2020-01-23T19:12:57.892Z,1579806777.892 [Supervisor](DEBUG): Initializing supervisor.
2020-01-23T19:12:57.895Z,1579806777.895 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2020-01-23T19:12:57.895Z,1579806777.895 [SyncHandler](INFO): Protected caller Thread ID is 7525
2020-01-23T19:12:57.896Z,1579806777.896 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2020-01-23T19:12:57.897Z,1579806777.897 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2020-01-23T19:12:57.897Z,1579806777.897 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 7526
2020-01-23T19:12:57.900Z,1579806777.900 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2020-01-23T19:12:57.913Z,1579806777.913 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2020-01-23T19:12:57.914Z,1579806777.914 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2020-01-23T19:12:57.914Z,1579806777.914 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 7527
2020-01-23T19:12:57.915Z,1579806777.915 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2020-01-23T19:12:57.915Z,1579806777.915 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2020-01-23T19:12:57.916Z,1579806777.916 [logger ThreadHandler](INFO): Protected caller Thread ID is 7528
2020-01-23T19:12:57.918Z,1579806777.918 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2020-01-23T19:12:57.918Z,1579806777.918 [Supervisor](INFO): Looking for Config files in directory: Config/
2020-01-23T19:12:57.920Z,1579806777.920 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2020-01-23T19:12:58.377Z,1579806778.377 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2020-01-23T19:12:58.378Z,1579806778.378 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2020-01-23T19:12:58.476Z,1579806778.476 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2020-01-23T19:12:58.477Z,1579806778.477 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2020-01-23T19:12:58.811Z,1579806778.811 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2020-01-23T19:12:58.812Z,1579806778.812 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2020-01-23T19:12:58.954Z,1579806778.954 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2020-01-23T19:12:58.954Z,1579806778.954 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2020-01-23T19:12:59.527Z,1579806779.527 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2020-01-23T19:12:59.528Z,1579806779.528 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2020-01-23T19:12:59.993Z,1579806779.993 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2020-01-23T19:12:59.994Z,1579806779.994 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2020-01-23T19:13:00.211Z,1579806780.211 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2020-01-23T19:13:00.212Z,1579806780.212 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2020-01-23T19:13:00.360Z,1579806780.360 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2020-01-23T19:13:00.360Z,1579806780.360 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2020-01-23T19:13:00.564Z,1579806780.564 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2020-01-23T19:13:00.565Z,1579806780.565 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2020-01-23T19:13:00.661Z,1579806780.661 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2020-01-23T19:13:00.662Z,1579806780.662 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2020-01-23T19:13:00.976Z,1579806780.976 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2020-01-23T19:13:00.977Z,1579806780.977 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2020-01-23T19:13:01.058Z,1579806781.058 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2020-01-23T19:13:01.162Z,1579806781.162 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2020-01-23T19:13:01.162Z,1579806781.162 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2020-01-23T19:13:01.835Z,1579806781.835 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2020-01-23T19:13:01.836Z,1579806781.836 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2020-01-23T19:13:02.261Z,1579806782.261 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2020-01-23T19:13:02.263Z,1579806782.263 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/
2020-01-23T19:13:02.263Z,1579806782.263 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/vehicle.cfg
2020-01-23T19:13:02.486Z,1579806782.486 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Control.cfg
2020-01-23T19:13:02.588Z,1579806782.588 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/BIT.cfg
2020-01-23T19:13:02.690Z,1579806782.690 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Battery.cfg
2020-01-23T19:13:02.918Z,1579806782.918 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2020-01-23T19:13:02.918Z,1579806782.918 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Simulator.cfg
2020-01-23T19:13:03.004Z,1579806783.004 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Navigation.cfg
2020-01-23T19:13:03.098Z,1579806783.098 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/logger.cfg
2020-01-23T19:13:03.198Z,1579806783.198 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/secure.cfg
2020-01-23T19:13:03.281Z,1579806783.281 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Servo.cfg
2020-01-23T19:13:03.392Z,1579806783.392 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/workSite.cfg
2020-01-23T19:13:03.486Z,1579806783.486 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Sensor.cfg
2020-01-23T19:13:03.681Z,1579806783.681 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Science.cfg
2020-01-23T19:13:03.817Z,1579806783.817 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/root/
2020-01-23T19:13:03.817Z,1579806783.817 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2020-01-23T19:13:03.826Z,1579806783.826 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2020-01-23T19:13:04.124Z,1579806784.124 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_orientation
2020-01-23T19:13:04.129Z,1579806784.129 [AHRS_M2](INFO): created writer for : platform_orientation
2020-01-23T19:13:04.131Z,1579806784.131 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_magnetic_orientation
