2020-01-23T18:52:16.651Z,1579805536.651 [Supervisor](DEBUG): Initializing supervisor.
2020-01-23T18:52:16.654Z,1579805536.654 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2020-01-23T18:52:16.654Z,1579805536.654 [SyncHandler](INFO): Protected caller Thread ID is 7208
2020-01-23T18:52:16.655Z,1579805536.655 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2020-01-23T18:52:16.656Z,1579805536.656 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2020-01-23T18:52:16.657Z,1579805536.657 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 7209
2020-01-23T18:52:16.659Z,1579805536.659 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2020-01-23T18:52:16.672Z,1579805536.672 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2020-01-23T18:52:16.673Z,1579805536.673 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2020-01-23T18:52:16.673Z,1579805536.673 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 7210
2020-01-23T18:52:16.674Z,1579805536.674 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2020-01-23T18:52:16.675Z,1579805536.675 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2020-01-23T18:52:16.675Z,1579805536.675 [logger ThreadHandler](INFO): Protected caller Thread ID is 7211
2020-01-23T18:52:16.677Z,1579805536.677 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2020-01-23T18:52:16.678Z,1579805536.678 [Supervisor](INFO): Looking for Config files in directory: Config/
2020-01-23T18:52:16.679Z,1579805536.679 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2020-01-23T18:52:17.138Z,1579805537.138 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2020-01-23T18:52:17.139Z,1579805537.139 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2020-01-23T18:52:17.237Z,1579805537.237 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2020-01-23T18:52:17.238Z,1579805537.238 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2020-01-23T18:52:17.574Z,1579805537.574 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2020-01-23T18:52:17.574Z,1579805537.574 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2020-01-23T18:52:17.716Z,1579805537.716 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2020-01-23T18:52:17.716Z,1579805537.716 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2020-01-23T18:52:17.916Z,1579805537.916 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2020-01-23T18:52:17.916Z,1579805537.916 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2020-01-23T18:52:18.381Z,1579805538.381 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2020-01-23T18:52:18.382Z,1579805538.382 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2020-01-23T18:52:18.600Z,1579805538.600 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2020-01-23T18:52:18.601Z,1579805538.601 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2020-01-23T18:52:18.748Z,1579805538.748 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2020-01-23T18:52:18.749Z,1579805538.749 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2020-01-23T18:52:18.954Z,1579805538.954 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2020-01-23T18:52:18.954Z,1579805538.954 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2020-01-23T18:52:19.050Z,1579805539.050 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2020-01-23T18:52:19.051Z,1579805539.051 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2020-01-23T18:52:19.434Z,1579805539.434 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2020-01-23T18:52:19.435Z,1579805539.435 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2020-01-23T18:52:19.635Z,1579805539.635 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2020-01-23T18:52:19.914Z,1579805539.914 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2020-01-23T18:52:19.914Z,1579805539.914 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2020-01-23T18:52:20.856Z,1579805540.856 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2020-01-23T18:52:20.857Z,1579805540.857 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2020-01-23T18:52:21.282Z,1579805541.282 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2020-01-23T18:52:21.284Z,1579805541.284 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/
2020-01-23T18:52:21.285Z,1579805541.285 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/vehicle.cfg
2020-01-23T18:52:21.508Z,1579805541.508 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Control.cfg
2020-01-23T18:52:21.610Z,1579805541.610 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/BIT.cfg
2020-01-23T18:52:21.711Z,1579805541.711 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Battery.cfg
2020-01-23T18:52:21.940Z,1579805541.940 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2020-01-23T18:52:21.940Z,1579805541.940 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Simulator.cfg
2020-01-23T18:52:22.026Z,1579805542.026 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Navigation.cfg
2020-01-23T18:52:22.120Z,1579805542.120 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/logger.cfg
2020-01-23T18:52:22.219Z,1579805542.219 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/secure.cfg
2020-01-23T18:52:22.301Z,1579805542.301 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Servo.cfg
2020-01-23T18:52:22.411Z,1579805542.411 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/workSite.cfg
2020-01-23T18:52:22.505Z,1579805542.505 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Sensor.cfg
2020-01-23T18:52:22.701Z,1579805542.701 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Science.cfg
2020-01-23T18:52:22.836Z,1579805542.836 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/root/
2020-01-23T18:52:22.836Z,1579805542.836 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2020-01-23T18:52:22.844Z,1579805542.844 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2020-01-23T18:52:23.148Z,1579805543.148 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_orientation
2020-01-23T18:52:23.153Z,1579805543.153 [AHRS_M2](INFO): created writer for : platform_orientation
2020-01-23T18:52:23.155Z,1579805543.155 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_magnetic_orientation
2020-01-23T18:52:23.160Z,1579805543.160 [AHRS_M2](INFO): created writer for : platform_magnetic_orientation
2020-01-23T18:52:23.160Z,1579805543.160 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_pitch_angle
2020-01-23T18:52:23.165Z,1579805543.165 [AHRS_M2](INFO): created writer for : platform_pitch_angle
2020-01-23T18:52:23.166Z,1579805543.166 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_roll_angle
2020-01-23T18:52:23.171Z,1579805543.171 [AHRS_M2](INFO): created writer for : platform_roll_angle
2020-01-23T18:52:23.238Z,1579805543.238 [AHRS_M2] Loaded
2020-01-23T18:52:23.239Z,1579805543.239 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2020-01-23T18:52:23.318Z,1579805543.318 [DataOverHttps] Loaded
2020-01-23T18:52:23.318Z,1579805543.318 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2020-01-23T18:52:23.319Z,1579805543.319 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 407684E0
2020-01-23T18:52:23.319Z,1579805543.319 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 7293
2020-01-23T18:52:23.342Z,1579805543.342 [DDM] Loaded
2020-01-23T18:52:23.343Z,1579805543.343 [ComponentRegistry](DEBUG): SyncComponent "DDM" handled in the control thread.
2020-01-23T18:52:23.355Z,1579805543.355 [Depth_Keller] Loaded
2020-01-23T18:52:23.355Z,1579805543.355 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2020-01-23T18:52:23.360Z,1579805543.360 [DropWeight] Loaded
2020-01-23T18:52:23.360Z,1579805543.360 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2020-01-23T18:52:23.419Z,1579805543.419 [DUSBL_Hydroid] Loaded
2020-01-23T18:52:23.419Z,1579805543.419 [ComponentRegistry](DEBUG): SyncComponent "DUSBL_Hydroid" handled in the control thread.
2020-01-23T18:52:23.464Z,1579805543.464 [Micromodem] Loaded
2020-01-23T18:52:23.464Z,1579805543.464 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2020-01-23T18:52:23.558Z,1579805543.558 [NAL9602] Loaded
2020-01-23T18:52:23.558Z,1579805543.558 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2020-01-23T18:52:23.596Z,1579805543.596 [Onboard] Loaded
2020-01-23T18:52:23.596Z,1579805543.596 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2020-01-23T18:52:23.602Z,1579805543.602 [PowerOnly] Loaded
2020-01-23T18:52:23.602Z,1579805543.602 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2020-01-23T18:52:23.643Z,1579805543.643 [RDI_Pathfinder] Loaded
2020-01-23T18:52:23.644Z,1579805543.644 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2020-01-23T18:52:25.563Z,1579805545.563 [BPC1] Loaded
2020-01-23T18:52:25.564Z,1579805545.564 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2020-01-23T18:52:25.564Z,1579805545.564 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2020-01-23T18:52:25.564Z,1579805545.564 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2020-01-23T18:52:25.648Z,1579805545.648 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2020-01-23T18:52:25.649Z,1579805545.649 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2020-01-23T18:52:26.047Z,1579805546.047 [DeadReckonUsingMultipleVelocitySources] Loaded
2020-01-23T18:52:26.048Z,1579805546.048 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2020-01-23T18:52:26.150Z,1579805546.150 [NavChart] Loaded
2020-01-23T18:52:26.151Z,1579805546.151 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2020-01-23T18:52:26.155Z,1579805546.155 [UniversalFixResidualReporter] Loaded
2020-01-23T18:52:26.155Z,1579805546.155 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2020-01-23T18:52:26.155Z,1579805546.155 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2020-01-23T18:52:26.156Z,1579805546.156 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2020-01-23T18:52:26.604Z,1579805546.604 [BuoyancyServo] Loaded
2020-01-23T18:52:26.604Z,1579805546.604 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2020-01-23T18:52:26.618Z,1579805546.618 [ElevatorServo] Loaded
2020-01-23T18:52:26.619Z,1579805546.619 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2020-01-23T18:52:26.633Z,1579805546.633 [MassServo] Loaded
2020-01-23T18:52:26.633Z,1579805546.633 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2020-01-23T18:52:26.652Z,1579805546.652 [RudderServo] Loaded
2020-01-23T18:52:26.652Z,1579805546.652 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2020-01-23T18:52:26.667Z,1579805546.667 [ThrusterServo] Loaded
2020-01-23T18:52:26.667Z,1579805546.667 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2020-01-23T18:52:26.667Z,1579805546.667 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2020-01-23T18:52:26.668Z,1579805546.668 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2020-01-23T18:52:26.918Z,1579805546.918 [CTD_NeilBrown] Loaded
2020-01-23T18:52:26.918Z,1579805546.918 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2020-01-23T18:52:26.919Z,1579805546.919 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 408BC4E0
2020-01-23T18:52:26.919Z,1579805546.919 [CTD_NeilBrown ThreadHandler](INFO): Protected caller Thread ID is 7294
2020-01-23T18:52:26.933Z,1579805546.933 [PAR_Licor] Loaded
2020-01-23T18:52:26.934Z,1579805546.934 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2020-01-23T18:52:26.976Z,1579805546.976 [WetLabsSeaOWL_UV_A] Loaded
2020-01-23T18:52:26.976Z,1579805546.976 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2020-01-23T18:52:26.977Z,1579805546.977 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 408EC4E0
2020-01-23T18:52:26.977Z,1579805546.977 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 7295
2020-01-23T18:52:26.978Z,1579805546.978 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2020-01-23T18:52:26.978Z,1579805546.978 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2020-01-23T18:52:27.309Z,1579805547.309 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2020-01-23T18:52:27.310Z,1579805547.310 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2020-01-23T18:52:27.350Z,1579805547.350 [DepthRateCalculator] Loaded
2020-01-23T18:52:27.350Z,1579805547.350 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2020-01-23T18:52:27.356Z,1579805547.356 [PitchRateCalculator] Loaded
2020-01-23T18:52:27.356Z,1579805547.356 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2020-01-23T18:52:27.368Z,1579805547.368 [SpeedCalculator] Loaded
2020-01-23T18:52:27.368Z,1579805547.368 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2020-01-23T18:52:27.388Z,1579805547.388 [TempGradientCalculator] Loaded
2020-01-23T18:52:27.388Z,1579805547.388 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2020-01-23T18:52:27.394Z,1579805547.394 [YawRateCalculator] Loaded
2020-01-23T18:52:27.394Z,1579805547.394 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2020-01-23T18:52:27.433Z,1579805547.433 [ElevatorOffsetCalculator] Loaded
2020-01-23T18:52:27.434Z,1579805547.434 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2020-01-23T18:52:27.434Z,1579805547.434 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2020-01-23T18:52:27.434Z,1579805547.434 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2020-01-23T18:52:27.566Z,1579805547.566 [SBIT](DEBUG): Construct Startup Built In Test.
2020-01-23T18:52:27.591Z,1579805547.591 [SBIT] Loaded
2020-01-23T18:52:27.591Z,1579805547.591 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2020-01-23T18:52:27.592Z,1579805547.592 [IBIT](DEBUG): Construct Initiated Built In Test.
2020-01-23T18:52:27.604Z,1579805547.604 [IBIT] Loaded
2020-01-23T18:52:27.604Z,1579805547.604 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2020-01-23T18:52:27.607Z,1579805547.607 [CBIT](DEBUG): Construct Continuous Built In Test.
2020-01-23T18:52:27.740Z,1579805547.740 [CBIT] Loaded
2020-01-23T18:52:27.740Z,1579805547.740 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2020-01-23T18:52:27.740Z,1579805547.740 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2020-01-23T18:52:27.741Z,1579805547.741 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2020-01-23T18:52:27.820Z,1579805547.820 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2020-01-23T18:52:27.821Z,1579805547.821 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2020-01-23T18:52:27.916Z,1579805547.916 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2020-01-23T18:52:27.917Z,1579805547.917 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2020-01-23T18:52:27.964Z,1579805547.964 [VerticalControl](DEBUG): Construct VerticalControl.
2020-01-23T18:52:28.045Z,1579805548.045 [VerticalControl] Loaded
2020-01-23T18:52:28.045Z,1579805548.045 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2020-01-23T18:52:28.046Z,1579805548.046 [HorizontalControl](DEBUG): Construct HorizontalControl.
2020-01-23T18:52:28.112Z,1579805548.112 [HorizontalControl] Loaded
2020-01-23T18:52:28.112Z,1579805548.112 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2020-01-23T18:52:28.113Z,1579805548.113 [SpeedControl](DEBUG): Construct SpeedControl.
2020-01-23T18:52:28.114Z,1579805548.114 [SpeedControl] Loaded
2020-01-23T18:52:28.115Z,1579805548.115 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2020-01-23T18:52:28.115Z,1579805548.115 [LoopControl](DEBUG): Construct LoopControl.
2020-01-23T18:52:28.116Z,1579805548.116 [LoopControl] Loaded
2020-01-23T18:52:28.116Z,1579805548.116 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2020-01-23T18:52:28.116Z,1579805548.116 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2020-01-23T18:52:28.117Z,1579805548.117 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2020-01-23T18:52:28.149Z,1579805548.149 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2020-01-23T18:52:28.152Z,1579805548.152 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2020-01-23T18:52:28.153Z,1579805548.153 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2020-01-23T18:52:28.160Z,1579805548.160 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2020-01-23T18:52:28.161Z,1579805548.161 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40AD34E0
2020-01-23T18:52:28.161Z,1579805548.161 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 7296
2020-01-23T18:52:28.166Z,1579805548.166 [Supervisor](INFO): Main Thread ID is 6574
2020-01-23T18:52:28.166Z,1579805548.166 [Supervisor](DEBUG): Running supervisor.
2020-01-23T18:52:28.166Z,1579805548.166 [CommandLine ThreadHandler](INFO): Handler Thread ID is 7297
2020-01-23T18:52:28.169Z,1579805548.169 [controlThread ThreadHandler](INFO): Handler Thread ID is 7298
2020-01-23T18:52:28.169Z,1579805548.169 [controlThread](DEBUG): Initializing ControlThread
2020-01-23T18:52:28.176Z,1579805548.176 [NavChart](DEBUG): Initialize NavChart Navigation.
2020-01-23T18:52:28.176Z,1579805548.176 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2020-01-23T18:52:28.181Z,1579805548.181 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2020-01-23T18:52:28.181Z,1579805548.181 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2020-01-23T18:52:28.182Z,1579805548.182 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2020-01-23T18:52:28.182Z,1579805548.182 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2020-01-23T18:52:28.182Z,1579805548.182 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2020-01-23T18:52:28.183Z,1579805548.183 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2020-01-23T18:52:28.183Z,1579805548.183 [SBIT](INFO): Initialize SBIT Component.
2020-01-23T18:52:28.184Z,1579805548.184 [SBIT](IMPORTANT): git: 2019-12-03-66-g3ff2a14
2020-01-23T18:52:28.184Z,1579805548.184 [SBIT](INFO): git hash: 3ff2a141e314d0ff24dfcdecba8589fc2363d401
2020-01-23T18:52:28.184Z,1579805548.184 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2020-01-23T18:52:28.185Z,1579805548.185 [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
2020-01-23T18:52:28.186Z,1579805548.186 [SBIT](INFO): Beginning SBIT in 39.000000 seconds.
2020-01-23T18:52:28.187Z,1579805548.187 [IBIT](INFO): Initialize IBIT Component.
2020-01-23T18:52:28.188Z,1579805548.188 [CBIT](DEBUG): Initialize CBIT Component.
2020-01-23T18:52:28.189Z,1579805548.189 [logger ThreadHandler](INFO): Handler Thread ID is 7299
2020-01-23T18:52:28.201Z,1579805548.201 [CBIT](DEBUG): Initialized mux pins.
2020-01-23T18:52:28.201Z,1579805548.201 [CBIT](DEBUG): Initializing the watchdog timer.
2020-01-23T18:52:28.209Z,1579805548.209 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 7300
2020-01-23T18:52:28.210Z,1579805548.210 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2020-01-23T18:52:28.221Z,1579805548.221 [CTD_NeilBrown ThreadHandler](INFO): Handler Thread ID is 7301
2020-01-23T18:52:28.222Z,1579805548.222 [CTD_NeilBrown](INFO): Powering down
2020-01-23T18:52:28.229Z,1579805548.229 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2020-01-23T18:52:28.229Z,1579805548.229 [CBIT](DEBUG): Initializing heartbeat.
2020-01-23T18:52:28.250Z,1579805548.250 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 7302
2020-01-23T18:52:28.250Z,1579805548.250 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-01-23T18:52:28.278Z,1579805548.278 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 7303
2020-01-23T18:52:28.281Z,1579805548.281 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2020-01-23T18:52:28.281Z,1579805548.281 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2020-01-23T18:52:28.281Z,1579805548.281 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2020-01-23T18:52:28.281Z,1579805548.281 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2020-01-23T18:52:28.282Z,1579805548.282 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2020-01-23T18:52:28.282Z,1579805548.282 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2020-01-23T18:52:28.282Z,1579805548.282 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2020-01-23T18:52:28.282Z,1579805548.282 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2020-01-23T18:52:28.282Z,1579805548.282 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2020-01-23T18:52:28.282Z,1579805548.282 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2020-01-23T18:52:28.283Z,1579805548.283 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2020-01-23T18:52:28.283Z,1579805548.283 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2020-01-23T18:52:28.283Z,1579805548.283 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2020-01-23T18:52:28.283Z,1579805548.283 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2020-01-23T18:52:28.283Z,1579805548.283 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2020-01-23T18:52:28.283Z,1579805548.283 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2020-01-23T18:52:28.301Z,1579805548.301 [CBIT](DEBUG): Deactivating GF circuits.
2020-01-23T18:52:28.301Z,1579805548.301 [CBIT](DEBUG): Deactivating emergency mode.
2020-01-23T18:52:28.337Z,1579805548.337 [CBIT](DEBUG): Backplane powered.
2020-01-23T18:52:28.337Z,1579805548.337 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2020-01-23T18:52:28.339Z,1579805548.339 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2020-01-23T18:52:28.339Z,1579805548.339 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2020-01-23T18:52:28.340Z,1579805548.340 [LoopControl](DEBUG): Initialize LoopControlComponent.
2020-01-23T18:52:28.341Z,1579805548.341 [MissionManager](INFO): Loading Mission: Missions/underIce/StartupUnder.xml
2020-01-23T18:52:28.347Z,1579805548.347 [MissionManager](ERROR): Top node has no child nodes: Mission
2020-01-23T18:52:28.347Z,1579805548.347 [MissionManager](ERROR): Could not load startup mission.
2020-01-23T18:52:28.347Z,1579805548.347 [MissionManager](INFO): Loading Mission: Missions/underIce/DefaultUnder.xml
2020-01-23T18:52:28.425Z,1579805548.425 [CTD_NeilBrown](FAULT): LCB fault: LCB Watchdog Reset. Invalid Command. Hardware Overcurrent Shutdown. Software Overcurrent. Current Limiter Activated.
2020-01-23T18:52:28.426Z,1579805548.425 [CTD_NeilBrown] Hardware Fault, FailCount= 1
2020-01-23T18:52:28.426Z,1579805548.426 [CTD_NeilBrown](ERROR): Hardware Fault
2020-01-23T18:52:28.571Z,1579805548.571 [MissionManager](INFO): DefineArg DefaultUnder.uModemCommsInterval = 5.000000 min
2020-01-23T18:52:28.575Z,1579805548.575 [MissionManager](INFO): DefineArg DefaultUnder.TransponderCode = 2.000000 count
2020-01-23T18:52:28.598Z,1579805548.598 [MissionManager](INFO): DefineArg DefaultUnder.AcousticUpdatePeriod = 60.000000 s
2020-01-23T18:52:28.601Z,1579805548.601 [MissionManager](INFO): DefineArg DefaultUnder.DockingAcousticUpdatePeriod = 2.500000 s
2020-01-23T18:52:28.604Z,1579805548.604 [MissionManager](INFO): DefineArg DefaultUnder.NumberOfPings = 1.000000 count
2020-01-23T18:52:28.628Z,1579805548.628 [MissionManager](INFO): DefineOutput DefaultUnder.TrackingUpdatePeriod = 60.000000 n/a
2020-01-23T18:52:28.631Z,1579805548.631 [MissionManager](INFO): DefineOutput DefaultUnder.Surface = -1.000000 count
2020-01-23T18:52:28.648Z,1579805548.648 [MissionManager](INFO): DefineOutput DefaultUnder.Docked = 0.000000 count
2020-01-23T18:52:28.651Z,1579805548.651 [MissionManager](INFO): DefineOutput DefaultUnder.Home = 1.000000 count
2020-01-23T18:52:28.702Z,1579805548.702 [MissionManager](INFO): DefineOutput DefaultUnder.DefaultMode = 0.000000 n/a
2020-01-23T18:52:28.706Z,1579805548.706 [MissionManager](INFO): DefineOutput DefaultUnder.CaptureMode = -1.000000 count
2020-01-23T18:52:28.714Z,1579805548.714 [MissionManager](INFO): DefineOutput DefaultUnder.ElapsedSinceDefaultStarted = 0.000000 min
2020-01-23T18:52:28.731Z,1579805548.731 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Construct Wait.
2020-01-23T18:52:28.750Z,1579805548.750 [DefaultUnder:Notify:A:C.Execute](DEBUG): Construct Execute.
2020-01-23T18:52:28.974Z,1579805548.974 [MissionManager](INFO): Inserting Stack: Missions/Insert/LineCapture.xml
2020-01-23T18:52:29.484Z,1579805549.484 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockDepth = 6.000000 _
2020-01-23T18:52:29.487Z,1579805549.487 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockLat = 0.642341 _
2020-01-23T18:52:29.523Z,1579805549.523 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockLon = -2.126200 _
2020-01-23T18:52:29.526Z,1579805549.526 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DetachRange = 8.000000 m
2020-01-23T18:52:29.539Z,1579805549.539 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DetachTimeout = 30.000000 min
2020-01-23T18:52:29.542Z,1579805549.542 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MidcourseDepth = 15.000000 m
2020-01-23T18:52:29.565Z,1579805549.565 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MidcourseSpeed = 1.000000 m/s
2020-01-23T18:52:29.569Z,1579805549.569 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MidcourseTimeout = 12.000000 h
2020-01-23T18:52:29.572Z,1579805549.572 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.TerminalRange = 650.000000 m
2020-01-23T18:52:29.583Z,1579805549.583 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.ArmRange = 40.000000 m
2020-01-23T18:52:29.586Z,1579805549.586 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockRange = 2.000000 m
2020-01-23T18:52:29.614Z,1579805549.614 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockTimeout = 60.000000 s
2020-01-23T18:52:29.617Z,1579805549.617 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.RolloutDistance = 250.000000 m
2020-01-23T18:52:29.620Z,1579805549.620 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.UpdateNav = 1 bool
2020-01-23T18:52:29.640Z,1579805549.640 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.AcousticTimeout = 10.000000 min
2020-01-23T18:52:29.643Z,1579805549.643 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.TerminalSpeed = 0.800000 m/s
2020-01-23T18:52:29.655Z,1579805549.655 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.SearchTimeout = 60.000000 min
2020-01-23T18:52:29.658Z,1579805549.658 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.CircleRadius = 300.000000 m
2020-01-23T18:52:29.689Z,1579805549.689 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.CircleMaxError = 100.000000 m
2020-01-23T18:52:29.692Z,1579805549.692 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.CircleTurnToPort = 0 bool
2020-01-23T18:52:29.696Z,1579805549.696 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DepthDeadband = 0.010000 m
2020-01-23T18:52:29.715Z,1579805549.715 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.RudderDeadband = 0.001000 arcdeg
2020-01-23T18:52:29.718Z,1579805549.718 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MinAltitude = 5.000000 m
2020-01-23T18:52:29.731Z,1579805549.731 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MaxDepth = 205.000000 m
2020-01-23T18:52:29.734Z,1579805549.734 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MinOffshore = 500.000000 m
2020-01-23T18:52:29.766Z,1579805549.766 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Depth = 15.000000 n/a
2020-01-23T18:52:29.774Z,1579805549.774 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Speed = 1.000000 n/a
2020-01-23T18:52:29.778Z,1579805549.778 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.DoneTimeout = -1.000000 count
2020-01-23T18:52:29.789Z,1579805549.789 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Done = 0.000000 count
2020-01-23T18:52:29.792Z,1579805549.792 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.DetachFromDock = 1.000000 count
2020-01-23T18:52:29.796Z,1579805549.796 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Midcourse = 2.000000 count
2020-01-23T18:52:29.811Z,1579805549.811 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Terminal = 3.000000 count
2020-01-23T18:52:29.815Z,1579805549.815 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.GuidanceMode = 1.000000 n/a
2020-01-23T18:52:29.846Z,1579805549.846 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.ElapsedRange = 0.000000 min
2020-01-23T18:52:29.849Z,1579805549.849 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.Range = nan m
2020-01-23T18:52:29.851Z,1579805549.851 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2020-01-23T18:52:29.896Z,1579805549.896 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2020-01-23T18:52:29.907Z,1579805549.907 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2020-01-23T18:52:29.910Z,1579805549.910 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2020-01-23T18:52:29.912Z,1579805549.912 [DefaultUnder:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2020-01-23T18:52:29.951Z,1579805549.951 [DefaultUnder:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-01-23T18:52:29.979Z,1579805549.979 [DefaultUnder:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2020-01-23T18:52:30.031Z,1579805550.031 [DefaultUnder:LineCapture:H.Mass](DEBUG): Construct.
2020-01-23T18:52:30.067Z,1579805550.067 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:B.Buoyancy](DEBUG): Construct Buoyancy.
2020-01-23T18:52:30.070Z,1579805550.070 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:C.SetSpeed](DEBUG): Construct.
2020-01-23T18:52:30.089Z,1579805550.089 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:D.Pitch](DEBUG): Construct.
2020-01-23T18:52:30.096Z,1579805550.096 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed](DEBUG): Construct.
2020-01-23T18:52:30.107Z,1579805550.107 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:B.Pitch](DEBUG): Construct.
2020-01-23T18:52:30.154Z,1579805550.154 [DefaultUnder:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2020-01-23T18:52:30.214Z,1579805550.214 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2020-01-23T18:52:30.224Z,1579805550.224 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:G.Circle](DEBUG): Construct.
2020-01-23T18:52:30.321Z,1579805550.321 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2020-01-23T18:52:30.357Z,1579805550.357 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:H.LineCapture](DEBUG): Construct.
2020-01-23T18:52:30.396Z,1579805550.396 [DefaultUnder:LineCapture:K.Wait](DEBUG): Construct Wait.
2020-01-23T18:52:30.414Z,1579805550.414 [DefaultUnder:E.Wait](DEBUG): Construct Wait.
2020-01-23T18:52:30.420Z,1579805550.420 [DefaultUnder:Default:Docked:run:B.Docked](DEBUG): Construct.
2020-01-23T18:52:30.507Z,1579805550.507 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): Construct GoToSurface.
2020-01-23T18:52:30.537Z,1579805550.537 [DefaultUnder:Default:Surface:run:SurfaceComms:Read_Iridium_uModem:A_Timeout:A.Execute](DEBUG): Construct Execute.
2020-01-23T18:52:30.540Z,1579805550.540 [DefaultUnder:Default:Surface:run:SurfaceComms:C.Wait](DEBUG): Construct Wait.
2020-01-23T18:52:30.608Z,1579805550.608 [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>


