103 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:24.103Z,1579799484.103 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:24.103Z,1579799484.103 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:24.103Z,1579799484.103 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:24.482Z,1579799484.482 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:24.483Z,1579799484.483 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:24.483Z,1579799484.483 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:24.483Z,1579799484.483 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:11:24.483Z,1579799484.483 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:24.483Z,1579799484.483 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:24.483Z,1579799484.483 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:24.894Z,1579799484.894 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171124: (36.803398, -121.822304)
2020-01-23T17:11:24.894Z,1579799484.894 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:24.895Z,1579799484.895 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:24.895Z,1579799484.895 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:24.895Z,1579799484.895 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:24.895Z,1579799484.895 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:25.293Z,1579799485.293 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:25.293Z,1579799485.293 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:25.293Z,1579799485.293 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:25.294Z,1579799485.294 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:11:25.294Z,1579799485.294 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:25.294Z,1579799485.294 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:25.294Z,1579799485.294 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:25.370Z,1579799485.370 [CommandLine](IMPORTANT): got command maintain
2020-01-23T17:11:25.372Z,1579799485.372 [Maintain_Depth_Keller.depth](INFO): Depth_Keller.depth maintaining 15.000000 m
2020-01-23T17:11:25.698Z,1579799485.698 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171125: (36.803398, -121.822304)
2020-01-23T17:11:25.698Z,1579799485.698 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:25.698Z,1579799485.698 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:25.698Z,1579799485.698 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:25.698Z,1579799485.698 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:25.698Z,1579799485.698 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:26.094Z,1579799486.094 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:26.094Z,1579799486.094 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:26.094Z,1579799486.094 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:26.095Z,1579799486.095 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:11:26.095Z,1579799486.095 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:26.095Z,1579799486.095 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:26.095Z,1579799486.095 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:26.520Z,1579799486.520 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171126: (36.803398, -121.822304)
2020-01-23T17:11:26.520Z,1579799486.520 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:26.520Z,1579799486.520 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:26.520Z,1579799486.520 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:26.520Z,1579799486.520 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:26.520Z,1579799486.520 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:26.524Z,1579799486.524 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:11:26.896Z,1579799486.896 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:26.896Z,1579799486.896 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:26.897Z,1579799486.897 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:26.897Z,1579799486.897 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:11:26.897Z,1579799486.897 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:26.897Z,1579799486.897 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:26.898Z,1579799486.898 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:27.263Z,1579799487.263 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:11:27.383Z,1579799487.383 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171127: (36.803398, -121.822304)
2020-01-23T17:11:27.383Z,1579799487.383 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:27.383Z,1579799487.383 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:27.383Z,1579799487.383 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:27.383Z,1579799487.383 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:27.383Z,1579799487.383 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:27.661Z,1579799487.661 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:11:27.762Z,1579799487.762 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:27.762Z,1579799487.762 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:27.762Z,1579799487.762 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:27.762Z,1579799487.762 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:11:27.762Z,1579799487.762 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:27.762Z,1579799487.762 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:27.763Z,1579799487.763 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:28.123Z,1579799488.123 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171128: (36.803398, -121.822304)
2020-01-23T17:11:28.124Z,1579799488.124 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:28.124Z,1579799488.124 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:28.124Z,1579799488.124 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:28.124Z,1579799488.124 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:28.124Z,1579799488.124 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:28.234Z,1579799488.234 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-23T17:11:28.498Z,1579799488.498 [Micromodem](INFO): Nmea in: $SNTTA,0.000204,,,,171128.18*43

2020-01-23T17:11:28.554Z,1579799488.554 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:28.554Z,1579799488.554 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:28.555Z,1579799488.555 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:28.555Z,1579799488.555 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:11:28.555Z,1579799488.555 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:28.555Z,1579799488.555 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:28.555Z,1579799488.555 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:28.738Z,1579799488.738 [CommandLine](IMPORTANT): got command get longitude
2020-01-23T17:11:28.738Z,1579799488.738 [CommandLine](IMPORTANT): longitude -121.900389 arcdeg
2020-01-23T17:11:28.945Z,1579799488.945 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171128: (36.803398, -121.822304)
2020-01-23T17:11:28.945Z,1579799488.945 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:28.945Z,1579799488.945 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:28.946Z,1579799488.946 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:28.946Z,1579799488.946 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:28.946Z,1579799488.946 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:29.322Z,1579799489.322 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:29.322Z,1579799489.322 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:29.323Z,1579799489.323 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:29.323Z,1579799489.323 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:11:29.323Z,1579799489.323 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:29.323Z,1579799489.323 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:29.323Z,1579799489.323 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:29.758Z,1579799489.758 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171129: (36.803398, -121.822304)
2020-01-23T17:11:29.758Z,1579799489.758 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:29.758Z,1579799489.758 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:29.758Z,1579799489.758 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:29.758Z,1579799489.758 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:29.758Z,1579799489.758 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:30.144Z,1579799490.144 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:30.144Z,1579799490.144 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:30.145Z,1579799490.145 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:30.145Z,1579799490.145 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:11:30.145Z,1579799490.145 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:30.145Z,1579799490.145 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:30.145Z,1579799490.145 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:30.535Z,1579799490.535 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171130: (36.803398, -121.822304)
2020-01-23T17:11:30.535Z,1579799490.535 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:30.535Z,1579799490.535 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:30.536Z,1579799490.536 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:30.536Z,1579799490.536 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:30.536Z,1579799490.536 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:30.912Z,1579799490.912 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:30.912Z,1579799490.912 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:30.912Z,1579799490.912 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:30.913Z,1579799490.913 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:11:30.913Z,1579799490.913 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:30.913Z,1579799490.913 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:30.913Z,1579799490.913 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:30.916Z,1579799490.916 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:11:31.366Z,1579799491.366 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171131: (36.803398, -121.822304)
2020-01-23T17:11:31.367Z,1579799491.367 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:31.367Z,1579799491.367 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:31.367Z,1579799491.367 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:31.368Z,1579799491.368 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:31.368Z,1579799491.368 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:31.699Z,1579799491.699 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:11:31.774Z,1579799491.774 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:31.775Z,1579799491.775 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:31.775Z,1579799491.775 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:31.776Z,1579799491.776 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:11:31.776Z,1579799491.776 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:31.776Z,1579799491.776 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:31.776Z,1579799491.776 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:32.101Z,1579799492.101 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:11:32.167Z,1579799492.167 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171132: (36.803398, -121.822304)
2020-01-23T17:11:32.167Z,1579799492.167 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:32.167Z,1579799492.167 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:32.167Z,1579799492.167 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:32.167Z,1579799492.167 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:32.167Z,1579799492.167 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:32.589Z,1579799492.589 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:32.589Z,1579799492.589 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:32.589Z,1579799492.589 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:32.590Z,1579799492.590 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:11:32.590Z,1579799492.590 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:32.590Z,1579799492.590 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:32.590Z,1579799492.590 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:32.813Z,1579799492.813 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-23T17:11:32.938Z,1579799492.938 [Micromodem](INFO): Nmea in: $SNTTA,0.000207,,,,171132.62*46

2020-01-23T17:11:32.972Z,1579799492.972 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171132: (36.803398, -121.822304)
2020-01-23T17:11:32.972Z,1579799492.972 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:32.972Z,1579799492.972 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:32.972Z,1579799492.972 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:32.972Z,1579799492.972 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:32.972Z,1579799492.972 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:33.390Z,1579799493.390 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:33.390Z,1579799493.390 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:33.390Z,1579799493.390 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:33.391Z,1579799493.391 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:11:33.391Z,1579799493.391 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:33.391Z,1579799493.391 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:33.391Z,1579799493.391 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:33.775Z,1579799493.775 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171133: (36.803398, -121.822304)
2020-01-23T17:11:33.775Z,1579799493.775 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:33.775Z,1579799493.775 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:33.775Z,1579799493.775 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:33.775Z,1579799493.775 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:33.775Z,1579799493.775 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:34.169Z,1579799494.169 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:34.169Z,1579799494.169 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:34.170Z,1579799494.170 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:34.170Z,1579799494.170 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:11:34.170Z,1579799494.170 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:34.170Z,1579799494.170 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:34.170Z,1579799494.170 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:34.587Z,1579799494.587 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171134: (36.803398, -121.822304)
2020-01-23T17:11:34.587Z,1579799494.587 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:34.588Z,1579799494.588 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:34.588Z,1579799494.588 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:34.588Z,1579799494.588 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:34.588Z,1579799494.588 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:34.980Z,1579799494.980 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:34.980Z,1579799494.980 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:34.980Z,1579799494.980 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:34.981Z,1579799494.981 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:11:34.981Z,1579799494.981 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:34.981Z,1579799494.981 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:34.981Z,1579799494.981 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:35.403Z,1579799495.403 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171135: (36.803398, -121.822304)
2020-01-23T17:11:35.403Z,1579799495.403 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:35.403Z,1579799495.403 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:35.403Z,1579799495.403 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:35.403Z,1579799495.403 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:35.403Z,1579799495.403 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:35.406Z,1579799495.406 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:11:35.790Z,1579799495.790 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:35.790Z,1579799495.790 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:35.790Z,1579799495.790 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:35.791Z,1579799495.791 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:11:35.791Z,1579799495.791 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:35.791Z,1579799495.791 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:35.791Z,1579799495.791 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:36.139Z,1579799496.139 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:11:36.259Z,1579799496.259 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171136: (36.803398, -121.822304)
2020-01-23T17:11:36.259Z,1579799496.259 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:36.259Z,1579799496.259 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:36.259Z,1579799496.259 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:36.260Z,1579799496.260 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:36.260Z,1579799496.260 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:36.545Z,1579799496.545 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:11:36.620Z,1579799496.620 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:36.620Z,1579799496.620 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:36.625Z,1579799496.625 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:36.625Z,1579799496.625 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:11:36.625Z,1579799496.625 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:36.625Z,1579799496.625 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:36.625Z,1579799496.625 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:36.991Z,1579799496.991 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171136: (36.803398, -121.822304)
2020-01-23T17:11:36.991Z,1579799496.991 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:36.991Z,1579799496.991 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:36.992Z,1579799496.992 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:36.992Z,1579799496.992 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:36.992Z,1579799496.992 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:37.169Z,1579799497.169 [Reporter](INFO): acoustic_contact_range 0.239999 m
2020-01-23T17:11:37.388Z,1579799497.388 [Micromodem](INFO): Nmea in: $SNTTA,0.000203,,,,171137.05*46

2020-01-23T17:11:37.423Z,1579799497.423 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:37.423Z,1579799497.423 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:37.423Z,1579799497.423 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:37.423Z,1579799497.423 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:11:37.423Z,1579799497.423 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:37.423Z,1579799497.423 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:37.424Z,1579799497.424 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:37.815Z,1579799497.815 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171137: (36.803398, -121.822304)
2020-01-23T17:11:37.815Z,1579799497.815 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:37.816Z,1579799497.816 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:37.816Z,1579799497.816 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:37.816Z,1579799497.816 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:37.816Z,1579799497.816 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:38.195Z,1579799498.195 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:38.195Z,1579799498.195 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:38.195Z,1579799498.195 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:38.196Z,1579799498.196 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:11:38.196Z,1579799498.196 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:38.196Z,1579799498.196 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:38.196Z,1579799498.196 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:38.615Z,1579799498.615 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171138: (36.803398, -121.822304)
2020-01-23T17:11:38.615Z,1579799498.615 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:38.615Z,1579799498.615 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:38.616Z,1579799498.616 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:38.616Z,1579799498.616 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:38.616Z,1579799498.616 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:39.039Z,1579799499.039 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:39.039Z,1579799499.039 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:39.039Z,1579799499.039 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:39.039Z,1579799499.039 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:11:39.040Z,1579799499.040 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:39.040Z,1579799499.040 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:39.040Z,1579799499.040 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:39.430Z,1579799499.430 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171139: (36.803398, -121.822304)
2020-01-23T17:11:39.430Z,1579799499.430 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:39.430Z,1579799499.430 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:39.430Z,1579799499.430 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:39.430Z,1579799499.430 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:39.430Z,1579799499.430 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:39.826Z,1579799499.826 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:39.826Z,1579799499.826 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:39.826Z,1579799499.826 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:39.827Z,1579799499.827 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:11:39.827Z,1579799499.827 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:39.827Z,1579799499.827 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:39.827Z,1579799499.827 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:39.846Z,1579799499.846 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:11:40.226Z,1579799500.226 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171140: (36.803398, -121.822304)
2020-01-23T17:11:40.226Z,1579799500.226 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:40.226Z,1579799500.226 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:40.226Z,1579799500.226 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:40.226Z,1579799500.226 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:40.226Z,1579799500.226 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:40.587Z,1579799500.587 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:11:40.701Z,1579799500.701 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:40.702Z,1579799500.702 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:40.702Z,1579799500.702 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:40.702Z,1579799500.702 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:11:40.702Z,1579799500.702 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:40.702Z,1579799500.702 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:40.702Z,1579799500.702 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:40.993Z,1579799500.993 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:11:41.059Z,1579799501.059 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171141: (36.803398, -121.822304)
2020-01-23T17:11:41.059Z,1579799501.059 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:41.059Z,1579799501.059 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:41.059Z,1579799501.059 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:41.059Z,1579799501.059 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:41.059Z,1579799501.059 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:41.463Z,1579799501.463 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:41.464Z,1579799501.464 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:41.464Z,1579799501.464 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:41.464Z,1579799501.464 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:11:41.464Z,1579799501.464 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:41.464Z,1579799501.464 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:41.464Z,1579799501.464 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:41.585Z,1579799501.585 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-23T17:11:41.822Z,1579799501.822 [Micromodem](INFO): Nmea in: $SNTTA,0.000197,,,,171141.50*49

2020-01-23T17:11:41.856Z,1579799501.856 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171141: (36.803398, -121.822304)
2020-01-23T17:11:41.856Z,1579799501.856 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:41.856Z,1579799501.856 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:41.856Z,1579799501.856 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:41.856Z,1579799501.856 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:41.856Z,1579799501.856 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:42.251Z,1579799502.251 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:42.251Z,1579799502.251 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:42.252Z,1579799502.252 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:42.252Z,1579799502.252 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:11:42.252Z,1579799502.252 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:42.252Z,1579799502.252 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:42.252Z,1579799502.252 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:42.650Z,1579799502.650 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171142: (36.803398, -121.822304)
2020-01-23T17:11:42.650Z,1579799502.650 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:42.651Z,1579799502.651 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:42.651Z,1579799502.651 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:42.651Z,1579799502.651 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:42.651Z,1579799502.651 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:43.058Z,1579799503.058 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:43.058Z,1579799503.058 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:43.058Z,1579799503.058 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:43.059Z,1579799503.059 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:11:43.059Z,1579799503.059 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:43.059Z,1579799503.059 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:43.059Z,1579799503.059 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:43.464Z,1579799503.464 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171143: (36.803398, -121.822304)
2020-01-23T17:11:43.464Z,1579799503.464 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:43.464Z,1579799503.464 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:43.465Z,1579799503.465 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:43.465Z,1579799503.465 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:43.465Z,1579799503.465 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:43.855Z,1579799503.855 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:43.855Z,1579799503.855 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:43.855Z,1579799503.855 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:43.855Z,1579799503.855 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:11:43.856Z,1579799503.856 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:43.856Z,1579799503.856 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:43.856Z,1579799503.856 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:44.259Z,1579799504.259 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171144: (36.803398, -121.822304)
2020-01-23T17:11:44.259Z,1579799504.259 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:44.259Z,1579799504.259 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:44.259Z,1579799504.259 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:44.259Z,1579799504.259 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:44.260Z,1579799504.260 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:44.263Z,1579799504.263 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:11:44.670Z,1579799504.670 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:44.670Z,1579799504.670 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:44.670Z,1579799504.670 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:44.671Z,1579799504.671 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:11:44.671Z,1579799504.671 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:44.671Z,1579799504.671 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:44.671Z,1579799504.671 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:45.027Z,1579799505.027 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:11:45.127Z,1579799505.127 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171145: (36.803398, -121.822304)
2020-01-23T17:11:45.127Z,1579799505.127 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:45.127Z,1579799505.127 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:45.128Z,1579799505.128 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:45.128Z,1579799505.128 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:45.128Z,1579799505.128 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:45.444Z,1579799505.444 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:11:45.516Z,1579799505.516 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:45.516Z,1579799505.516 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:45.516Z,1579799505.516 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:45.521Z,1579799505.521 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:11:45.521Z,1579799505.521 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:45.521Z,1579799505.521 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:45.521Z,1579799505.521 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:45.879Z,1579799505.879 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171145: (36.803398, -121.822304)
2020-01-23T17:11:45.880Z,1579799505.880 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:45.880Z,1579799505.880 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:45.880Z,1579799505.880 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:45.880Z,1579799505.880 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:45.880Z,1579799505.880 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:45.982Z,1579799505.982 [Reporter](INFO): acoustic_contact_range 0.239999 m
2020-01-23T17:11:46.262Z,1579799506.262 [Micromodem](INFO): Nmea in: $SNTTA,0.000204,,,,171145.94*4C

2020-01-23T17:11:46.309Z,1579799506.309 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:46.309Z,1579799506.309 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:46.309Z,1579799506.309 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:46.310Z,1579799506.310 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:11:46.310Z,1579799506.310 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:46.310Z,1579799506.310 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:46.310Z,1579799506.310 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:46.708Z,1579799506.708 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171146: (36.803398, -121.822304)
2020-01-23T17:11:46.708Z,1579799506.708 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:46.708Z,1579799506.708 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:46.709Z,1579799506.709 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:46.709Z,1579799506.709 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:46.709Z,1579799506.709 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:47.098Z,1579799507.098 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:47.098Z,1579799507.098 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:47.098Z,1579799507.098 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:47.099Z,1579799507.099 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:11:47.099Z,1579799507.099 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:47.099Z,1579799507.099 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:47.099Z,1579799507.099 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:47.545Z,1579799507.545 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171147: (36.803398, -121.822304)
2020-01-23T17:11:47.545Z,1579799507.545 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:47.545Z,1579799507.545 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:47.546Z,1579799507.546 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:47.546Z,1579799507.546 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:47.546Z,1579799507.546 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:47.925Z,1579799507.925 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:47.925Z,1579799507.925 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:47.925Z,1579799507.925 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:47.926Z,1579799507.926 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:11:47.926Z,1579799507.926 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:47.926Z,1579799507.926 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:47.926Z,1579799507.926 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:48.326Z,1579799508.326 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171148: (36.803398, -121.822304)
2020-01-23T17:11:48.326Z,1579799508.326 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:48.326Z,1579799508.326 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:48.326Z,1579799508.326 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:48.326Z,1579799508.326 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:48.326Z,1579799508.326 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:48.728Z,1579799508.728 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:48.728Z,1579799508.728 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:48.728Z,1579799508.728 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:48.728Z,1579799508.728 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:11:48.741Z,1579799508.741 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:48.741Z,1579799508.741 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:48.741Z,1579799508.741 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:48.744Z,1579799508.744 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:11:49.126Z,1579799509.126 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171149: (36.803398, -121.822304)
2020-01-23T17:11:49.126Z,1579799509.126 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:49.126Z,1579799509.126 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:49.126Z,1579799509.126 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:49.126Z,1579799509.126 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:49.126Z,1579799509.126 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:49.471Z,1579799509.471 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:11:49.582Z,1579799509.582 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:49.583Z,1579799509.583 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:49.583Z,1579799509.583 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:49.583Z,1579799509.583 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:11:49.583Z,1579799509.583 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:49.583Z,1579799509.583 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:49.583Z,1579799509.583 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:49.889Z,1579799509.889 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:11:49.966Z,1579799509.966 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171149: (36.803398, -121.822304)
2020-01-23T17:11:49.966Z,1579799509.966 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:49.966Z,1579799509.966 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:49.966Z,1579799509.966 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:49.966Z,1579799509.966 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:49.967Z,1579799509.967 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:50.330Z,1579799510.330 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:50.331Z,1579799510.331 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:50.331Z,1579799510.331 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:50.331Z,1579799510.331 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:11:50.331Z,1579799510.331 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:50.331Z,1579799510.331 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:50.331Z,1579799510.331 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:50.521Z,1579799510.521 [Reporter](INFO): acoustic_contact_range 0.239999 m
2020-01-23T17:11:50.706Z,1579799510.706 [Micromodem](INFO): Nmea in: $SNTTA,0.000213,,,,171150.38*48

2020-01-23T17:11:50.722Z,1579799510.722 [PowerOnly](INFO): Powering down
2020-01-23T17:11:50.791Z,1579799510.791 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171150: (36.803398, -121.822304)
2020-01-23T17:11:50.792Z,1579799510.792 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:50.792Z,1579799510.792 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:50.792Z,1579799510.792 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:50.792Z,1579799510.792 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:50.792Z,1579799510.792 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:51.138Z,1579799511.138 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:51.138Z,1579799511.138 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:51.138Z,1579799511.138 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:51.139Z,1579799511.139 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:11:51.139Z,1579799511.139 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:51.139Z,1579799511.139 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:51.139Z,1579799511.139 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:51.542Z,1579799511.542 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171151: (36.803398, -121.822304)
2020-01-23T17:11:51.543Z,1579799511.543 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:51.543Z,1579799511.543 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:51.543Z,1579799511.543 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:51.543Z,1579799511.543 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:51.543Z,1579799511.543 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:51.949Z,1579799511.949 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:51.949Z,1579799511.949 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:51.949Z,1579799511.949 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:51.950Z,1579799511.950 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:11:51.950Z,1579799511.950 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:51.950Z,1579799511.950 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:51.950Z,1579799511.950 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:52.377Z,1579799512.377 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171152: (36.803398, -121.822304)
2020-01-23T17:11:52.377Z,1579799512.377 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:52.377Z,1579799512.377 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:52.377Z,1579799512.377 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:52.377Z,1579799512.377 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:52.377Z,1579799512.377 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:52.760Z,1579799512.760 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:52.761Z,1579799512.761 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:52.761Z,1579799512.761 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:52.761Z,1579799512.761 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:11:52.761Z,1579799512.761 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:52.762Z,1579799512.762 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:52.762Z,1579799512.762 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:53.154Z,1579799513.154 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171153: (36.803398, -121.822304)
2020-01-23T17:11:53.155Z,1579799513.155 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:53.155Z,1579799513.155 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:53.155Z,1579799513.155 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:53.155Z,1579799513.155 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:53.155Z,1579799513.155 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:53.158Z,1579799513.158 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:11:53.570Z,1579799513.570 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:53.571Z,1579799513.571 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:53.571Z,1579799513.571 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:53.571Z,1579799513.571 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:11:53.571Z,1579799513.571 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:53.571Z,1579799513.571 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:53.571Z,1579799513.571 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:53.915Z,1579799513.915 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:11:54.018Z,1579799514.018 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171154: (36.803398, -121.822304)
2020-01-23T17:11:54.018Z,1579799514.018 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:54.018Z,1579799514.018 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:54.018Z,1579799514.018 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:54.018Z,1579799514.018 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:54.019Z,1579799514.019 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:54.334Z,1579799514.334 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:11:54.425Z,1579799514.425 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:54.425Z,1579799514.425 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:54.425Z,1579799514.425 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:54.426Z,1579799514.426 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:11:54.426Z,1579799514.426 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:54.426Z,1579799514.426 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:54.426Z,1579799514.426 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:54.770Z,1579799514.770 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171154: (36.803398, -121.822304)
2020-01-23T17:11:54.771Z,1579799514.771 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:54.771Z,1579799514.771 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:54.771Z,1579799514.771 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:54.771Z,1579799514.771 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:54.771Z,1579799514.771 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:54.917Z,1579799514.917 [Reporter](INFO): acoustic_contact_range 0.239999 m
2020-01-23T17:11:55.166Z,1579799515.166 [Micromodem](INFO): Nmea in: $SNTTA,0.000199,,,,171154.83*4D

2020-01-23T17:11:55.231Z,1579799515.231 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:55.232Z,1579799515.232 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:55.232Z,1579799515.232 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:55.232Z,1579799515.232 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:11:55.232Z,1579799515.232 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:55.232Z,1579799515.232 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:55.233Z,1579799515.233 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:55.587Z,1579799515.587 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171155: (36.803398, -121.822304)
2020-01-23T17:11:55.587Z,1579799515.587 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:55.588Z,1579799515.588 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:55.588Z,1579799515.588 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:55.588Z,1579799515.588 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:55.588Z,1579799515.588 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:56.005Z,1579799516.005 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:56.005Z,1579799516.005 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:56.005Z,1579799516.005 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:56.006Z,1579799516.006 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:11:56.006Z,1579799516.006 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:56.006Z,1579799516.006 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:56.006Z,1579799516.006 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:56.381Z,1579799516.381 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171156: (36.803398, -121.822304)
2020-01-23T17:11:56.381Z,1579799516.381 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:56.381Z,1579799516.381 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:56.381Z,1579799516.381 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:56.381Z,1579799516.381 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:56.381Z,1579799516.381 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:56.812Z,1579799516.812 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:56.813Z,1579799516.813 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:56.813Z,1579799516.813 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:56.813Z,1579799516.813 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:11:56.813Z,1579799516.813 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:56.814Z,1579799516.814 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:56.814Z,1579799516.814 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:57.209Z,1579799517.209 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171157: (36.803398, -121.822304)
2020-01-23T17:11:57.210Z,1579799517.210 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:57.210Z,1579799517.210 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:57.210Z,1579799517.210 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:57.210Z,1579799517.210 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:57.210Z,1579799517.210 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:57.632Z,1579799517.632 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:57.632Z,1579799517.632 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:57.632Z,1579799517.632 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:57.633Z,1579799517.633 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:11:57.633Z,1579799517.633 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:57.633Z,1579799517.633 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:57.633Z,1579799517.633 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:57.636Z,1579799517.636 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:11:58.004Z,1579799518.004 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171158: (36.803398, -121.822304)
2020-01-23T17:11:58.004Z,1579799518.004 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:58.004Z,1579799518.004 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:58.005Z,1579799518.005 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:58.005Z,1579799518.005 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:58.005Z,1579799518.005 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:58.182Z,1579799518.182 [CommandLine](IMPORTANT): got command report touch longitude
2020-01-23T17:11:58.359Z,1579799518.359 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:11:58.467Z,1579799518.467 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:58.467Z,1579799518.467 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:58.467Z,1579799518.467 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:58.468Z,1579799518.468 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:11:58.468Z,1579799518.468 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:58.468Z,1579799518.468 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:58.468Z,1579799518.468 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:58.517Z,1579799518.517 [Reporter](INFO): longitude -121.900710 arcdeg
2020-01-23T17:11:58.769Z,1579799518.769 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:11:58.844Z,1579799518.844 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171158: (36.803398, -121.822304)
2020-01-23T17:11:58.844Z,1579799518.844 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:58.845Z,1579799518.845 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:58.845Z,1579799518.845 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:58.845Z,1579799518.845 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:58.845Z,1579799518.845 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:58.955Z,1579799518.955 [Reporter](INFO): longitude -121.900714 arcdeg
2020-01-23T17:11:59.218Z,1579799519.218 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:11:59.218Z,1579799519.218 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:59.219Z,1579799519.219 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:11:59.219Z,1579799519.219 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:11:59.219Z,1579799519.219 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:11:59.219Z,1579799519.219 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:11:59.219Z,1579799519.219 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:11:59.350Z,1579799519.350 [Reporter](INFO): acoustic_contact_range 0.239999 m
2020-01-23T17:11:59.351Z,1579799519.351 [Reporter](INFO): longitude -121.900718 arcdeg
2020-01-23T17:11:59.610Z,1579799519.610 [Micromodem](INFO): Nmea in: $SNTTA,0.000200,,,,171159.27*4D

2020-01-23T17:11:59.671Z,1579799519.671 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171159: (36.803398, -121.822304)
2020-01-23T17:11:59.672Z,1579799519.672 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:11:59.672Z,1579799519.672 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:11:59.672Z,1579799519.672 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:59.672Z,1579799519.672 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:11:59.672Z,1579799519.672 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:11:59.822Z,1579799519.822 [Reporter](INFO): longitude -121.900722 arcdeg
2020-01-23T17:12:00.030Z,1579799520.030 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:00.030Z,1579799520.030 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:00.030Z,1579799520.030 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:00.031Z,1579799520.031 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:12:00.031Z,1579799520.031 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:00.031Z,1579799520.031 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:00.031Z,1579799520.031 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:00.218Z,1579799520.218 [Reporter](INFO): longitude -121.900726 arcdeg
2020-01-23T17:12:00.474Z,1579799520.474 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171200: (36.803398, -121.822304)
2020-01-23T17:12:00.474Z,1579799520.474 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:00.474Z,1579799520.474 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:00.474Z,1579799520.474 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:00.474Z,1579799520.474 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:00.474Z,1579799520.474 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:00.618Z,1579799520.618 [Reporter](INFO): longitude -121.900731 arcdeg
2020-01-23T17:12:00.834Z,1579799520.834 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:00.834Z,1579799520.834 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:00.834Z,1579799520.834 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:00.834Z,1579799520.834 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:12:00.835Z,1579799520.835 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:00.835Z,1579799520.835 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:00.835Z,1579799520.835 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:01.058Z,1579799521.058 [Reporter](INFO): longitude -121.900735 arcdeg
2020-01-23T17:12:01.246Z,1579799521.246 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171201: (36.803398, -121.822304)
2020-01-23T17:12:01.246Z,1579799521.246 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:01.246Z,1579799521.246 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:01.246Z,1579799521.246 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:01.246Z,1579799521.246 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:01.247Z,1579799521.247 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:01.364Z,1579799521.364 [Reporter](INFO): longitude -121.900739 arcdeg
2020-01-23T17:12:01.640Z,1579799521.640 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:01.641Z,1579799521.641 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:01.641Z,1579799521.641 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:01.641Z,1579799521.641 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:12:01.641Z,1579799521.641 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:01.642Z,1579799521.642 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:01.642Z,1579799521.642 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:01.766Z,1579799521.766 [Reporter](INFO): longitude -121.900744 arcdeg
2020-01-23T17:12:02.039Z,1579799522.039 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171202: (36.803398, -121.822304)
2020-01-23T17:12:02.039Z,1579799522.039 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:02.039Z,1579799522.039 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:02.040Z,1579799522.040 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:02.040Z,1579799522.040 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:02.040Z,1579799522.040 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:02.043Z,1579799522.043 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:12:02.178Z,1579799522.178 [Reporter](INFO): longitude -121.900748 arcdeg
2020-01-23T17:12:02.458Z,1579799522.458 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:02.458Z,1579799522.458 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:02.458Z,1579799522.458 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:02.458Z,1579799522.458 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:12:02.458Z,1579799522.458 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:02.459Z,1579799522.459 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:02.459Z,1579799522.459 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:02.626Z,1579799522.626 [Reporter](INFO): longitude -121.900752 arcdeg
2020-01-23T17:12:02.806Z,1579799522.806 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:12:02.916Z,1579799522.916 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171202: (36.803398, -121.822304)
2020-01-23T17:12:02.916Z,1579799522.916 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:02.916Z,1579799522.916 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:02.916Z,1579799522.916 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:02.916Z,1579799522.916 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:02.916Z,1579799522.916 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:03.062Z,1579799523.062 [Reporter](INFO): longitude -121.900757 arcdeg
2020-01-23T17:12:03.220Z,1579799523.220 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:12:03.288Z,1579799523.288 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:03.288Z,1579799523.288 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:03.288Z,1579799523.288 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:03.289Z,1579799523.289 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:12:03.289Z,1579799523.289 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:03.289Z,1579799523.289 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:03.289Z,1579799523.289 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:03.510Z,1579799523.510 [Reporter](INFO): longitude -121.900761 arcdeg
2020-01-23T17:12:03.665Z,1579799523.665 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171203: (36.803398, -121.822304)
2020-01-23T17:12:03.665Z,1579799523.665 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:03.665Z,1579799523.665 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:03.666Z,1579799523.666 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:03.666Z,1579799523.666 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:03.666Z,1579799523.666 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:03.787Z,1579799523.787 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-23T17:12:03.788Z,1579799523.788 [Reporter](INFO): longitude -121.900765 arcdeg
2020-01-23T17:12:04.050Z,1579799524.050 [Micromodem](INFO): Nmea in: $SNTTA,0.000211,,,,171203.72*41

2020-01-23T17:12:04.082Z,1579799524.082 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:04.082Z,1579799524.082 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:04.082Z,1579799524.082 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:04.083Z,1579799524.083 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:12:04.083Z,1579799524.083 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:04.083Z,1579799524.083 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:04.083Z,1579799524.083 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:04.218Z,1579799524.218 [Reporter](INFO): longitude -121.900770 arcdeg
2020-01-23T17:12:04.483Z,1579799524.483 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171204: (36.803398, -121.822304)
2020-01-23T17:12:04.483Z,1579799524.483 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:04.483Z,1579799524.483 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:04.483Z,1579799524.483 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:04.484Z,1579799524.484 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:04.484Z,1579799524.484 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:04.590Z,1579799524.590 [Reporter](INFO): longitude -121.900774 arcdeg
2020-01-23T17:12:04.895Z,1579799524.895 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:04.895Z,1579799524.895 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:04.895Z,1579799524.895 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:04.895Z,1579799524.895 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:12:04.895Z,1579799524.895 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:04.895Z,1579799524.895 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:04.895Z,1579799524.895 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:05.070Z,1579799525.070 [Reporter](INFO): longitude -121.900778 arcdeg
2020-01-23T17:12:05.283Z,1579799525.283 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171205: (36.803398, -121.822304)
2020-01-23T17:12:05.283Z,1579799525.283 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:05.283Z,1579799525.283 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:05.284Z,1579799525.284 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:05.284Z,1579799525.284 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:05.284Z,1579799525.284 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:05.414Z,1579799525.414 [Reporter](INFO): longitude -121.900783 arcdeg
2020-01-23T17:12:05.688Z,1579799525.688 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:05.688Z,1579799525.688 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:05.688Z,1579799525.688 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:05.688Z,1579799525.688 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:12:05.688Z,1579799525.688 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:05.689Z,1579799525.689 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:05.689Z,1579799525.689 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:05.858Z,1579799525.858 [Reporter](INFO): longitude -121.900787 arcdeg
2020-01-23T17:12:06.091Z,1579799526.091 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171206: (36.803398, -121.822304)
2020-01-23T17:12:06.091Z,1579799526.091 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:06.091Z,1579799526.091 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:06.091Z,1579799526.091 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:06.091Z,1579799526.091 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:06.092Z,1579799526.092 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:06.226Z,1579799526.226 [Reporter](INFO): longitude -121.900791 arcdeg
2020-01-23T17:12:06.511Z,1579799526.511 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:06.511Z,1579799526.511 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:06.511Z,1579799526.511 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:06.512Z,1579799526.512 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:12:06.512Z,1579799526.512 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:06.512Z,1579799526.512 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:06.512Z,1579799526.512 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:06.515Z,1579799526.515 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:12:06.734Z,1579799526.734 [Reporter](INFO): longitude -121.900796 arcdeg
2020-01-23T17:12:06.890Z,1579799526.890 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171206: (36.803398, -121.822304)
2020-01-23T17:12:06.890Z,1579799526.890 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:06.890Z,1579799526.890 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:06.890Z,1579799526.890 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:06.890Z,1579799526.890 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:06.890Z,1579799526.890 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:07.002Z,1579799527.002 [Reporter](INFO): longitude -121.900800 arcdeg
2020-01-23T17:12:07.247Z,1579799527.247 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:12:07.335Z,1579799527.335 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:07.336Z,1579799527.336 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:07.336Z,1579799527.336 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:07.337Z,1579799527.337 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:12:07.337Z,1579799527.337 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:07.338Z,1579799527.338 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:07.338Z,1579799527.338 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:07.462Z,1579799527.462 [Reporter](INFO): longitude -121.900805 arcdeg
2020-01-23T17:12:07.653Z,1579799527.653 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:12:07.717Z,1579799527.717 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171207: (36.803398, -121.822304)
2020-01-23T17:12:07.717Z,1579799527.717 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:07.717Z,1579799527.717 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:07.717Z,1579799527.717 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:07.718Z,1579799527.718 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:07.718Z,1579799527.718 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:07.827Z,1579799527.827 [Reporter](INFO): longitude -121.900809 arcdeg
2020-01-23T17:12:08.075Z,1579799528.075 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:08.075Z,1579799528.075 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:08.075Z,1579799528.075 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:08.075Z,1579799528.075 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:12:08.075Z,1579799528.075 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:08.076Z,1579799528.076 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:08.076Z,1579799528.076 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:08.245Z,1579799528.245 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-23T17:12:08.246Z,1579799528.246 [Reporter](INFO): longitude -121.900813 arcdeg
2020-01-23T17:12:08.486Z,1579799528.486 [Micromodem](INFO): Nmea in: $SNTTA,0.000210,,,,171208.16*49

2020-01-23T17:12:08.519Z,1579799528.519 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171208: (36.803398, -121.822304)
2020-01-23T17:12:08.520Z,1579799528.520 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:08.520Z,1579799528.520 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:08.520Z,1579799528.520 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:08.520Z,1579799528.520 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:08.520Z,1579799528.520 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:08.650Z,1579799528.650 [Reporter](INFO): longitude -121.900817 arcdeg
2020-01-23T17:12:08.913Z,1579799528.913 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:08.913Z,1579799528.913 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:08.913Z,1579799528.913 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:08.914Z,1579799528.914 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:12:08.914Z,1579799528.914 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:08.914Z,1579799528.914 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:08.914Z,1579799528.914 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:09.138Z,1579799529.138 [Reporter](INFO): longitude -121.900822 arcdeg
2020-01-23T17:12:09.323Z,1579799529.323 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171209: (36.803398, -121.822304)
2020-01-23T17:12:09.323Z,1579799529.323 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:09.323Z,1579799529.323 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:09.323Z,1579799529.323 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:09.324Z,1579799529.324 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:09.324Z,1579799529.324 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:09.426Z,1579799529.426 [Reporter](INFO): longitude -121.900826 arcdeg
2020-01-23T17:12:09.729Z,1579799529.729 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:09.729Z,1579799529.729 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:09.730Z,1579799529.730 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:09.730Z,1579799529.730 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:12:09.730Z,1579799529.730 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:09.730Z,1579799529.730 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:09.730Z,1579799529.730 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:09.834Z,1579799529.834 [Reporter](INFO): longitude -121.900830 arcdeg
2020-01-23T17:12:10.105Z,1579799530.105 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-23T17:12:10.105Z,1579799530.105 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2020-01-23T17:12:10.126Z,1579799530.126 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171210: (36.803398, -121.822304)
2020-01-23T17:12:10.127Z,1579799530.127 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:10.127Z,1579799530.127 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:10.127Z,1579799530.127 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:10.127Z,1579799530.127 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:10.127Z,1579799530.127 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:10.230Z,1579799530.230 [Reporter](INFO): longitude -121.900835 arcdeg
2020-01-23T17:12:10.520Z,1579799530.520 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:10.520Z,1579799530.520 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:10.520Z,1579799530.520 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:10.520Z,1579799530.520 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:12:10.521Z,1579799530.521 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:10.521Z,1579799530.521 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:10.521Z,1579799530.521 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:10.686Z,1579799530.686 [Reporter](INFO): longitude -121.900839 arcdeg
2020-01-23T17:12:10.910Z,1579799530.910 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171210: (36.803398, -121.822304)
2020-01-23T17:12:10.910Z,1579799530.910 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:10.910Z,1579799530.910 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:10.910Z,1579799530.910 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:10.910Z,1579799530.910 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:10.910Z,1579799530.910 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:10.914Z,1579799530.914 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:12:11.042Z,1579799531.042 [Reporter](INFO): longitude -121.900843 arcdeg
2020-01-23T17:12:11.327Z,1579799531.327 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:11.327Z,1579799531.327 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:11.327Z,1579799531.327 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:11.328Z,1579799531.328 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:12:11.328Z,1579799531.328 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:11.328Z,1579799531.328 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:11.328Z,1579799531.328 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:11.518Z,1579799531.518 [Reporter](INFO): longitude -121.900848 arcdeg
2020-01-23T17:12:11.691Z,1579799531.691 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:12:11.772Z,1579799531.772 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171211: (36.803398, -121.822304)
2020-01-23T17:12:11.772Z,1579799531.772 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:11.773Z,1579799531.773 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:11.773Z,1579799531.773 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:11.774Z,1579799531.774 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:11.774Z,1579799531.774 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:12.010Z,1579799532.010 [Reporter](INFO): longitude -121.900852 arcdeg
2020-01-23T17:12:12.097Z,1579799532.097 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:12:12.138Z,1579799532.138 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:12.138Z,1579799532.138 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:12.139Z,1579799532.139 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:12.139Z,1579799532.139 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:12:12.139Z,1579799532.139 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:12.139Z,1579799532.139 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:12.139Z,1579799532.139 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:12.242Z,1579799532.242 [Reporter](INFO): longitude -121.900856 arcdeg
2020-01-23T17:12:12.536Z,1579799532.536 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171212: (36.803398, -121.822304)
2020-01-23T17:12:12.537Z,1579799532.537 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:12.537Z,1579799532.537 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:12.537Z,1579799532.537 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:12.537Z,1579799532.537 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:12.537Z,1579799532.537 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:12.645Z,1579799532.645 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-23T17:12:12.646Z,1579799532.646 [Reporter](INFO): longitude -121.900861 arcdeg
2020-01-23T17:12:12.930Z,1579799532.930 [Micromodem](INFO): Nmea in: $SNTTA,0.000211,,,,171212.60*42

2020-01-23T17:12:12.962Z,1579799532.962 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:12.962Z,1579799532.962 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:12.963Z,1579799532.963 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:12.963Z,1579799532.963 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:12:12.963Z,1579799532.963 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:12.963Z,1579799532.963 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:12.963Z,1579799532.963 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:13.066Z,1579799533.066 [Reporter](INFO): longitude -121.900865 arcdeg
2020-01-23T17:12:13.372Z,1579799533.372 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171213: (36.803398, -121.822304)
2020-01-23T17:12:13.372Z,1579799533.372 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:13.372Z,1579799533.372 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:13.372Z,1579799533.372 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:13.372Z,1579799533.372 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:13.372Z,1579799533.372 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:13.538Z,1579799533.538 [Reporter](INFO): longitude -121.900870 arcdeg
2020-01-23T17:12:13.756Z,1579799533.756 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:13.756Z,1579799533.756 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:13.756Z,1579799533.756 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:13.757Z,1579799533.757 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:12:13.757Z,1579799533.757 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:13.757Z,1579799533.757 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:13.757Z,1579799533.757 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:13.890Z,1579799533.890 [Reporter](INFO): longitude -121.900874 arcdeg
2020-01-23T17:12:14.159Z,1579799534.159 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171214: (36.803398, -121.822304)
2020-01-23T17:12:14.159Z,1579799534.159 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:14.159Z,1579799534.159 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:14.160Z,1579799534.160 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:14.160Z,1579799534.160 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:14.160Z,1579799534.160 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:14.382Z,1579799534.382 [Reporter](INFO): longitude -121.900878 arcdeg
2020-01-23T17:12:14.564Z,1579799534.564 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:14.564Z,1579799534.564 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:14.565Z,1579799534.565 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:14.565Z,1579799534.565 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:12:14.565Z,1579799534.565 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:14.565Z,1579799534.565 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:14.566Z,1579799534.566 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:14.634Z,1579799534.634 [Reporter](INFO): longitude -121.900882 arcdeg
2020-01-23T17:12:14.967Z,1579799534.967 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171214: (36.803398, -121.822304)
2020-01-23T17:12:14.967Z,1579799534.967 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:14.967Z,1579799534.967 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:14.968Z,1579799534.968 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:14.968Z,1579799534.968 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:14.968Z,1579799534.968 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:15.130Z,1579799535.130 [Reporter](INFO): longitude -121.900887 arcdeg
2020-01-23T17:12:15.388Z,1579799535.388 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:15.388Z,1579799535.388 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:15.388Z,1579799535.388 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:15.389Z,1579799535.389 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:12:15.389Z,1579799535.389 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:15.389Z,1579799535.389 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:15.389Z,1579799535.389 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:15.392Z,1579799535.392 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:12:15.430Z,1579799535.430 [Reporter](INFO): longitude -121.900891 arcdeg
2020-01-23T17:12:15.779Z,1579799535.779 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171215: (36.803398, -121.822304)
2020-01-23T17:12:15.779Z,1579799535.779 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:15.779Z,1579799535.779 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:15.780Z,1579799535.780 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:15.780Z,1579799535.780 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:15.780Z,1579799535.780 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:15.886Z,1579799535.886 [Reporter](INFO): longitude -121.900895 arcdeg
2020-01-23T17:12:16.139Z,1579799536.139 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:12:16.192Z,1579799536.192 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:16.193Z,1579799536.193 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:16.193Z,1579799536.193 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:16.194Z,1579799536.194 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:12:16.194Z,1579799536.194 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:16.194Z,1579799536.194 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:16.195Z,1579799536.195 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:16.314Z,1579799536.314 [Reporter](INFO): longitude -121.900900 arcdeg
2020-01-23T17:12:16.545Z,1579799536.545 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:12:16.599Z,1579799536.599 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171216: (36.803398, -121.822304)
2020-01-23T17:12:16.599Z,1579799536.599 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:16.599Z,1579799536.599 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:16.599Z,1579799536.599 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:16.600Z,1579799536.600 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:16.600Z,1579799536.600 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:16.707Z,1579799536.707 [Reporter](INFO): longitude -121.900904 arcdeg
2020-01-23T17:12:16.970Z,1579799536.970 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:16.970Z,1579799536.970 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:16.970Z,1579799536.970 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:16.971Z,1579799536.971 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:12:16.971Z,1579799536.971 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:16.971Z,1579799536.971 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:16.971Z,1579799536.971 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:17.141Z,1579799537.141 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-23T17:12:17.142Z,1579799537.142 [Reporter](INFO): longitude -121.900908 arcdeg
2020-01-23T17:12:17.374Z,1579799537.374 [Micromodem](INFO): Nmea in: $SNTTA,0.000215,,,,171217.05*40

2020-01-23T17:12:17.408Z,1579799537.408 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171217: (36.803398, -121.822304)
2020-01-23T17:12:17.408Z,1579799537.408 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:17.408Z,1579799537.408 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:17.408Z,1579799537.408 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:17.408Z,1579799537.408 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:17.408Z,1579799537.408 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:17.545Z,1579799537.545 [Reporter](INFO): longitude -121.900913 arcdeg
2020-01-23T17:12:17.802Z,1579799537.802 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:17.802Z,1579799537.802 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:17.802Z,1579799537.802 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:17.802Z,1579799537.802 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:12:17.802Z,1579799537.802 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:17.803Z,1579799537.803 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:17.803Z,1579799537.803 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:17.934Z,1579799537.934 [Reporter](INFO): longitude -121.900917 arcdeg
2020-01-23T17:12:18.199Z,1579799538.199 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171218: (36.803398, -121.822304)
2020-01-23T17:12:18.200Z,1579799538.200 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:18.200Z,1579799538.200 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:18.200Z,1579799538.200 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:18.200Z,1579799538.200 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:18.200Z,1579799538.200 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:18.426Z,1579799538.426 [Reporter](INFO): longitude -121.900921 arcdeg
2020-01-23T17:12:18.606Z,1579799538.606 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:18.606Z,1579799538.606 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:18.606Z,1579799538.606 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:18.606Z,1579799538.606 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:12:18.606Z,1579799538.606 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:18.606Z,1579799538.606 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:18.607Z,1579799538.607 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:18.719Z,1579799538.719 [Reporter](INFO): longitude -121.900926 arcdeg
2020-01-23T17:12:19.019Z,1579799539.019 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171219: (36.803398, -121.822304)
2020-01-23T17:12:19.019Z,1579799539.019 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:19.019Z,1579799539.019 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:19.020Z,1579799539.020 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:19.020Z,1579799539.020 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:19.020Z,1579799539.020 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:19.126Z,1579799539.126 [Reporter](INFO): longitude -121.900930 arcdeg
2020-01-23T17:12:19.418Z,1579799539.418 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:19.419Z,1579799539.419 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:19.419Z,1579799539.419 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:19.419Z,1579799539.419 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:12:19.419Z,1579799539.419 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:19.420Z,1579799539.420 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:19.420Z,1579799539.420 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:19.526Z,1579799539.526 [Reporter](INFO): longitude -121.900934 arcdeg
2020-01-23T17:12:19.808Z,1579799539.808 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171219: (36.803398, -121.822304)
2020-01-23T17:12:19.808Z,1579799539.808 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:19.808Z,1579799539.808 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:19.808Z,1579799539.808 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:19.808Z,1579799539.808 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:19.809Z,1579799539.809 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:19.812Z,1579799539.812 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:12:19.978Z,1579799539.978 [Reporter](INFO): longitude -121.900939 arcdeg
2020-01-23T17:12:20.213Z,1579799540.213 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:20.213Z,1579799540.213 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:20.213Z,1579799540.213 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:20.214Z,1579799540.214 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:12:20.214Z,1579799540.214 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:20.214Z,1579799540.214 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:20.214Z,1579799540.214 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:20.356Z,1579799540.356 [Reporter](INFO): longitude -121.900943 arcdeg
2020-01-23T17:12:20.579Z,1579799540.579 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:12:20.661Z,1579799540.661 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171220: (36.803398, -121.822304)
2020-01-23T17:12:20.661Z,1579799540.661 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:20.661Z,1579799540.661 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:20.662Z,1579799540.662 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:20.662Z,1579799540.662 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:20.662Z,1579799540.662 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:20.898Z,1579799540.898 [Reporter](INFO): longitude -121.900948 arcdeg
2020-01-23T17:12:20.985Z,1579799540.985 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:12:21.026Z,1579799541.026 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:21.026Z,1579799541.026 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:21.027Z,1579799541.027 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:21.027Z,1579799541.027 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:12:21.027Z,1579799541.027 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:21.027Z,1579799541.027 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:21.027Z,1579799541.027 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:21.130Z,1579799541.130 [Reporter](INFO): longitude -121.900952 arcdeg
2020-01-23T17:12:21.450Z,1579799541.450 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171221: (36.803398, -121.822304)
2020-01-23T17:12:21.450Z,1579799541.450 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:21.450Z,1579799541.450 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:21.450Z,1579799541.450 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:21.450Z,1579799541.450 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:21.450Z,1579799541.450 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:21.557Z,1579799541.557 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-23T17:12:21.560Z,1579799541.560 [Reporter](INFO): longitude -121.900956 arcdeg
2020-01-23T17:12:21.814Z,1579799541.814 [Micromodem](INFO): Nmea in: $SNTTA,0.000199,,,,171221.49*4A