2020-01-23T19:13:04.135Z,1579806784.135 [AHRS_M2](INFO): created writer for : platform_magnetic_orientation
2020-01-23T19:13:04.136Z,1579806784.136 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_pitch_angle
2020-01-23T19:13:04.141Z,1579806784.141 [AHRS_M2](INFO): created writer for : platform_pitch_angle
2020-01-23T19:13:04.141Z,1579806784.141 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_roll_angle
2020-01-23T19:13:04.146Z,1579806784.146 [AHRS_M2](INFO): created writer for : platform_roll_angle
2020-01-23T19:13:04.227Z,1579806784.227 [AHRS_M2] Loaded
2020-01-23T19:13:04.227Z,1579806784.227 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2020-01-23T19:13:04.305Z,1579806784.305 [DataOverHttps] Loaded
2020-01-23T19:13:04.305Z,1579806784.305 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2020-01-23T19:13:04.306Z,1579806784.306 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 407684E0
2020-01-23T19:13:04.307Z,1579806784.307 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 7610
2020-01-23T19:13:04.329Z,1579806784.329 [DDM] Loaded
2020-01-23T19:13:04.330Z,1579806784.330 [ComponentRegistry](DEBUG): SyncComponent "DDM" handled in the control thread.
2020-01-23T19:13:04.342Z,1579806784.342 [Depth_Keller] Loaded
2020-01-23T19:13:04.342Z,1579806784.342 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2020-01-23T19:13:04.347Z,1579806784.347 [DropWeight] Loaded
2020-01-23T19:13:04.347Z,1579806784.347 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2020-01-23T19:13:04.405Z,1579806784.405 [DUSBL_Hydroid] Loaded
2020-01-23T19:13:04.405Z,1579806784.405 [ComponentRegistry](DEBUG): SyncComponent "DUSBL_Hydroid" handled in the control thread.
2020-01-23T19:13:04.449Z,1579806784.449 [Micromodem] Loaded
2020-01-23T19:13:04.450Z,1579806784.450 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2020-01-23T19:13:04.541Z,1579806784.541 [NAL9602] Loaded
2020-01-23T19:13:04.541Z,1579806784.541 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2020-01-23T19:13:04.579Z,1579806784.579 [Onboard] Loaded
2020-01-23T19:13:04.579Z,1579806784.579 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2020-01-23T19:13:04.584Z,1579806784.584 [PowerOnly] Loaded
2020-01-23T19:13:04.585Z,1579806784.585 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2020-01-23T19:13:04.626Z,1579806784.626 [RDI_Pathfinder] Loaded
2020-01-23T19:13:04.626Z,1579806784.626 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2020-01-23T19:13:06.034Z,1579806786.034 [BPC1] Loaded
2020-01-23T19:13:06.034Z,1579806786.034 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2020-01-23T19:13:06.034Z,1579806786.034 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2020-01-23T19:13:06.035Z,1579806786.035 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2020-01-23T19:13:06.080Z,1579806786.080 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2020-01-23T19:13:06.080Z,1579806786.080 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2020-01-23T19:13:06.528Z,1579806786.528 [DeadReckonUsingMultipleVelocitySources] Loaded
2020-01-23T19:13:06.528Z,1579806786.528 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2020-01-23T19:13:06.598Z,1579806786.598 [NavChart] Loaded
2020-01-23T19:13:06.598Z,1579806786.598 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2020-01-23T19:13:06.614Z,1579806786.614 [UniversalFixResidualReporter] Loaded
2020-01-23T19:13:06.614Z,1579806786.614 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2020-01-23T19:13:06.615Z,1579806786.615 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2020-01-23T19:13:06.615Z,1579806786.615 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2020-01-23T19:13:06.959Z,1579806786.959 [BuoyancyServo] Loaded
2020-01-23T19:13:06.959Z,1579806786.959 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2020-01-23T19:13:06.974Z,1579806786.974 [ElevatorServo] Loaded
2020-01-23T19:13:06.974Z,1579806786.974 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2020-01-23T19:13:06.988Z,1579806786.988 [MassServo] Loaded
2020-01-23T19:13:06.988Z,1579806786.988 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2020-01-23T19:13:07.003Z,1579806787.003 [RudderServo] Loaded
2020-01-23T19:13:07.003Z,1579806787.003 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2020-01-23T19:13:07.022Z,1579806787.022 [ThrusterServo] Loaded
2020-01-23T19:13:07.022Z,1579806787.022 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2020-01-23T19:13:07.023Z,1579806787.023 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2020-01-23T19:13:07.023Z,1579806787.023 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2020-01-23T19:13:07.269Z,1579806787.269 [CTD_NeilBrown] Loaded
2020-01-23T19:13:07.269Z,1579806787.269 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2020-01-23T19:13:07.270Z,1579806787.270 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 408BC4E0
2020-01-23T19:13:07.271Z,1579806787.271 [CTD_NeilBrown ThreadHandler](INFO): Protected caller Thread ID is 7611
2020-01-23T19:13:07.284Z,1579806787.284 [PAR_Licor] Loaded
2020-01-23T19:13:07.285Z,1579806787.285 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2020-01-23T19:13:07.327Z,1579806787.327 [WetLabsSeaOWL_UV_A] Loaded
2020-01-23T19:13:07.327Z,1579806787.327 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2020-01-23T19:13:07.328Z,1579806787.328 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 408EC4E0
2020-01-23T19:13:07.328Z,1579806787.328 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 7612
2020-01-23T19:13:07.329Z,1579806787.329 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2020-01-23T19:13:07.329Z,1579806787.329 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2020-01-23T19:13:07.654Z,1579806787.654 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2020-01-23T19:13:07.654Z,1579806787.654 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2020-01-23T19:13:07.693Z,1579806787.693 [DepthRateCalculator] Loaded
2020-01-23T19:13:07.694Z,1579806787.694 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2020-01-23T19:13:07.699Z,1579806787.699 [PitchRateCalculator] Loaded
