2020-01-23T19:03:25.615Z,1579806205.615 [Supervisor](DEBUG): Initializing supervisor.
2020-01-23T19:03:25.618Z,1579806205.618 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2020-01-23T19:03:25.618Z,1579806205.618 [SyncHandler](INFO): Protected caller Thread ID is 7349
2020-01-23T19:03:25.619Z,1579806205.619 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2020-01-23T19:03:25.620Z,1579806205.620 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2020-01-23T19:03:25.620Z,1579806205.620 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 7350
2020-01-23T19:03:25.623Z,1579806205.623 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2020-01-23T19:03:25.636Z,1579806205.636 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2020-01-23T19:03:25.637Z,1579806205.637 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2020-01-23T19:03:25.637Z,1579806205.637 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 7351
2020-01-23T19:03:25.638Z,1579806205.638 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2020-01-23T19:03:25.639Z,1579806205.639 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2020-01-23T19:03:25.639Z,1579806205.639 [logger ThreadHandler](INFO): Protected caller Thread ID is 7352
2020-01-23T19:03:25.641Z,1579806205.641 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2020-01-23T19:03:25.641Z,1579806205.641 [Supervisor](INFO): Looking for Config files in directory: Config/
2020-01-23T19:03:25.643Z,1579806205.643 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2020-01-23T19:03:26.085Z,1579806206.085 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2020-01-23T19:03:26.085Z,1579806206.085 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2020-01-23T19:03:26.182Z,1579806206.182 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2020-01-23T19:03:26.183Z,1579806206.183 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2020-01-23T19:03:26.502Z,1579806206.502 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2020-01-23T19:03:26.502Z,1579806206.502 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2020-01-23T19:03:26.641Z,1579806206.641 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2020-01-23T19:03:26.641Z,1579806206.641 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2020-01-23T19:03:26.835Z,1579806206.835 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2020-01-23T19:03:26.835Z,1579806206.835 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2020-01-23T19:03:27.297Z,1579806207.297 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2020-01-23T19:03:27.298Z,1579806207.298 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2020-01-23T19:03:27.624Z,1579806207.624 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2020-01-23T19:03:27.624Z,1579806207.624 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2020-01-23T19:03:27.768Z,1579806207.768 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2020-01-23T19:03:27.769Z,1579806207.769 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2020-01-23T19:03:27.962Z,1579806207.962 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2020-01-23T19:03:27.962Z,1579806207.962 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2020-01-23T19:03:28.057Z,1579806208.057 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2020-01-23T19:03:28.058Z,1579806208.058 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2020-01-23T19:03:28.360Z,1579806208.360 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2020-01-23T19:03:28.361Z,1579806208.361 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2020-01-23T19:03:28.440Z,1579806208.440 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2020-01-23T19:03:28.542Z,1579806208.542 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2020-01-23T19:03:28.543Z,1579806208.543 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2020-01-23T19:03:29.188Z,1579806209.188 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2020-01-23T19:03:29.189Z,1579806209.189 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2020-01-23T19:03:29.601Z,1579806209.601 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2020-01-23T19:03:29.603Z,1579806209.603 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/
2020-01-23T19:03:29.603Z,1579806209.603 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/vehicle.cfg
2020-01-23T19:03:29.817Z,1579806209.817 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Control.cfg
2020-01-23T19:03:29.918Z,1579806209.918 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/BIT.cfg
2020-01-23T19:03:30.017Z,1579806210.017 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Battery.cfg
2020-01-23T19:03:30.243Z,1579806210.243 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2020-01-23T19:03:30.243Z,1579806210.243 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Simulator.cfg
2020-01-23T19:03:30.327Z,1579806210.327 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Navigation.cfg
2020-01-23T19:03:30.420Z,1579806210.420 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/logger.cfg
2020-01-23T19:03:30.517Z,1579806210.517 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/secure.cfg
2020-01-23T19:03:30.599Z,1579806210.599 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Servo.cfg
2020-01-23T19:03:30.707Z,1579806210.707 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/workSite.cfg
2020-01-23T19:03:30.799Z,1579806210.799 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Sensor.cfg
2020-01-23T19:03:30.986Z,1579806210.986 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Science.cfg
2020-01-23T19:03:31.117Z,1579806211.117 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/root/
2020-01-23T19:03:31.118Z,1579806211.118 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2020-01-23T19:03:31.126Z,1579806211.126 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2020-01-23T19:03:31.432Z,1579806211.432 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_orientation
2020-01-23T19:03:31.437Z,1579806211.437 [AHRS_M2](INFO): created writer for : platform_orientation
2020-01-23T19:03:31.439Z,1579806211.439 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_magnetic_orientation
2020-01-23T19:03:31.444Z,1579806211.444 [AHRS_M2](INFO): created writer for : platform_magnetic_orientation
2020-01-23T19:03:31.444Z,1579806211.444 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_pitch_angle
2020-01-23T19:03:31.449Z,1579806211.449 [AHRS_M2](INFO): created writer for : platform_pitch_angle
2020-01-23T19:03:31.450Z,1579806211.450 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_roll_angle
2020-01-23T19:03:31.455Z,1579806211.455 [AHRS_M2](INFO): created writer for : platform_roll_angle
2020-01-23T19:03:31.523Z,1579806211.523 [AHRS_M2] Loaded
2020-01-23T19:03:31.523Z,1579806211.523 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2020-01-23T19:03:31.604Z,1579806211.604 [DataOverHttps] Loaded
2020-01-23T19:03:31.604Z,1579806211.604 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2020-01-23T19:03:31.605Z,1579806211.605 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 407684E0
2020-01-23T19:03:31.605Z,1579806211.605 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 7434
2020-01-23T19:03:31.629Z,1579806211.629 [DDM] Loaded
2020-01-23T19:03:31.629Z,1579806211.629 [ComponentRegistry](DEBUG): SyncComponent "DDM" handled in the control thread.
2020-01-23T19:03:31.642Z,1579806211.642 [Depth_Keller] Loaded
2020-01-23T19:03:31.642Z,1579806211.642 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2020-01-23T19:03:31.647Z,1579806211.647 [DropWeight] Loaded
2020-01-23T19:03:31.647Z,1579806211.647 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2020-01-23T19:03:31.707Z,1579806211.707 [DUSBL_Hydroid] Loaded
2020-01-23T19:03:31.707Z,1579806211.707 [ComponentRegistry](DEBUG): SyncComponent "DUSBL_Hydroid" handled in the control thread.
2020-01-23T19:03:31.752Z,1579806211.752 [Micromodem] Loaded
2020-01-23T19:03:31.753Z,1579806211.753 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2020-01-23T19:03:31.847Z,1579806211.847 [NAL9602] Loaded
2020-01-23T19:03:31.847Z,1579806211.847 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2020-01-23T19:03:31.885Z,1579806211.885 [Onboard] Loaded
2020-01-23T19:03:31.885Z,1579806211.885 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2020-01-23T19:03:31.891Z,1579806211.891 [PowerOnly] Loaded
2020-01-23T19:03:31.891Z,1579806211.891 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2020-01-23T19:03:31.934Z,1579806211.934 [RDI_Pathfinder] Loaded
2020-01-23T19:03:31.934Z,1579806211.934 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2020-01-23T19:03:33.967Z,1579806213.967 [BPC1] Loaded
2020-01-23T19:03:33.967Z,1579806213.967 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2020-01-23T19:03:33.968Z,1579806213.968 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2020-01-23T19:03:33.968Z,1579806213.968 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2020-01-23T19:03:33.981Z,1579806213.981 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2020-01-23T19:03:33.982Z,1579806213.982 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2020-01-23T19:03:34.083Z,1579806214.083 [DeadReckonUsingMultipleVelocitySources] Loaded
2020-01-23T19:03:34.083Z,1579806214.083 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2020-01-23T19:03:34.103Z,1579806214.103 [NavChart] Loaded
2020-01-23T19:03:34.103Z,1579806214.103 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2020-01-23T19:03:34.107Z,1579806214.107 [UniversalFixResidualReporter] Loaded
2020-01-23T19:03:34.107Z,1579806214.107 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2020-01-23T19:03:34.108Z,1579806214.108 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2020-01-23T19:03:34.108Z,1579806214.108 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2020-01-23T19:03:34.270Z,1579806214.270 [BuoyancyServo] Loaded
2020-01-23T19:03:34.270Z,1579806214.270 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2020-01-23T19:03:34.284Z,1579806214.284 [ElevatorServo] Loaded
2020-01-23T19:03:34.285Z,1579806214.285 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2020-01-23T19:03:34.299Z,1579806214.299 [MassServo] Loaded
2020-01-23T19:03:34.299Z,1579806214.299 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2020-01-23T19:03:34.314Z,1579806214.314 [RudderServo] Loaded
2020-01-23T19:03:34.314Z,1579806214.314 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2020-01-23T19:03:34.328Z,1579806214.328 [ThrusterServo] Loaded
2020-01-23T19:03:34.329Z,1579806214.329 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2020-01-23T19:03:34.329Z,1579806214.329 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2020-01-23T19:03:34.330Z,1579806214.330 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2020-01-23T19:03:34.580Z,1579806214.580 [CTD_NeilBrown] Loaded
2020-01-23T19:03:34.580Z,1579806214.580 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2020-01-23T19:03:34.581Z,1579806214.581 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 408BC4E0
2020-01-23T19:03:34.581Z,1579806214.581 [CTD_NeilBrown ThreadHandler](INFO): Protected caller Thread ID is 7435
2020-01-23T19:03:34.596Z,1579806214.596 [PAR_Licor] Loaded
2020-01-23T19:03:34.596Z,1579806214.596 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2020-01-23T19:03:34.639Z,1579806214.639 [WetLabsSeaOWL_UV_A] Loaded
2020-01-23T19:03:34.639Z,1579806214.639 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2020-01-23T19:03:34.640Z,1579806214.640 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 408EC4E0
2020-01-23T19:03:34.640Z,1579806214.640 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 7436
2020-01-23T19:03:34.641Z,1579806214.641 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2020-01-23T19:03:34.641Z,1579806214.641 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2020-01-23T19:03:34.969Z,1579806214.969 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2020-01-23T19:03:34.970Z,1579806214.970 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2020-01-23T19:03:35.010Z,1579806215.010 [DepthRateCalculator] Loaded
2020-01-23T19:03:35.010Z,1579806215.010 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2020-01-23T19:03:35.015Z,1579806215.015 [PitchRateCalculator] Loaded
2020-01-23T19:03:35.016Z,1579806215.016 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2020-01-23T19:03:35.027Z,1579806215.027 [SpeedCalculator] Loaded
2020-01-23T19:03:35.028Z,1579806215.028 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2020-01-23T19:03:35.048Z,1579806215.048 [TempGradientCalculator] Loaded
2020-01-23T19:03:35.048Z,1579806215.048 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2020-01-23T19:03:35.054Z,1579806215.054 [YawRateCalculator] Loaded
2020-01-23T19:03:35.054Z,1579806215.054 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2020-01-23T19:03:35.093Z,1579806215.093 [ElevatorOffsetCalculator] Loaded
2020-01-23T19:03:35.094Z,1579806215.094 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2020-01-23T19:03:35.094Z,1579806215.094 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2020-01-23T19:03:35.095Z,1579806215.095 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2020-01-23T19:03:35.225Z,1579806215.225 [SBIT](DEBUG): Construct Startup Built In Test.
2020-01-23T19:03:35.249Z,1579806215.249 [SBIT] Loaded
2020-01-23T19:03:35.250Z,1579806215.250 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2020-01-23T19:03:35.250Z,1579806215.250 [IBIT](DEBUG): Construct Initiated Built In Test.
2020-01-23T19:03:35.263Z,1579806215.263 [IBIT] Loaded
2020-01-23T19:03:35.263Z,1579806215.263 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2020-01-23T19:03:35.266Z,1579806215.266 [CBIT](DEBUG): Construct Continuous Built In Test.
2020-01-23T19:03:35.401Z,1579806215.401 [CBIT] Loaded
2020-01-23T19:03:35.401Z,1579806215.401 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2020-01-23T19:03:35.402Z,1579806215.402 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2020-01-23T19:03:35.402Z,1579806215.402 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2020-01-23T19:03:35.481Z,1579806215.481 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2020-01-23T19:03:35.482Z,1579806215.482 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2020-01-23T19:03:35.579Z,1579806215.579 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2020-01-23T19:03:35.579Z,1579806215.579 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2020-01-23T19:03:35.626Z,1579806215.626 [VerticalControl](DEBUG): Construct VerticalControl.
2020-01-23T19:03:35.708Z,1579806215.708 [VerticalControl] Loaded
2020-01-23T19:03:35.708Z,1579806215.708 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2020-01-23T19:03:35.709Z,1579806215.709 [HorizontalControl](DEBUG): Construct HorizontalControl.
2020-01-23T19:03:35.776Z,1579806215.776 [HorizontalControl] Loaded
2020-01-23T19:03:35.776Z,1579806215.776 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2020-01-23T19:03:35.777Z,1579806215.777 [SpeedControl](DEBUG): Construct SpeedControl.
2020-01-23T19:03:35.779Z,1579806215.779 [SpeedControl] Loaded
2020-01-23T19:03:35.779Z,1579806215.779 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2020-01-23T19:03:35.780Z,1579806215.780 [LoopControl](DEBUG): Construct LoopControl.
2020-01-23T19:03:35.780Z,1579806215.780 [LoopControl] Loaded
2020-01-23T19:03:35.780Z,1579806215.780 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2020-01-23T19:03:35.781Z,1579806215.781 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2020-01-23T19:03:35.781Z,1579806215.781 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2020-01-23T19:03:35.813Z,1579806215.813 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2020-01-23T19:03:35.816Z,1579806215.816 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2020-01-23T19:03:35.817Z,1579806215.817 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2020-01-23T19:03:35.824Z,1579806215.824 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2020-01-23T19:03:35.825Z,1579806215.825 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40AD34E0
2020-01-23T19:03:35.825Z,1579806215.825 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 7437
2020-01-23T19:03:35.830Z,1579806215.830 [Supervisor](INFO): Main Thread ID is 6574
2020-01-23T19:03:35.830Z,1579806215.830 [Supervisor](DEBUG): Running supervisor.
2020-01-23T19:03:35.830Z,1579806215.830 [CommandLine ThreadHandler](INFO): Handler Thread ID is 7438
2020-01-23T19:03:35.833Z,1579806215.833 [controlThread ThreadHandler](INFO): Handler Thread ID is 7439
2020-01-23T19:03:35.833Z,1579806215.833 [controlThread](DEBUG): Initializing ControlThread
2020-01-23T19:03:35.840Z,1579806215.840 [NavChart](DEBUG): Initialize NavChart Navigation.
2020-01-23T19:03:35.840Z,1579806215.840 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2020-01-23T19:03:35.845Z,1579806215.845 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2020-01-23T19:03:35.845Z,1579806215.845 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2020-01-23T19:03:35.846Z,1579806215.846 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2020-01-23T19:03:35.846Z,1579806215.846 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2020-01-23T19:03:35.847Z,1579806215.847 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2020-01-23T19:03:35.847Z,1579806215.847 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2020-01-23T19:03:35.848Z,1579806215.848 [SBIT](INFO): Initialize SBIT Component.
2020-01-23T19:03:35.848Z,1579806215.848 [SBIT](IMPORTANT): git: 2019-12-03-66-g3ff2a14
2020-01-23T19:03:35.848Z,1579806215.848 [SBIT](INFO): git hash: 3ff2a141e314d0ff24dfcdecba8589fc2363d401
2020-01-23T19:03:35.849Z,1579806215.849 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2020-01-23T19:03:35.850Z,1579806215.850 [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
2020-01-23T19:03:35.851Z,1579806215.851 [SBIT](INFO): Beginning SBIT in 39.000000 seconds.
2020-01-23T19:03:35.851Z,1579806215.851 [IBIT](INFO): Initialize IBIT Component.
2020-01-23T19:03:35.852Z,1579806215.852 [CBIT](DEBUG): Initialize CBIT Component.
2020-01-23T19:03:35.853Z,1579806215.853 [logger ThreadHandler](INFO): Handler Thread ID is 7440
2020-01-23T19:03:35.865Z,1579806215.865 [CBIT](DEBUG): Initialized mux pins.
2020-01-23T19:03:35.865Z,1579806215.865 [CBIT](DEBUG): Initializing the watchdog timer.
2020-01-23T19:03:35.873Z,1579806215.873 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 7441
2020-01-23T19:03:35.874Z,1579806215.874 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2020-01-23T19:03:35.885Z,1579806215.885 [CTD_NeilBrown ThreadHandler](INFO): Handler Thread ID is 7442
2020-01-23T19:03:35.886Z,1579806215.886 [CTD_NeilBrown](INFO): Powering down
2020-01-23T19:03:35.893Z,1579806215.893 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2020-01-23T19:03:35.893Z,1579806215.893 [CBIT](DEBUG): Initializing heartbeat.
2020-01-23T19:03:35.905Z,1579806215.905 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 7443
2020-01-23T19:03:35.906Z,1579806215.906 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-01-23T19:03:35.942Z,1579806215.942 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 7444
2020-01-23T19:03:35.945Z,1579806215.945 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2020-01-23T19:03:35.945Z,1579806215.945 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2020-01-23T19:03:35.945Z,1579806215.945 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2020-01-23T19:03:35.945Z,1579806215.945 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2020-01-23T19:03:35.945Z,1579806215.945 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2020-01-23T19:03:35.945Z,1579806215.945 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2020-01-23T19:03:35.946Z,1579806215.946 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2020-01-23T19:03:35.946Z,1579806215.946 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2020-01-23T19:03:35.946Z,1579806215.946 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2020-01-23T19:03:35.946Z,1579806215.946 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2020-01-23T19:03:35.946Z,1579806215.946 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2020-01-23T19:03:35.946Z,1579806215.946 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2020-01-23T19:03:35.947Z,1579806215.947 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2020-01-23T19:03:35.947Z,1579806215.947 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2020-01-23T19:03:35.947Z,1579806215.947 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2020-01-23T19:03:35.947Z,1579806215.947 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2020-01-23T19:03:35.965Z,1579806215.965 [CBIT](DEBUG): Deactivating GF circuits.
2020-01-23T19:03:35.965Z,1579806215.965 [CBIT](DEBUG): Deactivating emergency mode.
2020-01-23T19:03:36.001Z,1579806216.001 [CBIT](DEBUG): Backplane powered.
2020-01-23T19:03:36.001Z,1579806216.001 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2020-01-23T19:03:36.003Z,1579806216.003 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2020-01-23T19:03:36.003Z,1579806216.003 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2020-01-23T19:03:36.004Z,1579806216.004 [LoopControl](DEBUG): Initialize LoopControlComponent.
2020-01-23T19:03:36.005Z,1579806216.005 [MissionManager](INFO): Loading Mission: Missions/underIce/StartupUnder.xml
2020-01-23T19:03:36.011Z,1579806216.011 [MissionManager](ERROR): Top node has no child nodes: Mission
2020-01-23T19:03:36.011Z,1579806216.011 [MissionManager](ERROR): Could not load startup mission.
2020-01-23T19:03:36.011Z,1579806216.011 [MissionManager](INFO): Loading Mission: Missions/underIce/DefaultUnder.xml
2020-01-23T19:03:36.089Z,1579806216.089 [CTD_NeilBrown](FAULT): LCB fault: LCB Watchdog Reset. Invalid Command. Hardware Overcurrent Shutdown. Software Overcurrent. Current Limiter Activated.
2020-01-23T19:03:36.090Z,1579806216.090 [CTD_NeilBrown] Hardware Fault, FailCount= 1
2020-01-23T19:03:36.090Z,1579806216.090 [CTD_NeilBrown](ERROR): Hardware Fault
2020-01-23T19:03:36.245Z,1579806216.245 [MissionManager](INFO): DefineArg DefaultUnder.uModemCommsInterval = 5.000000 min
2020-01-23T19:03:36.248Z,1579806216.248 [MissionManager](INFO): DefineArg DefaultUnder.TransponderCode = 2.000000 count
2020-01-23T19:03:36.251Z,1579806216.251 [MissionManager](INFO): DefineArg DefaultUnder.AcousticUpdatePeriod = 60.000000 s
2020-01-23T19:03:36.266Z,1579806216.266 [MissionManager](INFO): DefineArg DefaultUnder.DockingAcousticUpdatePeriod = 2.500000 s
2020-01-23T19:03:36.270Z,1579806216.270 [MissionManager](INFO): DefineArg DefaultUnder.NumberOfPings = 1.000000 count
2020-01-23T19:03:36.309Z,1579806216.309 [MissionManager](INFO): DefineOutput DefaultUnder.TrackingUpdatePeriod = 60.000000 n/a
2020-01-23T19:03:36.312Z,1579806216.312 [MissionManager](INFO): DefineOutput DefaultUnder.Surface = -1.000000 count
2020-01-23T19:03:36.316Z,1579806216.316 [MissionManager](INFO): DefineOutput DefaultUnder.Docked = 0.000000 count
2020-01-23T19:03:36.331Z,1579806216.331 [MissionManager](INFO): DefineOutput DefaultUnder.Home = 1.000000 count
2020-01-23T19:03:36.340Z,1579806216.340 [MissionManager](INFO): DefineOutput DefaultUnder.DefaultMode = 0.000000 n/a
2020-01-23T19:03:36.344Z,1579806216.344 [MissionManager](INFO): DefineOutput DefaultUnder.CaptureMode = -1.000000 count
2020-01-23T19:03:36.387Z,1579806216.387 [MissionManager](INFO): DefineOutput DefaultUnder.ElapsedSinceDefaultStarted = 0.000000 min
2020-01-23T19:03:36.409Z,1579806216.409 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Construct Wait.
2020-01-23T19:03:36.437Z,1579806216.437 [DefaultUnder:Notify:A:C.Execute](DEBUG): Construct Execute.
2020-01-23T19:03:36.648Z,1579806216.648 [MissionManager](INFO): Inserting Stack: Missions/Insert/LineCapture.xml
2020-01-23T19:03:37.184Z,1579806217.184 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockDepth = 6.000000 _
2020-01-23T19:03:37.188Z,1579806217.188 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockLat = 0.642341 _
2020-01-23T19:03:37.200Z,1579806217.200 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockLon = -2.126200 _
2020-01-23T19:03:37.219Z,1579806217.219 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DetachRange = 8.000000 m
2020-01-23T19:03:37.223Z,1579806217.223 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DetachTimeout = 30.000000 min
2020-01-23T19:03:37.238Z,1579806217.238 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MidcourseDepth = 15.000000 m
2020-01-23T19:03:37.241Z,1579806217.241 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MidcourseSpeed = 1.000000 m/s
2020-01-23T19:03:37.244Z,1579806217.244 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MidcourseTimeout = 12.000000 h
2020-01-23T19:03:37.264Z,1579806217.264 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.TerminalRange = 650.000000 m
2020-01-23T19:03:37.267Z,1579806217.267 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.ArmRange = 40.000000 m
2020-01-23T19:03:37.287Z,1579806217.287 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockRange = 2.000000 m
2020-01-23T19:03:37.290Z,1579806217.290 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockTimeout = 60.000000 s
2020-01-23T19:03:37.313Z,1579806217.313 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.RolloutDistance = 250.000000 m
2020-01-23T19:03:37.316Z,1579806217.316 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.UpdateNav = 1 bool
2020-01-23T19:03:37.328Z,1579806217.328 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.AcousticTimeout = 10.000000 min
2020-01-23T19:03:37.340Z,1579806217.340 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.TerminalSpeed = 0.800000 m/s
2020-01-23T19:03:37.343Z,1579806217.343 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.SearchTimeout = 60.000000 min
2020-01-23T19:03:37.355Z,1579806217.355 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.CircleRadius = 300.000000 m
2020-01-23T19:03:37.358Z,1579806217.358 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.CircleMaxError = 100.000000 m
2020-01-23T19:03:37.385Z,1579806217.385 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.CircleTurnToPort = 0 bool
2020-01-23T19:03:37.389Z,1579806217.389 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DepthDeadband = 0.010000 m
2020-01-23T19:03:37.392Z,1579806217.392 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.RudderDeadband = 0.001000 arcdeg
2020-01-23T19:03:37.408Z,1579806217.408 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MinAltitude = 5.000000 m
2020-01-23T19:03:37.411Z,1579806217.411 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MaxDepth = 205.000000 m
2020-01-23T19:03:37.430Z,1579806217.430 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MinOffshore = 500.000000 m
2020-01-23T19:03:37.434Z,1579806217.434 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Depth = 15.000000 n/a
2020-01-23T19:03:37.453Z,1579806217.453 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Speed = 1.000000 n/a
2020-01-23T19:03:37.457Z,1579806217.457 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.DoneTimeout = -1.000000 count
2020-01-23T19:03:37.460Z,1579806217.460 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Done = 0.000000 count
2020-01-23T19:03:37.484Z,1579806217.484 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.DetachFromDock = 1.000000 count
2020-01-23T19:03:37.487Z,1579806217.487 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Midcourse = 2.000000 count
2020-01-23T19:03:37.499Z,1579806217.499 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Terminal = 3.000000 count
2020-01-23T19:03:37.503Z,1579806217.503 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.GuidanceMode = 1.000000 n/a
2020-01-23T19:03:37.530Z,1579806217.530 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.ElapsedRange = 0.000000 min
2020-01-23T19:03:37.534Z,1579806217.534 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.Range = nan m
2020-01-23T19:03:37.536Z,1579806217.536 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2020-01-23T19:03:37.584Z,1579806217.584 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2020-01-23T19:03:37.607Z,1579806217.607 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2020-01-23T19:03:37.618Z,1579806217.618 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2020-01-23T19:03:37.620Z,1579806217.620 [DefaultUnder:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2020-01-23T19:03:37.638Z,1579806217.638 [DefaultUnder:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-01-23T19:03:37.665Z,1579806217.665 [DefaultUnder:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2020-01-23T19:03:37.696Z,1579806217.696 [DefaultUnder:LineCapture:H.Mass](DEBUG): Construct.
2020-01-23T19:03:37.720Z,1579806217.720 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:B.Buoyancy](DEBUG): Construct Buoyancy.
2020-01-23T19:03:37.740Z,1579806217.740 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:C.SetSpeed](DEBUG): Construct.
2020-01-23T19:03:37.743Z,1579806217.743 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:D.Pitch](DEBUG): Construct.
2020-01-23T19:03:37.770Z,1579806217.770 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed](DEBUG): Construct.
2020-01-23T19:03:37.789Z,1579806217.789 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:B.Pitch](DEBUG): Construct.
2020-01-23T19:03:37.829Z,1579806217.829 [DefaultUnder:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2020-01-23T19:03:37.883Z,1579806217.883 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2020-01-23T19:03:37.917Z,1579806217.917 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:G.Circle](DEBUG): Construct.
2020-01-23T19:03:37.998Z,1579806217.998 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2020-01-23T19:03:38.057Z,1579806218.057 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:H.LineCapture](DEBUG): Construct.
2020-01-23T19:03:38.101Z,1579806218.101 [DefaultUnder:LineCapture:K.Wait](DEBUG): Construct Wait.
2020-01-23T19:03:38.104Z,1579806218.104 [DefaultUnder:E.Wait](DEBUG): Construct Wait.
2020-01-23T19:03:38.126Z,1579806218.126 [DefaultUnder:Default:Docked:run:B.Docked](DEBUG): Construct.
2020-01-23T19:03:38.181Z,1579806218.181 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): Construct GoToSurface.
2020-01-23T19:03:38.212Z,1579806218.212 [DefaultUnder:Default:Surface:run:SurfaceComms:Read_Iridium_uModem:A_Timeout:A.Execute](DEBUG): Construct Execute.
2020-01-23T19:03:38.231Z,1579806218.231 [DefaultUnder:Default:Surface:run:SurfaceComms:C.Wait](DEBUG): Construct Wait.
2020-01-23T19:03:38.288Z,1579806218.288 [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>