2020-01-23T17:12:21.847Z,1579799541.847 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:21.847Z,1579799541.847 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:21.847Z,1579799541.847 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:21.847Z,1579799541.847 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:12:21.847Z,1579799541.847 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:21.847Z,1579799541.847 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:21.848Z,1579799541.848 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:21.954Z,1579799541.954 [Reporter](INFO): longitude -121.900960 arcdeg
2020-01-23T17:12:22.240Z,1579799542.240 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171222: (36.803398, -121.822304)
2020-01-23T17:12:22.240Z,1579799542.240 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:22.240Z,1579799542.240 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:22.240Z,1579799542.240 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:22.240Z,1579799542.240 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:22.240Z,1579799542.240 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:22.356Z,1579799542.356 [Reporter](INFO): longitude -121.900965 arcdeg
2020-01-23T17:12:22.657Z,1579799542.657 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:22.657Z,1579799542.657 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:22.657Z,1579799542.657 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:22.658Z,1579799542.658 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:12:22.658Z,1579799542.658 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:22.658Z,1579799542.658 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:22.658Z,1579799542.658 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:22.767Z,1579799542.767 [Reporter](INFO): longitude -121.900969 arcdeg
2020-01-23T17:12:23.048Z,1579799543.048 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171223: (36.803398, -121.822304)
2020-01-23T17:12:23.048Z,1579799543.048 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:23.048Z,1579799543.048 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:23.048Z,1579799543.048 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:23.048Z,1579799543.048 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:23.048Z,1579799543.048 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:23.154Z,1579799543.154 [Reporter](INFO): longitude -121.900973 arcdeg
2020-01-23T17:12:23.457Z,1579799543.457 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:23.457Z,1579799543.457 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:23.457Z,1579799543.457 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:23.457Z,1579799543.457 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:12:23.458Z,1579799543.458 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:23.458Z,1579799543.458 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:23.458Z,1579799543.458 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:23.566Z,1579799543.566 [Reporter](INFO): longitude -121.900978 arcdeg
2020-01-23T17:12:23.860Z,1579799543.860 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171223: (36.803398, -121.822304)
2020-01-23T17:12:23.860Z,1579799543.860 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:23.860Z,1579799543.860 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:23.860Z,1579799543.860 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:23.860Z,1579799543.860 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:23.860Z,1579799543.860 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:23.966Z,1579799543.966 [Reporter](INFO): longitude -121.900982 arcdeg
2020-01-23T17:12:24.240Z,1579799544.240 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:24.240Z,1579799544.240 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:24.240Z,1579799544.240 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:24.241Z,1579799544.241 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:12:24.241Z,1579799544.241 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:24.241Z,1579799544.241 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:24.241Z,1579799544.241 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:24.245Z,1579799544.245 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:12:24.358Z,1579799544.358 [Reporter](INFO): longitude -121.900986 arcdeg
2020-01-23T17:12:24.667Z,1579799544.667 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171224: (36.803398, -121.822304)
2020-01-23T17:12:24.668Z,1579799544.668 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:24.668Z,1579799544.668 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:24.668Z,1579799544.668 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:24.668Z,1579799544.668 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:24.668Z,1579799544.668 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:24.774Z,1579799544.774 [Reporter](INFO): longitude -121.900991 arcdeg
2020-01-23T17:12:25.027Z,1579799545.027 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:12:25.086Z,1579799545.086 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:25.086Z,1579799545.086 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:25.086Z,1579799545.086 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:25.087Z,1579799545.087 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:12:25.087Z,1579799545.087 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:25.087Z,1579799545.087 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:25.088Z,1579799545.088 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:25.206Z,1579799545.206 [Reporter](INFO): longitude -121.900995 arcdeg
2020-01-23T17:12:25.437Z,1579799545.437 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:12:25.486Z,1579799545.486 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171225: (36.803398, -121.822304)
2020-01-23T17:12:25.486Z,1579799545.486 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:25.486Z,1579799545.486 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:25.487Z,1579799545.487 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:25.487Z,1579799545.487 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:25.487Z,1579799545.487 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:25.591Z,1579799545.591 [Reporter](INFO): longitude -121.900999 arcdeg
2020-01-23T17:12:25.858Z,1579799545.858 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:25.858Z,1579799545.858 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:25.858Z,1579799545.858 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:25.858Z,1579799545.858 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:12:25.858Z,1579799545.858 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:25.858Z,1579799545.858 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:25.859Z,1579799545.859 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:25.966Z,1579799545.966 [Reporter](INFO): acoustic_contact_range 0.239999 m
2020-01-23T17:12:25.967Z,1579799545.967 [Reporter](INFO): longitude -121.901003 arcdeg
2020-01-23T17:12:26.258Z,1579799546.258 [Micromodem](INFO): Nmea in: $SNTTA,0.000203,,,,171225.94*4E

2020-01-23T17:12:26.292Z,1579799546.292 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171226: (36.803398, -121.822304)
2020-01-23T17:12:26.292Z,1579799546.292 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:26.292Z,1579799546.292 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:26.292Z,1579799546.292 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:26.292Z,1579799546.292 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:26.292Z,1579799546.292 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:26.407Z,1579799546.407 [Reporter](INFO): longitude -121.901008 arcdeg
2020-01-23T17:12:26.686Z,1579799546.686 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:26.687Z,1579799546.687 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:26.687Z,1579799546.687 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:26.687Z,1579799546.687 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:12:26.687Z,1579799546.687 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:26.687Z,1579799546.687 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:26.687Z,1579799546.687 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:26.794Z,1579799546.794 [Reporter](INFO): longitude -121.901012 arcdeg
2020-01-23T17:12:27.088Z,1579799547.088 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171227: (36.803398, -121.822304)
2020-01-23T17:12:27.088Z,1579799547.088 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:27.088Z,1579799547.088 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:27.088Z,1579799547.088 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:27.088Z,1579799547.088 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:27.088Z,1579799547.088 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:27.194Z,1579799547.194 [Reporter](INFO): longitude -121.901017 arcdeg
2020-01-23T17:12:27.500Z,1579799547.500 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:27.505Z,1579799547.505 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:27.505Z,1579799547.505 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:27.507Z,1579799547.507 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:12:27.508Z,1579799547.508 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:27.508Z,1579799547.508 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:27.508Z,1579799547.508 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:27.650Z,1579799547.650 [Reporter](INFO): longitude -121.901021 arcdeg
2020-01-23T17:12:27.911Z,1579799547.911 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171227: (36.803398, -121.822304)
2020-01-23T17:12:27.911Z,1579799547.911 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:27.911Z,1579799547.911 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:27.911Z,1579799547.911 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:27.911Z,1579799547.911 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:27.911Z,1579799547.911 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:28.018Z,1579799548.018 [Reporter](INFO): longitude -121.901025 arcdeg
2020-01-23T17:12:28.355Z,1579799548.355 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:28.355Z,1579799548.355 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:28.355Z,1579799548.355 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:28.356Z,1579799548.356 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:12:28.356Z,1579799548.356 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:28.356Z,1579799548.356 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:28.356Z,1579799548.356 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:28.367Z,1579799548.367 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:12:28.542Z,1579799548.542 [Reporter](INFO): longitude -121.901030 arcdeg
2020-01-23T17:12:28.731Z,1579799548.731 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171228: (36.803398, -121.822304)
2020-01-23T17:12:28.731Z,1579799548.731 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:28.731Z,1579799548.731 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:28.731Z,1579799548.731 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:28.731Z,1579799548.731 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:28.731Z,1579799548.731 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:28.787Z,1579799548.787 [Reporter](INFO): longitude -121.901034 arcdeg
2020-01-23T17:12:29.064Z,1579799549.064 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:12:29.232Z,1579799549.232 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:29.232Z,1579799549.232 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:29.232Z,1579799549.232 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:29.242Z,1579799549.242 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:12:29.242Z,1579799549.242 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:29.242Z,1579799549.242 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:29.242Z,1579799549.242 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:29.310Z,1579799549.310 [Reporter](INFO): longitude -121.901039 arcdeg
2020-01-23T17:12:29.470Z,1579799549.470 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:12:29.532Z,1579799549.532 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171229: (36.803398, -121.822304)
2020-01-23T17:12:29.532Z,1579799549.532 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:29.532Z,1579799549.532 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:29.532Z,1579799549.532 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:29.537Z,1579799549.537 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:29.537Z,1579799549.537 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:29.590Z,1579799549.590 [Reporter](INFO): longitude -121.901043 arcdeg
2020-01-23T17:12:29.960Z,1579799549.960 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:29.960Z,1579799549.960 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:29.960Z,1579799549.960 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:29.969Z,1579799549.969 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:12:29.969Z,1579799549.969 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:29.969Z,1579799549.969 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:29.969Z,1579799549.969 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:30.094Z,1579799550.094 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-23T17:12:30.095Z,1579799550.095 [Reporter](INFO): longitude -121.901047 arcdeg
2020-01-23T17:12:30.303Z,1579799550.303 [Micromodem](INFO): Nmea in: $SNTTA,0.000194,,,,171229.97*4C

2020-01-23T17:12:30.388Z,1579799550.388 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171230: (36.803398, -121.822304)
2020-01-23T17:12:30.388Z,1579799550.388 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:30.388Z,1579799550.388 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:30.388Z,1579799550.388 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:30.388Z,1579799550.388 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:30.388Z,1579799550.388 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:30.510Z,1579799550.510 [Reporter](INFO): longitude -121.901052 arcdeg
2020-01-23T17:12:30.731Z,1579799550.731 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:30.731Z,1579799550.731 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:30.731Z,1579799550.731 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:30.732Z,1579799550.732 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:12:30.732Z,1579799550.732 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:30.732Z,1579799550.732 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:30.732Z,1579799550.732 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:30.858Z,1579799550.858 [Reporter](INFO): longitude -121.901056 arcdeg
2020-01-23T17:12:31.141Z,1579799551.141 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171231: (36.803398, -121.822304)
2020-01-23T17:12:31.141Z,1579799551.141 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:31.141Z,1579799551.141 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:31.142Z,1579799551.142 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:31.142Z,1579799551.142 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:31.142Z,1579799551.142 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:31.258Z,1579799551.258 [Reporter](INFO): longitude -121.901060 arcdeg
2020-01-23T17:12:31.539Z,1579799551.539 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:31.539Z,1579799551.539 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:31.539Z,1579799551.539 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:31.539Z,1579799551.539 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:12:31.539Z,1579799551.539 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:31.540Z,1579799551.540 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:31.540Z,1579799551.540 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:31.663Z,1579799551.663 [Reporter](INFO): longitude -121.901064 arcdeg
2020-01-23T17:12:31.969Z,1579799551.969 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171231: (36.803398, -121.822304)
2020-01-23T17:12:31.969Z,1579799551.969 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:31.969Z,1579799551.969 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:31.969Z,1579799551.969 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:31.969Z,1579799551.969 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:31.969Z,1579799551.969 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:32.090Z,1579799552.090 [Reporter](INFO): longitude -121.901069 arcdeg
2020-01-23T17:12:32.382Z,1579799552.382 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:32.382Z,1579799552.382 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:32.382Z,1579799552.382 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:32.386Z,1579799552.386 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:12:32.386Z,1579799552.386 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:32.386Z,1579799552.386 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:32.386Z,1579799552.386 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:32.518Z,1579799552.518 [Reporter](INFO): longitude -121.901073 arcdeg
2020-01-23T17:12:32.721Z,1579799552.721 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00,   0.00
2020-01-23T17:12:32.758Z,1579799552.758 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171232: (36.803398, -121.822304)
2020-01-23T17:12:32.758Z,1579799552.758 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:32.758Z,1579799552.758 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:32.759Z,1579799552.759 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:32.759Z,1579799552.759 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:32.759Z,1579799552.759 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:32.770Z,1579799552.770 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:12:32.878Z,1579799552.878 [Reporter](INFO): longitude -121.901077 arcdeg
2020-01-23T17:12:33.170Z,1579799553.170 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:33.170Z,1579799553.170 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:33.170Z,1579799553.170 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:33.170Z,1579799553.170 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:12:33.170Z,1579799553.170 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:33.170Z,1579799553.170 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:33.170Z,1579799553.170 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:33.282Z,1579799553.282 [Reporter](INFO): longitude -121.901082 arcdeg
2020-01-23T17:12:33.507Z,1579799553.507 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:12:33.657Z,1579799553.657 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171233: (36.803398, -121.822304)
2020-01-23T17:12:33.657Z,1579799553.657 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:33.657Z,1579799553.657 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:33.658Z,1579799553.658 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:33.658Z,1579799553.658 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:33.658Z,1579799553.658 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:33.842Z,1579799553.842 [Reporter](INFO): longitude -121.901087 arcdeg
2020-01-23T17:12:33.909Z,1579799553.909 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:12:33.967Z,1579799553.967 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:33.967Z,1579799553.967 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:33.967Z,1579799553.967 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:33.968Z,1579799553.968 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:12:33.968Z,1579799553.968 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:33.968Z,1579799553.968 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:33.968Z,1579799553.968 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:34.019Z,1579799554.019 [Reporter](INFO): longitude -121.901090 arcdeg
2020-01-23T17:12:34.383Z,1579799554.383 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171234: (36.803398, -121.822304)
2020-01-23T17:12:34.383Z,1579799554.383 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:34.383Z,1579799554.383 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:34.383Z,1579799554.383 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:34.383Z,1579799554.383 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:34.383Z,1579799554.383 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:34.442Z,1579799554.442 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-23T17:12:34.443Z,1579799554.443 [Reporter](INFO): longitude -121.901095 arcdeg
2020-01-23T17:12:34.747Z,1579799554.747 [Micromodem](INFO): Nmea in: $SNTTA,0.000194,,,,171234.42*48

2020-01-23T17:12:34.808Z,1579799554.808 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:34.808Z,1579799554.808 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:34.808Z,1579799554.808 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:34.809Z,1579799554.809 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:12:34.809Z,1579799554.809 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:34.809Z,1579799554.809 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:34.809Z,1579799554.809 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:34.851Z,1579799554.851 [Reporter](INFO): longitude -121.901100 arcdeg
2020-01-23T17:12:35.183Z,1579799555.183 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171235: (36.803398, -121.822304)
2020-01-23T17:12:35.183Z,1579799555.183 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:35.183Z,1579799555.183 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:35.184Z,1579799555.184 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:35.184Z,1579799555.184 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:35.184Z,1579799555.184 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:35.314Z,1579799555.314 [Reporter](INFO): longitude -121.901104 arcdeg
2020-01-23T17:12:35.584Z,1579799555.584 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:35.584Z,1579799555.584 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:35.584Z,1579799555.584 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:35.584Z,1579799555.584 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:12:35.584Z,1579799555.584 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:35.585Z,1579799555.585 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:35.585Z,1579799555.585 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:35.690Z,1579799555.690 [Reporter](INFO): longitude -121.901108 arcdeg
2020-01-23T17:12:35.989Z,1579799555.989 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171235: (36.803398, -121.822304)
2020-01-23T17:12:35.989Z,1579799555.989 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:35.989Z,1579799555.989 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:35.989Z,1579799555.989 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:35.989Z,1579799555.989 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:35.989Z,1579799555.989 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:36.098Z,1579799556.098 [Reporter](INFO): longitude -121.901112 arcdeg
2020-01-23T17:12:36.380Z,1579799556.380 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:36.380Z,1579799556.380 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:36.380Z,1579799556.380 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:36.381Z,1579799556.381 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:12:36.381Z,1579799556.381 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:36.381Z,1579799556.381 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:36.381Z,1579799556.381 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:36.502Z,1579799556.502 [Reporter](INFO): longitude -121.901116 arcdeg
2020-01-23T17:12:36.797Z,1579799556.797 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171236: (36.803398, -121.822304)
2020-01-23T17:12:36.797Z,1579799556.797 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:36.798Z,1579799556.798 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:36.798Z,1579799556.798 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:36.798Z,1579799556.798 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:36.798Z,1579799556.798 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:36.910Z,1579799556.910 [Reporter](INFO): longitude -121.901121 arcdeg
2020-01-23T17:12:37.176Z,1579799557.176 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:37.176Z,1579799557.176 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:37.176Z,1579799557.176 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:37.193Z,1579799557.193 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:12:37.193Z,1579799557.193 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:37.193Z,1579799557.193 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:37.193Z,1579799557.193 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:37.196Z,1579799557.196 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:12:37.302Z,1579799557.302 [Reporter](INFO): longitude -121.901125 arcdeg
2020-01-23T17:12:37.630Z,1579799557.630 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171237: (36.803398, -121.822304)
2020-01-23T17:12:37.630Z,1579799557.630 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:37.630Z,1579799557.630 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:37.630Z,1579799557.630 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:37.630Z,1579799557.630 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:37.630Z,1579799557.630 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:37.738Z,1579799557.738 [Reporter](INFO): longitude -121.901130 arcdeg
2020-01-23T17:12:37.955Z,1579799557.955 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:12:38.064Z,1579799558.064 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:38.064Z,1579799558.064 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:38.064Z,1579799558.064 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:38.064Z,1579799558.064 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:12:38.069Z,1579799558.069 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:38.069Z,1579799558.069 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:38.069Z,1579799558.069 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:38.182Z,1579799558.182 [Reporter](INFO): longitude -121.901134 arcdeg
2020-01-23T17:12:38.357Z,1579799558.357 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:12:38.422Z,1579799558.422 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171238: (36.803398, -121.822304)
2020-01-23T17:12:38.422Z,1579799558.422 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:38.422Z,1579799558.422 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:38.422Z,1579799558.422 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:38.422Z,1579799558.422 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:38.422Z,1579799558.422 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:38.543Z,1579799558.543 [Reporter](INFO): longitude -121.901138 arcdeg
2020-01-23T17:12:38.811Z,1579799558.811 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:38.812Z,1579799558.812 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:38.812Z,1579799558.812 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:38.812Z,1579799558.812 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:12:38.812Z,1579799558.812 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:38.812Z,1579799558.812 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:38.812Z,1579799558.812 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:38.918Z,1579799558.918 [Reporter](INFO): acoustic_contact_range 0.239999 m
2020-01-23T17:12:38.919Z,1579799558.919 [Reporter](INFO): longitude -121.901142 arcdeg
2020-01-23T17:12:39.198Z,1579799559.198 [Micromodem](INFO): Nmea in: $SNTTA,0.000207,,,,171238.87*44

2020-01-23T17:12:39.251Z,1579799559.251 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171239: (36.803398, -121.822304)
2020-01-23T17:12:39.251Z,1579799559.251 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:39.251Z,1579799559.251 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:39.251Z,1579799559.251 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:39.251Z,1579799559.251 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:39.251Z,1579799559.251 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:39.382Z,1579799559.382 [Reporter](INFO): longitude -121.901147 arcdeg
2020-01-23T17:12:39.650Z,1579799559.650 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:39.650Z,1579799559.650 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:39.650Z,1579799559.650 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:39.651Z,1579799559.651 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:12:39.651Z,1579799559.651 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:39.651Z,1579799559.651 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:39.651Z,1579799559.651 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:39.766Z,1579799559.766 [Reporter](INFO): longitude -121.901151 arcdeg
2020-01-23T17:12:40.031Z,1579799560.031 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171240: (36.803398, -121.822304)
2020-01-23T17:12:40.031Z,1579799560.031 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:40.031Z,1579799560.031 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:40.031Z,1579799560.031 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:40.031Z,1579799560.031 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:40.031Z,1579799560.031 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:40.134Z,1579799560.134 [Reporter](INFO): longitude -121.901156 arcdeg
2020-01-23T17:12:40.451Z,1579799560.451 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:40.452Z,1579799560.452 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:40.452Z,1579799560.452 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:40.452Z,1579799560.452 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:12:40.452Z,1579799560.452 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:40.452Z,1579799560.452 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:40.452Z,1579799560.452 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:40.559Z,1579799560.559 [Reporter](INFO): longitude -121.901160 arcdeg
2020-01-23T17:12:40.831Z,1579799560.831 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171240: (36.803398, -121.822304)
2020-01-23T17:12:40.831Z,1579799560.831 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:40.831Z,1579799560.831 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:40.832Z,1579799560.832 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:40.832Z,1579799560.832 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:40.832Z,1579799560.832 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:40.938Z,1579799560.938 [Reporter](INFO): longitude -121.901164 arcdeg
2020-01-23T17:12:41.230Z,1579799561.230 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:41.230Z,1579799561.230 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:41.230Z,1579799561.230 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:41.231Z,1579799561.231 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:12:41.231Z,1579799561.231 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:41.231Z,1579799561.231 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:41.231Z,1579799561.231 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:41.355Z,1579799561.355 [Reporter](INFO): longitude -121.901168 arcdeg
2020-01-23T17:12:41.627Z,1579799561.627 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171241: (36.803398, -121.822304)
2020-01-23T17:12:41.627Z,1579799561.627 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:41.627Z,1579799561.627 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:41.628Z,1579799561.628 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:41.628Z,1579799561.628 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:41.628Z,1579799561.628 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:41.647Z,1579799561.647 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:12:41.762Z,1579799561.762 [Reporter](INFO): longitude -121.901173 arcdeg
2020-01-23T17:12:42.036Z,1579799562.036 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:42.036Z,1579799562.036 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:42.036Z,1579799562.036 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:42.037Z,1579799562.037 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:12:42.037Z,1579799562.037 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:42.037Z,1579799562.037 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:42.037Z,1579799562.037 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:42.146Z,1579799562.146 [Reporter](INFO): longitude -121.901177 arcdeg
2020-01-23T17:12:42.418Z,1579799562.418 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:12:42.539Z,1579799562.539 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171242: (36.803398, -121.822304)
2020-01-23T17:12:42.539Z,1579799562.539 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:42.539Z,1579799562.539 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:42.539Z,1579799562.539 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:42.539Z,1579799562.539 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:42.539Z,1579799562.539 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:42.646Z,1579799562.646 [Reporter](INFO): longitude -121.901182 arcdeg
2020-01-23T17:12:42.809Z,1579799562.809 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:12:42.880Z,1579799562.880 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:42.881Z,1579799562.881 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:42.881Z,1579799562.881 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:42.881Z,1579799562.881 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:12:42.881Z,1579799562.881 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:42.882Z,1579799562.882 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:42.882Z,1579799562.882 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:42.991Z,1579799562.991 [Reporter](INFO): longitude -121.901186 arcdeg
2020-01-23T17:12:43.248Z,1579799563.248 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171243: (36.803398, -121.822304)
2020-01-23T17:12:43.248Z,1579799563.248 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:43.248Z,1579799563.248 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:43.248Z,1579799563.248 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:43.249Z,1579799563.249 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:43.249Z,1579799563.249 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:43.373Z,1579799563.373 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-23T17:12:43.374Z,1579799563.374 [Reporter](INFO): longitude -121.901190 arcdeg
2020-01-23T17:12:43.623Z,1579799563.623 [Micromodem](INFO): Nmea in: $SNTTA,0.000201,,,,171243.33*41

2020-01-23T17:12:43.679Z,1579799563.679 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:43.679Z,1579799563.679 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:43.679Z,1579799563.679 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:43.680Z,1579799563.680 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:12:43.680Z,1579799563.680 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:43.680Z,1579799563.680 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:43.680Z,1579799563.680 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:43.806Z,1579799563.806 [Reporter](INFO): longitude -121.901195 arcdeg
2020-01-23T17:12:44.063Z,1579799564.063 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171244: (36.803398, -121.822304)
2020-01-23T17:12:44.063Z,1579799564.063 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:44.063Z,1579799564.063 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:44.063Z,1579799564.063 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:44.063Z,1579799564.063 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:44.064Z,1579799564.064 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:44.178Z,1579799564.178 [Reporter](INFO): longitude -121.901199 arcdeg
2020-01-23T17:12:44.494Z,1579799564.494 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:44.494Z,1579799564.494 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:44.494Z,1579799564.494 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:44.495Z,1579799564.495 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:12:44.495Z,1579799564.495 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:44.495Z,1579799564.495 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:44.495Z,1579799564.495 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:44.614Z,1579799564.614 [Reporter](INFO): longitude -121.901203 arcdeg
2020-01-23T17:12:44.863Z,1579799564.863 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171244: (36.803398, -121.822304)
2020-01-23T17:12:44.864Z,1579799564.864 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:44.864Z,1579799564.864 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:44.864Z,1579799564.864 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:44.864Z,1579799564.864 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:44.864Z,1579799564.864 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:44.975Z,1579799564.975 [Reporter](INFO): longitude -121.901207 arcdeg
2020-01-23T17:12:45.266Z,1579799565.266 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:45.266Z,1579799565.266 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:45.266Z,1579799565.266 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:45.267Z,1579799565.267 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:12:45.267Z,1579799565.267 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:45.267Z,1579799565.267 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:45.267Z,1579799565.267 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:45.394Z,1579799565.394 [Reporter](INFO): longitude -121.901212 arcdeg
2020-01-23T17:12:45.702Z,1579799565.702 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171245: (36.803398, -121.822304)
2020-01-23T17:12:45.702Z,1579799565.702 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:45.702Z,1579799565.702 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:45.702Z,1579799565.702 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:45.702Z,1579799565.702 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:45.702Z,1579799565.702 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:45.822Z,1579799565.822 [Reporter](INFO): longitude -121.901216 arcdeg
2020-01-23T17:12:46.068Z,1579799566.068 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:46.068Z,1579799566.068 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:46.068Z,1579799566.068 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:46.069Z,1579799566.069 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:12:46.069Z,1579799566.069 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:46.069Z,1579799566.069 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:46.069Z,1579799566.069 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:46.072Z,1579799566.072 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:12:46.175Z,1579799566.175 [Reporter](INFO): longitude -121.901220 arcdeg
2020-01-23T17:12:46.515Z,1579799566.515 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171246: (36.803398, -121.822304)
2020-01-23T17:12:46.515Z,1579799566.515 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:46.515Z,1579799566.515 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:46.515Z,1579799566.515 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:46.516Z,1579799566.516 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:46.516Z,1579799566.516 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:46.638Z,1579799566.638 [Reporter](INFO): longitude -121.901225 arcdeg
2020-01-23T17:12:46.847Z,1579799566.847 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:12:46.954Z,1579799566.954 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:46.954Z,1579799566.954 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:46.954Z,1579799566.954 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:46.954Z,1579799566.954 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:12:46.955Z,1579799566.955 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:46.955Z,1579799566.955 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:46.955Z,1579799566.955 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:47.070Z,1579799567.070 [Reporter](INFO): longitude -121.901230 arcdeg
2020-01-23T17:12:47.249Z,1579799567.249 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:12:47.304Z,1579799567.304 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171247: (36.803398, -121.822304)
2020-01-23T17:12:47.304Z,1579799567.304 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:47.304Z,1579799567.304 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:47.304Z,1579799567.304 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:47.304Z,1579799567.304 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:47.304Z,1579799567.304 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:47.478Z,1579799567.478 [Reporter](INFO): longitude -121.901234 arcdeg
2020-01-23T17:12:47.692Z,1579799567.692 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:47.692Z,1579799567.692 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:47.692Z,1579799567.692 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:47.692Z,1579799567.692 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:12:47.692Z,1579799567.692 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:47.692Z,1579799567.692 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:47.692Z,1579799567.692 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:47.738Z,1579799567.738 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-23T17:12:47.739Z,1579799567.739 [Reporter](INFO): longitude -121.901238 arcdeg
2020-01-23T17:12:48.074Z,1579799568.074 [Micromodem](INFO): Nmea in: $SNTTA,0.000201,,,,171247.76*44

2020-01-23T17:12:48.127Z,1579799568.127 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171248: (36.803398, -121.822304)
2020-01-23T17:12:48.127Z,1579799568.127 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:48.127Z,1579799568.127 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:48.127Z,1579799568.127 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:48.127Z,1579799568.127 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:48.127Z,1579799568.127 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:48.180Z,1579799568.180 [Reporter](INFO): longitude -121.901242 arcdeg
2020-01-23T17:12:48.518Z,1579799568.518 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:48.519Z,1579799568.519 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:48.519Z,1579799568.519 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:48.519Z,1579799568.519 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:12:48.519Z,1579799568.519 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:48.519Z,1579799568.519 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:48.519Z,1579799568.519 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:48.574Z,1579799568.574 [Reporter](INFO): longitude -121.901246 arcdeg
2020-01-23T17:12:48.919Z,1579799568.919 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171248: (36.803398, -121.822304)
2020-01-23T17:12:48.919Z,1579799568.919 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:48.919Z,1579799568.919 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:48.920Z,1579799568.920 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:48.920Z,1579799568.920 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:48.920Z,1579799568.920 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:49.047Z,1579799569.047 [Reporter](INFO): longitude -121.901251 arcdeg
2020-01-23T17:12:49.314Z,1579799569.314 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:49.314Z,1579799569.314 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:49.314Z,1579799569.314 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:49.315Z,1579799569.315 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:12:49.315Z,1579799569.315 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:49.315Z,1579799569.315 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:49.315Z,1579799569.315 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:49.427Z,1579799569.427 [Reporter](INFO): longitude -121.901255 arcdeg
2020-01-23T17:12:49.755Z,1579799569.755 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171249: (36.803398, -121.822304)
2020-01-23T17:12:49.755Z,1579799569.755 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:49.755Z,1579799569.755 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:49.755Z,1579799569.755 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:49.755Z,1579799569.755 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:49.756Z,1579799569.756 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:49.882Z,1579799569.882 [Reporter](INFO): longitude -121.901260 arcdeg
2020-01-23T17:12:50.139Z,1579799570.139 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:50.139Z,1579799570.139 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:50.139Z,1579799570.139 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:50.139Z,1579799570.139 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:12:50.139Z,1579799570.139 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:50.140Z,1579799570.140 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:50.140Z,1579799570.140 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:50.262Z,1579799570.262 [Reporter](INFO): longitude -121.901264 arcdeg
2020-01-23T17:12:50.530Z,1579799570.530 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171250: (36.803398, -121.822304)
2020-01-23T17:12:50.530Z,1579799570.530 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:50.530Z,1579799570.530 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:50.530Z,1579799570.530 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:50.530Z,1579799570.530 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:50.531Z,1579799570.531 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:50.534Z,1579799570.534 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:12:50.653Z,1579799570.653 [Reporter](INFO): longitude -121.901268 arcdeg
2020-01-23T17:12:50.922Z,1579799570.922 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:50.922Z,1579799570.922 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:50.922Z,1579799570.922 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:50.923Z,1579799570.923 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:12:50.923Z,1579799570.923 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:50.923Z,1579799570.923 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:50.923Z,1579799570.923 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:51.026Z,1579799571.026 [Reporter](INFO): longitude -121.901272 arcdeg
2020-01-23T17:12:51.283Z,1579799571.283 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:12:51.383Z,1579799571.383 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171251: (36.803398, -121.822304)
2020-01-23T17:12:51.383Z,1579799571.383 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:51.383Z,1579799571.383 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:51.384Z,1579799571.384 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:51.384Z,1579799571.384 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:51.384Z,1579799571.384 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:51.512Z,1579799571.512 [Reporter](INFO): longitude -121.901277 arcdeg
2020-01-23T17:12:51.697Z,1579799571.697 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:12:51.766Z,1579799571.766 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:51.766Z,1579799571.766 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:51.766Z,1579799571.766 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:51.767Z,1579799571.767 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:12:51.767Z,1579799571.767 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:51.767Z,1579799571.767 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:51.767Z,1579799571.767 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:51.915Z,1579799571.915 [Reporter](INFO): longitude -121.901281 arcdeg
2020-01-23T17:12:52.127Z,1579799572.127 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171252: (36.803398, -121.822304)
2020-01-23T17:12:52.127Z,1579799572.127 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:52.127Z,1579799572.127 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:52.128Z,1579799572.128 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:52.128Z,1579799572.128 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:52.128Z,1579799572.128 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:52.253Z,1579799572.253 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-23T17:12:52.254Z,1579799572.254 [Reporter](INFO): longitude -121.901285 arcdeg
2020-01-23T17:12:52.522Z,1579799572.522 [Micromodem](INFO): Nmea in: $SNTTA,0.000204,,,,171252.20*46

2020-01-23T17:12:52.588Z,1579799572.588 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:52.588Z,1579799572.588 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:52.588Z,1579799572.588 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:52.589Z,1579799572.589 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:12:52.589Z,1579799572.589 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:52.589Z,1579799572.589 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:52.589Z,1579799572.589 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:52.702Z,1579799572.702 [Reporter](INFO): longitude -121.901290 arcdeg
2020-01-23T17:12:52.955Z,1579799572.955 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171252: (36.803398, -121.822304)
2020-01-23T17:12:52.955Z,1579799572.955 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:52.955Z,1579799572.955 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:52.956Z,1579799572.956 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:52.956Z,1579799572.956 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:52.956Z,1579799572.956 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:53.066Z,1579799573.066 [Reporter](INFO): longitude -121.901294 arcdeg
2020-01-23T17:12:53.368Z,1579799573.368 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-23T17:12:53.368Z,1579799573.368 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,20012310241140,35.0, -0.1,   0.0,1448.9,,  0.00,   0.00,   0.00,   0.00,   0.00
2020-01-23T17:12:53.378Z,1579799573.378 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:53.379Z,1579799573.379 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:53.379Z,1579799573.379 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:53.379Z,1579799573.379 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:12:53.379Z,1579799573.379 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:53.379Z,1579799573.379 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:53.379Z,1579799573.379 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:53.510Z,1579799573.510 [Reporter](INFO): longitude -121.901299 arcdeg
2020-01-23T17:12:53.772Z,1579799573.772 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171253: (36.803398, -121.822304)
2020-01-23T17:12:53.772Z,1579799573.772 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:53.773Z,1579799573.773 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:53.773Z,1579799573.773 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:53.773Z,1579799573.773 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:53.773Z,1579799573.773 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:53.890Z,1579799573.890 [Reporter](INFO): longitude -121.901303 arcdeg
2020-01-23T17:12:54.161Z,1579799574.161 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:54.161Z,1579799574.161 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:54.162Z,1579799574.162 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:54.162Z,1579799574.162 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:12:54.162Z,1579799574.162 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:54.162Z,1579799574.162 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:54.162Z,1579799574.162 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:54.278Z,1579799574.278 [Reporter](INFO): longitude -121.901307 arcdeg
2020-01-23T17:12:54.571Z,1579799574.571 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171254: (36.803398, -121.822304)
2020-01-23T17:12:54.571Z,1579799574.571 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:54.571Z,1579799574.571 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:54.571Z,1579799574.571 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:54.571Z,1579799574.571 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:54.571Z,1579799574.571 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:54.678Z,1579799574.678 [Reporter](INFO): longitude -121.901312 arcdeg
2020-01-23T17:12:54.958Z,1579799574.958 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:54.958Z,1579799574.958 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:54.958Z,1579799574.958 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:54.959Z,1579799574.959 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:12:54.959Z,1579799574.959 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:54.959Z,1579799574.959 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:54.959Z,1579799574.959 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:54.962Z,1579799574.962 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:12:55.082Z,1579799575.082 [Reporter](INFO): longitude -121.901316 arcdeg
2020-01-23T17:12:55.405Z,1579799575.405 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171255: (36.803398, -121.822304)
2020-01-23T17:12:55.405Z,1579799575.405 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:55.405Z,1579799575.405 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:55.406Z,1579799575.406 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:55.406Z,1579799575.406 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:55.406Z,1579799575.406 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:55.519Z,1579799575.519 [Reporter](INFO): longitude -121.901320 arcdeg
2020-01-23T17:12:55.731Z,1579799575.731 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:12:55.841Z,1579799575.841 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:55.842Z,1579799575.842 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:55.842Z,1579799575.842 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:55.842Z,1579799575.842 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:12:55.842Z,1579799575.842 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:55.842Z,1579799575.842 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:55.842Z,1579799575.842 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:55.954Z,1579799575.954 [Reporter](INFO): longitude -121.901325 arcdeg
2020-01-23T17:12:56.146Z,1579799576.146 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:12:56.217Z,1579799576.217 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171256: (36.803398, -121.822304)
2020-01-23T17:12:56.217Z,1579799576.217 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:56.217Z,1579799576.217 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:56.217Z,1579799576.217 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:56.218Z,1579799576.218 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:56.218Z,1579799576.218 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:56.323Z,1579799576.323 [Reporter](INFO): longitude -121.901329 arcdeg
2020-01-23T17:12:56.587Z,1579799576.587 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:56.587Z,1579799576.587 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:56.587Z,1579799576.587 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:56.588Z,1579799576.588 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:12:56.588Z,1579799576.588 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:56.588Z,1579799576.588 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:56.588Z,1579799576.588 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:56.694Z,1579799576.694 [Reporter](INFO): acoustic_contact_range 0.239999 m
2020-01-23T17:12:56.695Z,1579799576.695 [Reporter](INFO): longitude -121.901333 arcdeg
2020-01-23T17:12:56.966Z,1579799576.966 [Micromodem](INFO): Nmea in: $SNTTA,0.000192,,,,171256.64*4E

2020-01-23T17:12:57.016Z,1579799577.016 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171257: (36.803398, -121.822304)
2020-01-23T17:12:57.016Z,1579799577.016 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:57.016Z,1579799577.016 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:57.016Z,1579799577.016 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:57.016Z,1579799577.016 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:57.016Z,1579799577.016 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:57.126Z,1579799577.126 [Reporter](INFO): longitude -121.901338 arcdeg
2020-01-23T17:12:57.407Z,1579799577.407 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:57.407Z,1579799577.407 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:57.407Z,1579799577.407 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:57.408Z,1579799577.408 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:12:57.408Z,1579799577.408 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:57.408Z,1579799577.408 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:57.408Z,1579799577.408 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:57.566Z,1579799577.566 [Reporter](INFO): longitude -121.901342 arcdeg
2020-01-23T17:12:57.811Z,1579799577.811 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171257: (36.803398, -121.822304)
2020-01-23T17:12:57.811Z,1579799577.811 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:57.811Z,1579799577.811 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:57.811Z,1579799577.811 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:57.812Z,1579799577.812 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:57.812Z,1579799577.812 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:57.906Z,1579799577.906 [Reporter](INFO): longitude -121.901346 arcdeg
2020-01-23T17:12:58.194Z,1579799578.194 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:58.194Z,1579799578.194 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:58.194Z,1579799578.194 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:58.195Z,1579799578.195 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:12:58.195Z,1579799578.195 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:58.195Z,1579799578.195 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:58.195Z,1579799578.195 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:58.250Z,1579799578.250 [Reporter](INFO): longitude -121.901350 arcdeg
2020-01-23T17:12:58.611Z,1579799578.611 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171258: (36.803398, -121.822304)
2020-01-23T17:12:58.611Z,1579799578.611 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:58.611Z,1579799578.611 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:58.611Z,1579799578.611 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:58.611Z,1579799578.611 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:58.612Z,1579799578.612 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:58.674Z,1579799578.674 [Reporter](INFO): longitude -121.901355 arcdeg
2020-01-23T17:12:59.039Z,1579799579.039 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:59.039Z,1579799579.039 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:59.039Z,1579799579.039 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:59.040Z,1579799579.040 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:12:59.040Z,1579799579.040 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:59.040Z,1579799579.040 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:59.040Z,1579799579.040 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:59.166Z,1579799579.166 [Reporter](INFO): longitude -121.901359 arcdeg
2020-01-23T17:12:59.403Z,1579799579.403 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171259: (36.803398, -121.822304)
2020-01-23T17:12:59.403Z,1579799579.403 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:12:59.403Z,1579799579.403 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:12:59.403Z,1579799579.403 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:59.403Z,1579799579.403 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:12:59.403Z,1579799579.403 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:59.406Z,1579799579.406 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:12:59.514Z,1579799579.514 [Reporter](INFO): longitude -121.901363 arcdeg
2020-01-23T17:12:59.829Z,1579799579.829 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:12:59.829Z,1579799579.829 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:12:59.829Z,1579799579.829 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:12:59.829Z,1579799579.829 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:12:59.830Z,1579799579.830 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:12:59.830Z,1579799579.830 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:12:59.830Z,1579799579.830 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:12:59.930Z,1579799579.930 [Reporter](INFO): longitude -121.901368 arcdeg
2020-01-23T17:13:00.176Z,1579799580.176 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:13:00.271Z,1579799580.271 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171300: (36.803398, -121.822304)
2020-01-23T17:13:00.271Z,1579799580.271 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:00.271Z,1579799580.271 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:00.271Z,1579799580.271 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:00.271Z,1579799580.271 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:00.272Z,1579799580.272 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:00.390Z,1579799580.390 [Reporter](INFO): longitude -121.901372 arcdeg
2020-01-23T17:13:00.577Z,1579799580.577 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:13:00.640Z,1579799580.640 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:00.641Z,1579799580.641 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:00.641Z,1579799580.641 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:00.641Z,1579799580.641 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:13:00.642Z,1579799580.642 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:00.642Z,1579799580.642 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:00.642Z,1579799580.642 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:00.755Z,1579799580.755 [Reporter](INFO): longitude -121.901377 arcdeg
2020-01-23T17:13:01.009Z,1579799581.009 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171301: (36.803398, -121.822304)
2020-01-23T17:13:01.010Z,1579799581.010 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:01.010Z,1579799581.010 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:01.010Z,1579799581.010 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:01.010Z,1579799581.010 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:01.010Z,1579799581.010 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:01.141Z,1579799581.141 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-23T17:13:01.142Z,1579799581.142 [Reporter](INFO): longitude -121.901381 arcdeg
2020-01-23T17:13:01.426Z,1579799581.426 [Micromodem](INFO): Nmea in: $SNTTA,0.000205,,,,171301.09*4B

2020-01-23T17:13:01.481Z,1579799581.481 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:01.481Z,1579799581.481 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:01.482Z,1579799581.482 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:01.482Z,1579799581.482 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:13:01.482Z,1579799581.482 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:01.482Z,1579799581.482 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:01.482Z,1579799581.482 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:01.614Z,1579799581.614 [Reporter](INFO): longitude -121.901386 arcdeg
2020-01-23T17:13:01.843Z,1579799581.843 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171301: (36.803398, -121.822304)
2020-01-23T17:13:01.843Z,1579799581.843 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:01.843Z,1579799581.843 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:01.844Z,1579799581.844 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:01.844Z,1579799581.844 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:01.844Z,1579799581.844 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:01.954Z,1579799581.954 [Reporter](INFO): longitude -121.901390 arcdeg
2020-01-23T17:13:02.238Z,1579799582.238 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:02.238Z,1579799582.238 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:02.238Z,1579799582.238 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:02.239Z,1579799582.239 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:02.239Z,1579799582.239 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:02.239Z,1579799582.239 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:02.239Z,1579799582.239 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:02.356Z,1579799582.356 [Reporter](INFO): longitude -121.901394 arcdeg
2020-01-23T17:13:02.665Z,1579799582.665 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171302: (36.803398, -121.822304)
2020-01-23T17:13:02.665Z,1579799582.665 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:02.665Z,1579799582.665 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:02.666Z,1579799582.666 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:02.666Z,1579799582.666 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:02.666Z,1579799582.666 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:02.778Z,1579799582.778 [Reporter](INFO): longitude -121.901398 arcdeg
2020-01-23T17:13:03.039Z,1579799583.039 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:03.040Z,1579799583.040 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:03.040Z,1579799583.040 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:03.040Z,1579799583.040 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:03.040Z,1579799583.040 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:03.040Z,1579799583.040 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:03.040Z,1579799583.040 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:03.154Z,1579799583.154 [Reporter](INFO): longitude -121.901402 arcdeg
2020-01-23T17:13:03.466Z,1579799583.466 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171303: (36.803398, -121.822304)
2020-01-23T17:13:03.466Z,1579799583.466 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:03.466Z,1579799583.466 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:03.467Z,1579799583.467 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:03.467Z,1579799583.467 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:03.467Z,1579799583.467 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:03.586Z,1579799583.586 [Reporter](INFO): longitude -121.901407 arcdeg
2020-01-23T17:13:03.848Z,1579799583.848 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:03.848Z,1579799583.848 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:03.848Z,1579799583.848 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:03.848Z,1579799583.848 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:03.876Z,1579799583.876 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:03.876Z,1579799583.876 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:03.876Z,1579799583.876 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:03.879Z,1579799583.879 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:13:03.982Z,1579799583.982 [Reporter](INFO): longitude -121.901411 arcdeg
2020-01-23T17:13:04.259Z,1579799584.259 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171304: (36.803398, -121.822304)
2020-01-23T17:13:04.259Z,1579799584.259 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:04.259Z,1579799584.259 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:04.260Z,1579799584.260 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:04.260Z,1579799584.260 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:04.260Z,1579799584.260 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:04.410Z,1579799584.410 [Reporter](INFO): longitude -121.901415 arcdeg
2020-01-23T17:13:04.619Z,1579799584.619 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:13:04.749Z,1579799584.749 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:04.749Z,1579799584.749 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:04.749Z,1579799584.749 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:04.750Z,1579799584.750 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:04.750Z,1579799584.750 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:04.750Z,1579799584.750 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:04.750Z,1579799584.750 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:04.858Z,1579799584.858 [Reporter](INFO): longitude -121.901421 arcdeg
2020-01-23T17:13:05.034Z,1579799585.034 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:13:05.072Z,1579799585.072 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171305: (36.803398, -121.822304)
2020-01-23T17:13:05.072Z,1579799585.072 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:05.072Z,1579799585.072 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:05.072Z,1579799585.072 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:05.072Z,1579799585.072 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:05.072Z,1579799585.072 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:05.207Z,1579799585.207 [Reporter](INFO): longitude -121.901424 arcdeg
2020-01-23T17:13:05.483Z,1579799585.483 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:05.483Z,1579799585.483 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:05.483Z,1579799585.483 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:05.484Z,1579799585.484 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:05.484Z,1579799585.484 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:05.484Z,1579799585.484 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:05.484Z,1579799585.484 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:05.606Z,1579799585.606 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-23T17:13:05.607Z,1579799585.607 [Reporter](INFO): longitude -121.901429 arcdeg
2020-01-23T17:13:05.864Z,1579799585.864 [Micromodem](INFO): Nmea in: $SNTTA,0.000211,,,,171305.53*45

2020-01-23T17:13:05.904Z,1579799585.904 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171305: (36.803398, -121.822304)
2020-01-23T17:13:05.904Z,1579799585.904 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:05.904Z,1579799585.904 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:05.905Z,1579799585.905 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:05.905Z,1579799585.905 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:05.905Z,1579799585.905 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:06.054Z,1579799586.054 [Reporter](INFO): longitude -121.901433 arcdeg
2020-01-23T17:13:06.288Z,1579799586.288 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:06.288Z,1579799586.288 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:06.288Z,1579799586.288 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:06.289Z,1579799586.289 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:06.289Z,1579799586.289 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:06.289Z,1579799586.289 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:06.289Z,1579799586.289 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:06.407Z,1579799586.407 [Reporter](INFO): longitude -121.901437 arcdeg
2020-01-23T17:13:06.687Z,1579799586.687 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171306: (36.803398, -121.822304)
2020-01-23T17:13:06.688Z,1579799586.688 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:06.688Z,1579799586.688 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:06.688Z,1579799586.688 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:06.688Z,1579799586.688 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:06.688Z,1579799586.688 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:06.807Z,1579799586.807 [Reporter](INFO): longitude -121.901442 arcdeg
2020-01-23T17:13:07.086Z,1579799587.086 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:07.086Z,1579799587.086 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:07.086Z,1579799587.086 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:07.087Z,1579799587.087 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:07.087Z,1579799587.087 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:07.087Z,1579799587.087 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:07.087Z,1579799587.087 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:07.190Z,1579799587.190 [Reporter](INFO): longitude -121.901446 arcdeg
2020-01-23T17:13:07.496Z,1579799587.496 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171307: (36.803398, -121.822304)
2020-01-23T17:13:07.496Z,1579799587.496 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:07.496Z,1579799587.496 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:07.496Z,1579799587.496 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:07.496Z,1579799587.496 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:07.497Z,1579799587.497 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:07.670Z,1579799587.670 [Reporter](INFO): longitude -121.901450 arcdeg
2020-01-23T17:13:07.916Z,1579799587.916 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:07.917Z,1579799587.917 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:07.917Z,1579799587.917 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:07.917Z,1579799587.917 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:07.917Z,1579799587.917 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:07.918Z,1579799587.918 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:07.918Z,1579799587.918 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:08.034Z,1579799588.034 [Reporter](INFO): longitude -121.901455 arcdeg
2020-01-23T17:13:08.287Z,1579799588.287 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171308: (36.803398, -121.822304)
2020-01-23T17:13:08.287Z,1579799588.287 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:08.287Z,1579799588.287 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:08.288Z,1579799588.288 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:08.288Z,1579799588.288 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:08.288Z,1579799588.288 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:08.291Z,1579799588.291 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:13:08.398Z,1579799588.398 [Reporter](INFO): longitude -121.901459 arcdeg
2020-01-23T17:13:08.734Z,1579799588.734 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:08.735Z,1579799588.735 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:08.735Z,1579799588.735 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:08.735Z,1579799588.735 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:08.735Z,1579799588.735 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:08.735Z,1579799588.735 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:08.735Z,1579799588.735 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:08.850Z,1579799588.850 [Reporter](INFO): longitude -121.901463 arcdeg
2020-01-23T17:13:09.060Z,1579799589.060 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:13:09.234Z,1579799589.234 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171309: (36.803398, -121.822304)
2020-01-23T17:13:09.234Z,1579799589.234 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:09.235Z,1579799589.235 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:09.235Z,1579799589.235 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:09.235Z,1579799589.235 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:09.235Z,1579799589.235 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:09.362Z,1579799589.362 [Reporter](INFO): longitude -121.901469 arcdeg
2020-01-23T17:13:09.466Z,1579799589.466 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:13:09.532Z,1579799589.532 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:09.532Z,1579799589.532 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:09.532Z,1579799589.532 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:09.549Z,1579799589.549 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:09.549Z,1579799589.549 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:09.549Z,1579799589.549 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:09.549Z,1579799589.549 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:09.675Z,1579799589.675 [Reporter](INFO): longitude -121.901472 arcdeg
2020-01-23T17:13:09.939Z,1579799589.939 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171309: (36.803398, -121.822304)
2020-01-23T17:13:09.939Z,1579799589.939 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:09.939Z,1579799589.939 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:09.939Z,1579799589.939 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:09.939Z,1579799589.939 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:09.940Z,1579799589.940 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:10.059Z,1579799590.059 [Reporter](INFO): acoustic_contact_range 0.239999 m
2020-01-23T17:13:10.060Z,1579799590.060 [Reporter](INFO): longitude -121.901476 arcdeg
2020-01-23T17:13:10.300Z,1579799590.300 [Micromodem](INFO): Nmea in: $SNTTA,0.000209,,,,171309.97*48