2020-01-23T19:13:07.699Z,1579806787.699 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2020-01-23T19:13:07.711Z,1579806787.711 [SpeedCalculator] Loaded
2020-01-23T19:13:07.711Z,1579806787.711 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2020-01-23T19:13:07.731Z,1579806787.731 [TempGradientCalculator] Loaded
2020-01-23T19:13:07.731Z,1579806787.731 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2020-01-23T19:13:07.736Z,1579806787.736 [YawRateCalculator] Loaded
2020-01-23T19:13:07.736Z,1579806787.736 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2020-01-23T19:13:07.775Z,1579806787.775 [ElevatorOffsetCalculator] Loaded
2020-01-23T19:13:07.776Z,1579806787.776 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2020-01-23T19:13:07.776Z,1579806787.776 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2020-01-23T19:13:07.777Z,1579806787.777 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2020-01-23T19:13:07.905Z,1579806787.905 [SBIT](DEBUG): Construct Startup Built In Test.
2020-01-23T19:13:07.930Z,1579806787.930 [SBIT] Loaded
2020-01-23T19:13:07.930Z,1579806787.930 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2020-01-23T19:13:07.931Z,1579806787.931 [IBIT](DEBUG): Construct Initiated Built In Test.
2020-01-23T19:13:07.943Z,1579806787.943 [IBIT] Loaded
2020-01-23T19:13:07.943Z,1579806787.943 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2020-01-23T19:13:07.946Z,1579806787.946 [CBIT](DEBUG): Construct Continuous Built In Test.
2020-01-23T19:13:08.076Z,1579806788.076 [CBIT] Loaded
2020-01-23T19:13:08.076Z,1579806788.076 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2020-01-23T19:13:08.077Z,1579806788.077 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2020-01-23T19:13:08.077Z,1579806788.077 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2020-01-23T19:13:08.156Z,1579806788.156 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2020-01-23T19:13:08.156Z,1579806788.156 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2020-01-23T19:13:08.250Z,1579806788.250 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2020-01-23T19:13:08.250Z,1579806788.250 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2020-01-23T19:13:08.296Z,1579806788.296 [VerticalControl](DEBUG): Construct VerticalControl.
2020-01-23T19:13:08.376Z,1579806788.376 [VerticalControl] Loaded
2020-01-23T19:13:08.376Z,1579806788.376 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2020-01-23T19:13:08.377Z,1579806788.377 [HorizontalControl](DEBUG): Construct HorizontalControl.
2020-01-23T19:13:08.442Z,1579806788.442 [HorizontalControl] Loaded
2020-01-23T19:13:08.442Z,1579806788.442 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2020-01-23T19:13:08.443Z,1579806788.443 [SpeedControl](DEBUG): Construct SpeedControl.
2020-01-23T19:13:08.445Z,1579806788.445 [SpeedControl] Loaded
2020-01-23T19:13:08.445Z,1579806788.445 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2020-01-23T19:13:08.445Z,1579806788.445 [LoopControl](DEBUG): Construct LoopControl.
2020-01-23T19:13:08.446Z,1579806788.446 [LoopControl] Loaded
2020-01-23T19:13:08.446Z,1579806788.446 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2020-01-23T19:13:08.447Z,1579806788.447 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2020-01-23T19:13:08.447Z,1579806788.447 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2020-01-23T19:13:08.478Z,1579806788.478 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2020-01-23T19:13:08.482Z,1579806788.482 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2020-01-23T19:13:08.482Z,1579806788.482 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2020-01-23T19:13:08.489Z,1579806788.489 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2020-01-23T19:13:08.490Z,1579806788.490 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40AD34E0
2020-01-23T19:13:08.490Z,1579806788.490 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 7613
2020-01-23T19:13:08.495Z,1579806788.495 [Supervisor](INFO): Main Thread ID is 6574
2020-01-23T19:13:08.495Z,1579806788.495 [Supervisor](DEBUG): Running supervisor.
2020-01-23T19:13:08.496Z,1579806788.496 [CommandLine ThreadHandler](INFO): Handler Thread ID is 7614
2020-01-23T19:13:08.498Z,1579806788.498 [controlThread ThreadHandler](INFO): Handler Thread ID is 7615
2020-01-23T19:13:08.499Z,1579806788.499 [controlThread](DEBUG): Initializing ControlThread
2020-01-23T19:13:08.504Z,1579806788.504 [NavChart](DEBUG): Initialize NavChart Navigation.
2020-01-23T19:13:08.504Z,1579806788.504 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2020-01-23T19:13:08.509Z,1579806788.509 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2020-01-23T19:13:08.509Z,1579806788.509 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2020-01-23T19:13:08.510Z,1579806788.510 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2020-01-23T19:13:08.510Z,1579806788.510 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2020-01-23T19:13:08.510Z,1579806788.510 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2020-01-23T19:13:08.511Z,1579806788.511 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2020-01-23T19:13:08.511Z,1579806788.511 [SBIT](INFO): Initialize SBIT Component.
2020-01-23T19:13:08.512Z,1579806788.512 [SBIT](IMPORTANT): git: 2019-12-03-66-g3ff2a14
2020-01-23T19:13:08.512Z,1579806788.512 [SBIT](INFO): git hash: 3ff2a141e314d0ff24dfcdecba8589fc2363d401
2020-01-23T19:13:08.512Z,1579806788.512 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2020-01-23T19:13:08.513Z,1579806788.513 [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
2020-01-23T19:13:08.514Z,1579806788.514 [SBIT](INFO): Beginning SBIT in 39.000000 seconds.
2020-01-23T19:13:08.515Z,1579806788.515 [IBIT](INFO): Initialize IBIT Component.
2020-01-23T19:13:08.516Z,1579806788.516 [CBIT](DEBUG): Initialize CBIT Component.
2020-01-23T19:13:08.517Z,1579806788.517 [logger ThreadHandler](INFO): Handler Thread ID is 7616
2020-01-23T19:13:08.529Z,1579806788.529 [CBIT](DEBUG): Initialized mux pins.
2020-01-23T19:13:08.529Z,1579806788.529 [CBIT](DEBUG): Initializing the watchdog timer.
2020-01-23T19:13:08.537Z,1579806788.537 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 7617