2020-01-23T19:03:38.298Z,1579806218.298 [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,
2020-01-23T19:03:38.305Z,1579806218.305 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2020-01-23T19:03:38.341Z,1579806218.341 [DDM](INFO): Powering up
2020-01-23T19:03:38.341Z,1579806218.341 [DDM](DEBUG): Initializing DDM.
2020-01-23T19:03:38.367Z,1579806218.367 [DUSBL_Hydroid](INFO): Powering up
2020-01-23T19:03:38.367Z,1579806218.367 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2020-01-23T19:03:38.615Z,1579806218.615 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2020-01-23T19:03:38.621Z,1579806218.621 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2020-01-23T19:03:38.622Z,1579806218.622 [ElevatorServo](DEBUG): Initializing EZServoServo.
2020-01-23T19:03:38.629Z,1579806218.629 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2020-01-23T19:03:38.630Z,1579806218.630 [MassServo](DEBUG): Initializing EZServoServo.
2020-01-23T19:03:38.637Z,1579806218.637 [MassServo](DEBUG): Initializing MassServo.
2020-01-23T19:03:38.638Z,1579806218.638 [RudderServo](DEBUG): Initializing EZServoServo.
2020-01-23T19:03:38.645Z,1579806218.645 [RudderServo](DEBUG): Initializing RudderServo.
2020-01-23T19:03:38.646Z,1579806218.646 [ThrusterServo](DEBUG): Initializing EZServoServo.
2020-01-23T19:03:38.653Z,1579806218.653 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2020-01-23T19:03:38.659Z,1579806218.659 [CBIT](ERROR): Hardware Fault in component: CTD_NeilBrown
2020-01-23T19:03:38.659Z,1579806218.659 [CBIT](FAULT): Hardware Fault in component: CTD_NeilBrown
2020-01-23T19:03:38.725Z,1579806218.725 [Depth_Keller](ERROR): Pressure reading out of range: 1913.424561 decibar
2020-01-23T19:03:38.728Z,1579806218.728 [Micromodem](INFO): Powering up
2020-01-23T19:03:38.728Z,1579806218.728 [Micromodem](DEBUG): Initializing Micromodem.
2020-01-23T19:03:39.477Z,1579806219.477 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2020-01-23T19:03:39.477Z,1579806219.477 [RudderServo](FAULT): Rudder failed to initialize
2020-01-23T19:03:39.477Z,1579806219.477 [RudderServo] Communications Fault, FailCount= 1
2020-01-23T19:03:39.477Z,1579806219.477 [RudderServo](ERROR): Communications Fault
2020-01-23T19:03:39.588Z,1579806219.588 [CBIT](ERROR): Communications Fault in component: RudderServo
2020-01-23T19:03:39.870Z,1579806219.870 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-01-23T19:03:39.870Z,1579806219.870 [RudderServo](INFO): Powering down
2020-01-23T19:03:40.467Z,1579806220.467 [RudderServo](DEBUG): Initializing EZServoServo.
2020-01-23T19:03:40.586Z,1579806220.586 [RudderServo](DEBUG): Initializing RudderServo.
2020-01-23T19:03:40.590Z,1579806220.590 [CBIT](INFO): Clearing failed state for component RudderServo
2020-01-23T19:03:40.590Z,1579806220.590 [RudderServo] No Fault, FailCount= 1
2020-01-23T19:03:43.677Z,1579806223.677 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2020-01-23T19:03:44.080Z,1579806224.080 [Micromodem](INFO): Nmea in: $CATMG,2020-01-23T19:03:43.431100Z,RTC,RTC*5B

2020-01-23T19:03:44.080Z,1579806224.080 [Micromodem](ERROR): CFG response from modem unexpected: $CATMG,2020-01-23T19:03:43.431100Z,RTC,RTC*5B

2020-01-23T19:03:44.483Z,1579806224.483 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2020-01-23T19:03:44.483Z,1579806224.483 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2020-01-23T19:03:44.891Z,1579806224.891 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2020-01-23T19:03:44.891Z,1579806224.891 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2020-01-23T19:03:45.295Z,1579806225.295 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2020-01-23T19:03:45.296Z,1579806225.296 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2020-01-23T19:03:45.699Z,1579806225.699 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2020-01-23T19:03:45.700Z,1579806225.700 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2020-01-23T19:03:46.103Z,1579806226.103 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2020-01-23T19:03:46.103Z,1579806226.103 [Micromodem](INFO): Nmea out: $CCCFG,FC0,10000*46

2020-01-23T19:03:46.503Z,1579806226.503 [Micromodem](INFO): Nmea in: $CACFG,FC0,10000*44

2020-01-23T19:03:46.503Z,1579806226.503 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2020-01-23T19:03:46.923Z,1579806226.923 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2020-01-23T19:03:46.923Z,1579806226.923 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2020-01-23T19:03:47.287Z,1579806227.287 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2020-01-23T19:03:47.288Z,1579806227.288 [Micromodem](INFO): Nmea out: $CCCLK,2020,01,23,19,03,48*43

2020-01-23T19:03:47.699Z,1579806227.699 [Micromodem](INFO): Nmea in: $CACLK,2020,1,23,19,3,48*41

2020-01-23T19:03:48.504Z,1579806228.504 [Micromodem](INFO): Nmea in: $CATMS,0,2020-01-23T19:03:49Z*70

2020-01-23T19:03:48.530Z,1579806228.530 [Micromodem](INFO): Nmea in: $CATMG,2020-01-23T19:03:49.027296Z,USER_CMD,RTC*1F

2020-01-23T19:03:48.901Z,1579806228.901 [DDM](INFO): Dynamic Docking Module:
2020-01-23T19:03:51.757Z,1579806231.757 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2020-01-23T19:03:56.583Z,1579806236.583 [DUSBL_Hydroid](INFO): DUSBL Version:O
2020-01-23T19:04:02.227Z,1579806242.227 [NAL9602](INFO): Powering up NAL9602
2020-01-23T19:04:06.997Z,1579806246.997 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2020-01-23T19:04:13.139Z,1579806253.139 [NAL9602](INFO): NAL9602 initialized
2020-01-23T19:04:15.267Z,1579806255.267 [SBIT](IMPORTANT): Beginning Startup BIT
2020-01-23T19:04:15.284Z,1579806255.284 [CBIT](IMPORTANT): Beginning ground fault scan
2020-01-23T19:04:22.190Z,1579806262.190 [CommandLine](IMPORTANT): got command show stack
2020-01-23T19:04:22.190Z,1579806262.190 [CommandLine](IMPORTANT): Behavior Stack:

2020-01-23T19:04:22.191Z,1579806262.191 [DefaultUnder](IMPORTANT): Priority 0: DefaultUnder:C.
2020-01-23T19:04:26.457Z,1579806266.457 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.009272
CHAN A1 (24V): -0.028549
CHAN A2 (12V): -0.007353
CHAN A3 (5V): -0.002072
CHAN B0 (3.3V): 0.000260
CHAN B1 (3.15aV): 0.000048
CHAN B2 (3.15bV): 0.000155
CHAN B3 (GND): 0.001962
OPEN: 0.004968
Full Scale Calc: 4.765 mA, -1.589 mA
2020-01-23T19:04:39.646Z,1579806279.646 [CommandLine](IMPORTANT): got command show stack
2020-01-23T19:04:39.647Z,1579806279.647 [CommandLine](IMPORTANT): Behavior Stack:

2020-01-23T19:04:39.647Z,1579806279.647 [DefaultUnder](IMPORTANT): Priority 0: DefaultUnder:C.
2020-01-23T19:04:44.026Z,1579806284.026 [CommandLine](IMPORTANT): got command get latitude
2020-01-23T19:04:44.027Z,1579806284.027 [CommandLine](FAULT): Element has no value
2020-01-23T19:04:48.805Z,1579806288.805 [CommandLine](IMPORTANT): got command run ./Missions/Demo/setNav.xml
2020-01-23T19:04:48.806Z,1579806288.806 [MissionManager](INFO): Loading Mission: ./Missions/Demo/setNav.xml
2020-01-23T19:04:48.880Z,1579806288.880 [MissionManager](INFO): DefineArg SetNav.DockLat = 0.642341 _
2020-01-23T19:04:48.888Z,1579806288.888 [MissionManager](INFO): DefineArg SetNav.DockLon = -2.126200 _
2020-01-23T19:04:48.895Z,1579806288.895 [SetNav:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2020-01-23T19:04:48.948Z,1579806288.948 [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>


2020-01-23T19:04:48.960Z,1579806288.960 [CommandLine](IMPORTANT): Running ./Missions/Demo/setNav.xml
2020-01-23T19:04:51.657Z,1579806291.657 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-23T19:04:51.657Z,1579806291.657 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,200123121609740.1,   0.0,1448.9,  0
2020-01-23T19:04:53.311Z,1579806293.311 [CommandLine](IMPORTANT): got command show stack
2020-01-23T19:04:53.311Z,1579806293.311 [CommandLine](IMPORTANT): Behavior Stack:

2020-01-23T19:04:53.311Z,1579806293.311 [MissionManager](IMPORTANT): Mission loaded, but not running.
2020-01-23T19:05:08.817Z,1579806308.817 [SBIT](IMPORTANT): SBIT PASSED
2020-01-23T19:05:08.817Z,1579806308.817 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2020-01-23T19:05:08.818Z,1579806308.818 [SBIT](IMPORTANT): DDM.verbosity=3 count;

2020-01-23T19:05:08.818Z,1579806308.818 [SBIT](IMPORTANT): DUSBL_Hydroid.detectionThreshold=30 count;

2020-01-23T19:05:08.818Z,1579806308.818 [SBIT](IMPORTANT): Micromodem.pwrampTXLevel=0 enum;

2020-01-23T19:05:08.819Z,1579806308.819 [SBIT](IMPORTANT): Micromodem.sendExpress=1 bool;

2020-01-23T19:05:08.819Z,1579806308.819 [SBIT](IMPORTANT): Micromodem.surfaceThreshold=0 meter;

2020-01-23T19:05:08.819Z,1579806308.819 [SBIT](IMPORTANT): Radio_Surface.loadAtStartup=0 bool;

2020-01-23T19:05:08.819Z,1579806308.819 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=105 cubic_centimeter;

2020-01-23T19:05:08.819Z,1579806308.819 [SBIT](IMPORTANT): VerticalControl.massDefault=-5 millimeter;