2020-01-23T17:13:10.394Z,1579799590.394 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:10.394Z,1579799590.394 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:10.394Z,1579799590.394 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:10.394Z,1579799590.394 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:10.394Z,1579799590.394 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:10.395Z,1579799590.395 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:10.395Z,1579799590.395 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:10.506Z,1579799590.506 [Reporter](INFO): longitude -121.901481 arcdeg
2020-01-23T17:13:10.738Z,1579799590.738 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171310: (36.803398, -121.822304)
2020-01-23T17:13:10.738Z,1579799590.738 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:10.738Z,1579799590.738 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:10.738Z,1579799590.738 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:10.738Z,1579799590.738 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:10.738Z,1579799590.738 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:10.867Z,1579799590.867 [Reporter](INFO): longitude -121.901485 arcdeg
2020-01-23T17:13:11.134Z,1579799591.134 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:11.134Z,1579799591.134 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:11.134Z,1579799591.134 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:11.135Z,1579799591.135 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:13:11.135Z,1579799591.135 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:11.135Z,1579799591.135 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:11.135Z,1579799591.135 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:11.242Z,1579799591.242 [Reporter](INFO): longitude -121.901489 arcdeg
2020-01-23T17:13:11.556Z,1579799591.556 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171311: (36.803398, -121.822304)
2020-01-23T17:13:11.557Z,1579799591.557 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:11.557Z,1579799591.557 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:11.557Z,1579799591.557 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:11.557Z,1579799591.557 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:11.557Z,1579799591.557 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:11.655Z,1579799591.655 [Reporter](INFO): longitude -121.901494 arcdeg
2020-01-23T17:13:11.934Z,1579799591.934 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:11.934Z,1579799591.934 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:11.934Z,1579799591.934 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:11.935Z,1579799591.935 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:13:11.935Z,1579799591.935 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:11.935Z,1579799591.935 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:11.935Z,1579799591.935 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:12.067Z,1579799592.067 [Reporter](INFO): longitude -121.901498 arcdeg
2020-01-23T17:13:12.377Z,1579799592.377 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171312: (36.803398, -121.822304)
2020-01-23T17:13:12.378Z,1579799592.378 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:12.378Z,1579799592.378 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:12.378Z,1579799592.378 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:12.378Z,1579799592.378 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:12.378Z,1579799592.378 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:12.482Z,1579799592.482 [Reporter](INFO): longitude -121.901503 arcdeg
2020-01-23T17:13:12.755Z,1579799592.755 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:12.756Z,1579799592.756 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:12.756Z,1579799592.756 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:12.756Z,1579799592.756 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:13:12.756Z,1579799592.756 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:12.756Z,1579799592.756 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:12.756Z,1579799592.756 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:12.760Z,1579799592.760 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:13:12.862Z,1579799592.862 [Reporter](INFO): longitude -121.901507 arcdeg
2020-01-23T17:13:13.161Z,1579799593.161 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171313: (36.803398, -121.822304)
2020-01-23T17:13:13.161Z,1579799593.161 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:13.161Z,1579799593.161 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:13.161Z,1579799593.161 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:13.161Z,1579799593.161 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:13.162Z,1579799593.162 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:13.278Z,1579799593.278 [Reporter](INFO): longitude -121.901511 arcdeg
2020-01-23T17:13:13.507Z,1579799593.507 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:13:13.632Z,1579799593.632 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:13.632Z,1579799593.632 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:13.632Z,1579799593.632 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:13.637Z,1579799593.637 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:13:13.637Z,1579799593.637 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:13.637Z,1579799593.637 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:13.637Z,1579799593.637 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:13.750Z,1579799593.750 [Reporter](INFO): longitude -121.901516 arcdeg
2020-01-23T17:13:13.906Z,1579799593.906 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:13:13.966Z,1579799593.966 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171313: (36.803398, -121.822304)
2020-01-23T17:13:13.966Z,1579799593.966 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:13.966Z,1579799593.966 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:13.966Z,1579799593.966 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:13.966Z,1579799593.966 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:13.966Z,1579799593.966 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:14.075Z,1579799594.075 [Reporter](INFO): longitude -121.901520 arcdeg
2020-01-23T17:13:14.381Z,1579799594.381 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:14.381Z,1579799594.381 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:14.381Z,1579799594.381 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:14.382Z,1579799594.382 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:13:14.382Z,1579799594.382 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:14.382Z,1579799594.382 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:14.382Z,1579799594.382 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:14.514Z,1579799594.514 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-23T17:13:14.515Z,1579799594.515 [Reporter](INFO): longitude -121.901524 arcdeg
2020-01-23T17:13:14.742Z,1579799594.742 [Micromodem](INFO): Nmea in: $SNTTA,0.000213,,,,171314.42*47

2020-01-23T17:13:14.794Z,1579799594.794 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171314: (36.803398, -121.822304)
2020-01-23T17:13:14.794Z,1579799594.794 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:14.794Z,1579799594.794 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:14.794Z,1579799594.794 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:14.794Z,1579799594.794 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:14.794Z,1579799594.794 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:14.894Z,1579799594.894 [Reporter](INFO): longitude -121.901528 arcdeg
2020-01-23T17:13:15.174Z,1579799595.174 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:15.174Z,1579799595.174 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:15.174Z,1579799595.174 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:15.175Z,1579799595.175 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:15.175Z,1579799595.175 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:15.175Z,1579799595.175 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:15.175Z,1579799595.175 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:15.310Z,1579799595.310 [Reporter](INFO): longitude -121.901533 arcdeg
2020-01-23T17:13:15.587Z,1579799595.587 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171315: (36.803398, -121.822304)
2020-01-23T17:13:15.587Z,1579799595.587 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:15.587Z,1579799595.587 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:15.588Z,1579799595.588 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:15.588Z,1579799595.588 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:15.588Z,1579799595.588 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:15.694Z,1579799595.694 [Reporter](INFO): longitude -121.901537 arcdeg
2020-01-23T17:13:15.981Z,1579799595.981 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:15.982Z,1579799595.982 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:15.982Z,1579799595.982 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:15.982Z,1579799595.982 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:15.982Z,1579799595.982 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:15.982Z,1579799595.982 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:15.982Z,1579799595.982 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:16.098Z,1579799596.098 [Reporter](INFO): longitude -121.901541 arcdeg
2020-01-23T17:13:16.434Z,1579799596.434 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171316: (36.803398, -121.822304)
2020-01-23T17:13:16.434Z,1579799596.434 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:16.434Z,1579799596.434 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:16.434Z,1579799596.434 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:16.435Z,1579799596.435 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:16.435Z,1579799596.435 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:16.562Z,1579799596.562 [Reporter](INFO): longitude -121.901546 arcdeg
2020-01-23T17:13:16.793Z,1579799596.793 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:16.793Z,1579799596.793 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:16.793Z,1579799596.793 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:16.794Z,1579799596.794 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:16.794Z,1579799596.794 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:16.794Z,1579799596.794 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:16.794Z,1579799596.794 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:16.918Z,1579799596.918 [Reporter](INFO): longitude -121.901550 arcdeg
2020-01-23T17:13:17.181Z,1579799597.181 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171317: (36.803398, -121.822304)
2020-01-23T17:13:17.181Z,1579799597.181 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:17.182Z,1579799597.182 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:17.182Z,1579799597.182 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:17.182Z,1579799597.182 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:17.182Z,1579799597.182 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:17.185Z,1579799597.185 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:13:17.290Z,1579799597.290 [Reporter](INFO): longitude -121.901554 arcdeg
2020-01-23T17:13:17.630Z,1579799597.630 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:17.630Z,1579799597.630 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:17.630Z,1579799597.630 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:17.631Z,1579799597.631 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:17.631Z,1579799597.631 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:17.631Z,1579799597.631 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:17.631Z,1579799597.631 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:17.762Z,1579799597.762 [Reporter](INFO): longitude -121.901559 arcdeg
2020-01-23T17:13:17.954Z,1579799597.954 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:13:18.075Z,1579799598.075 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171318: (36.803398, -121.822304)
2020-01-23T17:13:18.075Z,1579799598.075 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:18.075Z,1579799598.075 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:18.075Z,1579799598.075 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:18.075Z,1579799598.075 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:18.075Z,1579799598.075 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:18.191Z,1579799598.191 [Reporter](INFO): longitude -121.901563 arcdeg
2020-01-23T17:13:18.357Z,1579799598.357 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:13:18.419Z,1579799598.419 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:18.419Z,1579799598.419 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:18.419Z,1579799598.419 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:18.420Z,1579799598.420 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:18.420Z,1579799598.420 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:18.420Z,1579799598.420 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:18.420Z,1579799598.420 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:18.551Z,1579799598.551 [Reporter](INFO): longitude -121.901567 arcdeg
2020-01-23T17:13:18.814Z,1579799598.814 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171318: (36.803398, -121.822304)
2020-01-23T17:13:18.814Z,1579799598.814 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:18.814Z,1579799598.814 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:18.815Z,1579799598.815 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:18.815Z,1579799598.815 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:18.815Z,1579799598.815 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:18.921Z,1579799598.921 [Reporter](INFO): acoustic_contact_range 0.239999 m
2020-01-23T17:13:18.922Z,1579799598.922 [Reporter](INFO): longitude -121.901572 arcdeg
2020-01-23T17:13:19.186Z,1579799599.186 [Micromodem](INFO): Nmea in: $SNTTA,0.000198,,,,171318.87*42

2020-01-23T17:13:19.234Z,1579799599.234 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:19.234Z,1579799599.234 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:19.234Z,1579799599.234 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:19.234Z,1579799599.234 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:19.235Z,1579799599.235 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:19.235Z,1579799599.235 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:19.235Z,1579799599.235 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:19.338Z,1579799599.338 [Reporter](INFO): longitude -121.901576 arcdeg
2020-01-23T17:13:19.619Z,1579799599.619 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171319: (36.803398, -121.822304)
2020-01-23T17:13:19.619Z,1579799599.619 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:19.619Z,1579799599.619 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:19.620Z,1579799599.620 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:19.620Z,1579799599.620 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:19.620Z,1579799599.620 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:19.750Z,1579799599.750 [Reporter](INFO): longitude -121.901580 arcdeg
2020-01-23T17:13:20.023Z,1579799600.023 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:20.023Z,1579799600.023 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:20.023Z,1579799600.023 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:20.024Z,1579799600.024 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:13:20.024Z,1579799600.024 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:20.024Z,1579799600.024 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:20.024Z,1579799600.024 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:20.126Z,1579799600.126 [Reporter](INFO): longitude -121.901585 arcdeg
2020-01-23T17:13:20.429Z,1579799600.429 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171320: (36.803398, -121.822304)
2020-01-23T17:13:20.430Z,1579799600.430 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:20.430Z,1579799600.430 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:20.430Z,1579799600.430 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:20.430Z,1579799600.430 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:20.430Z,1579799600.430 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:20.539Z,1579799600.539 [Reporter](INFO): longitude -121.901589 arcdeg
2020-01-23T17:13:20.822Z,1579799600.822 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:20.822Z,1579799600.822 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:20.822Z,1579799600.822 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:20.823Z,1579799600.823 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:13:20.823Z,1579799600.823 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:20.823Z,1579799600.823 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:20.823Z,1579799600.823 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:20.938Z,1579799600.938 [Reporter](INFO): longitude -121.901593 arcdeg
2020-01-23T17:13:21.228Z,1579799601.228 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171321: (36.803398, -121.822304)
2020-01-23T17:13:21.228Z,1579799601.228 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:21.228Z,1579799601.228 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:21.228Z,1579799601.228 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:21.228Z,1579799601.228 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:21.228Z,1579799601.228 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:21.386Z,1579799601.386 [Reporter](INFO): longitude -121.901597 arcdeg
2020-01-23T17:13:21.621Z,1579799601.621 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:21.621Z,1579799601.621 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:21.621Z,1579799601.621 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:21.622Z,1579799601.622 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:13:21.622Z,1579799601.622 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:21.622Z,1579799601.622 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:21.622Z,1579799601.622 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:21.625Z,1579799601.625 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:13:21.682Z,1579799601.682 [Reporter](INFO): longitude -121.901602 arcdeg
2020-01-23T17:13:22.030Z,1579799602.030 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171322: (36.803398, -121.822304)
2020-01-23T17:13:22.030Z,1579799602.030 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:22.030Z,1579799602.030 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:22.031Z,1579799602.031 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:22.031Z,1579799602.031 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:22.031Z,1579799602.031 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:22.090Z,1579799602.090 [Reporter](INFO): longitude -121.901606 arcdeg
2020-01-23T17:13:22.407Z,1579799602.407 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:13:22.533Z,1579799602.533 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:22.533Z,1579799602.533 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:22.534Z,1579799602.534 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:22.534Z,1579799602.534 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:13:22.534Z,1579799602.534 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:22.534Z,1579799602.534 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:22.534Z,1579799602.534 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:22.586Z,1579799602.586 [Reporter](INFO): longitude -121.901611 arcdeg
2020-01-23T17:13:22.800Z,1579799602.800 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:13:22.866Z,1579799602.866 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171322: (36.803398, -121.822304)
2020-01-23T17:13:22.867Z,1579799602.867 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:22.867Z,1579799602.867 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:22.867Z,1579799602.867 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:22.867Z,1579799602.867 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:22.867Z,1579799602.867 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:22.983Z,1579799602.983 [Reporter](INFO): longitude -121.901615 arcdeg
2020-01-23T17:13:23.242Z,1579799603.242 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:23.242Z,1579799603.242 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:23.242Z,1579799603.242 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:23.243Z,1579799603.243 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:13:23.243Z,1579799603.243 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:23.243Z,1579799603.243 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:23.243Z,1579799603.243 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:23.370Z,1579799603.370 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-23T17:13:23.371Z,1579799603.371 [Reporter](INFO): longitude -121.901619 arcdeg
2020-01-23T17:13:23.626Z,1579799603.626 [Micromodem](INFO): Nmea in: $SNTTA,0.000213,,,,171323.32*44

2020-01-23T17:13:23.664Z,1579799603.664 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171323: (36.803398, -121.822304)
2020-01-23T17:13:23.664Z,1579799603.664 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:23.664Z,1579799603.664 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:23.664Z,1579799603.664 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:23.664Z,1579799603.664 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:23.664Z,1579799603.664 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:23.802Z,1579799603.802 [Reporter](INFO): longitude -121.901624 arcdeg
2020-01-23T17:13:24.058Z,1579799604.058 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:24.058Z,1579799604.058 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:24.058Z,1579799604.058 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:24.059Z,1579799604.059 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:24.059Z,1579799604.059 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:24.059Z,1579799604.059 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:24.059Z,1579799604.059 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:24.162Z,1579799604.162 [Reporter](INFO): longitude -121.901628 arcdeg
2020-01-23T17:13:24.470Z,1579799604.470 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171324: (36.803398, -121.822304)
2020-01-23T17:13:24.470Z,1579799604.470 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:24.470Z,1579799604.470 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:24.470Z,1579799604.470 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:24.470Z,1579799604.470 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:24.470Z,1579799604.470 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:24.586Z,1579799604.586 [Reporter](INFO): longitude -121.901632 arcdeg
2020-01-23T17:13:24.883Z,1579799604.883 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:24.883Z,1579799604.883 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:24.883Z,1579799604.883 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:24.883Z,1579799604.883 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:24.883Z,1579799604.883 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:24.884Z,1579799604.884 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:24.884Z,1579799604.884 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:25.006Z,1579799605.006 [Reporter](INFO): longitude -121.901637 arcdeg
2020-01-23T17:13:25.272Z,1579799605.272 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171325: (36.803398, -121.822304)
2020-01-23T17:13:25.272Z,1579799605.272 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:25.272Z,1579799605.272 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:25.272Z,1579799605.272 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:25.272Z,1579799605.272 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:25.272Z,1579799605.272 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:25.392Z,1579799605.392 [Reporter](INFO): longitude -121.901641 arcdeg
2020-01-23T17:13:25.674Z,1579799605.674 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:25.674Z,1579799605.674 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:25.674Z,1579799605.674 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:25.674Z,1579799605.674 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:25.674Z,1579799605.674 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:25.675Z,1579799605.675 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:25.675Z,1579799605.675 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:25.779Z,1579799605.779 [Reporter](INFO): longitude -121.901645 arcdeg
2020-01-23T17:13:26.067Z,1579799606.067 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171326: (36.803398, -121.822304)
2020-01-23T17:13:26.067Z,1579799606.067 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:26.067Z,1579799606.067 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:26.068Z,1579799606.068 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:26.068Z,1579799606.068 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:26.068Z,1579799606.068 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:26.071Z,1579799606.071 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:13:26.195Z,1579799606.195 [Reporter](INFO): longitude -121.901649 arcdeg
2020-01-23T17:13:26.495Z,1579799606.495 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:26.495Z,1579799606.495 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:26.495Z,1579799606.495 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:26.496Z,1579799606.496 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:26.496Z,1579799606.496 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:26.496Z,1579799606.496 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:26.496Z,1579799606.496 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:26.630Z,1579799606.630 [Reporter](INFO): longitude -121.901654 arcdeg
2020-01-23T17:13:26.839Z,1579799606.839 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:13:26.958Z,1579799606.958 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171326: (36.803398, -121.822304)
2020-01-23T17:13:26.958Z,1579799606.958 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:26.958Z,1579799606.958 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:26.958Z,1579799606.958 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:26.958Z,1579799606.958 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:26.958Z,1579799606.958 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:27.089Z,1579799607.089 [Reporter](INFO): longitude -121.901659 arcdeg
2020-01-23T17:13:27.252Z,1579799607.252 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:13:27.314Z,1579799607.314 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:27.314Z,1579799607.314 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:27.314Z,1579799607.314 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:27.315Z,1579799607.315 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:27.315Z,1579799607.315 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:27.315Z,1579799607.315 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:27.315Z,1579799607.315 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:27.431Z,1579799607.431 [Reporter](INFO): longitude -121.901663 arcdeg
2020-01-23T17:13:27.694Z,1579799607.694 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171327: (36.803398, -121.822304)
2020-01-23T17:13:27.694Z,1579799607.694 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:27.694Z,1579799607.694 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:27.695Z,1579799607.695 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:27.695Z,1579799607.695 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:27.695Z,1579799607.695 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:27.794Z,1579799607.794 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-23T17:13:27.795Z,1579799607.795 [Reporter](INFO): longitude -121.901667 arcdeg
2020-01-23T17:13:28.074Z,1579799608.074 [Micromodem](INFO): Nmea in: $SNTTA,0.000196,,,,171327.75*4D

2020-01-23T17:13:28.123Z,1579799608.123 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:28.123Z,1579799608.123 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:28.123Z,1579799608.123 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:28.123Z,1579799608.123 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:28.124Z,1579799608.124 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:28.124Z,1579799608.124 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:28.124Z,1579799608.124 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:28.234Z,1579799608.234 [Reporter](INFO): longitude -121.901671 arcdeg
2020-01-23T17:13:28.516Z,1579799608.516 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171328: (36.803398, -121.822304)
2020-01-23T17:13:28.517Z,1579799608.517 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:28.517Z,1579799608.517 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:28.517Z,1579799608.517 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:28.517Z,1579799608.517 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:28.517Z,1579799608.517 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:28.623Z,1579799608.623 [Reporter](INFO): longitude -121.901676 arcdeg
2020-01-23T17:13:28.912Z,1579799608.912 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:28.912Z,1579799608.912 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:28.912Z,1579799608.912 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:28.912Z,1579799608.912 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:28.912Z,1579799608.912 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:28.912Z,1579799608.912 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:28.913Z,1579799608.913 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:29.034Z,1579799609.034 [Reporter](INFO): longitude -121.901680 arcdeg
2020-01-23T17:13:29.307Z,1579799609.307 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171329: (36.803398, -121.822304)
2020-01-23T17:13:29.307Z,1579799609.307 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:29.307Z,1579799609.307 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:29.308Z,1579799609.308 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:29.308Z,1579799609.308 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:29.308Z,1579799609.308 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:29.418Z,1579799609.418 [Reporter](INFO): longitude -121.901684 arcdeg
2020-01-23T17:13:29.739Z,1579799609.739 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:29.739Z,1579799609.739 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:29.739Z,1579799609.739 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:29.740Z,1579799609.740 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:29.740Z,1579799609.740 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:29.740Z,1579799609.740 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:29.740Z,1579799609.740 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:29.846Z,1579799609.846 [Reporter](INFO): longitude -121.901689 arcdeg
2020-01-23T17:13:30.132Z,1579799610.132 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171330: (36.803398, -121.822304)
2020-01-23T17:13:30.132Z,1579799610.132 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:30.132Z,1579799610.132 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:30.132Z,1579799610.132 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:30.132Z,1579799610.132 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:30.132Z,1579799610.132 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:30.251Z,1579799610.251 [Reporter](INFO): longitude -121.901693 arcdeg
2020-01-23T17:13:30.518Z,1579799610.518 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:30.518Z,1579799610.518 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:30.518Z,1579799610.518 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:30.519Z,1579799610.519 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:30.519Z,1579799610.519 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:30.519Z,1579799610.519 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:30.519Z,1579799610.519 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:30.522Z,1579799610.522 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:13:30.622Z,1579799610.622 [Reporter](INFO): longitude -121.901697 arcdeg
2020-01-23T17:13:30.925Z,1579799610.925 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171330: (36.803398, -121.822304)
2020-01-23T17:13:30.927Z,1579799610.927 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:30.927Z,1579799610.927 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:30.927Z,1579799610.927 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:30.927Z,1579799610.927 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:30.931Z,1579799610.931 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:31.050Z,1579799611.050 [Reporter](INFO): longitude -121.901701 arcdeg
2020-01-23T17:13:31.282Z,1579799611.282 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:13:31.393Z,1579799611.393 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:31.393Z,1579799611.393 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:31.394Z,1579799611.394 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:31.394Z,1579799611.394 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:31.394Z,1579799611.394 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:31.394Z,1579799611.394 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:31.394Z,1579799611.394 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:31.506Z,1579799611.506 [Reporter](INFO): longitude -121.901706 arcdeg
2020-01-23T17:13:31.689Z,1579799611.689 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:13:31.770Z,1579799611.770 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171331: (36.803398, -121.822304)
2020-01-23T17:13:31.770Z,1579799611.770 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:31.771Z,1579799611.771 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:31.771Z,1579799611.771 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:31.771Z,1579799611.771 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:31.771Z,1579799611.771 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:31.887Z,1579799611.887 [Reporter](INFO): longitude -121.901710 arcdeg
2020-01-23T17:13:32.130Z,1579799612.130 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:32.130Z,1579799612.130 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:32.130Z,1579799612.130 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:32.130Z,1579799612.130 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:32.130Z,1579799612.130 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:32.130Z,1579799612.130 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:32.131Z,1579799612.131 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:32.262Z,1579799612.262 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-23T17:13:32.267Z,1579799612.267 [Reporter](INFO): longitude -121.901714 arcdeg
2020-01-23T17:13:32.522Z,1579799612.522 [Micromodem](INFO): Nmea in: $SNTTA,0.000203,,,,171332.19*4C

2020-01-23T17:13:32.576Z,1579799612.576 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171332: (36.803398, -121.822304)
2020-01-23T17:13:32.576Z,1579799612.576 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:32.576Z,1579799612.576 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:32.576Z,1579799612.576 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:32.576Z,1579799612.576 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:32.576Z,1579799612.576 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:32.702Z,1579799612.702 [Reporter](INFO): longitude -121.901719 arcdeg
2020-01-23T17:13:32.959Z,1579799612.959 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:32.959Z,1579799612.959 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:32.959Z,1579799612.959 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:32.960Z,1579799612.960 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:32.960Z,1579799612.960 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:32.960Z,1579799612.960 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:32.960Z,1579799612.960 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:33.083Z,1579799613.083 [Reporter](INFO): longitude -121.901723 arcdeg
2020-01-23T17:13:33.378Z,1579799613.378 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171333: (36.803398, -121.822304)
2020-01-23T17:13:33.378Z,1579799613.378 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:33.378Z,1579799613.378 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:33.378Z,1579799613.378 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:33.378Z,1579799613.378 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:33.379Z,1579799613.379 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:33.494Z,1579799613.494 [Reporter](INFO): longitude -121.901728 arcdeg
2020-01-23T17:13:33.748Z,1579799613.748 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:33.748Z,1579799613.748 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:33.748Z,1579799613.748 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:33.749Z,1579799613.749 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:33.749Z,1579799613.749 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:33.749Z,1579799613.749 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:33.749Z,1579799613.749 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:33.858Z,1579799613.858 [Reporter](INFO): longitude -121.901732 arcdeg
2020-01-23T17:13:34.162Z,1579799614.162 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171334: (36.803398, -121.822304)
2020-01-23T17:13:34.162Z,1579799614.162 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:34.162Z,1579799614.162 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:34.162Z,1579799614.162 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:34.162Z,1579799614.162 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:34.162Z,1579799614.162 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:34.278Z,1579799614.278 [Reporter](INFO): longitude -121.901736 arcdeg
2020-01-23T17:13:34.580Z,1579799614.580 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:34.580Z,1579799614.580 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:34.580Z,1579799614.580 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:34.585Z,1579799614.585 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:34.585Z,1579799614.585 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:34.585Z,1579799614.585 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:34.585Z,1579799614.585 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:34.698Z,1579799614.698 [Reporter](INFO): longitude -121.901741 arcdeg
2020-01-23T17:13:34.958Z,1579799614.958 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171334: (36.803398, -121.822304)
2020-01-23T17:13:34.959Z,1579799614.959 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:34.959Z,1579799614.959 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:34.959Z,1579799614.959 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:34.959Z,1579799614.959 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:34.959Z,1579799614.959 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:34.962Z,1579799614.962 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:13:35.070Z,1579799615.070 [Reporter](INFO): longitude -121.901745 arcdeg
2020-01-23T17:13:35.396Z,1579799615.396 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:35.396Z,1579799615.396 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:35.396Z,1579799615.396 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:35.397Z,1579799615.397 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:35.397Z,1579799615.397 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:35.397Z,1579799615.397 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:35.397Z,1579799615.397 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:35.566Z,1579799615.566 [Reporter](INFO): longitude -121.901749 arcdeg
2020-01-23T17:13:35.727Z,1579799615.727 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:13:35.844Z,1579799615.844 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171335: (36.803398, -121.822304)
2020-01-23T17:13:35.844Z,1579799615.844 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:35.844Z,1579799615.844 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:35.845Z,1579799615.845 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:35.845Z,1579799615.845 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:35.845Z,1579799615.845 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:35.902Z,1579799615.902 [Reporter](INFO): longitude -121.901754 arcdeg
2020-01-23T17:13:36.133Z,1579799616.133 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:13:36.203Z,1579799616.203 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:36.204Z,1579799616.204 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:36.204Z,1579799616.204 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:36.204Z,1579799616.204 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:36.204Z,1579799616.204 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:36.204Z,1579799616.204 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:36.204Z,1579799616.204 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:36.264Z,1579799616.264 [Reporter](INFO): longitude -121.901758 arcdeg
2020-01-23T17:13:36.583Z,1579799616.583 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171336: (36.803398, -121.822304)
2020-01-23T17:13:36.583Z,1579799616.583 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:36.583Z,1579799616.583 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:36.584Z,1579799616.584 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:36.584Z,1579799616.584 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:36.584Z,1579799616.584 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:36.630Z,1579799616.630 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-23T17:13:36.631Z,1579799616.631 [Reporter](INFO): longitude -121.901762 arcdeg
2020-01-23T17:13:36.962Z,1579799616.962 [Micromodem](INFO): Nmea in: $SNTTA,0.000210,,,,171336.63*47

2020-01-23T17:13:37.014Z,1579799617.014 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:37.014Z,1579799617.014 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:37.014Z,1579799617.014 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:37.014Z,1579799617.014 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:37.014Z,1579799617.014 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:37.015Z,1579799617.015 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:37.015Z,1579799617.015 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:37.114Z,1579799617.114 [Reporter](INFO): longitude -121.901767 arcdeg
2020-01-23T17:13:37.377Z,1579799617.377 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171337: (36.803398, -121.822304)
2020-01-23T17:13:37.377Z,1579799617.377 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:37.377Z,1579799617.377 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:37.377Z,1579799617.377 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:37.377Z,1579799617.377 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:37.378Z,1579799617.378 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:37.489Z,1579799617.489 [Reporter](INFO): longitude -121.901771 arcdeg
2020-01-23T17:13:37.800Z,1579799617.800 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:37.800Z,1579799617.800 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:37.800Z,1579799617.800 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:37.801Z,1579799617.801 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:37.801Z,1579799617.801 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:37.801Z,1579799617.801 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:37.801Z,1579799617.801 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:37.906Z,1579799617.906 [Reporter](INFO): longitude -121.901775 arcdeg
2020-01-23T17:13:38.199Z,1579799618.199 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171338: (36.803398, -121.822304)
2020-01-23T17:13:38.199Z,1579799618.199 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:38.199Z,1579799618.199 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:38.200Z,1579799618.200 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:38.200Z,1579799618.200 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:38.200Z,1579799618.200 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:38.310Z,1579799618.310 [Reporter](INFO): longitude -121.901780 arcdeg
2020-01-23T17:13:38.605Z,1579799618.605 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:38.605Z,1579799618.605 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:38.605Z,1579799618.605 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:38.606Z,1579799618.606 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:38.606Z,1579799618.606 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:38.606Z,1579799618.606 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:38.606Z,1579799618.606 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:38.725Z,1579799618.725 [Reporter](INFO): longitude -121.901784 arcdeg
2020-01-23T17:13:39.034Z,1579799619.034 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171339: (36.803398, -121.822304)
2020-01-23T17:13:39.034Z,1579799619.034 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:39.034Z,1579799619.034 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:39.035Z,1579799619.035 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:39.035Z,1579799619.035 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:39.035Z,1579799619.035 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:39.162Z,1579799619.162 [Reporter](INFO): longitude -121.901788 arcdeg
2020-01-23T17:13:39.394Z,1579799619.394 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:39.394Z,1579799619.394 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:39.395Z,1579799619.395 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:39.395Z,1579799619.395 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:39.395Z,1579799619.395 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:39.395Z,1579799619.395 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:39.395Z,1579799619.395 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:39.399Z,1579799619.399 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:13:39.503Z,1579799619.503 [Reporter](INFO): longitude -121.901792 arcdeg
2020-01-23T17:13:39.826Z,1579799619.826 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171339: (36.803398, -121.822304)
2020-01-23T17:13:39.826Z,1579799619.826 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:39.826Z,1579799619.826 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:39.826Z,1579799619.826 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:39.826Z,1579799619.826 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:39.826Z,1579799619.826 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:39.946Z,1579799619.946 [Reporter](INFO): longitude -121.901797 arcdeg
2020-01-23T17:13:40.171Z,1579799620.171 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:13:40.296Z,1579799620.296 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:40.296Z,1579799620.296 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:40.301Z,1579799620.301 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:40.301Z,1579799620.301 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:40.301Z,1579799620.301 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:40.301Z,1579799620.301 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:40.302Z,1579799620.302 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:40.419Z,1579799620.419 [Reporter](INFO): longitude -121.901802 arcdeg
2020-01-23T17:13:40.588Z,1579799620.588 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:13:40.664Z,1579799620.664 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171340: (36.803398, -121.822304)
2020-01-23T17:13:40.664Z,1579799620.664 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:40.664Z,1579799620.664 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:40.664Z,1579799620.664 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:40.664Z,1579799620.664 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:40.665Z,1579799620.665 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:40.779Z,1579799620.779 [Reporter](INFO): longitude -121.901806 arcdeg
2020-01-23T17:13:41.021Z,1579799621.021 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:41.021Z,1579799621.021 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:41.021Z,1579799621.021 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:41.022Z,1579799621.022 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:41.022Z,1579799621.022 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:41.022Z,1579799621.022 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:41.022Z,1579799621.022 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:41.126Z,1579799621.126 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-23T17:13:41.127Z,1579799621.127 [Reporter](INFO): longitude -121.901810 arcdeg
2020-01-23T17:13:41.434Z,1579799621.434 [Micromodem](INFO): Nmea in: $SNTTA,0.000222,,,,171341.08*4B

2020-01-23T17:13:41.504Z,1579799621.504 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171341: (36.803398, -121.822304)
2020-01-23T17:13:41.504Z,1579799621.504 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:41.504Z,1579799621.504 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:41.504Z,1579799621.504 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:41.504Z,1579799621.504 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:41.504Z,1579799621.504 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:41.610Z,1579799621.610 [Reporter](INFO): longitude -121.901815 arcdeg
2020-01-23T17:13:41.843Z,1579799621.843 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:41.843Z,1579799621.843 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:41.843Z,1579799621.843 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:41.844Z,1579799621.844 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:41.844Z,1579799621.844 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:41.844Z,1579799621.844 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:41.844Z,1579799621.844 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:41.970Z,1579799621.970 [Reporter](INFO): longitude -121.901819 arcdeg
2020-01-23T17:13:42.228Z,1579799622.228 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171342: (36.803398, -121.822304)
2020-01-23T17:13:42.228Z,1579799622.228 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:42.228Z,1579799622.228 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:42.228Z,1579799622.228 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:42.228Z,1579799622.228 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:42.228Z,1579799622.228 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:42.358Z,1579799622.358 [Reporter](INFO): longitude -121.901823 arcdeg
2020-01-23T17:13:42.647Z,1579799622.647 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:42.647Z,1579799622.647 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:42.648Z,1579799622.648 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:42.648Z,1579799622.648 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:42.648Z,1579799622.648 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:42.648Z,1579799622.648 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:42.648Z,1579799622.648 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:42.774Z,1579799622.774 [Reporter](INFO): longitude -121.901827 arcdeg
2020-01-23T17:13:43.047Z,1579799623.047 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171343: (36.803398, -121.822304)
2020-01-23T17:13:43.047Z,1579799623.047 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:43.047Z,1579799623.047 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:43.048Z,1579799623.048 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:43.048Z,1579799623.048 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:43.048Z,1579799623.048 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:43.158Z,1579799623.158 [Reporter](INFO): longitude -121.901832 arcdeg
2020-01-23T17:13:43.468Z,1579799623.468 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:43.468Z,1579799623.468 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:43.468Z,1579799623.468 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:43.469Z,1579799623.469 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:43.469Z,1579799623.469 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:43.469Z,1579799623.469 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:43.469Z,1579799623.469 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:43.578Z,1579799623.578 [Reporter](INFO): longitude -121.901836 arcdeg
2020-01-23T17:13:43.838Z,1579799623.838 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171343: (36.803398, -121.822304)
2020-01-23T17:13:43.839Z,1579799623.839 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:43.839Z,1579799623.839 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:43.839Z,1579799623.839 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:43.839Z,1579799623.839 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:43.839Z,1579799623.839 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:43.842Z,1579799623.842 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:13:43.951Z,1579799623.951 [Reporter](INFO): longitude -121.901840 arcdeg
2020-01-23T17:13:44.256Z,1579799624.256 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:44.256Z,1579799624.256 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:44.256Z,1579799624.256 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:44.257Z,1579799624.257 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:44.257Z,1579799624.257 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:44.257Z,1579799624.257 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:44.257Z,1579799624.257 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:44.366Z,1579799624.366 [Reporter](INFO): longitude -121.901845 arcdeg
2020-01-23T17:13:44.615Z,1579799624.615 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:13:44.731Z,1579799624.731 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171344: (36.803398, -121.822304)
2020-01-23T17:13:44.731Z,1579799624.731 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:44.731Z,1579799624.731 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:44.731Z,1579799624.731 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:44.731Z,1579799624.731 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:44.732Z,1579799624.732 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:44.834Z,1579799624.834 [Reporter](INFO): longitude -121.901850 arcdeg
2020-01-23T17:13:45.030Z,1579799625.030 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:13:45.100Z,1579799625.100 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:45.100Z,1579799625.100 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:45.100Z,1579799625.100 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:45.100Z,1579799625.100 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:45.100Z,1579799625.100 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:45.100Z,1579799625.100 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:45.100Z,1579799625.100 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:45.208Z,1579799625.208 [Reporter](INFO): longitude -121.901853 arcdeg
2020-01-23T17:13:45.488Z,1579799625.488 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171345: (36.803398, -121.822304)
2020-01-23T17:13:45.488Z,1579799625.488 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:45.488Z,1579799625.488 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:45.488Z,1579799625.488 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:45.488Z,1579799625.488 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:45.488Z,1579799625.488 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:45.626Z,1579799625.626 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-23T17:13:45.627Z,1579799625.627 [Reporter](INFO): longitude -121.901858 arcdeg
2020-01-23T17:13:45.854Z,1579799625.854 [Micromodem](INFO): Nmea in: $SNTTA,0.000202,,,,171345.53*43

2020-01-23T17:13:45.902Z,1579799625.902 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:45.903Z,1579799625.903 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:45.903Z,1579799625.903 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:45.903Z,1579799625.903 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:45.903Z,1579799625.903 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:45.903Z,1579799625.903 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:45.903Z,1579799625.903 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:46.034Z,1579799626.034 [Reporter](INFO): longitude -121.901862 arcdeg
2020-01-23T17:13:46.297Z,1579799626.297 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171346: (36.803398, -121.822304)
2020-01-23T17:13:46.298Z,1579799626.298 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:46.298Z,1579799626.298 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:46.298Z,1579799626.298 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:46.298Z,1579799626.298 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:46.298Z,1579799626.298 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:46.415Z,1579799626.415 [Reporter](INFO): longitude -121.901866 arcdeg
2020-01-23T17:13:46.691Z,1579799626.691 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:46.691Z,1579799626.691 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:46.692Z,1579799626.692 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:46.692Z,1579799626.692 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:46.692Z,1579799626.692 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:46.692Z,1579799626.692 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:46.692Z,1579799626.692 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:46.822Z,1579799626.822 [Reporter](INFO): longitude -121.901871 arcdeg
2020-01-23T17:13:47.087Z,1579799627.087 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171347: (36.803398, -121.822304)
2020-01-23T17:13:47.087Z,1579799627.087 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:47.087Z,1579799627.087 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:47.088Z,1579799627.088 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:47.088Z,1579799627.088 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:47.088Z,1579799627.088 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:47.199Z,1579799627.199 [Reporter](INFO): longitude -121.901875 arcdeg
2020-01-23T17:13:47.502Z,1579799627.502 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:47.503Z,1579799627.503 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:47.503Z,1579799627.503 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:47.504Z,1579799627.504 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:47.505Z,1579799627.505 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:47.505Z,1579799627.505 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:47.506Z,1579799627.506 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:47.646Z,1579799627.646 [Reporter](INFO): longitude -121.901879 arcdeg
2020-01-23T17:13:47.893Z,1579799627.893 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171347: (36.803398, -121.822304)
2020-01-23T17:13:47.893Z,1579799627.893 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:47.893Z,1579799627.893 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:47.894Z,1579799627.894 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:47.894Z,1579799627.894 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:47.894Z,1579799627.894 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:48.026Z,1579799628.026 [Reporter](INFO): longitude -121.901884 arcdeg
2020-01-23T17:13:48.284Z,1579799628.284 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:48.284Z,1579799628.284 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:48.285Z,1579799628.285 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:48.285Z,1579799628.285 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:48.285Z,1579799628.285 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:48.285Z,1579799628.285 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:48.286Z,1579799628.286 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:48.289Z,1579799628.289 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:13:48.396Z,1579799628.396 [Reporter](INFO): longitude -121.901888 arcdeg
2020-01-23T17:13:48.728Z,1579799628.728 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171348: (36.803398, -121.822304)
2020-01-23T17:13:48.728Z,1579799628.728 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:48.728Z,1579799628.728 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:48.728Z,1579799628.728 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:48.728Z,1579799628.728 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:48.728Z,1579799628.728 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:48.866Z,1579799628.866 [Reporter](INFO): longitude -121.901893 arcdeg
2020-01-23T17:13:49.058Z,1579799629.058 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:13:49.181Z,1579799629.181 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:49.182Z,1579799629.182 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:49.182Z,1579799629.182 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:49.182Z,1579799629.182 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:49.182Z,1579799629.182 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:49.182Z,1579799629.182 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:49.182Z,1579799629.182 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:49.302Z,1579799629.302 [Reporter](INFO): longitude -121.901897 arcdeg
2020-01-23T17:13:49.472Z,1579799629.472 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:13:49.542Z,1579799629.542 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171349: (36.803398, -121.822304)
2020-01-23T17:13:49.542Z,1579799629.542 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:49.542Z,1579799629.542 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:49.542Z,1579799629.542 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:49.542Z,1579799629.542 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:49.543Z,1579799629.543 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:49.648Z,1579799629.648 [Reporter](INFO): longitude -121.901901 arcdeg
2020-01-23T17:13:49.915Z,1579799629.915 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:49.915Z,1579799629.915 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:49.915Z,1579799629.915 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:49.916Z,1579799629.916 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:49.916Z,1579799629.916 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:49.916Z,1579799629.916 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:49.916Z,1579799629.916 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:50.022Z,1579799630.022 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-23T17:13:50.023Z,1579799630.023 [Reporter](INFO): longitude -121.901905 arcdeg
2020-01-23T17:13:50.305Z,1579799630.305 [Micromodem](INFO): Nmea in: $SNTTA,0.000207,,,,171349.97*42

2020-01-23T17:13:50.409Z,1579799630.409 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171350: (36.803398, -121.822304)
2020-01-23T17:13:50.410Z,1579799630.410 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:50.410Z,1579799630.410 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:50.410Z,1579799630.410 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:50.410Z,1579799630.410 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:50.410Z,1579799630.410 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:50.578Z,1579799630.578 [Reporter](INFO): longitude -121.901910 arcdeg
2020-01-23T17:13:50.732Z,1579799630.732 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:50.733Z,1579799630.733 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:50.733Z,1579799630.733 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:50.733Z,1579799630.733 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:50.734Z,1579799630.734 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:50.734Z,1579799630.734 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:50.734Z,1579799630.734 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:50.786Z,1579799630.786 [Reporter](INFO): longitude -121.901914 arcdeg
2020-01-23T17:13:51.148Z,1579799631.148 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171351: (36.803398, -121.822304)
2020-01-23T17:13:51.148Z,1579799631.148 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:51.148Z,1579799631.148 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:51.148Z,1579799631.148 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:51.148Z,1579799631.148 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:51.148Z,1579799631.148 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:51.217Z,1579799631.217 [Reporter](INFO): longitude -121.901918 arcdeg
2020-01-23T17:13:51.540Z,1579799631.540 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:51.540Z,1579799631.540 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:51.540Z,1579799631.540 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:51.540Z,1579799631.540 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:51.540Z,1579799631.540 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:51.540Z,1579799631.540 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:51.541Z,1579799631.541 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:51.602Z,1579799631.602 [Reporter](INFO): longitude -121.901923 arcdeg
2020-01-23T17:13:51.939Z,1579799631.939 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171351: (36.803398, -121.822304)
2020-01-23T17:13:51.939Z,1579799631.939 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:51.939Z,1579799631.939 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:51.940Z,1579799631.940 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:51.940Z,1579799631.940 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:51.940Z,1579799631.940 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:52.071Z,1579799632.071 [Reporter](INFO): longitude -121.901927 arcdeg
2020-01-23T17:13:52.370Z,1579799632.370 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:52.370Z,1579799632.370 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:52.370Z,1579799632.370 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:52.370Z,1579799632.370 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:52.370Z,1579799632.370 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:52.371Z,1579799632.371 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:52.371Z,1579799632.371 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:52.475Z,1579799632.475 [Reporter](INFO): longitude -121.901932 arcdeg
2020-01-23T17:13:52.740Z,1579799632.740 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171352: (36.803398, -121.822304)
2020-01-23T17:13:52.740Z,1579799632.740 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:52.740Z,1579799632.740 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:52.741Z,1579799632.741 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:52.741Z,1579799632.741 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:52.741Z,1579799632.741 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:52.744Z,1579799632.744 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:13:52.860Z,1579799632.860 [Reporter](INFO): longitude -121.901936 arcdeg
2020-01-23T17:13:53.138Z,1579799633.138 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:53.138Z,1579799633.138 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:53.138Z,1579799633.138 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:53.139Z,1579799633.139 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:53.139Z,1579799633.139 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:53.139Z,1579799633.139 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:53.139Z,1579799633.139 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:53.250Z,1579799633.250 [Reporter](INFO): longitude -121.901940 arcdeg
2020-01-23T17:13:53.507Z,1579799633.507 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:13:53.647Z,1579799633.647 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171353: (36.803398, -121.822304)
2020-01-23T17:13:53.647Z,1579799633.647 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:53.647Z,1579799633.647 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:53.647Z,1579799633.647 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:53.647Z,1579799633.647 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:53.647Z,1579799633.647 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:53.774Z,1579799633.774 [Reporter](INFO): longitude -121.901945 arcdeg
2020-01-23T17:13:53.909Z,1579799633.909 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:13:53.982Z,1579799633.982 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:53.982Z,1579799633.982 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:53.982Z,1579799633.982 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:53.982Z,1579799633.982 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:53.982Z,1579799633.982 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:53.982Z,1579799633.982 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:53.983Z,1579799633.983 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:54.103Z,1579799634.103 [Reporter](INFO): longitude -121.901949 arcdeg
2020-01-23T17:13:54.376Z,1579799634.376 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171354: (36.803398, -121.822304)
2020-01-23T17:13:54.381Z,1579799634.381 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:54.381Z,1579799634.381 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:54.381Z,1579799634.381 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:54.381Z,1579799634.381 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:54.381Z,1579799634.381 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:54.505Z,1579799634.505 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-23T17:13:54.507Z,1579799634.507 [Reporter](INFO): longitude -121.901953 arcdeg
2020-01-23T17:13:54.734Z,1579799634.734 [Micromodem](INFO): Nmea in: $SNTTA,0.000209,,,,171354.42*48

2020-01-23T17:13:54.787Z,1579799634.787 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:54.787Z,1579799634.787 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:54.787Z,1579799634.787 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:54.787Z,1579799634.787 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:54.787Z,1579799634.787 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:54.788Z,1579799634.788 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:54.788Z,1579799634.788 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:54.903Z,1579799634.903 [Reporter](INFO): longitude -121.901958 arcdeg
2020-01-23T17:13:55.157Z,1579799635.157 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171355: (36.803398, -121.822304)
2020-01-23T17:13:55.157Z,1579799635.157 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:55.157Z,1579799635.157 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:55.158Z,1579799635.158 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:55.158Z,1579799635.158 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:55.158Z,1579799635.158 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:55.266Z,1579799635.266 [Reporter](INFO): longitude -121.901961 arcdeg
2020-01-23T17:13:55.575Z,1579799635.575 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:55.575Z,1579799635.575 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:55.575Z,1579799635.575 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:55.576Z,1579799635.576 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:55.576Z,1579799635.576 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:55.576Z,1579799635.576 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:55.576Z,1579799635.576 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:55.682Z,1579799635.682 [Reporter](INFO): longitude -121.901966 arcdeg
2020-01-23T17:13:55.974Z,1579799635.974 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171355: (36.803398, -121.822304)
2020-01-23T17:13:55.975Z,1579799635.975 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:55.975Z,1579799635.975 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:55.975Z,1579799635.975 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:55.975Z,1579799635.975 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:55.975Z,1579799635.975 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:56.094Z,1579799636.094 [Reporter](INFO): longitude -121.901970 arcdeg
2020-01-23T17:13:56.385Z,1579799636.385 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:56.386Z,1579799636.386 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:56.386Z,1579799636.386 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:56.386Z,1579799636.386 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:56.386Z,1579799636.386 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:56.386Z,1579799636.386 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:56.386Z,1579799636.386 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:56.558Z,1579799636.558 [Reporter](INFO): longitude -121.901975 arcdeg
2020-01-23T17:13:56.808Z,1579799636.808 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171356: (36.803398, -121.822304)
2020-01-23T17:13:56.813Z,1579799636.813 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:56.813Z,1579799636.813 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:56.813Z,1579799636.813 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:56.813Z,1579799636.813 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:56.813Z,1579799636.813 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:56.859Z,1579799636.859 [Reporter](INFO): longitude -121.901979 arcdeg
2020-01-23T17:13:57.172Z,1579799637.172 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:57.172Z,1579799637.172 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:57.173Z,1579799637.173 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:57.173Z,1579799637.173 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:57.173Z,1579799637.173 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:57.173Z,1579799637.173 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:57.173Z,1579799637.173 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:57.177Z,1579799637.177 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:13:57.237Z,1579799637.237 [Reporter](INFO): longitude -121.901983 arcdeg
2020-01-23T17:13:57.616Z,1579799637.616 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171357: (36.803398, -121.822304)
2020-01-23T17:13:57.616Z,1579799637.616 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:57.616Z,1579799637.616 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:57.616Z,1579799637.616 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:57.616Z,1579799637.616 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:57.616Z,1579799637.616 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:57.662Z,1579799637.662 [Reporter](INFO): longitude -121.901988 arcdeg
2020-01-23T17:13:57.943Z,1579799637.943 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:13:58.021Z,1579799638.021 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:58.022Z,1579799638.022 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:58.022Z,1579799638.022 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:58.023Z,1579799638.023 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:58.023Z,1579799638.023 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:58.023Z,1579799638.023 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:58.023Z,1579799638.023 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:58.160Z,1579799638.160 [Reporter](INFO): longitude -121.901992 arcdeg
2020-01-23T17:13:58.353Z,1579799638.353 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:13:58.432Z,1579799638.432 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171358: (36.803398, -121.822304)
2020-01-23T17:13:58.432Z,1579799638.432 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:58.432Z,1579799638.432 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:58.433Z,1579799638.433 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:58.433Z,1579799638.433 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:58.433Z,1579799638.433 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:58.539Z,1579799638.539 [Reporter](INFO): longitude -121.901997 arcdeg
2020-01-23T17:13:58.811Z,1579799638.811 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:58.811Z,1579799638.811 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:58.811Z,1579799638.811 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:58.812Z,1579799638.812 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:58.812Z,1579799638.812 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:58.812Z,1579799638.812 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:58.812Z,1579799638.812 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:58.914Z,1579799638.914 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-23T17:13:58.915Z,1579799638.915 [Reporter](INFO): longitude -121.902001 arcdeg
2020-01-23T17:13:59.178Z,1579799639.178 [Micromodem](INFO): Nmea in: $SNTTA,0.000219,,,,171358.85*4E