2020-01-23T18:52:30.629Z,1579805550.629 [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,
2020-01-23T18:52:30.635Z,1579805550.635 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2020-01-23T18:52:30.675Z,1579805550.675 [DDM](INFO): Powering up
2020-01-23T18:52:30.675Z,1579805550.675 [DDM](DEBUG): Initializing DDM.
2020-01-23T18:52:30.707Z,1579805550.707 [DUSBL_Hydroid](INFO): Powering up
2020-01-23T18:52:30.707Z,1579805550.707 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2020-01-23T18:52:30.890Z,1579805550.890 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2020-01-23T18:52:30.897Z,1579805550.897 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2020-01-23T18:52:30.898Z,1579805550.898 [ElevatorServo](DEBUG): Initializing EZServoServo.
2020-01-23T18:52:30.905Z,1579805550.905 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2020-01-23T18:52:30.906Z,1579805550.906 [MassServo](DEBUG): Initializing EZServoServo.
2020-01-23T18:52:30.913Z,1579805550.913 [MassServo](DEBUG): Initializing MassServo.
2020-01-23T18:52:30.914Z,1579805550.914 [RudderServo](DEBUG): Initializing EZServoServo.
2020-01-23T18:52:30.921Z,1579805550.921 [RudderServo](DEBUG): Initializing RudderServo.
2020-01-23T18:52:30.922Z,1579805550.922 [ThrusterServo](DEBUG): Initializing EZServoServo.
2020-01-23T18:52:30.929Z,1579805550.929 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2020-01-23T18:52:30.935Z,1579805550.935 [CBIT](ERROR): Hardware Fault in component: CTD_NeilBrown
2020-01-23T18:52:30.935Z,1579805550.935 [CBIT](FAULT): Hardware Fault in component: CTD_NeilBrown
2020-01-23T18:52:31.058Z,1579805551.058 [Depth_Keller](ERROR): Pressure reading out of range: 1913.424561 decibar
2020-01-23T18:52:31.060Z,1579805551.060 [Micromodem](INFO): Powering up
2020-01-23T18:52:31.060Z,1579805551.060 [Micromodem](DEBUG): Initializing Micromodem.
2020-01-23T18:52:31.813Z,1579805551.813 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2020-01-23T18:52:31.813Z,1579805551.813 [RudderServo](FAULT): Rudder failed to initialize
2020-01-23T18:52:31.813Z,1579805551.813 [RudderServo] Communications Fault, FailCount= 1
2020-01-23T18:52:31.813Z,1579805551.813 [RudderServo](ERROR): Communications Fault
2020-01-23T18:52:31.924Z,1579805551.924 [CBIT](ERROR): Communications Fault in component: RudderServo
2020-01-23T18:52:32.122Z,1579805552.122 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-01-23T18:52:32.122Z,1579805552.122 [RudderServo](INFO): Powering down
2020-01-23T18:52:32.803Z,1579805552.803 [RudderServo](DEBUG): Initializing EZServoServo.
2020-01-23T18:52:32.922Z,1579805552.922 [RudderServo](DEBUG): Initializing RudderServo.
2020-01-23T18:52:32.926Z,1579805552.926 [CBIT](INFO): Clearing failed state for component RudderServo
2020-01-23T18:52:32.926Z,1579805552.926 [RudderServo] No Fault, FailCount= 1
2020-01-23T18:52:36.013Z,1579805556.013 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2020-01-23T18:52:36.416Z,1579805556.416 [Micromodem](INFO): Nmea in: $CATMG,2020-01-23T18:52:35.763517Z,RTC,RTC*59

2020-01-23T18:52:36.416Z,1579805556.416 [Micromodem](ERROR): CFG response from modem unexpected: $CATMG,2020-01-23T18:52:35.763517Z,RTC,RTC*59

2020-01-23T18:52:36.823Z,1579805556.823 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2020-01-23T18:52:36.823Z,1579805556.823 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2020-01-23T18:52:37.223Z,1579805557.223 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2020-01-23T18:52:37.223Z,1579805557.223 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2020-01-23T18:52:37.627Z,1579805557.627 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2020-01-23T18:52:37.627Z,1579805557.627 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2020-01-23T18:52:38.035Z,1579805558.035 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2020-01-23T18:52:38.035Z,1579805558.035 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2020-01-23T18:52:38.439Z,1579805558.439 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2020-01-23T18:52:38.439Z,1579805558.439 [Micromodem](INFO): Nmea out: $CCCFG,FC0,10000*46

2020-01-23T18:52:38.839Z,1579805558.839 [Micromodem](INFO): Nmea in: $CACFG,FC0,10000*44

2020-01-23T18:52:38.839Z,1579805558.839 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2020-01-23T18:52:39.248Z,1579805559.248 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2020-01-23T18:52:39.248Z,1579805559.248 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2020-01-23T18:52:39.625Z,1579805559.625 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2020-01-23T18:52:39.626Z,1579805559.626 [Micromodem](INFO): Nmea out: $CCCLK,2020,01,23,18,52,40*4E

2020-01-23T18:52:40.035Z,1579805560.035 [Micromodem](INFO): Nmea in: $CACLK,2020,1,23,18,52,40*7C

2020-01-23T18:52:40.432Z,1579805560.432 [Micromodem](INFO): Nmea in: $CATMS,0,2020-01-23T18:52:41Z*7D

2020-01-23T18:52:40.433Z,1579805560.433 [Micromodem](INFO): Nmea in: $CATMG,2020-01-23T18:52:41.026108Z,USER_CMD,RTC*17

2020-01-23T18:52:41.240Z,1579805561.240 [DDM](INFO): Dynamic Docking Module:
2020-01-23T18:52:44.113Z,1579805564.113 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2020-01-23T18:52:48.922Z,1579805568.922 [DUSBL_Hydroid](INFO): DUSBL Version:O
2020-01-23T18:52:49.330Z,1579805569.330 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-23T18:52:49.331Z,1579805569.331 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,20012312040706,35.0, -0.1, 48.9,  0
2020-01-23T18:52:53.755Z,1579805573.755 [NAL9602](INFO): Powering up NAL9602
2020-01-23T18:52:56.118Z,1579805576.118 [CommandLine](IMPORTANT): got command get latitude
2020-01-23T18:52:56.118Z,1579805576.118 [CommandLine](FAULT): Element has no value
2020-01-23T18:52:59.333Z,1579805579.333 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2020-01-23T18:53:04.680Z,1579805584.680 [NAL9602](INFO): NAL9602 initialized
2020-01-23T18:53:07.575Z,1579805587.575 [SBIT](IMPORTANT): Beginning Startup BIT
2020-01-23T18:53:07.579Z,1579805587.579 [CBIT](IMPORTANT): Beginning ground fault scan
2020-01-23T18:53:08.340Z,1579805588.340 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-23T18:53:08.340Z,1579805588.340 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,20012312042606,35.0, -0.1,   0.0,1448.9,,  0.00,   0.00,   0.00,   0.00,   0.00
2020-01-23T18:53:12.342Z,1579805592.342 [CommandLine](IMPORTANT): got command run ./Missions/Demo/setNav.xml
2020-01-23T18:53:12.342Z,1579805592.342 [MissionManager](INFO): Loading Mission: ./Missions/Demo/setNav.xml
2020-01-23T18:53:12.362Z,1579805592.362 [MissionManager](INFO): DefineArg SetNav.DockLat = 0.642341 _
2020-01-23T18:53:12.390Z,1579805592.390 [MissionManager](INFO): DefineArg SetNav.DockLon = -2.126200 _
2020-01-23T18:53:12.392Z,1579805592.392 [SetNav:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2020-01-23T18:53:12.456Z,1579805592.456 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Aggregate xmlns="Tethys"
    xmlns:Control="Tethys/Control"
    xmlns:Estimation="Tethys/Estimation"
    xmlns:Guidance="Tethys/Guidance"
    xmlns:Sensor="Tethys/Sensor"
    xmlns:Servo="Tethys/Servo"
    xmlns:Universal="Tethys/Universal"
    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
    xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                        Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                        Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
                        Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                        Tethys/Sensor http://okeanids.mbari.org/tethys/Xml/Sensor.xsd
                        Tethys/Servo http://okeanids.mbari.org/tethys/Xml/Servo.xsd
                        Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                        Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
    Id="SetNav">