2020-01-23T19:13:08.538Z,1579806788.538 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2020-01-23T19:13:08.549Z,1579806788.549 [CTD_NeilBrown ThreadHandler](INFO): Handler Thread ID is 7618
2020-01-23T19:13:08.550Z,1579806788.550 [CTD_NeilBrown](INFO): Powering down
2020-01-23T19:13:08.557Z,1579806788.557 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2020-01-23T19:13:08.557Z,1579806788.557 [CBIT](DEBUG): Initializing heartbeat.
2020-01-23T19:13:08.570Z,1579806788.570 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 7619
2020-01-23T19:13:08.571Z,1579806788.570 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-01-23T19:13:08.605Z,1579806788.605 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 7620
2020-01-23T19:13:08.608Z,1579806788.608 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2020-01-23T19:13:08.608Z,1579806788.608 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2020-01-23T19:13:08.609Z,1579806788.609 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2020-01-23T19:13:08.609Z,1579806788.609 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2020-01-23T19:13:08.609Z,1579806788.609 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2020-01-23T19:13:08.609Z,1579806788.609 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2020-01-23T19:13:08.609Z,1579806788.609 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2020-01-23T19:13:08.609Z,1579806788.609 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2020-01-23T19:13:08.610Z,1579806788.610 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2020-01-23T19:13:08.610Z,1579806788.610 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2020-01-23T19:13:08.610Z,1579806788.610 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2020-01-23T19:13:08.610Z,1579806788.610 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2020-01-23T19:13:08.610Z,1579806788.610 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2020-01-23T19:13:08.610Z,1579806788.610 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2020-01-23T19:13:08.611Z,1579806788.611 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2020-01-23T19:13:08.611Z,1579806788.611 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2020-01-23T19:13:08.629Z,1579806788.629 [CBIT](DEBUG): Deactivating GF circuits.
2020-01-23T19:13:08.629Z,1579806788.629 [CBIT](DEBUG): Deactivating emergency mode.
2020-01-23T19:13:08.665Z,1579806788.665 [CBIT](DEBUG): Backplane powered.
2020-01-23T19:13:08.665Z,1579806788.665 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2020-01-23T19:13:08.667Z,1579806788.667 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2020-01-23T19:13:08.667Z,1579806788.667 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2020-01-23T19:13:08.668Z,1579806788.668 [LoopControl](DEBUG): Initialize LoopControlComponent.
2020-01-23T19:13:08.669Z,1579806788.669 [MissionManager](INFO): Loading Mission: Missions/underIce/StartupUnder.xml
2020-01-23T19:13:08.675Z,1579806788.675 [MissionManager](ERROR): Top node has no child nodes: Mission
2020-01-23T19:13:08.675Z,1579806788.675 [MissionManager](ERROR): Could not load startup mission.
2020-01-23T19:13:08.675Z,1579806788.675 [MissionManager](INFO): Loading Mission: Missions/underIce/DefaultUnder.xml
2020-01-23T19:13:08.753Z,1579806788.753 [CTD_NeilBrown](FAULT): LCB fault: LCB Watchdog Reset. Invalid Command. Hardware Overcurrent Shutdown. Software Overcurrent. Current Limiter Activated.
2020-01-23T19:13:08.754Z,1579806788.754 [CTD_NeilBrown] Hardware Fault, FailCount= 1
2020-01-23T19:13:08.754Z,1579806788.754 [CTD_NeilBrown](ERROR): Hardware Fault
2020-01-23T19:13:08.891Z,1579806788.891 [MissionManager](INFO): DefineArg DefaultUnder.uModemCommsInterval = 5.000000 min
2020-01-23T19:13:08.910Z,1579806788.910 [MissionManager](INFO): DefineArg DefaultUnder.TransponderCode = 2.000000 count
2020-01-23T19:13:08.913Z,1579806788.913 [MissionManager](INFO): DefineArg DefaultUnder.AcousticUpdatePeriod = 60.000000 s
2020-01-23T19:13:08.916Z,1579806788.916 [MissionManager](INFO): DefineArg DefaultUnder.DockingAcousticUpdatePeriod = 2.500000 s
2020-01-23T19:13:08.948Z,1579806788.948 [MissionManager](INFO): DefineArg DefaultUnder.NumberOfPings = 1.000000 count
2020-01-23T19:13:08.951Z,1579806788.951 [MissionManager](INFO): DefineOutput DefaultUnder.TrackingUpdatePeriod = 60.000000 n/a
2020-01-23T19:13:08.974Z,1579806788.974 [MissionManager](INFO): DefineOutput DefaultUnder.Surface = -1.000000 count
2020-01-23T19:13:08.978Z,1579806788.978 [MissionManager](INFO): DefineOutput DefaultUnder.Docked = 0.000000 count
2020-01-23T19:13:08.993Z,1579806788.993 [MissionManager](INFO): DefineOutput DefaultUnder.Home = 1.000000 count
2020-01-23T19:13:08.996Z,1579806788.996 [MissionManager](INFO): DefineOutput DefaultUnder.DefaultMode = 0.000000 n/a
2020-01-23T19:13:09.024Z,1579806789.024 [MissionManager](INFO): DefineOutput DefaultUnder.CaptureMode = -1.000000 count
2020-01-23T19:13:09.030Z,1579806789.030 [MissionManager](INFO): DefineOutput DefaultUnder.ElapsedSinceDefaultStarted = 0.000000 min
2020-01-23T19:13:09.058Z,1579806789.058 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Construct Wait.
2020-01-23T19:13:09.064Z,1579806789.064 [DefaultUnder:Notify:A:C.Execute](DEBUG): Construct Execute.
2020-01-23T19:13:09.381Z,1579806789.381 [MissionManager](INFO): Inserting Stack: Missions/Insert/LineCapture.xml
2020-01-23T19:13:09.969Z,1579806789.969 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockDepth = 6.000000 _
2020-01-23T19:13:09.989Z,1579806789.989 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockLat = 0.642341 _
2020-01-23T19:13:09.993Z,1579806789.993 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockLon = -2.126200 _
2020-01-23T19:13:09.996Z,1579806789.996 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DetachRange = 8.000000 m
2020-01-23T19:13:10.014Z,1579806790.014 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DetachTimeout = 30.000000 min
2020-01-23T19:13:10.033Z,1579806790.033 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MidcourseDepth = 15.000000 m