2020-01-23T19:05:09.186Z,1579806309.186 [MissionManager](IMPORTANT): Started mission SetNav
2020-01-23T19:05:09.187Z,1579806309.187 [SetNav] Running Loop=1
2020-01-23T19:05:09.187Z,1579806309.187 [SetNav](DEBUG): Aggregate::initialize SetNav
2020-01-23T19:05:09.187Z,1579806309.187 [SetNav:UpdateNav] Running Loop=1
2020-01-23T19:05:09.187Z,1579806309.187 [SetNav:UpdateNav](DEBUG): Aggregate::initialize SetNav:UpdateNav
2020-01-23T19:05:09.188Z,1579806309.188 [SetNav:UpdateNav:A] Running Loop=1
2020-01-23T19:05:09.188Z,1579806309.188 [SetNav:UpdateNav:A](INFO): Reseting nav to dock location at range <Undefined> m 
2020-01-23T19:05:09.188Z,1579806309.188 [SetNav:UpdateNav:A] Stopped
2020-01-23T19:05:09.188Z,1579806309.188 [SetNav:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T19:05:09.188Z,1579806309.188 [SetNav:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T19:05:09.570Z,1579806309.570 [SetNav:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T190509: (36.803398, -121.822304)
2020-01-23T19:05:09.571Z,1579806309.571 [SetNav:UpdateNav:B.SetNav] Stopped
2020-01-23T19:05:09.571Z,1579806309.571 [SetNav:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T19:05:09.572Z,1579806309.572 [SetNav:UpdateNav](INFO): Completed SetNav:UpdateNav
2020-01-23T19:05:09.572Z,1579806309.572 [SetNav:UpdateNav] Stopped
2020-01-23T19:05:09.572Z,1579806309.572 [SetNav:UpdateNav](DEBUG): Aggregate::uninitialize SetNav:UpdateNav
2020-01-23T19:05:09.573Z,1579806309.573 [SetNav](INFO): Completed SetNav
2020-01-23T19:05:09.574Z,1579806309.574 [MissionManager](INFO): SetNav is completed.
2020-01-23T19:05:09.575Z,1579806309.575 [MissionManager](INFO): Uninitializing Mission SetNav
2020-01-23T19:05:09.575Z,1579806309.575 [SetNav] Stopped
2020-01-23T19:05:09.575Z,1579806309.575 [SetNav](DEBUG): Aggregate::uninitialize SetNav
2020-01-23T19:05:09.996Z,1579806309.996 [MissionManager](IMPORTANT): Started mission DefaultUnder
2020-01-23T19:05:09.996Z,1579806309.996 [DefaultUnder] Running Loop=1
2020-01-23T19:05:09.996Z,1579806309.996 [DefaultUnder](DEBUG): Aggregate::initialize DefaultUnder
2020-01-23T19:05:09.996Z,1579806309.996 [DefaultUnder:uModemComms] Running Loop=1
2020-01-23T19:05:09.996Z,1579806309.996 [DefaultUnder:uModemComms](DEBUG): Aggregate::initialize DefaultUnder:uModemComms
2020-01-23T19:05:10.001Z,1579806310.001 [DefaultUnder:Notify] Running Loop=1
2020-01-23T19:05:10.001Z,1579806310.001 [DefaultUnder:Notify](DEBUG): Aggregate::initialize DefaultUnder:Notify
2020-01-23T19:05:10.001Z,1579806310.001 [DefaultUnder:Notify:A] Running Loop=1
2020-01-23T19:05:10.001Z,1579806310.001 [DefaultUnder:Notify:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A
2020-01-23T19:05:10.001Z,1579806310.001 [DefaultUnder:Notify:A:A] Running Loop=1
2020-01-23T19:05:10.001Z,1579806310.001 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A:A
2020-01-23T19:05:10.001Z,1579806310.001 [DefaultUnder:Notify:A:A:A.Wait] Running Loop=1
2020-01-23T19:05:10.002Z,1579806310.002 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Initialize Wait Component.
2020-01-23T19:05:10.002Z,1579806310.002 [DefaultUnder:C.] Running Loop=1
2020-01-23T19:05:10.002Z,1579806310.002 [DefaultUnder:C.](INFO): Initializing TrackAcousticContact.
2020-01-23T19:05:10.002Z,1579806310.002 [DefaultUnder:E.Wait] Running Loop=1
2020-01-23T19:05:10.002Z,1579806310.002 [DefaultUnder:E.Wait](DEBUG): Initialize Wait Component.
2020-01-23T19:05:10.003Z,1579806310.003 [DefaultUnder:C.] Running Loop=1
2020-01-23T19:05:10.003Z,1579806310.003 [DefaultUnder:Notify] Running Loop=1
2020-01-23T19:05:10.004Z,1579806310.004 [DefaultUnder:uModemComms] Running Loop=1
2020-01-23T19:05:10.004Z,1579806310.004 [DefaultUnder:uModemComms:CheckIn] Running Loop=1
2020-01-23T19:05:10.004Z,1579806310.004 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::initialize DefaultUnder:uModemComms:CheckIn
2020-01-23T19:05:10.004Z,1579806310.004 [DefaultUnder:uModemComms:CheckIn:A] Running Loop=1
2020-01-23T19:05:10.005Z,1579806310.005 [DefaultUnder:uModemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2020-01-23T19:05:10.343Z,1579806310.343 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 60EB295E0A0000005D00000400BD0000000000000000151D80030C5669BF3148E2FA22188B6A3173E5573572661C0BCBDFFAB423BD32D9A51E8904B0A920CE9A
2020-01-23T19:05:10.344Z,1579806310.344 [Micromodem](INFO): Outgoing frame #2, 64 bytes: EF9F66414C9B9FD6761AD008C3E3DC4FCA2E4E25B6359B14B772C42AD2EC5E54CD5F36943CEE1B636250FE035655B6928105C24D4EC1216EF4EA7FDC2A988AC7
2020-01-23T19:05:10.344Z,1579806310.344 [Micromodem](INFO): Outgoing frame #3, 49 bytes: 4539A4949DC05DB8C627478A1310945EDA3E5DCCFD9112695D071AA795B51E7FD071C9BD92D2DEF6D99B3E1191F9D88800
2020-01-23T19:05:10.345Z,1579806310.345 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-23T19:05:10.745Z,1579806310.745 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-23T19:05:11.143Z,1579806311.143 [Micromodem](INFO): Nmea in: $CADRQ,190511,1,12,0,64,1*79

2020-01-23T19:05:11.144Z,1579806311.144 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,60EB295E0A0000005D00000400BD0000000000000000151D80030C5669BF3148E2FA22188B6A3173E5573572661C0BCBDFFAB423BD32D9A51E8904B0A920CE9A*45

2020-01-23T19:05:11.559Z,1579806311.559 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T19:05:11.955Z,1579806311.955 [Micromodem](INFO): Nmea in: $CADRQ,190512,1,12,0,64,2*79

2020-01-23T19:05:11.956Z,1579806311.956 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,EF9F66414C9B9FD6761AD008C3E3DC4FCA2E4E25B6359B14B772C42AD2EC5E54CD5F36943CEE1B636250FE035655B6928105C24D4EC1216EF4EA7FDC2A988AC7*31

2020-01-23T19:05:12.407Z,1579806312.407 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T19:05:12.759Z,1579806312.759 [Micromodem](INFO): Nmea in: $CADRQ,190512,1,12,0,64,3*78

2020-01-23T19:05:12.760Z,1579806312.760 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,4539A4949DC05DB8C627478A1310945EDA3E5DCCFD9112695D071AA795B51E7FD071C9BD92D2DEF6D99B3E1191F9D88800*3A

2020-01-23T19:05:12.999Z,1579806312.999 [CommandLine](IMPORTANT): got command get latitude
2020-01-23T19:05:12.999Z,1579806312.999 [CommandLine](FAULT): Element has no value
2020-01-23T19:05:13.172Z,1579806313.172 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,49*44

2020-01-23T19:05:13.608Z,1579806313.608 [Micromodem](INFO): Nmea in: $CATXP,177*43

2020-01-23T19:05:17.215Z,1579806317.215 [Micromodem](INFO): Nmea in: $CATXF,177*55

2020-01-23T19:05:17.609Z,1579806317.609 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,190513.701749,3,0,200,4000,10000,1,1,12,1,3,3,3,177*72

2020-01-23T19:05:18.802Z,1579806318.802 [CommandLine](IMPORTANT): got command run ./Missions/Demo/setNav.xml
2020-01-23T19:05:18.804Z,1579806318.804 [MissionManager](INFO): Loading Mission: ./Missions/Demo/setNav.xml
2020-01-23T19:05:18.853Z,1579806318.853 [MissionManager](INFO): DefineArg SetNav.DockLat = 0.642341 _
2020-01-23T19:05:18.855Z,1579806318.855 [MissionManager](INFO): DefineArg SetNav.DockLon = -2.126200 _
2020-01-23T19:05:18.857Z,1579806318.857 [SetNav:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2020-01-23T19:05:18.862Z,1579806318.862 [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>


2020-01-23T19:05:18.864Z,1579806318.864 [CommandLine](IMPORTANT): Running ./Missions/Demo/setNav.xml
2020-01-23T19:05:19.018Z,1579806319.018 [DefaultUnder] Stopped
2020-01-23T19:05:19.018Z,1579806319.018 [DefaultUnder](DEBUG): Aggregate::uninitialize DefaultUnder
2020-01-23T19:05:19.018Z,1579806319.018 [DefaultUnder:uModemComms] Stopped
2020-01-23T19:05:19.018Z,1579806319.018 [DefaultUnder:uModemComms](DEBUG): Aggregate::uninitialize DefaultUnder:uModemComms
2020-01-23T19:05:19.018Z,1579806319.018 [DefaultUnder:uModemComms:CheckIn] Stopped
2020-01-23T19:05:19.018Z,1579806319.018 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::uninitialize DefaultUnder:uModemComms:CheckIn
2020-01-23T19:05:19.018Z,1579806319.018 [DefaultUnder:uModemComms:CheckIn:A] Stopped
2020-01-23T19:05:19.019Z,1579806319.019 [DefaultUnder:Notify] Stopped
2020-01-23T19:05:19.019Z,1579806319.019 [DefaultUnder:Notify](DEBUG): Aggregate::uninitialize DefaultUnder:Notify
2020-01-23T19:05:19.019Z,1579806319.019 [DefaultUnder:Notify:A] Stopped
2020-01-23T19:05:19.019Z,1579806319.019 [DefaultUnder:Notify:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A
2020-01-23T19:05:19.019Z,1579806319.019 [DefaultUnder:Notify:A:A] Stopped
2020-01-23T19:05:19.019Z,1579806319.019 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A:A
2020-01-23T19:05:19.019Z,1579806319.019 [DefaultUnder:Notify:A:A:A.Wait] Stopped
2020-01-23T19:05:19.019Z,1579806319.019 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-23T19:05:19.019Z,1579806319.019 [DefaultUnder:C.] Stopped
2020-01-23T19:05:19.019Z,1579806319.019 [DefaultUnder:E.Wait] Stopped
2020-01-23T19:05:19.019Z,1579806319.019 [DefaultUnder:E.Wait](DEBUG): Uninitialize Wait Component.
2020-01-23T19:05:19.020Z,1579806319.020 [MissionManager](IMPORTANT): Started mission SetNav
2020-01-23T19:05:19.020Z,1579806319.020 [SetNav] Running Loop=1
2020-01-23T19:05:19.020Z,1579806319.020 [SetNav](DEBUG): Aggregate::initialize SetNav
2020-01-23T19:05:19.020Z,1579806319.020 [SetNav:UpdateNav] Running Loop=1
2020-01-23T19:05:19.020Z,1579806319.020 [SetNav:UpdateNav](DEBUG): Aggregate::initialize SetNav:UpdateNav
2020-01-23T19:05:19.021Z,1579806319.021 [SetNav:UpdateNav:A] Running Loop=1
2020-01-23T19:05:19.021Z,1579806319.021 [SetNav:UpdateNav:A](INFO): Reseting nav to dock location at range <Undefined> m 
2020-01-23T19:05:19.022Z,1579806319.022 [SetNav:UpdateNav:A] Stopped
2020-01-23T19:05:19.022Z,1579806319.022 [SetNav:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T19:05:19.022Z,1579806319.022 [SetNav:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T19:05:19.272Z,1579806319.272 [SetNav:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T190519: (36.803398, -121.822304)
2020-01-23T19:05:19.272Z,1579806319.272 [SetNav:UpdateNav:B.SetNav] Stopped
2020-01-23T19:05:19.273Z,1579806319.273 [SetNav:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T19:05:19.273Z,1579806319.273 [SetNav:UpdateNav](INFO): Completed SetNav:UpdateNav
2020-01-23T19:05:19.273Z,1579806319.273 [SetNav:UpdateNav] Stopped
2020-01-23T19:05:19.273Z,1579806319.273 [SetNav:UpdateNav](DEBUG): Aggregate::uninitialize SetNav:UpdateNav
2020-01-23T19:05:19.273Z,1579806319.273 [SetNav](INFO): Completed SetNav
2020-01-23T19:05:19.273Z,1579806319.273 [MissionManager](INFO): SetNav is completed.
2020-01-23T19:05:19.274Z,1579806319.274 [MissionManager](INFO): Uninitializing Mission SetNav
2020-01-23T19:05:19.274Z,1579806319.274 [SetNav] Stopped
2020-01-23T19:05:19.274Z,1579806319.274 [SetNav](DEBUG): Aggregate::uninitialize SetNav
2020-01-23T19:05:19.695Z,1579806319.695 [MissionManager](IMPORTANT): Started mission DefaultUnder
2020-01-23T19:05:19.695Z,1579806319.695 [DefaultUnder] Running Loop=1
2020-01-23T19:05:19.695Z,1579806319.695 [DefaultUnder](DEBUG): Aggregate::initialize DefaultUnder
2020-01-23T19:05:19.695Z,1579806319.695 [DefaultUnder:uModemComms] Running Loop=1
2020-01-23T19:05:19.695Z,1579806319.695 [DefaultUnder:uModemComms](DEBUG): Aggregate::initialize DefaultUnder:uModemComms
2020-01-23T19:05:19.695Z,1579806319.695 [DefaultUnder:Notify] Running Loop=1
2020-01-23T19:05:19.695Z,1579806319.695 [DefaultUnder:Notify](DEBUG): Aggregate::initialize DefaultUnder:Notify
2020-01-23T19:05:19.696Z,1579806319.696 [DefaultUnder:Notify:A] Running Loop=1
2020-01-23T19:05:19.696Z,1579806319.696 [DefaultUnder:Notify:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A
2020-01-23T19:05:19.696Z,1579806319.696 [DefaultUnder:Notify:A:A] Running Loop=1
2020-01-23T19:05:19.696Z,1579806319.696 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A:A
2020-01-23T19:05:19.696Z,1579806319.696 [DefaultUnder:Notify:A:A:A.Wait] Running Loop=1
2020-01-23T19:05:19.696Z,1579806319.696 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Initialize Wait Component.
2020-01-23T19:05:19.696Z,1579806319.696 [DefaultUnder:C.] Running Loop=1
2020-01-23T19:05:19.696Z,1579806319.696 [DefaultUnder:C.](INFO): Initializing TrackAcousticContact.
2020-01-23T19:05:19.696Z,1579806319.696 [DefaultUnder:E.Wait] Running Loop=1
2020-01-23T19:05:19.696Z,1579806319.696 [DefaultUnder:E.Wait](DEBUG): Initialize Wait Component.
2020-01-23T19:05:19.698Z,1579806319.698 [DefaultUnder:uModemComms:CheckIn] Running Loop=1
2020-01-23T19:05:19.698Z,1579806319.698 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::initialize DefaultUnder:uModemComms:CheckIn
2020-01-23T19:05:19.698Z,1579806319.698 [DefaultUnder:uModemComms:CheckIn:A] Running Loop=1
2020-01-23T19:05:20.441Z,1579806320.441 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T19:05:20.835Z,1579806320.835 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-23T19:05:21.247Z,1579806321.247 [Micromodem](INFO): Nmea in: $CAACK,12,1,3,1*7B

2020-01-23T19:05:21.248Z,1579806321.248 [Micromodem](INFO): Sent 169 bytes from file Logs/20200123T185216/Courier0010.lzma.parts
2020-01-23T19:05:21.249Z,1579806321.249 [Micromodem](INFO): Packets left to send: 0
2020-01-23T19:05:21.662Z,1579806321.662 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123190520.076792,06,820,29,0149,0150,59,01,01,00,03,1,012,001,0,4,1,0,150,22.2,5.00,13,-2.00,-01,-0.01,25,10000,4000*46

2020-01-23T19:05:21.674Z,1579806321.674 [Micromodem](INFO): Outgoing frame #1, 64 bytes: FDED295E000001005D00000400810200000000000000151D80030C5669BF3148E2FA22188B6A3173E51B1C3DE1295C413B9EA27D0D0958A55575A4074CBAA7A5
2020-01-23T19:05:21.674Z,1579806321.674 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 3F6AE7AF0D07E622820F45259E052A3980439491B5FE44BA5725AF9F520D380EF650D1224C2DD44756ABC8376EA4F1C2928328840EB8F148A67DBA8E3F744407
2020-01-23T19:05:21.675Z,1579806321.675 [Micromodem](INFO): Outgoing frame #3, 64 bytes: 8E4C4CBB77E7035800BF8B4B5F3B1C1E4A0163815F3C91A1986F5A8B85B8A4ED3953AC15B310A2A677312E86BF4ED81BD0235C3E76897440FCF18A2300BBD775
2020-01-23T19:05:21.675Z,1579806321.675 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-23T19:05:22.863Z,1579806322.863 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-23T19:05:23.267Z,1579806323.267 [Micromodem](INFO): Nmea in: $CADRQ,190522,1,12,0,64,1*79

2020-01-23T19:05:23.268Z,1579806323.268 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,FDED295E000001005D00000400810200000000000000151D80030C5669BF3148E2FA22188B6A3173E51B1C3DE1295C413B9EA27D0D0958A55575A4074CBAA7A5*34

2020-01-23T19:05:23.667Z,1579806323.667 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T19:05:24.075Z,1579806324.075 [Micromodem](INFO): Nmea in: $CADRQ,190524,1,12,0,64,2*7C

2020-01-23T19:05:24.076Z,1579806324.076 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,3F6AE7AF0D07E622820F45259E052A3980439491B5FE44BA5725AF9F520D380EF650D1224C2DD44756ABC8376EA4F1C2928328840EB8F148A67DBA8E3F744407*3F

2020-01-23T19:05:24.475Z,1579806324.475 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T19:05:24.883Z,1579806324.883 [Micromodem](INFO): Nmea in: $CADRQ,190524,1,12,0,64,3*7D

2020-01-23T19:05:24.884Z,1579806324.884 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,8E4C4CBB77E7035800BF8B4B5F3B1C1E4A0163815F3C91A1986F5A8B85B8A4ED3953AC15B310A2A677312E86BF4ED81BD0235C3E76897440FCF18A2300BBD775*4F

2020-01-23T19:05:25.283Z,1579806325.283 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T19:05:25.691Z,1579806325.691 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-23T19:05:29.327Z,1579806329.327 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2020-01-23T19:05:29.732Z,1579806329.732 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,190525.839814,3,0,200,4000,10000,1,1,12,1,3,3,3,192*7F

2020-01-23T19:05:32.559Z,1579806332.559 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T19:05:32.963Z,1579806332.963 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-23T19:05:32.996Z,1579806332.996 [DefaultUnder:E.Wait](INFO): Done Waiting.
2020-01-23T19:05:32.996Z,1579806332.996 [DefaultUnder:E.Wait] Stopped
2020-01-23T19:05:32.996Z,1579806332.996 [DefaultUnder:E.Wait](DEBUG): Uninitialize Wait Component.
2020-01-23T19:05:32.996Z,1579806332.996 [DefaultUnder:Default] Running Loop=1
2020-01-23T19:05:32.996Z,1579806332.996 [DefaultUnder:Default](DEBUG): Aggregate::initialize DefaultUnder:Default
2020-01-23T19:05:32.996Z,1579806332.996 [DefaultUnder:Default:Docked] Running Loop=1
2020-01-23T19:05:33.017Z,1579806333.017 [DefaultUnder:Default:Docked](DEBUG): Aggregate::initialize DefaultUnder:Default:Docked
2020-01-23T19:05:33.017Z,1579806333.017 [DefaultUnder:Default:Docked:run] Running Loop=1
2020-01-23T19:05:33.017Z,1579806333.017 [DefaultUnder:Default:Docked:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Docked:run
2020-01-23T19:05:33.017Z,1579806333.017 [DefaultUnder:Default:Docked:run:A] Running Loop=1
2020-01-23T19:05:33.017Z,1579806333.017 [DefaultUnder:Default:Home] Running Loop=1
2020-01-23T19:05:33.017Z,1579806333.017 [DefaultUnder:Default:Home](DEBUG): Aggregate::initialize DefaultUnder:Default:Home
2020-01-23T19:05:33.017Z,1579806333.017 [DefaultUnder:Default:Home:run] Running Loop=1
2020-01-23T19:05:33.018Z,1579806333.018 [DefaultUnder:Default:Home:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Home:run
2020-01-23T19:05:33.018Z,1579806333.018 [DefaultUnder:Default:Home:run:A] Running Loop=1
2020-01-23T19:05:33.018Z,1579806333.018 [DefaultUnder:Default:Surface] Running Loop=1
2020-01-23T19:05:33.018Z,1579806333.018 [DefaultUnder:Default:Surface](DEBUG): Aggregate::initialize DefaultUnder:Default:Surface
2020-01-23T19:05:33.018Z,1579806333.018 [DefaultUnder:Default:Surface:run] Running Loop=1
2020-01-23T19:05:33.018Z,1579806333.018 [DefaultUnder:Default:Surface:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Surface:run
2020-01-23T19:05:33.018Z,1579806333.018 [DefaultUnder:Default:Surface:run:B.GoToSurface] Running Loop=1
2020-01-23T19:05:33.018Z,1579806333.018 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-23T19:05:33.019Z,1579806333.019 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-23T19:05:33.019Z,1579806333.019 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-23T19:05:33.019Z,1579806333.019 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-23T19:05:33.020Z,1579806333.020 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-23T19:05:33.020Z,1579806333.020 [DefaultUnder:Default:Surface:run:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-23T19:05:33.020Z,1579806333.020 [DefaultUnder:Default:Surface:run:A] Running Loop=1
2020-01-23T19:05:33.374Z,1579806333.374 [Micromodem](INFO): Nmea in: $CAACK,12,1,3,1*7B