    <Description>
        Just a test to set position
    </Description>


    <DefineArg Name="DockLat"><Description>
        Latitude of docking station waypoint (defaults to Config/workSite.beaconLat).
    </Description><CustomUri Uri="Config/workSite.beaconLat"/></DefineArg>

    <DefineArg Name="DockLon"><Description>
        Longitude of docking station waypoint (defaults to Config/workSite.beaconLon).
    </Description><CustomUri Uri="Config/workSite.beaconLon"/></DefineArg>


                <Aggregate Id="UpdateNav">
                    <Description>Reset nav to dock location if the vehicle is within dock range.</Description>


                    <Syslog Severity="Info">Reseting nav to dock location at range<Arg Name="Range"/><Units:meter/></Syslog>

                    <Guidance:SetNav>
                        <Sequence/>
                        <Setting><Guidance:SetNav.latitude/><Arg Name="DockLat"/></Setting>
                        <Setting><Guidance:SetNav.longitude/><Arg Name="DockLon"/></Setting>
                    </Guidance:SetNav>
                </Aggregate>

</Aggregate>


2020-01-23T18:53:12.467Z,1579805592.467 [CommandLine](IMPORTANT): Running ./Missions/Demo/setNav.xml
2020-01-23T18:53:15.247Z,1579805595.247 [CommandLine](IMPORTANT): got command get latitude
2020-01-23T18:53:15.247Z,1579805595.247 [CommandLine](FAULT): Element has no value
2020-01-23T18:53:18.781Z,1579805598.781 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.008634
CHAN A1 (24V): -0.028294
CHAN A2 (12V): -0.007121
CHAN A3 (5V): -0.002062
CHAN B0 (3.3V): 0.000172
CHAN B1 (3.15aV): 0.000196
CHAN B2 (3.15bV): 0.000278
CHAN B3 (GND): 0.002200
OPEN: 0.005282
Full Scale Calc: 4.765 mA, -1.589 mA
2020-01-23T18:53:24.988Z,1579805604.988 [RDI_Pathfinder](ERROR): Failed to parse:
6,-32768,V
2020-01-23T18:53:33.391Z,1579805613.391 [CommandLine](IMPORTANT): got command show stack
2020-01-23T18:53:33.391Z,1579805613.391 [CommandLine](IMPORTANT): Behavior Stack:

2020-01-23T18:53:33.391Z,1579805613.391 [MissionManager](IMPORTANT): Mission loaded, but not running.
2020-01-23T18:53:40.070Z,1579805620.070 [CommandLine](IMPORTANT): got command get latitude
2020-01-23T18:53:40.071Z,1579805620.071 [CommandLine](FAULT): Element has no value
2020-01-23T18:53:50.573Z,1579805630.573 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-23T18:53:50.574Z,1579805630.574 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,20012312050806,35.0, -0.1,   0.0,1448.9A,  0.00,   0.00,   0.00,   0.00,   0.00
2020-01-23T18:54:01.095Z,1579805641.095 [SBIT](IMPORTANT): SBIT PASSED
2020-01-23T18:54:01.095Z,1579805641.095 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2020-01-23T18:54:01.096Z,1579805641.096 [SBIT](IMPORTANT): DDM.verbosity=3 count;

2020-01-23T18:54:01.096Z,1579805641.096 [SBIT](IMPORTANT): DUSBL_Hydroid.detectionThreshold=30 count;

2020-01-23T18:54:01.096Z,1579805641.096 [SBIT](IMPORTANT): Micromodem.pwrampTXLevel=0 enum;

2020-01-23T18:54:01.096Z,1579805641.096 [SBIT](IMPORTANT): Micromodem.sendExpress=1 bool;

2020-01-23T18:54:01.096Z,1579805641.096 [SBIT](IMPORTANT): Micromodem.surfaceThreshold=0 meter;

2020-01-23T18:54:01.097Z,1579805641.097 [SBIT](IMPORTANT): Radio_Surface.loadAtStartup=0 bool;

2020-01-23T18:54:01.097Z,1579805641.097 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=105 cubic_centimeter;

2020-01-23T18:54:01.097Z,1579805641.097 [SBIT](IMPORTANT): VerticalControl.massDefault=-5 millimeter;

2020-01-23T18:54:01.479Z,1579805641.479 [MissionManager](IMPORTANT): Started mission SetNav
2020-01-23T18:54:01.480Z,1579805641.480 [SetNav] Running Loop=1
2020-01-23T18:54:01.480Z,1579805641.480 [SetNav](DEBUG): Aggregate::initialize SetNav
2020-01-23T18:54:01.480Z,1579805641.480 [SetNav:UpdateNav] Running Loop=1
2020-01-23T18:54:01.480Z,1579805641.480 [SetNav:UpdateNav](DEBUG): Aggregate::initialize SetNav:UpdateNav
2020-01-23T18:54:01.480Z,1579805641.480 [SetNav:UpdateNav:A] Running Loop=1
2020-01-23T18:54:01.481Z,1579805641.481 [SetNav:UpdateNav:A](INFO): Reseting nav to dock location at range <Undefined> m 
2020-01-23T18:54:01.481Z,1579805641.481 [SetNav:UpdateNav:A] Stopped
2020-01-23T18:54:01.481Z,1579805641.481 [SetNav:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T18:54:01.481Z,1579805641.481 [SetNav:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T18:54:01.871Z,1579805641.871 [SetNav:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T185401: (36.803398, -121.822304)
2020-01-23T18:54:01.872Z,1579805641.872 [SetNav:UpdateNav:B.SetNav] Stopped
2020-01-23T18:54:01.872Z,1579805641.872 [SetNav:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T18:54:01.872Z,1579805641.872 [SetNav:UpdateNav](INFO): Completed SetNav:UpdateNav
2020-01-23T18:54:01.872Z,1579805641.872 [SetNav:UpdateNav] Stopped
2020-01-23T18:54:01.872Z,1579805641.872 [SetNav:UpdateNav](DEBUG): Aggregate::uninitialize SetNav:UpdateNav
2020-01-23T18:54:01.872Z,1579805641.872 [SetNav](INFO): Completed SetNav
2020-01-23T18:54:01.872Z,1579805641.872 [MissionManager](INFO): SetNav is completed.
2020-01-23T18:54:01.872Z,1579805641.872 [MissionManager](INFO): Uninitializing Mission SetNav
2020-01-23T18:54:01.872Z,1579805641.872 [SetNav] Stopped
2020-01-23T18:54:01.873Z,1579805641.873 [SetNav](DEBUG): Aggregate::uninitialize SetNav
2020-01-23T18:54:02.272Z,1579805642.272 [MissionManager](IMPORTANT): Started mission DefaultUnder
2020-01-23T18:54:02.272Z,1579805642.272 [DefaultUnder] Running Loop=1
2020-01-23T18:54:02.272Z,1579805642.272 [DefaultUnder](DEBUG): Aggregate::initialize DefaultUnder
2020-01-23T18:54:02.272Z,1579805642.272 [DefaultUnder:uModemComms] Running Loop=1
2020-01-23T18:54:02.272Z,1579805642.272 [DefaultUnder:uModemComms](DEBUG): Aggregate::initialize DefaultUnder:uModemComms
2020-01-23T18:54:02.272Z,1579805642.272 [DefaultUnder:Notify] Running Loop=1
2020-01-23T18:54:02.272Z,1579805642.272 [DefaultUnder:Notify](DEBUG): Aggregate::initialize DefaultUnder:Notify
2020-01-23T18:54:02.273Z,1579805642.273 [DefaultUnder:Notify:A] Running Loop=1
2020-01-23T18:54:02.273Z,1579805642.273 [DefaultUnder:Notify:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A
2020-01-23T18:54:02.273Z,1579805642.273 [DefaultUnder:Notify:A:A] Running Loop=1
2020-01-23T18:54:02.273Z,1579805642.273 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A:A
2020-01-23T18:54:02.273Z,1579805642.273 [DefaultUnder:Notify:A:A:A.Wait] Running Loop=1
2020-01-23T18:54:02.273Z,1579805642.273 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Initialize Wait Component.
2020-01-23T18:54:02.273Z,1579805642.273 [DefaultUnder:C.] Running Loop=1
2020-01-23T18:54:02.274Z,1579805642.274 [DefaultUnder:C.](INFO): Initializing TrackAcousticContact.
2020-01-23T18:54:02.274Z,1579805642.274 [DefaultUnder:E.Wait] Running Loop=1
2020-01-23T18:54:02.274Z,1579805642.274 [DefaultUnder:E.Wait](DEBUG): Initialize Wait Component.
2020-01-23T18:54:02.275Z,1579805642.275 [DefaultUnder:C.] Running Loop=1
2020-01-23T18:54:02.275Z,1579805642.275 [DefaultUnder:Notify] Running Loop=1
2020-01-23T18:54:02.275Z,1579805642.275 [DefaultUnder:uModemComms] Running Loop=1
2020-01-23T18:54:02.276Z,1579805642.276 [DefaultUnder:uModemComms:CheckIn] Running Loop=1
2020-01-23T18:54:02.276Z,1579805642.276 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::initialize DefaultUnder:uModemComms:CheckIn
2020-01-23T18:54:02.276Z,1579805642.276 [DefaultUnder:uModemComms:CheckIn:A] Running Loop=1
2020-01-23T18:54:02.293Z,1579805642.293 [DefaultUnder:uModemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2020-01-23T18:54:02.661Z,1579805642.661 [Micromodem](INFO): Outgoing frame #1, 47 bytes: A0DA295E220000005D00000400140000000000000000151D80030C5669BF92DB1A65D05485E68C3A2EE84F516D8100
2020-01-23T18:54:02.661Z,1579805642.661 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,1*6B

2020-01-23T18:54:03.051Z,1579805643.051 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,1*69

2020-01-23T18:54:03.455Z,1579805643.455 [Micromodem](INFO): Nmea in: $CADRQ,185403,1,12,0,64,1*7F

2020-01-23T18:54:03.456Z,1579805643.456 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,A0DA295E220000005D00000400140000000000000000151D80030C5669BF92DB1A65D05485E68C3A2EE84F516D8100*4E

2020-01-23T18:54:03.867Z,1579805643.867 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,47*4A

2020-01-23T18:54:04.263Z,1579805644.263 [Micromodem](INFO): Nmea in: $CATXP,47*71

2020-01-23T18:54:05.484Z,1579805645.484 [Micromodem](INFO): Nmea in: $CATXF,47*67

2020-01-23T18:54:05.909Z,1579805645.909 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,185404.373587,3,0,200,4000,10000,1,1,12,1,1,1,3,47*42

2020-01-23T18:54:07.499Z,1579805647.499 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T18:54:07.501Z,1579805647.501 [Micromodem](INFO): Sent 39 bytes from file Logs/20200123T174048/Courier0034.lzma.parts
2020-01-23T18:54:07.502Z,1579805647.502 [Micromodem](INFO): Packets left to send: 0
2020-01-23T18:54:07.912Z,1579805647.912 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123185407.093978,06,688,22,0151,0150,89,02,02,01,02,1,012,001,0,4,1,0,150,25.0,4.00,11,-1.00,-01,0.01,24,10000,4000*6D

2020-01-23T18:54:07.943Z,1579805647.943 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 60EB295E000001005D00000400810200000000000000151D80030C5669BF3148E2FA22188B6A3173E51B1C3DE1295C413B9EA27D0D0958A55575A4074CBAA7A5
2020-01-23T18:54:07.944Z,1579805647.944 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 3F6AE7AF0D07E622820F45259E052A3980439491B5FE44BA5725AF9F520D380EF650D1224C2DD44756ABC8376EA4F1C2928328840EB8F148A67DBA8E3F744407
2020-01-23T18:54:07.949Z,1579805647.949 [Micromodem](INFO): Outgoing frame #3, 64 bytes: 8E4C4CBB77E7035800BF8B4B5F3B1C1E4A0163815F3C91A1986F5A8B85B8A4ED3953AC15B310A2A677312E86BF4ED81BD0235C3E76897440FCF18A2300BBD775
2020-01-23T18:54:07.950Z,1579805647.950 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-23T18:54:09.113Z,1579805649.113 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-23T18:54:09.519Z,1579805649.519 [Micromodem](INFO): Nmea in: $CADRQ,185408,1,12,0,64,1*74

2020-01-23T18:54:09.520Z,1579805649.520 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,60EB295E000001005D00000400810200000000000000151D80030C5669BF3148E2FA22188B6A3173E51B1C3DE1295C413B9EA27D0D0958A55575A4074CBAA7A5*36

2020-01-23T18:54:09.919Z,1579805649.919 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T18:54:10.328Z,1579805650.328 [Micromodem](INFO): Nmea in: $CADRQ,185410,1,12,0,64,2*7E

2020-01-23T18:54:10.329Z,1579805650.329 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,3F6AE7AF0D07E622820F45259E052A3980439491B5FE44BA5725AF9F520D380EF650D1224C2DD44756ABC8376EA4F1C2928328840EB8F148A67DBA8E3F744407*3F

2020-01-23T18:54:10.731Z,1579805650.731 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T18:54:11.142Z,1579805651.142 [Micromodem](INFO): Nmea in: $CADRQ,185411,1,12,0,64,3*7E

2020-01-23T18:54:11.143Z,1579805651.143 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,8E4C4CBB77E7035800BF8B4B5F3B1C1E4A0163815F3C91A1986F5A8B85B8A4ED3953AC15B310A2A677312E86BF4ED81BD0235C3E76897440FCF18A2300BBD775*4F

2020-01-23T18:54:11.540Z,1579805651.540 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T18:54:11.939Z,1579805651.939 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-23T18:54:15.442Z,1579805655.442 [CommandLine](IMPORTANT): got command get latitude
2020-01-23T18:54:15.442Z,1579805655.442 [CommandLine](FAULT): Element has no value
2020-01-23T18:54:15.576Z,1579805655.576 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2020-01-23T18:54:15.639Z,1579805655.639 [DefaultUnder:E.Wait](INFO): Done Waiting.
2020-01-23T18:54:15.639Z,1579805655.639 [DefaultUnder:E.Wait] Stopped
2020-01-23T18:54:15.639Z,1579805655.639 [DefaultUnder:E.Wait](DEBUG): Uninitialize Wait Component.
2020-01-23T18:54:15.639Z,1579805655.639 [DefaultUnder:Default] Running Loop=1
2020-01-23T18:54:15.639Z,1579805655.639 [DefaultUnder:Default](DEBUG): Aggregate::initialize DefaultUnder:Default
2020-01-23T18:54:15.639Z,1579805655.639 [DefaultUnder:Default:Docked] Running Loop=1
2020-01-23T18:54:15.640Z,1579805655.640 [DefaultUnder:Default:Docked](DEBUG): Aggregate::initialize DefaultUnder:Default:Docked
2020-01-23T18:54:15.640Z,1579805655.640 [DefaultUnder:Default:Docked:run] Running Loop=1
2020-01-23T18:54:15.640Z,1579805655.640 [DefaultUnder:Default:Docked:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Docked:run
2020-01-23T18:54:15.640Z,1579805655.640 [DefaultUnder:Default:Docked:run:A] Running Loop=1
2020-01-23T18:54:15.640Z,1579805655.640 [DefaultUnder:Default:Home] Running Loop=1
2020-01-23T18:54:15.640Z,1579805655.640 [DefaultUnder:Default:Home](DEBUG): Aggregate::initialize DefaultUnder:Default:Home
2020-01-23T18:54:15.640Z,1579805655.640 [DefaultUnder:Default:Home:run] Running Loop=1
2020-01-23T18:54:15.640Z,1579805655.640 [DefaultUnder:Default:Home:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Home:run
2020-01-23T18:54:15.640Z,1579805655.640 [DefaultUnder:Default:Home:run:A] Running Loop=1
2020-01-23T18:54:15.641Z,1579805655.641 [DefaultUnder:Default:Surface] Running Loop=1
2020-01-23T18:54:15.641Z,1579805655.641 [DefaultUnder:Default:Surface](DEBUG): Aggregate::initialize DefaultUnder:Default:Surface
2020-01-23T18:54:15.641Z,1579805655.641 [DefaultUnder:Default:Surface:run] Running Loop=1
2020-01-23T18:54:15.641Z,1579805655.641 [DefaultUnder:Default:Surface:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Surface:run
2020-01-23T18:54:15.641Z,1579805655.641 [DefaultUnder:Default:Surface:run:B.GoToSurface] Running Loop=1
2020-01-23T18:54:15.641Z,1579805655.641 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-23T18:54:15.642Z,1579805655.642 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-23T18:54:15.642Z,1579805655.642 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-23T18:54:15.643Z,1579805655.643 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-23T18:54:15.643Z,1579805655.643 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-23T18:54:15.643Z,1579805655.643 [DefaultUnder:Default:Surface:run:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-23T18:54:15.644Z,1579805655.644 [DefaultUnder:Default:Surface:run:A] Running Loop=1
2020-01-23T18:54:15.980Z,1579805655.980 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,185412.100096,3,0,200,4000,10000,1,1,12,1,3,3,3,192*7F