2020-01-23T17:13:59.230Z,1579799639.230 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171359: (36.803398, -121.822304)
2020-01-23T17:13:59.230Z,1579799639.230 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:13:59.230Z,1579799639.230 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:13:59.230Z,1579799639.230 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:59.230Z,1579799639.230 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:13:59.230Z,1579799639.230 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:59.334Z,1579799639.334 [Reporter](INFO): longitude -121.902005 arcdeg
2020-01-23T17:13:59.606Z,1579799639.606 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:13:59.606Z,1579799639.606 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:13:59.606Z,1579799639.606 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:13:59.607Z,1579799639.607 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:13:59.607Z,1579799639.607 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:13:59.607Z,1579799639.607 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:13:59.607Z,1579799639.607 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:13:59.727Z,1579799639.727 [Reporter](INFO): longitude -121.902009 arcdeg
2020-01-23T17:14:00.022Z,1579799640.022 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171400: (36.803398, -121.822304)
2020-01-23T17:14:00.022Z,1579799640.022 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:00.022Z,1579799640.022 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:00.022Z,1579799640.022 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:00.022Z,1579799640.022 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:00.022Z,1579799640.022 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:00.126Z,1579799640.126 [Reporter](INFO): longitude -121.902014 arcdeg
2020-01-23T17:14:00.439Z,1579799640.439 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:00.439Z,1579799640.439 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:00.440Z,1579799640.440 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:00.440Z,1579799640.440 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:00.440Z,1579799640.440 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:00.440Z,1579799640.440 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:00.440Z,1579799640.440 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:00.546Z,1579799640.546 [Reporter](INFO): longitude -121.902018 arcdeg
2020-01-23T17:14:00.804Z,1579799640.804 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171400: (36.803398, -121.822304)
2020-01-23T17:14:00.804Z,1579799640.804 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:00.804Z,1579799640.804 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:00.804Z,1579799640.804 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:00.804Z,1579799640.804 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:00.804Z,1579799640.804 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:00.906Z,1579799640.906 [Reporter](INFO): longitude -121.902022 arcdeg
2020-01-23T17:14:01.226Z,1579799641.226 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:01.226Z,1579799641.226 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:01.226Z,1579799641.226 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:01.227Z,1579799641.227 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:01.227Z,1579799641.227 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:01.227Z,1579799641.227 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:01.227Z,1579799641.227 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:01.327Z,1579799641.327 [Reporter](INFO): longitude -121.902027 arcdeg
2020-01-23T17:14:01.641Z,1579799641.641 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171401: (36.803398, -121.822304)
2020-01-23T17:14:01.642Z,1579799641.642 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:01.642Z,1579799641.642 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:01.642Z,1579799641.642 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:01.642Z,1579799641.642 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:01.642Z,1579799641.642 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:01.646Z,1579799641.646 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:14:01.750Z,1579799641.750 [Reporter](INFO): longitude -121.902031 arcdeg
2020-01-23T17:14:02.018Z,1579799642.018 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:02.018Z,1579799642.018 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:02.018Z,1579799642.018 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:02.019Z,1579799642.019 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:02.019Z,1579799642.019 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:02.019Z,1579799642.019 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:02.019Z,1579799642.019 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:02.142Z,1579799642.142 [Reporter](INFO): longitude -121.902035 arcdeg
2020-01-23T17:14:02.403Z,1579799642.403 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:14:02.527Z,1579799642.527 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171402: (36.803398, -121.822304)
2020-01-23T17:14:02.527Z,1579799642.527 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:02.527Z,1579799642.527 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:02.527Z,1579799642.527 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:02.527Z,1579799642.527 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:02.527Z,1579799642.527 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:02.650Z,1579799642.650 [Reporter](INFO): longitude -121.902041 arcdeg
2020-01-23T17:14:02.793Z,1579799642.793 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:14:02.853Z,1579799642.853 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:02.854Z,1579799642.854 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:02.854Z,1579799642.854 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:02.854Z,1579799642.854 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:02.854Z,1579799642.854 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:02.854Z,1579799642.854 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:02.854Z,1579799642.854 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:02.983Z,1579799642.983 [Reporter](INFO): longitude -121.902044 arcdeg
2020-01-23T17:14:03.223Z,1579799643.223 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171403: (36.803398, -121.822304)
2020-01-23T17:14:03.223Z,1579799643.223 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:03.223Z,1579799643.223 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:03.223Z,1579799643.223 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:03.223Z,1579799643.223 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:03.223Z,1579799643.223 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:03.364Z,1579799643.364 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-23T17:14:03.365Z,1579799643.365 [Reporter](INFO): longitude -121.902048 arcdeg
2020-01-23T17:14:03.626Z,1579799643.626 [Micromodem](INFO): Nmea in: $SNTTA,0.000199,,,,171403.32*40

2020-01-23T17:14:03.680Z,1579799643.680 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:03.681Z,1579799643.681 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:03.681Z,1579799643.681 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:03.682Z,1579799643.682 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:03.682Z,1579799643.682 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:03.682Z,1579799643.682 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:03.682Z,1579799643.682 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:03.786Z,1579799643.786 [Reporter](INFO): longitude -121.902053 arcdeg
2020-01-23T17:14:04.059Z,1579799644.059 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171404: (36.803398, -121.822304)
2020-01-23T17:14:04.059Z,1579799644.059 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:04.059Z,1579799644.059 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:04.060Z,1579799644.060 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:04.060Z,1579799644.060 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:04.060Z,1579799644.060 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:04.206Z,1579799644.206 [Reporter](INFO): longitude -121.902057 arcdeg
2020-01-23T17:14:04.460Z,1579799644.460 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:04.460Z,1579799644.460 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:04.460Z,1579799644.460 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:04.461Z,1579799644.461 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:04.461Z,1579799644.461 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:04.461Z,1579799644.461 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:04.461Z,1579799644.461 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:04.566Z,1579799644.566 [Reporter](INFO): longitude -121.902061 arcdeg
2020-01-23T17:14:04.865Z,1579799644.865 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171404: (36.803398, -121.822304)
2020-01-23T17:14:04.865Z,1579799644.865 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:04.865Z,1579799644.865 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:04.865Z,1579799644.865 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:04.865Z,1579799644.865 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:04.865Z,1579799644.865 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:04.986Z,1579799644.986 [Reporter](INFO): longitude -121.902066 arcdeg
2020-01-23T17:14:05.278Z,1579799645.278 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:05.279Z,1579799645.279 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:05.279Z,1579799645.279 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:05.279Z,1579799645.279 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:05.279Z,1579799645.279 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:05.279Z,1579799645.279 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:05.279Z,1579799645.279 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:05.398Z,1579799645.398 [Reporter](INFO): longitude -121.902070 arcdeg
2020-01-23T17:14:05.678Z,1579799645.678 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171405: (36.803398, -121.822304)
2020-01-23T17:14:05.678Z,1579799645.678 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:05.678Z,1579799645.678 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:05.679Z,1579799645.679 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:05.679Z,1579799645.679 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:05.679Z,1579799645.679 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:05.799Z,1579799645.799 [Reporter](INFO): longitude -121.902074 arcdeg
2020-01-23T17:14:06.052Z,1579799646.052 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:06.052Z,1579799646.052 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:06.052Z,1579799646.052 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:06.069Z,1579799646.069 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:06.069Z,1579799646.069 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:06.069Z,1579799646.069 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:06.069Z,1579799646.069 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:06.072Z,1579799646.072 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:14:06.182Z,1579799646.182 [Reporter](INFO): longitude -121.902078 arcdeg
2020-01-23T17:14:06.489Z,1579799646.489 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171406: (36.803398, -121.822304)
2020-01-23T17:14:06.489Z,1579799646.489 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:06.489Z,1579799646.489 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:06.489Z,1579799646.489 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:06.490Z,1579799646.490 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:06.490Z,1579799646.490 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:06.606Z,1579799646.606 [Reporter](INFO): longitude -121.902083 arcdeg
2020-01-23T17:14:06.835Z,1579799646.835 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:14:06.945Z,1579799646.945 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:06.946Z,1579799646.946 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:06.946Z,1579799646.946 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:06.946Z,1579799646.946 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:06.946Z,1579799646.946 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:06.946Z,1579799646.946 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:06.946Z,1579799646.946 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:07.058Z,1579799647.058 [Reporter](INFO): longitude -121.902088 arcdeg
2020-01-23T17:14:07.244Z,1579799647.244 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:14:07.312Z,1579799647.312 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171407: (36.803398, -121.822304)
2020-01-23T17:14:07.313Z,1579799647.313 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:07.313Z,1579799647.313 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:07.313Z,1579799647.313 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:07.313Z,1579799647.313 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:07.313Z,1579799647.313 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:07.418Z,1579799647.418 [Reporter](INFO): longitude -121.902092 arcdeg
2020-01-23T17:14:07.687Z,1579799647.687 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:07.687Z,1579799647.687 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:07.687Z,1579799647.687 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:07.687Z,1579799647.687 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:07.687Z,1579799647.687 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:07.688Z,1579799647.688 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:07.688Z,1579799647.688 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:07.790Z,1579799647.790 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-23T17:14:07.791Z,1579799647.791 [Reporter](INFO): longitude -121.902096 arcdeg
2020-01-23T17:14:08.066Z,1579799648.066 [Micromodem](INFO): Nmea in: $SNTTA,0.000196,,,,171407.75*48

2020-01-23T17:14:08.119Z,1579799648.119 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171408: (36.803398, -121.822304)
2020-01-23T17:14:08.119Z,1579799648.119 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:08.119Z,1579799648.119 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:08.119Z,1579799648.119 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:08.119Z,1579799648.119 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:08.119Z,1579799648.119 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:08.239Z,1579799648.239 [Reporter](INFO): longitude -121.902101 arcdeg
2020-01-23T17:14:08.506Z,1579799648.506 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:08.506Z,1579799648.506 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:08.507Z,1579799648.507 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:08.507Z,1579799648.507 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:08.507Z,1579799648.507 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:08.507Z,1579799648.507 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:08.507Z,1579799648.507 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:08.671Z,1579799648.671 [Reporter](INFO): longitude -121.902105 arcdeg
2020-01-23T17:14:08.902Z,1579799648.902 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171408: (36.803398, -121.822304)
2020-01-23T17:14:08.902Z,1579799648.902 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:08.902Z,1579799648.902 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:08.903Z,1579799648.903 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:08.903Z,1579799648.903 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:08.903Z,1579799648.903 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:08.962Z,1579799648.962 [Reporter](INFO): longitude -121.902109 arcdeg
2020-01-23T17:14:09.303Z,1579799649.303 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:09.303Z,1579799649.303 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:09.303Z,1579799649.303 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:09.303Z,1579799649.303 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:09.303Z,1579799649.303 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:09.304Z,1579799649.304 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:09.304Z,1579799649.304 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:09.362Z,1579799649.362 [Reporter](INFO): longitude -121.902113 arcdeg
2020-01-23T17:14:09.728Z,1579799649.728 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171409: (36.803398, -121.822304)
2020-01-23T17:14:09.729Z,1579799649.728 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:09.729Z,1579799649.729 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:09.729Z,1579799649.729 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:09.729Z,1579799649.729 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:09.729Z,1579799649.729 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:09.767Z,1579799649.767 [Reporter](INFO): longitude -121.902118 arcdeg
2020-01-23T17:14:10.092Z,1579799650.092 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-23T17:14:10.092Z,1579799650.092 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,20012310252740,35.0, -0.1,   0.0,144

2020-01-23T17:14:10.102Z,1579799650.102 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:10.102Z,1579799650.102 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:10.103Z,1579799650.103 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:10.103Z,1579799650.103 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:10.103Z,1579799650.103 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:10.103Z,1579799650.103 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:10.103Z,1579799650.103 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:10.206Z,1579799650.206 [Reporter](INFO): longitude -121.902122 arcdeg
2020-01-23T17:14:10.520Z,1579799650.520 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171410: (36.803398, -121.822304)
2020-01-23T17:14:10.520Z,1579799650.520 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:10.520Z,1579799650.520 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:10.520Z,1579799650.520 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:10.520Z,1579799650.520 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:10.521Z,1579799650.521 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:10.524Z,1579799650.524 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:14:10.630Z,1579799650.630 [Reporter](INFO): longitude -121.902126 arcdeg
2020-01-23T17:14:10.914Z,1579799650.914 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:10.914Z,1579799650.914 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:10.914Z,1579799650.914 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:10.915Z,1579799650.915 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:10.915Z,1579799650.915 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:10.915Z,1579799650.915 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:10.915Z,1579799650.915 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:11.022Z,1579799651.022 [Reporter](INFO): longitude -121.902131 arcdeg
2020-01-23T17:14:11.279Z,1579799651.279 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:14:11.391Z,1579799651.391 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171411: (36.803398, -121.822304)
2020-01-23T17:14:11.391Z,1579799651.391 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:11.391Z,1579799651.391 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:11.391Z,1579799651.391 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:11.391Z,1579799651.391 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:11.391Z,1579799651.391 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:11.502Z,1579799651.502 [Reporter](INFO): longitude -121.902135 arcdeg
2020-01-23T17:14:11.694Z,1579799651.694 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:14:11.764Z,1579799651.764 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:11.764Z,1579799651.764 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:11.764Z,1579799651.764 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:11.765Z,1579799651.765 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:11.765Z,1579799651.765 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:11.765Z,1579799651.765 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:11.765Z,1579799651.765 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:11.880Z,1579799651.880 [Reporter](INFO): longitude -121.902139 arcdeg
2020-01-23T17:14:12.127Z,1579799652.127 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171412: (36.803398, -121.822304)
2020-01-23T17:14:12.127Z,1579799652.127 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:12.127Z,1579799652.127 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:12.128Z,1579799652.128 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:12.128Z,1579799652.128 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:12.128Z,1579799652.128 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:12.246Z,1579799652.246 [Reporter](INFO): acoustic_contact_range 0.239999 m
2020-01-23T17:14:12.247Z,1579799652.247 [Reporter](INFO): longitude -121.902144 arcdeg
2020-01-23T17:14:12.521Z,1579799652.521 [Micromodem](INFO): Nmea in: $SNTTA,0.000201,,,,171412.19*4B

2020-01-23T17:14:12.558Z,1579799652.558 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:12.558Z,1579799652.558 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:12.558Z,1579799652.558 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:12.559Z,1579799652.559 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:12.559Z,1579799652.559 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:12.559Z,1579799652.559 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:12.559Z,1579799652.559 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:12.695Z,1579799652.695 [Reporter](INFO): longitude -121.902148 arcdeg
2020-01-23T17:14:12.951Z,1579799652.951 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171412: (36.803398, -121.822304)
2020-01-23T17:14:12.951Z,1579799652.951 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:12.952Z,1579799652.952 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:12.952Z,1579799652.952 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:12.952Z,1579799652.952 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:12.952Z,1579799652.952 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:13.066Z,1579799653.066 [Reporter](INFO): longitude -121.902152 arcdeg
2020-01-23T17:14:13.359Z,1579799653.359 [RDI_Pathfinder](ERROR): Failed to parse:

2020-01-23T17:14:13.378Z,1579799653.378 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:13.378Z,1579799653.378 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:13.378Z,1579799653.378 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:13.379Z,1579799653.379 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:14:13.379Z,1579799653.379 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:13.379Z,1579799653.379 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:13.379Z,1579799653.379 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:13.486Z,1579799653.486 [Reporter](INFO): longitude -121.902157 arcdeg
2020-01-23T17:14:13.747Z,1579799653.747 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171413: (36.803398, -121.822304)
2020-01-23T17:14:13.748Z,1579799653.748 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:13.748Z,1579799653.748 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:13.748Z,1579799653.748 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:13.748Z,1579799653.748 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:13.748Z,1579799653.748 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:13.854Z,1579799653.854 [Reporter](INFO): longitude -121.902161 arcdeg
2020-01-23T17:14:14.159Z,1579799654.159 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:14.159Z,1579799654.159 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:14.159Z,1579799654.159 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:14.160Z,1579799654.160 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:14:14.160Z,1579799654.160 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:14.160Z,1579799654.160 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:14.160Z,1579799654.160 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:14.270Z,1579799654.270 [Reporter](INFO): longitude -121.902165 arcdeg
2020-01-23T17:14:14.535Z,1579799654.535 [RDI_Pathfinder](ERROR): Failed to parse:
:SA,   +0.00,   +0.00,  0.00
2020-01-23T17:14:14.547Z,1579799654.547 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171414: (36.803398, -121.822304)
2020-01-23T17:14:14.547Z,1579799654.547 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:14.547Z,1579799654.547 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:14.547Z,1579799654.547 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:14.548Z,1579799654.548 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:14.548Z,1579799654.548 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:14.654Z,1579799654.654 [Reporter](INFO): longitude -121.902170 arcdeg
2020-01-23T17:14:14.947Z,1579799654.947 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:14.947Z,1579799654.947 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:14.947Z,1579799654.947 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:14.948Z,1579799654.948 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:14:14.948Z,1579799654.948 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:14.948Z,1579799654.948 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:14.948Z,1579799654.948 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:14.951Z,1579799654.951 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:14:15.106Z,1579799655.106 [Reporter](INFO): longitude -121.902174 arcdeg
2020-01-23T17:14:15.390Z,1579799655.390 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171415: (36.803398, -121.822304)
2020-01-23T17:14:15.390Z,1579799655.390 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:15.390Z,1579799655.390 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:15.390Z,1579799655.390 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:15.390Z,1579799655.390 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:15.390Z,1579799655.390 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:15.449Z,1579799655.449 [Reporter](INFO): longitude -121.902179 arcdeg
2020-01-23T17:14:15.726Z,1579799655.726 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:14:15.847Z,1579799655.847 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:15.847Z,1579799655.847 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:15.847Z,1579799655.847 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:15.847Z,1579799655.847 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:14:15.848Z,1579799655.848 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:15.848Z,1579799655.848 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:15.848Z,1579799655.848 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:15.914Z,1579799655.914 [Reporter](INFO): longitude -121.902183 arcdeg
2020-01-23T17:14:16.137Z,1579799656.137 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:14:16.184Z,1579799656.184 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171416: (36.803398, -121.822304)
2020-01-23T17:14:16.184Z,1579799656.184 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:16.184Z,1579799656.184 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:16.184Z,1579799656.184 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:16.184Z,1579799656.184 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:16.184Z,1579799656.184 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:16.242Z,1579799656.242 [Reporter](INFO): longitude -121.902187 arcdeg
2020-01-23T17:14:16.580Z,1579799656.580 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:16.580Z,1579799656.580 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:16.580Z,1579799656.580 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:16.580Z,1579799656.580 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:14:16.580Z,1579799656.580 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:16.580Z,1579799656.580 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:16.580Z,1579799656.580 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:16.705Z,1579799656.705 [Reporter](INFO): acoustic_contact_range 0.239999 m
2020-01-23T17:14:16.706Z,1579799656.706 [Reporter](INFO): longitude -121.902191 arcdeg
2020-01-23T17:14:16.954Z,1579799656.954 [Micromodem](INFO): Nmea in: $SNTTA,0.000203,,,,171416.64*47

2020-01-23T17:14:17.010Z,1579799657.010 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171417: (36.803398, -121.822304)
2020-01-23T17:14:17.010Z,1579799657.010 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:17.010Z,1579799657.010 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:17.010Z,1579799657.010 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:17.010Z,1579799657.010 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:17.010Z,1579799657.010 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:17.110Z,1579799657.110 [Reporter](INFO): longitude -121.902196 arcdeg
2020-01-23T17:14:17.382Z,1579799657.382 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:17.382Z,1579799657.382 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:17.382Z,1579799657.382 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:17.383Z,1579799657.383 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:14:17.383Z,1579799657.383 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:17.383Z,1579799657.383 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:17.383Z,1579799657.383 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:17.515Z,1579799657.515 [Reporter](INFO): longitude -121.902200 arcdeg
2020-01-23T17:14:17.798Z,1579799657.798 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171417: (36.803398, -121.822304)
2020-01-23T17:14:17.798Z,1579799657.798 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:17.798Z,1579799657.798 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:17.799Z,1579799657.799 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:17.799Z,1579799657.799 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:17.799Z,1579799657.799 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:17.934Z,1579799657.934 [Reporter](INFO): longitude -121.902204 arcdeg
2020-01-23T17:14:18.190Z,1579799658.190 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:18.190Z,1579799658.190 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:18.190Z,1579799658.190 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:18.191Z,1579799658.191 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:14:18.191Z,1579799658.191 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:18.191Z,1579799658.191 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:18.191Z,1579799658.191 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:18.306Z,1579799658.306 [Reporter](INFO): longitude -121.902209 arcdeg
2020-01-23T17:14:18.608Z,1579799658.608 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171418: (36.803398, -121.822304)
2020-01-23T17:14:18.608Z,1579799658.608 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:18.608Z,1579799658.608 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:18.608Z,1579799658.608 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:18.608Z,1579799658.608 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:18.608Z,1579799658.608 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:18.730Z,1579799658.730 [Reporter](INFO): longitude -121.902213 arcdeg
2020-01-23T17:14:19.031Z,1579799659.031 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:19.031Z,1579799659.031 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:19.031Z,1579799659.031 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:19.032Z,1579799659.032 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:14:19.032Z,1579799659.032 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:19.032Z,1579799659.032 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:19.032Z,1579799659.032 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:19.143Z,1579799659.143 [Reporter](INFO): longitude -121.902218 arcdeg
2020-01-23T17:14:19.399Z,1579799659.399 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171419: (36.803398, -121.822304)
2020-01-23T17:14:19.399Z,1579799659.399 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:19.399Z,1579799659.399 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:19.400Z,1579799659.400 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:19.400Z,1579799659.400 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:19.401Z,1579799659.401 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:19.408Z,1579799659.408 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:14:19.502Z,1579799659.502 [Reporter](INFO): longitude -121.902222 arcdeg
2020-01-23T17:14:19.834Z,1579799659.834 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:19.834Z,1579799659.834 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:19.834Z,1579799659.834 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:19.835Z,1579799659.835 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:14:19.835Z,1579799659.835 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:19.835Z,1579799659.835 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:19.835Z,1579799659.835 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:19.950Z,1579799659.950 [Reporter](INFO): longitude -121.902226 arcdeg
2020-01-23T17:14:20.167Z,1579799660.167 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:14:20.276Z,1579799660.276 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171420: (36.803398, -121.822304)
2020-01-23T17:14:20.276Z,1579799660.276 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:20.276Z,1579799660.276 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:20.276Z,1579799660.276 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:20.276Z,1579799660.276 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:20.276Z,1579799660.276 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:20.406Z,1579799660.406 [Reporter](INFO): longitude -121.902231 arcdeg
2020-01-23T17:14:20.581Z,1579799660.581 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:14:20.667Z,1579799660.667 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:20.667Z,1579799660.667 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:20.667Z,1579799660.667 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:20.668Z,1579799660.668 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:14:20.668Z,1579799660.668 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:20.668Z,1579799660.668 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:20.668Z,1579799660.668 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:20.779Z,1579799660.779 [Reporter](INFO): longitude -121.902235 arcdeg
2020-01-23T17:14:21.006Z,1579799661.006 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171421: (36.803398, -121.822304)
2020-01-23T17:14:21.006Z,1579799661.006 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:21.007Z,1579799661.007 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:21.007Z,1579799661.007 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:21.007Z,1579799661.007 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:21.007Z,1579799661.007 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:21.133Z,1579799661.133 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-23T17:14:21.134Z,1579799661.134 [Reporter](INFO): longitude -121.902239 arcdeg
2020-01-23T17:14:21.422Z,1579799661.422 [Micromodem](INFO): Nmea in: $SNTTA,0.000215,,,,171421.08*4E

2020-01-23T17:14:21.478Z,1579799661.478 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:21.479Z,1579799661.479 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:21.479Z,1579799661.479 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:21.479Z,1579799661.479 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:14:21.479Z,1579799661.479 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:21.479Z,1579799661.479 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:21.479Z,1579799661.479 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:21.602Z,1579799661.602 [Reporter](INFO): longitude -121.902244 arcdeg
2020-01-23T17:14:21.839Z,1579799661.839 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171421: (36.803398, -121.822304)
2020-01-23T17:14:21.839Z,1579799661.839 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:21.839Z,1579799661.839 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:21.840Z,1579799661.840 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:21.840Z,1579799661.840 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:21.840Z,1579799661.840 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:21.962Z,1579799661.962 [Reporter](INFO): longitude -121.902248 arcdeg
2020-01-23T17:14:22.234Z,1579799662.234 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:22.234Z,1579799662.234 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:22.234Z,1579799662.234 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:22.235Z,1579799662.235 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:22.235Z,1579799662.235 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:22.235Z,1579799662.235 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:22.235Z,1579799662.235 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:22.357Z,1579799662.357 [Reporter](INFO): longitude -121.902252 arcdeg
2020-01-23T17:14:22.662Z,1579799662.662 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171422: (36.803398, -121.822304)
2020-01-23T17:14:22.662Z,1579799662.662 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:22.662Z,1579799662.662 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:22.662Z,1579799662.662 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:22.662Z,1579799662.662 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:22.663Z,1579799662.663 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:22.792Z,1579799662.792 [Reporter](INFO): longitude -121.902256 arcdeg
2020-01-23T17:14:23.034Z,1579799663.034 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:23.034Z,1579799663.034 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:23.034Z,1579799663.034 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:23.035Z,1579799663.035 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:23.035Z,1579799663.035 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:23.035Z,1579799663.035 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:23.035Z,1579799663.035 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:23.146Z,1579799663.146 [Reporter](INFO): longitude -121.902261 arcdeg
2020-01-23T17:14:23.457Z,1579799663.457 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171423: (36.803398, -121.822304)
2020-01-23T17:14:23.457Z,1579799663.457 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:23.457Z,1579799663.457 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:23.457Z,1579799663.457 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:23.458Z,1579799663.458 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:23.458Z,1579799663.458 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:23.579Z,1579799663.579 [Reporter](INFO): longitude -121.902265 arcdeg
2020-01-23T17:14:23.827Z,1579799663.827 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:23.827Z,1579799663.827 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:23.827Z,1579799663.827 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:23.827Z,1579799663.827 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:23.827Z,1579799663.827 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:23.827Z,1579799663.827 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:23.828Z,1579799663.828 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:23.831Z,1579799663.831 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:14:23.946Z,1579799663.946 [Reporter](INFO): longitude -121.902269 arcdeg
2020-01-23T17:14:24.244Z,1579799664.244 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171424: (36.803398, -121.822304)
2020-01-23T17:14:24.244Z,1579799664.244 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:24.244Z,1579799664.244 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:24.244Z,1579799664.244 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:24.244Z,1579799664.244 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:24.244Z,1579799664.244 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:24.369Z,1579799664.369 [Reporter](INFO): longitude -121.902274 arcdeg
2020-01-23T17:14:24.611Z,1579799664.611 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:14:24.732Z,1579799664.732 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:24.732Z,1579799664.732 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:24.732Z,1579799664.732 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:24.732Z,1579799664.732 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:24.732Z,1579799664.732 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:24.737Z,1579799664.737 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:24.737Z,1579799664.737 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:24.846Z,1579799664.846 [Reporter](INFO): longitude -121.902279 arcdeg
2020-01-23T17:14:25.017Z,1579799665.017 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:14:25.079Z,1579799665.079 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171425: (36.803398, -121.822304)
2020-01-23T17:14:25.080Z,1579799665.080 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:25.080Z,1579799665.080 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:25.080Z,1579799665.080 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:25.080Z,1579799665.080 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:25.080Z,1579799665.080 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:25.207Z,1579799665.207 [Reporter](INFO): longitude -121.902282 arcdeg
2020-01-23T17:14:25.490Z,1579799665.490 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:25.490Z,1579799665.490 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:25.491Z,1579799665.491 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:25.491Z,1579799665.491 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:25.491Z,1579799665.491 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:25.491Z,1579799665.491 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:25.491Z,1579799665.491 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:25.617Z,1579799665.617 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-23T17:14:25.619Z,1579799665.619 [Reporter](INFO): longitude -121.902287 arcdeg
2020-01-23T17:14:25.846Z,1579799665.846 [Micromodem](INFO): Nmea in: $SNTTA,0.000205,,,,171425.52*44

2020-01-23T17:14:25.895Z,1579799665.895 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171425: (36.803398, -121.822304)
2020-01-23T17:14:25.895Z,1579799665.895 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:25.895Z,1579799665.895 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:25.895Z,1579799665.895 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:25.895Z,1579799665.895 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:25.895Z,1579799665.895 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:25.998Z,1579799665.998 [Reporter](INFO): longitude -121.902291 arcdeg
2020-01-23T17:14:26.282Z,1579799666.282 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:26.282Z,1579799666.282 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:26.282Z,1579799666.282 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:26.283Z,1579799666.283 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:26.283Z,1579799666.283 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:26.283Z,1579799666.283 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:26.283Z,1579799666.283 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:26.419Z,1579799666.419 [Reporter](INFO): longitude -121.902295 arcdeg
2020-01-23T17:14:26.687Z,1579799666.687 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171426: (36.803398, -121.822304)
2020-01-23T17:14:26.687Z,1579799666.687 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:26.687Z,1579799666.687 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:26.687Z,1579799666.687 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:26.687Z,1579799666.687 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:26.687Z,1579799666.687 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:26.790Z,1579799666.790 [Reporter](INFO): longitude -121.902300 arcdeg
2020-01-23T17:14:27.100Z,1579799667.100 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:27.100Z,1579799667.100 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:27.101Z,1579799667.101 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:27.101Z,1579799667.101 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:27.101Z,1579799667.101 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:27.101Z,1579799667.101 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:27.101Z,1579799667.101 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:27.206Z,1579799667.206 [Reporter](INFO): longitude -121.902304 arcdeg
2020-01-23T17:14:27.494Z,1579799667.494 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171427: (36.803398, -121.822304)
2020-01-23T17:14:27.495Z,1579799667.495 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:27.495Z,1579799667.495 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:27.495Z,1579799667.495 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:27.495Z,1579799667.495 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:27.495Z,1579799667.495 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:27.642Z,1579799667.642 [Reporter](INFO): longitude -121.902308 arcdeg
2020-01-23T17:14:27.898Z,1579799667.898 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:27.898Z,1579799667.898 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:27.898Z,1579799667.898 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:27.899Z,1579799667.899 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:27.899Z,1579799667.899 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:27.899Z,1579799667.899 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:27.899Z,1579799667.899 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:28.014Z,1579799668.014 [Reporter](INFO): longitude -121.902313 arcdeg
2020-01-23T17:14:28.276Z,1579799668.276 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171428: (36.803398, -121.822304)
2020-01-23T17:14:28.276Z,1579799668.276 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:28.276Z,1579799668.276 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:28.277Z,1579799668.277 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:28.277Z,1579799668.277 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:28.277Z,1579799668.277 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:28.280Z,1579799668.280 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:14:28.390Z,1579799668.390 [Reporter](INFO): longitude -121.902317 arcdeg
2020-01-23T17:14:28.730Z,1579799668.730 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:28.730Z,1579799668.730 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:28.730Z,1579799668.730 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:28.731Z,1579799668.731 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:28.731Z,1579799668.731 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:28.731Z,1579799668.731 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:28.731Z,1579799668.731 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:28.838Z,1579799668.838 [Reporter](INFO): longitude -121.902322 arcdeg
2020-01-23T17:14:29.055Z,1579799669.055 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:14:29.169Z,1579799669.169 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171429: (36.803398, -121.822304)
2020-01-23T17:14:29.169Z,1579799669.169 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:29.169Z,1579799669.169 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:29.169Z,1579799669.169 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:29.169Z,1579799669.169 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:29.170Z,1579799669.170 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:29.278Z,1579799669.278 [Reporter](INFO): longitude -121.902326 arcdeg
2020-01-23T17:14:29.468Z,1579799669.468 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:14:29.534Z,1579799669.534 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:29.534Z,1579799669.534 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:29.535Z,1579799669.535 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:29.535Z,1579799669.535 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:29.535Z,1579799669.535 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:29.535Z,1579799669.535 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:29.535Z,1579799669.535 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:29.647Z,1579799669.647 [Reporter](INFO): longitude -121.902330 arcdeg
2020-01-23T17:14:29.914Z,1579799669.914 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171429: (36.803398, -121.822304)
2020-01-23T17:14:29.914Z,1579799669.914 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:29.914Z,1579799669.914 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:29.914Z,1579799669.914 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:29.915Z,1579799669.915 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:29.915Z,1579799669.915 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:30.036Z,1579799670.036 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-23T17:14:30.038Z,1579799670.038 [Reporter](INFO): longitude -121.902334 arcdeg
2020-01-23T17:14:30.298Z,1579799670.298 [Micromodem](INFO): Nmea in: $SNTTA,0.000211,,,,171429.97*44

2020-01-23T17:14:30.335Z,1579799670.335 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:30.335Z,1579799670.335 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:30.335Z,1579799670.335 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:30.335Z,1579799670.335 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:30.335Z,1579799670.335 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:30.335Z,1579799670.335 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:30.336Z,1579799670.336 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:30.490Z,1579799670.490 [Reporter](INFO): longitude -121.902339 arcdeg
2020-01-23T17:14:30.739Z,1579799670.739 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171430: (36.803398, -121.822304)
2020-01-23T17:14:30.739Z,1579799670.739 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:30.739Z,1579799670.739 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:30.740Z,1579799670.740 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:30.740Z,1579799670.740 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:30.740Z,1579799670.740 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:30.850Z,1579799670.850 [Reporter](INFO): longitude -121.902343 arcdeg
2020-01-23T17:14:31.122Z,1579799671.122 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:31.122Z,1579799671.122 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:31.122Z,1579799671.122 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:31.123Z,1579799671.123 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:31.123Z,1579799671.123 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:31.123Z,1579799671.123 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:31.123Z,1579799671.123 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:31.221Z,1579799671.221 [CBIT](INFO): Clearing failed state for component CTD_NeilBrown
2020-01-23T17:14:31.221Z,1579799671.221 [CTD_NeilBrown] No Fault, FailCount= 1
2020-01-23T17:14:31.224Z,1579799671.224 [Reporter](INFO): longitude -121.902347 arcdeg
2020-01-23T17:14:31.289Z,1579799671.289 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2020-01-23T17:14:31.534Z,1579799671.534 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171431: (36.803398, -121.822304)
2020-01-23T17:14:31.534Z,1579799671.534 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:31.534Z,1579799671.534 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:31.534Z,1579799671.534 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:31.535Z,1579799671.535 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:31.535Z,1579799671.535 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:31.853Z,1579799671.853 [RudderServo](ERROR): getPosition uart error serial timeout
2020-01-23T17:14:31.853Z,1579799671.853 [RudderServo](FAULT): Rudder uart error - getPosition..serial timeout
2020-01-23T17:14:31.853Z,1579799671.853 [RudderServo] Communications Fault, FailCount= 1
2020-01-23T17:14:31.853Z,1579799671.853 [RudderServo](ERROR): Communications Fault
2020-01-23T17:14:32.157Z,1579799672.157 [ThrusterServo](FAULT): getVelocity uart error serial timeout
2020-01-23T17:14:32.157Z,1579799672.157 [ThrusterServo](FAULT): Thruster uart error: serial timeout
2020-01-23T17:14:32.157Z,1579799672.157 [ThrusterServo] Communications Fault, FailCount= 1
2020-01-23T17:14:32.157Z,1579799672.157 [ThrusterServo](ERROR): Communications Fault
2020-01-23T17:14:32.161Z,1579799672.161 [CBIT](ERROR): Communications Fault in component: RudderServo
2020-01-23T17:14:32.161Z,1579799672.161 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2020-01-23T17:14:32.162Z,1579799672.162 [Reporter](INFO): longitude -121.902352 arcdeg
2020-01-23T17:14:32.282Z,1579799672.282 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:32.282Z,1579799672.282 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:32.282Z,1579799672.282 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:32.283Z,1579799672.283 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:32.283Z,1579799672.283 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:32.283Z,1579799672.283 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:32.283Z,1579799672.283 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:32.333Z,1579799672.333 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-01-23T17:14:32.333Z,1579799672.333 [RudderServo](INFO): Powering down
2020-01-23T17:14:32.334Z,1579799672.334 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2020-01-23T17:14:32.334Z,1579799672.334 [ThrusterServo](INFO): Powering down
2020-01-23T17:14:32.339Z,1579799672.339 [Reporter](INFO): longitude -121.902360 arcdeg
2020-01-23T17:14:32.650Z,1579799672.650 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171432: (36.803398, -121.822304)
2020-01-23T17:14:32.650Z,1579799672.650 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:32.650Z,1579799672.650 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:32.650Z,1579799672.650 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:32.650Z,1579799672.650 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:32.650Z,1579799672.650 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:32.670Z,1579799672.670 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:14:32.689Z,1579799672.689 [Reporter](INFO): longitude -121.902364 arcdeg
2020-01-23T17:14:33.083Z,1579799673.083 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:33.083Z,1579799673.083 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:33.083Z,1579799673.083 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:33.083Z,1579799673.083 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:33.084Z,1579799673.084 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:33.084Z,1579799673.084 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:33.084Z,1579799673.084 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:33.093Z,1579799673.093 [RudderServo](DEBUG): Initializing EZServoServo.
2020-01-23T17:14:33.210Z,1579799673.210 [RudderServo](DEBUG): Initializing RudderServo.
2020-01-23T17:14:33.211Z,1579799673.211 [ThrusterServo](DEBUG): Initializing EZServoServo.
2020-01-23T17:14:33.330Z,1579799673.330 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2020-01-23T17:14:33.334Z,1579799673.334 [CBIT](INFO): Clearing failed state for component RudderServo
2020-01-23T17:14:33.334Z,1579799673.334 [RudderServo] No Fault, FailCount= 1
2020-01-23T17:14:33.334Z,1579799673.334 [CBIT](INFO): Clearing failed state for component ThrusterServo
2020-01-23T17:14:33.334Z,1579799673.334 [ThrusterServo] No Fault, FailCount= 1
2020-01-23T17:14:33.336Z,1579799673.336 [Reporter](INFO): longitude -121.902368 arcdeg
2020-01-23T17:14:33.455Z,1579799673.455 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:14:33.606Z,1579799673.606 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171433: (36.803398, -121.822304)
2020-01-23T17:14:33.606Z,1579799673.606 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:33.606Z,1579799673.606 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:33.607Z,1579799673.607 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:33.607Z,1579799673.607 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:33.607Z,1579799673.607 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:33.658Z,1579799673.658 [Reporter](INFO): longitude -121.902374 arcdeg
2020-01-23T17:14:33.836Z,1579799673.836 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:14:33.899Z,1579799673.899 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:33.899Z,1579799673.899 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:33.899Z,1579799673.899 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:33.899Z,1579799673.899 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:33.899Z,1579799673.899 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:33.899Z,1579799673.899 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:33.899Z,1579799673.899 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:34.281Z,1579799674.281 [ThrusterServo](ERROR): Thruster halt for initialization uart error serial timeout
2020-01-23T17:14:34.297Z,1579799674.297 [ThrusterServo](FAULT): Thruster failed to initialize
2020-01-23T17:14:34.297Z,1579799674.297 [ThrusterServo] Communications Fault, FailCount= 2
2020-01-23T17:14:34.297Z,1579799674.297 [ThrusterServo](ERROR): Communications Fault
2020-01-23T17:14:34.312Z,1579799674.312 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2020-01-23T17:14:34.313Z,1579799674.313 [Reporter](INFO): longitude -121.902377 arcdeg
2020-01-23T17:14:34.456Z,1579799674.456 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-23T17:14:34.456Z,1579799674.456 [RDI_Pathfinder](ERROR): Failed to parse:
:TS8
2020-01-23T17:14:34.468Z,1579799674.468 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171434: (36.803398, -121.822304)
2020-01-23T17:14:34.468Z,1579799674.468 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:34.468Z,1579799674.468 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:34.468Z,1579799674.468 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:34.468Z,1579799674.468 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:34.469Z,1579799674.469 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:34.479Z,1579799674.479 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2020-01-23T17:14:34.479Z,1579799674.479 [ThrusterServo](INFO): Powering down
2020-01-23T17:14:34.484Z,1579799674.484 [Reporter](INFO): longitude -121.902383 arcdeg
2020-01-23T17:14:34.779Z,1579799674.779 [Micromodem](INFO): Nmea in: 45

2020-01-23T17:14:34.779Z,1579799674.779 [Micromodem](ERROR): Response from modem failed NMEA checksum: 45
 expected 0
2020-01-23T17:14:34.810Z,1579799674.810 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:34.810Z,1579799674.810 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:34.810Z,1579799674.810 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:34.811Z,1579799674.811 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:34.811Z,1579799674.811 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:34.811Z,1579799674.811 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:34.811Z,1579799674.811 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:34.862Z,1579799674.862 [Reporter](INFO): longitude -121.902387 arcdeg
2020-01-23T17:14:35.215Z,1579799675.215 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171435: (36.803398, -121.822304)
2020-01-23T17:14:35.215Z,1579799675.215 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:35.215Z,1579799675.215 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:35.215Z,1579799675.215 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:35.215Z,1579799675.215 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:35.216Z,1579799675.216 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:35.219Z,1579799675.219 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:14:35.226Z,1579799675.226 [ThrusterServo](DEBUG): Initializing EZServoServo.
2020-01-23T17:14:35.342Z,1579799675.342 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2020-01-23T17:14:35.349Z,1579799675.349 [CBIT](INFO): Clearing failed state for component ThrusterServo
2020-01-23T17:14:35.349Z,1579799675.349 [ThrusterServo] No Fault, FailCount= 2
2020-01-23T17:14:35.351Z,1579799675.351 [Reporter](INFO): longitude -121.902391 arcdeg
2020-01-23T17:14:35.619Z,1579799675.619 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:35.619Z,1579799675.619 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:35.620Z,1579799675.620 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:35.620Z,1579799675.620 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:35.620Z,1579799675.620 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:35.620Z,1579799675.620 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:35.620Z,1579799675.620 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:35.933Z,1579799675.933 [RudderServo](FAULT): Rudder initialization uart error:serial timeout
2020-01-23T17:14:35.933Z,1579799675.933 [RudderServo] Communications Fault, FailCount= 2
2020-01-23T17:14:35.933Z,1579799675.933 [RudderServo](ERROR): Communications Fault
2020-01-23T17:14:36.168Z,1579799676.168 [CBIT](ERROR): Communications Fault in component: RudderServo
2020-01-23T17:14:36.169Z,1579799676.169 [Reporter](INFO): longitude -121.902396 arcdeg
2020-01-23T17:14:36.263Z,1579799676.263 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171436: (36.803398, -121.822304)
2020-01-23T17:14:36.263Z,1579799676.263 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:36.263Z,1579799676.263 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:36.264Z,1579799676.264 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:36.264Z,1579799676.264 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:36.264Z,1579799676.264 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:36.273Z,1579799676.273 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-01-23T17:14:36.273Z,1579799676.273 [RudderServo](INFO): Powering down
2020-01-23T17:14:36.279Z,1579799676.279 [Reporter](INFO): longitude -121.902402 arcdeg
2020-01-23T17:14:36.656Z,1579799676.656 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:36.656Z,1579799676.656 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:36.656Z,1579799676.656 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:36.656Z,1579799676.656 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:36.656Z,1579799676.656 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:36.656Z,1579799676.656 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:36.656Z,1579799676.656 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:36.691Z,1579799676.691 [Reporter](INFO): longitude -121.902407 arcdeg
2020-01-23T17:14:37.062Z,1579799677.062 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171437: (36.803398, -121.822304)
2020-01-23T17:14:37.062Z,1579799677.062 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:37.062Z,1579799677.062 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:37.062Z,1579799677.062 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:37.062Z,1579799677.062 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:37.062Z,1579799677.062 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:37.071Z,1579799677.071 [RudderServo](DEBUG): Initializing EZServoServo.
2020-01-23T17:14:37.190Z,1579799677.190 [RudderServo](DEBUG): Initializing RudderServo.
2020-01-23T17:14:37.194Z,1579799677.194 [CBIT](INFO): Clearing failed state for component RudderServo
2020-01-23T17:14:37.194Z,1579799677.194 [RudderServo] No Fault, FailCount= 2
2020-01-23T17:14:37.195Z,1579799677.195 [Reporter](INFO): longitude -121.902411 arcdeg
2020-01-23T17:14:37.468Z,1579799677.468 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:37.469Z,1579799677.469 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:37.469Z,1579799677.469 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:37.469Z,1579799677.469 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:37.469Z,1579799677.469 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:37.469Z,1579799677.469 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:37.470Z,1579799677.470 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:37.785Z,1579799677.785 [ThrusterServo](FAULT): Thruster initialization uart error:serial timeout
2020-01-23T17:14:37.785Z,1579799677.785 [ThrusterServo] Communications Fault, FailCount= 3
2020-01-23T17:14:37.785Z,1579799677.785 [ThrusterServo](ERROR): Communications Fault
2020-01-23T17:14:37.788Z,1579799677.788 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2020-01-23T17:14:37.790Z,1579799677.790 [Reporter](INFO): longitude -121.902415 arcdeg
2020-01-23T17:14:37.896Z,1579799677.896 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171437: (36.803398, -121.822304)
2020-01-23T17:14:37.896Z,1579799677.896 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:37.896Z,1579799677.896 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:37.896Z,1579799677.896 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:37.896Z,1579799677.896 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:37.896Z,1579799677.896 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:37.903Z,1579799677.903 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:14:37.967Z,1579799677.967 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2020-01-23T17:14:37.967Z,1579799677.967 [ThrusterServo](INFO): Powering down
2020-01-23T17:14:37.988Z,1579799677.988 [Reporter](INFO): longitude -121.902420 arcdeg
2020-01-23T17:14:38.276Z,1579799678.276 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:38.276Z,1579799678.276 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:38.276Z,1579799678.276 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:38.277Z,1579799678.277 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:38.277Z,1579799678.277 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:38.277Z,1579799678.277 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:38.277Z,1579799678.277 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:38.307Z,1579799678.307 [Reporter](INFO): longitude -121.902424 arcdeg
2020-01-23T17:14:38.699Z,1579799678.699 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171438: (36.803398, -121.822304)
2020-01-23T17:14:38.699Z,1579799678.699 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:38.700Z,1579799678.700 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:38.700Z,1579799678.700 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:38.700Z,1579799678.700 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:38.700Z,1579799678.700 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:38.718Z,1579799678.718 [ThrusterServo](DEBUG): Initializing EZServoServo.
2020-01-23T17:14:38.838Z,1579799678.838 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2020-01-23T17:14:38.841Z,1579799678.841 [CBIT](INFO): Clearing failed state for component ThrusterServo
2020-01-23T17:14:38.841Z,1579799678.841 [ThrusterServo] No Fault, FailCount= 3
2020-01-23T17:14:38.843Z,1579799678.843 [Reporter](INFO): longitude -121.902429 arcdeg
2020-01-23T17:14:39.109Z,1579799679.109 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:39.109Z,1579799679.109 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:39.109Z,1579799679.109 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:39.110Z,1579799679.110 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:39.110Z,1579799679.110 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:39.110Z,1579799679.110 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:39.110Z,1579799679.110 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:39.124Z,1579799679.124 [Reporter](INFO): longitude -121.902433 arcdeg
2020-01-23T17:14:39.494Z,1579799679.494 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171439: (36.803398, -121.822304)
2020-01-23T17:14:39.494Z,1579799679.494 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:39.494Z,1579799679.494 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:39.494Z,1579799679.494 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:39.494Z,1579799679.494 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:39.494Z,1579799679.494 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:39.817Z,1579799679.817 [RudderServo](FAULT): Rudder initialization uart error:serial timeout
2020-01-23T17:14:39.817Z,1579799679.817 [RudderServo] Communications Fault, FailCount= 3
2020-01-23T17:14:39.817Z,1579799679.817 [RudderServo](ERROR): Communications Fault
2020-01-23T17:14:39.936Z,1579799679.936 [CBIT](ERROR): Communications Fault in component: RudderServo
2020-01-23T17:14:39.936Z,1579799679.936 [CBIT](CRITICAL): Communications Fault in component: RudderServo
2020-01-23T17:14:39.946Z,1579799679.946 [Reporter](INFO): longitude -121.902437 arcdeg
2020-01-23T17:14:40.056Z,1579799680.056 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:40.056Z,1579799680.056 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:40.057Z,1579799680.057 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:40.057Z,1579799680.057 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:40.057Z,1579799680.057 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:40.057Z,1579799680.057 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:40.058Z,1579799680.058 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:40.067Z,1579799680.067 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-01-23T17:14:40.067Z,1579799680.067 [RudderServo](INFO): Powering down
2020-01-23T17:14:40.069Z,1579799680.069 [CommandLine](FAULT): Scheduling is paused
2020-01-23T17:14:40.069Z,1579799680.069 [CBIT](INFO): Critical error at 20200123T171439
2020-01-23T17:14:40.073Z,1579799680.073 [Reporter](INFO): longitude -121.902443 arcdeg
2020-01-23T17:14:40.451Z,1579799680.451 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171440: (36.803398, -121.822304)
2020-01-23T17:14:40.451Z,1579799680.451 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:40.451Z,1579799680.451 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:40.451Z,1579799680.451 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:40.452Z,1579799680.452 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:40.452Z,1579799680.452 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:40.455Z,1579799680.455 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:14:40.503Z,1579799680.503 [Reporter](INFO): longitude -121.902447 arcdeg
2020-01-23T17:14:40.905Z,1579799680.905 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:40.905Z,1579799680.905 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:40.905Z,1579799680.905 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:40.906Z,1579799680.906 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:40.906Z,1579799680.906 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:40.906Z,1579799680.906 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:40.906Z,1579799680.906 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:40.915Z,1579799680.915 [RudderServo](DEBUG): Initializing EZServoServo.
2020-01-23T17:14:41.030Z,1579799681.030 [RudderServo](DEBUG): Initializing RudderServo.
2020-01-23T17:14:41.038Z,1579799681.038 [Reporter](INFO): longitude -121.902452 arcdeg
2020-01-23T17:14:41.215Z,1579799681.215 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:14:41.347Z,1579799681.347 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171441: (36.803398, -121.822304)
2020-01-23T17:14:41.347Z,1579799681.347 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:41.347Z,1579799681.347 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:41.347Z,1579799681.347 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:41.347Z,1579799681.347 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:41.347Z,1579799681.347 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:41.424Z,1579799681.424 [Reporter](INFO): longitude -121.902457 arcdeg
2020-01-23T17:14:41.633Z,1579799681.633 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:14:41.660Z,1579799681.660 [RDI_Pathfinder](ERROR): No DVL communication! Re-initializing
2020-01-23T17:14:41.660Z,1579799681.660 [RDI_Pathfinder] Communications Fault, FailCount= 1
2020-01-23T17:14:41.660Z,1579799681.660 [RDI_Pathfinder](ERROR): Communications Fault
2020-01-23T17:14:41.712Z,1579799681.712 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:41.713Z,1579799681.713 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:41.713Z,1579799681.713 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:41.713Z,1579799681.713 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:41.714Z,1579799681.714 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:41.714Z,1579799681.714 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:41.714Z,1579799681.714 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:41.743Z,1579799681.743 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2020-01-23T17:14:41.757Z,1579799681.757 [Reporter](INFO): longitude -121.902461 arcdeg
2020-01-23T17:14:42.125Z,1579799682.125 [RDI_Pathfinder](INFO): Powering down
2020-01-23T17:14:42.143Z,1579799682.143 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171442: (36.803398, -121.822304)
2020-01-23T17:14:42.143Z,1579799682.143 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:42.143Z,1579799682.143 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:42.144Z,1579799682.144 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:42.144Z,1579799682.144 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:42.144Z,1579799682.144 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:42.513Z,1579799682.513 [ThrusterServo](ERROR): Thruster uart error: serial timeout
2020-01-23T17:14:42.513Z,1579799682.513 [ThrusterServo] Communications Fault, FailCount= 4
2020-01-23T17:14:42.513Z,1579799682.513 [ThrusterServo](ERROR): Communications Fault
2020-01-23T17:14:42.517Z,1579799682.517 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2020-01-23T17:14:42.518Z,1579799682.518 [Reporter](INFO): longitude -121.902466 arcdeg
2020-01-23T17:14:42.607Z,1579799682.607 [Micromodem](INFO): Nmea in: 44