2020-01-23T19:13:10.036Z,1579806790.036 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MidcourseSpeed = 1.000000 m/s
2020-01-23T19:13:10.039Z,1579806790.039 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MidcourseTimeout = 12.000000 h
2020-01-23T19:13:10.051Z,1579806790.051 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.TerminalRange = 650.000000 m
2020-01-23T19:13:10.054Z,1579806790.054 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.ArmRange = 40.000000 m
2020-01-23T19:13:10.090Z,1579806790.090 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockRange = 2.000000 m
2020-01-23T19:13:10.093Z,1579806790.093 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockTimeout = 60.000000 s
2020-01-23T19:13:10.096Z,1579806790.096 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.RolloutDistance = 250.000000 m
2020-01-23T19:13:10.115Z,1579806790.115 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.UpdateNav = 1 bool
2020-01-23T19:13:10.119Z,1579806790.119 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.AcousticTimeout = 10.000000 min
2020-01-23T19:13:10.131Z,1579806790.131 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.TerminalSpeed = 0.800000 m/s
2020-01-23T19:13:10.134Z,1579806790.134 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.SearchTimeout = 60.000000 min
2020-01-23T19:13:10.161Z,1579806790.161 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.CircleRadius = 300.000000 m
2020-01-23T19:13:10.165Z,1579806790.165 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.CircleMaxError = 100.000000 m
2020-01-23T19:13:10.168Z,1579806790.168 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.CircleTurnToPort = 0 bool
2020-01-23T19:13:10.179Z,1579806790.180 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DepthDeadband = 0.010000 m
2020-01-23T19:13:10.183Z,1579806790.183 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.RudderDeadband = 0.001000 arcdeg
2020-01-23T19:13:10.210Z,1579806790.210 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MinAltitude = 5.000000 m
2020-01-23T19:13:10.214Z,1579806790.214 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MaxDepth = 205.000000 m
2020-01-23T19:13:10.233Z,1579806790.233 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MinOffshore = 500.000000 m
2020-01-23T19:13:10.236Z,1579806790.236 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Depth = 15.000000 n/a
2020-01-23T19:13:10.239Z,1579806790.239 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Speed = 1.000000 n/a
2020-01-23T19:13:10.255Z,1579806790.255 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.DoneTimeout = -1.000000 count
2020-01-23T19:13:10.258Z,1579806790.258 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Done = 0.000000 count
2020-01-23T19:13:10.290Z,1579806790.290 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.DetachFromDock = 1.000000 count
2020-01-23T19:13:10.293Z,1579806790.293 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Midcourse = 2.000000 count
2020-01-23T19:13:10.313Z,1579806790.313 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Terminal = 3.000000 count
2020-01-23T19:13:10.316Z,1579806790.316 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.GuidanceMode = 1.000000 n/a
2020-01-23T19:13:10.319Z,1579806790.319 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.ElapsedRange = 0.000000 min
2020-01-23T19:13:10.335Z,1579806790.335 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.Range = nan m
2020-01-23T19:13:10.337Z,1579806790.337 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2020-01-23T19:13:10.397Z,1579806790.397 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2020-01-23T19:13:10.401Z,1579806790.401 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2020-01-23T19:13:10.404Z,1579806790.404 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2020-01-23T19:13:10.421Z,1579806790.421 [DefaultUnder:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2020-01-23T19:13:10.428Z,1579806790.428 [DefaultUnder:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-01-23T19:13:10.470Z,1579806790.470 [DefaultUnder:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2020-01-23T19:13:10.509Z,1579806790.509 [DefaultUnder:LineCapture:H.Mass](DEBUG): Construct.
2020-01-23T19:13:10.541Z,1579806790.541 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:B.Buoyancy](DEBUG): Construct Buoyancy.
2020-01-23T19:13:10.544Z,1579806790.544 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:C.SetSpeed](DEBUG): Construct.
2020-01-23T19:13:10.556Z,1579806790.556 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:D.Pitch](DEBUG): Construct.
2020-01-23T19:13:10.583Z,1579806790.583 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed](DEBUG): Construct.
2020-01-23T19:13:10.585Z,1579806790.585 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:B.Pitch](DEBUG): Construct.
2020-01-23T19:13:10.629Z,1579806790.629 [DefaultUnder:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2020-01-23T19:13:10.685Z,1579806790.685 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2020-01-23T19:13:10.725Z,1579806790.725 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:G.Circle](DEBUG): Construct.
2020-01-23T19:13:10.808Z,1579806790.808 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2020-01-23T19:13:10.848Z,1579806790.848 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:H.LineCapture](DEBUG): Construct.
2020-01-23T19:13:10.894Z,1579806790.894 [DefaultUnder:LineCapture:K.Wait](DEBUG): Construct Wait.
2020-01-23T19:13:10.905Z,1579806790.905 [DefaultUnder:E.Wait](DEBUG): Construct Wait.
2020-01-23T19:13:10.911Z,1579806790.911 [DefaultUnder:Default:Docked:run:B.Docked](DEBUG): Construct.
2020-01-23T19:13:10.986Z,1579806790.986 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): Construct GoToSurface.
2020-01-23T19:13:11.031Z,1579806791.031 [DefaultUnder:Default:Surface:run:SurfaceComms:Read_Iridium_uModem:A_Timeout:A.Execute](DEBUG): Construct Execute.
2020-01-23T19:13:11.034Z,1579806791.034 [DefaultUnder:Default:Surface:run:SurfaceComms:C.Wait](DEBUG): Construct Wait.
2020-01-23T19:13:11.190Z,1579806791.190 [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>