2020-01-23T19:05:33.374Z,1579806333.374 [Micromodem](INFO): Sent 184 bytes from file Logs/20200123T190325/Courier0000.lzma.parts
2020-01-23T19:05:33.375Z,1579806333.375 [Micromodem](INFO): Packets left to send: 1
2020-01-23T19:05:33.400Z,1579806333.400 [DefaultUnder:Default:Surface] Stopped
2020-01-23T19:05:33.400Z,1579806333.400 [DefaultUnder:Default:Surface](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Surface
2020-01-23T19:05:33.401Z,1579806333.401 [DefaultUnder:Default:Surface:run] Stopped
2020-01-23T19:05:33.401Z,1579806333.401 [DefaultUnder:Default:Surface:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Surface:run
2020-01-23T19:05:33.401Z,1579806333.401 [DefaultUnder:Default:Surface:run:A] Stopped
2020-01-23T19:05:33.401Z,1579806333.401 [DefaultUnder:Default:Surface:run:B.GoToSurface] Stopped
2020-01-23T19:05:33.401Z,1579806333.401 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-23T19:05:33.401Z,1579806333.401 [DefaultUnder:Default:Home] Stopped
2020-01-23T19:05:33.401Z,1579806333.401 [DefaultUnder:Default:Home](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Home
2020-01-23T19:05:33.401Z,1579806333.401 [DefaultUnder:Default:Home:run] Stopped
2020-01-23T19:05:33.401Z,1579806333.401 [DefaultUnder:Default:Home:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Home:run
2020-01-23T19:05:33.401Z,1579806333.401 [DefaultUnder:Default:Home:run:A] Stopped
2020-01-23T19:05:33.401Z,1579806333.401 [DefaultUnder:Default:Docked] Running Loop=1
2020-01-23T19:05:33.402Z,1579806333.402 [DefaultUnder:Default:Docked:run:A] Stopped
2020-01-23T19:05:33.402Z,1579806333.402 [DefaultUnder:Default:Docked:run:B.Docked] Running Loop=1
2020-01-23T19:05:33.402Z,1579806333.402 [DefaultUnder:Default:Docked:run:B.Docked](DEBUG): Initialize.
2020-01-23T19:05:33.403Z,1579806333.403 [DefaultUnder:Default:Docked:run:B.Docked](INFO): Depth unspecified. Maintaining workSite beacon depth of 6.000000 m.
2020-01-23T19:05:33.771Z,1579806333.771 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123190532.229353,06,798,29,0148,0150,59,02,02,00,04,1,012,001,0,4,1,0,150,5.3,6.00,19,-3.00,-01,-0.03,40,10000,4000*73

2020-01-23T19:05:33.794Z,1579806333.794 [Micromodem](INFO): Outgoing frame #1, 64 bytes: FDED295E000000007BD72F4874F6C785F1BFB27553ED63E546098AFD64D6E9AC5A18B36DD874072473A9D631AC8CFEC690498788AC01FEAD50265B47FCF57D69
2020-01-23T19:05:33.794Z,1579806333.794 [Micromodem](INFO): Outgoing frame #2, 33 bytes: 991E7F5A1A19C6051324998F2C8D37489CB514083FC40AE81ADB2307A9B343A000
2020-01-23T19:05:33.794Z,1579806333.794 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,2*68

2020-01-23T19:05:35.003Z,1579806335.003 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,2*6A

2020-01-23T19:05:35.411Z,1579806335.411 [Micromodem](INFO): Nmea in: $CADRQ,190534,1,12,0,64,1*7E

2020-01-23T19:05:35.412Z,1579806335.412 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,FDED295E000000007BD72F4874F6C785F1BFB27553ED63E546098AFD64D6E9AC5A18B36DD874072473A9D631AC8CFEC690498788AC01FEAD50265B47FCF57D69*38

2020-01-23T19:05:35.815Z,1579806335.815 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T19:05:36.219Z,1579806336.219 [Micromodem](INFO): Nmea in: $CADRQ,190536,1,12,0,64,2*7F

2020-01-23T19:05:36.220Z,1579806336.220 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,991E7F5A1A19C6051324998F2C8D37489CB514083FC40AE81ADB2307A9B343A000*4C

2020-01-23T19:05:36.628Z,1579806336.628 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,33*49

2020-01-23T19:05:37.035Z,1579806337.035 [Micromodem](INFO): Nmea in: $CATXP,97*7C

2020-01-23T19:05:38.983Z,1579806338.983 [CommandLine](IMPORTANT): got command get latitude
2020-01-23T19:05:38.983Z,1579806338.983 [CommandLine](FAULT): Element has no value
2020-01-23T19:05:39.451Z,1579806339.451 [Micromodem](INFO): Nmea in: $CATXF,97*6A

2020-01-23T19:05:39.856Z,1579806339.856 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,190537.132059,3,0,200,4000,10000,1,1,12,1,2,2,3,97*4B

2020-01-23T19:05:41.885Z,1579806341.885 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T19:05:42.279Z,1579806342.279 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-23T19:05:42.280Z,1579806342.280 [Micromodem](INFO): Sent 89 bytes from file Logs/20200123T190325/Courier0000.lzma.parts
2020-01-23T19:05:42.280Z,1579806342.280 [Micromodem](INFO): Packets left to send: 0
2020-01-23T19:05:42.691Z,1579806342.691 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123190541.664707,06,474,26,0110,0150,59,01,01,00,03,1,012,001,0,4,1,0,150,24.0,5.00,14,-2.00,-01,-0.04,22,10000,4000*47

2020-01-23T19:05:42.733Z,1579806342.733 [Micromodem](INFO): Outgoing frame #1, 64 bytes: FDED295E040000005D00000400460000000000000000151D80030C5669BEDFA61BB5A5849A92CC0992FD9D97B99BC7B155102071FA555305F3AD5FA7ECA66534
2020-01-23T19:05:42.734Z,1579806342.734 [Micromodem](INFO): Outgoing frame #2, 21 bytes: FCC064464BA2F1576B61167D24B0DDAA9454AD6400
2020-01-23T19:05:42.734Z,1579806342.734 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,2*68

2020-01-23T19:05:43.895Z,1579806343.895 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,2*6A

2020-01-23T19:05:44.242Z,1579806344.242 [CommandLine](IMPORTANT): got command report mod latitude
2020-01-23T19:05:44.311Z,1579806344.311 [Micromodem](INFO): Nmea in: $CADRQ,190543,1,12,0,64,1*7E

2020-01-23T19:05:44.312Z,1579806344.312 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,FDED295E040000005D00000400460000000000000000151D80030C5669BEDFA61BB5A5849A92CC0992FD9D97B99BC7B155102071FA555305F3AD5FA7ECA66534*4D

2020-01-23T19:05:44.515Z,1579806344.515 [Reporter](INFO): latitude no_value
2020-01-23T19:05:44.707Z,1579806344.707 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T19:05:45.110Z,1579806345.110 [Micromodem](INFO): Nmea in: $CADRQ,190545,1,12,0,64,2*7B

2020-01-23T19:05:45.110Z,1579806345.110 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,FCC064464BA2F1576B61167D24B0DDAA9454AD6400*35

2020-01-23T19:05:45.487Z,1579806345.487 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,21*4A

2020-01-23T19:05:45.915Z,1579806345.915 [Micromodem](INFO): Nmea in: $CATXP,85*7F

2020-01-23T19:05:48.345Z,1579806348.345 [Micromodem](INFO): Nmea in: $CATXF,85*69

2020-01-23T19:05:48.744Z,1579806348.744 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,190546.011495,3,0,200,4000,10000,1,1,12,1,2,2,3,85*4A

2020-01-23T19:05:50.681Z,1579806350.681 [CommandLine](IMPORTANT): got command run ./Missions/Demo/setNav.xml
2020-01-23T19:05:50.682Z,1579806350.682 [MissionManager](INFO): Loading Mission: ./Missions/Demo/setNav.xml
2020-01-23T19:05:50.712Z,1579806350.712 [MissionManager](INFO): DefineArg SetNav.DockLat = 0.642341 _
2020-01-23T19:05:50.719Z,1579806350.719 [MissionManager](INFO): DefineArg SetNav.DockLon = -2.126200 _
2020-01-23T19:05:50.751Z,1579806350.751 [SetNav:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2020-01-23T19:05:50.756Z,1579806350.756 [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>


2020-01-23T19:05:50.759Z,1579806350.759 [CommandLine](IMPORTANT): Running ./Missions/Demo/setNav.xml
2020-01-23T19:05:50.780Z,1579806350.780 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T19:05:50.850Z,1579806350.850 [DefaultUnder] Stopped
2020-01-23T19:05:50.850Z,1579806350.850 [DefaultUnder](DEBUG): Aggregate::uninitialize DefaultUnder
2020-01-23T19:05:50.850Z,1579806350.850 [DefaultUnder:uModemComms] Stopped
2020-01-23T19:05:50.850Z,1579806350.850 [DefaultUnder:uModemComms](DEBUG): Aggregate::uninitialize DefaultUnder:uModemComms
2020-01-23T19:05:50.851Z,1579806350.851 [DefaultUnder:uModemComms:CheckIn] Stopped
2020-01-23T19:05:50.851Z,1579806350.851 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::uninitialize DefaultUnder:uModemComms:CheckIn
2020-01-23T19:05:50.851Z,1579806350.851 [DefaultUnder:uModemComms:CheckIn:A] Stopped
2020-01-23T19:05:50.851Z,1579806350.851 [DefaultUnder:Notify] Stopped
2020-01-23T19:05:50.851Z,1579806350.851 [DefaultUnder:Notify](DEBUG): Aggregate::uninitialize DefaultUnder:Notify
2020-01-23T19:05:50.851Z,1579806350.851 [DefaultUnder:Notify:A] Stopped
2020-01-23T19:05:50.851Z,1579806350.851 [DefaultUnder:Notify:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A
2020-01-23T19:05:50.851Z,1579806350.851 [DefaultUnder:Notify:A:A] Stopped
2020-01-23T19:05:50.851Z,1579806350.851 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A:A
2020-01-23T19:05:50.851Z,1579806350.851 [DefaultUnder:Notify:A:A:A.Wait] Stopped
2020-01-23T19:05:50.851Z,1579806350.851 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-23T19:05:50.851Z,1579806350.851 [DefaultUnder:C.] Stopped
2020-01-23T19:05:50.852Z,1579806350.852 [DefaultUnder:Default] Stopped
2020-01-23T19:05:50.852Z,1579806350.852 [DefaultUnder:Default](DEBUG): Aggregate::uninitialize DefaultUnder:Default
2020-01-23T19:05:50.852Z,1579806350.852 [DefaultUnder:Default:Docked] Stopped
2020-01-23T19:05:50.852Z,1579806350.852 [DefaultUnder:Default:Docked](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Docked
2020-01-23T19:05:50.852Z,1579806350.852 [DefaultUnder:Default:Docked:run] Stopped
2020-01-23T19:05:50.852Z,1579806350.852 [DefaultUnder:Default:Docked:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Docked:run
2020-01-23T19:05:50.852Z,1579806350.852 [DefaultUnder:Default:Docked:run:B.Docked] Stopped
2020-01-23T19:05:50.852Z,1579806350.852 [MissionManager](IMPORTANT): Started mission SetNav
2020-01-23T19:05:50.852Z,1579806350.852 [SetNav] Running Loop=1
2020-01-23T19:05:50.852Z,1579806350.852 [SetNav](DEBUG): Aggregate::initialize SetNav
2020-01-23T19:05:50.857Z,1579806350.857 [SetNav:UpdateNav] Running Loop=1
2020-01-23T19:05:50.857Z,1579806350.857 [SetNav:UpdateNav](DEBUG): Aggregate::initialize SetNav:UpdateNav
2020-01-23T19:05:50.857Z,1579806350.857 [SetNav:UpdateNav:A] Running Loop=1
2020-01-23T19:05:50.858Z,1579806350.858 [SetNav:UpdateNav:A](INFO): Reseting nav to dock location at range <Undefined> m 
2020-01-23T19:05:50.858Z,1579806350.858 [SetNav:UpdateNav:A] Stopped
2020-01-23T19:05:50.858Z,1579806350.858 [SetNav:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T19:05:50.858Z,1579806350.858 [SetNav:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T19:05:51.147Z,1579806351.147 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-23T19:05:51.152Z,1579806351.152 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123190550.526187,06,457,26,0115,0150,89,02,02,00,03,1,012,001,0,4,1,0,150,-5.4,7.00,18,-4.00,-01,-0.03,49,10000,4000*5D

2020-01-23T19:05:51.231Z,1579806351.231 [SetNav:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T190551: (36.803398, -121.822304)
2020-01-23T19:05:51.231Z,1579806351.231 [SetNav:UpdateNav:B.SetNav] Stopped
2020-01-23T19:05:51.231Z,1579806351.231 [SetNav:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T19:05:51.232Z,1579806351.232 [SetNav:UpdateNav](INFO): Completed SetNav:UpdateNav
2020-01-23T19:05:51.232Z,1579806351.232 [SetNav:UpdateNav] Stopped
2020-01-23T19:05:51.232Z,1579806351.232 [SetNav:UpdateNav](DEBUG): Aggregate::uninitialize SetNav:UpdateNav
2020-01-23T19:05:51.232Z,1579806351.232 [SetNav](INFO): Completed SetNav
2020-01-23T19:05:51.232Z,1579806351.232 [MissionManager](INFO): SetNav is completed.
2020-01-23T19:05:51.232Z,1579806351.232 [MissionManager](INFO): Uninitializing Mission SetNav
2020-01-23T19:05:51.232Z,1579806351.232 [SetNav] Stopped
2020-01-23T19:05:51.232Z,1579806351.232 [SetNav](DEBUG): Aggregate::uninitialize SetNav
2020-01-23T19:05:51.630Z,1579806351.630 [MissionManager](IMPORTANT): Started mission DefaultUnder
2020-01-23T19:05:51.631Z,1579806351.631 [DefaultUnder] Running Loop=1
2020-01-23T19:05:51.631Z,1579806351.631 [DefaultUnder](DEBUG): Aggregate::initialize DefaultUnder
2020-01-23T19:05:51.631Z,1579806351.631 [DefaultUnder:uModemComms] Running Loop=1
2020-01-23T19:05:51.632Z,1579806351.632 [DefaultUnder:uModemComms](DEBUG): Aggregate::initialize DefaultUnder:uModemComms
2020-01-23T19:05:51.632Z,1579806351.632 [DefaultUnder:Notify] Running Loop=1
2020-01-23T19:05:51.632Z,1579806351.632 [DefaultUnder:Notify](DEBUG): Aggregate::initialize DefaultUnder:Notify
2020-01-23T19:05:51.649Z,1579806351.649 [DefaultUnder:Notify:A] Running Loop=1
2020-01-23T19:05:51.650Z,1579806351.650 [DefaultUnder:Notify:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A
2020-01-23T19:05:51.650Z,1579806351.650 [DefaultUnder:Notify:A:A] Running Loop=1
2020-01-23T19:05:51.650Z,1579806351.650 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A:A
2020-01-23T19:05:51.651Z,1579806351.651 [DefaultUnder:Notify:A:A:A.Wait] Running Loop=1
2020-01-23T19:05:51.651Z,1579806351.651 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Initialize Wait Component.
2020-01-23T19:05:51.651Z,1579806351.651 [DefaultUnder:C.] Running Loop=1
2020-01-23T19:05:51.651Z,1579806351.651 [DefaultUnder:C.](INFO): Initializing TrackAcousticContact.
2020-01-23T19:05:51.652Z,1579806351.652 [DefaultUnder:E.Wait] Running Loop=1
2020-01-23T19:05:51.652Z,1579806351.652 [DefaultUnder:E.Wait](DEBUG): Initialize Wait Component.
2020-01-23T19:05:51.657Z,1579806351.657 [DefaultUnder:uModemComms:CheckIn] Running Loop=1
2020-01-23T19:05:51.658Z,1579806351.658 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::initialize DefaultUnder:uModemComms:CheckIn
2020-01-23T19:05:51.658Z,1579806351.658 [DefaultUnder:uModemComms:CheckIn:A] Running Loop=1
2020-01-23T19:05:51.952Z,1579806351.952 [Micromodem](INFO): Sent 77 bytes from file Logs/20200123T190325/Courier0004.lzma.parts
2020-01-23T19:05:51.953Z,1579806351.953 [Micromodem](INFO): Packets left to send: 0
2020-01-23T19:05:52.370Z,1579806352.370 [Micromodem](INFO): Outgoing frame #1, 64 bytes: FDED295E070000005D00000400460000000000000000151D80030C5669BEDFA61BB5C3A0499F3D5FDF828297209409E767B5E0788A92AB6D4C6B9C4490229F4D
2020-01-23T19:05:52.370Z,1579806352.370 [Micromodem](INFO): Outgoing frame #2, 21 bytes: 8C806653DB680A7137D2568C714AA3D6D3635E4C00
2020-01-23T19:05:52.370Z,1579806352.370 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,2*68

2020-01-23T19:05:52.759Z,1579806352.759 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,2*6A

2020-01-23T19:05:53.159Z,1579806353.159 [Micromodem](INFO): Nmea in: $CADRQ,190553,1,12,0,64,1*7F

2020-01-23T19:05:53.160Z,1579806353.160 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,FDED295E070000005D00000400460000000000000000151D80030C5669BEDFA61BB5C3A0499F3D5FDF828297209409E767B5E0788A92AB6D4C6B9C4490229F4D*4F

2020-01-23T19:05:53.567Z,1579806353.567 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T19:05:53.971Z,1579806353.971 [Micromodem](INFO): Nmea in: $CADRQ,190554,1,12,0,64,2*7B

2020-01-23T19:05:53.972Z,1579806353.972 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,8C806653DB680A7137D2568C714AA3D6D3635E4C00*4D

2020-01-23T19:05:54.375Z,1579806354.375 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,21*4A

2020-01-23T19:05:54.775Z,1579806354.775 [Micromodem](INFO): Nmea in: $CATXP,85*7F

2020-01-23T19:05:57.203Z,1579806357.203 [Micromodem](INFO): Nmea in: $CATXF,85*69

2020-01-23T19:05:57.608Z,1579806357.608 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,190554.873700,3,0,200,4000,10000,1,1,12,1,2,2,3,85*4A

2020-01-23T19:05:59.628Z,1579806359.628 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T19:06:00.031Z,1579806360.031 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-23T19:06:00.032Z,1579806360.032 [Micromodem](INFO): Sent 77 bytes from file Logs/20200123T190325/Courier0007.lzma.parts
2020-01-23T19:06:00.032Z,1579806360.032 [Micromodem](INFO): Packets left to send: 0
2020-01-23T19:06:00.439Z,1579806360.439 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123190559.388218,06,545,27,0139,0150,29,01,01,00,03,1,012,001,0,4,1,0,150,4.7,7.00,18,-4.00,-01,-0.02,35,10000,4000*71