2020-01-23T17:14:42.607Z,1579799682.607 [Micromodem](ERROR): Response from modem failed NMEA checksum: 44
 expected 0
2020-01-23T17:14:42.656Z,1579799682.656 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:42.656Z,1579799682.656 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:42.656Z,1579799682.656 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:42.656Z,1579799682.656 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:42.659Z,1579799682.659 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:42.659Z,1579799682.659 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:42.659Z,1579799682.659 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:42.679Z,1579799682.679 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2020-01-23T17:14:42.679Z,1579799682.679 [ThrusterServo](INFO): Powering down
2020-01-23T17:14:42.689Z,1579799682.689 [Reporter](INFO): longitude -121.902471 arcdeg
2020-01-23T17:14:43.010Z,1579799683.010 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171443: (36.803398, -121.822304)
2020-01-23T17:14:43.010Z,1579799683.010 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:43.010Z,1579799683.010 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:43.010Z,1579799683.010 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:43.011Z,1579799683.011 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:43.011Z,1579799683.011 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:43.014Z,1579799683.014 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:14:43.024Z,1579799683.024 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2020-01-23T17:14:43.024Z,1579799683.024 [RDI_Pathfinder] No Fault, FailCount= 1
2020-01-23T17:14:43.026Z,1579799683.026 [Reporter](INFO): longitude -121.902475 arcdeg
2020-01-23T17:14:43.412Z,1579799683.412 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:43.412Z,1579799683.412 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:43.413Z,1579799683.413 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:43.413Z,1579799683.413 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:43.413Z,1579799683.413 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:43.413Z,1579799683.413 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:43.413Z,1579799683.413 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:43.422Z,1579799683.422 [ThrusterServo](DEBUG): Initializing EZServoServo.
2020-01-23T17:14:43.542Z,1579799683.542 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2020-01-23T17:14:43.545Z,1579799683.545 [CBIT](INFO): Clearing failed state for component ThrusterServo
2020-01-23T17:14:43.546Z,1579799683.546 [ThrusterServo] No Fault, FailCount= 4
2020-01-23T17:14:43.547Z,1579799683.547 [Reporter](INFO): longitude -121.902479 arcdeg
2020-01-23T17:14:43.831Z,1579799683.831 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171443: (36.803398, -121.822304)
2020-01-23T17:14:43.831Z,1579799683.831 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:43.831Z,1579799683.831 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:43.831Z,1579799683.831 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:43.832Z,1579799683.832 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:43.832Z,1579799683.832 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:43.846Z,1579799683.846 [Reporter](INFO): longitude -121.902483 arcdeg
2020-01-23T17:14:44.216Z,1579799684.216 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:44.216Z,1579799684.216 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:44.216Z,1579799684.216 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:44.216Z,1579799684.216 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:44.217Z,1579799684.217 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:44.217Z,1579799684.217 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:44.217Z,1579799684.217 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:44.545Z,1579799684.545 [ThrusterServo](ERROR): Thruster halt for initialization uart error serial timeout
2020-01-23T17:14:44.564Z,1579799684.564 [ThrusterServo](FAULT): Thruster failed to initialize
2020-01-23T17:14:44.565Z,1579799684.565 [ThrusterServo] Communications Fault, FailCount= 5
2020-01-23T17:14:44.565Z,1579799684.565 [ThrusterServo](ERROR): Communications Fault
2020-01-23T17:14:44.584Z,1579799684.584 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2020-01-23T17:14:44.589Z,1579799684.589 [CBIT](CRITICAL): Communications Fault in component: ThrusterServo
2020-01-23T17:14:44.618Z,1579799684.618 [Reporter](INFO): longitude -121.902488 arcdeg
2020-01-23T17:14:44.727Z,1579799684.727 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171444: (36.803398, -121.822304)
2020-01-23T17:14:44.727Z,1579799684.727 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:44.727Z,1579799684.727 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:44.727Z,1579799684.727 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:44.727Z,1579799684.727 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:44.728Z,1579799684.728 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:44.737Z,1579799684.737 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2020-01-23T17:14:44.737Z,1579799684.737 [ThrusterServo](INFO): Powering down
2020-01-23T17:14:44.739Z,1579799684.739 [CBIT](INFO): Critical error at 20200123T171444
2020-01-23T17:14:44.743Z,1579799684.743 [Reporter](INFO): longitude -121.902493 arcdeg
2020-01-23T17:14:45.106Z,1579799685.106 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:45.106Z,1579799685.106 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:45.106Z,1579799685.106 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:45.107Z,1579799685.107 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:45.107Z,1579799685.107 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:45.107Z,1579799685.107 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:45.107Z,1579799685.107 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:45.137Z,1579799685.137 [Reporter](INFO): longitude -121.902497 arcdeg
2020-01-23T17:14:45.511Z,1579799685.511 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171445: (36.803398, -121.822304)
2020-01-23T17:14:45.511Z,1579799685.511 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:45.511Z,1579799685.511 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:45.511Z,1579799685.511 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:45.511Z,1579799685.511 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:45.512Z,1579799685.512 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:45.515Z,1579799685.515 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:14:45.522Z,1579799685.522 [ThrusterServo](DEBUG): Initializing EZServoServo.
2020-01-23T17:14:45.642Z,1579799685.642 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2020-01-23T17:14:45.650Z,1579799685.650 [Reporter](INFO): longitude -121.902502 arcdeg
2020-01-23T17:14:45.926Z,1579799685.926 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:45.926Z,1579799685.926 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:45.926Z,1579799685.926 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:45.927Z,1579799685.927 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:45.927Z,1579799685.927 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:45.927Z,1579799685.927 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:45.927Z,1579799685.927 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:45.940Z,1579799685.940 [Reporter](INFO): longitude -121.902506 arcdeg
2020-01-23T17:14:46.317Z,1579799686.317 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171446: (36.803398, -121.822304)
2020-01-23T17:14:46.318Z,1579799686.318 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:46.318Z,1579799686.318 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:46.318Z,1579799686.318 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:46.318Z,1579799686.318 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:46.318Z,1579799686.318 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:46.348Z,1579799686.348 [Reporter](INFO): longitude -121.902510 arcdeg
2020-01-23T17:14:46.723Z,1579799686.723 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:46.723Z,1579799686.723 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:46.723Z,1579799686.723 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:46.723Z,1579799686.723 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:46.724Z,1579799686.724 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:46.724Z,1579799686.724 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:46.724Z,1579799686.724 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:46.739Z,1579799686.739 [Reporter](INFO): longitude -121.902515 arcdeg
2020-01-23T17:14:47.140Z,1579799687.140 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171447: (36.803398, -121.822304)
2020-01-23T17:14:47.140Z,1579799687.140 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:47.140Z,1579799687.140 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:47.140Z,1579799687.140 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:47.140Z,1579799687.140 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:47.140Z,1579799687.140 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:47.155Z,1579799687.155 [Reporter](INFO): longitude -121.902519 arcdeg
2020-01-23T17:14:47.528Z,1579799687.528 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:47.528Z,1579799687.528 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:47.528Z,1579799687.528 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:47.528Z,1579799687.528 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:47.546Z,1579799687.546 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:47.546Z,1579799687.546 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:47.546Z,1579799687.546 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:47.572Z,1579799687.572 [Reporter](INFO): longitude -121.902523 arcdeg
2020-01-23T17:14:47.933Z,1579799687.933 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171447: (36.803398, -121.822304)
2020-01-23T17:14:47.934Z,1579799687.934 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:47.934Z,1579799687.934 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:47.934Z,1579799687.934 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:47.934Z,1579799687.934 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:47.934Z,1579799687.934 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:47.968Z,1579799687.968 [Reporter](INFO): longitude -121.902528 arcdeg
2020-01-23T17:14:48.338Z,1579799688.338 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:48.338Z,1579799688.338 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:48.338Z,1579799688.338 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:48.339Z,1579799688.339 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:48.339Z,1579799688.339 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:48.339Z,1579799688.339 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:48.339Z,1579799688.339 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:48.342Z,1579799688.342 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:14:48.352Z,1579799688.352 [Reporter](INFO): longitude -121.902532 arcdeg
2020-01-23T17:14:48.762Z,1579799688.762 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171448: (36.803398, -121.822304)
2020-01-23T17:14:48.762Z,1579799688.762 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:48.762Z,1579799688.762 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:48.762Z,1579799688.762 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:48.762Z,1579799688.762 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:48.762Z,1579799688.762 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:48.776Z,1579799688.776 [Reporter](INFO): longitude -121.902537 arcdeg
2020-01-23T17:14:49.115Z,1579799689.115 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:14:49.200Z,1579799689.200 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:49.200Z,1579799689.200 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:49.200Z,1579799689.200 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:49.201Z,1579799689.201 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:49.201Z,1579799689.201 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:49.201Z,1579799689.201 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:49.201Z,1579799689.201 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:49.227Z,1579799689.227 [Reporter](INFO): longitude -121.902541 arcdeg
2020-01-23T17:14:49.526Z,1579799689.526 [Micromodem](INFO): Nmea in: 

2020-01-23T17:14:49.527Z,1579799689.527 [Micromodem](ERROR): Response from modem failed NMEA checksum: 
 expected 0
2020-01-23T17:14:49.527Z,1579799689.527 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:14:49.664Z,1579799689.664 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171449: (36.803398, -121.822304)
2020-01-23T17:14:49.664Z,1579799689.664 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:49.665Z,1579799689.665 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:49.665Z,1579799689.665 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:49.665Z,1579799689.665 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:49.665Z,1579799689.665 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:49.710Z,1579799689.710 [Reporter](INFO): longitude -121.902546 arcdeg
2020-01-23T17:14:49.922Z,1579799689.922 [Micromodem](INFO): Nmea in: $CAERR,171450,NI  ,29,Busy completing a previous request*7D

2020-01-23T17:14:49.922Z,1579799689.922 [Micromodem](ERROR): Got error from modem: $CAERR,171450,NI  ,29,Busy completing a previous request*7D

2020-01-23T17:14:49.968Z,1579799689.968 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:49.968Z,1579799689.968 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:49.968Z,1579799689.968 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:49.973Z,1579799689.973 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:49.973Z,1579799689.973 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:49.974Z,1579799689.974 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:49.974Z,1579799689.974 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:50.010Z,1579799690.010 [Reporter](INFO): longitude -121.902549 arcdeg
2020-01-23T17:14:50.331Z,1579799690.331 [Micromodem](INFO): Nmea in: 171451,COPROC,0.10.0.46*47

2020-01-23T17:14:50.331Z,1579799690.331 [Micromodem](ERROR): Response from modem failed NMEA checksum: 171451,COPROC,0.10.0.46*47
 expected 0
2020-01-23T17:14:50.331Z,1579799690.331 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:14:50.486Z,1579799690.486 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171450: (36.803398, -121.822304)
2020-01-23T17:14:50.486Z,1579799690.486 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:50.486Z,1579799690.486 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:50.487Z,1579799690.487 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:50.487Z,1579799690.487 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:50.487Z,1579799690.487 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:50.509Z,1579799690.509 [Reporter](INFO): longitude -121.902555 arcdeg
2020-01-23T17:14:50.737Z,1579799690.737 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:14:50.773Z,1579799690.773 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:50.773Z,1579799690.773 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:50.773Z,1579799690.773 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:50.774Z,1579799690.774 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:50.774Z,1579799690.774 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:50.774Z,1579799690.774 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:50.774Z,1579799690.774 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:50.831Z,1579799690.831 [Reporter](INFO): longitude -121.902558 arcdeg
2020-01-23T17:14:51.189Z,1579799691.189 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171451: (36.803398, -121.822304)
2020-01-23T17:14:51.189Z,1579799691.189 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:51.189Z,1579799691.189 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:51.189Z,1579799691.189 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:51.189Z,1579799691.189 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:51.189Z,1579799691.189 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:51.192Z,1579799691.192 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:14:51.228Z,1579799691.228 [Reporter](INFO): longitude -121.902563 arcdeg
2020-01-23T17:14:51.546Z,1579799691.546 [Micromodem](INFO): Nmea in: 2731*1F

2020-01-23T17:14:51.546Z,1579799691.546 [Micromodem](ERROR): Response from modem failed NMEA checksum: 2731*1F
 expected 0
2020-01-23T17:14:51.607Z,1579799691.607 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:51.607Z,1579799691.607 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:51.607Z,1579799691.607 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:51.608Z,1579799691.608 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:51.608Z,1579799691.608 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:51.608Z,1579799691.608 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:51.608Z,1579799691.608 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:51.642Z,1579799691.642 [Reporter](INFO): longitude -121.902567 arcdeg
2020-01-23T17:14:51.976Z,1579799691.976 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171451: (36.803398, -121.822304)
2020-01-23T17:14:51.976Z,1579799691.976 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:51.976Z,1579799691.976 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:52.006Z,1579799692.006 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:52.006Z,1579799692.006 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:52.006Z,1579799692.006 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:52.019Z,1579799692.019 [Reporter](INFO): longitude -121.902571 arcdeg
2020-01-23T17:14:52.375Z,1579799692.375 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:52.375Z,1579799692.375 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:52.375Z,1579799692.375 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:52.376Z,1579799692.376 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:52.376Z,1579799692.376 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:52.376Z,1579799692.376 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:52.376Z,1579799692.376 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:52.390Z,1579799692.390 [Reporter](INFO): longitude -121.902575 arcdeg
2020-01-23T17:14:52.786Z,1579799692.786 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171452: (36.803398, -121.822304)
2020-01-23T17:14:52.786Z,1579799692.786 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:52.786Z,1579799692.786 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:52.786Z,1579799692.786 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:52.786Z,1579799692.786 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:52.786Z,1579799692.786 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:52.802Z,1579799692.802 [Reporter](INFO): longitude -121.902580 arcdeg
2020-01-23T17:14:53.196Z,1579799693.196 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:53.196Z,1579799693.196 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:53.196Z,1579799693.196 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:53.197Z,1579799693.197 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:53.197Z,1579799693.197 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:53.197Z,1579799693.197 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:53.197Z,1579799693.197 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:53.212Z,1579799693.212 [Reporter](INFO): longitude -121.902584 arcdeg
2020-01-23T17:14:53.589Z,1579799693.589 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171453: (36.803398, -121.822304)
2020-01-23T17:14:53.590Z,1579799693.590 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:53.590Z,1579799693.590 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:53.590Z,1579799693.590 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:53.590Z,1579799693.590 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:53.590Z,1579799693.590 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:53.636Z,1579799693.636 [Reporter](INFO): longitude -121.902588 arcdeg
2020-01-23T17:14:53.995Z,1579799693.995 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:53.995Z,1579799693.995 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:53.995Z,1579799693.995 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:53.995Z,1579799693.995 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:53.995Z,1579799693.995 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:53.995Z,1579799693.995 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:53.995Z,1579799693.995 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:53.999Z,1579799693.999 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:14:54.011Z,1579799694.011 [Reporter](INFO): longitude -121.902593 arcdeg
2020-01-23T17:14:54.400Z,1579799694.400 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171454: (36.803398, -121.822304)
2020-01-23T17:14:54.400Z,1579799694.400 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:54.400Z,1579799694.400 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:54.401Z,1579799694.401 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:54.401Z,1579799694.401 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:54.401Z,1579799694.401 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:54.416Z,1579799694.416 [Reporter](INFO): longitude -121.902597 arcdeg
2020-01-23T17:14:54.737Z,1579799694.737 [AHRS_M2](FAULT): Failed to acquire valid data within timeout.
2020-01-23T17:14:54.737Z,1579799694.737 [AHRS_M2] Data Fault, FailCount= 1
2020-01-23T17:14:54.737Z,1579799694.737 [AHRS_M2](ERROR): Data Fault
2020-01-23T17:14:54.816Z,1579799694.816 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:54.816Z,1579799694.816 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:54.816Z,1579799694.816 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:54.816Z,1579799694.816 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:54.819Z,1579799694.819 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:54.819Z,1579799694.819 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:54.819Z,1579799694.819 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:54.831Z,1579799694.831 [CBIT](ERROR): Data Fault in component: AHRS_M2
2020-01-23T17:14:54.833Z,1579799694.833 [Reporter](INFO): longitude -121.902601 arcdeg
2020-01-23T17:14:55.124Z,1579799695.124 [AHRS_M2](INFO): Powering down
2020-01-23T17:14:55.255Z,1579799695.255 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171455: (36.803398, -121.822304)
2020-01-23T17:14:55.255Z,1579799695.255 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:55.255Z,1579799695.255 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:55.255Z,1579799695.255 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:55.255Z,1579799695.255 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:55.255Z,1579799695.255 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:55.268Z,1579799695.268 [Reporter](INFO): longitude -121.902606 arcdeg
2020-01-23T17:14:55.593Z,1579799695.593 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:55.593Z,1579799695.593 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:55.593Z,1579799695.593 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:55.594Z,1579799695.594 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:55.594Z,1579799695.594 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:55.594Z,1579799695.594 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:55.594Z,1579799695.594 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:55.607Z,1579799695.607 [Reporter](INFO): longitude -121.902610 arcdeg
2020-01-23T17:14:55.993Z,1579799695.993 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171455: (36.803398, -121.822304)
2020-01-23T17:14:55.993Z,1579799695.993 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:55.993Z,1579799695.993 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:55.993Z,1579799695.993 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:55.993Z,1579799695.993 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:55.993Z,1579799695.993 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:56.043Z,1579799696.043 [CBIT](INFO): Clearing failed state for component AHRS_M2
2020-01-23T17:14:56.043Z,1579799696.043 [AHRS_M2] No Fault, FailCount= 1
2020-01-23T17:14:56.049Z,1579799696.049 [Reporter](INFO): longitude -121.902614 arcdeg
2020-01-23T17:14:56.336Z,1579799696.336 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2020-01-23T17:14:56.405Z,1579799696.405 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:56.406Z,1579799696.406 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:56.406Z,1579799696.406 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:56.406Z,1579799696.406 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:56.406Z,1579799696.406 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:56.406Z,1579799696.406 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:56.406Z,1579799696.406 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:56.419Z,1579799696.419 [Reporter](INFO): longitude -121.902619 arcdeg
2020-01-23T17:14:56.805Z,1579799696.805 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171456: (36.803398, -121.822304)
2020-01-23T17:14:56.805Z,1579799696.805 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:56.805Z,1579799696.805 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:56.805Z,1579799696.805 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:56.805Z,1579799696.805 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:56.806Z,1579799696.806 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:56.809Z,1579799696.809 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:14:56.819Z,1579799696.819 [Reporter](INFO): longitude -121.902623 arcdeg
2020-01-23T17:14:57.228Z,1579799697.228 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:57.228Z,1579799697.228 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:57.228Z,1579799697.228 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:57.229Z,1579799697.229 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:57.229Z,1579799697.229 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:57.229Z,1579799697.229 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:57.229Z,1579799697.229 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:57.242Z,1579799697.242 [Reporter](INFO): longitude -121.902627 arcdeg
2020-01-23T17:14:57.675Z,1579799697.675 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:14:57.785Z,1579799697.785 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171457: (36.803398, -121.822304)
2020-01-23T17:14:57.785Z,1579799697.785 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:57.785Z,1579799697.785 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:57.786Z,1579799697.786 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:57.786Z,1579799697.786 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:57.786Z,1579799697.786 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:57.815Z,1579799697.815 [Reporter](INFO): longitude -121.902633 arcdeg
2020-01-23T17:14:57.992Z,1579799697.992 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:14:58.061Z,1579799698.061 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:58.061Z,1579799698.061 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:58.061Z,1579799698.061 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:58.061Z,1579799698.061 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:58.062Z,1579799698.062 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:58.062Z,1579799698.062 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:58.062Z,1579799698.062 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:58.076Z,1579799698.076 [Reporter](INFO): longitude -121.902636 arcdeg
2020-01-23T17:14:58.402Z,1579799698.402 [RDI_Pathfinder](ERROR): Failed to parse:> 0.00
2020-01-23T17:14:58.424Z,1579799698.424 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171458: (36.803398, -121.822304)
2020-01-23T17:14:58.424Z,1579799698.424 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:58.424Z,1579799698.424 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:58.424Z,1579799698.424 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:58.431Z,1579799698.431 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:58.431Z,1579799698.431 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:58.465Z,1579799698.465 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-23T17:14:58.466Z,1579799698.466 [Reporter](INFO): longitude -121.902640 arcdeg
2020-01-23T17:14:58.847Z,1579799698.847 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:58.847Z,1579799698.847 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:58.847Z,1579799698.847 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:58.848Z,1579799698.848 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:58.848Z,1579799698.848 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:58.853Z,1579799698.853 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:58.853Z,1579799698.853 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:58.901Z,1579799698.901 [Reporter](INFO): longitude -121.902645 arcdeg
2020-01-23T17:14:59.229Z,1579799699.229 [Micromodem](INFO): Nmea in: $SNTTA,0.000202,,,,171458.59*42

2020-01-23T17:14:59.291Z,1579799699.291 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171459: (36.803398, -121.822304)
2020-01-23T17:14:59.291Z,1579799699.291 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:14:59.291Z,1579799699.291 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:14:59.292Z,1579799699.292 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:59.292Z,1579799699.292 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:14:59.292Z,1579799699.292 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:59.304Z,1579799699.304 [Reporter](INFO): longitude -121.902650 arcdeg
2020-01-23T17:14:59.665Z,1579799699.665 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:14:59.666Z,1579799699.666 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:14:59.666Z,1579799699.666 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:14:59.666Z,1579799699.666 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:14:59.666Z,1579799699.666 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:14:59.666Z,1579799699.666 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:14:59.666Z,1579799699.666 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:14:59.712Z,1579799699.712 [Reporter](INFO): longitude -121.902654 arcdeg
2020-01-23T17:15:00.075Z,1579799700.075 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171500: (36.803398, -121.822304)
2020-01-23T17:15:00.076Z,1579799700.076 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:15:00.076Z,1579799700.076 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:15:00.076Z,1579799700.076 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:00.076Z,1579799700.076 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:15:00.076Z,1579799700.076 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:00.090Z,1579799700.090 [Reporter](INFO): longitude -121.902658 arcdeg
2020-01-23T17:15:00.482Z,1579799700.482 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:15:00.482Z,1579799700.482 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:00.482Z,1579799700.482 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:15:00.482Z,1579799700.482 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:15:00.483Z,1579799700.483 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:15:00.483Z,1579799700.483 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:15:00.483Z,1579799700.483 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:15:00.496Z,1579799700.496 [Reporter](INFO): longitude -121.902662 arcdeg
2020-01-23T17:15:00.876Z,1579799700.876 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171500: (36.803398, -121.822304)
2020-01-23T17:15:00.877Z,1579799700.877 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:15:00.877Z,1579799700.877 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:15:00.877Z,1579799700.877 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:00.877Z,1579799700.877 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:15:00.877Z,1579799700.877 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:00.880Z,1579799700.880 [DefaultUnder:Notify:A:A:A.Wait](INFO): Done Waiting.
2020-01-23T17:15:00.880Z,1579799700.880 [DefaultUnder:Notify:A:A:A.Wait] Stopped
2020-01-23T17:15:00.897Z,1579799700.897 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-23T17:15:00.897Z,1579799700.897 [DefaultUnder:Notify:A:A:B] Running Loop=1
2020-01-23T17:15:00.927Z,1579799700.927 [Reporter](INFO): longitude -121.902667 arcdeg
2020-01-23T17:15:01.316Z,1579799701.316 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:15:01.316Z,1579799701.316 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:01.316Z,1579799701.316 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:15:01.316Z,1579799701.316 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:15:01.316Z,1579799701.316 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:15:01.316Z,1579799701.316 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:15:01.316Z,1579799701.316 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:15:01.320Z,1579799701.320 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:15:01.321Z,1579799701.321 [DefaultUnder:Notify:A:A:B] Stopped
2020-01-23T17:15:01.321Z,1579799701.321 [DefaultUnder:Notify:A:A:C] Running Loop=1
2020-01-23T17:15:01.331Z,1579799701.331 [Reporter](INFO): longitude -121.902671 arcdeg
2020-01-23T17:15:01.675Z,1579799701.675 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171501: (36.803398, -121.822304)
2020-01-23T17:15:01.675Z,1579799701.675 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:15:01.676Z,1579799701.676 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:15:01.676Z,1579799701.676 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:01.676Z,1579799701.676 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:15:01.676Z,1579799701.676 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:01.680Z,1579799701.680 [DefaultUnder:Notify:A:A:C](IMPORTANT): Default mission has been running for 5.010675 min 
2020-01-23T17:15:01.680Z,1579799701.680 [DefaultUnder:Notify:A:A:C] Stopped
2020-01-23T17:15:01.680Z,1579799701.680 [DefaultUnder:Notify:A:A](INFO): Completed DefaultUnder:Notify:A:A
2020-01-23T17:15:01.680Z,1579799701.680 [DefaultUnder:Notify:A:A] Stopped
2020-01-23T17:15:01.680Z,1579799701.680 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A:A
2020-01-23T17:15:01.680Z,1579799701.680 [DefaultUnder:Notify:A:A](INFO): Running loop #2
2020-01-23T17:15:01.680Z,1579799701.680 [DefaultUnder:Notify:A:A] Running Loop=2
2020-01-23T17:15:01.680Z,1579799701.680 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A:A
2020-01-23T17:15:01.680Z,1579799701.680 [DefaultUnder:Notify:A:A:A.Wait] Running Loop=1
2020-01-23T17:15:01.681Z,1579799701.681 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Initialize Wait Component.
2020-01-23T17:15:01.691Z,1579799701.691 [Reporter](INFO): longitude -121.902675 arcdeg
2020-01-23T17:15:02.042Z,1579799702.042 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:15:02.141Z,1579799702.141 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:15:02.141Z,1579799702.141 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:02.142Z,1579799702.142 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:15:02.143Z,1579799702.143 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:15:02.143Z,1579799702.143 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:15:02.143Z,1579799702.143 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:15:02.143Z,1579799702.143 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:15:02.175Z,1579799702.175 [Reporter](INFO): longitude -121.902680 arcdeg
2020-01-23T17:15:02.441Z,1579799702.441 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:15:02.506Z,1579799702.506 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171502: (36.803398, -121.822304)
2020-01-23T17:15:02.507Z,1579799702.507 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:15:02.507Z,1579799702.507 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:15:02.507Z,1579799702.507 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:02.507Z,1579799702.507 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:15:02.507Z,1579799702.507 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:02.549Z,1579799702.549 [Reporter](INFO): longitude -121.902684 arcdeg
2020-01-23T17:15:02.889Z,1579799702.889 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:15:02.889Z,1579799702.889 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:02.889Z,1579799702.889 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:15:02.890Z,1579799702.890 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:15:02.890Z,1579799702.890 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:15:02.890Z,1579799702.890 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:15:02.890Z,1579799702.890 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:15:02.932Z,1579799702.932 [Reporter](INFO): acoustic_contact_range 0.239999 m
2020-01-23T17:15:02.937Z,1579799702.937 [Reporter](INFO): longitude -121.902688 arcdeg
2020-01-23T17:15:03.270Z,1579799703.270 [Micromodem](INFO): Nmea in: $SNTTA,0.000205,,,,171502.96*48

2020-01-23T17:15:03.323Z,1579799703.323 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171503: (36.803398, -121.822304)
2020-01-23T17:15:03.323Z,1579799703.323 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:15:03.323Z,1579799703.323 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:15:03.323Z,1579799703.323 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:03.323Z,1579799703.323 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:15:03.323Z,1579799703.323 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:03.339Z,1579799703.339 [Reporter](INFO): longitude -121.902693 arcdeg
2020-01-23T17:15:03.704Z,1579799703.704 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:15:03.704Z,1579799703.704 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:03.705Z,1579799703.705 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:15:03.705Z,1579799703.705 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:15:03.705Z,1579799703.705 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:15:03.705Z,1579799703.705 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:15:03.705Z,1579799703.705 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:15:03.719Z,1579799703.719 [Reporter](INFO): longitude -121.902697 arcdeg
2020-01-23T17:15:04.104Z,1579799704.104 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171504: (36.803398, -121.822304)
2020-01-23T17:15:04.104Z,1579799704.104 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:15:04.104Z,1579799704.104 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:15:04.104Z,1579799704.104 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:04.104Z,1579799704.104 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:15:04.105Z,1579799704.105 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:04.119Z,1579799704.119 [Reporter](INFO): longitude -121.902701 arcdeg
2020-01-23T17:15:04.503Z,1579799704.503 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:15:04.503Z,1579799704.503 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:04.503Z,1579799704.503 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:15:04.504Z,1579799704.504 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:15:04.504Z,1579799704.504 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:15:04.504Z,1579799704.504 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:15:04.504Z,1579799704.504 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:15:04.550Z,1579799704.550 [Reporter](INFO): longitude -121.902705 arcdeg
2020-01-23T17:15:04.918Z,1579799704.918 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171504: (36.803398, -121.822304)
2020-01-23T17:15:04.918Z,1579799704.918 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:15:04.918Z,1579799704.918 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:15:04.918Z,1579799704.918 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:04.918Z,1579799704.918 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:15:04.919Z,1579799704.919 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:04.932Z,1579799704.932 [Reporter](INFO): longitude -121.902710 arcdeg
2020-01-23T17:15:05.314Z,1579799705.314 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:15:05.314Z,1579799705.314 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:05.314Z,1579799705.314 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:15:05.315Z,1579799705.315 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:15:05.315Z,1579799705.315 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:15:05.315Z,1579799705.315 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:15:05.315Z,1579799705.315 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:15:05.329Z,1579799705.329 [Reporter](INFO): longitude -121.902714 arcdeg
2020-01-23T17:15:05.715Z,1579799705.715 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171505: (36.803398, -121.822304)
2020-01-23T17:15:05.715Z,1579799705.715 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:15:05.715Z,1579799705.715 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:15:05.715Z,1579799705.715 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:05.715Z,1579799705.715 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:15:05.715Z,1579799705.715 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:05.719Z,1579799705.719 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:15:05.754Z,1579799705.754 [Reporter](INFO): longitude -121.902718 arcdeg
2020-01-23T17:15:06.122Z,1579799706.122 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:15:06.122Z,1579799706.122 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:06.122Z,1579799706.122 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:15:06.123Z,1579799706.123 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:15:06.123Z,1579799706.123 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:15:06.123Z,1579799706.123 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:15:06.123Z,1579799706.123 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:15:06.137Z,1579799706.137 [Reporter](INFO): longitude -121.902723 arcdeg
2020-01-23T17:15:06.479Z,1579799706.479 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:15:06.610Z,1579799706.610 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171506: (36.803398, -121.822304)
2020-01-23T17:15:06.610Z,1579799706.610 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:15:06.610Z,1579799706.610 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:15:06.610Z,1579799706.610 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:06.610Z,1579799706.610 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:15:06.610Z,1579799706.610 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:06.643Z,1579799706.643 [Reporter](INFO): longitude -121.902728 arcdeg
2020-01-23T17:15:06.892Z,1579799706.892 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:15:06.958Z,1579799706.958 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:15:06.958Z,1579799706.958 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:06.958Z,1579799706.958 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:15:06.958Z,1579799706.958 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:15:06.958Z,1579799706.958 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:15:06.958Z,1579799706.958 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:15:06.959Z,1579799706.959 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:15:06.974Z,1579799706.974 [Reporter](INFO): longitude -121.902732 arcdeg
2020-01-23T17:15:07.345Z,1579799707.345 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171507: (36.803398, -121.822304)
2020-01-23T17:15:07.346Z,1579799707.346 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:15:07.346Z,1579799707.346 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:15:07.346Z,1579799707.346 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:07.346Z,1579799707.346 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:15:07.346Z,1579799707.346 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:07.378Z,1579799707.378 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-23T17:15:07.379Z,1579799707.379 [Reporter](INFO): longitude -121.902736 arcdeg
2020-01-23T17:15:07.714Z,1579799707.714 [Micromodem](INFO): Nmea in: $SNTTA,0.000218,,,,171507.39*44

2020-01-23T17:15:07.766Z,1579799707.766 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:15:07.766Z,1579799707.766 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:07.766Z,1579799707.766 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:15:07.766Z,1579799707.766 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:15:07.766Z,1579799707.766 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:15:07.767Z,1579799707.767 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:15:07.767Z,1579799707.767 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:15:07.806Z,1579799707.806 [Reporter](INFO): longitude -121.902740 arcdeg
2020-01-23T17:15:08.142Z,1579799708.142 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171508: (36.803398, -121.822304)
2020-01-23T17:15:08.142Z,1579799708.142 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:15:08.142Z,1579799708.142 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:15:08.142Z,1579799708.142 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:08.142Z,1579799708.142 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:15:08.142Z,1579799708.142 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:08.172Z,1579799708.172 [Reporter](INFO): longitude -121.902744 arcdeg
2020-01-23T17:15:08.549Z,1579799708.549 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:15:08.549Z,1579799708.549 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:08.549Z,1579799708.549 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:15:08.550Z,1579799708.550 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:15:08.550Z,1579799708.550 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:15:08.550Z,1579799708.550 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:15:08.550Z,1579799708.550 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:15:08.563Z,1579799708.563 [Reporter](INFO): longitude -121.902749 arcdeg
2020-01-23T17:15:08.952Z,1579799708.952 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171508: (36.803398, -121.822304)
2020-01-23T17:15:08.952Z,1579799708.952 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:15:08.952Z,1579799708.952 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:15:08.952Z,1579799708.952 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:08.952Z,1579799708.952 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:15:08.953Z,1579799708.953 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:08.967Z,1579799708.967 [Reporter](INFO): longitude -121.902753 arcdeg
2020-01-23T17:15:09.381Z,1579799709.381 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:15:09.381Z,1579799709.381 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:09.381Z,1579799709.381 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:15:09.382Z,1579799709.382 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:15:09.382Z,1579799709.382 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:15:09.382Z,1579799709.382 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:15:09.382Z,1579799709.382 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:15:09.398Z,1579799709.398 [Reporter](INFO): longitude -121.902758 arcdeg
2020-01-23T17:15:09.753Z,1579799709.753 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171509: (36.803398, -121.822304)
2020-01-23T17:15:09.753Z,1579799709.753 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:15:09.753Z,1579799709.753 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:15:09.753Z,1579799709.753 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:09.753Z,1579799709.753 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:15:09.753Z,1579799709.753 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:09.767Z,1579799709.767 [Reporter](INFO): longitude -121.902762 arcdeg
2020-01-23T17:15:10.148Z,1579799710.148 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:15:10.148Z,1579799710.148 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:10.148Z,1579799710.148 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:15:10.148Z,1579799710.148 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:15:10.165Z,1579799710.165 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:15:10.165Z,1579799710.165 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:15:10.165Z,1579799710.165 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:15:10.168Z,1579799710.168 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:15:10.220Z,1579799710.220 [Reporter](INFO): longitude -121.902766 arcdeg
2020-01-23T17:15:10.573Z,1579799710.573 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171510: (36.803398, -121.822304)
2020-01-23T17:15:10.573Z,1579799710.573 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:15:10.573Z,1579799710.573 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:15:10.574Z,1579799710.574 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:10.574Z,1579799710.574 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:15:10.574Z,1579799710.574 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:10.611Z,1579799710.611 [Reporter](INFO): longitude -121.902771 arcdeg
2020-01-23T17:15:10.923Z,1579799710.923 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:15:11.033Z,1579799711.033 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:15:11.033Z,1579799711.033 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:11.033Z,1579799711.033 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:15:11.034Z,1579799711.034 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:15:11.034Z,1579799711.034 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:15:11.034Z,1579799711.034 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:15:11.034Z,1579799711.034 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:15:11.060Z,1579799711.060 [Reporter](INFO): longitude -121.902775 arcdeg
2020-01-23T17:15:11.336Z,1579799711.336 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:15:11.417Z,1579799711.417 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171511: (36.803398, -121.822304)
2020-01-23T17:15:11.417Z,1579799711.417 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:15:11.417Z,1579799711.417 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:15:11.417Z,1579799711.417 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:11.417Z,1579799711.417 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:15:11.418Z,1579799711.418 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:11.447Z,1579799711.447 [Reporter](INFO): longitude -121.902780 arcdeg
2020-01-23T17:15:11.768Z,1579799711.768 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:15:11.768Z,1579799711.768 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:11.768Z,1579799711.768 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:15:11.768Z,1579799711.768 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:15:11.768Z,1579799711.768 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:15:11.768Z,1579799711.768 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:15:11.768Z,1579799711.768 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:15:11.784Z,1579799711.784 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-23T17:15:11.786Z,1579799711.786 [Reporter](INFO): longitude -121.902783 arcdeg
2020-01-23T17:15:12.158Z,1579799712.158 [Micromodem](INFO): Nmea in: $SNTTA,0.000206,,,,171511.84*4A

2020-01-23T17:15:12.207Z,1579799712.207 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171512: (36.803398, -121.822304)
2020-01-23T17:15:12.207Z,1579799712.207 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:15:12.207Z,1579799712.207 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:15:12.208Z,1579799712.208 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:12.208Z,1579799712.208 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:15:12.208Z,1579799712.208 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:12.249Z,1579799712.249 [Reporter](INFO): longitude -121.902788 arcdeg
2020-01-23T17:15:12.614Z,1579799712.614 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:15:12.614Z,1579799712.614 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:12.614Z,1579799712.614 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:15:12.614Z,1579799712.614 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:15:12.614Z,1579799712.614 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:15:12.614Z,1579799712.614 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:15:12.615Z,1579799712.615 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:15:12.649Z,1579799712.649 [Reporter](INFO): longitude -121.902792 arcdeg
2020-01-23T17:15:12.992Z,1579799712.992 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171512: (36.803398, -121.822304)
2020-01-23T17:15:12.992Z,1579799712.992 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:15:12.992Z,1579799712.992 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:15:12.992Z,1579799712.992 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:12.992Z,1579799712.992 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:15:12.992Z,1579799712.992 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:13.006Z,1579799713.006 [Reporter](INFO): longitude -121.902796 arcdeg
2020-01-23T17:15:13.422Z,1579799713.422 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:15:13.422Z,1579799713.422 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:13.422Z,1579799713.422 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:15:13.422Z,1579799713.422 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:15:13.423Z,1579799713.423 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:15:13.423Z,1579799713.423 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:15:13.423Z,1579799713.423 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:15:13.474Z,1579799713.474 [Reporter](INFO): longitude -121.902801 arcdeg
2020-01-23T17:15:13.818Z,1579799713.818 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171513: (36.803398, -121.822304)
2020-01-23T17:15:13.818Z,1579799713.818 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:15:13.818Z,1579799713.818 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:15:13.818Z,1579799713.818 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:13.818Z,1579799713.818 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:15:13.819Z,1579799713.819 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:13.834Z,1579799713.834 [Reporter](INFO): longitude -121.902805 arcdeg
2020-01-23T17:15:14.195Z,1579799714.195 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:15:14.195Z,1579799714.195 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:14.195Z,1579799714.195 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:15:14.196Z,1579799714.196 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:15:14.196Z,1579799714.196 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:15:14.196Z,1579799714.196 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:15:14.196Z,1579799714.196 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:15:14.210Z,1579799714.210 [Reporter](INFO): longitude -121.902809 arcdeg
2020-01-23T17:15:14.627Z,1579799714.627 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171514: (36.803398, -121.822304)
2020-01-23T17:15:14.627Z,1579799714.627 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:15:14.627Z,1579799714.627 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:15:14.627Z,1579799714.627 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:14.627Z,1579799714.627 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:15:14.627Z,1579799714.627 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:14.630Z,1579799714.630 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:15:14.652Z,1579799714.652 [CBIT](INFO): Clearing failed state for component ThrusterServo
2020-01-23T17:15:14.652Z,1579799714.652 [ThrusterServo] No Fault, FailCount= 5
2020-01-23T17:15:14.654Z,1579799714.654 [Reporter](INFO): longitude -121.902814 arcdeg
2020-01-23T17:15:14.995Z,1579799714.995 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:15:14.995Z,1579799714.995 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:14.995Z,1579799714.995 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:15:14.996Z,1579799714.996 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:15:14.996Z,1579799714.996 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:15:14.996Z,1579799714.996 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:15:14.996Z,1579799714.996 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:15:15.146Z,1579799715.146 [Reporter](INFO): longitude -121.902818 arcdeg
2020-01-23T17:15:15.364Z,1579799715.364 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:15:15.498Z,1579799715.498 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171515: (36.803398, -121.822304)
2020-01-23T17:15:15.498Z,1579799715.498 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:15:15.498Z,1579799715.498 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:15:15.498Z,1579799715.498 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:15.498Z,1579799715.498 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:15:15.498Z,1579799715.498 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:15.514Z,1579799715.514 [Reporter](INFO): longitude -121.902823 arcdeg
2020-01-23T17:15:15.777Z,1579799715.777 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:15:15.841Z,1579799715.841 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:15:15.841Z,1579799715.841 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:15.841Z,1579799715.841 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:15:15.842Z,1579799715.842 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:15:15.842Z,1579799715.842 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:15:15.842Z,1579799715.842 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:15:15.842Z,1579799715.842 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:15:15.876Z,1579799715.876 [Reporter](INFO): longitude -121.902827 arcdeg
2020-01-23T17:15:16.205Z,1579799716.205 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171516: (36.803398, -121.822304)
2020-01-23T17:15:16.206Z,1579799716.206 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:15:16.206Z,1579799716.206 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:15:16.206Z,1579799716.206 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:16.207Z,1579799716.207 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:15:16.207Z,1579799716.207 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:16.277Z,1579799716.277 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-23T17:15:16.278Z,1579799716.278 [Reporter](INFO): longitude -121.902831 arcdeg
2020-01-23T17:15:16.606Z,1579799716.606 [Micromodem](INFO): Nmea in: $SNTTA,0.000212,,,,171516.29*4F

2020-01-23T17:15:16.660Z,1579799716.660 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:15:16.660Z,1579799716.660 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:16.660Z,1579799716.660 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:15:16.660Z,1579799716.660 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:15:16.660Z,1579799716.660 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:15:16.660Z,1579799716.660 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:15:16.661Z,1579799716.661 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:15:16.698Z,1579799716.698 [Reporter](INFO): longitude -121.902836 arcdeg
2020-01-23T17:15:17.029Z,1579799717.029 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171517: (36.803398, -121.822304)
2020-01-23T17:15:17.029Z,1579799717.029 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:15:17.029Z,1579799717.029 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:15:17.030Z,1579799717.030 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:17.030Z,1579799717.030 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:15:17.030Z,1579799717.030 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:17.044Z,1579799717.044 [Reporter](INFO): longitude -121.902840 arcdeg
2020-01-23T17:15:17.443Z,1579799717.443 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:15:17.443Z,1579799717.443 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:17.443Z,1579799717.443 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:15:17.443Z,1579799717.443 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:15:17.443Z,1579799717.443 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:15:17.444Z,1579799717.444 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:15:17.444Z,1579799717.444 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:15:17.487Z,1579799717.487 [Reporter](INFO): longitude -121.902844 arcdeg
2020-01-23T17:15:17.836Z,1579799717.836 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171517: (36.803398, -121.822304)
2020-01-23T17:15:17.837Z,1579799717.837 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:15:17.837Z,1579799717.837 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:15:17.837Z,1579799717.837 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:17.837Z,1579799717.837 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:15:17.837Z,1579799717.837 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:17.906Z,1579799717.906 [Reporter](INFO): longitude -121.902848 arcdeg
2020-01-23T17:15:18.275Z,1579799718.275 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:15:18.275Z,1579799718.275 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:18.276Z,1579799718.276 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:15:18.276Z,1579799718.276 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:15:18.276Z,1579799718.276 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:15:18.276Z,1579799718.276 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:15:18.276Z,1579799718.276 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:15:18.325Z,1579799718.325 [Reporter](INFO): longitude -121.902853 arcdeg
2020-01-23T17:15:18.651Z,1579799718.651 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171518: (36.803398, -121.822304)
2020-01-23T17:15:18.651Z,1579799718.651 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:15:18.651Z,1579799718.651 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:15:18.652Z,1579799718.652 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:18.652Z,1579799718.652 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:15:18.652Z,1579799718.652 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:18.700Z,1579799718.700 [Reporter](INFO): longitude -121.902857 arcdeg
2020-01-23T17:15:19.028Z,1579799719.028 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:15:19.028Z,1579799719.028 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:19.028Z,1579799719.028 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:15:19.029Z,1579799719.029 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:15:19.029Z,1579799719.029 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:15:19.029Z,1579799719.029 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:15:19.029Z,1579799719.029 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:15:19.032Z,1579799719.032 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:15:19.074Z,1579799719.074 [Reporter](INFO): longitude -121.902861 arcdeg
2020-01-23T17:15:19.475Z,1579799719.475 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171519: (36.803398, -121.822304)
2020-01-23T17:15:19.475Z,1579799719.475 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:15:19.475Z,1579799719.475 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:15:19.475Z,1579799719.475 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:19.475Z,1579799719.475 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:15:19.475Z,1579799719.475 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:19.529Z,1579799719.529 [Reporter](INFO): longitude -121.902866 arcdeg
2020-01-23T17:15:19.815Z,1579799719.815 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:15:19.920Z,1579799719.920 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:15:19.920Z,1579799719.920 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:19.920Z,1579799719.920 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:15:19.925Z,1579799719.925 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:15:19.925Z,1579799719.925 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:15:19.925Z,1579799719.925 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:15:19.925Z,1579799719.925 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:15:19.986Z,1579799719.986 [Reporter](INFO): longitude -121.902871 arcdeg
2020-01-23T17:15:20.242Z,1579799720.242 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:15:20.319Z,1579799720.319 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171520: (36.803398, -121.822304)
2020-01-23T17:15:20.319Z,1579799720.319 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:15:20.319Z,1579799720.319 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:15:20.320Z,1579799720.320 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:20.320Z,1579799720.320 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:15:20.320Z,1579799720.320 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:20.371Z,1579799720.371 [Reporter](INFO): longitude -121.902875 arcdeg
2020-01-23T17:15:20.662Z,1579799720.662 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:15:20.662Z,1579799720.662 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:20.662Z,1579799720.662 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:15:20.663Z,1579799720.663 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:15:20.663Z,1579799720.663 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:15:20.663Z,1579799720.663 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:15:20.663Z,1579799720.663 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:15:20.726Z,1579799720.726 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-23T17:15:20.727Z,1579799720.727 [Reporter](INFO): longitude -121.902879 arcdeg
2020-01-23T17:15:21.053Z,1579799721.053 [Micromodem](INFO): Nmea in: $SNTTA,0.000208,,,,171520.73*4E