2020-01-23T19:13:11.195Z,1579806791.195 [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,
2020-01-23T19:13:11.213Z,1579806791.213 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2020-01-23T19:13:11.251Z,1579806791.251 [DDM](INFO): Powering up
2020-01-23T19:13:11.251Z,1579806791.251 [DDM](DEBUG): Initializing DDM.
2020-01-23T19:13:11.274Z,1579806791.274 [Depth_Keller](ERROR): Pressure reading out of range: 1913.424561 decibar
2020-01-23T19:13:11.274Z,1579806791.274 [DUSBL_Hydroid](INFO): Powering up
2020-01-23T19:13:11.275Z,1579806791.275 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2020-01-23T19:13:11.361Z,1579806791.361 [DepthRateCalculator](ERROR): Depth measurement is not active
2020-01-23T19:13:11.386Z,1579806791.386 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2020-01-23T19:13:11.393Z,1579806791.393 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2020-01-23T19:13:11.394Z,1579806791.394 [ElevatorServo](DEBUG): Initializing EZServoServo.
2020-01-23T19:13:11.401Z,1579806791.401 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2020-01-23T19:13:11.402Z,1579806791.402 [MassServo](DEBUG): Initializing EZServoServo.
2020-01-23T19:13:11.409Z,1579806791.409 [MassServo](DEBUG): Initializing MassServo.
2020-01-23T19:13:11.410Z,1579806791.410 [RudderServo](DEBUG): Initializing EZServoServo.
2020-01-23T19:13:11.417Z,1579806791.417 [RudderServo](DEBUG): Initializing RudderServo.
2020-01-23T19:13:11.418Z,1579806791.418 [ThrusterServo](DEBUG): Initializing EZServoServo.
2020-01-23T19:13:11.425Z,1579806791.425 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2020-01-23T19:13:11.430Z,1579806791.430 [CBIT](ERROR): Hardware Fault in component: CTD_NeilBrown
2020-01-23T19:13:11.431Z,1579806791.431 [CBIT](FAULT): Hardware Fault in component: CTD_NeilBrown
2020-01-23T19:13:11.623Z,1579806791.623 [Micromodem](INFO): Powering up
2020-01-23T19:13:11.623Z,1579806791.623 [Micromodem](DEBUG): Initializing Micromodem.
2020-01-23T19:13:11.693Z,1579806791.693 [DepthRateCalculator](ERROR): Depth measurement is not active
2020-01-23T19:13:12.385Z,1579806792.385 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2020-01-23T19:13:12.385Z,1579806792.385 [RudderServo](FAULT): Rudder failed to initialize
2020-01-23T19:13:12.385Z,1579806792.385 [RudderServo] Communications Fault, FailCount= 1
2020-01-23T19:13:12.385Z,1579806792.385 [RudderServo](ERROR): Communications Fault
2020-01-23T19:13:12.496Z,1579806792.496 [CBIT](ERROR): Communications Fault in component: RudderServo
2020-01-23T19:13:12.674Z,1579806792.674 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-01-23T19:13:12.674Z,1579806792.674 [RudderServo](INFO): Powering down
2020-01-23T19:13:13.371Z,1579806793.371 [RudderServo](DEBUG): Initializing EZServoServo.
2020-01-23T19:13:13.490Z,1579806793.490 [RudderServo](DEBUG): Initializing RudderServo.
2020-01-23T19:13:13.494Z,1579806793.494 [CBIT](INFO): Clearing failed state for component RudderServo
2020-01-23T19:13:13.494Z,1579806793.494 [RudderServo] No Fault, FailCount= 1
2020-01-23T19:13:16.587Z,1579806796.587 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2020-01-23T19:13:16.992Z,1579806796.992 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CAREV,191317,IIT,2.0.327314F
 expected 74
2020-01-23T19:13:16.992Z,1579806796.992 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2020-01-23T19:13:18.609Z,1579806798.609 [Micromodem](INFO): Nmea in: $CATMG,2020-01-23T19:13:17.392397Z,RTC,RTC*59