2020-01-23T19:06:00.472Z,1579806360.472 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 60EB295E0B0001005D000004008E0100000000000000151D80030C5669BF5A33BA534D72C4DCB70B3F88A5C3978D4717FA72C4C1577E92677476D956204406BF
2020-01-23T19:06:00.474Z,1579806360.474 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 1A03C1B6029C97E8D9A421B978E4EDDB065C1AE0BE765BF643BDD3BC222545E712C38AC1396560806C3C3E0B2857925E892DAFFCD8859379A9E8D4A5EDEF5BDF
2020-01-23T19:06:00.474Z,1579806360.474 [Micromodem](INFO): Outgoing frame #3, 64 bytes: 129F4B8E44FC9FFD8F424616F74B96B6336B108AB911B84C0E1B80445F0FCC9812FB5213A8FB61078BC52946E66E1BC48CEC8508E233A4E7DF06772B02547753
2020-01-23T19:06:00.474Z,1579806360.474 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-23T19:06:01.657Z,1579806361.657 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-23T19:06:02.071Z,1579806362.071 [Micromodem](INFO): Nmea in: $CADRQ,190601,1,12,0,64,1*7B

2020-01-23T19:06:02.072Z,1579806362.072 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,60EB295E0B0001005D000004008E0100000000000000151D80030C5669BF5A33BA534D72C4DCB70B3F88A5C3978D4717FA72C4C1577E92677476D956204406BF*3E

2020-01-23T19:06:02.451Z,1579806362.451 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T19:06:02.856Z,1579806362.856 [Micromodem](INFO): Nmea in: $CADRQ,190602,1,12,0,64,2*7B

2020-01-23T19:06:02.856Z,1579806362.856 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,1A03C1B6029C97E8D9A421B978E4EDDB065C1AE0BE765BF643BDD3BC222545E712C38AC1396560806C3C3E0B2857925E892DAFFCD8859379A9E8D4A5EDEF5BDF*30

2020-01-23T19:06:03.269Z,1579806363.269 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T19:06:03.674Z,1579806363.674 [Micromodem](INFO): Nmea in: $CADRQ,190603,1,12,0,64,3*7B

2020-01-23T19:06:03.674Z,1579806363.674 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,129F4B8E44FC9FFD8F424616F74B96B6336B108AB911B84C0E1B80445F0FCC9812FB5213A8FB61078BC52946E66E1BC48CEC8508E233A4E7DF06772B02547753*32

2020-01-23T19:06:04.068Z,1579806364.068 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T19:06:04.471Z,1579806364.471 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-23T19:06:04.912Z,1579806364.912 [DefaultUnder:E.Wait](INFO): Done Waiting.
2020-01-23T19:06:04.912Z,1579806364.912 [DefaultUnder:E.Wait] Stopped
2020-01-23T19:06:04.912Z,1579806364.912 [DefaultUnder:E.Wait](DEBUG): Uninitialize Wait Component.
2020-01-23T19:06:04.929Z,1579806364.929 [DefaultUnder:Default] Running Loop=1
2020-01-23T19:06:04.929Z,1579806364.929 [DefaultUnder:Default](DEBUG): Aggregate::initialize DefaultUnder:Default
2020-01-23T19:06:04.929Z,1579806364.929 [DefaultUnder:Default:Docked] Running Loop=1
2020-01-23T19:06:04.929Z,1579806364.929 [DefaultUnder:Default:Docked](DEBUG): Aggregate::initialize DefaultUnder:Default:Docked
2020-01-23T19:06:04.929Z,1579806364.929 [DefaultUnder:Default:Docked:run] Running Loop=1
2020-01-23T19:06:04.929Z,1579806364.929 [DefaultUnder:Default:Docked:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Docked:run
2020-01-23T19:06:04.930Z,1579806364.930 [DefaultUnder:Default:Docked:run:A] Running Loop=1
2020-01-23T19:06:04.930Z,1579806364.930 [DefaultUnder:Default:Home] Running Loop=1
2020-01-23T19:06:04.930Z,1579806364.930 [DefaultUnder:Default:Home](DEBUG): Aggregate::initialize DefaultUnder:Default:Home
2020-01-23T19:06:04.930Z,1579806364.930 [DefaultUnder:Default:Home:run] Running Loop=1
2020-01-23T19:06:04.930Z,1579806364.930 [DefaultUnder:Default:Home:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Home:run
2020-01-23T19:06:04.930Z,1579806364.930 [DefaultUnder:Default:Home:run:A] Running Loop=1
2020-01-23T19:06:04.930Z,1579806364.930 [DefaultUnder:Default:Surface] Running Loop=1
2020-01-23T19:06:04.930Z,1579806364.930 [DefaultUnder:Default:Surface](DEBUG): Aggregate::initialize DefaultUnder:Default:Surface
2020-01-23T19:06:04.930Z,1579806364.930 [DefaultUnder:Default:Surface:run] Running Loop=1
2020-01-23T19:06:04.931Z,1579806364.931 [DefaultUnder:Default:Surface:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Surface:run
2020-01-23T19:06:04.931Z,1579806364.931 [DefaultUnder:Default:Surface:run:B.GoToSurface] Running Loop=1
2020-01-23T19:06:04.931Z,1579806364.931 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-23T19:06:04.931Z,1579806364.931 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-23T19:06:04.931Z,1579806364.931 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-23T19:06:04.931Z,1579806364.931 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-23T19:06:04.932Z,1579806364.932 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-23T19:06:04.932Z,1579806364.932 [DefaultUnder:Default:Surface:run:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-23T19:06:04.932Z,1579806364.932 [DefaultUnder:Default:Surface:run:A] Running Loop=1
2020-01-23T19:06:05.330Z,1579806365.330 [DefaultUnder:Default:Surface] Stopped
2020-01-23T19:06:05.331Z,1579806365.331 [DefaultUnder:Default:Surface](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Surface
2020-01-23T19:06:05.331Z,1579806365.331 [DefaultUnder:Default:Surface:run] Stopped
2020-01-23T19:06:05.331Z,1579806365.331 [DefaultUnder:Default:Surface:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Surface:run
2020-01-23T19:06:05.331Z,1579806365.331 [DefaultUnder:Default:Surface:run:A] Stopped
2020-01-23T19:06:05.331Z,1579806365.331 [DefaultUnder:Default:Surface:run:B.GoToSurface] Stopped
2020-01-23T19:06:05.331Z,1579806365.331 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-23T19:06:05.331Z,1579806365.331 [DefaultUnder:Default:Home] Stopped
2020-01-23T19:06:05.331Z,1579806365.331 [DefaultUnder:Default:Home](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Home
2020-01-23T19:06:05.331Z,1579806365.331 [DefaultUnder:Default:Home:run] Stopped
2020-01-23T19:06:05.331Z,1579806365.331 [DefaultUnder:Default:Home:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Home:run
2020-01-23T19:06:05.331Z,1579806365.331 [DefaultUnder:Default:Home:run:A] Stopped
2020-01-23T19:06:05.332Z,1579806365.332 [DefaultUnder:Default:Docked:run:A] Stopped
2020-01-23T19:06:05.332Z,1579806365.332 [DefaultUnder:Default:Docked:run:B.Docked] Running Loop=1
2020-01-23T19:06:05.332Z,1579806365.332 [DefaultUnder:Default:Docked:run:B.Docked](DEBUG): Initialize.
2020-01-23T19:06:05.332Z,1579806365.332 [DefaultUnder:Default:Docked:run:B.Docked](INFO): Depth unspecified. Maintaining workSite beacon depth of 6.000000 m.
2020-01-23T19:06:08.135Z,1579806368.135 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2020-01-23T19:06:08.540Z,1579806368.540 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,190604.635764,3,0,200,4000,10000,1,1,12,1,3,3,3,192*75

2020-01-23T19:06:11.368Z,1579806371.368 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T19:06:11.775Z,1579806371.775 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-23T19:06:12.179Z,1579806372.179 [Micromodem](INFO): Nmea in: $CAACK,12,1,3,1*7B

2020-01-23T19:06:12.180Z,1579806372.180 [Micromodem](INFO): Sent 184 bytes from file Logs/20200123T185216/Express0011.lzma.parts
2020-01-23T19:06:12.180Z,1579806372.180 [Micromodem](INFO): Packets left to send: 1
2020-01-23T19:06:12.590Z,1579806372.590 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123190611.025657,06,530,27,0119,0150,89,02,02,00,03,1,012,001,0,4,1,0,150,24.1,4.00,13,-1.00,-01,-0.03,26,10000,4000*45

2020-01-23T19:06:12.656Z,1579806372.656 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 60EB295E0B00000038F7BA40D052229EF4092F3DF0814D126B6B11B50BBC37E6EA244F9806C0D2EB400276F29CA698A4C768727547ECFD719CEC7F80C10F7510
2020-01-23T19:06:12.656Z,1579806372.656 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 666DD006B1A555662BEBBFEBD6FC9682D74E3F795C07DC814FBDD2EA98355CBE448F9FBFE12D9942740D093C2002E2011DA6430B5A25A5352C24409D7F05C357
2020-01-23T19:06:12.656Z,1579806372.656 [Micromodem](INFO): Outgoing frame #3, 5 bytes: 03B2BE5400
2020-01-23T19:06:12.659Z,1579806372.659 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-23T19:06:13.795Z,1579806373.795 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-23T19:06:14.240Z,1579806374.240 [Micromodem](INFO): Nmea in: $CADRQ,190613,1,12,0,64,1*78

2020-01-23T19:06:14.240Z,1579806374.240 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,60EB295E0B00000038F7BA40D052229EF4092F3DF0814D126B6B11B50BBC37E6EA244F9806C0D2EB400276F29CA698A4C768727547ECFD719CEC7F80C10F7510*37

2020-01-23T19:06:14.623Z,1579806374.623 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T19:06:15.003Z,1579806375.003 [Micromodem](INFO): Nmea in: $CADRQ,190615,1,12,0,64,2*7D

2020-01-23T19:06:15.004Z,1579806375.004 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,666DD006B1A555662BEBBFEBD6FC9682D74E3F795C07DC814FBDD2EA98355CBE448F9FBFE12D9942740D093C2002E2011DA6430B5A25A5352C24409D7F05C357*3B

2020-01-23T19:06:15.407Z,1579806375.407 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T19:06:15.815Z,1579806375.815 [Micromodem](INFO): Nmea in: $CADRQ,190615,1,12,0,64,3*7C

2020-01-23T19:06:15.816Z,1579806375.816 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,03B2BE5400*3E

2020-01-23T19:06:16.218Z,1579806376.218 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,5*7C

2020-01-23T19:06:16.639Z,1579806376.639 [Micromodem](INFO): Nmea in: $CATXP,133*43

2020-01-23T19:06:20.255Z,1579806380.255 [Micromodem](INFO): Nmea in: $CATXF,133*55

2020-01-23T19:06:20.660Z,1579806380.660 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,190616.713270,3,0,200,4000,10000,1,1,12,1,3,3,3,133*78

2020-01-23T19:06:23.488Z,1579806383.488 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T19:06:23.895Z,1579806383.895 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-23T19:06:24.303Z,1579806384.303 [Micromodem](INFO): Nmea in: $CAACK,12,1,3,1*7B

2020-01-23T19:06:24.304Z,1579806384.304 [Micromodem](INFO): Sent 125 bytes from file Logs/20200123T185216/Express0011.lzma.parts
2020-01-23T19:06:24.304Z,1579806384.304 [Micromodem](INFO): Packets left to send: 0
2020-01-23T19:06:24.703Z,1579806384.703 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123190623.041098,06,780,28,0146,0150,89,02,02,00,02,1,012,001,0,4,1,0,150,26.5,5.00,19,-2.00,-01,-0.01,25,10000,4000*41

2020-01-23T19:06:24.748Z,1579806384.748 [Micromodem](INFO): Outgoing frame #1, 64 bytes: FDED295E010006005D00000400550800000000000000151D80030C5669BF31555EAE1409A708D50837CD96632A3B471986A383D0F4DFCC64A6879B643ABEF970
2020-01-23T19:06:24.749Z,1579806384.749 [Micromodem](INFO): Outgoing frame #2, 64 bytes: E9CDEC6F768A412BD0722C30AF7E17E810FD40E01B527D9DB483533EF1D88C637C3D86E3FDB76AF87CE49F0E25A94C00D58C1361E1559A356917EE8193905F33
2020-01-23T19:06:24.750Z,1579806384.750 [Micromodem](INFO): Outgoing frame #3, 64 bytes: 413C6519F6AF709ACD8324E44D6CB930BF5E6BD7F15CB7F9BD7F0BB71419531465AFAA954D668A0338F4C1BDB94176D85CC874FE9D6F0822AF839AF12101C20D
2020-01-23T19:06:24.750Z,1579806384.750 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-23T19:06:25.918Z,1579806385.918 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-23T19:06:26.315Z,1579806386.315 [Micromodem](INFO): Nmea in: $CADRQ,190625,1,12,0,64,1*7D

2020-01-23T19:06:26.316Z,1579806386.316 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,FDED295E010006005D00000400550800000000000000151D80030C5669BF31555EAE1409A708D50837CD96632A3B471986A383D0F4DFCC64A6879B643ABEF970*48

2020-01-23T19:06:26.719Z,1579806386.719 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T19:06:27.130Z,1579806387.130 [Micromodem](INFO): Nmea in: $CADRQ,190627,1,12,0,64,2*7C

2020-01-23T19:06:27.131Z,1579806387.131 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,E9CDEC6F768A412BD0722C30AF7E17E810FD40E01B527D9DB483533EF1D88C637C3D86E3FDB76AF87CE49F0E25A94C00D58C1361E1559A356917EE8193905F33*41

2020-01-23T19:06:27.503Z,1579806387.503 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T19:06:27.931Z,1579806387.931 [Micromodem](INFO): Nmea in: $CADRQ,190628,1,12,0,64,3*72

2020-01-23T19:06:27.932Z,1579806387.932 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,413C6519F6AF709ACD8324E44D6CB930BF5E6BD7F15CB7F9BD7F0BB71419531465AFAA954D668A0338F4C1BDB94176D85CC874FE9D6F0822AF839AF12101C20D*3D

2020-01-23T19:06:28.311Z,1579806388.311 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T19:06:28.715Z,1579806388.715 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-23T19:06:30.381Z,1579806390.381 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-23T19:06:30.381Z,1579806390.381 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2020-01-23T19:06:32.375Z,1579806392.375 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2020-01-23T19:06:32.780Z,1579806392.780 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,190628.887103,3,0,200,4000,10000,1,1,12,1,3,3,3,192*7B

2020-01-23T19:06:33.645Z,1579806393.645 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-01-23T19:06:33.646Z,1579806393.646 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-3278,V
2020-01-23T19:06:35.615Z,1579806395.615 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T19:06:36.011Z,1579806396.011 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-23T19:06:36.034Z,1579806396.034 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2020-01-23T19:06:36.034Z,1579806396.034 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-23T19:06:36.110Z,1579806396.110 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-23T19:06:36.415Z,1579806396.415 [Micromodem](INFO): Nmea in: $CAACK,12,1,3,1*7B

2020-01-23T19:06:36.416Z,1579806396.416 [Micromodem](INFO): Sent 184 bytes from file Logs/20200123T190325/Express0001.lzma.parts
2020-01-23T19:06:36.416Z,1579806396.416 [Micromodem](INFO): Packets left to send: 6
2020-01-23T19:06:36.478Z,1579806396.478 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-23T19:06:36.478Z,1579806396.478 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2020-01-23T19:06:36.830Z,1579806396.830 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123190635.277426,06,725,28,0163,0150,37,03,03,00,05,1,012,001,0,4,1,0,150,24.4,6.00,18,-3.00,-01,-0.01,18,10000,4000*44

2020-01-23T19:06:36.862Z,1579806396.862 [Micromodem](INFO): Outgoing frame #1, 64 bytes: FDED295E01000500D9852ABC2613281265A2516990DF164E6CAC8EDAA8C7EB733248A32BA41C7A37CF2673174E9F5D16F948F5A70F664D02F6420237C1834DD2
2020-01-23T19:06:36.862Z,1579806396.862 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 8D2F439C9BA6389AE2569FAD2F27F2CB54DFC29374A42A215508B9A3B40EAA44372E3E4460C9677461469FAE4D3E8E4FCAB37A2402BF2DB8A73E7AB7B91601D2
2020-01-23T19:06:36.863Z,1579806396.863 [Micromodem](INFO): Outgoing frame #3, 64 bytes: 3320E9F9048783158DF80E4E608F85F3396BF4D675925FCBE3E3E1CD3398B28B2B50369DA45FC1F0F69252C7499834FD8860AE8AF5317D482042988D7F8119DA
2020-01-23T19:06:36.863Z,1579806396.863 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-23T19:06:38.037Z,1579806398.037 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-23T19:06:38.411Z,1579806398.411 [Micromodem](INFO): Nmea in: $CADRQ,190637,1,12,0,64,1*7E

2020-01-23T19:06:38.412Z,1579806398.412 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,FDED295E01000500D9852ABC2613281265A2516990DF164E6CAC8EDAA8C7EB733248A32BA41C7A37CF2673174E9F5D16F948F5A70F664D02F6420237C1834DD2*41

2020-01-23T19:06:38.820Z,1579806398.820 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T19:06:39.216Z,1579806399.216 [Micromodem](INFO): Nmea in: $CADRQ,190639,1,12,0,64,2*73

2020-01-23T19:06:39.216Z,1579806399.216 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,8D2F439C9BA6389AE2569FAD2F27F2CB54DFC29374A42A215508B9A3B40EAA44372E3E4460C9677461469FAE4D3E8E4FCAB37A2402BF2DB8A73E7AB7B91601D2*3A

2020-01-23T19:06:39.623Z,1579806399.623 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T19:06:40.031Z,1579806400.031 [Micromodem](INFO): Nmea in: $CADRQ,190640,1,12,0,64,3*7C

2020-01-23T19:06:40.032Z,1579806400.032 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,3320E9F9048783158DF80E4E608F85F3396BF4D675925FCBE3E3E1CD3398B28B2B50369DA45FC1F0F69252C7499834FD8860AE8AF5317D482042988D7F8119DA*42

2020-01-23T19:06:40.431Z,1579806400.431 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T19:06:40.836Z,1579806400.836 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-23T19:06:44.471Z,1579806404.471 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2020-01-23T19:06:44.872Z,1579806404.872 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,190640.989420,3,0,200,4000,10000,1,1,12,1,3,3,3,192*7E

2020-01-23T19:06:47.714Z,1579806407.714 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T19:06:48.100Z,1579806408.100 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-23T19:06:48.511Z,1579806408.511 [Micromodem](INFO): Nmea in: $CAACK,12,1,3,1*7B

2020-01-23T19:06:48.512Z,1579806408.512 [Micromodem](INFO): Sent 184 bytes from file Logs/20200123T190325/Express0001.lzma.parts
2020-01-23T19:06:48.512Z,1579806408.512 [Micromodem](INFO): Packets left to send: 5
2020-01-23T19:06:48.920Z,1579806408.920 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123190647.382477,06,598,27,0140,0150,59,01,01,00,03,1,012,001,0,4,1,0,150,23.2,6.00,16,-3.00,-01,-0.03,23,10000,4000*4F