2020-01-23T17:15:21.088Z,1579799721.088 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171521: (36.803398, -121.822304)
2020-01-23T17:15:21.088Z,1579799721.088 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:15:21.088Z,1579799721.088 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:15:21.088Z,1579799721.088 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:21.088Z,1579799721.088 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:15:21.088Z,1579799721.088 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:21.162Z,1579799721.162 [Reporter](INFO): longitude -121.902883 arcdeg
2020-01-23T17:15:21.497Z,1579799721.497 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:15:21.497Z,1579799721.497 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:21.497Z,1579799721.497 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:15:21.498Z,1579799721.498 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:15:21.498Z,1579799721.498 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:15:21.498Z,1579799721.498 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:15:21.498Z,1579799721.498 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:15:21.542Z,1579799721.542 [Reporter](INFO): longitude -121.902888 arcdeg
2020-01-23T17:15:21.897Z,1579799721.897 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171521: (36.803398, -121.822304)
2020-01-23T17:15:21.897Z,1579799721.897 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:15:21.897Z,1579799721.897 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:15:21.897Z,1579799721.897 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:21.898Z,1579799721.898 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:15:21.898Z,1579799721.898 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:21.963Z,1579799721.963 [Reporter](INFO): longitude -121.902892 arcdeg
2020-01-23T17:15:22.304Z,1579799722.304 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:15:22.321Z,1579799722.321 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:22.321Z,1579799722.321 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:15:22.321Z,1579799722.321 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:15:22.321Z,1579799722.321 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:15:22.322Z,1579799722.322 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:15:22.322Z,1579799722.322 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:15:22.378Z,1579799722.378 [Reporter](INFO): longitude -121.902896 arcdeg
2020-01-23T17:15:22.692Z,1579799722.692 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171522: (36.803398, -121.822304)
2020-01-23T17:15:22.692Z,1579799722.692 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:15:22.692Z,1579799722.692 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:15:22.692Z,1579799722.692 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:22.692Z,1579799722.692 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:15:22.693Z,1579799722.693 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:22.742Z,1579799722.742 [Reporter](INFO): longitude -121.902901 arcdeg
2020-01-23T17:15:23.111Z,1579799723.111 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:15:23.111Z,1579799723.111 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:23.111Z,1579799723.111 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:15:23.112Z,1579799723.112 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:15:23.112Z,1579799723.112 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:15:23.112Z,1579799723.112 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:15:23.112Z,1579799723.112 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:15:23.165Z,1579799723.165 [Reporter](INFO): longitude -121.902905 arcdeg
2020-01-23T17:15:23.507Z,1579799723.507 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171523: (36.803398, -121.822304)
2020-01-23T17:15:23.507Z,1579799723.507 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:15:23.507Z,1579799723.507 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:15:23.508Z,1579799723.508 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:23.508Z,1579799723.508 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:15:23.508Z,1579799723.508 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:23.511Z,1579799723.511 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:15:23.569Z,1579799723.569 [Reporter](INFO): longitude -121.902909 arcdeg
2020-01-23T17:15:23.880Z,1579799723.880 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:15:23.880Z,1579799723.880 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:23.880Z,1579799723.880 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:15:23.880Z,1579799723.880 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:15:23.880Z,1579799723.880 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:15:23.880Z,1579799723.880 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:15:23.880Z,1579799723.880 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:15:23.938Z,1579799723.938 [Reporter](INFO): longitude -121.902913 arcdeg
2020-01-23T17:15:24.263Z,1579799724.263 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:15:24.376Z,1579799724.376 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171524: (36.803398, -121.822304)
2020-01-23T17:15:24.376Z,1579799724.376 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:15:24.376Z,1579799724.376 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:15:24.376Z,1579799724.376 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:24.376Z,1579799724.376 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:15:24.381Z,1579799724.381 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:24.437Z,1579799724.437 [Reporter](INFO): longitude -121.902918 arcdeg
2020-01-23T17:15:24.662Z,1579799724.662 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:15:24.739Z,1579799724.739 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:15:24.739Z,1579799724.739 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:24.739Z,1579799724.739 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:15:24.740Z,1579799724.740 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:15:24.740Z,1579799724.740 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:15:24.740Z,1579799724.740 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:15:24.740Z,1579799724.740 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:15:24.802Z,1579799724.802 [Reporter](INFO): longitude -121.902922 arcdeg
2020-01-23T17:15:25.092Z,1579799725.092 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171525: (36.803398, -121.822304)
2020-01-23T17:15:25.092Z,1579799725.092 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:15:25.092Z,1579799725.092 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:15:25.093Z,1579799725.093 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:25.093Z,1579799725.093 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:15:25.093Z,1579799725.093 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:25.164Z,1579799725.164 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-23T17:15:25.165Z,1579799725.165 [Reporter](INFO): longitude -121.902926 arcdeg
2020-01-23T17:15:25.490Z,1579799725.490 [Micromodem](INFO): Nmea in: $SNTTA,0.000191,,,,171525.17*4A

2020-01-23T17:15:25.537Z,1579799725.537 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:15:25.537Z,1579799725.537 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:25.537Z,1579799725.537 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:15:25.538Z,1579799725.538 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:15:25.538Z,1579799725.538 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:15:25.538Z,1579799725.538 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:15:25.538Z,1579799725.538 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:15:25.596Z,1579799725.596 [Reporter](INFO): longitude -121.902931 arcdeg
2020-01-23T17:15:25.930Z,1579799725.930 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171525: (36.803398, -121.822304)
2020-01-23T17:15:25.930Z,1579799725.930 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:15:25.930Z,1579799725.930 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:15:25.930Z,1579799725.930 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:25.930Z,1579799725.930 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:15:25.931Z,1579799725.931 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:25.990Z,1579799725.990 [Reporter](INFO): longitude -121.902935 arcdeg
2020-01-23T17:15:26.362Z,1579799726.362 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:15:26.362Z,1579799726.362 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:26.362Z,1579799726.362 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:15:26.363Z,1579799726.363 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:15:26.363Z,1579799726.363 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:15:26.363Z,1579799726.363 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:15:26.363Z,1579799726.363 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:15:26.434Z,1579799726.434 [Reporter](INFO): longitude -121.902940 arcdeg
2020-01-23T17:15:26.728Z,1579799726.728 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171526: (36.803398, -121.822304)
2020-01-23T17:15:26.728Z,1579799726.728 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:15:26.728Z,1579799726.728 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:15:26.728Z,1579799726.728 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:26.729Z,1579799726.729 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:15:26.729Z,1579799726.729 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:26.810Z,1579799726.810 [Reporter](INFO): longitude -121.902944 arcdeg
2020-01-23T17:15:27.134Z,1579799727.134 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:15:27.134Z,1579799727.134 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:27.134Z,1579799727.134 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:15:27.135Z,1579799727.135 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:15:27.135Z,1579799727.135 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:15:27.135Z,1579799727.135 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:15:27.135Z,1579799727.135 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:15:27.174Z,1579799727.174 [Reporter](INFO): longitude -121.902948 arcdeg
2020-01-23T17:15:27.540Z,1579799727.540 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171527: (36.803398, -121.822304)
2020-01-23T17:15:27.540Z,1579799727.540 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:15:27.540Z,1579799727.540 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:15:27.540Z,1579799727.540 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:27.540Z,1579799727.540 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:15:27.540Z,1579799727.540 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:27.583Z,1579799727.583 [ThrusterServo](INFO): Failure count cleared after critical for ThrusterServo
2020-01-23T17:15:27.587Z,1579799727.587 [Reporter](INFO): longitude -121.902953 arcdeg
2020-01-23T17:15:27.924Z,1579799727.924 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:15:27.924Z,1579799727.924 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:27.924Z,1579799727.924 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:15:27.925Z,1579799727.925 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:15:27.925Z,1579799727.925 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:15:27.925Z,1579799727.925 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:15:27.925Z,1579799727.925 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:15:27.928Z,1579799727.928 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:15:27.970Z,1579799727.970 [Reporter](INFO): longitude -121.902957 arcdeg
2020-01-23T17:15:28.357Z,1579799728.357 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171528: (36.803398, -121.822304)
2020-01-23T17:15:28.357Z,1579799728.357 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:15:28.357Z,1579799728.357 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:15:28.357Z,1579799728.357 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:28.357Z,1579799728.357 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:15:28.357Z,1579799728.357 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:28.415Z,1579799728.415 [Reporter](INFO): longitude -121.902961 arcdeg
2020-01-23T17:15:28.703Z,1579799728.703 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:15:28.803Z,1579799728.803 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:15:28.804Z,1579799728.804 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:28.804Z,1579799728.804 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:15:28.809Z,1579799728.809 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:15:28.809Z,1579799728.809 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:15:28.809Z,1579799728.809 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:15:28.810Z,1579799728.810 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:15:28.861Z,1579799728.861 [Reporter](INFO): longitude -121.902966 arcdeg
2020-01-23T17:15:29.109Z,1579799729.109 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:15:29.171Z,1579799729.171 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171529: (36.803398, -121.822304)
2020-01-23T17:15:29.172Z,1579799729.172 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:15:29.172Z,1579799729.172 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:15:29.172Z,1579799729.172 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:29.172Z,1579799729.172 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:15:29.172Z,1579799729.172 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:29.262Z,1579799729.262 [Reporter](INFO): longitude -121.902970 arcdeg
2020-01-23T17:15:29.579Z,1579799729.579 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:15:29.579Z,1579799729.579 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:29.579Z,1579799729.579 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:15:29.580Z,1579799729.580 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:15:29.580Z,1579799729.580 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:15:29.580Z,1579799729.580 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:15:29.580Z,1579799729.580 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:15:29.646Z,1579799729.646 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-23T17:15:29.647Z,1579799729.647 [Reporter](INFO): longitude -121.902974 arcdeg
2020-01-23T17:15:29.934Z,1579799729.934 [Micromodem](INFO): Nmea in: $SNTTA,0.000218,,,,171529.62*46

2020-01-23T17:15:29.990Z,1579799729.990 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171529: (36.803398, -121.822304)
2020-01-23T17:15:29.990Z,1579799729.990 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:15:29.990Z,1579799729.990 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:15:29.990Z,1579799729.990 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:29.990Z,1579799729.990 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:15:29.990Z,1579799729.990 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:30.034Z,1579799730.034 [Reporter](INFO): longitude -121.902979 arcdeg
2020-01-23T17:15:30.375Z,1579799730.375 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:15:30.375Z,1579799730.375 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:30.376Z,1579799730.376 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:15:30.376Z,1579799730.376 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:15:30.376Z,1579799730.376 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:15:30.376Z,1579799730.376 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:15:30.376Z,1579799730.376 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:15:30.435Z,1579799730.435 [Reporter](INFO): longitude -121.902983 arcdeg
2020-01-23T17:15:30.780Z,1579799730.780 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171530: (36.803398, -121.822304)
2020-01-23T17:15:30.780Z,1579799730.780 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:15:30.780Z,1579799730.780 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:15:30.780Z,1579799730.780 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:30.780Z,1579799730.780 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:15:30.780Z,1579799730.780 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:30.826Z,1579799730.826 [Reporter](INFO): longitude -121.902987 arcdeg
2020-01-23T17:15:31.183Z,1579799731.183 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:15:31.183Z,1579799731.183 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:31.184Z,1579799731.184 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:15:31.184Z,1579799731.184 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:15:31.184Z,1579799731.184 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:15:31.184Z,1579799731.184 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:15:31.184Z,1579799731.184 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:15:31.254Z,1579799731.254 [Reporter](INFO): longitude -121.902992 arcdeg
2020-01-23T17:15:31.614Z,1579799731.614 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171531: (36.803398, -121.822304)
2020-01-23T17:15:31.614Z,1579799731.614 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:15:31.614Z,1579799731.614 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:15:31.614Z,1579799731.614 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:31.614Z,1579799731.614 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:15:31.614Z,1579799731.614 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:31.669Z,1579799731.669 [Reporter](INFO): longitude -121.902996 arcdeg
2020-01-23T17:15:31.989Z,1579799731.989 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:15:31.989Z,1579799731.989 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:31.990Z,1579799731.990 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:15:31.990Z,1579799731.990 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:15:31.990Z,1579799731.990 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:15:31.990Z,1579799731.990 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:15:31.990Z,1579799731.990 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:15:32.042Z,1579799732.042 [Reporter](INFO): longitude -121.903000 arcdeg
2020-01-23T17:15:32.396Z,1579799732.396 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171532: (36.803398, -121.822304)
2020-01-23T17:15:32.396Z,1579799732.396 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:15:32.396Z,1579799732.396 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:15:32.396Z,1579799732.396 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:32.396Z,1579799732.396 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:15:32.396Z,1579799732.396 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:32.404Z,1579799732.404 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:15:32.452Z,1579799732.452 [Reporter](INFO): longitude -121.903005 arcdeg
2020-01-23T17:15:32.789Z,1579799732.789 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:15:32.790Z,1579799732.790 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:32.790Z,1579799732.790 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:15:32.790Z,1579799732.790 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:15:32.790Z,1579799732.790 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:15:32.790Z,1579799732.790 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:15:32.790Z,1579799732.790 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:15:32.842Z,1579799732.842 [Reporter](INFO): longitude -121.903009 arcdeg
2020-01-23T17:15:33.149Z,1579799733.149 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:15:33.256Z,1579799733.256 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171533: (36.803398, -121.822304)
2020-01-23T17:15:33.256Z,1579799733.256 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:15:33.256Z,1579799733.256 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:15:33.256Z,1579799733.256 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:33.256Z,1579799733.256 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:15:33.262Z,1579799733.262 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:33.326Z,1579799733.326 [Reporter](INFO): longitude -121.903013 arcdeg
2020-01-23T17:15:33.564Z,1579799733.564 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:15:33.643Z,1579799733.643 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:15:33.644Z,1579799733.644 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:33.644Z,1579799733.644 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:15:33.644Z,1579799733.644 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:15:33.644Z,1579799733.644 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:15:33.644Z,1579799733.644 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:15:33.644Z,1579799733.644 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:15:33.698Z,1579799733.698 [Reporter](INFO): longitude -121.903018 arcdeg
2020-01-23T17:15:33.995Z,1579799733.995 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171533: (36.803398, -121.822304)
2020-01-23T17:15:33.995Z,1579799733.995 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:15:33.995Z,1579799733.995 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:15:33.995Z,1579799733.995 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:33.995Z,1579799733.995 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:15:33.996Z,1579799733.996 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:34.042Z,1579799734.042 [Reporter](INFO): acoustic_contact_range 0.239999 m
2020-01-23T17:15:34.043Z,1579799734.043 [Reporter](INFO): longitude -121.903022 arcdeg
2020-01-23T17:15:34.392Z,1579799734.392 [Micromodem](INFO): Nmea in: $SNTTA,0.000202,,,,171534.06*43

2020-01-23T17:15:34.422Z,1579799734.422 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:15:34.422Z,1579799734.422 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:34.422Z,1579799734.422 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:15:34.423Z,1579799734.423 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:15:34.423Z,1579799734.423 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:15:34.423Z,1579799734.423 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:15:34.423Z,1579799734.423 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:15:34.464Z,1579799734.464 [Reporter](INFO): longitude -121.903026 arcdeg
2020-01-23T17:15:34.831Z,1579799734.831 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171534: (36.803398, -121.822304)
2020-01-23T17:15:34.832Z,1579799734.832 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:15:34.832Z,1579799734.832 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:15:34.832Z,1579799734.832 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:34.832Z,1579799734.832 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:15:34.832Z,1579799734.832 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:34.885Z,1579799734.885 [Reporter](INFO): longitude -121.903031 arcdeg
2020-01-23T17:15:35.228Z,1579799735.228 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:15:35.228Z,1579799735.228 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:35.228Z,1579799735.228 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:15:35.229Z,1579799735.229 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:15:35.229Z,1579799735.229 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:15:35.229Z,1579799735.229 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:15:35.229Z,1579799735.229 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:15:35.291Z,1579799735.291 [Reporter](INFO): longitude -121.903035 arcdeg
2020-01-23T17:15:35.648Z,1579799735.648 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171535: (36.803398, -121.822304)
2020-01-23T17:15:35.648Z,1579799735.648 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:15:35.648Z,1579799735.648 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:15:35.648Z,1579799735.648 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:35.648Z,1579799735.648 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:15:35.648Z,1579799735.648 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:35.698Z,1579799735.698 [Reporter](INFO): longitude -121.903039 arcdeg
2020-01-23T17:15:36.030Z,1579799736.030 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:15:36.030Z,1579799736.030 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:36.030Z,1579799736.030 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:15:36.030Z,1579799736.030 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:15:36.031Z,1579799736.031 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:15:36.031Z,1579799736.031 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:15:36.031Z,1579799736.031 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:15:36.089Z,1579799736.089 [Reporter](INFO): longitude -121.903043 arcdeg
2020-01-23T17:15:36.454Z,1579799736.454 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171536: (36.803398, -121.822304)
2020-01-23T17:15:36.454Z,1579799736.454 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:15:36.454Z,1579799736.454 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:15:36.454Z,1579799736.454 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:36.454Z,1579799736.454 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:15:36.454Z,1579799736.454 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:36.507Z,1579799736.507 [Reporter](INFO): longitude -121.903048 arcdeg
2020-01-23T17:15:36.820Z,1579799736.820 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:15:36.820Z,1579799736.820 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:36.820Z,1579799736.820 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:15:36.820Z,1579799736.820 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:15:36.820Z,1579799736.820 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:15:36.820Z,1579799736.820 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:15:36.820Z,1579799736.820 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:15:36.824Z,1579799736.824 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:15:36.874Z,1579799736.874 [Reporter](INFO): longitude -121.903052 arcdeg
2020-01-23T17:15:37.257Z,1579799737.257 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171537: (36.803398, -121.822304)
2020-01-23T17:15:37.257Z,1579799737.257 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:15:37.257Z,1579799737.257 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:15:37.258Z,1579799737.258 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:37.258Z,1579799737.258 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:15:37.258Z,1579799737.258 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:37.302Z,1579799737.302 [Reporter](INFO): longitude -121.903057 arcdeg
2020-01-23T17:15:37.595Z,1579799737.595 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:15:37.631Z,1579799737.631 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-23T17:15:37.632Z,1579799737.632 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,20012310260, -0.1,   0.0,1448.9,  0
2020-01-23T17:15:37.701Z,1579799737.701 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:15:37.701Z,1579799737.701 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:37.701Z,1579799737.701 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:15:37.702Z,1579799737.702 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:15:37.702Z,1579799737.702 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:15:37.702Z,1579799737.702 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:15:37.702Z,1579799737.702 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:15:37.772Z,1579799737.772 [Reporter](INFO): longitude -121.903061 arcdeg
2020-01-23T17:15:37.993Z,1579799737.993 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:15:38.048Z,1579799738.048 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171538: (36.803398, -121.822304)
2020-01-23T17:15:38.048Z,1579799738.048 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:15:38.048Z,1579799738.048 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:15:38.048Z,1579799738.048 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:38.049Z,1579799738.049 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:15:38.049Z,1579799738.049 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:38.097Z,1579799738.097 [Reporter](INFO): longitude -121.903065 arcdeg
2020-01-23T17:15:38.447Z,1579799738.447 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:15:38.447Z,1579799738.447 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:38.448Z,1579799738.448 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:15:38.448Z,1579799738.448 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.239999 m 
2020-01-23T17:15:38.448Z,1579799738.448 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:15:38.448Z,1579799738.448 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:15:38.448Z,1579799738.448 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:15:38.507Z,1579799738.507 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-23T17:15:38.508Z,1579799738.508 [Reporter](INFO): longitude -121.903069 arcdeg
2020-01-23T17:15:38.830Z,1579799738.830 [Micromodem](INFO): Nmea in: $SNTTA,0.000196,,,,171538.51*43

2020-01-23T17:15:38.887Z,1579799738.887 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171538: (36.803398, -121.822304)
2020-01-23T17:15:38.887Z,1579799738.887 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:15:38.887Z,1579799738.887 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:15:38.887Z,1579799738.887 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:38.887Z,1579799738.887 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:15:38.887Z,1579799738.887 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:38.954Z,1579799738.954 [Reporter](INFO): longitude -121.903074 arcdeg
2020-01-23T17:15:39.283Z,1579799739.283 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:15:39.283Z,1579799739.283 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:39.283Z,1579799739.283 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:15:39.284Z,1579799739.284 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:15:39.284Z,1579799739.284 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:15:39.284Z,1579799739.284 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:15:39.284Z,1579799739.284 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:15:39.335Z,1579799739.335 [Reporter](INFO): longitude -121.903078 arcdeg
2020-01-23T17:15:39.649Z,1579799739.649 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171539: (36.803398, -121.822304)
2020-01-23T17:15:39.649Z,1579799739.649 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:15:39.649Z,1579799739.649 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:15:39.649Z,1579799739.649 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:39.649Z,1579799739.649 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:15:39.650Z,1579799739.650 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:39.702Z,1579799739.702 [Reporter](INFO): longitude -121.903082 arcdeg
2020-01-23T17:15:40.069Z,1579799740.069 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:15:40.069Z,1579799740.069 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:40.070Z,1579799740.070 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:15:40.070Z,1579799740.070 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:15:40.070Z,1579799740.070 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:15:40.070Z,1579799740.070 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:15:40.070Z,1579799740.070 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:15:40.118Z,1579799740.118 [Reporter](INFO): longitude -121.903087 arcdeg
2020-01-23T17:15:40.490Z,1579799740.490 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171540: (36.803398, -121.822304)
2020-01-23T17:15:40.490Z,1579799740.490 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:15:40.490Z,1579799740.490 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:15:40.490Z,1579799740.490 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:40.490Z,1579799740.490 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:15:40.490Z,1579799740.490 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:40.541Z,1579799740.541 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-23T17:15:40.542Z,1579799740.542 [Reporter](INFO): longitude -121.903091 arcdeg
2020-01-23T17:15:40.787Z,1579799740.787 [DDM](INFO): Retracting Whiskers
2020-01-23T17:15:40.813Z,1579799740.813 [DDM](INFO): Closing Latch
2020-01-23T17:15:40.887Z,1579799740.887 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:15:40.887Z,1579799740.887 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:40.887Z,1579799740.887 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:15:40.888Z,1579799740.888 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:15:40.888Z,1579799740.888 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:15:40.888Z,1579799740.888 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:15:40.888Z,1579799740.888 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:15:40.950Z,1579799740.950 [Reporter](INFO): longitude -121.903096 arcdeg
2020-01-23T17:15:41.191Z,1579799741.191 [DDM](INFO): Retracting Whiskers
2020-01-23T17:15:41.222Z,1579799741.222 [DDM](INFO): Closing Latch
2020-01-23T17:15:41.331Z,1579799741.331 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171541: (36.803398, -121.822304)
2020-01-23T17:15:41.331Z,1579799741.331 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:15:41.331Z,1579799741.331 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:15:41.332Z,1579799741.332 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:41.332Z,1579799741.332 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:15:41.332Z,1579799741.332 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:41.339Z,1579799741.339 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:15:41.402Z,1579799741.402 [Reporter](INFO): longitude -121.903100 arcdeg
2020-01-23T17:15:41.595Z,1579799741.595 [DDM](INFO): Retracting Whiskers
2020-01-23T17:15:41.625Z,1579799741.625 [DDM](INFO): Closing Latch
2020-01-23T17:15:41.719Z,1579799741.719 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:15:41.719Z,1579799741.719 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:41.719Z,1579799741.719 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:15:41.719Z,1579799741.719 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:15:41.719Z,1579799741.719 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:15:41.719Z,1579799741.719 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:15:41.720Z,1579799741.720 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:15:41.778Z,1579799741.778 [Reporter](INFO): longitude -121.903105 arcdeg
2020-01-23T17:15:42.000Z,1579799742.000 [DDM](INFO): Retracting Whiskers
2020-01-23T17:15:42.062Z,1579799742.062 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:15:42.173Z,1579799742.173 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171542: (36.803398, -121.822304)
2020-01-23T17:15:42.173Z,1579799742.173 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:15:42.173Z,1579799742.173 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:15:42.174Z,1579799742.174 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:42.174Z,1579799742.174 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:15:42.174Z,1579799742.174 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:42.233Z,1579799742.233 [Reporter](INFO): longitude -121.903110 arcdeg
2020-01-23T17:15:42.403Z,1579799742.403 [DDM](INFO): Retracting Whiskers
2020-01-23T17:15:42.469Z,1579799742.469 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:15:42.555Z,1579799742.555 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:15:42.555Z,1579799742.555 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:42.555Z,1579799742.555 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:15:42.555Z,1579799742.555 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:15:42.556Z,1579799742.556 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:15:42.556Z,1579799742.556 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:15:42.556Z,1579799742.556 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:15:42.606Z,1579799742.606 [Reporter](INFO): longitude -121.903113 arcdeg
2020-01-23T17:15:42.895Z,1579799742.895 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171542: (36.803398, -121.822304)
2020-01-23T17:15:42.895Z,1579799742.895 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:15:42.895Z,1579799742.895 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:15:42.895Z,1579799742.895 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:42.895Z,1579799742.895 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:15:42.895Z,1579799742.895 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:42.942Z,1579799742.942 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-23T17:15:42.943Z,1579799742.943 [Reporter](INFO): longitude -121.903117 arcdeg
2020-01-23T17:15:43.255Z,1579799743.255 [Micromodem](INFO): Nmea in: $SNTTA,0.000217,,,,171542.98*41

2020-01-23T17:15:43.306Z,1579799743.306 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:H.LineCapture](IMPORTANT): Docking sequence complete.
2020-01-23T17:15:43.306Z,1579799743.306 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:H.LineCapture] Stopped
2020-01-23T17:15:43.306Z,1579799743.306 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:I] Running Loop=1
2020-01-23T17:15:43.306Z,1579799743.306 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:15:43.306Z,1579799743.306 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:43.307Z,1579799743.307 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:15:43.307Z,1579799743.307 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:15:43.307Z,1579799743.307 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:15:43.307Z,1579799743.307 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:15:43.307Z,1579799743.307 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:15:43.350Z,1579799743.350 [Reporter](INFO): longitude -121.903122 arcdeg
2020-01-23T17:15:43.674Z,1579799743.674 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:I](INFO): Docked. Homing sequence complete.
2020-01-23T17:15:43.674Z,1579799743.674 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:I] Stopped
2020-01-23T17:15:43.674Z,1579799743.674 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:J] Running Loop=1
2020-01-23T17:15:43.676Z,1579799743.676 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T171543: (36.803398, -121.822304)
2020-01-23T17:15:43.676Z,1579799743.676 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:15:43.676Z,1579799743.676 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:15:43.676Z,1579799743.676 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:43.676Z,1579799743.676 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:15:43.676Z,1579799743.676 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:43.721Z,1579799743.721 [Reporter](INFO): DDM.cablePresent no_value
2020-01-23T17:15:43.722Z,1579799743.722 [Reporter](INFO): longitude -121.903126 arcdeg
2020-01-23T17:15:44.020Z,1579799744.020 [DDM](INFO): Pause: Retracting whiskers
2020-01-23T17:15:44.091Z,1579799744.091 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:J] Stopped
2020-01-23T17:15:44.091Z,1579799744.091 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Running Loop=1
2020-01-23T17:15:44.092Z,1579799744.092 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::initialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:44.092Z,1579799744.092 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Running Loop=1
2020-01-23T17:15:44.092Z,1579799744.092 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A](INFO): Reseting nav to dock location at range 0.299999 m 
2020-01-23T17:15:44.092Z,1579799744.092 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:A] Stopped
2020-01-23T17:15:44.092Z,1579799744.092 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T17:15:44.092Z,1579799744.092 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T17:15:44.093Z,1579799744.093 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide
2020-01-23T17:15:44.093Z,1579799744.093 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2020-01-23T17:15:44.093Z,1579799744.093 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide
2020-01-23T17:15:44.093Z,1579799744.093 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:C] Stopped
2020-01-23T17:15:44.093Z,1579799744.093 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2020-01-23T17:15:44.094Z,1579799744.094 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav] Stopped
2020-01-23T17:15:44.094Z,1579799744.094 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav
2020-01-23T17:15:44.094Z,1579799744.094 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav] Stopped
2020-01-23T17:15:44.094Z,1579799744.094 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T17:15:44.094Z,1579799744.094 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed DefaultUnder:LineCapture:HomingSequence:TerminalGuidance
2020-01-23T17:15:44.094Z,1579799744.094 [DefaultUnder:LineCapture:DiveCmd:Guided] Stopped
2020-01-23T17:15:44.094Z,1579799744.094 [DefaultUnder:LineCapture:DiveCmd:Guided](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:DiveCmd:Guided
2020-01-23T17:15:44.094Z,1579799744.094 [DefaultUnder:LineCapture:DiveCmd:Guided:dive] Stopped
2020-01-23T17:15:44.095Z,1579799744.095 [DefaultUnder:LineCapture:DiveCmd:Guided:dive](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:DiveCmd:Guided:dive
2020-01-23T17:15:44.095Z,1579799744.095 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:A] Stopped
2020-01-23T17:15:44.095Z,1579799744.095 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:B.Buoyancy] Stopped
2020-01-23T17:15:44.095Z,1579799744.095 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2020-01-23T17:15:44.095Z,1579799744.095 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:C.SetSpeed] Stopped
2020-01-23T17:15:44.095Z,1579799744.095 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:C.SetSpeed](DEBUG): Uninitialize.
2020-01-23T17:15:44.095Z,1579799744.095 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:D.Pitch] Stopped
2020-01-23T17:15:44.142Z,1579799744.142 [Reporter](INFO): longitude -121.903130 arcdeg
2020-01-23T17:15:44.486Z,1579799744.486 [DefaultUnder:LineCapture:HomingSequence] Stopped
2020-01-23T17:15:44.487Z,1579799744.487 [DefaultUnder:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence
2020-01-23T17:15:44.487Z,1579799744.487 [DefaultUnder:LineCapture:HomingSequence:A] Stopped
2020-01-23T17:15:44.487Z,1579799744.487 [DefaultUnder:LineCapture:HomingSequence:A](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:A
2020-01-23T17:15:44.487Z,1579799744.487 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance] Stopped
2020-01-23T17:15:44.487Z,1579799744.487 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:HomingSequence:TerminalGuidance
2020-01-23T17:15:44.487Z,1579799744.487 [DefaultUnder:LineCapture:K.Wait] Running Loop=1
2020-01-23T17:15:44.487Z,1579799744.487 [DefaultUnder:LineCapture:K.Wait](DEBUG): Initialize Wait Component.
2020-01-23T17:15:44.638Z,1579799744.638 [Reporter](INFO): longitude -121.903134 arcdeg
2020-01-23T17:15:45.003Z,1579799745.003 [Reporter](INFO): longitude -121.903134 arcdeg
2020-01-23T17:15:45.339Z,1579799745.339 [Reporter](INFO): longitude -121.903134 arcdeg
2020-01-23T17:15:45.716Z,1579799745.716 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:15:45.755Z,1579799745.755 [Reporter](INFO): longitude -121.903134 arcdeg
2020-01-23T17:15:46.169Z,1579799746.169 [Reporter](INFO): longitude -121.903134 arcdeg
2020-01-23T17:15:46.483Z,1579799746.483 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:15:46.651Z,1579799746.651 [Reporter](INFO): longitude -121.903134 arcdeg
2020-01-23T17:15:46.889Z,1579799746.889 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:15:46.975Z,1579799746.975 [Reporter](INFO): longitude -121.903134 arcdeg
2020-01-23T17:15:47.386Z,1579799747.386 [Reporter](INFO): acoustic_contact_range 0.239999 m
2020-01-23T17:15:47.387Z,1579799747.387 [Reporter](INFO): longitude -121.903134 arcdeg
2020-01-23T17:15:47.710Z,1579799747.710 [Micromodem](INFO): Nmea in: $SNTTA,0.000202,,,,171547.40*45

2020-01-23T17:15:47.810Z,1579799747.810 [Reporter](INFO): longitude -121.903134 arcdeg
2020-01-23T17:15:48.145Z,1579799748.145 [DefaultUnder:LineCapture:K.Wait](INFO): Done Waiting.
2020-01-23T17:15:48.145Z,1579799748.145 [DefaultUnder:LineCapture:K.Wait] Stopped
2020-01-23T17:15:48.145Z,1579799748.145 [DefaultUnder:LineCapture:K.Wait](DEBUG): Uninitialize Wait Component.
2020-01-23T17:15:48.145Z,1579799748.145 [DefaultUnder:LineCapture:L] Running Loop=1
2020-01-23T17:15:48.194Z,1579799748.194 [Reporter](INFO): longitude -121.903134 arcdeg
2020-01-23T17:15:48.572Z,1579799748.572 [DefaultUnder:LineCapture:L](INFO): GuidanceMode 0.000000 count 
2020-01-23T17:15:48.573Z,1579799748.573 [DefaultUnder:LineCapture:L] Stopped
2020-01-23T17:15:48.574Z,1579799748.574 [DefaultUnder:LineCapture](INFO): Completed DefaultUnder:LineCapture
2020-01-23T17:15:48.575Z,1579799748.575 [DefaultUnder:LineCapture] Stopped
2020-01-23T17:15:48.575Z,1579799748.575 [DefaultUnder:LineCapture](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture
2020-01-23T17:15:48.575Z,1579799748.575 [DefaultUnder:LineCapture:StandardEnvelopes] Stopped
2020-01-23T17:15:48.575Z,1579799748.575 [DefaultUnder:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:StandardEnvelopes
2020-01-23T17:15:48.575Z,1579799748.575 [DefaultUnder:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2020-01-23T17:15:48.575Z,1579799748.575 [DefaultUnder:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2020-01-23T17:15:48.575Z,1579799748.575 [DefaultUnder:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2020-01-23T17:15:48.575Z,1579799748.575 [DefaultUnder:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2020-01-23T17:15:48.575Z,1579799748.575 [DefaultUnder:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2020-01-23T17:15:48.575Z,1579799748.575 [DefaultUnder:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2020-01-23T17:15:48.575Z,1579799748.575 [DefaultUnder:LineCapture:F] Stopped
2020-01-23T17:15:48.575Z,1579799748.575 [DefaultUnder:LineCapture:G] Stopped
2020-01-23T17:15:48.575Z,1579799748.575 [DefaultUnder:LineCapture:H.Mass] Stopped
2020-01-23T17:15:48.575Z,1579799748.575 [DefaultUnder:LineCapture:H.Mass](DEBUG): Uninitialize.
2020-01-23T17:15:48.575Z,1579799748.575 [DefaultUnder:LineCapture:DiveCmd] Stopped
2020-01-23T17:15:48.576Z,1579799748.576 [DefaultUnder:LineCapture:DiveCmd](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:DiveCmd
2020-01-23T17:15:48.576Z,1579799748.576 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock] Stopped
2020-01-23T17:15:48.576Z,1579799748.576 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock](DEBUG): Aggregate::uninitialize DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock
2020-01-23T17:15:48.622Z,1579799748.622 [Reporter](INFO): longitude -121.903134 arcdeg
2020-01-23T17:15:48.945Z,1579799748.945 [DefaultUnder:Default:Home:run:C](INFO): Completed DefaultUnder:Default:Home:run:C
2020-01-23T17:15:48.945Z,1579799748.945 [DefaultUnder:Default:Home:run:C] Stopped
2020-01-23T17:15:48.945Z,1579799748.945 [DefaultUnder:Default:Home:run:C](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Home:run:C
2020-01-23T17:15:48.945Z,1579799748.945 [DefaultUnder:Default:Home:run:D] Running Loop=1
2020-01-23T17:15:48.987Z,1579799748.987 [Reporter](INFO): longitude -121.903134 arcdeg
2020-01-23T17:15:49.354Z,1579799749.354 [DefaultUnder:Default:Home:run:D] Stopped
2020-01-23T17:15:49.354Z,1579799749.354 [DefaultUnder:Default:Home:run:CheckCaptureSuccess] Running Loop=1
2020-01-23T17:15:49.354Z,1579799749.354 [DefaultUnder:Default:Home:run:CheckCaptureSuccess](DEBUG): Aggregate::initialize DefaultUnder:Default:Home:run:CheckCaptureSuccess
2020-01-23T17:15:49.355Z,1579799749.355 [DefaultUnder:Default:Home:run:CheckCaptureSuccess:A] Running Loop=1
2020-01-23T17:15:49.406Z,1579799749.406 [Reporter](INFO): longitude -121.903134 arcdeg
2020-01-23T17:15:49.745Z,1579799749.745 [DefaultUnder:Default:Home:run:CheckCaptureSuccess:A] Stopped
2020-01-23T17:15:49.745Z,1579799749.745 [DefaultUnder:Default:Home:run:CheckCaptureSuccess](INFO): Completed DefaultUnder:Default:Home:run:CheckCaptureSuccess
2020-01-23T17:15:49.745Z,1579799749.745 [DefaultUnder:Default:Home:run:CheckCaptureSuccess] Stopped
2020-01-23T17:15:49.746Z,1579799749.746 [DefaultUnder:Default:Home:run:CheckCaptureSuccess](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Home:run:CheckCaptureSuccess
2020-01-23T17:15:49.746Z,1579799749.746 [DefaultUnder:Default:Home:run:F] Running Loop=1
2020-01-23T17:15:49.799Z,1579799749.799 [Reporter](INFO): longitude -121.903134 arcdeg
2020-01-23T17:15:50.149Z,1579799750.149 [DefaultUnder:Default:Home] Stopped
2020-01-23T17:15:50.149Z,1579799750.149 [DefaultUnder:Default:Home](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Home
2020-01-23T17:15:50.149Z,1579799750.149 [DefaultUnder:Default:Home:run] Stopped
2020-01-23T17:15:50.149Z,1579799750.149 [DefaultUnder:Default:Home:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Home:run
2020-01-23T17:15:50.149Z,1579799750.149 [DefaultUnder:Default:Home:run:F] Stopped
2020-01-23T17:15:50.149Z,1579799750.149 [DefaultUnder:Default:Docked] Running Loop=1
2020-01-23T17:15:50.149Z,1579799750.149 [DefaultUnder:Default:Docked](DEBUG): Aggregate::initialize DefaultUnder:Default:Docked
2020-01-23T17:15:50.149Z,1579799750.149 [DefaultUnder:Default:Docked:run] Running Loop=1
2020-01-23T17:15:50.150Z,1579799750.150 [DefaultUnder:Default:Docked:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Docked:run
2020-01-23T17:15:50.150Z,1579799750.150 [DefaultUnder:Default:Docked:run:A] Running Loop=1
2020-01-23T17:15:50.150Z,1579799750.150 [DefaultUnder:Default:Docked:run:A] Stopped
2020-01-23T17:15:50.150Z,1579799750.150 [DefaultUnder:Default:Docked:run:B.Docked] Running Loop=1
2020-01-23T17:15:50.150Z,1579799750.150 [DefaultUnder:Default:Docked:run:B.Docked](DEBUG): Initialize.
2020-01-23T17:15:50.151Z,1579799750.151 [DefaultUnder:Default:Docked:run:B.Docked](INFO): Depth unspecified. Maintaining workSite beacon depth of 6.000000 m.
2020-01-23T17:15:50.151Z,1579799750.151 [DefaultUnder:uModemComms] Running Loop=1
2020-01-23T17:15:50.151Z,1579799750.151 [DefaultUnder:uModemComms](DEBUG): Aggregate::initialize DefaultUnder:uModemComms
2020-01-23T17:15:50.152Z,1579799750.152 [DefaultUnder:uModemComms:CheckIn] Running Loop=1
2020-01-23T17:15:50.152Z,1579799750.152 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::initialize DefaultUnder:uModemComms:CheckIn
2020-01-23T17:15:50.152Z,1579799750.152 [DefaultUnder:uModemComms:CheckIn:A] Running Loop=1
2020-01-23T17:15:50.194Z,1579799750.194 [Reporter](INFO): longitude -121.903134 arcdeg
2020-01-23T17:15:50.519Z,1579799750.519 [Micromodem](ERROR): Buffer fill timout failure.
2020-01-23T17:15:50.611Z,1579799750.611 [Reporter](INFO): longitude -121.903134 arcdeg
2020-01-23T17:15:50.926Z,1579799750.926 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E8D0295E040000005D00000400BD0000000000000000151D80030C5669BF3148E2FA22188B6A3173E5573572661C0BCBDFFAB423BD32D9A51E8904B0A920CE9A
2020-01-23T17:15:50.927Z,1579799750.927 [Micromodem](INFO): Outgoing frame #2, 64 bytes: EF9F66414C9B9FD6761AD008C3E3DC4FCA2E4E25B6359B14B772C42AD2EC5E54CD5F36943CEE1B636250FE035655B6928105C24D4EC1216EF4EA7FDC2A988AC7
2020-01-23T17:15:50.927Z,1579799750.927 [Micromodem](INFO): Outgoing frame #3, 49 bytes: 4539A4949DC05DB8C627478A1310945EDA3E5DCCFD911268F4F78F558F0F2D2D403943B5BDC34E39B2B300153B3A000B00
2020-01-23T17:15:50.928Z,1579799750.928 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-23T17:15:51.076Z,1579799751.076 [Reporter](INFO): longitude -121.903134 arcdeg
2020-01-23T17:15:51.327Z,1579799751.327 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-23T17:15:51.436Z,1579799751.436 [Reporter](INFO): longitude -121.903134 arcdeg
2020-01-23T17:15:51.720Z,1579799751.720 [Micromodem](INFO): Nmea in: $CADRQ,171551,1,12,0,64,1*72

2020-01-23T17:15:51.721Z,1579799751.721 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,E8D0295E040000005D00000400BD0000000000000000151D80030C5669BF3148E2FA22188B6A3173E5573572661C0BCBDFFAB423BD32D9A51E8904B0A920CE9A*38

2020-01-23T17:15:51.964Z,1579799751.964 [Reporter](INFO): longitude -121.903134 arcdeg
2020-01-23T17:15:52.135Z,1579799752.135 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:15:52.227Z,1579799752.227 [Reporter](INFO): longitude -121.903134 arcdeg
2020-01-23T17:15:52.542Z,1579799752.542 [Micromodem](INFO): Nmea in: $CADRQ,171552,1,12,0,64,2*72

2020-01-23T17:15:52.543Z,1579799752.543 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,EF9F66414C9B9FD6761AD008C3E3DC4FCA2E4E25B6359B14B772C42AD2EC5E54CD5F36943CEE1B636250FE035655B6928105C24D4EC1216EF4EA7FDC2A988AC7*31

2020-01-23T17:15:52.739Z,1579799752.739 [Reporter](INFO): longitude -121.903134 arcdeg
2020-01-23T17:15:52.951Z,1579799752.951 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:15:53.059Z,1579799753.059 [Reporter](INFO): longitude -121.903134 arcdeg
2020-01-23T17:15:53.351Z,1579799753.351 [Micromodem](INFO): Nmea in: $CADRQ,171553,1,12,0,64,3*72

2020-01-23T17:15:53.351Z,1579799753.351 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,4539A4949DC05DB8C627478A1310945EDA3E5DCCFD911268F4F78F558F0F2D2D403943B5BDC34E39B2B300153B3A000B00*3E

2020-01-23T17:15:53.511Z,1579799753.511 [Reporter](INFO): longitude -121.903134 arcdeg
2020-01-23T17:15:53.751Z,1579799753.751 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,49*44

2020-01-23T17:15:53.882Z,1579799753.882 [Reporter](INFO): longitude -121.903134 arcdeg
2020-01-23T17:15:54.175Z,1579799754.175 [Micromodem](INFO): Nmea in: $CATXP,177*43

2020-01-23T17:15:54.306Z,1579799754.306 [Reporter](INFO): longitude -121.903134 arcdeg
2020-01-23T17:15:54.675Z,1579799754.675 [Reporter](INFO): longitude -121.903134 arcdeg
2020-01-23T17:15:55.146Z,1579799755.146 [Reporter](INFO): longitude -121.903134 arcdeg
2020-01-23T17:15:55.499Z,1579799755.499 [Reporter](INFO): DDM.cablePresent 1 bool
2020-01-23T17:15:55.500Z,1579799755.500 [Reporter](INFO): longitude -121.903134 arcdeg
2020-01-23T17:15:55.866Z,1579799755.866 [Reporter](INFO): longitude -121.903134 arcdeg
2020-01-23T17:15:56.251Z,1579799756.251 [Reporter](INFO): longitude -121.903134 arcdeg
2020-01-23T17:15:56.651Z,1579799756.651 [Reporter](INFO): longitude -121.903134 arcdeg
2020-01-23T17:15:57.070Z,1579799757.070 [Reporter](INFO): longitude -121.903134 arcdeg
2020-01-23T17:15:57.479Z,1579799757.479 [Reporter](INFO): longitude -121.903134 arcdeg
2020-01-23T17:15:57.803Z,1579799757.803 [Micromodem](INFO): Nmea in: $CATXF,177*55

2020-01-23T17:15:57.891Z,1579799757.891 [Reporter](INFO): longitude -121.903134 arcdeg
2020-01-23T17:15:58.209Z,1579799758.209 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,171554.296253,3,0,200,4000,10000,1,1,12,1,3,3,3,177*7B

2020-01-23T17:15:58.326Z,1579799758.326 [Reporter](INFO): longitude -121.903134 arcdeg
2020-01-23T17:15:58.629Z,1579799758.629 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-23T17:15:58.629Z,1579799758.629 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00,  BI,-32768,-32768,-32768,-32768,V
2020-01-23T17:15:58.695Z,1579799758.695 [Reporter](INFO): longitude -121.903134 arcdeg
2020-01-23T17:15:59.095Z,1579799759.095 [Reporter](INFO): longitude -121.903134 arcdeg
2020-01-23T17:15:59.519Z,1579799759.519 [Reporter](INFO): longitude -121.903134 arcdeg
2020-01-23T17:15:59.523Z,1579799759.523 [CommandLine](IMPORTANT): got command report clear
2020-01-23T17:16:01.023Z,1579799761.023 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T17:16:01.434Z,1579799761.434 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-23T17:16:01.827Z,1579799761.827 [Micromodem](INFO): Nmea in: $CAACK,12,1,3,1*7B

2020-01-23T17:16:01.828Z,1579799761.828 [Micromodem](INFO): Sent 169 bytes from file Logs/20200123T165920/Courier0004.lzma.parts
2020-01-23T17:16:01.828Z,1579799761.828 [Micromodem](INFO): Packets left to send: 0
2020-01-23T17:16:02.235Z,1579799762.235 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123171600.692860,06,695,28,0172,0150,59,01,01,00,03,1,012,001,0,4,1,0,150,14.7,7.00,19,-4.00,-01,-0.03,32,10000,4000*45

2020-01-23T17:16:02.240Z,1579799762.240 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E8D0295E070000005D000004009F0000000000000000151D80030C5669BF31555EAE1409A708CE248A68C21DA52C4E73F36187A65AD4C201EFDF0AC86882CF70
2020-01-23T17:16:02.241Z,1579799762.241 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 1A80243ADBEC967E6435C652DA2432B0DF62026DE2863EA8A95939E599F038922957028D604202C6B3F314534155A392B1D382BA44833D21436243034A47A0C1
2020-01-23T17:16:02.241Z,1579799762.241 [Micromodem](INFO): Outgoing frame #3, 8 bytes: 1346AAEFCCE3F200
2020-01-23T17:16:02.242Z,1579799762.242 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-23T17:16:03.456Z,1579799763.456 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-23T17:16:03.847Z,1579799763.847 [Micromodem](INFO): Nmea in: $CADRQ,171603,1,12,0,64,1*76

2020-01-23T17:16:03.847Z,1579799763.847 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,E8D0295E070000005D000004009F0000000000000000151D80030C5669BF31555EAE1409A708CE248A68C21DA52C4E73F36187A65AD4C201EFDF0AC86882CF70*41

2020-01-23T17:16:04.259Z,1579799764.259 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:16:04.659Z,1579799764.659 [Micromodem](INFO): Nmea in: $CADRQ,171604,1,12,0,64,2*72

2020-01-23T17:16:04.660Z,1579799764.660 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,1A80243ADBEC967E6435C652DA2432B0DF62026DE2863EA8A95939E599F038922957028D604202C6B3F314534155A392B1D382BA44833D21436243034A47A0C1*3F

2020-01-23T17:16:05.071Z,1579799765.071 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:16:05.475Z,1579799765.475 [Micromodem](INFO): Nmea in: $CADRQ,171605,1,12,0,64,3*72

2020-01-23T17:16:05.475Z,1579799765.475 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,1346AAEFCCE3F200*4A

2020-01-23T17:16:05.874Z,1579799765.874 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,8*71

2020-01-23T17:16:06.267Z,1579799766.267 [Micromodem](INFO): Nmea in: $CATXP,136*46

2020-01-23T17:16:09.907Z,1579799769.907 [Micromodem](INFO): Nmea in: $CATXF,136*50

2020-01-23T17:16:10.316Z,1579799770.316 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,171606.373857,3,0,200,4000,10000,1,1,12,1,3,3,3,136*7E

2020-01-23T17:16:13.143Z,1579799773.143 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T17:16:13.547Z,1579799773.547 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-23T17:16:13.959Z,1579799773.959 [Micromodem](INFO): Nmea in: $CAACK,12,1,3,1*7B

2020-01-23T17:16:13.960Z,1579799773.960 [Micromodem](INFO): Sent 128 bytes from file Logs/20200123T165920/Courier0007.lzma.parts
2020-01-23T17:16:13.960Z,1579799773.960 [Micromodem](INFO): Packets left to send: 0
2020-01-23T17:16:14.358Z,1579799774.358 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123171612.723052,06,602,27,0129,0150,89,02,02,00,02,1,012,001,0,4,1,0,150,27.4,6.00,18,-3.00,-01,-0.13,25,10000,4000*44