2020-01-23T19:13:18.609Z,1579806798.609 [Micromodem](ERROR): CFG response from modem unexpected: $CATMG,2020-01-23T19:13:17.392397Z,RTC,RTC*59

2020-01-23T19:13:19.015Z,1579806799.015 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2020-01-23T19:13:19.016Z,1579806799.016 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2020-01-23T19:13:19.412Z,1579806799.412 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2020-01-23T19:13:19.412Z,1579806799.412 [Micromodem](ERROR): CFG response from modem unexpected: $CACFG,ALL,0*31

2020-01-23T19:13:19.820Z,1579806799.820 [Micromodem](INFO): Nmea in: $CADQF,194,1*5C

2020-01-23T19:13:19.820Z,1579806799.820 [Micromodem](ERROR): CFG response from modem unexpected: $CADQF,194,1*5C

2020-01-23T19:13:20.195Z,1579806800.195 [Micromodem](INFO): Nmea in: $CAMSG,BAD_CRC,0*21

2020-01-23T19:13:20.196Z,1579806800.196 [Micromodem](ERROR): CFG response from modem unexpected: $CAMSG,BAD_CRC,0*21

2020-01-23T19:13:20.611Z,1579806800.611 [Micromodem](INFO): Nmea in: $CACST,6,1,20200123191317.627698,05,255,00,0090,0150,246,01,01,04,03,0,-01,-01,3,2,1,1,-999,-99.9,-9.99,-999,-9.99,194,0.00,-999,25120,4000*67

2020-01-23T19:13:20.611Z,1579806800.611 [Micromodem](ERROR): CFG response from modem unexpected: $CACST,6,1,20200123191317.627698,05,255,00,0090,0150,246,01,01,04,03,0,-01,-01,3,2,1,1,-999,-99.9,-9.99,-999,-9.99,194,0.00,-999,25120,4000*67