2020-01-23T19:06:48.943Z,1579806408.943 [Micromodem](INFO): Outgoing frame #1, 64 bytes: FDED295E01000400DC84E45D50647DCD999FC3C78861D37FA9693911D1B5BF00576FBE8AB9926942D25869A2774BB4B3EAAF819FE8627B7C2CA8482E0AE40176
2020-01-23T19:06:48.943Z,1579806408.943 [Micromodem](INFO): Outgoing frame #2, 64 bytes: C54201EE6739853D6D4EA1CA5057AE80379E02CFD6650A5E12CE12CEB5BBD18245E59F8FDA06EBE8A1821E370A18D70621720D6DF7783178BE30B5A92A9679D8
2020-01-23T19:06:48.944Z,1579806408.944 [Micromodem](INFO): Outgoing frame #3, 64 bytes: 9E49DF3D09164913670269F5A41F23D80BFDEFE28561B41C00519EBFB8F0FF1FB3749A51DEE129A59390CBDD4817C3D6ECF7600AE93253588481D23378AFD4D6
2020-01-23T19:06:48.944Z,1579806408.944 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-23T19:06:50.127Z,1579806410.127 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-23T19:06:50.523Z,1579806410.523 [Micromodem](INFO): Nmea in: $CADRQ,190649,1,12,0,64,1*77

2020-01-23T19:06:50.524Z,1579806410.524 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,FDED295E01000400DC84E45D50647DCD999FC3C78861D37FA9693911D1B5BF00576FBE8AB9926942D25869A2774BB4B3EAAF819FE8627B7C2CA8482E0AE40176*32

2020-01-23T19:06:50.941Z,1579806410.941 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T19:06:51.335Z,1579806411.335 [Micromodem](INFO): Nmea in: $CADRQ,190651,1,12,0,64,2*7D

2020-01-23T19:06:51.336Z,1579806411.336 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,C54201EE6739853D6D4EA1CA5057AE80379E02CFD6650A5E12CE12CEB5BBD18245E59F8FDA06EBE8A1821E370A18D70621720D6DF7783178BE30B5A92A9679D8*4E

2020-01-23T19:06:51.739Z,1579806411.739 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T19:06:51.808Z,1579806411.808 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T19:06:52.148Z,1579806412.148 [Micromodem](INFO): Nmea in: $CADRQ,190652,1,12,0,64,3*7F

2020-01-23T19:06:52.150Z,1579806412.150 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,9E49DF3D09164913670269F5A41F23D80BFDEFE28561B41C00519EBFB8F0FF1FB3749A51DEE129A59390CBDD4817C3D6ECF7600AE93253588481D23378AFD4D6*42

2020-01-23T19:06:52.552Z,1579806412.552 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T19:06:52.553Z,1579806412.553 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T19:06:52.963Z,1579806412.963 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-23T19:06:52.963Z,1579806412.963 [Micromodem](ERROR): Response from modem unexpected: $CATXP,192*48

2020-01-23T19:06:56.591Z,1579806416.591 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2020-01-23T19:06:56.591Z,1579806416.591 [Micromodem](ERROR): Response from modem unexpected: $CATXF,192*5E

2020-01-23T19:06:56.992Z,1579806416.992 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,190653.109431,3,0,200,4000,10000,1,1,12,1,3,3,3,192*7C

2020-01-23T19:06:56.992Z,1579806416.992 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20200123,190653.109431,3,0,200,4000,10000,1,1,12,1,3,3,3,192*7C

2020-01-23T19:06:59.827Z,1579806419.827 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T19:07:00.230Z,1579806420.230 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-23T19:07:00.631Z,1579806420.631 [Micromodem](INFO): Nmea in: $CAACK,12,1,3,1*7B

2020-01-23T19:07:00.632Z,1579806420.632 [Micromodem](INFO): Sent 184 bytes from file Logs/20200123T190325/Express0001.lzma.parts
2020-01-23T19:07:00.632Z,1579806420.632 [Micromodem](INFO): Packets left to send: 4
2020-01-23T19:07:01.037Z,1579806421.037 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123190659.502580,06,664,28,0123,0150,89,02,02,00,02,1,012,001,0,4,1,0,150,25.0,6.00,16,-3.00,-01,-0.03,26,10000,4000*40

2020-01-23T19:07:01.037Z,1579806421.037 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20200123190659.502580,06,664,28,0123,0150,89,02,02,00,02,1,012,001,0,4,1,0,150,25.0,6.00,16,-3.00,-01,-0.03,26,10000,4000*40

2020-01-23T19:07:01.095Z,1579806421.095 [Micromodem](INFO): Outgoing frame #1, 64 bytes: FDED295E0100030088DDDC6B16FA230A6E8DDD1AF3DED95F623C7CC6458C073EB34B78DBBFD75CDC1CB5934889CA1316918169FF6848522592F787754DDCC26E
2020-01-23T19:07:01.096Z,1579806421.096 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 1A22EB93B5AFD427B00E87574665B6D746CC00E0DBF1BBE48329F881FB8462B157AA0C2970FE020E72A900E8DE1AFED6F9A832EE8B92170F6D196C190646B0F3
2020-01-23T19:07:01.096Z,1579806421.096 [Micromodem](INFO): Outgoing frame #3, 64 bytes: FAE2D820C68A43915257B3ADAF5DCB3DBFBF4FE2A53606113FB505AB98BE422E09F18B6EE4CFFD3B6A4A8D6245D7C533A170EC341CBE81C000E2614EAF60C35F
2020-01-23T19:07:03.864Z,1579806423.864 [Micromodem](ERROR): Nmea resend: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T19:07:04.276Z,1579806424.276 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T19:07:04.289Z,1579806424.289 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-23T19:07:04.671Z,1579806424.671 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-23T19:07:05.074Z,1579806425.074 [Micromodem](INFO): Nmea in: $CADRQ,190705,1,12,0,64,1*7E

2020-01-23T19:07:05.075Z,1579806425.075 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,FDED295E0100030088DDDC6B16FA230A6E8DDD1AF3DED95F623C7CC6458C073EB34B78DBBFD75CDC1CB5934889CA1316918169FF6848522592F787754DDCC26E*4A

2020-01-23T19:07:05.480Z,1579806425.480 [Micromodem](INFO): Nmea in: $SNTTA,0.000242,,,,190704.78*40

2020-01-23T19:07:05.480Z,1579806425.480 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.000242,,,,190704.78*40

2020-01-23T19:07:06.707Z,1579806426.707 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T19:07:07.095Z,1579806427.095 [Micromodem](INFO): Nmea in: $CADRQ,190705,1,12,0,64,2*7D

2020-01-23T19:07:07.096Z,1579806427.096 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,1A22EB93B5AFD427B00E87574665B6D746CC00E0DBF1BBE48329F881FB8462B157AA0C2970FE020E72A900E8DE1AFED6F9A832EE8B92170F6D196C190646B0F3*4B

2020-01-23T19:07:07.499Z,1579806427.499 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T19:07:07.899Z,1579806427.899 [Micromodem](INFO): Nmea in: $CADRQ,190707,1,12,0,64,3*7E

2020-01-23T19:07:07.900Z,1579806427.900 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,FAE2D820C68A43915257B3ADAF5DCB3DBFBF4FE2A53606113FB505AB98BE422E09F18B6EE4CFFD3B6A4A8D6245D7C533A170EC341CBE81C000E2614EAF60C35F*42

2020-01-23T19:07:08.308Z,1579806428.308 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T19:07:08.812Z,1579806428.812 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-23T19:07:12.378Z,1579806432.378 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2020-01-23T19:07:12.776Z,1579806432.776 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,190708.859323,3,0,200,4000,10000,1,1,12,1,3,3,3,192*7B

2020-01-23T19:07:15.629Z,1579806435.629 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T19:07:16.007Z,1579806436.007 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-23T19:07:16.411Z,1579806436.411 [Micromodem](INFO): Nmea in: $CAACK,12,1,3,1*7B

2020-01-23T19:07:16.412Z,1579806436.412 [Micromodem](INFO): Sent 184 bytes from file Logs/20200123T190325/Express0001.lzma.parts
2020-01-23T19:07:16.412Z,1579806436.412 [Micromodem](INFO): Packets left to send: 3
2020-01-23T19:07:16.819Z,1579806436.819 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123190715.252501,06,677,28,0141,0150,37,02,02,00,04,1,012,001,0,4,1,0,150,24.6,6.00,16,-3.00,-01,-0.03,18,10000,4000*4D

2020-01-23T19:07:16.842Z,1579806436.842 [Micromodem](INFO): Outgoing frame #1, 64 bytes: FDED295E010002006122BD05CB18EADA57DBFE20EDCD0233878EF2EFBFDB784229338E6430A0574C23122379E056BCAE1CB5C64257F84FB66DEEDE62A06B9997
2020-01-23T19:07:16.842Z,1579806436.842 [Micromodem](INFO): Outgoing frame #2, 64 bytes: ADA6738C5E6ACF8212EEE8D67434D6D47C304D3C54F1DEF9E55309D651E78D53128384D2BCD0C50FBEE0FE050B9A2D977837E8ACE47C73C99E1315384DB42F48
2020-01-23T19:07:16.843Z,1579806436.843 [Micromodem](INFO): Outgoing frame #3, 64 bytes: 4DCFC276AC1B347BE8F540BCE6DE166EB02A9D3C14C3B8277AD335E90663CCBF10D5F3E08E4EDA85B58881DA9B568305A5B176D7C9250D8F5819840C7A495F15
2020-01-23T19:07:16.843Z,1579806436.843 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-23T19:07:18.028Z,1579806438.028 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-23T19:07:18.431Z,1579806438.431 [Micromodem](INFO): Nmea in: $CADRQ,190717,1,12,0,64,1*7D

2020-01-23T19:07:18.432Z,1579806438.432 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,FDED295E010002006122BD05CB18EADA57DBFE20EDCD0233878EF2EFBFDB784229338E6430A0574C23122379E056BCAE1CB5C64257F84FB66DEEDE62A06B9997*4F

2020-01-23T19:07:18.850Z,1579806438.850 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T19:07:19.239Z,1579806439.239 [Micromodem](INFO): Nmea in: $CADRQ,190719,1,12,0,64,2*70

2020-01-23T19:07:19.240Z,1579806439.240 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,ADA6738C5E6ACF8212EEE8D67434D6D47C304D3C54F1DEF9E55309D651E78D53128384D2BCD0C50FBEE0FE050B9A2D977837E8ACE47C73C99E1315384DB42F48*3B

2020-01-23T19:07:19.619Z,1579806439.619 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T19:07:20.049Z,1579806440.049 [Micromodem](INFO): Nmea in: $CADRQ,190720,1,12,0,64,3*7B

2020-01-23T19:07:20.050Z,1579806440.050 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,4DCFC276AC1B347BE8F540BCE6DE166EB02A9D3C14C3B8277AD335E90663CCBF10D5F3E08E4EDA85B58881DA9B568305A5B176D7C9250D8F5819840C7A495F15*37

2020-01-23T19:07:20.427Z,1579806440.427 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T19:07:20.836Z,1579806440.836 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-23T19:07:24.463Z,1579806444.463 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2020-01-23T19:07:24.872Z,1579806444.872 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,190721.009221,3,0,200,4000,10000,1,1,12,1,3,3,3,192*7E

2020-01-23T19:07:27.713Z,1579806447.713 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T19:07:28.100Z,1579806448.100 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-23T19:07:28.504Z,1579806448.504 [Micromodem](INFO): Nmea in: $CAACK,12,1,3,1*7B

2020-01-23T19:07:28.504Z,1579806448.504 [Micromodem](INFO): Sent 184 bytes from file Logs/20200123T190325/Express0001.lzma.parts
2020-01-23T19:07:28.504Z,1579806448.504 [Micromodem](INFO): Packets left to send: 2
2020-01-23T19:07:28.916Z,1579806448.916 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123190727.403029,06,442,26,0092,0150,89,02,02,00,02,1,012,001,0,4,1,0,150,26.8,6.00,19,-3.00,-01,-0.04,24,10000,4000*4C

2020-01-23T19:07:28.939Z,1579806448.939 [Micromodem](INFO): Outgoing frame #1, 64 bytes: FDED295E010001002D790932C036605413517EDE178F7C34F4B9D837B53E26CBF5B4826CB70BD381814AE4EA628E1E978133AC84C9634ADB66C47A51C5741105
2020-01-23T19:07:28.939Z,1579806448.939 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 1E821EA5FBC2D83798039AF5DCD285FE9BDB6E070C00DDFCF837BDCBE903EFFE5EAE8CBDB443BD85B5F1C584DB06BCAE511D896BDAB8A26E4F875105278B3F46
2020-01-23T19:07:28.940Z,1579806448.940 [Micromodem](INFO): Outgoing frame #3, 64 bytes: 822B53575B3CD16677F18046C329DEB52866102F0CB6442AC7AD9BD6B94C38148AA65AAA68F751253D6A5877AC5C227D3A8855F502F4155E910A2C295559DF34
2020-01-23T19:07:28.940Z,1579806448.940 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-23T19:07:30.123Z,1579806450.123 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-23T19:07:30.527Z,1579806450.527 [Micromodem](INFO): Nmea in: $CADRQ,190729,1,12,0,64,1*70

2020-01-23T19:07:30.528Z,1579806450.528 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,FDED295E010001002D790932C036605413517EDE178F7C34F4B9D837B53E26CBF5B4826CB70BD381814AE4EA628E1E978133AC84C9634ADB66C47A51C5741105*4E

2020-01-23T19:07:30.934Z,1579806450.934 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T19:07:31.335Z,1579806451.335 [Micromodem](INFO): Nmea in: $CADRQ,190731,1,12,0,64,2*7A

2020-01-23T19:07:31.336Z,1579806451.336 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,1E821EA5FBC2D83798039AF5DCD285FE9BDB6E070C00DDFCF837BDCBE903EFFE5EAE8CBDB443BD85B5F1C584DB06BCAE511D896BDAB8A26E4F875105278B3F46*30

2020-01-23T19:07:31.735Z,1579806451.735 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T19:07:32.143Z,1579806452.143 [Micromodem](INFO): Nmea in: $CADRQ,190732,1,12,0,64,3*78

2020-01-23T19:07:32.144Z,1579806452.144 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,822B53575B3CD16677F18046C329DEB52866102F0CB6442AC7AD9BD6B94C38148AA65AAA68F751253D6A5877AC5C227D3A8855F502F4155E910A2C295559DF34*45

2020-01-23T19:07:32.543Z,1579806452.543 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T19:07:32.947Z,1579806452.947 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-23T19:07:36.591Z,1579806456.591 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2020-01-23T19:07:36.996Z,1579806456.996 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,190733.105092,3,0,200,4000,10000,1,1,12,1,3,3,3,192*7A

2020-01-23T19:07:39.816Z,1579806459.816 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T19:07:40.223Z,1579806460.223 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-23T19:07:40.627Z,1579806460.627 [Micromodem](INFO): Nmea in: $CAACK,12,1,3,1*7B

2020-01-23T19:07:40.628Z,1579806460.628 [Micromodem](INFO): Sent 184 bytes from file Logs/20200123T190325/Express0001.lzma.parts
2020-01-23T19:07:40.628Z,1579806460.628 [Micromodem](INFO): Packets left to send: 1
2020-01-23T19:07:41.042Z,1579806461.042 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123190739.499261,06,454,26,0100,0150,89,02,02,00,02,1,012,001,0,4,1,0,150,25.1,6.00,19,-3.00,-01,-0.04,26,10000,4000*4B

2020-01-23T19:07:41.065Z,1579806461.065 [Micromodem](INFO): Using rate 1 for 18 bytes.
2020-01-23T19:07:41.066Z,1579806461.066 [Micromodem](INFO): Outgoing frame #1, 18 bytes: FDED295E01000000A24BF731E8296772BAF4
2020-01-23T19:07:41.066Z,1579806461.066 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,1*6B

2020-01-23T19:07:42.244Z,1579806462.244 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,1*69

2020-01-23T19:07:42.655Z,1579806462.655 [Micromodem](INFO): Nmea in: $CADRQ,190741,1,12,0,64,1*7E

2020-01-23T19:07:42.656Z,1579806462.656 [Micromodem](ERROR): Received CADRQ with bad size: 64 expected <= 32
2020-01-23T19:07:42.656Z,1579806462.656 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,FDED295E01000000A24BF731E8296772BAF4*47

2020-01-23T19:07:42.730Z,1579806462.730 [Micromodem](INFO): Using rate 0 for 18 bytes.
2020-01-23T19:07:42.731Z,1579806462.731 [Micromodem](INFO): Outgoing frame #1, 18 bytes: FDED295E01000000A24BF731E8296772BAF4
2020-01-23T19:07:43.047Z,1579806463.047 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,18*40

2020-01-23T19:07:43.047Z,1579806463.047 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,1*6B

2020-01-23T19:07:43.451Z,1579806463.451 [Micromodem](INFO): Nmea in: $CATXP,18*7B

2020-01-23T19:07:43.451Z,1579806463.451 [Micromodem](ERROR): Response from modem unexpected: $CATXP,18*7B

2020-01-23T19:07:44.663Z,1579806464.663 [Micromodem](INFO): Nmea in: $CATXF,18*6D

2020-01-23T19:07:44.664Z,1579806464.664 [Micromodem](ERROR): Response from modem unexpected: $CATXF,18*6D

2020-01-23T19:07:45.068Z,1579806465.068 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,190743.538884,3,0,200,4000,10000,1,1,12,1,1,1,3,18*4B

2020-01-23T19:07:45.068Z,1579806465.068 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20200123,190743.538884,3,0,200,4000,10000,1,1,12,1,1,1,3,18*4B

2020-01-23T19:07:46.683Z,1579806466.683 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T19:07:46.684Z,1579806466.684 [Micromodem](INFO): Sent 10 bytes from file Logs/20200123T190325/Express0001.lzma.parts
2020-01-23T19:07:46.684Z,1579806466.684 [Micromodem](INFO): Packets left to send: 0
2020-01-23T19:07:47.096Z,1579806467.096 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123190746.226939,06,466,26,0144,0150,29,02,02,00,02,1,012,001,0,4,1,0,150,25.8,6.00,16,-3.00,-01,-0.03,15,10000,4000*4D

2020-01-23T19:07:47.096Z,1579806467.096 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20200123190746.226939,06,466,26,0144,0150,29,02,02,00,02,1,012,001,0,4,1,0,150,25.8,6.00,16,-3.00,-01,-0.03,15,10000,4000*4D

2020-01-23T19:07:47.119Z,1579806467.119 [Micromodem](INFO): Outgoing frame #1, 64 bytes: FDED295E050000005D00000400FA0000000000000000151D80030C5669BF5A33BA5C1EA2FE28E6BB91996B1B22BE33D8732747A60355ABB4A7DC82A8632EA17F
2020-01-23T19:07:47.119Z,1579806467.119 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 3BE8B3826879C81B5715513E306FFB2C3D9DC284C2A4A3C9E13DFE5CE45B2F30D8A997172114114D6589A54E91FA16A2859BB5A9EA6BA01D94322E594474084C
2020-01-23T19:07:47.120Z,1579806467.120 [Micromodem](INFO): Outgoing frame #3, 58 bytes: ACC6E9BF3D58E095BC75D11665D50F74FC17CF165F287465A312A6DF1103E9D5A757C01BF1F445DEF38840F95630F0DE541D85192551FC049800
2020-01-23T19:07:52.015Z,1579806472.015 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T19:07:54.394Z,1579806474.394 [Micromodem](ERROR): Nmea resend: $CCCYC,0,1,12,1,0,1*6B

2020-01-23T19:07:54.791Z,1579806474.791 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,1*69

2020-01-23T19:07:54.792Z,1579806474.792 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-23T19:07:55.199Z,1579806475.199 [Micromodem](INFO): Nmea in: $CADRQ,190755,1,12,0,64,1*7B

2020-01-23T19:07:55.200Z,1579806475.200 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,190755,1,12,0,64,1*7B

2020-01-23T19:07:55.604Z,1579806475.604 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-23T19:07:55.606Z,1579806475.606 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T19:07:56.004Z,1579806476.004 [Micromodem](INFO): Nmea in: $CADRQ,190755,1,12,0,64,1*7B

2020-01-23T19:07:56.004Z,1579806476.004 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,190755,1,12,0,64,1*7B