2020-01-23T17:16:14.365Z,1579799774.365 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E8D0295E050005005D000004009B0900000000000000151D80030C5669BF3148E2FA22188B6A3173E51A1AFC4A70406CBA6E2FB028F9C0C096F511EDC0B0277D
2020-01-23T17:16:14.365Z,1579799774.365 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 74140EA2359D8A9C38E3009F18DC3FA6938CC4D92A559AE18498409BD32077CEB4B105C613C22A37DD79735C5B77B611E33E7F14C2F8E0E39FD22FFFC7AD18A2
2020-01-23T17:16:14.366Z,1579799774.366 [Micromodem](INFO): Outgoing frame #3, 64 bytes: 989D07D688B3D1931E43081D34A1C3375D7B246B30D92836E09C033D26AFDC5E72952306FECB4CD7DA88F9DE055F1164D46268F92A096AB920BABB2DD8E34BEE
2020-01-23T17:16:14.366Z,1579799774.366 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-23T17:16:15.572Z,1579799775.572 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-23T17:16:15.971Z,1579799775.971 [Micromodem](INFO): Nmea in: $CADRQ,171615,1,12,0,64,1*71

2020-01-23T17:16:15.971Z,1579799775.971 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,E8D0295E050005005D000004009B0900000000000000151D80030C5669BF3148E2FA22188B6A3173E51A1AFC4A70406CBA6E2FB028F9C0C096F511EDC0B0277D*3C

2020-01-23T17:16:16.347Z,1579799776.347 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:16:16.779Z,1579799776.779 [Micromodem](INFO): Nmea in: $CADRQ,171616,1,12,0,64,2*71

2020-01-23T17:16:16.779Z,1579799776.779 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,74140EA2359D8A9C38E3009F18DC3FA6938CC4D92A559AE18498409BD32077CEB4B105C613C22A37DD79735C5B77B611E33E7F14C2F8E0E39FD22FFFC7AD18A2*38

2020-01-23T17:16:17.150Z,1579799777.150 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:16:17.555Z,1579799777.555 [Micromodem](INFO): Nmea in: $CADRQ,171617,1,12,0,64,3*71

2020-01-23T17:16:17.556Z,1579799777.556 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,989D07D688B3D1931E43081D34A1C3375D7B246B30D92836E09C033D26AFDC5E72952306FECB4CD7DA88F9DE055F1164D46268F92A096AB920BABB2DD8E34BEE*36

2020-01-23T17:16:18.063Z,1579799778.063 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:16:18.395Z,1579799778.395 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-23T17:16:19.248Z,1579799779.248 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-23T17:16:19.248Z,1579799779.248 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2020-01-23T17:16:22.031Z,1579799782.031 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2020-01-23T17:16:22.436Z,1579799782.436 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,171618.511880,3,0,200,4000,10000,1,1,12,1,3,3,3,192*77

2020-01-23T17:16:25.259Z,1579799785.259 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T17:16:25.667Z,1579799785.667 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-23T17:16:26.075Z,1579799786.075 [Micromodem](INFO): Nmea in: $CAACK,12,1,3,1*7B

2020-01-23T17:16:26.076Z,1579799786.076 [Micromodem](INFO): Sent 184 bytes from file Logs/20200123T165920/Express0005.lzma.parts
2020-01-23T17:16:26.076Z,1579799786.076 [Micromodem](INFO): Packets left to send: 5
2020-01-23T17:16:26.454Z,1579799786.454 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123171624.915318,06,814,29,0166,0150,59,01,01,00,03,1,012,001,0,4,1,0,150,27.4,5.00,15,-2.00,-01,-0.04,20,10000,4000*4B

2020-01-23T17:16:26.461Z,1579799786.461 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E8D0295E0500040008C5DD38FAD905369C3DBBC6598060D437DE47646E7E4D226D990B3A1317405D7DF2BDD58DCF571438CB4438C21BB7D245099D8934B4AE50
2020-01-23T17:16:26.462Z,1579799786.462 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 34F9424735978623D361845221DF3547C1E4B178207CB69ACC2644B5BF08E3EB60BA6A41403C4A4A5BE20DACE0385831DB357C9BC485A4FDD1796BB9458D8105
2020-01-23T17:16:26.462Z,1579799786.462 [Micromodem](INFO): Outgoing frame #3, 64 bytes: 92E22B7DC0D9FDC0C0DBEACC1A116E7C62A55C9CE9650F8ADCD529334F3253CA8F9FF3CC53066BF8B83C0FD2B74EB907F0B84FE07238D2D598A2B9F81235D134
2020-01-23T17:16:26.462Z,1579799786.462 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-23T17:16:27.659Z,1579799787.659 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-23T17:16:28.057Z,1579799788.057 [Micromodem](INFO): Nmea in: $CADRQ,171627,1,12,0,64,1*70

2020-01-23T17:16:28.058Z,1579799788.058 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,E8D0295E0500040008C5DD38FAD905369C3DBBC6598060D437DE47646E7E4D226D990B3A1317405D7DF2BDD58DCF571438CB4438C21BB7D245099D8934B4AE50*41

2020-01-23T17:16:28.467Z,1579799788.467 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:16:28.877Z,1579799788.877 [Micromodem](INFO): Nmea in: $CADRQ,171628,1,12,0,64,2*7C

2020-01-23T17:16:28.877Z,1579799788.877 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,34F9424735978623D361845221DF3547C1E4B178207CB69ACC2644B5BF08E3EB60BA6A41403C4A4A5BE20DACE0385831DB357C9BC485A4FDD1796BB9458D8105*46

2020-01-23T17:16:29.271Z,1579799789.271 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:16:29.674Z,1579799789.674 [Micromodem](INFO): Nmea in: $CADRQ,171629,1,12,0,64,3*7C

2020-01-23T17:16:29.674Z,1579799789.674 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,92E22B7DC0D9FDC0C0DBEACC1A116E7C62A55C9CE9650F8ADCD529334F3253CA8F9FF3CC53066BF8B83C0FD2B74EB907F0B84FE07238D2D598A2B9F81235D134*45

2020-01-23T17:16:30.077Z,1579799790.077 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:16:30.481Z,1579799790.481 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-23T17:16:34.123Z,1579799794.123 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2020-01-23T17:16:34.525Z,1579799794.525 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,171630.631616,3,0,200,4000,10000,1,1,12,1,3,3,3,192*7D

2020-01-23T17:16:37.350Z,1579799797.350 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T17:16:37.755Z,1579799797.755 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-23T17:16:38.169Z,1579799798.169 [Micromodem](INFO): Nmea in: $CAACK,12,1,3,1*7B

2020-01-23T17:16:38.170Z,1579799798.170 [Micromodem](INFO): Sent 184 bytes from file Logs/20200123T165920/Express0005.lzma.parts
2020-01-23T17:16:38.170Z,1579799798.170 [Micromodem](INFO): Packets left to send: 4
2020-01-23T17:16:38.570Z,1579799798.570 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123171637.035482,06,491,26,0106,0150,59,02,02,00,02,1,012,001,0,4,1,0,150,25.8,7.00,19,-4.00,-01,-0.04,20,10000,4000*49

2020-01-23T17:16:38.577Z,1579799798.577 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E8D0295E05000300DFDC986D39432A91E3680284F84F699E31A50AF3A8AFD62F8DB739487F95A47C8D286CDFC660DDD7FE2E1D3FCF94DD76D54C00D0BC81C96A
2020-01-23T17:16:38.577Z,1579799798.577 [Micromodem](INFO): Outgoing frame #2, 64 bytes: A555FCA98BD624D1E287696F864655B146476F67CFF2D5881CCD30DD5048143B729A1A82A72A58FF15DD1DA71B5FAA7AC5558BB2AFCAE57BA64E49E8C087C0AF
2020-01-23T17:16:38.578Z,1579799798.578 [Micromodem](INFO): Outgoing frame #3, 64 bytes: 56E053215B224D041C7F32C945097F80992C5E9C1A4211F8F6E40237BB8C6EDE655E2CBD4DC5513EBEA7A86573EF485D94AC83E0DE7D8171A280FD73823B1C51
2020-01-23T17:16:38.578Z,1579799798.578 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-23T17:16:39.775Z,1579799799.775 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-23T17:16:40.179Z,1579799800.179 [Micromodem](INFO): Nmea in: $CADRQ,171639,1,12,0,64,1*7F

2020-01-23T17:16:40.179Z,1579799800.179 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,E8D0295E05000300DFDC986D39432A91E3680284F84F699E31A50AF3A8AFD62F8DB739487F95A47C8D286CDFC660DDD7FE2E1D3FCF94DD76D54C00D0BC81C96A*44

2020-01-23T17:16:40.583Z,1579799800.583 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:16:40.987Z,1579799800.987 [Micromodem](INFO): Nmea in: $CADRQ,171641,1,12,0,64,2*73

2020-01-23T17:16:40.988Z,1579799800.988 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,A555FCA98BD624D1E287696F864655B146476F67CFF2D5881CCD30DD5048143B729A1A82A72A58FF15DD1DA71B5FAA7AC5558BB2AFCAE57BA64E49E8C087C0AF*46

2020-01-23T17:16:41.391Z,1579799801.391 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:16:41.793Z,1579799801.793 [Micromodem](INFO): Nmea in: $CADRQ,171641,1,12,0,64,3*72

2020-01-23T17:16:41.794Z,1579799801.794 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,56E053215B224D041C7F32C945097F80992C5E9C1A4211F8F6E40237BB8C6EDE655E2CBD4DC5513EBEA7A86573EF485D94AC83E0DE7D8171A280FD73823B1C51*32

2020-01-23T17:16:42.207Z,1579799802.207 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:16:42.607Z,1579799802.607 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-23T17:16:44.218Z,1579799804.218 [CommandLine](IMPORTANT): got command maintain sensor Depth_Keller.depth 6.000000 meter
2020-01-23T17:16:46.272Z,1579799806.272 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2020-01-23T17:16:46.660Z,1579799806.660 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,171642.751657,3,0,200,4000,10000,1,1,12,1,3,3,3,192*7A

2020-01-23T17:16:47.497Z,1579799807.497 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:16:48.263Z,1579799808.263 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:16:48.669Z,1579799808.669 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:16:49.476Z,1579799809.476 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171649.18*5B

2020-01-23T17:16:51.892Z,1579799811.892 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-23T17:17:02.219Z,1579799822.219 [CommandLine](IMPORTANT): got command report touch acoustic_contact_range
2020-01-23T17:17:43.635Z,1579799863.635 [Micromodem](ERROR): Buffer fill timout failure.
2020-01-23T17:17:44.058Z,1579799864.058 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E8D0295E05000300DFDC986D39432A91E3680284F84F699E31A50AF3A8AFD62F8DB739487F95A47C8D286CDFC660DDD7FE2E1D3FCF94DD76D54C00D0BC81C96A
2020-01-23T17:17:44.059Z,1579799864.059 [Micromodem](INFO): Outgoing frame #2, 64 bytes: A555FCA98BD624D1E287696F864655B146476F67CFF2D5881CCD30DD5048143B729A1A82A72A58FF15DD1DA71B5FAA7AC5558BB2AFCAE57BA64E49E8C087C0AF
2020-01-23T17:17:44.059Z,1579799864.059 [Micromodem](INFO): Outgoing frame #3, 64 bytes: 56E053215B224D041C7F32C945097F80992C5E9C1A4211F8F6E40237BB8C6EDE655E2CBD4DC5513EBEA7A86573EF485D94AC83E0DE7D8171A280FD73823B1C51
2020-01-23T17:17:44.059Z,1579799864.059 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-23T17:17:44.443Z,1579799864.443 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-23T17:17:44.851Z,1579799864.851 [Micromodem](INFO): Nmea in: $CADRQ,171744,1,12,0,64,1*74

2020-01-23T17:17:44.851Z,1579799864.851 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,E8D0295E05000300DFDC986D39432A91E3680284F84F699E31A50AF3A8AFD62F8DB739487F95A47C8D286CDFC660DDD7FE2E1D3FCF94DD76D54C00D0BC81C96A*44

2020-01-23T17:17:45.255Z,1579799865.255 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:17:45.659Z,1579799865.659 [Micromodem](INFO): Nmea in: $CADRQ,171745,1,12,0,64,2*76

2020-01-23T17:17:45.660Z,1579799865.660 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,A555FCA98BD624D1E287696F864655B146476F67CFF2D5881CCD30DD5048143B729A1A82A72A58FF15DD1DA71B5FAA7AC5558BB2AFCAE57BA64E49E8C087C0AF*46

2020-01-23T17:17:46.055Z,1579799866.055 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:17:46.466Z,1579799866.466 [Micromodem](INFO): Nmea in: $CADRQ,171746,1,12,0,64,3*74

2020-01-23T17:17:46.466Z,1579799866.466 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,56E053215B224D041C7F32C945097F80992C5E9C1A4211F8F6E40237BB8C6EDE655E2CBD4DC5513EBEA7A86573EF485D94AC83E0DE7D8171A280FD73823B1C51*32

2020-01-23T17:17:46.871Z,1579799866.871 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:17:47.284Z,1579799867.284 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-23T17:17:47.706Z,1579799867.706 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:17:48.491Z,1579799868.491 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:17:50.919Z,1579799870.919 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2020-01-23T17:17:50.919Z,1579799870.919 [Micromodem](ERROR): Response from modem unexpected: $CATXF,192*5E

2020-01-23T17:17:52.096Z,1579799872.096 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,171747.425116,3,0,200,4000,10000,1,1,12,1,3,3,3,192*7C

2020-01-23T17:17:52.096Z,1579799872.096 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20200123,171747.425116,3,0,200,4000,10000,1,1,12,1,3,3,3,192*7C

2020-01-23T17:17:54.126Z,1579799874.126 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T17:17:54.516Z,1579799874.516 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-23T17:17:54.923Z,1579799874.923 [Micromodem](INFO): Nmea in: $CAACK,12,1,3,1*7B

2020-01-23T17:17:54.924Z,1579799874.924 [Micromodem](INFO): Sent 184 bytes from file Logs/20200123T165920/Express0005.lzma.parts
2020-01-23T17:17:54.924Z,1579799874.924 [Micromodem](INFO): Packets left to send: 3
2020-01-23T17:17:55.343Z,1579799875.343 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123171753.824229,06,488,26,0179,0150,59,01,01,00,03,1,012,001,0,4,1,0,150,26.9,6.00,19,-3.00,-01,-0.04,20,10000,4000*40

2020-01-23T17:17:55.343Z,1579799875.343 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20200123171753.824229,06,488,26,0179,0150,59,01,01,00,03,1,012,001,0,4,1,0,150,26.9,6.00,19,-3.00,-01,-0.04,20,10000,4000*40

2020-01-23T17:17:55.382Z,1579799875.382 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E8D0295E0500020021AB91D5F30A2AC579F93E2679A6A861EAFC3FEEC26A191E8D493773E2D3ECFD3FC9296D4AE3F997143396E68A95838478109B23613328B3
2020-01-23T17:17:55.382Z,1579799875.382 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4E235DAF27C3D2CF77900877A6ADAC9641D337B91C83253BCDD6D3A2C65A67BC48122F179EE05C3C82F40CA6961A29922DCDAEECBC0C5967BFB3297B344A71A6
2020-01-23T17:17:55.383Z,1579799875.383 [Micromodem](INFO): Outgoing frame #3, 64 bytes: 3BA25B161631E901763CA2770234EF25CF5E2E8BC1E759A91751535B6242CAB682443118AC4AA6007C28BCB49DBC861DB16A615FAAFDAB5C393987540FD10EFD
2020-01-23T17:17:59.770Z,1579799879.770 [Micromodem](ERROR): Nmea resend: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:18:00.173Z,1579799880.173 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:18:00.185Z,1579799880.185 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-23T17:18:00.262Z,1579799880.262 [RDI_Pathfinder](ERROR): Failed to parse:
:BI,32768,-32768,-32768,V
2020-01-23T17:18:00.575Z,1579799880.575 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-23T17:18:00.986Z,1579799880.986 [Micromodem](INFO): Nmea in: $CADRQ,171801,1,12,0,64,1*7A

2020-01-23T17:18:00.987Z,1579799880.987 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,E8D0295E0500020021AB91D5F30A2AC579F93E2679A6A861EAFC3FEEC26A191E8D493773E2D3ECFD3FC9296D4AE3F997143396E68A95838478109B23613328B3*3E

2020-01-23T17:18:01.382Z,1579799881.382 [Micromodem](INFO): Nmea in: $SNTTA,0.000210,,,,171800.68*42

2020-01-23T17:18:01.382Z,1579799881.382 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.000210,,,,171800.68*42

2020-01-23T17:18:02.593Z,1579799882.593 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:18:03.003Z,1579799883.003 [Micromodem](INFO): Nmea in: $CADRQ,171801,1,12,0,64,2*79

2020-01-23T17:18:03.003Z,1579799883.003 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,4E235DAF27C3D2CF77900877A6ADAC9641D337B91C83253BCDD6D3A2C65A67BC48122F179EE05C3C82F40CA6961A29922DCDAEECBC0C5967BFB3297B344A71A6*32

2020-01-23T17:18:03.424Z,1579799883.424 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:18:03.811Z,1579799883.811 [Micromodem](INFO): Nmea in: $CADRQ,171803,1,12,0,64,3*7A

2020-01-23T17:18:03.812Z,1579799883.812 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,3BA25B161631E901763CA2770234EF25CF5E2E8BC1E759A91751535B6242CAB682443118AC4AA6007C28BCB49DBC861DB16A615FAAFDAB5C393987540FD10EFD*3B

2020-01-23T17:18:04.219Z,1579799884.219 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:18:04.619Z,1579799884.619 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-23T17:18:08.255Z,1579799888.255 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2020-01-23T17:18:08.654Z,1579799888.654 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,171804.771215,3,0,200,4000,10000,1,1,12,1,3,3,3,192*76

2020-01-23T17:18:11.483Z,1579799891.483 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T17:18:11.891Z,1579799891.891 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-23T17:18:12.317Z,1579799892.317 [Micromodem](INFO): Nmea in: $CAACK,12,1,3,1*7B

2020-01-23T17:18:12.318Z,1579799892.318 [Micromodem](INFO): Sent 184 bytes from file Logs/20200123T165920/Express0005.lzma.parts
2020-01-23T17:18:12.318Z,1579799892.318 [Micromodem](INFO): Packets left to send: 2
2020-01-23T17:18:12.706Z,1579799892.706 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123171811.181440,06,546,27,0161,0150,89,02,02,00,04,1,012,001,0,4,1,0,150,25.9,7.00,19,-4.00,-01,-0.05,24,10000,4000*47

2020-01-23T17:18:12.712Z,1579799892.712 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E8D0295E05000100A8F1E21DF116EB2983ADB1B4DEABA96B85E9084D1B3F205377988837FEECA772757ED06486052071CB385AD7AAF0D00A436005DA913C14E0
2020-01-23T17:18:12.713Z,1579799892.713 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 074D8370DDE3359DFFE4B70168AF14CCF0EE925D28B960AC55A323C999946922DFA3B57AF9F001D82B6AB380928418075CB06279B4146FAE20F56F8EDFB8E718
2020-01-23T17:18:12.713Z,1579799892.713 [Micromodem](INFO): Outgoing frame #3, 64 bytes: 72C19994DD531616CF7EC1576CBFE732EEDD9CDB96FFBB7834E6A3D96746A6D57CDB62603D248BED9CFE05BC012F65A8B6ABD11BA8B7808F2BA27D3EF931EEA2
2020-01-23T17:18:12.714Z,1579799892.714 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-23T17:18:13.915Z,1579799893.915 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-23T17:18:14.316Z,1579799894.316 [Micromodem](INFO): Nmea in: $CADRQ,171813,1,12,0,64,1*79

2020-01-23T17:18:14.316Z,1579799894.316 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,E8D0295E05000100A8F1E21DF116EB2983ADB1B4DEABA96B85E9084D1B3F205377988837FEECA772757ED06486052071CB385AD7AAF0D00A436005DA913C14E0*4E

2020-01-23T17:18:14.719Z,1579799894.719 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:18:15.123Z,1579799895.123 [Micromodem](INFO): Nmea in: $CADRQ,171815,1,12,0,64,2*7C

2020-01-23T17:18:15.124Z,1579799895.124 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,074D8370DDE3359DFFE4B70168AF14CCF0EE925D28B960AC55A323C999946922DFA3B57AF9F001D82B6AB380928418075CB06279B4146FAE20F56F8EDFB8E718*42

2020-01-23T17:18:15.521Z,1579799895.521 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:18:15.931Z,1579799895.931 [Micromodem](INFO): Nmea in: $CADRQ,171816,1,12,0,64,3*7E

2020-01-23T17:18:15.932Z,1579799895.932 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,72C19994DD531616CF7EC1576CBFE732EEDD9CDB96FFBB7834E6A3D96746A6D57CDB62603D248BED9CFE05BC012F65A8B6ABD11BA8B7808F2BA27D3EF931EEA2*3B

2020-01-23T17:18:16.331Z,1579799896.331 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:18:16.735Z,1579799896.735 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-23T17:18:20.371Z,1579799900.371 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2020-01-23T17:18:20.785Z,1579799900.785 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,171816.891109,3,0,200,4000,10000,1,1,12,1,3,3,3,192*7A

2020-01-23T17:18:23.635Z,1579799903.635 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T17:18:24.039Z,1579799904.039 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-23T17:18:24.439Z,1579799904.439 [Micromodem](INFO): Nmea in: $CAACK,12,1,3,1*7B

2020-01-23T17:18:24.440Z,1579799904.440 [Micromodem](INFO): Sent 184 bytes from file Logs/20200123T165920/Express0005.lzma.parts
2020-01-23T17:18:24.440Z,1579799904.440 [Micromodem](INFO): Packets left to send: 1
2020-01-23T17:18:24.854Z,1579799904.854 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123171823.292957,06,664,28,0166,0150,89,02,02,00,04,1,012,001,0,4,1,0,150,25.5,7.00,19,-4.00,-01,-0.05,24,10000,4000*4B

2020-01-23T17:18:24.860Z,1579799904.860 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E8D0295E050000006DF0E9DBA3FF1B7A3EF51196A069A477E33385026357BDCE9BA666062738B9F87BDF427FCD183439A73F82362B2862AB6423A11C5C3F0214
2020-01-23T17:18:24.861Z,1579799904.861 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 18E67832C9F0A213F109E0BA8933111D49428AC6358D12C5512FB4ED0A2C4D94E985C5CAD82C18C2828961F4016544BBA89B38A8A10DE4307D56CBD675E7B8CB
2020-01-23T17:18:24.862Z,1579799904.862 [Micromodem](INFO): Outgoing frame #3, 10 bytes: 39CEA5820E431FAA6400
2020-01-23T17:18:24.862Z,1579799904.862 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-23T17:18:26.167Z,1579799906.167 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-23T17:18:26.571Z,1579799906.571 [Micromodem](INFO): Nmea in: $CADRQ,171825,1,12,0,64,1*7C

2020-01-23T17:18:26.572Z,1579799906.572 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,E8D0295E050000006DF0E9DBA3FF1B7A3EF51196A069A477E33385026357BDCE9BA666062738B9F87BDF427FCD183439A73F82362B2862AB6423A11C5C3F0214*3C

2020-01-23T17:18:26.975Z,1579799906.975 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:18:27.386Z,1579799907.386 [Micromodem](INFO): Nmea in: $CADRQ,171827,1,12,0,64,2*7D

2020-01-23T17:18:27.386Z,1579799907.386 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,18E67832C9F0A213F109E0BA8933111D49428AC6358D12C5512FB4ED0A2C4D94E985C5CAD82C18C2828961F4016544BBA89B38A8A10DE4307D56CBD675E7B8CB*4E

2020-01-23T17:18:27.787Z,1579799907.787 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:18:28.180Z,1579799908.180 [Micromodem](INFO): Nmea in: $CADRQ,171828,1,12,0,64,3*73

2020-01-23T17:18:28.181Z,1579799908.181 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,39CEA5820E431FAA6400*3E

2020-01-23T17:18:28.598Z,1579799908.598 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,10*48

2020-01-23T17:18:28.999Z,1579799908.999 [Micromodem](INFO): Nmea in: $CATXP,138*48

2020-01-23T17:18:32.607Z,1579799912.607 [Micromodem](INFO): Nmea in: $CATXF,138*5E

2020-01-23T17:18:33.036Z,1579799913.036 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,171829.083741,3,0,200,4000,10000,1,1,12,1,3,3,3,138*77

2020-01-23T17:18:35.840Z,1579799915.840 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T17:18:36.266Z,1579799916.266 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-23T17:18:36.643Z,1579799916.643 [Micromodem](INFO): Nmea in: $CAACK,12,1,3,1*7B

2020-01-23T17:18:36.644Z,1579799916.644 [Micromodem](INFO): Sent 130 bytes from file Logs/20200123T165920/Express0005.lzma.parts
2020-01-23T17:18:36.644Z,1579799916.644 [Micromodem](INFO): Packets left to send: 0
2020-01-23T17:18:37.050Z,1579799917.050 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123171835.428076,06,500,26,0144,0150,89,02,02,00,04,1,012,001,0,4,1,0,150,24.6,7.00,20,-4.00,-01,-0.05,25,10000,4000*47

2020-01-23T17:18:37.056Z,1579799917.056 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E8D0295E080003005D00000400310500000000000000151D80030C5669BF31555EAE1409A708CE248F31669834F0CD33636E001FC3DE52D0F2D32CC8D8E47B75
2020-01-23T17:18:37.057Z,1579799917.057 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 2E54B7EA37991F176BDA07AA4987BB1CB73DD89A3A0C9183AB4F24E54B47880A7A40AF0F374BD4B079AB506751F46216C82FFC88FB22446A29BFFC6ABAED10D5
2020-01-23T17:18:37.058Z,1579799917.058 [Micromodem](INFO): Outgoing frame #3, 64 bytes: 21B0351EDAE44018B97C852924D09C6C1D246010F3CA1B473064039DBB6FE1D9557B915BB57710DC069498CBFDEC52692906AE34627D7806E49EC2789D96E8B6
2020-01-23T17:18:37.058Z,1579799917.058 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-23T17:18:38.267Z,1579799918.267 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-23T17:18:38.663Z,1579799918.663 [Micromodem](INFO): Nmea in: $CADRQ,171837,1,12,0,64,1*7F

2020-01-23T17:18:38.663Z,1579799918.663 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,E8D0295E080003005D00000400310500000000000000151D80030C5669BF31555EAE1409A708CE248F31669834F0CD33636E001FC3DE52D0F2D32CC8D8E47B75*3E

2020-01-23T17:18:39.067Z,1579799919.067 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:18:39.470Z,1579799919.470 [Micromodem](INFO): Nmea in: $CADRQ,171839,1,12,0,64,2*72

2020-01-23T17:18:39.470Z,1579799919.470 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,2E54B7EA37991F176BDA07AA4987BB1CB73DD89A3A0C9183AB4F24E54B47880A7A40AF0F374BD4B079AB506751F46216C82FFC88FB22446A29BFFC6ABAED10D5*41

2020-01-23T17:18:39.873Z,1579799919.873 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:18:40.279Z,1579799920.279 [Micromodem](INFO): Nmea in: $CADRQ,171840,1,12,0,64,3*7D

2020-01-23T17:18:40.280Z,1579799920.280 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,21B0351EDAE44018B97C852924D09C6C1D246010F3CA1B473064039DBB6FE1D9557B915BB57710DC069498CBFDEC52692906AE34627D7806E49EC2789D96E8B6*34

2020-01-23T17:18:40.681Z,1579799920.681 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:18:41.085Z,1579799921.085 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-23T17:18:44.724Z,1579799924.724 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2020-01-23T17:18:45.132Z,1579799925.132 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,171841.268976,3,0,200,4000,10000,1,1,12,1,3,3,3,192*74

2020-01-23T17:18:47.959Z,1579799927.959 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T17:18:48.011Z,1579799928.011 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:18:48.365Z,1579799928.365 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-23T17:18:48.764Z,1579799928.764 [Micromodem](INFO): Nmea in: $CAACK,12,1,3,1*7B

2020-01-23T17:18:48.765Z,1579799928.765 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:18:49.249Z,1579799929.249 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123171847.658873,06,641,28,0198,0150,89,02,02,00,04,1,012,001,0,4,1,0,150,25.9,6.00,19,-3.00,-01,0.08,25,10000,4000*61

2020-01-23T17:18:49.249Z,1579799929.249 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20200123171847.658873,06,641,28,0198,0150,89,02,02,00,04,1,012,001,0,4,1,0,150,25.9,6.00,19,-3.00,-01,0.08,25,10000,4000*61

2020-01-23T17:18:49.250Z,1579799929.250 [Micromodem](INFO): Sent 184 bytes from file Logs/20200123T165920/Express0008.lzma.parts
2020-01-23T17:18:49.250Z,1579799929.250 [Micromodem](INFO): Packets left to send: 3
2020-01-23T17:18:49.583Z,1579799929.583 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E8D0295E080002008DB698F440400E3665122D0913747B50B55D185BF8E3B684CDBBA8C33DE1F24C428EDABEA10285E9C4E951674A60C5355BA85AE51982BD4A
2020-01-23T17:18:49.584Z,1579799929.584 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 9CC459F01B330EBBBBE83EEC7C3A0AF5C11CCA431927AFC2005534EA17DA6EA34E35BBE41CA54F3E3E796CCD94270F6D2E866C3AB70833D0355F4020F5DCB3FB
2020-01-23T17:18:49.584Z,1579799929.584 [Micromodem](INFO): Outgoing frame #3, 64 bytes: C2D1AFF4539899C34A7086DC7AD07E60B0A8FA992673A1565863B5F20F9ABD60B8F224E6AFD542EE841A3A8ABB7E9A530F860C5C95FF7BA35A2392653EC0EC98
2020-01-23T17:18:49.696Z,1579799929.696 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-23T17:18:50.395Z,1579799930.395 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:18:50.409Z,1579799930.409 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-23T17:18:50.798Z,1579799930.798 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-23T17:18:51.202Z,1579799931.202 [Micromodem](INFO): Nmea in: $CADRQ,171851,1,12,0,64,1*7F

2020-01-23T17:18:51.202Z,1579799931.202 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,E8D0295E080002008DB698F440400E3665122D0913747B50B55D185BF8E3B684CDBBA8C33DE1F24C428EDABEA10285E9C4E951674A60C5355BA85AE51982BD4A*3C

2020-01-23T17:18:51.707Z,1579799931.707 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:18:52.038Z,1579799932.038 [Micromodem](INFO): Nmea in: $CADRQ,171852,1,12,0,64,2*7F

2020-01-23T17:18:52.038Z,1579799932.038 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,9CC459F01B330EBBBBE83EEC7C3A0AF5C11CCA431927AFC2005534EA17DA6EA34E35BBE41CA54F3E3E796CCD94270F6D2E866C3AB70833D0355F4020F5DCB3FB*4B

2020-01-23T17:18:52.439Z,1579799932.439 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:18:52.835Z,1579799932.835 [Micromodem](INFO): Nmea in: $CADRQ,171852,1,12,0,64,3*7E

2020-01-23T17:18:52.835Z,1579799932.835 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,C2D1AFF4539899C34A7086DC7AD07E60B0A8FA992673A1565863B5F20F9ABD60B8F224E6AFD542EE841A3A8ABB7E9A530F860C5C95FF7BA35A2392653EC0EC98*43

2020-01-23T17:18:53.247Z,1579799933.247 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:18:53.651Z,1579799933.651 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-23T17:18:57.291Z,1579799937.291 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2020-01-23T17:18:57.687Z,1579799937.687 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,171853.797168,3,0,200,4000,10000,1,1,12,1,3,3,3,192*75

2020-01-23T17:19:00.511Z,1579799940.511 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T17:19:00.915Z,1579799940.915 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-23T17:19:01.319Z,1579799941.319 [Micromodem](INFO): Nmea in: $CAACK,12,1,3,1*7B

2020-01-23T17:19:01.320Z,1579799941.320 [Micromodem](INFO): Sent 184 bytes from file Logs/20200123T165920/Express0008.lzma.parts
2020-01-23T17:19:01.320Z,1579799941.320 [Micromodem](INFO): Packets left to send: 2
2020-01-23T17:19:01.723Z,1579799941.723 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123171900.207611,06,575,27,0135,0150,89,02,02,00,04,1,012,001,0,4,1,0,150,16.0,6.00,16,-3.00,-01,-0.06,34,10000,4000*4E

2020-01-23T17:19:01.729Z,1579799941.729 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E8D0295E08000100DDDAD73ADE9172585AB74DC5DF8E25D8640F051A47C8684414FB0488B64FC8D4F69EB39ACE4B3D2FB75AB747824B84BE65227CAB0560D069
2020-01-23T17:19:01.730Z,1579799941.730 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 44F1310783FB6D8D500D2051650710EE0C565D1729F7E207CAC84687FC5BFF10002E4D72F9071F91ADA80B8F3DE58493818DA6777640025D8BD39E7CCE022C0D
2020-01-23T17:19:01.730Z,1579799941.730 [Micromodem](INFO): Outgoing frame #3, 64 bytes: F0B2E2B1CCD821098E2A47BA7B8D1E6442B6939D28E6FD40CA1DB8AE778583D1DFF130D0170A06CF4A6688D38174E2063EDC6B3D6E832AE25A28E402139D3DF3
2020-01-23T17:19:01.730Z,1579799941.730 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-23T17:19:02.903Z,1579799942.903 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-23T17:19:03.335Z,1579799943.335 [Micromodem](INFO): Nmea in: $CADRQ,171902,1,12,0,64,1*78

2020-01-23T17:19:03.335Z,1579799943.335 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,E8D0295E08000100DDDAD73ADE9172585AB74DC5DF8E25D8640F051A47C8684414FB0488B64FC8D4F69EB39ACE4B3D2FB75AB747824B84BE65227CAB0560D069*33

2020-01-23T17:19:03.715Z,1579799943.715 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:19:04.114Z,1579799944.114 [Micromodem](INFO): Nmea in: $CADRQ,171904,1,12,0,64,2*7D

2020-01-23T17:19:04.114Z,1579799944.114 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,44F1310783FB6D8D500D2051650710EE0C565D1729F7E207CAC84687FC5BFF10002E4D72F9071F91ADA80B8F3DE58493818DA6777640025D8BD39E7CCE022C0D*44

2020-01-23T17:19:04.635Z,1579799944.635 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:19:04.955Z,1579799944.955 [Micromodem](INFO): Nmea in: $CADRQ,171905,1,12,0,64,3*7D

2020-01-23T17:19:04.955Z,1579799944.955 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,F0B2E2B1CCD821098E2A47BA7B8D1E6442B6939D28E6FD40CA1DB8AE778583D1DFF130D0170A06CF4A6688D38174E2063EDC6B3D6E832AE25A28E402139D3DF3*3F

2020-01-23T17:19:05.366Z,1579799945.366 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:19:05.763Z,1579799945.763 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-23T17:19:09.396Z,1579799949.396 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2020-01-23T17:19:09.804Z,1579799949.804 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,171905.916768,3,0,200,4000,10000,1,1,12,1,3,3,3,192*76

2020-01-23T17:19:12.631Z,1579799952.631 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T17:19:13.007Z,1579799953.007 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-23T17:19:13.455Z,1579799953.455 [Micromodem](INFO): Nmea in: $CAACK,12,1,3,1*7B

2020-01-23T17:19:13.456Z,1579799953.456 [Micromodem](INFO): Sent 184 bytes from file Logs/20200123T165920/Express0008.lzma.parts
2020-01-23T17:19:13.456Z,1579799953.456 [Micromodem](INFO): Packets left to send: 1
2020-01-23T17:19:13.814Z,1579799953.814 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123171912.306867,06,606,27,0150,0150,89,02,02,00,04,1,012,001,0,4,1,0,150,26.3,6.00,12,-3.00,-01,-0.05,24,10000,4000*40

2020-01-23T17:19:13.820Z,1579799953.820 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E8D0295E080000007225242AA74A4AEB2084E7EA255861D82D7576B6A63302E4DD331323CB7E6CF6774281EFD6AA3BF99D40D21A9DA409BF604658DE702F5D52
2020-01-23T17:19:13.821Z,1579799953.821 [Micromodem](INFO): Outgoing frame #2, 64 bytes: BAADAA65EA0554B5D0C536D98C0B0DDE4603F0BAFE99EF5A6E7DB630E26548EF089A5F2214DB53D395D92A0E7D7FEFC909BE86EA53853E9C34D38EF45ABD4EFA
2020-01-23T17:19:13.822Z,1579799953.822 [Micromodem](INFO): Outgoing frame #3, 14 bytes: 5E4D5A6B1133BB42A2728036304D
2020-01-23T17:19:13.822Z,1579799953.822 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-23T17:19:15.055Z,1579799955.055 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-23T17:19:15.459Z,1579799955.459 [Micromodem](INFO): Nmea in: $CADRQ,171914,1,12,0,64,1*7F

2020-01-23T17:19:15.459Z,1579799955.459 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,E8D0295E080000007225242AA74A4AEB2084E7EA255861D82D7576B6A63302E4DD331323CB7E6CF6774281EFD6AA3BF99D40D21A9DA409BF604658DE702F5D52*49

2020-01-23T17:19:15.863Z,1579799955.863 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:19:16.297Z,1579799956.297 [Micromodem](INFO): Nmea in: $CADRQ,171916,1,12,0,64,2*7E

2020-01-23T17:19:16.297Z,1579799956.297 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,BAADAA65EA0554B5D0C536D98C0B0DDE4603F0BAFE99EF5A6E7DB630E26548EF089A5F2214DB53D395D92A0E7D7FEFC909BE86EA53853E9C34D38EF45ABD4EFA*36

2020-01-23T17:19:16.667Z,1579799956.667 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:19:17.078Z,1579799957.078 [Micromodem](INFO): Nmea in: $CADRQ,171917,1,12,0,64,3*7E

2020-01-23T17:19:17.079Z,1579799957.079 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,5E4D5A6B1133BB42A2728036304D*45

2020-01-23T17:19:17.479Z,1579799957.479 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,14*4C

2020-01-23T17:19:17.883Z,1579799957.883 [Micromodem](INFO): Nmea in: $CATXP,142*45

2020-01-23T17:19:21.523Z,1579799961.523 [Micromodem](INFO): Nmea in: $CATXF,142*53

2020-01-23T17:19:21.924Z,1579799961.924 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,171917.989011,3,0,200,4000,10000,1,1,12,1,3,3,3,142*77

2020-01-23T17:19:24.723Z,1579799964.723 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T17:19:25.122Z,1579799965.122 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-23T17:19:25.534Z,1579799965.534 [Micromodem](INFO): Nmea in: $CAACK,12,1,3,1*7B

2020-01-23T17:19:25.535Z,1579799965.535 [Micromodem](INFO): Sent 134 bytes from file Logs/20200123T165920/Express0008.lzma.parts
2020-01-23T17:19:25.535Z,1579799965.535 [Micromodem](INFO): Packets left to send: 0
2020-01-23T17:19:25.933Z,1579799965.933 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123171924.340212,06,567,27,0146,0150,89,02,02,00,04,1,012,001,0,4,1,0,150,17.2,7.00,20,-4.00,-01,-0.05,33,10000,4000*4E

2020-01-23T17:19:26.011Z,1579799966.011 [DefaultUnder:uModemComms:CheckIn:A] Stopped
2020-01-23T17:19:26.011Z,1579799966.011 [DefaultUnder:uModemComms:CheckIn](INFO): Completed DefaultUnder:uModemComms:CheckIn
2020-01-23T17:19:26.011Z,1579799966.011 [DefaultUnder:uModemComms:CheckIn] Stopped
2020-01-23T17:19:26.011Z,1579799966.011 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::uninitialize DefaultUnder:uModemComms:CheckIn
2020-01-23T17:19:49.803Z,1579799989.803 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:19:50.576Z,1579799990.576 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:19:50.982Z,1579799990.982 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:19:51.470Z,1579799991.470 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-23T17:19:51.806Z,1579799991.806 [Micromodem](INFO): Nmea in: $SNTTA,0.000198,,,,171951.49*47

2020-01-23T17:20:02.393Z,1579800002.393 [DefaultUnder:Notify:A:A:A.Wait](INFO): Done Waiting.
2020-01-23T17:20:02.393Z,1579800002.393 [DefaultUnder:Notify:A:A:A.Wait] Stopped
2020-01-23T17:20:02.394Z,1579800002.394 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-23T17:20:02.394Z,1579800002.394 [DefaultUnder:Notify:A:A:B] Running Loop=1
2020-01-23T17:20:02.751Z,1579800002.751 [DefaultUnder:Notify:A:A:B] Stopped
2020-01-23T17:20:02.751Z,1579800002.751 [DefaultUnder:Notify:A:A:C] Running Loop=1
2020-01-23T17:20:03.160Z,1579800003.160 [DefaultUnder:Notify:A:A:C](IMPORTANT): Default mission has been running for 10.034511 min 
2020-01-23T17:20:03.160Z,1579800003.160 [DefaultUnder:Notify:A:A:C] Stopped
2020-01-23T17:20:03.160Z,1579800003.160 [DefaultUnder:Notify:A:A](INFO): Completed DefaultUnder:Notify:A:A
2020-01-23T17:20:03.160Z,1579800003.160 [DefaultUnder:Notify:A:A] Stopped
2020-01-23T17:20:03.160Z,1579800003.160 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A:A
2020-01-23T17:20:03.161Z,1579800003.161 [DefaultUnder:Notify:A:A](INFO): Running loop #3
2020-01-23T17:20:03.161Z,1579800003.161 [DefaultUnder:Notify:A:A] Running Loop=3
2020-01-23T17:20:03.161Z,1579800003.161 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A:A
2020-01-23T17:20:03.161Z,1579800003.161 [DefaultUnder:Notify:A:A:A.Wait] Running Loop=1
2020-01-23T17:20:03.161Z,1579800003.161 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Initialize Wait Component.
2020-01-23T17:20:51.625Z,1579800051.625 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:20:52.391Z,1579800052.391 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:20:52.797Z,1579800052.797 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:20:53.248Z,1579800053.248 [Reporter](INFO): acoustic_contact_range 0.239999 m
2020-01-23T17:20:53.626Z,1579800053.626 [Micromodem](INFO): Nmea in: $SNTTA,0.000188,,0.335104,0.360479,172053.30*4F

2020-01-23T17:21:13.530Z,1579800073.530 [RDI_Pathfinder](ERROR): Failed to parse:
:SA,   +0.00,   +0.00,  0.00
2020-01-23T17:21:53.517Z,1579800113.517 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:21:54.267Z,1579800114.267 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:21:54.667Z,1579800114.667 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:21:55.128Z,1579800115.128 [Reporter](INFO): acoustic_contact_range 0.239999 m
2020-01-23T17:21:55.498Z,1579800115.498 [Micromodem](INFO): Nmea in: $SNTTA,0.000187,,,,172155.18*42

2020-01-23T17:22:26.259Z,1579800146.259 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-23T17:22:26.259Z,1579800146.259 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,20012310334428,35.0, -0.1,   .9,  0
2020-01-23T17:22:55.291Z,1579800175.291 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:22:56.079Z,1579800176.079 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:22:56.488Z,1579800176.488 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:22:56.966Z,1579800176.966 [Reporter](INFO): acoustic_contact_range 0.239999 m
2020-01-23T17:22:57.313Z,1579800177.313 [Micromodem](INFO): Nmea in: $SNTTA,0.000204,,,,172256.99*43

2020-01-23T17:23:48.252Z,1579800228.252 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2020-01-23T17:23:57.169Z,1579800237.169 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:23:57.943Z,1579800237.943 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:23:58.353Z,1579800238.353 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:23:58.800Z,1579800238.800 [Reporter](INFO): acoustic_contact_range 0.239999 m
2020-01-23T17:23:59.185Z,1579800239.185 [Micromodem](INFO): Nmea in: $SNTTA,0.000213,,,,172358.85*47

2020-01-23T17:24:26.306Z,1579800266.306 [DefaultUnder:uModemComms:CheckIn] Running Loop=1
2020-01-23T17:24:26.306Z,1579800266.306 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::initialize DefaultUnder:uModemComms:CheckIn
2020-01-23T17:24:26.307Z,1579800266.307 [DefaultUnder:uModemComms:CheckIn:A] Running Loop=1
2020-01-23T17:24:26.666Z,1579800266.666 [Micromodem](INFO): Outgoing frame #1, 47 bytes: E8D0295E0A0000005D00000400140000000000000000151D80030C5669BF92DB1A7FF79DEE2B3AD129C7DF6339A000
2020-01-23T17:24:26.666Z,1579800266.666 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,1*6B

2020-01-23T17:24:27.056Z,1579800267.056 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,1*69

2020-01-23T17:24:27.467Z,1579800267.467 [Micromodem](INFO): Nmea in: $CADRQ,172427,1,12,0,64,1*71

2020-01-23T17:24:27.467Z,1579800267.467 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,E8D0295E0A0000005D00000400140000000000000000151D80030C5669BF92DB1A7FF79DEE2B3AD129C7DF6339A000*4D

2020-01-23T17:24:27.874Z,1579800267.874 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,47*4A

2020-01-23T17:24:28.283Z,1579800268.283 [Micromodem](INFO): Nmea in: $CATXP,47*71

2020-01-23T17:24:29.503Z,1579800269.503 [Micromodem](INFO): Nmea in: $CATXF,47*67

2020-01-23T17:24:30.696Z,1579800270.696 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,172428.385289,3,0,200,4000,10000,1,1,12,1,1,1,3,47*44

2020-01-23T17:24:58.977Z,1579800298.977 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:24:59.757Z,1579800299.757 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:25:00.567Z,1579800300.567 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:25:00.645Z,1579800300.645 [Reporter](INFO): acoustic_contact_range 0.239999 m
2020-01-23T17:25:00.982Z,1579800300.982 [Micromodem](INFO): Nmea in: $SNTTA,0.000190,,,,172500.67*48

2020-01-23T17:25:03.848Z,1579800303.848 [DefaultUnder:Notify:A:A:A.Wait](INFO): Done Waiting.
2020-01-23T17:25:03.848Z,1579800303.848 [DefaultUnder:Notify:A:A:A.Wait] Stopped
2020-01-23T17:25:03.848Z,1579800303.848 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-23T17:25:03.865Z,1579800303.865 [DefaultUnder:Notify:A:A:B] Running Loop=1
2020-01-23T17:25:04.256Z,1579800304.256 [DefaultUnder:Notify:A:A:B] Stopped
2020-01-23T17:25:04.256Z,1579800304.256 [DefaultUnder:Notify:A:A:C] Running Loop=1
2020-01-23T17:25:04.679Z,1579800304.679 [DefaultUnder:Notify:A:A:C](IMPORTANT): Default mission has been running for 15.059592 min 
2020-01-23T17:25:04.679Z,1579800304.679 [DefaultUnder:Notify:A:A:C] Stopped
2020-01-23T17:25:04.679Z,1579800304.679 [DefaultUnder:Notify:A:A](INFO): Completed DefaultUnder:Notify:A:A
2020-01-23T17:25:04.679Z,1579800304.679 [DefaultUnder:Notify:A:A] Stopped
2020-01-23T17:25:04.679Z,1579800304.679 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A:A
2020-01-23T17:25:04.679Z,1579800304.679 [DefaultUnder:Notify:A:A](INFO): Running loop #4
2020-01-23T17:25:04.679Z,1579800304.679 [DefaultUnder:Notify:A:A] Running Loop=4
2020-01-23T17:25:04.680Z,1579800304.680 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A:A
2020-01-23T17:25:04.680Z,1579800304.680 [DefaultUnder:Notify:A:A:A.Wait] Running Loop=1
2020-01-23T17:25:04.680Z,1579800304.680 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Initialize Wait Component.
2020-01-23T17:25:15.976Z,1579800315.976 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-01-23T17:25:15.976Z,1579800315.976 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00
2020-01-23T17:25:31.703Z,1579800331.703 [Micromodem](ERROR): Buffer fill timout failure.
2020-01-23T17:25:32.107Z,1579800332.107 [Micromodem](INFO): Outgoing frame #1, 47 bytes: E8D0295E0A0000005D00000400140000000000000000151D80030C5669BF92DB1A7FF79DEE2B3AD129C7DF6339A000
2020-01-23T17:25:32.107Z,1579800332.107 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,1*6B

2020-01-23T17:25:32.511Z,1579800332.511 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,1*69

2020-01-23T17:25:32.911Z,1579800332.911 [Micromodem](INFO): Nmea in: $CADRQ,172532,1,12,0,64,1*74

2020-01-23T17:25:32.912Z,1579800332.912 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,E8D0295E0A0000005D00000400140000000000000000151D80030C5669BF92DB1A7FF79DEE2B3AD129C7DF6339A000*4D

2020-01-23T17:25:33.315Z,1579800333.315 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,47*4A

2020-01-23T17:25:33.691Z,1579800333.691 [Micromodem](INFO): Nmea in: $CATXP,47*71

2020-01-23T17:25:34.913Z,1579800334.913 [Micromodem](INFO): Nmea in: $CATXF,47*67

2020-01-23T17:25:35.312Z,1579800335.312 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,172533.827226,3,0,200,4000,10000,1,1,12,1,1,1,3,47*49

2020-01-23T17:25:36.927Z,1579800336.927 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T17:25:36.928Z,1579800336.928 [Micromodem](INFO): Sent 39 bytes from file Logs/20200123T165920/Courier0010.lzma.parts
2020-01-23T17:25:36.928Z,1579800336.928 [Micromodem](INFO): Packets left to send: 0
2020-01-23T17:25:37.397Z,1579800337.397 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123172536.547711,06,726,28,0131,0150,89,02,02,00,03,1,012,001,0,4,1,0,150,25.6,5.00,15,-2.00,-01,-0.02,26,10000,4000*4E