2020-01-23T18:54:16.056Z,1579805656.056 [DefaultUnder:Default:Surface] Stopped
2020-01-23T18:54:16.056Z,1579805656.056 [DefaultUnder:Default:Surface](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Surface
2020-01-23T18:54:16.056Z,1579805656.056 [DefaultUnder:Default:Surface:run] Stopped
2020-01-23T18:54:16.056Z,1579805656.056 [DefaultUnder:Default:Surface:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Surface:run
2020-01-23T18:54:16.056Z,1579805656.056 [DefaultUnder:Default:Surface:run:A] Stopped
2020-01-23T18:54:16.056Z,1579805656.056 [DefaultUnder:Default:Surface:run:B.GoToSurface] Stopped
2020-01-23T18:54:16.056Z,1579805656.056 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-23T18:54:16.056Z,1579805656.056 [DefaultUnder:Default:Home] Stopped
2020-01-23T18:54:16.057Z,1579805656.057 [DefaultUnder:Default:Home](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Home
2020-01-23T18:54:16.057Z,1579805656.057 [DefaultUnder:Default:Home:run] Stopped
2020-01-23T18:54:16.057Z,1579805656.057 [DefaultUnder:Default:Home:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Home:run
2020-01-23T18:54:16.057Z,1579805656.057 [DefaultUnder:Default:Home:run:A] Stopped
2020-01-23T18:54:16.057Z,1579805656.057 [DefaultUnder:Default:Docked] Running Loop=1
2020-01-23T18:54:16.057Z,1579805656.057 [DefaultUnder:Default:Docked:run:A] Stopped
2020-01-23T18:54:16.057Z,1579805656.057 [DefaultUnder:Default:Docked:run:B.Docked] Running Loop=1
2020-01-23T18:54:16.057Z,1579805656.057 [DefaultUnder:Default:Docked:run:B.Docked](DEBUG): Initialize.
2020-01-23T18:54:16.058Z,1579805656.058 [DefaultUnder:Default:Docked:run:B.Docked](INFO): Depth unspecified. Maintaining workSite beacon depth of 6.000000 m.
2020-01-23T18:54:18.835Z,1579805658.835 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T18:54:19.240Z,1579805659.240 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-23T18:54:19.644Z,1579805659.644 [Micromodem](INFO): Nmea in: $CAACK,12,1,3,1*7B

2020-01-23T18:54:19.644Z,1579805659.644 [Micromodem](INFO): Sent 184 bytes from file Logs/20200123T185216/Courier0000.lzma.parts
2020-01-23T18:54:19.644Z,1579805659.644 [Micromodem](INFO): Packets left to send: 1
2020-01-23T18:54:20.063Z,1579805660.063 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123185418.494333,06,682,28,0117,0150,89,02,02,00,03,1,012,001,0,4,1,0,150,-3.9,6.00,17,-3.00,-01,-0.03,50,10000,4000*5D

2020-01-23T18:54:20.072Z,1579805660.072 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 60EB295E000000007BD72F4874F6C785F1BFB27553ED63E546098AFD64D6E9AC5A18B36DD874072473A9D631AC8D002CDE796E30D3C1CBDE44FE3995C30CFD58
2020-01-23T18:54:20.073Z,1579805660.073 [Micromodem](INFO): Outgoing frame #2, 33 bytes: 23C5DF199F5CBA3D655078619CEE94CD7DC718A4A9B15C6A60CB82339E162FA000
2020-01-23T18:54:20.073Z,1579805660.073 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,2*68

2020-01-23T18:54:21.263Z,1579805661.263 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,2*6A

2020-01-23T18:54:21.671Z,1579805661.671 [Micromodem](INFO): Nmea in: $CADRQ,185420,1,12,0,64,1*7E

2020-01-23T18:54:21.671Z,1579805661.671 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,60EB295E000000007BD72F4874F6C785F1BFB27553ED63E546098AFD64D6E9AC5A18B36DD874072473A9D631AC8D002CDE796E30D3C1CBDE44FE3995C30CFD58*38

2020-01-23T18:54:21.866Z,1579805661.866 [CommandLine](IMPORTANT): got command get latitude
2020-01-23T18:54:21.867Z,1579805661.867 [CommandLine](FAULT): Element has no value
2020-01-23T18:54:22.075Z,1579805662.075 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T18:54:22.467Z,1579805662.467 [Micromodem](INFO): Nmea in: $CADRQ,185422,1,12,0,64,2*7F

2020-01-23T18:54:22.468Z,1579805662.468 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,23C5DF199F5CBA3D655078619CEE94CD7DC718A4A9B15C6A60CB82339E162FA000*37

2020-01-23T18:54:22.878Z,1579805662.878 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,33*49

2020-01-23T18:54:23.294Z,1579805663.294 [Micromodem](INFO): Nmea in: $CATXP,97*7C

2020-01-23T18:54:25.707Z,1579805665.707 [Micromodem](INFO): Nmea in: $CATXF,97*6A

2020-01-23T18:54:26.108Z,1579805666.108 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,185423.380054,3,0,200,4000,10000,1,1,12,1,2,2,3,97*4D

2020-01-23T18:54:27.359Z,1579805667.359 [CommandLine](IMPORTANT): got command run ./Missions/Demo/setNav.xml
2020-01-23T18:54:27.360Z,1579805667.360 [MissionManager](INFO): Loading Mission: ./Missions/Demo/setNav.xml
2020-01-23T18:54:27.385Z,1579805667.385 [MissionManager](INFO): DefineArg SetNav.DockLat = 0.642341 _
2020-01-23T18:54:27.388Z,1579805667.388 [MissionManager](INFO): DefineArg SetNav.DockLon = -2.126200 _
2020-01-23T18:54:27.394Z,1579805667.394 [SetNav:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2020-01-23T18:54:27.454Z,1579805667.454 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Aggregate xmlns="Tethys"
    xmlns:Control="Tethys/Control"
    xmlns:Estimation="Tethys/Estimation"
    xmlns:Guidance="Tethys/Guidance"
    xmlns:Sensor="Tethys/Sensor"
    xmlns:Servo="Tethys/Servo"
    xmlns:Universal="Tethys/Universal"
    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
    xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                        Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                        Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
                        Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                        Tethys/Sensor http://okeanids.mbari.org/tethys/Xml/Sensor.xsd
                        Tethys/Servo http://okeanids.mbari.org/tethys/Xml/Servo.xsd
                        Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                        Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
    Id="SetNav">

    <Description>
        Just a test to set position
    </Description>


    <DefineArg Name="DockLat"><Description>
        Latitude of docking station waypoint (defaults to Config/workSite.beaconLat).
    </Description><CustomUri Uri="Config/workSite.beaconLat"/></DefineArg>

    <DefineArg Name="DockLon"><Description>
        Longitude of docking station waypoint (defaults to Config/workSite.beaconLon).
    </Description><CustomUri Uri="Config/workSite.beaconLon"/></DefineArg>


                <Aggregate Id="UpdateNav">
                    <Description>Reset nav to dock location if the vehicle is within dock range.</Description>


                    <Syslog Severity="Info">Reseting nav to dock location at range<Arg Name="Range"/><Units:meter/></Syslog>

                    <Guidance:SetNav>
                        <Sequence/>
                        <Setting><Guidance:SetNav.latitude/><Arg Name="DockLat"/></Setting>
                        <Setting><Guidance:SetNav.longitude/><Arg Name="DockLon"/></Setting>
                    </Guidance:SetNav>
                </Aggregate>

</Aggregate>


2020-01-23T18:54:27.456Z,1579805667.456 [CommandLine](IMPORTANT): Running ./Missions/Demo/setNav.xml
2020-01-23T18:54:27.749Z,1579805667.749 [DefaultUnder] Stopped
2020-01-23T18:54:27.749Z,1579805667.749 [DefaultUnder](DEBUG): Aggregate::uninitialize DefaultUnder
2020-01-23T18:54:27.750Z,1579805667.750 [DefaultUnder:uModemComms] Stopped
2020-01-23T18:54:27.750Z,1579805667.750 [DefaultUnder:uModemComms](DEBUG): Aggregate::uninitialize DefaultUnder:uModemComms
2020-01-23T18:54:27.750Z,1579805667.750 [DefaultUnder:uModemComms:CheckIn] Stopped
2020-01-23T18:54:27.750Z,1579805667.750 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::uninitialize DefaultUnder:uModemComms:CheckIn
2020-01-23T18:54:27.750Z,1579805667.750 [DefaultUnder:uModemComms:CheckIn:A] Stopped
2020-01-23T18:54:27.750Z,1579805667.750 [DefaultUnder:Notify] Stopped
2020-01-23T18:54:27.750Z,1579805667.750 [DefaultUnder:Notify](DEBUG): Aggregate::uninitialize DefaultUnder:Notify
2020-01-23T18:54:27.750Z,1579805667.750 [DefaultUnder:Notify:A] Stopped
2020-01-23T18:54:27.750Z,1579805667.750 [DefaultUnder:Notify:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A
2020-01-23T18:54:27.750Z,1579805667.750 [DefaultUnder:Notify:A:A] Stopped
2020-01-23T18:54:27.750Z,1579805667.750 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A:A
2020-01-23T18:54:27.750Z,1579805667.750 [DefaultUnder:Notify:A:A:A.Wait] Stopped
2020-01-23T18:54:27.750Z,1579805667.750 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-23T18:54:27.751Z,1579805667.751 [DefaultUnder:C.] Stopped
2020-01-23T18:54:27.751Z,1579805667.751 [DefaultUnder:Default] Stopped
2020-01-23T18:54:27.751Z,1579805667.751 [DefaultUnder:Default](DEBUG): Aggregate::uninitialize DefaultUnder:Default
2020-01-23T18:54:27.751Z,1579805667.751 [DefaultUnder:Default:Docked] Stopped
2020-01-23T18:54:27.751Z,1579805667.751 [DefaultUnder:Default:Docked](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Docked
2020-01-23T18:54:27.751Z,1579805667.751 [DefaultUnder:Default:Docked:run] Stopped
2020-01-23T18:54:27.751Z,1579805667.751 [DefaultUnder:Default:Docked:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Docked:run
2020-01-23T18:54:27.751Z,1579805667.751 [DefaultUnder:Default:Docked:run:B.Docked] Stopped
2020-01-23T18:54:27.751Z,1579805667.751 [MissionManager](IMPORTANT): Started mission SetNav
2020-01-23T18:54:27.751Z,1579805667.751 [SetNav] Running Loop=1
2020-01-23T18:54:27.752Z,1579805667.752 [SetNav](DEBUG): Aggregate::initialize SetNav
2020-01-23T18:54:27.752Z,1579805667.752 [SetNav:UpdateNav] Running Loop=1
2020-01-23T18:54:27.752Z,1579805667.752 [SetNav:UpdateNav](DEBUG): Aggregate::initialize SetNav:UpdateNav
2020-01-23T18:54:27.752Z,1579805667.752 [SetNav:UpdateNav:A] Running Loop=1
2020-01-23T18:54:27.752Z,1579805667.752 [SetNav:UpdateNav:A](INFO): Reseting nav to dock location at range <Undefined> m 
2020-01-23T18:54:27.753Z,1579805667.753 [SetNav:UpdateNav:A] Stopped
2020-01-23T18:54:27.753Z,1579805667.753 [SetNav:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T18:54:27.753Z,1579805667.753 [SetNav:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T18:54:28.105Z,1579805668.105 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T18:54:28.107Z,1579805668.107 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-23T18:54:28.180Z,1579805668.180 [SetNav:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T185428: (36.803398, -121.822304)
2020-01-23T18:54:28.185Z,1579805668.185 [SetNav:UpdateNav:B.SetNav] Stopped
2020-01-23T18:54:28.185Z,1579805668.185 [SetNav:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T18:54:28.185Z,1579805668.185 [SetNav:UpdateNav](INFO): Completed SetNav:UpdateNav
2020-01-23T18:54:28.185Z,1579805668.185 [SetNav:UpdateNav] Stopped
2020-01-23T18:54:28.185Z,1579805668.185 [SetNav:UpdateNav](DEBUG): Aggregate::uninitialize SetNav:UpdateNav
2020-01-23T18:54:28.186Z,1579805668.186 [SetNav](INFO): Completed SetNav
2020-01-23T18:54:28.186Z,1579805668.186 [MissionManager](INFO): SetNav is completed.
2020-01-23T18:54:28.186Z,1579805668.186 [MissionManager](INFO): Uninitializing Mission SetNav
2020-01-23T18:54:28.186Z,1579805668.186 [SetNav] Stopped
2020-01-23T18:54:28.186Z,1579805668.186 [SetNav](DEBUG): Aggregate::uninitialize SetNav
2020-01-23T18:54:28.534Z,1579805668.534 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123185427.917095,06,536,27,0103,0150,89,02,02,00,04,1,012,001,0,4,1,0,150,26.4,6.00,16,-3.00,-01,0.00,24,10000,4000*62

2020-01-23T18:54:28.563Z,1579805668.563 [MissionManager](IMPORTANT): Started mission DefaultUnder
2020-01-23T18:54:28.563Z,1579805668.563 [DefaultUnder] Running Loop=1
2020-01-23T18:54:28.563Z,1579805668.563 [DefaultUnder](DEBUG): Aggregate::initialize DefaultUnder
2020-01-23T18:54:28.563Z,1579805668.563 [DefaultUnder:uModemComms] Running Loop=1
2020-01-23T18:54:28.563Z,1579805668.563 [DefaultUnder:uModemComms](DEBUG): Aggregate::initialize DefaultUnder:uModemComms
2020-01-23T18:54:28.563Z,1579805668.563 [DefaultUnder:Notify] Running Loop=1
2020-01-23T18:54:28.564Z,1579805668.564 [DefaultUnder:Notify](DEBUG): Aggregate::initialize DefaultUnder:Notify
2020-01-23T18:54:28.564Z,1579805668.564 [DefaultUnder:Notify:A] Running Loop=1
2020-01-23T18:54:28.564Z,1579805668.564 [DefaultUnder:Notify:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A
2020-01-23T18:54:28.564Z,1579805668.564 [DefaultUnder:Notify:A:A] Running Loop=1
2020-01-23T18:54:28.564Z,1579805668.564 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A:A
2020-01-23T18:54:28.564Z,1579805668.564 [DefaultUnder:Notify:A:A:A.Wait] Running Loop=1
2020-01-23T18:54:28.564Z,1579805668.564 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Initialize Wait Component.
2020-01-23T18:54:28.564Z,1579805668.564 [DefaultUnder:C.] Running Loop=1
2020-01-23T18:54:28.564Z,1579805668.564 [DefaultUnder:C.](INFO): Initializing TrackAcousticContact.
2020-01-23T18:54:28.597Z,1579805668.597 [DefaultUnder:E.Wait] Running Loop=1
2020-01-23T18:54:28.597Z,1579805668.597 [DefaultUnder:E.Wait](DEBUG): Initialize Wait Component.
2020-01-23T18:54:28.598Z,1579805668.598 [DefaultUnder:uModemComms:CheckIn] Running Loop=1
2020-01-23T18:54:28.598Z,1579805668.598 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::initialize DefaultUnder:uModemComms:CheckIn
2020-01-23T18:54:28.598Z,1579805668.598 [DefaultUnder:uModemComms:CheckIn:A] Running Loop=1
2020-01-23T18:54:28.912Z,1579805668.912 [Micromodem](INFO): Sent 89 bytes from file Logs/20200123T185216/Courier0000.lzma.parts
2020-01-23T18:54:28.912Z,1579805668.912 [Micromodem](INFO): Packets left to send: 0
2020-01-23T18:54:29.321Z,1579805669.321 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 60EB295E040000005D00000400460000000000000000151D80030C5669BEDFA61BB5BCB8D2397AC4AF530869734A3EBBBB7B184D721E6C2C9A5EE975D4CCCEAD
2020-01-23T18:54:29.322Z,1579805669.322 [Micromodem](INFO): Outgoing frame #2, 21 bytes: 4C19218A2D470E500226C0DC46E328EB532C818000
2020-01-23T18:54:29.322Z,1579805669.322 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,2*68

2020-01-23T18:54:29.719Z,1579805669.719 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,2*6A

2020-01-23T18:54:30.125Z,1579805670.125 [Micromodem](INFO): Nmea in: $CADRQ,185430,1,12,0,64,1*7F

2020-01-23T18:54:30.125Z,1579805670.125 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,60EB295E040000005D00000400460000000000000000151D80030C5669BEDFA61BB5BCB8D2397AC4AF530869734A3EBBBB7B184D721E6C2C9A5EE975D4CCCEAD*4A

2020-01-23T18:54:30.523Z,1579805670.523 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T18:54:30.931Z,1579805670.931 [Micromodem](INFO): Nmea in: $CADRQ,185431,1,12,0,64,2*7D

2020-01-23T18:54:30.932Z,1579805670.932 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,4C19218A2D470E500226C0DC46E328EB532C818000*36

2020-01-23T18:54:31.086Z,1579805671.086 [CommandLine](IMPORTANT): got command get latitude
2020-01-23T18:54:31.086Z,1579805671.086 [CommandLine](FAULT): Element has no value
2020-01-23T18:54:31.331Z,1579805671.331 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,21*4A

2020-01-23T18:54:31.739Z,1579805671.739 [Micromodem](INFO): Nmea in: $CATXP,85*7F

2020-01-23T18:54:34.164Z,1579805674.164 [Micromodem](INFO): Nmea in: $CATXF,85*69

2020-01-23T18:54:34.570Z,1579805674.570 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,185431.828046,3,0,200,4000,10000,1,1,12,1,2,2,3,85*47

2020-01-23T18:54:36.366Z,1579805676.366 [CommandLine](IMPORTANT): got command run ./Missions/Demo/setNav.xml
2020-01-23T18:54:36.366Z,1579805676.366 [MissionManager](INFO): Loading Mission: ./Missions/Demo/setNav.xml
2020-01-23T18:54:36.384Z,1579805676.384 [MissionManager](INFO): DefineArg SetNav.DockLat = 0.642341 _
2020-01-23T18:54:36.387Z,1579805676.387 [MissionManager](INFO): DefineArg SetNav.DockLon = -2.126200 _
2020-01-23T18:54:36.413Z,1579805676.413 [SetNav:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2020-01-23T18:54:36.434Z,1579805676.434 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Aggregate xmlns="Tethys"
    xmlns:Control="Tethys/Control"
    xmlns:Estimation="Tethys/Estimation"
    xmlns:Guidance="Tethys/Guidance"
    xmlns:Sensor="Tethys/Sensor"
    xmlns:Servo="Tethys/Servo"
    xmlns:Universal="Tethys/Universal"
    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
    xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                        Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                        Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
                        Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                        Tethys/Sensor http://okeanids.mbari.org/tethys/Xml/Sensor.xsd
                        Tethys/Servo http://okeanids.mbari.org/tethys/Xml/Servo.xsd
                        Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                        Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
    Id="SetNav">