2020-01-23T19:07:56.415Z,1579806476.415 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T19:07:56.830Z,1579806476.830 [Micromodem](INFO): Nmea in: $SNTTA,0.000248,,0.055304,,190756.51*5F

2020-01-23T19:08:17.041Z,1579806497.041 [RDI_Pathfinder](ERROR): Failed to parse:
:R,   0.00,   0.00,   0.00,   0.00
2020-01-23T19:08:21.071Z,1579806501.071 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00,   0.00
2020-01-23T19:08:25.091Z,1579806505.091 [Micromodem](INFO): Nmea in: $CAERR,190825,DATA_TIMEOUT,1*49

2020-01-23T19:08:52.171Z,1579806532.171 [Micromodem](ERROR): Buffer fill timout failure.
2020-01-23T19:08:52.604Z,1579806532.604 [Micromodem](INFO): Outgoing frame #1, 64 bytes: FDED295E050000005D00000400FA0000000000000000151D80030C5669BF5A33BA5C1EA2FE28E6BB91996B1B22BE33D8732747A60355ABB4A7DC82A8632EA17F
2020-01-23T19:08:52.606Z,1579806532.606 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 3BE8B3826879C81B5715513E306FFB2C3D9DC284C2A4A3C9E13DFE5CE45B2F30D8A997172114114D6589A54E91FA16A2859BB5A9EA6BA01D94322E594474084C
2020-01-23T19:08:52.607Z,1579806532.607 [Micromodem](INFO): Outgoing frame #3, 58 bytes: ACC6E9BF3D58E095BC75D11665D50F74FC17CF165F287465A312A6DF1103E9D5A757C01BF1F445DEF38840F95630F0DE541D85192551FC049800
2020-01-23T19:08:52.608Z,1579806532.608 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-23T19:08:52.971Z,1579806532.971 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-23T19:08:53.383Z,1579806533.383 [Micromodem](INFO): Nmea in: $CADRQ,190853,1,12,0,64,1*72

2020-01-23T19:08:53.384Z,1579806533.384 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,FDED295E050000005D00000400FA0000000000000000151D80030C5669BF5A33BA5C1EA2FE28E6BB91996B1B22BE33D8732747A60355ABB4A7DC82A8632EA17F*3F

2020-01-23T19:08:53.783Z,1579806533.783 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T19:08:54.192Z,1579806534.192 [Micromodem](INFO): Nmea in: $CADRQ,190854,1,12,0,64,2*76

2020-01-23T19:08:54.194Z,1579806534.194 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,3BE8B3826879C81B5715513E306FFB2C3D9DC284C2A4A3C9E13DFE5CE45B2F30D8A997172114114D6589A54E91FA16A2859BB5A9EA6BA01D94322E594474084C*3A

2020-01-23T19:08:54.607Z,1579806534.607 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T19:08:54.995Z,1579806534.995 [Micromodem](INFO): Nmea in: $CADRQ,190855,1,12,0,64,3*76

2020-01-23T19:08:54.996Z,1579806534.996 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,ACC6E9BF3D58E095BC75D11665D50F74FC17CF165F287465A312A6DF1103E9D5A757C01BF1F445DEF38840F95630F0DE541D85192551FC049800*39

2020-01-23T19:08:55.403Z,1579806535.403 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,58*44

2020-01-23T19:08:55.807Z,1579806535.807 [Micromodem](INFO): Nmea in: $CATXP,186*4D

2020-01-23T19:08:56.688Z,1579806536.688 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T19:08:57.420Z,1579806537.420 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T19:08:59.445Z,1579806539.445 [Micromodem](INFO): Nmea in: $CATXF,186*5B

2020-01-23T19:08:59.446Z,1579806539.446 [Micromodem](ERROR): Response from modem unexpected: $CATXF,186*5B

2020-01-23T19:08:59.845Z,1579806539.845 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,190855.946607,3,0,200,4000,10000,1,1,12,1,3,3,3,186*75

2020-01-23T19:08:59.845Z,1579806539.845 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20200123,190855.946607,3,0,200,4000,10000,1,1,12,1,3,3,3,186*75

2020-01-23T19:09:02.676Z,1579806542.676 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T19:09:03.188Z,1579806543.188 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-23T19:09:03.511Z,1579806543.511 [Micromodem](INFO): Nmea in: $CAACK,12,1,3,1*7B

2020-01-23T19:09:03.512Z,1579806543.512 [Micromodem](INFO): Sent 178 bytes from file Logs/20200123T190325/Express0005.lzma.parts
2020-01-23T19:09:03.512Z,1579806543.512 [Micromodem](INFO): Packets left to send: 0
2020-01-23T19:09:03.923Z,1579806543.923 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123190902.331738,06,577,27,0135,0150,89,02,02,00,04,1,012,001,0,4,1,0,150,26.8,6.00,19,-3.00,-01,-0.02,24,10000,4000*4E

2020-01-23T19:09:03.923Z,1579806543.923 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20200123190902.331738,06,577,27,0135,0150,89,02,02,00,04,1,012,001,0,4,1,0,150,26.8,6.00,19,-3.00,-01,-0.02,24,10000,4000*4E

2020-01-23T19:09:03.946Z,1579806543.946 [Micromodem](INFO): Outgoing frame #1, 64 bytes: FDED295E080001005D00000400230100000000000000151D80030C5669BF5A33BA5796540A3030C10EA014BAE72A576CD5933EA9D2373A876DBFCFF6E6C93F07
2020-01-23T19:09:03.946Z,1579806543.946 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 116C46EB5CB5A3F39F6BAF3A2E3734032DFCB941226460003C5329C91007C73405752A0DF72BD1751E491F0C235E70003E7C1EC3EEEEC5AF3F7AF5DB2B9B3F0A
2020-01-23T19:09:03.947Z,1579806543.947 [Micromodem](INFO): Outgoing frame #3, 64 bytes: 21BF81CE1A7FC3EA2C0004830D0A902257B12A062D110B861D4FF2FE15EC7F9A9C17587BD21A1FBFDBDB428B9119080795BACFD9F5A2CED7321E5DFD36F0656E
2020-01-23T19:09:08.759Z,1579806548.759 [Micromodem](ERROR): Nmea resend: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T19:09:09.165Z,1579806549.165 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T19:09:09.177Z,1579806549.177 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-23T19:09:09.567Z,1579806549.567 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-23T19:09:09.994Z,1579806549.994 [Micromodem](INFO): Nmea in: $CADRQ,190910,1,12,0,64,1*74

2020-01-23T19:09:09.995Z,1579806549.995 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,FDED295E080001005D00000400230100000000000000151D80030C5669BF5A33BA5796540A3030C10EA014BAE72A576CD5933EA9D2373A876DBFCFF6E6C93F07*40

2020-01-23T19:09:10.118Z,1579806550.118 [RDI_Pathfinder](ERROR): Failed to parse:
:   +0.00,        +0.00,        +0.00,   0.00,317.00
2020-01-23T19:09:10.388Z,1579806550.388 [Micromodem](INFO): Nmea in: $SNTTA,0.000220,,,,190909.67*49

2020-01-23T19:09:10.388Z,1579806550.388 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.000220,,,,190909.67*49

2020-01-23T19:09:11.591Z,1579806551.591 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T19:09:11.991Z,1579806551.991 [Micromodem](INFO): Nmea in: $CADRQ,190910,1,12,0,64,2*77

2020-01-23T19:09:11.992Z,1579806551.992 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,116C46EB5CB5A3F39F6BAF3A2E3734032DFCB941226460003C5329C91007C73405752A0DF72BD1751E491F0C235E70003E7C1EC3EEEEC5AF3F7AF5DB2B9B3F0A*3C

2020-01-23T19:09:12.402Z,1579806552.402 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T19:09:12.799Z,1579806552.799 [Micromodem](INFO): Nmea in: $CADRQ,190912,1,12,0,64,3*74

2020-01-23T19:09:12.800Z,1579806552.800 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,21BF81CE1A7FC3EA2C0004830D0A902257B12A062D110B861D4FF2FE15EC7F9A9C17587BD21A1FBFDBDB428B9119080795BACFD9F5A2CED7321E5DFD36F0656E*34

2020-01-23T19:09:13.206Z,1579806553.206 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T19:09:13.611Z,1579806553.611 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-23T19:09:15.655Z,1579806555.655 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-01-23T19:09:15.656Z,1579806555.656 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +0.00,        +0.   +0.00,   0.00,324.00
2020-01-23T19:09:16.412Z,1579806556.412 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2020-01-23T19:09:17.215Z,1579806557.215 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2020-01-23T19:09:17.634Z,1579806557.634 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,190913.760457,3,0,200,4000,10000,1,1,12,1,3,3,3,192*7E

2020-01-23T19:09:20.451Z,1579806560.451 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T19:09:20.860Z,1579806560.860 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-23T19:09:21.259Z,1579806561.259 [Micromodem](INFO): Nmea in: $CAACK,12,1,3,1*7B

2020-01-23T19:09:21.260Z,1579806561.260 [Micromodem](INFO): Sent 184 bytes from file Logs/20200123T190325/Express0008.lzma.parts
2020-01-23T19:09:21.260Z,1579806561.260 [Micromodem](INFO): Packets left to send: 1
2020-01-23T19:09:21.671Z,1579806561.671 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123190920.152145,06,601,27,0140,0150,89,02,02,00,03,1,012,001,0,4,1,0,150,25.9,5.00,12,-2.00,-01,0.00,24,10000,4000*66

2020-01-23T19:09:21.707Z,1579806561.707 [Micromodem](INFO): Using rate 1 for 20 bytes.
2020-01-23T19:09:21.708Z,1579806561.708 [Micromodem](INFO): Outgoing frame #1, 20 bytes: FDED295E08000000F2977A61D15909532EE07000
2020-01-23T19:09:21.708Z,1579806561.708 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,1*6B

2020-01-23T19:09:22.875Z,1579806562.875 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,1*69

2020-01-23T19:09:23.279Z,1579806563.279 [Micromodem](INFO): Nmea in: $CADRQ,190922,1,12,0,64,1*75

2020-01-23T19:09:23.280Z,1579806563.280 [Micromodem](ERROR): Received CADRQ with bad size: 64 expected <= 32
2020-01-23T19:09:23.280Z,1579806563.280 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,FDED295E08000000F2977A61D15909532EE07000*43

2020-01-23T19:09:23.360Z,1579806563.360 [Micromodem](INFO): Using rate 0 for 20 bytes.
2020-01-23T19:09:23.361Z,1579806563.361 [Micromodem](INFO): Outgoing frame #1, 20 bytes: FDED295E08000000F2977A61D15909532EE07000
2020-01-23T19:09:23.685Z,1579806563.685 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,20*4B

2020-01-23T19:09:23.686Z,1579806563.686 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,1*6B

2020-01-23T19:09:24.083Z,1579806564.083 [Micromodem](INFO): Nmea in: $CATXP,20*70

2020-01-23T19:09:24.083Z,1579806564.083 [Micromodem](ERROR): Response from modem unexpected: $CATXP,20*70

2020-01-23T19:09:25.299Z,1579806565.299 [Micromodem](INFO): Nmea in: $CATXF,20*66

2020-01-23T19:09:25.299Z,1579806565.299 [Micromodem](ERROR): Response from modem unexpected: $CATXF,20*66

2020-01-23T19:09:25.704Z,1579806565.704 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,190924.164633,3,0,200,4000,10000,1,1,12,1,1,1,3,20*40

2020-01-23T19:09:25.704Z,1579806565.704 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20200123,190924.164633,3,0,200,4000,10000,1,1,12,1,1,1,3,20*40

2020-01-23T19:09:27.320Z,1579806567.320 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T19:09:27.321Z,1579806567.321 [Micromodem](INFO): Sent 12 bytes from file Logs/20200123T190325/Express0008.lzma.parts
2020-01-23T19:09:27.321Z,1579806567.321 [Micromodem](INFO): Packets left to send: 0
2020-01-23T19:09:27.727Z,1579806567.727 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123190926.856893,06,436,20,0104,0150,89,02,02,01,03,1,012,001,0,4,1,0,150,23.7,4.00,11,-1.00,-01,0.00,26,10000,4000*64

2020-01-23T19:09:27.727Z,1579806567.727 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20200123190926.856893,06,436,20,0104,0150,89,02,02,01,03,1,012,001,0,4,1,0,150,23.7,4.00,11,-1.00,-01,0.00,26,10000,4000*64

2020-01-23T19:09:27.815Z,1579806567.815 [DefaultUnder:uModemComms:CheckIn:A] Stopped
2020-01-23T19:09:27.816Z,1579806567.816 [DefaultUnder:uModemComms:CheckIn](INFO): Completed DefaultUnder:uModemComms:CheckIn
2020-01-23T19:09:27.816Z,1579806567.816 [DefaultUnder:uModemComms:CheckIn] Stopped
2020-01-23T19:09:27.816Z,1579806567.816 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::uninitialize DefaultUnder:uModemComms:CheckIn
2020-01-23T19:09:34.000Z,1579806575.000 [Micromodem](ERROR): Nmea resend: $CCCYC,0,1,12,1,0,1*6B

2020-01-23T19:09:35.391Z,1579806575.391 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,1*69

2020-01-23T19:09:35.392Z,1579806575.392 [Micromodem](INFO): Nmea in: $CADRQ,190935,1,12,0,64,1*73

2020-01-23T19:09:35.392Z,1579806575.392 [Micromodem](INFO): Received CADRQ with no data to send
2020-01-23T19:09:37.045Z,1579806577.045 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2020-01-23T19:09:37.045Z,1579806577.045 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-23T19:09:37.056Z,1579806577.056 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-23T19:09:37.467Z,1579806577.467 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-23T19:09:37.467Z,1579806577.467 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2020-01-23T19:09:56.852Z,1579806596.852 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T19:09:57.624Z,1579806597.624 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T19:09:58.032Z,1579806598.032 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T19:09:58.429Z,1579806598.429 [Micromodem](FAULT): Failed to receive CAREV within timeout
2020-01-23T19:09:58.429Z,1579806598.429 [Micromodem] Hardware Fault, FailCount= 1
2020-01-23T19:09:58.429Z,1579806598.429 [Micromodem](ERROR): Hardware Fault
2020-01-23T19:09:58.503Z,1579806598.503 [DefaultUnder:uModemComms:CheckIn] Running Loop=1
2020-01-23T19:09:58.503Z,1579806598.503 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::initialize DefaultUnder:uModemComms:CheckIn
2020-01-23T19:09:58.503Z,1579806598.503 [DefaultUnder:uModemComms:CheckIn:A] Running Loop=1
2020-01-23T19:09:58.512Z,1579806598.512 [CBIT](ERROR): Hardware Fault in component: Micromodem
2020-01-23T19:09:58.845Z,1579806598.845 [Micromodem](INFO): Powering down
2020-01-23T19:09:59.249Z,1579806599.249 [Micromodem](FAULT): LCB 2 fault:  Software Overcurrent.
2020-01-23T19:09:59.679Z,1579806599.679 [CBIT](INFO): Clearing failed state for component Micromodem
2020-01-23T19:09:59.679Z,1579806599.679 [Micromodem] No Fault, FailCount= 1
2020-01-23T19:10:02.491Z,1579806602.491 [Micromodem](INFO): Powering up
2020-01-23T19:10:02.491Z,1579806602.491 [Micromodem](DEBUG): Initializing Micromodem.
2020-01-23T19:10:07.321Z,1579806607.321 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2020-01-23T19:10:09.375Z,1579806609.375 [RDI_Pathfinder](ERROR): No DVL communication! Re-initializing
2020-01-23T19:10:09.375Z,1579806609.375 [RDI_Pathfinder] Communications Fault, FailCount= 1
2020-01-23T19:10:09.375Z,1579806609.375 [RDI_Pathfinder](ERROR): Communications Fault
2020-01-23T19:10:09.413Z,1579806609.413 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2020-01-23T19:10:09.869Z,1579806609.869 [RDI_Pathfinder](INFO): Powering down
2020-01-23T19:10:10.167Z,1579806610.167 [Micromodem](INFO): Nmea in: $CATMG,2020-01-23T19:10:09.345954Z,RTC,RTC*5A

2020-01-23T19:10:10.168Z,1579806610.168 [Micromodem](ERROR): CFG response from modem unexpected: $CATMG,2020-01-23T19:10:09.345954Z,RTC,RTC*5A

2020-01-23T19:10:10.629Z,1579806610.629 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2020-01-23T19:10:10.629Z,1579806610.629 [RDI_Pathfinder] No Fault, FailCount= 1
2020-01-23T19:10:18.651Z,1579806618.651 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-01-23T19:10:19.463Z,1579806619.463 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2020-01-23T19:10:19.463Z,1579806619.463 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2020-01-23T19:10:19.863Z,1579806619.863 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2020-01-23T19:10:19.863Z,1579806619.863 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2020-01-23T19:10:20.267Z,1579806620.267 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2020-01-23T19:10:20.268Z,1579806620.268 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2020-01-23T19:10:20.341Z,1579806620.341 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2020-01-23T19:10:20.344Z,1579806620.344 [BPC1](INFO): Received data from all battery sticks.
2020-01-23T19:10:20.679Z,1579806620.679 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2020-01-23T19:10:20.679Z,1579806620.679 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2020-01-23T19:10:21.075Z,1579806621.075 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2020-01-23T19:10:21.075Z,1579806621.075 [Micromodem](INFO): Nmea out: $CCCFG,FC0,10000*46

2020-01-23T19:10:21.479Z,1579806621.479 [Micromodem](INFO): Nmea in: $CACFG,FC0,10000*44

2020-01-23T19:10:21.479Z,1579806621.479 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2020-01-23T19:10:21.883Z,1579806621.883 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2020-01-23T19:10:21.883Z,1579806621.883 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2020-01-23T19:10:22.294Z,1579806622.294 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2020-01-23T19:10:22.295Z,1579806622.295 [Micromodem](INFO): Nmea out: $CCCLK,2020,01,23,19,10,23*4C

2020-01-23T19:10:22.691Z,1579806622.691 [Micromodem](INFO): Nmea in: $CACLK,2020,1,23,19,10,23*7E

2020-01-23T19:10:22.721Z,1579806622.721 [Micromodem](INFO): Outgoing frame #1, 47 bytes: FDED295E0A0000005D00000400140000000000000000151D80030C5669BF92DB1A4FF042A68798E1ED71D15D6E2B00
2020-01-23T19:10:22.721Z,1579806622.721 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,1*6B

2020-01-23T19:10:23.095Z,1579806623.095 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,1*69

2020-01-23T19:10:23.500Z,1579806623.500 [Micromodem](INFO): Nmea in: $CADRQ,191023,1,12,0,64,1*7C

2020-01-23T19:10:23.500Z,1579806623.500 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,FDED295E0A0000005D00000400140000000000000000151D80030C5669BF92DB1A4FF042A68798E1ED71D15D6E2B00*41

2020-01-23T19:10:23.920Z,1579806623.920 [Micromodem](INFO): Nmea in: $CATMS,0,2020-01-23T19:10:24Z*79

2020-01-23T19:10:23.920Z,1579806623.920 [Micromodem](ERROR): TXD response from modem unexpected: $CATMS,0,2020-01-23T19:10:24Z*79

2020-01-23T19:10:23.969Z,1579806623.969 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2020-01-23T19:10:24.308Z,1579806624.308 [Micromodem](INFO): Nmea in: $CATMG,2020-01-23T19:10:24.028233Z,USER_CMD,RTC*16

2020-01-23T19:10:24.308Z,1579806624.308 [Micromodem](ERROR): TXD response from modem unexpected: $CATMG,2020-01-23T19:10:24.028233Z,USER_CMD,RTC*16

2020-01-23T19:10:24.718Z,1579806624.718 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,47*4A

2020-01-23T19:10:25.115Z,1579806625.115 [Micromodem](INFO): Nmea in: $CATXP,47*71

2020-01-23T19:10:25.531Z,1579806625.531 [Micromodem](INFO): Nmea in: $CATXF,47*67