2020-01-23T17:25:37.404Z,1579800337.404 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E8D0295E0B0001005D00000400290100000000000000151D80030C5669BF5A33BA6A9BC3B5D73F39448A37DA5C2A6562B02B6E85B8E6CB99F9F6B45BD6DD67CB
2020-01-23T17:25:37.421Z,1579800337.421 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 3D91F9CEBC4D3761ED52825B0C9C2C2FCEFE7B24BE9AE70BCEE332FA17434FE6BC49C0B7DDF2776F17429129C703D8FB63B2E98C0DC1C2E4290FAD9024D62B4D
2020-01-23T17:25:37.422Z,1579800337.422 [Micromodem](INFO): Outgoing frame #3, 64 bytes: 71F7B2D301A0B9CAEA7CC4C4711326ACF6D09CD1F8EEE0A9096015AC63FF3A3C2DDB35507E80B1F0D970C953979CE1441A42729FBE7BA8E9A544E32E40BFAAA8
2020-01-23T17:25:37.422Z,1579800337.422 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-23T17:25:38.539Z,1579800338.539 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-23T17:25:38.943Z,1579800338.943 [Micromodem](INFO): Nmea in: $CADRQ,172538,1,12,0,64,1*7E

2020-01-23T17:25:38.944Z,1579800338.944 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,E8D0295E0B0001005D00000400290100000000000000151D80030C5669BF5A33BA6A9BC3B5D73F39448A37DA5C2A6562B02B6E85B8E6CB99F9F6B45BD6DD67CB*36

2020-01-23T17:25:39.351Z,1579800339.351 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:25:39.751Z,1579800339.751 [Micromodem](INFO): Nmea in: $CADRQ,172539,1,12,0,64,2*7C

2020-01-23T17:25:39.752Z,1579800339.752 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,3D91F9CEBC4D3761ED52825B0C9C2C2FCEFE7B24BE9AE70BCEE332FA17434FE6BC49C0B7DDF2776F17429129C703D8FB63B2E98C0DC1C2E4290FAD9024D62B4D*44

2020-01-23T17:25:40.159Z,1579800340.159 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:25:40.559Z,1579800340.559 [Micromodem](INFO): Nmea in: $CADRQ,172540,1,12,0,64,3*73

2020-01-23T17:25:40.559Z,1579800340.559 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,71F7B2D301A0B9CAEA7CC4C4711326ACF6D09CD1F8EEE0A9096015AC63FF3A3C2DDB35507E80B1F0D970C953979CE1441A42729FBE7BA8E9A544E32E40BFAAA8*4B

2020-01-23T17:25:40.967Z,1579800340.967 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:25:41.365Z,1579800341.365 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-23T17:25:45.007Z,1579800345.007 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2020-01-23T17:25:45.408Z,1579800345.408 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,172541.518880,3,0,200,4000,10000,1,1,12,1,3,3,3,192*72

2020-01-23T17:25:48.248Z,1579800348.248 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T17:25:48.640Z,1579800348.640 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-23T17:25:49.053Z,1579800349.053 [Micromodem](INFO): Nmea in: $CAACK,12,1,3,1*7B

2020-01-23T17:25:49.054Z,1579800349.054 [Micromodem](INFO): Sent 184 bytes from file Logs/20200123T165920/Express0011.lzma.parts
2020-01-23T17:25:49.054Z,1579800349.054 [Micromodem](INFO): Packets left to send: 1
2020-01-23T17:25:49.451Z,1579800349.451 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123172547.911999,06,787,28,0135,0150,89,02,02,00,03,1,012,001,0,4,1,0,150,26.4,6.00,17,-3.00,-01,-0.02,25,10000,4000*44

2020-01-23T17:25:49.458Z,1579800349.458 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E8D0295E0B0000004485380DB91F57DA875E26EB71DC4A970B048EAD7791474B93AD0529D2AC13F0A6EF83799710FC6319BF672DCA565E0CE6A1821AE7FB5C0E
2020-01-23T17:25:49.458Z,1579800349.458 [Micromodem](INFO): Outgoing frame #2, 6 bytes: 984F8B513000
2020-01-23T17:25:49.459Z,1579800349.459 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,2*68

2020-01-23T17:25:50.663Z,1579800350.663 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,2*6A

2020-01-23T17:25:51.067Z,1579800351.067 [Micromodem](INFO): Nmea in: $CADRQ,172550,1,12,0,64,1*70

2020-01-23T17:25:51.067Z,1579800351.067 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,E8D0295E0B0000004485380DB91F57DA875E26EB71DC4A970B048EAD7791474B93AD0529D2AC13F0A6EF83799710FC6319BF672DCA565E0CE6A1821AE7FB5C0E*4D

2020-01-23T17:25:51.471Z,1579800351.471 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:25:51.875Z,1579800351.875 [Micromodem](INFO): Nmea in: $CADRQ,172551,1,12,0,64,2*72

2020-01-23T17:25:51.875Z,1579800351.875 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,984F8B513000*45

2020-01-23T17:25:52.294Z,1579800352.294 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,6*7F

2020-01-23T17:25:52.695Z,1579800352.695 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-01-23T17:25:55.107Z,1579800355.107 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-01-23T17:25:55.516Z,1579800355.516 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,172552.762558,3,0,200,4000,10000,1,1,12,1,2,2,3,70*4A

2020-01-23T17:25:57.542Z,1579800357.542 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T17:25:57.935Z,1579800357.935 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-23T17:25:57.936Z,1579800357.936 [Micromodem](INFO): Sent 62 bytes from file Logs/20200123T165920/Express0011.lzma.parts
2020-01-23T17:25:57.936Z,1579800357.936 [Micromodem](INFO): Packets left to send: 0
2020-01-23T17:25:58.342Z,1579800358.342 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123172557.270407,06,554,21,0149,0150,89,02,02,01,04,1,012,001,0,4,1,0,150,24.8,5.00,12,-2.00,-01,-0.03,25,10000,4000*43

2020-01-23T17:25:58.396Z,1579800358.396 [DefaultUnder:uModemComms:CheckIn:A] Stopped
2020-01-23T17:25:58.397Z,1579800358.397 [DefaultUnder:uModemComms:CheckIn](INFO): Completed DefaultUnder:uModemComms:CheckIn
2020-01-23T17:25:58.397Z,1579800358.397 [DefaultUnder:uModemComms:CheckIn] Stopped
2020-01-23T17:25:58.397Z,1579800358.397 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::uninitialize DefaultUnder:uModemComms:CheckIn
2020-01-23T17:26:00.793Z,1579800360.793 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:26:01.568Z,1579800361.568 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:26:01.982Z,1579800361.982 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:26:02.434Z,1579800362.434 [Reporter](INFO): acoustic_contact_range 0.239999 m
2020-01-23T17:26:02.794Z,1579800362.794 [Micromodem](INFO): Nmea in: $SNTTA,0.000194,,,,172602.48*40

2020-01-23T17:27:02.685Z,1579800422.685 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:27:03.444Z,1579800423.444 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:27:03.858Z,1579800423.858 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:27:04.313Z,1579800424.313 [Reporter](INFO): acoustic_contact_range 0.239999 m
2020-01-23T17:27:04.678Z,1579800424.678 [Micromodem](INFO): Nmea in: $SNTTA,0.000190,,,,172704.36*4A

2020-01-23T17:27:33.800Z,1579800453.800 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-23T17:27:33.801Z,1579800453.801 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,20012310385128,35.0  0.0,1448.9,  0
2020-01-23T17:28:04.490Z,1579800484.490 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:28:05.265Z,1579800485.265 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:28:05.659Z,1579800485.659 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:28:06.124Z,1579800486.124 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-23T17:28:06.494Z,1579800486.494 [Micromodem](INFO): Nmea in: $SNTTA,0.000191,,,,172806.18*4A

2020-01-23T17:28:41.262Z,1579800521.262 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2020-01-23T17:28:41.263Z,1579800521.263 [RDI_Pathfinder](ERROR): Failed to parse:
:RA   0.00,   0.00,   0.00,   0.00
2020-01-23T17:29:06.314Z,1579800546.314 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:29:07.079Z,1579800547.079 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:29:07.485Z,1579800547.485 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:29:07.969Z,1579800547.969 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-23T17:29:08.313Z,1579800548.313 [Micromodem](INFO): Nmea in: $SNTTA,0.000198,,,0.289926,172907.99*5A

2020-01-23T17:29:12.484Z,1579800552.484 [RDI_Pathfinder](ERROR): Failed to parse:
0,        +0.00,        +0.00,   0.00,854.97
2020-01-23T17:29:39.958Z,1579800579.958 [CBIT](INFO): Clearing failed state for component RudderServo
2020-01-23T17:29:39.958Z,1579800579.958 [RudderServo] No Fault, FailCount= 3
2020-01-23T17:29:49.612Z,1579800589.612 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-23T17:29:49.612Z,1579800589.612 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2020-01-23T17:30:05.361Z,1579800605.361 [DefaultUnder:Notify:A:A:A.Wait](INFO): Done Waiting.
2020-01-23T17:30:05.361Z,1579800605.361 [DefaultUnder:Notify:A:A:A.Wait] Stopped
2020-01-23T17:30:05.362Z,1579800605.362 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-23T17:30:05.362Z,1579800605.362 [DefaultUnder:Notify:A:A:B] Running Loop=1
2020-01-23T17:30:05.756Z,1579800605.756 [RDI_Pathfinder](ERROR): Failed to parse:
:BI,-32768,-32768,-32768,-32768,V
2020-01-23T17:30:05.766Z,1579800605.766 [DefaultUnder:Notify:A:A:B] Stopped
2020-01-23T17:30:05.766Z,1579800605.766 [DefaultUnder:Notify:A:A:C] Running Loop=1
2020-01-23T17:30:06.174Z,1579800606.174 [DefaultUnder:Notify:A:A:C](IMPORTANT): Default mission has been running for 20.084760 min 
2020-01-23T17:30:06.175Z,1579800606.175 [DefaultUnder:Notify:A:A:C] Stopped
2020-01-23T17:30:06.175Z,1579800606.175 [DefaultUnder:Notify:A:A](INFO): Completed DefaultUnder:Notify:A:A
2020-01-23T17:30:06.175Z,1579800606.175 [DefaultUnder:Notify:A:A] Stopped
2020-01-23T17:30:06.175Z,1579800606.175 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A:A
2020-01-23T17:30:06.175Z,1579800606.175 [DefaultUnder:Notify:A:A](INFO): Running loop #5
2020-01-23T17:30:06.175Z,1579800606.175 [DefaultUnder:Notify:A:A] Running Loop=5
2020-01-23T17:30:06.175Z,1579800606.175 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A:A
2020-01-23T17:30:06.175Z,1579800606.175 [DefaultUnder:Notify:A:A:A.Wait] Running Loop=1
2020-01-23T17:30:06.175Z,1579800606.175 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Initialize Wait Component.
2020-01-23T17:30:08.213Z,1579800608.213 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:30:08.977Z,1579800608.977 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:30:09.377Z,1579800609.377 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:30:09.833Z,1579800609.833 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-23T17:30:10.204Z,1579800610.204 [Micromodem](INFO): Nmea in: $SNTTA,0.000196,,,,173009.89*43

2020-01-23T17:30:50.236Z,1579800650.236 [RDI_Pathfinder](ERROR): Failed to parse:
:8,-32768,-32768,V
2020-01-23T17:30:58.708Z,1579800658.708 [DefaultUnder:uModemComms:CheckIn] Running Loop=1
2020-01-23T17:30:58.708Z,1579800658.708 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::initialize DefaultUnder:uModemComms:CheckIn
2020-01-23T17:30:58.708Z,1579800658.708 [DefaultUnder:uModemComms:CheckIn:A] Running Loop=1
2020-01-23T17:30:59.067Z,1579800659.067 [Micromodem](INFO): Outgoing frame #1, 47 bytes: E8D0295E0D0000005D00000400140000000000000000151D80030C5669BF92DB1A73B59DE0776A82A75A38BA57C000
2020-01-23T17:30:59.067Z,1579800659.067 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,1*6B

2020-01-23T17:30:59.476Z,1579800659.476 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,1*69

2020-01-23T17:30:59.875Z,1579800659.875 [Micromodem](INFO): Nmea in: $CADRQ,173059,1,12,0,64,1*7D

2020-01-23T17:30:59.875Z,1579800659.875 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,E8D0295E0D0000005D00000400140000000000000000151D80030C5669BF92DB1A73B59DE0776A82A75A38BA57C000*3C

2020-01-23T17:31:00.291Z,1579800660.291 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,47*4A

2020-01-23T17:31:00.683Z,1579800660.683 [Micromodem](INFO): Nmea in: $CATXP,47*71

2020-01-23T17:31:01.901Z,1579800661.901 [Micromodem](INFO): Nmea in: $CATXF,47*67

2020-01-23T17:31:03.108Z,1579800663.108 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,173100.794806,3,0,200,4000,10000,1,1,12,1,1,1,3,47*43

2020-01-23T17:31:09.000Z,1579800670.000 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:31:10.789Z,1579800670.789 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:31:11.189Z,1579800671.189 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:31:11.659Z,1579800671.659 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-23T17:31:12.014Z,1579800672.014 [Micromodem](INFO): Nmea in: $SNTTA,0.000216,,,,173111.70*46

2020-01-23T17:31:51.266Z,1579800711.266 [RDI_Pathfinder](ERROR): Failed to parse:
68,-32768,-32768,V
2020-01-23T17:32:04.144Z,1579800724.144 [Micromodem](ERROR): Buffer fill timout failure.
2020-01-23T17:32:04.563Z,1579800724.563 [Micromodem](INFO): Outgoing frame #1, 47 bytes: E8D0295E0D0000005D00000400140000000000000000151D80030C5669BF92DB1A73B59DE0776A82A75A38BA57C000
2020-01-23T17:32:04.563Z,1579800724.563 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,1*6B

2020-01-23T17:32:04.955Z,1579800724.955 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,1*69

2020-01-23T17:32:05.363Z,1579800725.363 [Micromodem](INFO): Nmea in: $CADRQ,173205,1,12,0,64,1*76

2020-01-23T17:32:05.363Z,1579800725.363 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,E8D0295E0D0000005D00000400140000000000000000151D80030C5669BF92DB1A73B59DE0776A82A75A38BA57C000*3C

2020-01-23T17:32:05.763Z,1579800725.763 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,47*4A

2020-01-23T17:32:06.167Z,1579800726.167 [Micromodem](INFO): Nmea in: $CATXP,47*71

2020-01-23T17:32:07.373Z,1579800727.373 [Micromodem](INFO): Nmea in: $CATXF,47*67

2020-01-23T17:32:07.784Z,1579800727.784 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,173206.278785,3,0,200,4000,10000,1,1,12,1,1,1,3,47*45

2020-01-23T17:32:11.852Z,1579800731.852 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:32:12.632Z,1579800732.632 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:32:13.042Z,1579800733.042 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:32:13.493Z,1579800733.493 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-23T17:32:13.858Z,1579800733.858 [Micromodem](INFO): Nmea in: $SNTTA,0.000221,,,,173213.54*45

2020-01-23T17:33:09.600Z,1579800789.600 [Micromodem](ERROR): Buffer fill timout failure.
2020-01-23T17:33:09.620Z,1579800789.620 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-23T17:33:09.620Z,1579800789.620 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2020-01-23T17:33:09.997Z,1579800789.997 [Micromodem](INFO): Outgoing frame #1, 47 bytes: E8D0295E0D0000005D00000400140000000000000000151D80030C5669BF92DB1A73B59DE0776A82A75A38BA57C000
2020-01-23T17:33:09.997Z,1579800789.997 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,1*6B

2020-01-23T17:33:10.397Z,1579800790.397 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,1*69

2020-01-23T17:33:10.811Z,1579800790.811 [Micromodem](INFO): Nmea in: $CADRQ,173310,1,12,0,64,1*73

2020-01-23T17:33:10.811Z,1579800790.811 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,E8D0295E0D0000005D00000400140000000000000000151D80030C5669BF92DB1A73B59DE0776A82A75A38BA57C000*3C

2020-01-23T17:33:11.208Z,1579800791.208 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,47*4A

2020-01-23T17:33:11.615Z,1579800791.615 [Micromodem](INFO): Nmea in: $CATXP,47*71

2020-01-23T17:33:11.650Z,1579800791.650 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-23T17:33:11.651Z,1579800791.651 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-32768,-3:BE,-32768,-32768,-32768,V
2020-01-23T17:33:12.827Z,1579800792.827 [Micromodem](INFO): Nmea in: $CATXF,47*67

2020-01-23T17:33:13.232Z,1579800793.232 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,173311.732212,3,0,200,4000,10000,1,1,12,1,1,1,3,47*42

2020-01-23T17:33:13.694Z,1579800793.694 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:33:14.443Z,1579800794.443 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:33:14.845Z,1579800794.845 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:33:15.318Z,1579800795.318 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-23T17:33:15.675Z,1579800795.675 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173315.35*5A

2020-01-23T17:33:49.614Z,1579800829.614 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-23T17:33:49.614Z,1579800829.614 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2020-01-23T17:34:10.244Z,1579800850.244 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2020-01-23T17:34:15.043Z,1579800855.043 [Micromodem](ERROR): Buffer fill timout failure.
2020-01-23T17:34:15.447Z,1579800855.447 [Micromodem](INFO): Outgoing frame #1, 47 bytes: E8D0295E0D0000005D00000400140000000000000000151D80030C5669BF92DB1A73B59DE0776A82A75A38BA57C000
2020-01-23T17:34:15.447Z,1579800855.447 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,1*6B

2020-01-23T17:34:15.487Z,1579800855.487 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:34:15.864Z,1579800855.864 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,1*69

2020-01-23T17:34:16.261Z,1579800856.261 [Micromodem](INFO): Nmea in: $CADRQ,173416,1,12,0,64,1*72

2020-01-23T17:34:16.261Z,1579800856.261 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,E8D0295E0D0000005D00000400140000000000000000151D80030C5669BF92DB1A73B59DE0776A82A75A38BA57C000*3C

2020-01-23T17:34:16.655Z,1579800856.655 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,47*4A

2020-01-23T17:34:16.655Z,1579800856.655 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:34:17.058Z,1579800857.058 [Micromodem](INFO): Nmea in: $CATXP,47*71

2020-01-23T17:34:17.059Z,1579800857.059 [Micromodem](ERROR): Response from modem unexpected: $CATXP,47*71

2020-01-23T17:34:18.278Z,1579800858.278 [Micromodem](INFO): Nmea in: $CATXF,47*67

2020-01-23T17:34:18.278Z,1579800858.278 [Micromodem](ERROR): Response from modem unexpected: $CATXF,47*67

2020-01-23T17:34:19.580Z,1579800859.580 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,173417.179995,3,0,200,4000,10000,1,1,12,1,1,1,3,47*4E

2020-01-23T17:34:19.580Z,1579800859.580 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20200123,173417.179995,3,0,200,4000,10000,1,1,12,1,1,1,3,47*4E

2020-01-23T17:34:20.323Z,1579800860.323 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T17:34:20.324Z,1579800860.324 [Micromodem](INFO): Sent 39 bytes from file Logs/20200123T165920/Courier0013.lzma.parts
2020-01-23T17:34:20.324Z,1579800860.324 [Micromodem](INFO): Packets left to send: 0
2020-01-23T17:34:20.727Z,1579800860.727 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123173419.898993,06,689,28,0133,0150,59,01,01,00,04,1,012,001,0,4,1,0,150,26.5,6.00,16,-3.00,-01,-0.02,20,10000,4000*43

2020-01-23T17:34:20.727Z,1579800860.727 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20200123173419.898993,06,689,28,0133,0150,59,01,01,00,04,1,012,001,0,4,1,0,150,26.5,6.00,16,-3.00,-01,-0.02,20,10000,4000*43

2020-01-23T17:34:20.735Z,1579800860.735 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E8D0295E0E0000005D00000400B80000000000000000151D80030C5669C055D2E34CA36FA6CFAF9E7EF4FCFD6A2E8E4C42F97D6DC6125CB9A5F6D62DC26C13FE
2020-01-23T17:34:20.735Z,1579800860.735 [Micromodem](INFO): Outgoing frame #2, 64 bytes: AD3A3B82E3FC0533208F744C41AA5261D1896B89FE8CD69C383464FE61B10B3DF38C7D39403D339374246A549FACD6136E773F90EDEA27A77FC98E6B00BBA0F9
2020-01-23T17:34:20.736Z,1579800860.736 [Micromodem](INFO): Outgoing frame #3, 22 bytes: 084D4F5B589C5DC6FD2421447DFF6853336C7F010C00
2020-01-23T17:34:28.002Z,1579800868.002 [Micromodem](ERROR): Nmea resend: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:34:28.405Z,1579800868.405 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:34:28.431Z,1579800868.431 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-23T17:34:28.803Z,1579800868.803 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-23T17:34:29.235Z,1579800869.235 [Micromodem](INFO): Nmea in: $CADRQ,173429,1,12,0,64,1*7E

2020-01-23T17:34:29.236Z,1579800869.236 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,E8D0295E0E0000005D00000400B80000000000000000151D80030C5669C055D2E34CA36FA6CFAF9E7EF4FCFD6A2E8E4C42F97D6DC6125CB9A5F6D62DC26C13FE*42

2020-01-23T17:34:29.619Z,1579800869.619 [Micromodem](INFO): Nmea in: $SNTTA,0.000220,,,,173428.91*43

2020-01-23T17:34:29.619Z,1579800869.619 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.000220,,,,173428.91*43

2020-01-23T17:34:30.831Z,1579800870.831 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:34:31.201Z,1579800871.201 [Micromodem](INFO): Nmea in: $CADRQ,173430,1,12,0,64,2*75

2020-01-23T17:34:31.201Z,1579800871.201 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,AD3A3B82E3FC0533208F744C41AA5261D1896B89FE8CD69C383464FE61B10B3DF38C7D39403D339374246A549FACD6136E773F90EDEA27A77FC98E6B00BBA0F9*34

2020-01-23T17:34:31.736Z,1579800871.736 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:34:32.137Z,1579800872.137 [Micromodem](INFO): Nmea in: $CADRQ,173432,1,12,0,64,3*76

2020-01-23T17:34:32.138Z,1579800872.138 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,084D4F5B589C5DC6FD2421447DFF6853336C7F010C00*4F

2020-01-23T17:34:32.543Z,1579800872.543 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,22*49

2020-01-23T17:34:32.957Z,1579800872.957 [Micromodem](INFO): Nmea in: $CATXP,150*46

2020-01-23T17:34:36.587Z,1579800876.587 [Micromodem](INFO): Nmea in: $CATXF,150*50

2020-01-23T17:34:36.992Z,1579800876.992 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,173433.055612,3,0,200,4000,10000,1,1,12,1,3,3,3,150*70

2020-01-23T17:34:39.819Z,1579800879.819 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T17:34:40.236Z,1579800880.236 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-23T17:34:40.627Z,1579800880.627 [Micromodem](INFO): Nmea in: $CAACK,12,1,3,1*7B

2020-01-23T17:34:40.628Z,1579800880.628 [Micromodem](INFO): Sent 142 bytes from file Logs/20200123T165920/Express0014.lzma.parts
2020-01-23T17:34:40.628Z,1579800880.628 [Micromodem](INFO): Packets left to send: 0
2020-01-23T17:34:41.040Z,1579800881.040 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123173439.409070,06,784,28,0175,0150,89,02,02,00,03,1,012,001,0,4,1,0,150,24.8,5.00,12,-2.00,-01,-0.02,25,10000,4000*49

2020-01-23T17:34:41.072Z,1579800881.072 [DefaultUnder:uModemComms:CheckIn:A] Stopped
2020-01-23T17:34:41.072Z,1579800881.072 [DefaultUnder:uModemComms:CheckIn](INFO): Completed DefaultUnder:uModemComms:CheckIn
2020-01-23T17:34:41.072Z,1579800881.072 [DefaultUnder:uModemComms:CheckIn] Stopped
2020-01-23T17:34:41.072Z,1579800881.072 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::uninitialize DefaultUnder:uModemComms:CheckIn
2020-01-23T17:35:06.951Z,1579800906.951 [DefaultUnder:Notify:A:A:A.Wait](INFO): Done Waiting.
2020-01-23T17:35:06.951Z,1579800906.951 [DefaultUnder:Notify:A:A:A.Wait] Stopped
2020-01-23T17:35:06.951Z,1579800906.951 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-23T17:35:06.951Z,1579800906.951 [DefaultUnder:Notify:A:A:B] Running Loop=1
2020-01-23T17:35:07.351Z,1579800907.351 [DefaultUnder:Notify:A:A:B] Stopped
2020-01-23T17:35:07.351Z,1579800907.351 [DefaultUnder:Notify:A:A:C] Running Loop=1
2020-01-23T17:35:07.758Z,1579800907.758 [DefaultUnder:Notify:A:A:C](IMPORTANT): Default mission has been running for 25.111171 min 
2020-01-23T17:35:07.758Z,1579800907.758 [DefaultUnder:Notify:A:A:C] Stopped
2020-01-23T17:35:07.758Z,1579800907.758 [DefaultUnder:Notify:A:A](INFO): Completed DefaultUnder:Notify:A:A
2020-01-23T17:35:07.758Z,1579800907.758 [DefaultUnder:Notify:A:A] Stopped
2020-01-23T17:35:07.759Z,1579800907.759 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A:A
2020-01-23T17:35:07.759Z,1579800907.759 [DefaultUnder:Notify:A:A](INFO): Running loop #6
2020-01-23T17:35:07.759Z,1579800907.759 [DefaultUnder:Notify:A:A] Running Loop=6
2020-01-23T17:35:07.759Z,1579800907.759 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A:A
2020-01-23T17:35:07.759Z,1579800907.759 [DefaultUnder:Notify:A:A:A.Wait] Running Loop=1
2020-01-23T17:35:07.759Z,1579800907.759 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Initialize Wait Component.
2020-01-23T17:35:13.776Z,1579800913.776 [RDI_Pathfinder](ERROR): Failed to parse:
:BI,-32768,-32768,-32768,-32768,V
2020-01-23T17:35:15.838Z,1579800915.838 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:35:16.590Z,1579800916.590 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:35:16.983Z,1579800916.983 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:35:17.452Z,1579800917.452 [Reporter](INFO): acoustic_contact_range 0.239999 m
2020-01-23T17:35:17.818Z,1579800917.818 [Micromodem](INFO): Nmea in: $SNTTA,0.000201,,,,173517.50*40

2020-01-23T17:36:09.790Z,1579800969.790 [CommandLine](IMPORTANT): got command maintain clear
2020-01-23T17:36:09.954Z,1579800969.954 [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,
2020-01-23T17:36:10.350Z,1579800970.350 [DefaultUnder:Default:Docked:run:B.Docked](INFO): Detected possible state switch to DETACHED.
2020-01-23T17:36:17.622Z,1579800977.622 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:36:18.395Z,1579800978.395 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:36:18.805Z,1579800978.805 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:36:19.330Z,1579800979.330 [Reporter](INFO): acoustic_contact_range 0.239999 m
2020-01-23T17:36:19.629Z,1579800979.629 [Micromodem](INFO): Nmea in: $SNTTA,0.000198,,,0.002692,173619.30*59

2020-01-23T17:37:19.500Z,1579801039.500 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:37:20.279Z,1579801040.279 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:37:20.679Z,1579801040.679 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:37:21.146Z,1579801041.146 [Reporter](INFO): acoustic_contact_range 0.239999 m
2020-01-23T17:37:21.510Z,1579801041.510 [Micromodem](INFO): Nmea in: $SNTTA,0.000212,,,,173721.19*48

2020-01-23T17:37:25.594Z,1579801045.594 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2020-01-23T17:37:56.834Z,1579801076.834 [CommandLine](IMPORTANT): got command show stack
2020-01-23T17:37:56.835Z,1579801076.835 [CommandLine](IMPORTANT): Behavior Stack:

2020-01-23T17:37:56.835Z,1579801076.835 [DefaultUnder:Notify:A:A](IMPORTANT): Priority 0: DefaultUnder:Notify:A:A:A.Wait
2020-01-23T17:37:56.836Z,1579801076.836 [DefaultUnder](IMPORTANT): Priority 1: DefaultUnder:C.
2020-01-23T17:37:56.836Z,1579801076.836 [DefaultUnder:Default:Docked:run](IMPORTANT): Priority 2: DefaultUnder:Default:Docked:run:B.Docked
2020-01-23T17:38:21.329Z,1579801101.329 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:38:22.122Z,1579801102.122 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:38:22.497Z,1579801102.497 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:38:22.958Z,1579801102.958 [Reporter](INFO): acoustic_contact_range 0.360000 m
2020-01-23T17:38:23.338Z,1579801103.338 [Micromodem](INFO): Nmea in: $SNTTA,0.000242,,,,173823.03*4B

2020-01-23T17:39:23.114Z,1579801163.114 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:39:23.903Z,1579801163.903 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:39:24.309Z,1579801164.309 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:39:24.782Z,1579801164.782 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-23T17:39:25.134Z,1579801165.134 [Micromodem](INFO): Nmea in: $SNTTA,0.000222,,,,173924.81*41

2020-01-23T17:39:31.639Z,1579801171.639 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2020-01-23T17:39:31.639Z,1579801171.639 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00
2020-01-23T17:39:38.510Z,1579801178.510 [CommandLine](IMPORTANT): got command get depth
2020-01-23T17:39:38.510Z,1579801178.510 [CommandLine](IMPORTANT): depth 0.208609 m
2020-01-23T17:39:41.358Z,1579801181.358 [DefaultUnder:uModemComms:CheckIn] Running Loop=1
2020-01-23T17:39:41.358Z,1579801181.358 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::initialize DefaultUnder:uModemComms:CheckIn
2020-01-23T17:39:41.358Z,1579801181.358 [DefaultUnder:uModemComms:CheckIn:A] Running Loop=1
2020-01-23T17:39:41.707Z,1579801181.707 [Micromodem](INFO): Outgoing frame #1, 47 bytes: E8D0295E100000005D00000400140000000000000000151D80030C5669BF92DB1A53443882B949EF0FEE720FAC2000
2020-01-23T17:39:41.708Z,1579801181.708 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,1*6B

2020-01-23T17:39:42.100Z,1579801182.100 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,1*69

2020-01-23T17:39:42.515Z,1579801182.515 [Micromodem](INFO): Nmea in: $CADRQ,173942,1,12,0,64,1*7E

2020-01-23T17:39:42.516Z,1579801182.516 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,E8D0295E100000005D00000400140000000000000000151D80030C5669BF92DB1A53443882B949EF0FEE720FAC2000*43

2020-01-23T17:39:42.915Z,1579801182.915 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,47*4A

2020-01-23T17:39:43.327Z,1579801183.327 [Micromodem](INFO): Nmea in: $CATXP,47*71

2020-01-23T17:39:44.539Z,1579801184.539 [Micromodem](INFO): Nmea in: $CATXF,47*67

2020-01-23T17:39:44.932Z,1579801184.932 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,173943.433970,3,0,200,4000,10000,1,1,12,1,1,1,3,47*42

2020-01-23T17:39:44.968Z,1579801184.968 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-23T17:39:44.968Z,1579801184.968 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2020-01-23T17:39:46.558Z,1579801186.558 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T17:39:46.559Z,1579801186.559 [Micromodem](INFO): Sent 39 bytes from file Logs/20200123T165920/Courier0016.lzma.parts
2020-01-23T17:39:46.559Z,1579801186.559 [Micromodem](INFO): Packets left to send: 0
2020-01-23T17:39:46.966Z,1579801186.966 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123173946.155677,06,749,22,0163,0150,59,02,02,01,02,1,012,001,0,4,1,0,150,2.8,6.00,16,-3.00,-01,0.00,41,10000,4000*5F

2020-01-23T17:39:46.985Z,1579801186.985 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E8D0295E110001005D000004002A0200000000000000151D80030C5669C055D2E35EA228CF1CD36B179424668DD01E380A6ABC7150AD62E64CF6EFFD3EA7A1AD
2020-01-23T17:39:46.985Z,1579801186.985 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 9FE82623F1E63799183044626146DEE5CAA14FFD65D036DFEF267AC5E152567CFBE2EC31679CB7F6123F755EC501453BF81BB1BD0A9A3DEC41F3BCFBF771B8DC
2020-01-23T17:39:46.986Z,1579801186.986 [Micromodem](INFO): Outgoing frame #3, 64 bytes: 96C282BBC479CFA390FCA9875DFC62DF68CF5A97C0FA63712B3B9B45D2900236A39F1A486A431777DE086F761312FB0EB99BC6F1596ACAE23205BC76D50FEBB8
2020-01-23T17:39:46.986Z,1579801186.986 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-23T17:39:48.167Z,1579801188.167 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-23T17:39:48.547Z,1579801188.547 [Micromodem](INFO): Nmea in: $CADRQ,173947,1,12,0,64,1*7B

2020-01-23T17:39:48.548Z,1579801188.548 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,E8D0295E110001005D000004002A0200000000000000151D80030C5669C055D2E35EA228CF1CD36B179424668DD01E380A6ABC7150AD62E64CF6EFFD3EA7A1AD*48

2020-01-23T17:39:48.947Z,1579801188.947 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:39:49.451Z,1579801189.451 [Micromodem](INFO): Nmea in: $CADRQ,173949,1,12,0,64,2*76

2020-01-23T17:39:49.452Z,1579801189.452 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,9FE82623F1E63799183044626146DEE5CAA14FFD65D036DFEF267AC5E152567CFBE2EC31679CB7F6123F755EC501453BF81BB1BD0A9A3DEC41F3BCFBF771B8DC*32

2020-01-23T17:39:49.787Z,1579801189.787 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:39:50.196Z,1579801190.196 [Micromodem](INFO): Nmea in: $CADRQ,173950,1,12,0,64,3*7F

2020-01-23T17:39:50.198Z,1579801190.198 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,96C282BBC479CFA390FCA9875DFC62DF68CF5A97C0FA63712B3B9B45D2900236A39F1A486A431777DE086F761312FB0EB99BC6F1596ACAE23205BC76D50FEBB8*40

2020-01-23T17:39:50.595Z,1579801190.595 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:39:50.999Z,1579801190.999 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-23T17:39:54.691Z,1579801194.691 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2020-01-23T17:39:55.104Z,1579801195.104 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,173951.155868,3,0,200,4000,10000,1,1,12,1,3,3,3,192*75

2020-01-23T17:39:57.899Z,1579801197.899 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T17:39:58.332Z,1579801198.332 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-23T17:39:58.707Z,1579801198.707 [Micromodem](INFO): Nmea in: $CAACK,12,1,3,1*7B

2020-01-23T17:39:58.708Z,1579801198.708 [Micromodem](INFO): Sent 184 bytes from file Logs/20200123T165920/Express0017.lzma.parts
2020-01-23T17:39:58.709Z,1579801198.709 [Micromodem](INFO): Packets left to send: 1
2020-01-23T17:39:59.123Z,1579801199.123 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123173957.552780,06,660,28,0124,0150,89,02,02,00,03,1,012,001,0,4,1,0,150,28.4,5.00,14,-2.00,-01,-0.03,24,10000,4000*42

2020-01-23T17:39:59.139Z,1579801199.139 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E8D0295E1100000007FC5355E991F0B236A5255B7C2BA7F93F1014DCE073679254FB8AF06A61C4024BECF775B41D4007939A55C78A09B2BF03B082CFFF30D80D
2020-01-23T17:39:59.139Z,1579801199.139 [Micromodem](INFO): Outgoing frame #2, 64 bytes: BE319BBBFA010FB43E2D7B723534464905A4AE4C1B915FBC6286214DA45CD7F5244152E23311245C9D49346F228A67DE87812D87733765A022FA50AD9E504EE7
2020-01-23T17:39:59.140Z,1579801199.140 [Micromodem](INFO): Outgoing frame #3, 31 bytes: 213EA98216FAF038023FFA47FEEC051DF7274AACE8CEDB45D084E54EA768DA
2020-01-23T17:39:59.140Z,1579801199.140 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-23T17:39:59.234Z,1579801199.234 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-23T17:39:59.234Z,1579801199.234 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,20012310511728,35.0, -0.1,   0.0,1448.9A,  0.00,   0.00,   0.00,   0.00,   0.00
2020-01-23T17:40:00.331Z,1579801200.331 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-23T17:40:00.727Z,1579801200.727 [Micromodem](INFO): Nmea in: $CADRQ,173959,1,12,0,64,1*74

2020-01-23T17:40:00.728Z,1579801200.728 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,E8D0295E1100000007FC5355E991F0B236A5255B7C2BA7F93F1014DCE073679254FB8AF06A61C4024BECF775B41D4007939A55C78A09B2BF03B082CFFF30D80D*35

2020-01-23T17:40:01.135Z,1579801201.135 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:40:01.541Z,1579801201.541 [Micromodem](INFO): Nmea in: $CADRQ,174001,1,12,0,64,2*74

2020-01-23T17:40:01.542Z,1579801201.542 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,BE319BBBFA010FB43E2D7B723534464905A4AE4C1B915FBC6286214DA45CD7F5244152E23311245C9D49346F228A67DE87812D87733765A022FA50AD9E504EE7*30

2020-01-23T17:40:01.948Z,1579801201.948 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T17:40:02.343Z,1579801202.343 [Micromodem](INFO): Nmea in: $CADRQ,174002,1,12,0,64,3*76

2020-01-23T17:40:02.344Z,1579801202.344 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,213EA98216FAF038023FFA47FEEC051DF7274AACE8CEDB45D084E54EA768DA*4C

2020-01-23T17:40:02.763Z,1579801202.763 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,31*4B

2020-01-23T17:40:03.167Z,1579801203.167 [Micromodem](INFO): Nmea in: $CATXP,159*4F

2020-01-23T17:40:06.795Z,1579801206.795 [Micromodem](INFO): Nmea in: $CATXF,159*59

2020-01-23T17:40:07.211Z,1579801207.211 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,174003.270150,3,0,200,4000,10000,1,1,12,1,3,3,3,159*7D

2020-01-23T17:40:08.469Z,1579801208.469 [DefaultUnder:Notify:A:A:A.Wait](INFO): Done Waiting.
2020-01-23T17:40:08.469Z,1579801208.469 [DefaultUnder:Notify:A:A:A.Wait] Stopped
2020-01-23T17:40:08.469Z,1579801208.469 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-23T17:40:08.469Z,1579801208.469 [DefaultUnder:Notify:A:A:B] Running Loop=1
2020-01-23T17:40:08.866Z,1579801208.866 [DefaultUnder:Notify:A:A:B] Stopped
2020-01-23T17:40:08.866Z,1579801208.866 [DefaultUnder:Notify:A:A:C] Running Loop=1
2020-01-23T17:40:09.355Z,1579801209.355 [DefaultUnder:Notify:A:A:C](IMPORTANT): Default mission has been running for 30.136420 min 
2020-01-23T17:40:09.355Z,1579801209.355 [DefaultUnder:Notify:A:A:C] Stopped
2020-01-23T17:40:09.355Z,1579801209.355 [DefaultUnder:Notify:A:A](INFO): Completed DefaultUnder:Notify:A:A
2020-01-23T17:40:09.355Z,1579801209.355 [DefaultUnder:Notify:A:A] Stopped
2020-01-23T17:40:09.356Z,1579801209.356 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A:A
2020-01-23T17:40:09.356Z,1579801209.356 [DefaultUnder:Notify:A:A](INFO): Running loop #7
2020-01-23T17:40:09.356Z,1579801209.356 [DefaultUnder:Notify:A:A] Running Loop=7
2020-01-23T17:40:09.356Z,1579801209.356 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A:A
2020-01-23T17:40:09.356Z,1579801209.356 [DefaultUnder:Notify:A:A:A.Wait] Running Loop=1
2020-01-23T17:40:09.356Z,1579801209.356 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Initialize Wait Component.
2020-01-23T17:40:10.023Z,1579801210.023 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T17:40:10.427Z,1579801210.427 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-23T17:40:10.827Z,1579801210.827 [Micromodem](INFO): Nmea in: $CAACK,12,1,3,1*7B

2020-01-23T17:40:10.828Z,1579801210.828 [Micromodem](INFO): Sent 151 bytes from file Logs/20200123T165920/Express0017.lzma.parts
2020-01-23T17:40:10.828Z,1579801210.828 [Micromodem](INFO): Packets left to send: 0
2020-01-23T17:40:11.303Z,1579801211.303 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123174009.630790,06,619,27,0147,0150,89,02,02,00,03,1,012,001,0,4,1,0,150,28.4,5.00,15,-2.00,-01,0.01,23,10000,4000*6C

2020-01-23T17:40:11.454Z,1579801211.454 [DefaultUnder:uModemComms:CheckIn:A] Stopped
2020-01-23T17:40:11.454Z,1579801211.454 [DefaultUnder:uModemComms:CheckIn](INFO): Completed DefaultUnder:uModemComms:CheckIn
2020-01-23T17:40:11.454Z,1579801211.454 [DefaultUnder:uModemComms:CheckIn] Stopped
2020-01-23T17:40:11.454Z,1579801211.454 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::uninitialize DefaultUnder:uModemComms:CheckIn
2020-01-23T17:40:25.026Z,1579801225.026 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T17:40:25.775Z,1579801225.775 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T17:40:26.185Z,1579801226.185 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T17:40:26.699Z,1579801226.699 [Reporter](INFO): acoustic_contact_range 0.299999 m
2020-01-23T17:40:27.002Z,1579801227.002 [Micromodem](INFO): Nmea in: $SNTTA,0.000213,,,,174026.68*48

2020-01-23T17:40:44.578Z,1579801244.578 [CommandLine](IMPORTANT): got command restart application
2020-01-23T17:40:45.589Z,1579801245.589 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-23T17:40:45.589Z,1579801245.589 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-23T17:40:45.701Z,1579801245.701 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2020-01-23T17:40:45.701Z,1579801245.701 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-23T17:40:45.702Z,1579801245.702 [CommandLine](INFO): Join timeout helper Thread ID is 6952
2020-01-23T17:40:45.709Z,1579801245.709 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2020-01-23T17:40:45.709Z,1579801245.709 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-23T17:40:45.709Z,1579801245.709 [NavChartDb](INFO): Join timeout helper Thread ID is 6953
2020-01-23T17:40:45.813Z,1579801245.813 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-23T17:40:45.813Z,1579801245.813 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-23T17:40:45.817Z,1579801245.817 [ComponentRegistry](INFO): Shutting down WetLabsSeaOWL_UV_A ThreadHandler
2020-01-23T17:40:45.817Z,1579801245.817 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-23T17:40:45.817Z,1579801245.817 [WetLabsSeaOWL_UV_A](INFO): Join timeout helper Thread ID is 6954
2020-01-23T17:40:45.845Z,1579801245.845 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-23T17:40:45.845Z,1579801245.845 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-01-23T17:40:45.846Z,1579801245.846 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-23T17:40:45.861Z,1579801245.861 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2020-01-23T17:40:45.861Z,1579801245.861 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-23T17:40:45.861Z,1579801245.861 [CTD_NeilBrown](INFO): Join timeout helper Thread ID is 6955
2020-01-23T17:40:45.897Z,1579801245.897 [CTD_NeilBrown](INFO): Powering down
2020-01-23T17:40:45.909Z,1579801245.909 [CTD_NeilBrown ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-23T17:40:45.909Z,1579801245.909 [CTD_NeilBrown](INFO): Powering down
2020-01-23T17:40:45.923Z,1579801245.923 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-23T17:40:45.941Z,1579801245.941 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2020-01-23T17:40:45.941Z,1579801245.941 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-23T17:40:45.941Z,1579801245.941 [DataOverHttps](INFO): Join timeout helper Thread ID is 6956
2020-01-23T17:40:46.925Z,1579801246.925 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-23T17:40:46.925Z,1579801246.925 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-23T17:40:46.938Z,1579801246.938 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2020-01-23T17:40:46.938Z,1579801246.938 [logger ThreadHandler](INFO): Thread cancelled.
2020-01-23T17:40:46.939Z,1579801246.939 [logger](INFO): Join timeout helper Thread ID is 6957
2020-01-23T17:40:46.981Z,1579801246.981 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-23T17:40:46.981Z,1579801246.981 [logger ThreadHandler](INFO): Thread cancelled.
2020-01-23T17:40:46.997Z,1579801246.997 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2020-01-23T17:40:46.998Z,1579801246.998 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-23T17:40:46.998Z,1579801246.998 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2020-01-23T17:40:46.998Z,1579801246.998 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-01-23T17:40:46.998Z,1579801246.998 [controlThread](INFO): Join timeout helper Thread ID is 6958
2020-01-23T17:40:47.169Z,1579801247.169 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-23T17:40:47.169Z,1579801247.169 [controlThread](DEBUG): Uninitializing ControlThread
2020-01-23T17:40:47.170Z,1579801247.170 [AHRS_M2](INFO): Powering down
2020-01-23T17:40:47.241Z,1579801247.241 [DDM](INFO): Powering down
2020-01-23T17:40:47.334Z,1579801247.334 [DUSBL_Hydroid](INFO): Powering down
2020-01-23T17:40:47.405Z,1579801247.405 [Micromodem](INFO): Powering down
2020-01-23T17:40:47.501Z,1579801247.501 [NAL9602](INFO): Powering down
2020-01-23T17:40:47.573Z,1579801247.573 [RDI_Pathfinder](INFO): Powering down
2020-01-23T17:40:47.574Z,1579801247.574 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2020-01-23T17:40:47.575Z,1579801247.575 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2020-01-23T17:40:47.576Z,1579801247.576 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2020-01-23T17:40:47.576Z,1579801247.576 [MissionManager](INFO): Uninitializing Mission DefaultUnder
2020-01-23T17:40:47.576Z,1579801247.576 [DefaultUnder] Stopped
2020-01-23T17:40:47.576Z,1579801247.576 [DefaultUnder](DEBUG): Aggregate::uninitialize DefaultUnder
2020-01-23T17:40:47.576Z,1579801247.576 [DefaultUnder:uModemComms] Stopped
2020-01-23T17:40:47.577Z,1579801247.577 [DefaultUnder:uModemComms](DEBUG): Aggregate::uninitialize DefaultUnder:uModemComms
2020-01-23T17:40:47.577Z,1579801247.577 [DefaultUnder:Notify] Stopped
2020-01-23T17:40:47.577Z,1579801247.577 [DefaultUnder:Notify](DEBUG): Aggregate::uninitialize DefaultUnder:Notify
2020-01-23T17:40:47.577Z,1579801247.577 [DefaultUnder:Notify:A] Stopped
2020-01-23T17:40:47.577Z,1579801247.577 [DefaultUnder:Notify:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A
2020-01-23T17:40:47.577Z,1579801247.577 [DefaultUnder:Notify:A:A] Stopped
2020-01-23T17:40:47.577Z,1579801247.577 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A:A
2020-01-23T17:40:47.577Z,1579801247.577 [DefaultUnder:Notify:A:A:A.Wait] Stopped
2020-01-23T17:40:47.577Z,1579801247.577 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-23T17:40:47.577Z,1579801247.577 [DefaultUnder:C.] Stopped
2020-01-23T17:40:47.577Z,1579801247.577 [DefaultUnder:Default] Stopped
2020-01-23T17:40:47.578Z,1579801247.578 [DefaultUnder:Default](DEBUG): Aggregate::uninitialize DefaultUnder:Default
2020-01-23T17:40:47.578Z,1579801247.578 [DefaultUnder:Default:Docked] Stopped
2020-01-23T17:40:47.578Z,1579801247.578 [DefaultUnder:Default:Docked](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Docked
2020-01-23T17:40:47.578Z,1579801247.578 [DefaultUnder:Default:Docked:run] Stopped
2020-01-23T17:40:47.578Z,1579801247.578 [DefaultUnder:Default:Docked:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Docked:run
2020-01-23T17:40:47.578Z,1579801247.578 [DefaultUnder:Default:Docked:run:B.Docked] Stopped
2020-01-23T17:40:47.606Z,1579801247.606 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2020-01-23T17:40:47.607Z,1579801247.607 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2020-01-23T17:40:47.607Z,1579801247.607 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2020-01-23T17:40:47.607Z,1579801247.607 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2020-01-23T17:40:47.608Z,1579801247.608 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2020-01-23T17:40:47.608Z,1579801247.608 [BuoyancyServo](INFO): Powering down
2020-01-23T17:40:47.621Z,1579801247.621 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2020-01-23T17:40:47.621Z,1579801247.621 [ElevatorServo](INFO): Powering down
2020-01-23T17:40:47.622Z,1579801247.622 [MassServo](DEBUG): Uninitialize Mass Servo.
2020-01-23T17:40:47.622Z,1579801247.622 [MassServo](INFO): Powering down
2020-01-23T17:40:47.623Z,1579801247.623 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-01-23T17:40:47.623Z,1579801247.623 [RudderServo](INFO): Powering down
2020-01-23T17:40:47.624Z,1579801247.624 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2020-01-23T17:40:47.624Z,1579801247.624 [ThrusterServo](INFO): Powering down
2020-01-23T17:40:47.624Z,1579801247.624 [SBIT](DEBUG): Uninitialize SBIT Component.
2020-01-23T17:40:47.625Z,1579801247.625 [IBIT](DEBUG): Uninitialize IBIT Component.
2020-01-23T17:40:47.625Z,1579801247.625 [CBIT](DEBUG): Uninitialize CBIT Component.
2020-01-23T17:40:47.625Z,1579801247.625 [CBIT](DEBUG): Powering off loads.
2020-01-23T17:40:47.637Z,1579801247.637 [CBIT](DEBUG): Disabling WDT.
2020-01-23T17:40:47.649Z,1579801247.649 [CBIT](DEBUG): Opening all GF detection circuits.
2020-01-23T17:40:47.650Z,1579801247.650 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-01-23T17:40:47.709Z,1579801247.709 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-23T17:40:47.750Z,1579801247.750 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-23T17:40:47.752Z,1579801247.752 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-23T17:40:47.813Z,1579801247.813 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-23T17:40:47.871Z,1579801247.871 [logger ThreadHandler](INFO): Thread cancelled.