    <Description>
        Just a test to set position
    </Description>


    <DefineArg Name="DockLat"><Description>
        Latitude of docking station waypoint (defaults to Config/workSite.beaconLat).
    </Description><CustomUri Uri="Config/workSite.beaconLat"/></DefineArg>

    <DefineArg Name="DockLon"><Description>
        Longitude of docking station waypoint (defaults to Config/workSite.beaconLon).
    </Description><CustomUri Uri="Config/workSite.beaconLon"/></DefineArg>


                <Aggregate Id="UpdateNav">
                    <Description>Reset nav to dock location if the vehicle is within dock range.</Description>


                    <Syslog Severity="Info">Reseting nav to dock location at range<Arg Name="Range"/><Units:meter/></Syslog>

                    <Guidance:SetNav>
                        <Sequence/>
                        <Setting><Guidance:SetNav.latitude/><Arg Name="DockLat"/></Setting>
                        <Setting><Guidance:SetNav.longitude/><Arg Name="DockLon"/></Setting>
                    </Guidance:SetNav>
                </Aggregate>

</Aggregate>


2020-01-23T18:54:36.439Z,1579805676.439 [CommandLine](IMPORTANT): Running ./Missions/Demo/setNav.xml
2020-01-23T18:54:36.596Z,1579805676.596 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T18:54:36.657Z,1579805676.657 [DefaultUnder] Stopped
2020-01-23T18:54:36.658Z,1579805676.658 [DefaultUnder](DEBUG): Aggregate::uninitialize DefaultUnder
2020-01-23T18:54:36.658Z,1579805676.658 [DefaultUnder:uModemComms] Stopped
2020-01-23T18:54:36.658Z,1579805676.658 [DefaultUnder:uModemComms](DEBUG): Aggregate::uninitialize DefaultUnder:uModemComms
2020-01-23T18:54:36.658Z,1579805676.658 [DefaultUnder:uModemComms:CheckIn] Stopped
2020-01-23T18:54:36.658Z,1579805676.658 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::uninitialize DefaultUnder:uModemComms:CheckIn
2020-01-23T18:54:36.658Z,1579805676.658 [DefaultUnder:uModemComms:CheckIn:A] Stopped
2020-01-23T18:54:36.658Z,1579805676.658 [DefaultUnder:Notify] Stopped
2020-01-23T18:54:36.658Z,1579805676.658 [DefaultUnder:Notify](DEBUG): Aggregate::uninitialize DefaultUnder:Notify
2020-01-23T18:54:36.658Z,1579805676.658 [DefaultUnder:Notify:A] Stopped
2020-01-23T18:54:36.659Z,1579805676.659 [DefaultUnder:Notify:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A
2020-01-23T18:54:36.659Z,1579805676.659 [DefaultUnder:Notify:A:A] Stopped
2020-01-23T18:54:36.659Z,1579805676.659 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A:A
2020-01-23T18:54:36.659Z,1579805676.659 [DefaultUnder:Notify:A:A:A.Wait] Stopped
2020-01-23T18:54:36.659Z,1579805676.659 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-23T18:54:36.659Z,1579805676.659 [DefaultUnder:C.] Stopped
2020-01-23T18:54:36.659Z,1579805676.659 [DefaultUnder:E.Wait] Stopped
2020-01-23T18:54:36.659Z,1579805676.659 [DefaultUnder:E.Wait](DEBUG): Uninitialize Wait Component.
2020-01-23T18:54:36.659Z,1579805676.659 [MissionManager](IMPORTANT): Started mission SetNav
2020-01-23T18:54:36.659Z,1579805676.659 [SetNav] Running Loop=1
2020-01-23T18:54:36.660Z,1579805676.660 [SetNav](DEBUG): Aggregate::initialize SetNav
2020-01-23T18:54:36.660Z,1579805676.660 [SetNav:UpdateNav] Running Loop=1
2020-01-23T18:54:36.660Z,1579805676.660 [SetNav:UpdateNav](DEBUG): Aggregate::initialize SetNav:UpdateNav
2020-01-23T18:54:36.660Z,1579805676.660 [SetNav:UpdateNav:A] Running Loop=1
2020-01-23T18:54:36.660Z,1579805676.660 [SetNav:UpdateNav:A](INFO): Reseting nav to dock location at range <Undefined> m 
2020-01-23T18:54:36.660Z,1579805676.660 [SetNav:UpdateNav:A] Stopped
2020-01-23T18:54:36.661Z,1579805676.661 [SetNav:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T18:54:36.661Z,1579805676.661 [SetNav:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T18:54:36.995Z,1579805676.995 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-23T18:54:36.000Z,1579805677.000 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123185436.352982,06,696,28,0138,0150,59,02,02,00,04,1,012,001,0,4,1,0,150,28.0,5.00,14,-2.00,-01,0.00,19,10000,4000*61

2020-01-23T18:54:37.093Z,1579805677.093 [SetNav:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T185437: (36.803398, -121.822304)
2020-01-23T18:54:37.094Z,1579805677.094 [SetNav:UpdateNav:B.SetNav] Stopped
2020-01-23T18:54:37.094Z,1579805677.094 [SetNav:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T18:54:37.094Z,1579805677.094 [SetNav:UpdateNav](INFO): Completed SetNav:UpdateNav
2020-01-23T18:54:37.094Z,1579805677.094 [SetNav:UpdateNav] Stopped
2020-01-23T18:54:37.094Z,1579805677.094 [SetNav:UpdateNav](DEBUG): Aggregate::uninitialize SetNav:UpdateNav
2020-01-23T18:54:37.094Z,1579805677.094 [SetNav](INFO): Completed SetNav
2020-01-23T18:54:37.094Z,1579805677.094 [MissionManager](INFO): SetNav is completed.
2020-01-23T18:54:37.094Z,1579805677.094 [MissionManager](INFO): Uninitializing Mission SetNav
2020-01-23T18:54:37.094Z,1579805677.094 [SetNav] Stopped
2020-01-23T18:54:37.095Z,1579805677.095 [SetNav](DEBUG): Aggregate::uninitialize SetNav
2020-01-23T18:54:37.448Z,1579805677.448 [MissionManager](IMPORTANT): Started mission DefaultUnder
2020-01-23T18:54:37.448Z,1579805677.448 [DefaultUnder] Running Loop=1
2020-01-23T18:54:37.449Z,1579805677.449 [DefaultUnder](DEBUG): Aggregate::initialize DefaultUnder
2020-01-23T18:54:37.449Z,1579805677.449 [DefaultUnder:uModemComms] Running Loop=1
2020-01-23T18:54:37.449Z,1579805677.449 [DefaultUnder:uModemComms](DEBUG): Aggregate::initialize DefaultUnder:uModemComms
2020-01-23T18:54:37.449Z,1579805677.449 [DefaultUnder:Notify] Running Loop=1
2020-01-23T18:54:37.449Z,1579805677.449 [DefaultUnder:Notify](DEBUG): Aggregate::initialize DefaultUnder:Notify
2020-01-23T18:54:37.449Z,1579805677.449 [DefaultUnder:Notify:A] Running Loop=1
2020-01-23T18:54:37.450Z,1579805677.450 [DefaultUnder:Notify:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A
2020-01-23T18:54:37.450Z,1579805677.450 [DefaultUnder:Notify:A:A] Running Loop=1
2020-01-23T18:54:37.450Z,1579805677.450 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A:A
2020-01-23T18:54:37.450Z,1579805677.450 [DefaultUnder:Notify:A:A:A.Wait] Running Loop=1
2020-01-23T18:54:37.450Z,1579805677.450 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Initialize Wait Component.
2020-01-23T18:54:37.450Z,1579805677.450 [DefaultUnder:C.] Running Loop=1
2020-01-23T18:54:37.450Z,1579805677.450 [DefaultUnder:C.](INFO): Initializing TrackAcousticContact.
2020-01-23T18:54:37.450Z,1579805677.450 [DefaultUnder:E.Wait] Running Loop=1
2020-01-23T18:54:37.450Z,1579805677.450 [DefaultUnder:E.Wait](DEBUG): Initialize Wait Component.
2020-01-23T18:54:37.451Z,1579805677.451 [DefaultUnder:uModemComms:CheckIn] Running Loop=1
2020-01-23T18:54:37.451Z,1579805677.451 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::initialize DefaultUnder:uModemComms:CheckIn
2020-01-23T18:54:37.452Z,1579805677.452 [DefaultUnder:uModemComms:CheckIn:A] Running Loop=1
2020-01-23T18:54:37.799Z,1579805677.799 [Micromodem](INFO): Sent 77 bytes from file Logs/20200123T185216/Courier0004.lzma.parts
2020-01-23T18:54:37.799Z,1579805677.799 [Micromodem](INFO): Packets left to send: 0
2020-01-23T18:54:38.213Z,1579805678.213 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 60EB295E070000005D00000400460000000000000000151D80030C5669BEDFA61BB5B0486E079EA5664C9614EA985CBE3B4EA28352F65627E847478E23BCC9FD
2020-01-23T18:54:38.213Z,1579805678.214 [Micromodem](INFO): Outgoing frame #2, 21 bytes: 0E83A2B5637A178278F580514A15C5D4A14E93D800
2020-01-23T18:54:38.214Z,1579805678.214 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,2*68

2020-01-23T18:54:38.615Z,1579805678.615 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,2*6A

2020-01-23T18:54:39.017Z,1579805679.017 [Micromodem](INFO): Nmea in: $CADRQ,185439,1,12,0,64,1*76

2020-01-23T18:54:39.018Z,1579805679.018 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,60EB295E070000005D00000400460000000000000000151D80030C5669BEDFA61BB5B0486E079EA5664C9614EA985CBE3B4EA28352F65627E847478E23BCC9FD*48

2020-01-23T18:54:39.415Z,1579805679.415 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T18:54:39.820Z,1579805679.820 [Micromodem](INFO): Nmea in: $CADRQ,185439,1,12,0,64,2*75

2020-01-23T18:54:39.821Z,1579805679.821 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,0E83A2B5637A178278F580514A15C5D4A14E93D800*3E

2020-01-23T18:54:40.223Z,1579805680.223 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,21*4A

2020-01-23T18:54:40.627Z,1579805680.627 [Micromodem](INFO): Nmea in: $CATXP,85*7F

2020-01-23T18:54:43.052Z,1579805683.052 [Micromodem](INFO): Nmea in: $CATXF,85*69

2020-01-23T18:54:43.467Z,1579805683.467 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,185440.720389,3,0,200,4000,10000,1,1,12,1,2,2,3,85*46

2020-01-23T18:54:50.763Z,1579805690.763 [DefaultUnder:E.Wait](INFO): Done Waiting.
2020-01-23T18:54:50.763Z,1579805690.763 [DefaultUnder:E.Wait] Stopped
2020-01-23T18:54:50.763Z,1579805690.763 [DefaultUnder:E.Wait](DEBUG): Uninitialize Wait Component.
2020-01-23T18:54:50.763Z,1579805690.763 [DefaultUnder:Default] Running Loop=1
2020-01-23T18:54:50.763Z,1579805690.763 [DefaultUnder:Default](DEBUG): Aggregate::initialize DefaultUnder:Default
2020-01-23T18:54:50.764Z,1579805690.764 [DefaultUnder:Default:Docked] Running Loop=1
2020-01-23T18:54:50.764Z,1579805690.764 [DefaultUnder:Default:Docked](DEBUG): Aggregate::initialize DefaultUnder:Default:Docked
2020-01-23T18:54:50.764Z,1579805690.764 [DefaultUnder:Default:Docked:run] Running Loop=1
2020-01-23T18:54:50.764Z,1579805690.764 [DefaultUnder:Default:Docked:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Docked:run
2020-01-23T18:54:50.764Z,1579805690.764 [DefaultUnder:Default:Docked:run:A] Running Loop=1
2020-01-23T18:54:50.764Z,1579805690.764 [DefaultUnder:Default:Home] Running Loop=1
2020-01-23T18:54:50.764Z,1579805690.764 [DefaultUnder:Default:Home](DEBUG): Aggregate::initialize DefaultUnder:Default:Home
2020-01-23T18:54:50.764Z,1579805690.764 [DefaultUnder:Default:Home:run] Running Loop=1
2020-01-23T18:54:50.764Z,1579805690.764 [DefaultUnder:Default:Home:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Home:run
2020-01-23T18:54:50.765Z,1579805690.765 [DefaultUnder:Default:Home:run:A] Running Loop=1
2020-01-23T18:54:50.765Z,1579805690.765 [DefaultUnder:Default:Surface] Running Loop=1
2020-01-23T18:54:50.765Z,1579805690.765 [DefaultUnder:Default:Surface](DEBUG): Aggregate::initialize DefaultUnder:Default:Surface
2020-01-23T18:54:50.765Z,1579805690.765 [DefaultUnder:Default:Surface:run] Running Loop=1
2020-01-23T18:54:50.765Z,1579805690.765 [DefaultUnder:Default:Surface:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Surface:run
2020-01-23T18:54:50.765Z,1579805690.765 [DefaultUnder:Default:Surface:run:B.GoToSurface] Running Loop=1
2020-01-23T18:54:50.765Z,1579805690.765 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-23T18:54:50.766Z,1579805690.766 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-23T18:54:50.766Z,1579805690.766 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-23T18:54:50.766Z,1579805690.766 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-23T18:54:50.766Z,1579805690.766 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-23T18:54:50.767Z,1579805690.767 [DefaultUnder:Default:Surface:run:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-23T18:54:50.767Z,1579805690.767 [DefaultUnder:Default:Surface:run:A] Running Loop=1
2020-01-23T18:54:51.258Z,1579805691.258 [DefaultUnder:Default:Surface] Stopped
2020-01-23T18:54:51.258Z,1579805691.258 [DefaultUnder:Default:Surface](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Surface
2020-01-23T18:54:51.258Z,1579805691.258 [DefaultUnder:Default:Surface:run] Stopped
2020-01-23T18:54:51.258Z,1579805691.258 [DefaultUnder:Default:Surface:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Surface:run
2020-01-23T18:54:51.259Z,1579805691.259 [DefaultUnder:Default:Surface:run:A] Stopped
2020-01-23T18:54:51.259Z,1579805691.259 [DefaultUnder:Default:Surface:run:B.GoToSurface] Stopped
2020-01-23T18:54:51.259Z,1579805691.259 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-23T18:54:51.259Z,1579805691.259 [DefaultUnder:Default:Home] Stopped
2020-01-23T18:54:51.259Z,1579805691.259 [DefaultUnder:Default:Home](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Home
2020-01-23T18:54:51.259Z,1579805691.259 [DefaultUnder:Default:Home:run] Stopped
2020-01-23T18:54:51.259Z,1579805691.259 [DefaultUnder:Default:Home:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Home:run
2020-01-23T18:54:51.259Z,1579805691.259 [DefaultUnder:Default:Home:run:A] Stopped
2020-01-23T18:54:51.259Z,1579805691.259 [DefaultUnder:Default:Docked:run:A] Stopped
2020-01-23T18:54:51.259Z,1579805691.259 [DefaultUnder:Default:Docked:run:B.Docked] Running Loop=1
2020-01-23T18:54:51.260Z,1579805691.260 [DefaultUnder:Default:Docked:run:B.Docked](DEBUG): Initialize.
2020-01-23T18:54:51.260Z,1579805691.260 [DefaultUnder:Default:Docked:run:B.Docked](INFO): Depth unspecified. Maintaining workSite beacon depth of 6.000000 m.
2020-01-23T18:55:01.183Z,1579805701.183 [CommandLine](IMPORTANT): got command get latitude
2020-01-23T18:55:01.183Z,1579805701.183 [CommandLine](FAULT): Element has no value
2020-01-23T18:55:07.340Z,1579805707.340 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-23T18:55:07.341Z,1579805707.341 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,20012312062506,35.0, -00,1448.9,  0
2020-01-23T18:55:22.696Z,1579805722.696 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-23T18:55:22.696Z,1579805722.696 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,200123120640060.1,   0.0,1448.9,  0
2020-01-23T18:55:28.340Z,1579805728.340 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2020-01-23T18:55:28.340Z,1579805728.340 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-23T18:55:28.382Z,1579805728.382 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-23T18:55:28.777Z,1579805728.777 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-23T18:55:28.777Z,1579805728.777 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2020-01-23T18:55:34.000Z,1579805734.000 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-01-23T18:55:34.000Z,1579805734.000 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +0.00,        +0.   +0.00,   0.00,170.00
2020-01-23T18:55:37.624Z,1579805737.624 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T18:55:38.400Z,1579805738.400 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T18:55:38.805Z,1579805738.805 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T18:55:39.630Z,1579805739.630 [Micromodem](INFO): Nmea in: $SNTTA,0.000206,,,,185539.31*45

2020-01-23T18:55:43.282Z,1579805743.282 [Micromodem](ERROR): Buffer fill timout failure.
2020-01-23T18:55:43.688Z,1579805743.688 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 60EB295E070000005D00000400460000000000000000151D80030C5669BEDFA61BB5B0486E079EA5664C9614EA985CBE3B4EA28352F65627E847478E23BCC9FD
2020-01-23T18:55:43.688Z,1579805743.688 [Micromodem](INFO): Outgoing frame #2, 21 bytes: 0E83A2B5637A178278F580514A15C5D4A14E93D800
2020-01-23T18:55:43.689Z,1579805743.689 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,2*68

2020-01-23T18:55:44.079Z,1579805744.079 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,2*6A