2020-01-23T19:10:25.924Z,1579806625.924 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,191024.413345,3,0,200,4000,10000,1,1,12,1,1,1,3,47*48

2020-01-23T19:10:27.516Z,1579806627.516 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T19:10:27.516Z,1579806627.516 [Micromodem](INFO): Sent 39 bytes from file Logs/20200123T190325/Courier0010.lzma.parts
2020-01-23T19:10:27.516Z,1579806627.516 [Micromodem](INFO): Packets left to send: 0
2020-01-23T19:10:28.023Z,1579806628.023 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123191027.127564,06,518,27,0111,0150,59,01,01,00,03,1,012,001,0,4,1,0,150,27.3,5.00,14,-2.00,-01,-0.03,20,10000,4000*4A

2020-01-23T19:10:28.057Z,1579806628.057 [Micromodem](INFO): Outgoing frame #1, 64 bytes: FDED295E0B0001005D00000400DB0000000000000000151D80030C5669BF31555EAE1409A708CE2489B1CBBC019D68DCD8D7B9ED0B0627A8DD3DB4DE10BB4B8A
2020-01-23T19:10:28.057Z,1579806628.057 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 633F6C13C473DE06AE852F269E3B2EE7D702669EAB6B05974FBB19C5F24523C91E4B0ECFFBD5DF0CC71A0EF23556F2BC40465A6EB80234591E8E5DF8463F4810
2020-01-23T19:10:28.058Z,1579806628.058 [Micromodem](INFO): Outgoing frame #3, 64 bytes: 96E22650C02A685C0753083F47EE204E4542AAEDC0010332251BF246AEEA5B347FAB66FA1C6724194FC32007FFF0E86B9E37FE61D8287EBA14CB06594B25B1B0
2020-01-23T19:10:28.058Z,1579806628.058 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-23T19:10:29.155Z,1579806629.155 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-23T19:10:29.566Z,1579806629.566 [Micromodem](INFO): Nmea in: $CADRQ,191028,1,12,0,64,1*77

2020-01-23T19:10:29.566Z,1579806629.566 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,FDED295E0B0001005D00000400DB0000000000000000151D80030C5669BF31555EAE1409A708CE2489B1CBBC019D68DCD8D7B9ED0B0627A8DD3DB4DE10BB4B8A*42

2020-01-23T19:10:29.971Z,1579806629.971 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T19:10:30.371Z,1579806630.371 [Micromodem](INFO): Nmea in: $CADRQ,191030,1,12,0,64,2*7D

2020-01-23T19:10:30.372Z,1579806630.372 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,633F6C13C473DE06AE852F269E3B2EE7D702669EAB6B05974FBB19C5F24523C91E4B0ECFFBD5DF0CC71A0EF23556F2BC40465A6EB80234591E8E5DF8463F4810*37

2020-01-23T19:10:30.771Z,1579806630.771 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T19:10:31.175Z,1579806631.175 [Micromodem](INFO): Nmea in: $CADRQ,191031,1,12,0,64,3*7D

2020-01-23T19:10:31.176Z,1579806631.176 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,96E22650C02A685C0753083F47EE204E4542AAEDC0010332251BF246AEEA5B347FAB66FA1C6724194FC32007FFF0E86B9E37FE61D8287EBA14CB06594B25B1B0*37

2020-01-23T19:10:31.592Z,1579806631.592 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T19:10:31.987Z,1579806631.987 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-23T19:10:35.619Z,1579806635.619 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2020-01-23T19:10:36.027Z,1579806636.027 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,191032.132781,3,0,200,4000,10000,1,1,12,1,3,3,3,192*7C

2020-01-23T19:10:38.838Z,1579806638.838 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T19:10:39.227Z,1579806639.227 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-23T19:10:39.261Z,1579806639.261 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-23T19:10:39.261Z,1579806639.261 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2020-01-23T19:10:39.632Z,1579806639.632 [Micromodem](INFO): Nmea in: $CAACK,12,1,3,1*7B

2020-01-23T19:10:39.632Z,1579806639.632 [Micromodem](INFO): Sent 184 bytes from file Logs/20200123T190325/Express0011.lzma.parts
2020-01-23T19:10:39.632Z,1579806639.632 [Micromodem](INFO): Packets left to send: 1
2020-01-23T19:10:40.046Z,1579806640.046 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123191038.525339,06,577,27,0121,0150,59,01,01,00,03,1,012,001,0,4,1,0,150,27.0,6.00,18,-3.00,-01,-0.02,20,10000,4000*4A

2020-01-23T19:10:40.069Z,1579806640.069 [Micromodem](INFO): Using rate 1 for 10 bytes.
2020-01-23T19:10:40.070Z,1579806640.070 [Micromodem](INFO): Outgoing frame #1, 10 bytes: FDED295E0B0000009500
2020-01-23T19:10:40.070Z,1579806640.070 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,1*6B

2020-01-23T19:10:41.251Z,1579806641.251 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,1*69

2020-01-23T19:10:41.656Z,1579806641.656 [Micromodem](INFO): Nmea in: $CADRQ,191040,1,12,0,64,1*79

2020-01-23T19:10:41.657Z,1579806641.657 [Micromodem](ERROR): Received CADRQ with bad size: 64 expected <= 32
2020-01-23T19:10:41.657Z,1579806641.657 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,FDED295E0B0000009500*4D

2020-01-23T19:10:41.699Z,1579806641.699 [Micromodem](INFO): Using rate 0 for 10 bytes.
2020-01-23T19:10:41.699Z,1579806641.699 [Micromodem](INFO): Outgoing frame #1, 10 bytes: FDED295E0B0000009500
2020-01-23T19:10:42.059Z,1579806642.059 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,10*48

2020-01-23T19:10:42.060Z,1579806642.060 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,1*6B

2020-01-23T19:10:42.459Z,1579806642.459 [Micromodem](INFO): Nmea in: $CATXP,10*73

2020-01-23T19:10:42.459Z,1579806642.459 [Micromodem](ERROR): Response from modem unexpected: $CATXP,10*73

2020-01-23T19:10:43.675Z,1579806643.675 [Micromodem](INFO): Nmea in: $CATXF,10*65

2020-01-23T19:10:43.675Z,1579806643.675 [Micromodem](ERROR): Response from modem unexpected: $CATXF,10*65

2020-01-23T19:10:44.076Z,1579806644.076 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,191042.530615,3,0,200,4000,10000,1,1,12,1,1,1,3,10*4A

2020-01-23T19:10:44.076Z,1579806644.076 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20200123,191042.530615,3,0,200,4000,10000,1,1,12,1,1,1,3,10*4A

2020-01-23T19:10:45.304Z,1579806645.304 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T19:10:45.306Z,1579806645.306 [Micromodem](INFO): Sent 2 bytes from file Logs/20200123T190325/Express0011.lzma.parts
2020-01-23T19:10:45.306Z,1579806645.306 [Micromodem](INFO): Packets left to send: 0
2020-01-23T19:10:45.691Z,1579806645.691 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123191045.208998,06,502,27,0121,0150,59,01,01,00,03,1,012,001,0,4,1,0,150,27.7,5.00,15,-2.00,-01,-0.03,19,10000,4000*48

2020-01-23T19:10:45.691Z,1579806645.691 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20200123191045.208998,06,502,27,0121,0150,59,01,01,00,03,1,012,001,0,4,1,0,150,27.7,5.00,15,-2.00,-01,-0.03,19,10000,4000*48

2020-01-23T19:10:45.758Z,1579806645.758 [DefaultUnder:uModemComms:CheckIn:A] Stopped
2020-01-23T19:10:45.758Z,1579806645.758 [DefaultUnder:uModemComms:CheckIn](INFO): Completed DefaultUnder:uModemComms:CheckIn
2020-01-23T19:10:45.759Z,1579806645.759 [DefaultUnder:uModemComms:CheckIn] Stopped
2020-01-23T19:10:45.759Z,1579806645.759 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::uninitialize DefaultUnder:uModemComms:CheckIn
2020-01-23T19:10:51.786Z,1579806651.786 [DefaultUnder:Notify:A:A:A.Wait](INFO): Done Waiting.
2020-01-23T19:10:51.786Z,1579806651.786 [DefaultUnder:Notify:A:A:A.Wait] Stopped
2020-01-23T19:10:51.786Z,1579806651.786 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-23T19:10:51.786Z,1579806651.786 [DefaultUnder:Notify:A:A:B] Running Loop=1
2020-01-23T19:10:52.225Z,1579806652.225 [DefaultUnder:Notify:A:A:B] Stopped
2020-01-23T19:10:52.225Z,1579806652.225 [DefaultUnder:Notify:A:A:C] Running Loop=1
2020-01-23T19:10:52.609Z,1579806652.609 [DefaultUnder:Notify:A:A:C](IMPORTANT): Default mission has been running for 5.009911 min 
2020-01-23T19:10:52.609Z,1579806652.609 [DefaultUnder:Notify:A:A:C] Stopped
2020-01-23T19:10:52.609Z,1579806652.609 [DefaultUnder:Notify:A:A](INFO): Completed DefaultUnder:Notify:A:A
2020-01-23T19:10:52.609Z,1579806652.609 [DefaultUnder:Notify:A:A] Stopped
2020-01-23T19:10:52.609Z,1579806652.609 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A:A
2020-01-23T19:10:52.610Z,1579806652.610 [DefaultUnder:Notify:A:A](INFO): Running loop #2
2020-01-23T19:10:52.610Z,1579806652.610 [DefaultUnder:Notify:A:A] Running Loop=2
2020-01-23T19:10:52.610Z,1579806652.610 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A:A
2020-01-23T19:10:52.610Z,1579806652.610 [DefaultUnder:Notify:A:A:A.Wait] Running Loop=1
2020-01-23T19:10:52.610Z,1579806652.610 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Initialize Wait Component.
2020-01-23T19:10:53.371Z,1579806653.371 [Micromodem](ERROR): Nmea resend: $CCCYC,0,1,12,1,0,1*6B

2020-01-23T19:10:53.775Z,1579806653.775 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,1*69

2020-01-23T19:10:53.776Z,1579806653.776 [Micromodem](INFO): Nmea in: $CADRQ,191054,1,12,0,64,1*7C

2020-01-23T19:10:53.776Z,1579806653.776 [Micromodem](INFO): Received CADRQ with no data to send
2020-01-23T19:10:58.667Z,1579806658.667 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T19:10:59.432Z,1579806659.432 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T19:10:59.838Z,1579806659.838 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T19:11:00.658Z,1579806660.658 [Micromodem](INFO): Nmea in: $SNTTA,0.000232,,,,191100.34*4C

2020-01-23T19:11:23.777Z,1579806683.777 [Micromodem](INFO): Nmea in: $CAERR,191124,DATA_TIMEOUT,1*40

2020-01-23T19:11:27.865Z,1579806687.865 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-01-23T19:11:27.866Z,1579806687.866 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-3276,V
2020-01-23T19:12:00.540Z,1579806720.540 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T19:12:01.320Z,1579806721.320 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T19:12:01.731Z,1579806721.731 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T19:12:02.538Z,1579806722.538 [Micromodem](INFO): Nmea in: $SNTTA,0.000200,,,,191202.22*4B

2020-01-23T19:12:07.871Z,1579806727.871 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-01-23T19:12:07.871Z,1579806727.871 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +0.0  +0.00,        +0.00,   0.00,104.00
2020-01-23T19:12:38.136Z,1579806758.136 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 3
2020-01-23T19:12:38.137Z,1579806758.137 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-23T19:12:38.148Z,1579806758.148 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-23T19:12:38.583Z,1579806758.583 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-23T19:12:38.583Z,1579806758.583 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 3
2020-01-23T19:12:53.994Z,1579806773.994 [CommandLine](IMPORTANT): got command restart application
2020-01-23T19:12:55.005Z,1579806775.005 [Supervisor](INFO): Stop Mission called by Supervisor::terminate
2020-01-23T19:12:55.005Z,1579806775.005 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-23T19:12:55.005Z,1579806775.005 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:12:55.093Z,1579806775.093 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2020-01-23T19:12:55.093Z,1579806775.093 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:12:55.094Z,1579806775.094 [CommandLine](INFO): Join timeout helper Thread ID is 7518
2020-01-23T19:12:55.121Z,1579806775.121 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2020-01-23T19:12:55.121Z,1579806775.121 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:12:55.121Z,1579806775.121 [NavChartDb](INFO): Join timeout helper Thread ID is 7519
2020-01-23T19:12:55.141Z,1579806775.141 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-23T19:12:55.141Z,1579806775.141 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:12:55.153Z,1579806775.153 [ComponentRegistry](INFO): Shutting down WetLabsSeaOWL_UV_A ThreadHandler
2020-01-23T19:12:55.153Z,1579806775.153 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:12:55.153Z,1579806775.153 [WetLabsSeaOWL_UV_A](INFO): Join timeout helper Thread ID is 7520
2020-01-23T19:12:55.173Z,1579806775.173 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-23T19:12:55.173Z,1579806775.173 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-01-23T19:12:55.174Z,1579806775.174 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:12:55.193Z,1579806775.193 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2020-01-23T19:12:55.193Z,1579806775.193 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:12:55.193Z,1579806775.193 [CTD_NeilBrown](INFO): Join timeout helper Thread ID is 7521
2020-01-23T19:12:55.257Z,1579806775.257 [CTD_NeilBrown ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-23T19:12:55.257Z,1579806775.257 [CTD_NeilBrown](INFO): Powering down
2020-01-23T19:12:55.269Z,1579806775.269 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:12:55.277Z,1579806775.277 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2020-01-23T19:12:55.277Z,1579806775.277 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:12:55.277Z,1579806775.277 [DataOverHttps](INFO): Join timeout helper Thread ID is 7522
2020-01-23T19:12:56.169Z,1579806776.169 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-23T19:12:56.169Z,1579806776.169 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:12:56.178Z,1579806776.178 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2020-01-23T19:12:56.178Z,1579806776.178 [logger ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:12:56.178Z,1579806776.178 [logger](INFO): Join timeout helper Thread ID is 7523
2020-01-23T19:12:56.197Z,1579806776.197 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-23T19:12:56.197Z,1579806776.197 [logger ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:12:56.217Z,1579806776.217 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2020-01-23T19:12:56.218Z,1579806776.218 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:12:56.218Z,1579806776.218 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2020-01-23T19:12:56.218Z,1579806776.218 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:12:56.218Z,1579806776.218 [controlThread](INFO): Join timeout helper Thread ID is 7524
2020-01-23T19:12:56.245Z,1579806776.245 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-23T19:12:56.245Z,1579806776.245 [controlThread](DEBUG): Uninitializing ControlThread
2020-01-23T19:12:56.246Z,1579806776.246 [AHRS_M2](INFO): Powering down
2020-01-23T19:12:56.317Z,1579806776.317 [DDM](INFO): Powering down
2020-01-23T19:12:56.409Z,1579806776.409 [DUSBL_Hydroid](INFO): Powering down
2020-01-23T19:12:56.481Z,1579806776.481 [Micromodem](INFO): Powering down
2020-01-23T19:12:56.577Z,1579806776.577 [NAL9602](INFO): Powering down
2020-01-23T19:12:56.649Z,1579806776.649 [RDI_Pathfinder](INFO): Powering down
2020-01-23T19:12:56.650Z,1579806776.650 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2020-01-23T19:12:56.651Z,1579806776.651 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2020-01-23T19:12:56.652Z,1579806776.652 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2020-01-23T19:12:56.652Z,1579806776.652 [MissionManager](INFO): Uninitializing Mission DefaultUnder
2020-01-23T19:12:56.652Z,1579806776.652 [DefaultUnder] Stopped
2020-01-23T19:12:56.652Z,1579806776.652 [DefaultUnder](DEBUG): Aggregate::uninitialize DefaultUnder
2020-01-23T19:12:56.652Z,1579806776.652 [DefaultUnder:uModemComms] Stopped
2020-01-23T19:12:56.653Z,1579806776.653 [DefaultUnder:uModemComms](DEBUG): Aggregate::uninitialize DefaultUnder:uModemComms
2020-01-23T19:12:56.653Z,1579806776.653 [DefaultUnder:Notify] Stopped
2020-01-23T19:12:56.653Z,1579806776.653 [DefaultUnder:Notify](DEBUG): Aggregate::uninitialize DefaultUnder:Notify
2020-01-23T19:12:56.653Z,1579806776.653 [DefaultUnder:Notify:A] Stopped
2020-01-23T19:12:56.653Z,1579806776.653 [DefaultUnder:Notify:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A
2020-01-23T19:12:56.653Z,1579806776.653 [DefaultUnder:Notify:A:A] Stopped
2020-01-23T19:12:56.653Z,1579806776.653 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A:A
2020-01-23T19:12:56.653Z,1579806776.653 [DefaultUnder:Notify:A:A:A.Wait] Stopped
2020-01-23T19:12:56.653Z,1579806776.653 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-23T19:12:56.653Z,1579806776.653 [DefaultUnder:C.] Stopped
2020-01-23T19:12:56.653Z,1579806776.653 [DefaultUnder:Default] Stopped
2020-01-23T19:12:56.654Z,1579806776.654 [DefaultUnder:Default](DEBUG): Aggregate::uninitialize DefaultUnder:Default
2020-01-23T19:12:56.654Z,1579806776.654 [DefaultUnder:Default:Docked] Stopped
2020-01-23T19:12:56.654Z,1579806776.654 [DefaultUnder:Default:Docked](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Docked
2020-01-23T19:12:56.654Z,1579806776.654 [DefaultUnder:Default:Docked:run] Stopped
2020-01-23T19:12:56.654Z,1579806776.654 [DefaultUnder:Default:Docked:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Docked:run
2020-01-23T19:12:56.654Z,1579806776.654 [DefaultUnder:Default:Docked:run:B.Docked] Stopped
2020-01-23T19:12:56.682Z,1579806776.682 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2020-01-23T19:12:56.682Z,1579806776.682 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2020-01-23T19:12:56.682Z,1579806776.682 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2020-01-23T19:12:56.683Z,1579806776.683 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2020-01-23T19:12:56.683Z,1579806776.683 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2020-01-23T19:12:56.683Z,1579806776.683 [BuoyancyServo](INFO): Powering down
2020-01-23T19:12:56.697Z,1579806776.697 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2020-01-23T19:12:56.697Z,1579806776.697 [ElevatorServo](INFO): Powering down
2020-01-23T19:12:56.698Z,1579806776.698 [MassServo](DEBUG): Uninitialize Mass Servo.
2020-01-23T19:12:56.698Z,1579806776.698 [MassServo](INFO): Powering down
2020-01-23T19:12:56.699Z,1579806776.699 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-01-23T19:12:56.699Z,1579806776.699 [RudderServo](INFO): Powering down
2020-01-23T19:12:56.700Z,1579806776.700 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2020-01-23T19:12:56.700Z,1579806776.700 [ThrusterServo](INFO): Powering down
2020-01-23T19:12:56.700Z,1579806776.700 [SBIT](DEBUG): Uninitialize SBIT Component.
2020-01-23T19:12:56.701Z,1579806776.701 [IBIT](DEBUG): Uninitialize IBIT Component.
2020-01-23T19:12:56.701Z,1579806776.701 [CBIT](DEBUG): Uninitialize CBIT Component.
2020-01-23T19:12:56.701Z,1579806776.701 [CBIT](DEBUG): Powering off loads.
2020-01-23T19:12:56.713Z,1579806776.713 [CBIT](DEBUG): Disabling WDT.
2020-01-23T19:12:56.725Z,1579806776.725 [CBIT](DEBUG): Opening all GF detection circuits.
2020-01-23T19:12:56.726Z,1579806776.726 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:12:56.783Z,1579806776.783 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:12:56.824Z,1579806776.824 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:12:56.827Z,1579806776.827 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:12:56.887Z,1579806776.887 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:12:56.946Z,1579806776.946 [logger ThreadHandler](INFO): Thread cancelled.