2020-01-23T18:55:44.487Z,1579805744.487 [Micromodem](INFO): Nmea in: $CADRQ,185544,1,12,0,64,1*7D

2020-01-23T18:55:44.488Z,1579805744.488 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,60EB295E070000005D00000400460000000000000000151D80030C5669BEDFA61BB5B0486E079EA5664C9614EA985CBE3B4EA28352F65627E847478E23BCC9FD*48

2020-01-23T18:55:44.890Z,1579805744.890 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T18:55:45.291Z,1579805745.291 [Micromodem](INFO): Nmea in: $CADRQ,185545,1,12,0,64,2*7F

2020-01-23T18:55:45.292Z,1579805745.292 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,0E83A2B5637A178278F580514A15C5D4A14E93D800*3E

2020-01-23T18:55:45.695Z,1579805745.695 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,21*4A

2020-01-23T18:55:46.106Z,1579805746.106 [Micromodem](INFO): Nmea in: $CATXP,85*7F

2020-01-23T18:55:48.523Z,1579805748.523 [Micromodem](INFO): Nmea in: $CATXF,85*69

2020-01-23T18:55:48.932Z,1579805748.932 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,185546.191449,3,0,200,4000,10000,1,1,12,1,2,2,3,85*46

2020-01-23T18:55:50.955Z,1579805750.955 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T18:55:51.352Z,1579805751.352 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-23T18:55:51.352Z,1579805751.352 [Micromodem](INFO): Sent 77 bytes from file Logs/20200123T185216/Courier0007.lzma.parts
2020-01-23T18:55:51.353Z,1579805751.353 [Micromodem](INFO): Packets left to send: 0
2020-01-23T18:55:51.765Z,1579805751.765 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123185550.711295,06,544,21,0119,0150,89,02,02,01,04,1,012,001,0,4,1,0,150,22.4,6.00,14,-3.00,-01,0.00,28,10000,4000*6A

2020-01-23T18:55:51.801Z,1579805751.801 [Micromodem](INFO): Outgoing frame #1, 64 bytes: A0DA295E230000005D000004005B0000000000000000151D80030C5669BF5A33BA44CF5ABA6B9C83BA667FF7190A59853851A7F6814D808C5458694656E6616C
2020-01-23T18:55:51.801Z,1579805751.801 [Micromodem](INFO): Outgoing frame #2, 45 bytes: 6ADEB1C3F20DBC9C68EAE4F07964F8EEDF1EF0E0C88EBEBCC2F531CF67FF9BCC1C0073C61E5B8551C7BD82BE5E
2020-01-23T18:55:51.802Z,1579805751.802 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,2*68

2020-01-23T18:55:52.943Z,1579805752.943 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,2*6A

2020-01-23T18:55:53.352Z,1579805753.352 [Micromodem](INFO): Nmea in: $CADRQ,185552,1,12,0,64,1*7A

2020-01-23T18:55:53.353Z,1579805753.353 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,A0DA295E230000005D000004005B0000000000000000151D80030C5669BF5A33BA44CF5ABA6B9C83BA667FF7190A59853851A7F6814D808C5458694656E6616C*3D

2020-01-23T18:55:53.855Z,1579805753.855 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T18:55:54.180Z,1579805754.180 [Micromodem](INFO): Nmea in: $CADRQ,185554,1,12,0,64,2*7F

2020-01-23T18:55:54.180Z,1579805754.180 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,6ADEB1C3F20DBC9C68EAE4F07964F8EEDF1EF0E0C88EBEBCC2F531CF67FF9BCC1C0073C61E5B8551C7BD82BE5E*36

2020-01-23T18:55:54.583Z,1579805754.583 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,45*48

2020-01-23T18:55:55.003Z,1579805755.003 [Micromodem](INFO): Nmea in: $CATXP,109*4A

2020-01-23T18:55:57.411Z,1579805757.411 [Micromodem](INFO): Nmea in: $CATXF,109*5C

2020-01-23T18:55:57.816Z,1579805757.816 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,185555.107447,3,0,200,4000,10000,1,1,12,1,2,2,3,109*70

2020-01-23T18:55:59.843Z,1579805759.843 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T18:56:00.243Z,1579805760.243 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-23T18:56:00.243Z,1579805760.243 [Micromodem](INFO): Sent 101 bytes from file Logs/20200123T174048/Express0035.lzma.parts
2020-01-23T18:56:00.243Z,1579805760.243 [Micromodem](INFO): Packets left to send: 0
2020-01-23T18:56:00.647Z,1579805760.647 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123185559.645873,06,503,27,0129,0150,89,02,02,00,03,1,012,001,0,4,1,0,150,22.8,6.00,17,-3.00,-01,-0.01,27,10000,4000*4D

2020-01-23T18:56:00.686Z,1579805760.686 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 60EB295E010005005D00000400F60700000000000000151D80030C5669BF31555EAE1409A708D50837CD96632A3B471986A383D0F4DFCC64A6879B643ABEF950
2020-01-23T18:56:00.686Z,1579805760.686 [Micromodem](INFO): Outgoing frame #2, 64 bytes: B3D64D0302520178511C8DB667B0A6B54073DCF1524B56E1DC85C09E2E033B0F670A6BC41BAD0145F81B17AB667637B94B9BB1764AE7A6DDE87315BEF8010601
2020-01-23T18:56:00.687Z,1579805760.687 [Micromodem](INFO): Outgoing frame #3, 64 bytes: A7BEEA37EA527F4A174F72770A36E18AB8B69CF069DDCCF674FFF238C61D5CD7280B1B6FB8478D80DC02AF055CA1C94A9D5A9CDD0819F27A434E375D7B1C8718
2020-01-23T18:56:00.687Z,1579805760.687 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-23T18:56:01.858Z,1579805761.858 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-23T18:56:02.231Z,1579805762.231 [Micromodem](INFO): Nmea in: $CADRQ,185601,1,12,0,64,1*7F

2020-01-23T18:56:02.232Z,1579805762.232 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,60EB295E010005005D00000400F60700000000000000151D80030C5669BF31555EAE1409A708D50837CD96632A3B471986A383D0F4DFCC64A6879B643ABEF950*34

2020-01-23T18:56:02.667Z,1579805762.667 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T18:56:03.043Z,1579805763.043 [Micromodem](INFO): Nmea in: $CADRQ,185603,1,12,0,64,2*7E

2020-01-23T18:56:03.044Z,1579805763.044 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,B3D64D0302520178511C8DB667B0A6B54073DCF1524B56E1DC85C09E2E033B0F670A6BC41BAD0145F81B17AB667637B94B9BB1764AE7A6DDE87315BEF8010601*43

2020-01-23T18:56:03.447Z,1579805763.447 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T18:56:03.957Z,1579805763.957 [Micromodem](INFO): Nmea in: $CADRQ,185603,1,12,0,64,3*7F

2020-01-23T18:56:03.959Z,1579805763.959 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,A7BEEA37EA527F4A174F72770A36E18AB8B69CF069DDCCF674FFF238C61D5CD7280B1B6FB8478D80DC02AF055CA1C94A9D5A9CDD0819F27A434E375D7B1C8718*3A

2020-01-23T18:56:04.279Z,1579805764.279 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T18:56:04.690Z,1579805764.690 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-23T18:56:08.723Z,1579805768.723 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2020-01-23T18:56:09.128Z,1579805769.128 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,185604.917282,3,0,200,4000,10000,1,1,12,1,3,3,3,192*73

2020-01-23T18:56:11.551Z,1579805771.551 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T18:56:11.956Z,1579805771.956 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-23T18:56:12.373Z,1579805772.373 [Micromodem](INFO): Nmea in: $CAACK,12,1,3,1*7B

2020-01-23T18:56:12.374Z,1579805772.374 [Micromodem](INFO): Sent 184 bytes from file Logs/20200123T185216/Express0001.lzma.parts
2020-01-23T18:56:12.374Z,1579805772.374 [Micromodem](INFO): Packets left to send: 5
2020-01-23T18:56:12.768Z,1579805772.768 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123185611.306312,06,552,27,0133,0150,89,02,02,00,03,1,012,001,0,4,1,0,150,20.8,5.00,14,-2.00,-01,-0.02,29,10000,4000*4D

2020-01-23T18:56:12.786Z,1579805772.786 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 60EB295E01000400EE2B2100D1C3E4B645ABE615A5E093E0BE747D2192B1EFB11324B4D228C332F82A0B25FE3760B3C95FF59F73B17A3146E45206E5F42DAE5E
2020-01-23T18:56:12.787Z,1579805772.787 [Micromodem](INFO): Outgoing frame #2, 64 bytes: BDC3A41F7513D833FCEA50F3019397F37EE2D8BCFC687616F8D1627F4213087710314D6A6C28158AC3D8F9EF9144F497293F40C982D73142F97B2B8A44FAE748
2020-01-23T18:56:12.787Z,1579805772.787 [Micromodem](INFO): Outgoing frame #3, 64 bytes: C92A7D3FE57A432DC4E2DA1C0D730470CAA8C6182780836A7437469730B5D6E850CDE479503C03B7691EE88361600B95239A6A98645878B25412EEE3EB8FF14C
2020-01-23T18:56:12.788Z,1579805772.788 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-23T18:56:13.952Z,1579805773.952 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-23T18:56:14.351Z,1579805774.351 [Micromodem](INFO): Nmea in: $CADRQ,185613,1,12,0,64,1*7C

2020-01-23T18:56:14.352Z,1579805774.352 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,60EB295E01000400EE2B2100D1C3E4B645ABE615A5E093E0BE747D2192B1EFB11324B4D228C332F82A0B25FE3760B3C95FF59F73B17A3146E45206E5F42DAE5E*33

2020-01-23T18:56:14.761Z,1579805774.761 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T18:56:15.163Z,1579805775.163 [Micromodem](INFO): Nmea in: $CADRQ,185615,1,12,0,64,2*79

2020-01-23T18:56:15.164Z,1579805775.164 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,BDC3A41F7513D833FCEA50F3019397F37EE2D8BCFC687616F8D1627F4213087710314D6A6C28158AC3D8F9EF9144F497293F40C982D73142F97B2B8A44FAE748*40

2020-01-23T18:56:15.563Z,1579805775.563 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T18:56:15.979Z,1579805775.979 [Micromodem](INFO): Nmea in: $CADRQ,185616,1,12,0,64,3*7B

2020-01-23T18:56:15.980Z,1579805775.980 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,C92A7D3FE57A432DC4E2DA1C0D730470CAA8C6182780836A7437469730B5D6E850CDE479503C03B7691EE88361600B95239A6A98645878B25412EEE3EB8FF14C*4F

2020-01-23T18:56:16.375Z,1579805776.375 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T18:56:16.779Z,1579805776.779 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-23T18:56:20.411Z,1579805780.411 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2020-01-23T18:56:20.824Z,1579805780.824 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,185616.941446,3,0,200,4000,10000,1,1,12,1,3,3,3,192*7D

2020-01-23T18:56:23.647Z,1579805783.647 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T18:56:24.052Z,1579805784.052 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-23T18:56:24.451Z,1579805784.451 [Micromodem](INFO): Nmea in: $CAACK,12,1,3,1*7B

2020-01-23T18:56:24.452Z,1579805784.452 [Micromodem](INFO): Sent 184 bytes from file Logs/20200123T185216/Express0001.lzma.parts
2020-01-23T18:56:24.452Z,1579805784.452 [Micromodem](INFO): Packets left to send: 4
2020-01-23T18:56:24.859Z,1579805784.859 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123185623.330473,06,796,29,0152,0150,89,02,02,00,03,1,012,001,0,4,1,0,150,27.0,5.00,13,-2.00,-01,0.00,24,10000,4000*60

2020-01-23T18:56:24.899Z,1579805784.899 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 60EB295E01000300E8342BEC9BF626EF5C5C7AC7CDD781F4F862A60304702C83225E858185B3CEDEAE8A2B3AC5A0D0CBF67078616461E346D07FB0522E0C053C
2020-01-23T18:56:24.899Z,1579805784.899 [Micromodem](INFO): Outgoing frame #2, 64 bytes: CF64AFEA63A35547061F2F517B8905F61882F6916E23AEE153E62660FC649349B8CABAAD6EDBB25A101639E102FE9EFFE4BB5A5326E2792AEA45F551DAF57AAB
2020-01-23T18:56:24.900Z,1579805784.900 [Micromodem](INFO): Outgoing frame #3, 64 bytes: 5378619D1A1E51A60D08E9957CA5DB0E604FBB5711B29A7702A9D1257455537E5F755DC2D14CEA677D4EEE41BABABDF9BBB213B09FAEC276B45EC52926057B1C
2020-01-23T18:56:24.901Z,1579805784.901 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-23T18:56:26.071Z,1579805786.071 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-23T18:56:26.467Z,1579805786.467 [Micromodem](INFO): Nmea in: $CADRQ,185625,1,12,0,64,1*79

2020-01-23T18:56:26.468Z,1579805786.468 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,60EB295E01000300E8342BEC9BF626EF5C5C7AC7CDD781F4F862A60304702C83225E858185B3CEDEAE8A2B3AC5A0D0CBF67078616461E346D07FB0522E0C053C*44

2020-01-23T18:56:26.875Z,1579805786.875 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T18:56:27.287Z,1579805787.287 [Micromodem](INFO): Nmea in: $CADRQ,185627,1,12,0,64,2*78

2020-01-23T18:56:27.288Z,1579805787.288 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,CF64AFEA63A35547061F2F517B8905F61882F6916E23AEE153E62660FC649349B8CABAAD6EDBB25A101639E102FE9EFFE4BB5A5326E2792AEA45F551DAF57AAB*43

2020-01-23T18:56:27.697Z,1579805787.697 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T18:56:28.091Z,1579805788.091 [Micromodem](INFO): Nmea in: $CADRQ,185628,1,12,0,64,3*76

2020-01-23T18:56:28.092Z,1579805788.092 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,5378619D1A1E51A60D08E9957CA5DB0E604FBB5711B29A7702A9D1257455537E5F755DC2D14CEA677D4EEE41BABABDF9BBB213B09FAEC276B45EC52926057B1C*4F

2020-01-23T18:56:28.495Z,1579805788.495 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T18:56:28.909Z,1579805788.909 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-23T18:56:32.531Z,1579805792.531 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2020-01-23T18:56:32.940Z,1579805792.940 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,185629.049370,3,0,200,4000,10000,1,1,12,1,3,3,3,192*72

2020-01-23T18:56:35.767Z,1579805795.767 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T18:56:36.172Z,1579805796.172 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-23T18:56:36.579Z,1579805796.579 [Micromodem](INFO): Nmea in: $CAACK,12,1,3,1*7B

2020-01-23T18:56:36.580Z,1579805796.580 [Micromodem](INFO): Sent 184 bytes from file Logs/20200123T185216/Express0001.lzma.parts
2020-01-23T18:56:36.580Z,1579805796.580 [Micromodem](INFO): Packets left to send: 3
2020-01-23T18:56:36.989Z,1579805796.989 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123185635.438648,06,499,26,0103,0150,89,02,02,00,03,1,012,001,0,4,1,0,150,8.5,5.00,18,-2.00,-01,-0.03,43,10000,4000*79

2020-01-23T18:56:37.007Z,1579805797.007 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 60EB295E010002005C2220791323421775571CCC89FEC87ABDBFCD9D95ACDD8106A73FB1CADAEE201F761CC012DB81209D80A3CF3202926421BD0D78A7E99F6B
2020-01-23T18:56:37.008Z,1579805797.008 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 0BA0B106AC2840149BF6458B861AFAAFEB216BC208C959ED01EF248686AED0A57DB758E924972B6A09777E8C7C9C93573754F6E53D1DCE9D676ADA0C4828ED02
2020-01-23T18:56:37.008Z,1579805797.008 [Micromodem](INFO): Outgoing frame #3, 64 bytes: 838F99464E5B54CEA2BF0F13172ACCD5CCDC427D6BD86CF9E34BCC41B83BBB824F7C8839B1C6D083DFEE0094CCE504BD2DBC24E4B5EC4569881DD5EAE3636000
2020-01-23T18:56:37.008Z,1579805797.008 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-23T18:56:38.196Z,1579805798.196 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-23T18:56:38.595Z,1579805798.595 [Micromodem](INFO): Nmea in: $CADRQ,185637,1,12,0,64,1*7A

2020-01-23T18:56:38.596Z,1579805798.596 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,60EB295E010002005C2220791323421775571CCC89FEC87ABDBFCD9D95ACDD8106A73FB1CADAEE201F761CC012DB81209D80A3CF3202926421BD0D78A7E99F6B*34

2020-01-23T18:56:38.999Z,1579805798.999 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T18:56:39.408Z,1579805799.408 [Micromodem](INFO): Nmea in: $CADRQ,185639,1,12,0,64,2*77

2020-01-23T18:56:39.409Z,1579805799.409 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,0BA0B106AC2840149BF6458B861AFAAFEB216BC208C959ED01EF248686AED0A57DB758E924972B6A09777E8C7C9C93573754F6E53D1DCE9D676ADA0C4828ED02*43

2020-01-23T18:56:39.531Z,1579805799.531 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T18:56:39.808Z,1579805799.808 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T18:56:40.208Z,1579805800.208 [Micromodem](INFO): Nmea in: $CADRQ,185640,1,12,0,64,3*78

2020-01-23T18:56:40.208Z,1579805800.208 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,838F99464E5B54CEA2BF0F13172ACCD5CCDC427D6BD86CF9E34BCC41B83BBB824F7C8839B1C6D083DFEE0094CCE504BD2DBC24E4B5EC4569881DD5EAE3636000*4C

2020-01-23T18:56:40.615Z,1579805800.615 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T18:56:40.615Z,1579805800.615 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T18:56:41.011Z,1579805801.011 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-23T18:56:41.011Z,1579805801.011 [Micromodem](ERROR): Response from modem unexpected: $CATXP,192*48

2020-01-23T18:56:44.683Z,1579805804.683 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2020-01-23T18:56:44.683Z,1579805804.683 [Micromodem](ERROR): Response from modem unexpected: $CATXF,192*5E

2020-01-23T18:56:45.088Z,1579805805.088 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,185641.163770,3,0,200,4000,10000,1,1,12,1,3,3,3,192*71

2020-01-23T18:56:45.088Z,1579805805.088 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20200123,185641.163770,3,0,200,4000,10000,1,1,12,1,3,3,3,192*71

2020-01-23T18:56:47.915Z,1579805807.915 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T18:56:48.323Z,1579805808.323 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-23T18:56:48.719Z,1579805808.719 [Micromodem](INFO): Nmea in: $CAACK,12,1,3,1*7B

2020-01-23T18:56:48.720Z,1579805808.720 [Micromodem](INFO): Sent 184 bytes from file Logs/20200123T185216/Express0001.lzma.parts
2020-01-23T18:56:48.720Z,1579805808.720 [Micromodem](INFO): Packets left to send: 2
2020-01-23T18:56:49.127Z,1579805809.127 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123185647.555658,06,505,27,0110,0150,29,02,02,00,02,1,012,001,0,4,1,0,150,26.4,6.00,17,-3.00,-01,-0.04,15,10000,4000*4F

2020-01-23T18:56:49.127Z,1579805809.127 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20200123185647.555658,06,505,27,0110,0150,29,02,02,00,02,1,012,001,0,4,1,0,150,26.4,6.00,17,-3.00,-01,-0.04,15,10000,4000*4F

2020-01-23T18:56:49.175Z,1579805809.175 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 60EB295E01000100290222D46FD1E91B1109C6398CD967086BE162315F03872F43FD671F8269A0FDAD3C5B475571F99BC3EBB2471790F0045FA2E3E3CEDBD8DF
2020-01-23T18:56:49.175Z,1579805809.175 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 6D6629E65819DFAAF6111225927E7E624687D479AB81F551E56FAEE4D9731621A647254047E38918059714E84D9E40AEC30BEF61F44C7ED00CDE8FAE754057D0
2020-01-23T18:56:49.175Z,1579805809.175 [Micromodem](INFO): Outgoing frame #3, 64 bytes: 1F039FF51B8B02E701853C6F94CA024406C4B1252FA5F290648FC4033A067D2C5E746B773AB68B3A58CA4A47040A6A3E45136B80D6E9258941B882AE6FECE024
2020-01-23T18:56:51.951Z,1579805811.951 [Micromodem](ERROR): Nmea resend: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T18:56:52.365Z,1579805812.365 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T18:56:52.377Z,1579805812.377 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-23T18:56:52.759Z,1579805812.759 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-23T18:56:53.172Z,1579805813.172 [Micromodem](INFO): Nmea in: $CADRQ,185653,1,12,0,64,1*78

2020-01-23T18:56:53.172Z,1579805813.172 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,60EB295E01000100290222D46FD1E91B1109C6398CD967086BE162315F03872F43FD671F8269A0FDAD3C5B475571F99BC3EBB2471790F0045FA2E3E3CEDBD8DF*37

2020-01-23T18:56:53.568Z,1579805813.568 [Micromodem](INFO): Nmea in: $SNTTA,0.000255,,,,185652.86*41

2020-01-23T18:56:53.568Z,1579805813.568 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.000255,,,,185652.86*41

2020-01-23T18:56:54.779Z,1579805814.779 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T18:56:55.163Z,1579805815.163 [Micromodem](INFO): Nmea in: $CADRQ,185654,1,12,0,64,2*7C

2020-01-23T18:56:55.164Z,1579805815.164 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,6D6629E65819DFAAF6111225927E7E624687D479AB81F551E56FAEE4D9731621A647254047E38918059714E84D9E40AEC30BEF61F44C7ED00CDE8FAE754057D0*33

2020-01-23T18:56:55.560Z,1579805815.560 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T18:56:55.969Z,1579805815.969 [Micromodem](INFO): Nmea in: $CADRQ,185656,1,12,0,64,3*7F

2020-01-23T18:56:55.970Z,1579805815.970 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,1F039FF51B8B02E701853C6F94CA024406C4B1252FA5F290648FC4033A067D2C5E746B773AB68B3A58CA4A47040A6A3E45136B80D6E9258941B882AE6FECE024*4A

2020-01-23T18:56:56.364Z,1579805816.364 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T18:56:56.776Z,1579805816.776 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-23T18:57:00.048Z,1579805820.048 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-01-23T18:57:00.048Z,1579805820.048 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +0    +0.00,        +0.00,   0.00,256.00
2020-01-23T18:57:00.411Z,1579805820.411 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2020-01-23T18:57:00.812Z,1579805820.812 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,185656.925670,3,0,200,4000,10000,1,1,12,1,3,3,3,192*7C

2020-01-23T18:57:03.643Z,1579805823.643 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T18:57:04.044Z,1579805824.044 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-23T18:57:04.459Z,1579805824.459 [Micromodem](INFO): Nmea in: $CAACK,12,1,3,1*7B

2020-01-23T18:57:04.460Z,1579805824.460 [Micromodem](INFO): Sent 184 bytes from file Logs/20200123T185216/Express0001.lzma.parts
2020-01-23T18:57:04.460Z,1579805824.460 [Micromodem](INFO): Packets left to send: 1
2020-01-23T18:57:04.864Z,1579805824.864 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123185703.324173,06,677,28,0132,0150,59,01,01,00,03,1,012,001,0,4,1,0,150,26.5,5.00,14,-2.00,-01,-0.04,20,10000,4000*49

2020-01-23T18:57:04.887Z,1579805824.887 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 60EB295E01000000931E60ED788B14EAC77A807AB3073CA3706A501C0F324E2483C3EFF357EBDA43A97522795256C451FE06B5732A539A70EE641F980B36E17D
2020-01-23T18:57:04.887Z,1579805824.887 [Micromodem](INFO): Outgoing frame #2, 64 bytes: FBE8C2A77ABA46588420D7F8B06095B3BA249C7A18A9639B543F687B7EAC42C81A6DE4C3EC25244F8039075928E8EE4CCD8861BE3C9ABCF91209F0FC876FA1A2
2020-01-23T18:57:04.888Z,1579805824.888 [Micromodem](INFO): Outgoing frame #3, 45 bytes: DCFAAB747808467BF290C46CB2B6B1B9C242171883F3243E767CE61E691D19758C513CEDE7CE2C31F7D1762824
2020-01-23T18:57:04.888Z,1579805824.888 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-23T18:57:06.071Z,1579805826.071 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-23T18:57:06.472Z,1579805826.472 [Micromodem](INFO): Nmea in: $CADRQ,185705,1,12,0,64,1*7A

2020-01-23T18:57:06.472Z,1579805826.472 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,60EB295E01000000931E60ED788B14EAC77A807AB3073CA3706A501C0F324E2483C3EFF357EBDA43A97522795256C451FE06B5732A539A70EE641F980B36E17D*43

2020-01-23T18:57:06.881Z,1579805826.881 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T18:57:07.283Z,1579805827.283 [Micromodem](INFO): Nmea in: $CADRQ,185707,1,12,0,64,2*7B

2020-01-23T18:57:07.284Z,1579805827.284 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,FBE8C2A77ABA46588420D7F8B06095B3BA249C7A18A9639B543F687B7EAC42C81A6DE4C3EC25244F8039075928E8EE4CCD8861BE3C9ABCF91209F0FC876FA1A2*4A

2020-01-23T18:57:07.679Z,1579805827.679 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T18:57:08.083Z,1579805828.083 [Micromodem](INFO): Nmea in: $CADRQ,185708,1,12,0,64,3*75

2020-01-23T18:57:08.084Z,1579805828.084 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,DCFAAB747808467BF290C46CB2B6B1B9C242171883F3243E767CE61E691D19758C513CEDE7CE2C31F7D1762824*3C

2020-01-23T18:57:08.496Z,1579805828.496 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,45*48

2020-01-23T18:57:08.895Z,1579805828.895 [Micromodem](INFO): Nmea in: $CATXP,173*47

2020-01-23T18:57:12.531Z,1579805832.531 [Micromodem](INFO): Nmea in: $CATXF,173*51

2020-01-23T18:57:12.940Z,1579805832.940 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,185709.021097,3,0,200,4000,10000,1,1,12,1,3,3,3,173*7A

2020-01-23T18:57:15.763Z,1579805835.763 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T18:57:16.169Z,1579805836.169 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-23T18:57:16.567Z,1579805836.567 [Micromodem](INFO): Nmea in: $CAACK,12,1,3,1*7B

2020-01-23T18:57:16.568Z,1579805836.568 [Micromodem](INFO): Sent 165 bytes from file Logs/20200123T185216/Express0001.lzma.parts
2020-01-23T18:57:16.568Z,1579805836.568 [Micromodem](INFO): Packets left to send: 0
2020-01-23T18:57:16.979Z,1579805836.979 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123185715.390587,06,741,28,0140,0150,59,01,01,00,03,1,012,001,0,4,1,0,150,26.6,6.00,19,-3.00,-01,-0.02,21,10000,4000*44

2020-01-23T18:57:17.011Z,1579805837.011 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 60EB295E050001005D000004003A0100000000000000151D80030C5669BF5A33BA52BC37B6C51B3F8145BC37775D82465D5742A58E08299CD8C1AE604D4082CF
2020-01-23T18:57:17.011Z,1579805837.011 [Micromodem](INFO): Outgoing frame #2, 64 bytes: ACB1A640523E439B6419C867B565D099D275F95C00D326079989E51A653D46E8E00ED7E14C47C3F7B016634F91D6329A466185972556DCD0EC141B86DB8B7218
2020-01-23T18:57:17.012Z,1579805837.012 [Micromodem](INFO): Outgoing frame #3, 64 bytes: DAEB93FF7E3D074927C98783D380A359874DBFBE0A947BF746DB1A290D476F0AFE711D59C22196A3C3C2F0013D37675A8B07B82E04181953CA1D557A52A8E8B7
2020-01-23T18:57:17.012Z,1579805837.012 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-23T18:57:18.187Z,1579805838.187 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-23T18:57:18.591Z,1579805838.591 [Micromodem](INFO): Nmea in: $CADRQ,185717,1,12,0,64,1*79

2020-01-23T18:57:18.592Z,1579805838.592 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,60EB295E050001005D000004003A0100000000000000151D80030C5669BF5A33BA52BC37B6C51B3F8145BC37775D82465D5742A58E08299CD8C1AE604D4082CF*45

2020-01-23T18:57:18.994Z,1579805838.994 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T18:57:19.395Z,1579805839.395 [Micromodem](INFO): Nmea in: $CADRQ,185719,1,12,0,64,2*74

2020-01-23T18:57:19.396Z,1579805839.396 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,ACB1A640523E439B6419C867B565D099D275F95C00D326079989E51A653D46E8E00ED7E14C47C3F7B016634F91D6329A466185972556DCD0EC141B86DB8B7218*3B

2020-01-23T18:57:19.804Z,1579805839.804 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T18:57:20.207Z,1579805840.207 [Micromodem](INFO): Nmea in: $CADRQ,185720,1,12,0,64,3*7F

2020-01-23T18:57:20.208Z,1579805840.208 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,DAEB93FF7E3D074927C98783D380A359874DBFBE0A947BF746DB1A290D476F0AFE711D59C22196A3C3C2F0013D37675A8B07B82E04181953CA1D557A52A8E8B7*3C

2020-01-23T18:57:20.612Z,1579805840.612 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T18:57:21.015Z,1579805841.015 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-23T18:57:24.683Z,1579805844.683 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2020-01-23T18:57:25.092Z,1579805845.092 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,185721.165007,3,0,200,4000,10000,1,1,12,1,3,3,3,192*77

2020-01-23T18:57:27.964Z,1579805847.964 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T18:57:28.344Z,1579805848.344 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-23T18:57:28.755Z,1579805848.755 [Micromodem](INFO): Nmea in: $CAACK,12,1,3,1*7B

2020-01-23T18:57:28.756Z,1579805848.756 [Micromodem](INFO): Sent 184 bytes from file Logs/20200123T185216/Express0005.lzma.parts
2020-01-23T18:57:28.756Z,1579805848.756 [Micromodem](INFO): Packets left to send: 1
2020-01-23T18:57:29.158Z,1579805849.158 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123185727.548510,06,780,28,0144,0150,29,01,01,00,03,1,012,001,0,4,1,0,150,27.2,6.00,17,-3.00,-01,-0.03,15,10000,4000*4B

2020-01-23T18:57:29.248Z,1579805849.248 [Micromodem](INFO): Using rate 1 for 10 bytes.
2020-01-23T18:57:29.248Z,1579805849.248 [Micromodem](INFO): Outgoing frame #1, 10 bytes: 60EB295E050000005800
2020-01-23T18:57:29.249Z,1579805849.249 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,1*6B

2020-01-23T18:57:30.367Z,1579805850.367 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,1*69

2020-01-23T18:57:30.770Z,1579805850.770 [Micromodem](INFO): Nmea in: $CADRQ,185730,1,12,0,64,1*7C

2020-01-23T18:57:30.771Z,1579805850.771 [Micromodem](ERROR): Received CADRQ with bad size: 64 expected <= 32
2020-01-23T18:57:30.771Z,1579805850.771 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,60EB295E050000005800*39

2020-01-23T18:57:30.837Z,1579805850.837 [Micromodem](INFO): Using rate 0 for 10 bytes.
2020-01-23T18:57:30.837Z,1579805850.837 [Micromodem](INFO): Outgoing frame #1, 10 bytes: 60EB295E050000005800
2020-01-23T18:57:31.168Z,1579805851.168 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,10*48

2020-01-23T18:57:31.168Z,1579805851.168 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,1*6B

2020-01-23T18:57:31.575Z,1579805851.575 [Micromodem](INFO): Nmea in: $CATXP,10*73

2020-01-23T18:57:31.575Z,1579805851.575 [Micromodem](ERROR): Response from modem unexpected: $CATXP,10*73

2020-01-23T18:57:32.787Z,1579805852.787 [Micromodem](INFO): Nmea in: $CATXF,10*65

2020-01-23T18:57:32.787Z,1579805852.787 [Micromodem](ERROR): Response from modem unexpected: $CATXF,10*65

2020-01-23T18:57:33.192Z,1579805853.192 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,185731.647135,3,0,200,4000,10000,1,1,12,1,1,1,3,10*4A

2020-01-23T18:57:33.192Z,1579805853.192 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20200123,185731.647135,3,0,200,4000,10000,1,1,12,1,1,1,3,10*4A

2020-01-23T18:57:34.419Z,1579805854.419 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T18:57:34.420Z,1579805854.420 [Micromodem](INFO): Sent 2 bytes from file Logs/20200123T185216/Express0005.lzma.parts
2020-01-23T18:57:34.421Z,1579805854.421 [Micromodem](INFO): Packets left to send: 0
2020-01-23T18:57:34.815Z,1579805854.815 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123185734.325973,06,472,26,0123,0150,59,01,01,00,03,1,012,001,0,4,1,0,150,27.3,5.00,16,-2.00,-01,-0.03,20,10000,4000*4F

2020-01-23T18:57:34.815Z,1579805854.815 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20200123185734.325973,06,472,26,0123,0150,59,01,01,00,03,1,012,001,0,4,1,0,150,27.3,5.00,16,-2.00,-01,-0.03,20,10000,4000*4F

2020-01-23T18:57:34.857Z,1579805854.857 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 60EB295E080000005D00000400FA0000000000000000151D80030C5669BF5A33BA36707B87EC5F0F53727B93ADD13755AED05CCB40440FAA7ED287881B9EB45E
2020-01-23T18:57:34.857Z,1579805854.857 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 977C2FBF1C26112FA4F5DB6F8860762EEDE0528B508840B82A2DA123886767015C5A4496DA99E29E0F02671F52DB1371F9C4232ED162685BBB80DE8A3E55CA1D
2020-01-23T18:57:34.858Z,1579805854.858 [Micromodem](INFO): Outgoing frame #3, 58 bytes: C39B060CCBAA2483DAE632CF3E254933124852066468A4121D604A293C545FAC528EADD57D5778CEC3FF66A19AF27893C2CF9066190327044E7E
2020-01-23T18:57:39.732Z,1579805859.732 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T18:57:42.459Z,1579805862.459 [Micromodem](ERROR): Nmea resend: $CCCYC,0,1,12,1,0,1*6B

2020-01-23T18:57:42.865Z,1579805862.865 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,1*69

2020-01-23T18:57:42.865Z,1579805862.865 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-23T18:57:43.266Z,1579805863.266 [Micromodem](INFO): Nmea in: $CADRQ,185743,1,12,0,64,1*78

2020-01-23T18:57:43.266Z,1579805863.266 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,185743,1,12,0,64,1*78

2020-01-23T18:57:43.671Z,1579805863.671 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-23T18:57:43.671Z,1579805863.671 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T18:57:44.068Z,1579805864.068 [Micromodem](INFO): Nmea in: $CADRQ,185743,1,12,0,64,1*78

2020-01-23T18:57:44.068Z,1579805864.068 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,185743,1,12,0,64,1*78

2020-01-23T18:57:44.483Z,1579805864.483 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T18:57:44.894Z,1579805864.894 [Micromodem](INFO): Nmea in: $SNTTA,0.000228,,,,185744.58*4E

2020-01-23T18:58:01.516Z,1579805881.516 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-23T18:58:01.516Z,1579805881.516 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,20012312091906,35.0, -0.1,   0.0,14
2020-01-23T18:58:07.952Z,1579805887.952 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2020-01-23T18:58:13.187Z,1579805893.187 [Micromodem](INFO): Nmea in: $CAERR,185813,DATA_TIMEOUT,1*48

2020-01-23T18:58:29.368Z,1579805909.368 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2020-01-23T18:58:29.368Z,1579805909.368 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-23T18:58:29.396Z,1579805909.396 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-23T18:58:29.770Z,1579805909.770 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-23T18:58:29.770Z,1579805909.770 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2020-01-23T18:58:40.227Z,1579805920.227 [Micromodem](ERROR): Buffer fill timout failure.
2020-01-23T18:58:40.649Z,1579805920.649 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 60EB295E080000005D00000400FA0000000000000000151D80030C5669BF5A33BA36707B87EC5F0F53727B93ADD13755AED05CCB40440FAA7ED287881B9EB45E
2020-01-23T18:58:40.649Z,1579805920.649 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 977C2FBF1C26112FA4F5DB6F8860762EEDE0528B508840B82A2DA123886767015C5A4496DA99E29E0F02671F52DB1371F9C4232ED162685BBB80DE8A3E55CA1D
2020-01-23T18:58:40.650Z,1579805920.650 [Micromodem](INFO): Outgoing frame #3, 58 bytes: C39B060CCBAA2483DAE632CF3E254933124852066468A4121D604A293C545FAC528EADD57D5778CEC3FF66A19AF27893C2CF9066190327044E7E
2020-01-23T18:58:40.650Z,1579805920.650 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-23T18:58:41.040Z,1579805921.040 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-23T18:58:41.443Z,1579805921.443 [Micromodem](INFO): Nmea in: $CADRQ,185841,1,12,0,64,1*75

2020-01-23T18:58:41.444Z,1579805921.444 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,60EB295E080000005D00000400FA0000000000000000151D80030C5669BF5A33BA36707B87EC5F0F53727B93ADD13755AED05CCB40440FAA7ED287881B9EB45E*39

2020-01-23T18:58:41.843Z,1579805921.843 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T18:58:42.252Z,1579805922.252 [Micromodem](INFO): Nmea in: $CADRQ,185842,1,12,0,64,2*75

2020-01-23T18:58:42.253Z,1579805922.253 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,977C2FBF1C26112FA4F5DB6F8860762EEDE0528B508840B82A2DA123886767015C5A4496DA99E29E0F02671F52DB1371F9C4232ED162685BBB80DE8A3E55CA1D*47

2020-01-23T18:58:42.351Z,1579805922.351 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-23T18:58:42.351Z,1579805922.351 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2020-01-23T18:58:42.655Z,1579805922.655 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T18:58:43.055Z,1579805923.055 [Micromodem](INFO): Nmea in: $CADRQ,185843,1,12,0,64,3*75

2020-01-23T18:58:43.056Z,1579805923.056 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,C39B060CCBAA2483DAE632CF3E254933124852066468A4121D604A293C545FAC528EADD57D5778CEC3FF66A19AF27893C2CF9066190327044E7E*45

2020-01-23T18:58:43.464Z,1579805923.464 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,58*44

2020-01-23T18:58:43.867Z,1579805923.867 [Micromodem](INFO): Nmea in: $CATXP,186*4D

2020-01-23T18:58:44.728Z,1579805924.728 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T18:58:45.480Z,1579805925.480 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T18:58:47.499Z,1579805927.499 [Micromodem](INFO): Nmea in: $CATXF,186*5B

2020-01-23T18:58:47.500Z,1579805927.500 [Micromodem](ERROR): Response from modem unexpected: $CATXF,186*5B

2020-01-23T18:58:47.917Z,1579805927.917 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,185844.006490,3,0,200,4000,10000,1,1,12,1,3,3,3,186*70

2020-01-23T18:58:47.917Z,1579805927.917 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20200123,185844.006490,3,0,200,4000,10000,1,1,12,1,3,3,3,186*70

2020-01-23T18:58:50.762Z,1579805930.762 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T18:58:51.190Z,1579805931.190 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-23T18:58:51.568Z,1579805931.568 [Micromodem](INFO): Nmea in: $CAACK,12,1,3,1*7B

2020-01-23T18:58:51.568Z,1579805931.568 [Micromodem](INFO): Sent 178 bytes from file Logs/20200123T185216/Express0008.lzma.parts
2020-01-23T18:58:51.568Z,1579805931.568 [Micromodem](INFO): Packets left to send: 0
2020-01-23T18:58:51.975Z,1579805931.975 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123185850.390163,06,744,28,0137,0150,89,02,02,00,03,1,012,001,0,4,1,0,150,27.9,5.00,16,-2.00,-01,-0.03,24,10000,4000*4B

2020-01-23T18:58:51.975Z,1579805931.975 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20200123185850.390163,06,744,28,0137,0150,89,02,02,00,03,1,012,001,0,4,1,0,150,27.9,5.00,16,-2.00,-01,-0.03,24,10000,4000*4B

2020-01-23T18:58:52.043Z,1579805932.043 [DefaultUnder:uModemComms:CheckIn:A] Stopped
2020-01-23T18:58:52.044Z,1579805932.044 [DefaultUnder:uModemComms:CheckIn](INFO): Completed DefaultUnder:uModemComms:CheckIn
2020-01-23T18:58:52.044Z,1579805932.044 [DefaultUnder:uModemComms:CheckIn] Stopped
2020-01-23T18:58:52.044Z,1579805932.044 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::uninitialize DefaultUnder:uModemComms:CheckIn
2020-01-23T18:58:56.819Z,1579805936.819 [Micromodem](ERROR): Nmea resend: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T18:58:57.229Z,1579805937.229 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T18:58:58.039Z,1579805938.039 [Micromodem](INFO): Nmea in: $SNTTA,0.000231,,,,185857.73*42

2020-01-23T18:59:37.713Z,1579805977.713 [DefaultUnder:Notify:A:A:A.Wait](INFO): Done Waiting.
2020-01-23T18:59:37.713Z,1579805977.713 [DefaultUnder:Notify:A:A:A.Wait] Stopped
2020-01-23T18:59:37.713Z,1579805977.713 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-23T18:59:37.714Z,1579805977.714 [DefaultUnder:Notify:A:A:B] Running Loop=1
2020-01-23T18:59:38.080Z,1579805978.080 [DefaultUnder:Notify:A:A:B] Stopped
2020-01-23T18:59:38.080Z,1579805978.080 [DefaultUnder:Notify:A:A:C] Running Loop=1
2020-01-23T18:59:38.484Z,1579805978.484 [DefaultUnder:Notify:A:A:C](IMPORTANT): Default mission has been running for 5.010528 min 
2020-01-23T18:59:38.484Z,1579805978.484 [DefaultUnder:Notify:A:A:C] Stopped
2020-01-23T18:59:38.485Z,1579805978.485 [DefaultUnder:Notify:A:A](INFO): Completed DefaultUnder:Notify:A:A
2020-01-23T18:59:38.485Z,1579805978.485 [DefaultUnder:Notify:A:A] Stopped
2020-01-23T18:59:38.485Z,1579805978.485 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A:A
2020-01-23T18:59:38.485Z,1579805978.485 [DefaultUnder:Notify:A:A](INFO): Running loop #2
2020-01-23T18:59:38.485Z,1579805978.485 [DefaultUnder:Notify:A:A] Running Loop=2
2020-01-23T18:59:38.485Z,1579805978.485 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A:A
2020-01-23T18:59:38.485Z,1579805978.485 [DefaultUnder:Notify:A:A:A.Wait] Running Loop=1
2020-01-23T18:59:38.485Z,1579805978.485 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Initialize Wait Component.
2020-01-23T18:59:44.896Z,1579805984.896 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T18:59:45.680Z,1579805985.680 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T18:59:46.085Z,1579805986.085 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T18:59:46.914Z,1579805986.914 [Micromodem](INFO): Nmea in: $SNTTA,0.000222,,,,185946.59*49

2020-01-23T19:00:45.994Z,1579806045.994 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2020-01-23T19:00:45.997Z,1579806045.997 [BPC1](INFO): Received data from all battery sticks.
2020-01-23T19:00:46.776Z,1579806046.776 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T19:00:47.550Z,1579806047.550 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T19:00:47.967Z,1579806047.967 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T19:00:48.774Z,1579806048.774 [Micromodem](INFO): Nmea in: $SNTTA,0.000229,,,,190048.46*4F

2020-01-23T19:01:30.423Z,1579806090.423 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 3
2020-01-23T19:01:30.423Z,1579806090.423 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-23T19:01:30.434Z,1579806090.434 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-23T19:01:30.823Z,1579806090.823 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-23T19:01:30.824Z,1579806090.824 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 3
2020-01-23T19:01:48.600Z,1579806108.600 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T19:01:49.356Z,1579806109.356 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T19:01:49.765Z,1579806109.765 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T19:01:50.586Z,1579806110.586 [Micromodem](INFO): Nmea in: $SNTTA,0.000226,,,,190150.27*4F

2020-01-23T19:02:50.474Z,1579806170.474 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T19:02:51.242Z,1579806171.242 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T19:02:51.651Z,1579806171.651 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T19:02:52.466Z,1579806172.466 [Micromodem](INFO): Nmea in: $SNTTA,0.000213,,,,190252.15*49

2020-01-23T19:03:06.184Z,1579806186.184 [NAL9602](FAULT): GPS failed to acquire within timeout.
2020-01-23T19:03:06.184Z,1579806186.184 [NAL9602] Data Fault, FailCount= 1
2020-01-23T19:03:06.184Z,1579806186.184 [NAL9602](ERROR): Data Fault
2020-01-23T19:03:06.261Z,1579806186.261 [CBIT](ERROR): Data Fault in component: NAL9602
2020-01-23T19:03:06.692Z,1579806186.692 [NAL9602](INFO): Powering down
2020-01-23T19:03:07.461Z,1579806187.461 [CBIT](INFO): Clearing failed state for component NAL9602
2020-01-23T19:03:07.461Z,1579806187.461 [NAL9602] No Fault, FailCount= 1
2020-01-23T19:03:22.054Z,1579806202.054 [CommandLine](IMPORTANT): got command restart application
2020-01-23T19:03:23.057Z,1579806203.057 [Supervisor](INFO): Stop Mission called by Supervisor::terminate
2020-01-23T19:03:23.057Z,1579806203.057 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-23T19:03:23.057Z,1579806203.057 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:03:23.061Z,1579806203.061 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2020-01-23T19:03:23.061Z,1579806203.061 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:03:23.062Z,1579806203.062 [CommandLine](INFO): Join timeout helper Thread ID is 7342
2020-01-23T19:03:23.062Z,1579806203.062 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2020-01-23T19:03:23.062Z,1579806203.062 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:03:23.063Z,1579806203.063 [NavChartDb](INFO): Join timeout helper Thread ID is 7343
2020-01-23T19:03:23.258Z,1579806203.258 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-23T19:03:23.258Z,1579806203.258 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:03:23.269Z,1579806203.269 [ComponentRegistry](INFO): Shutting down WetLabsSeaOWL_UV_A ThreadHandler
2020-01-23T19:03:23.269Z,1579806203.269 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:03:23.269Z,1579806203.269 [WetLabsSeaOWL_UV_A](INFO): Join timeout helper Thread ID is 7344
2020-01-23T19:03:23.310Z,1579806203.310 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-23T19:03:23.310Z,1579806203.310 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-01-23T19:03:23.312Z,1579806203.312 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:03:23.317Z,1579806203.317 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2020-01-23T19:03:23.317Z,1579806203.317 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:03:23.317Z,1579806203.317 [CTD_NeilBrown](INFO): Join timeout helper Thread ID is 7345
2020-01-23T19:03:23.365Z,1579806203.365 [CTD_NeilBrown ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-23T19:03:23.366Z,1579806203.366 [CTD_NeilBrown](INFO): Powering down
2020-01-23T19:03:23.377Z,1579806203.377 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:03:23.385Z,1579806203.385 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2020-01-23T19:03:23.385Z,1579806203.385 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:03:23.385Z,1579806203.385 [DataOverHttps](INFO): Join timeout helper Thread ID is 7346
2020-01-23T19:03:23.885Z,1579806203.885 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-23T19:03:23.886Z,1579806203.886 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:03:23.894Z,1579806203.894 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2020-01-23T19:03:23.894Z,1579806203.894 [logger ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:03:23.894Z,1579806203.894 [logger](INFO): Join timeout helper Thread ID is 7347
2020-01-23T19:03:23.937Z,1579806203.937 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-23T19:03:23.938Z,1579806203.938 [logger ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:03:23.955Z,1579806203.955 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2020-01-23T19:03:23.955Z,1579806203.955 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:03:23.956Z,1579806203.956 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2020-01-23T19:03:23.956Z,1579806203.956 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:03:23.957Z,1579806203.957 [controlThread](INFO): Join timeout helper Thread ID is 7348
2020-01-23T19:03:23.966Z,1579806203.966 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-23T19:03:23.967Z,1579806203.967 [controlThread](DEBUG): Uninitializing ControlThread
2020-01-23T19:03:23.970Z,1579806203.970 [AHRS_M2](INFO): Powering down
2020-01-23T19:03:24.041Z,1579806204.041 [DDM](INFO): Powering down
2020-01-23T19:03:24.133Z,1579806204.133 [DUSBL_Hydroid](INFO): Powering down
2020-01-23T19:03:24.205Z,1579806204.205 [Micromodem](INFO): Powering down
2020-01-23T19:03:24.301Z,1579806204.301 [NAL9602](INFO): Powering down
2020-01-23T19:03:24.373Z,1579806204.373 [RDI_Pathfinder](INFO): Powering down
2020-01-23T19:03:24.374Z,1579806204.374 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2020-01-23T19:03:24.375Z,1579806204.375 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2020-01-23T19:03:24.376Z,1579806204.376 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2020-01-23T19:03:24.376Z,1579806204.376 [MissionManager](INFO): Uninitializing Mission DefaultUnder
2020-01-23T19:03:24.376Z,1579806204.376 [DefaultUnder] Stopped
2020-01-23T19:03:24.376Z,1579806204.376 [DefaultUnder](DEBUG): Aggregate::uninitialize DefaultUnder
2020-01-23T19:03:24.376Z,1579806204.376 [DefaultUnder:uModemComms] Stopped
2020-01-23T19:03:24.377Z,1579806204.377 [DefaultUnder:uModemComms](DEBUG): Aggregate::uninitialize DefaultUnder:uModemComms
2020-01-23T19:03:24.377Z,1579806204.377 [DefaultUnder:Notify] Stopped
2020-01-23T19:03:24.377Z,1579806204.377 [DefaultUnder:Notify](DEBUG): Aggregate::uninitialize DefaultUnder:Notify
2020-01-23T19:03:24.377Z,1579806204.377 [DefaultUnder:Notify:A] Stopped
2020-01-23T19:03:24.377Z,1579806204.377 [DefaultUnder:Notify:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A
2020-01-23T19:03:24.377Z,1579806204.377 [DefaultUnder:Notify:A:A] Stopped
2020-01-23T19:03:24.377Z,1579806204.377 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A:A
2020-01-23T19:03:24.377Z,1579806204.377 [DefaultUnder:Notify:A:A:A.Wait] Stopped
2020-01-23T19:03:24.377Z,1579806204.377 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-23T19:03:24.377Z,1579806204.377 [DefaultUnder:C.] Stopped
2020-01-23T19:03:24.377Z,1579806204.377 [DefaultUnder:Default] Stopped
2020-01-23T19:03:24.378Z,1579806204.378 [DefaultUnder:Default](DEBUG): Aggregate::uninitialize DefaultUnder:Default
2020-01-23T19:03:24.378Z,1579806204.378 [DefaultUnder:Default:Docked] Stopped
2020-01-23T19:03:24.378Z,1579806204.378 [DefaultUnder:Default:Docked](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Docked
2020-01-23T19:03:24.378Z,1579806204.378 [DefaultUnder:Default:Docked:run] Stopped
2020-01-23T19:03:24.378Z,1579806204.378 [DefaultUnder:Default:Docked:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Docked:run
2020-01-23T19:03:24.378Z,1579806204.378 [DefaultUnder:Default:Docked:run:B.Docked] Stopped
2020-01-23T19:03:24.405Z,1579806204.405 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2020-01-23T19:03:24.406Z,1579806204.406 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2020-01-23T19:03:24.406Z,1579806204.406 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2020-01-23T19:03:24.406Z,1579806204.406 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2020-01-23T19:03:24.407Z,1579806204.407 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2020-01-23T19:03:24.407Z,1579806204.407 [BuoyancyServo](INFO): Powering down
2020-01-23T19:03:24.421Z,1579806204.421 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2020-01-23T19:03:24.421Z,1579806204.421 [ElevatorServo](INFO): Powering down
2020-01-23T19:03:24.422Z,1579806204.422 [MassServo](DEBUG): Uninitialize Mass Servo.
2020-01-23T19:03:24.422Z,1579806204.422 [MassServo](INFO): Powering down
2020-01-23T19:03:24.423Z,1579806204.423 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-01-23T19:03:24.423Z,1579806204.423 [RudderServo](INFO): Powering down
2020-01-23T19:03:24.424Z,1579806204.424 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2020-01-23T19:03:24.424Z,1579806204.424 [ThrusterServo](INFO): Powering down
2020-01-23T19:03:24.424Z,1579806204.424 [SBIT](DEBUG): Uninitialize SBIT Component.
2020-01-23T19:03:24.425Z,1579806204.425 [IBIT](DEBUG): Uninitialize IBIT Component.
2020-01-23T19:03:24.425Z,1579806204.425 [CBIT](DEBUG): Uninitialize CBIT Component.
2020-01-23T19:03:24.425Z,1579806204.425 [CBIT](DEBUG): Powering off loads.
2020-01-23T19:03:24.437Z,1579806204.437 [CBIT](DEBUG): Disabling WDT.
2020-01-23T19:03:24.449Z,1579806204.449 [CBIT](DEBUG): Opening all GF detection circuits.
2020-01-23T19:03:24.450Z,1579806204.450 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:03:24.508Z,1579806204.508 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:03:24.550Z,1579806204.550 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:03:24.552Z,1579806204.552 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:03:24.612Z,1579806204.612 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:03:24.675Z,1579806204.675 [logger ThreadHandler](INFO): Thread cancelled.