2020-01-23T19:13:21.809Z,1579806801.809 [DDM](INFO): Dynamic Docking Module:
2020-01-23T19:13:21.923Z,1579806801.923 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2020-01-23T19:13:21.923Z,1579806801.923 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2020-01-23T19:13:22.207Z,1579806802.207 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2020-01-23T19:13:22.207Z,1579806802.207 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2020-01-23T19:13:22.635Z,1579806802.635 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2020-01-23T19:13:22.636Z,1579806802.636 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2020-01-23T19:13:23.015Z,1579806803.015 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2020-01-23T19:13:23.015Z,1579806803.015 [Micromodem](INFO): Nmea out: $CCCFG,FC0,10000*46

2020-01-23T19:13:23.419Z,1579806803.419 [Micromodem](INFO): Nmea in: $CACFG,FC0,10000*44

2020-01-23T19:13:23.419Z,1579806803.419 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2020-01-23T19:13:23.823Z,1579806803.823 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2020-01-23T19:13:23.823Z,1579806803.823 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2020-01-23T19:13:24.227Z,1579806804.227 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2020-01-23T19:13:24.228Z,1579806804.228 [Micromodem](INFO): Nmea out: $CCCLK,2020,01,23,19,13,25*49

2020-01-23T19:13:24.631Z,1579806804.631 [Micromodem](INFO): Nmea in: $CACLK,2020,1,23,19,13,25*7B

2020-01-23T19:13:24.658Z,1579806804.658 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2020-01-23T19:13:25.439Z,1579806805.439 [Micromodem](INFO): Nmea in: $CATMS,0,2020-01-23T19:13:26Z*78

2020-01-23T19:13:25.450Z,1579806805.450 [Micromodem](INFO): Nmea in: $CATMG,2020-01-23T19:13:26.026830Z,USER_CMD,RTC*10

2020-01-23T19:13:27.899Z,1579806807.899 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00,   0.00
2020-01-23T19:13:29.478Z,1579806809.478 [DUSBL_Hydroid](INFO): DUSBL Version:O
2020-01-23T19:13:34.743Z,1579806814.743 [NAL9602](INFO): Powering up NAL9602
2020-01-23T19:13:39.661Z,1579806819.661 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2020-01-23T19:13:45.647Z,1579806825.647 [NAL9602](INFO): NAL9602 initialized
2020-01-23T19:13:48.135Z,1579806828.135 [SBIT](IMPORTANT): Beginning Startup BIT
2020-01-23T19:13:48.139Z,1579806828.139 [CBIT](IMPORTANT): Beginning ground fault scan
2020-01-23T19:13:48.923Z,1579806828.923 [RDI_Pathfinder](ERROR): Failed to parse:
:BI,-32768,-32768,-32768,-32768,V
2020-01-23T19:13:55.751Z,1579806835.751 [CommandLine](IMPORTANT): got command get latitude
2020-01-23T19:13:55.751Z,1579806835.751 [CommandLine](FAULT): Element has no value
2020-01-23T19:13:59.385Z,1579806839.385 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.009177
CHAN A1 (24V): -0.028473
CHAN A2 (12V): -0.007161
CHAN A3 (5V): -0.002215
CHAN B0 (3.3V): 0.000384
CHAN B1 (3.15aV): 0.000225
CHAN B2 (3.15bV): -0.000007
CHAN B3 (GND): 0.002545
OPEN: 0.005220
Full Scale Calc: 4.765 mA, -1.589 mA
2020-01-23T19:14:00.258Z,1579806840.258 [CommandLine](IMPORTANT): got command show stack
2020-01-23T19:14:00.259Z,1579806840.259 [CommandLine](IMPORTANT): Behavior Stack:

2020-01-23T19:14:00.259Z,1579806840.259 [DefaultUnder](IMPORTANT): Priority 0: DefaultUnder:C.
2020-01-23T19:14:38.051Z,1579806878.051 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2020-01-23T19:14:41.632Z,1579806881.632 [SBIT](IMPORTANT): SBIT PASSED
2020-01-23T19:14:41.632Z,1579806881.632 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2020-01-23T19:14:41.633Z,1579806881.633 [SBIT](IMPORTANT): DDM.verbosity=3 count;

2020-01-23T19:14:41.633Z,1579806881.633 [SBIT](IMPORTANT): DUSBL_Hydroid.detectionThreshold=30 count;

2020-01-23T19:14:41.633Z,1579806881.633 [SBIT](IMPORTANT): Micromodem.pwrampTXLevel=0 enum;

2020-01-23T19:14:41.633Z,1579806881.633 [SBIT](IMPORTANT): Micromodem.sendExpress=1 bool;

2020-01-23T19:14:41.633Z,1579806881.633 [SBIT](IMPORTANT): Micromodem.surfaceThreshold=0 meter;

2020-01-23T19:14:41.633Z,1579806881.633 [SBIT](IMPORTANT): Radio_Surface.loadAtStartup=0 bool;

2020-01-23T19:14:41.634Z,1579806881.634 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=105 cubic_centimeter;

2020-01-23T19:14:41.634Z,1579806881.634 [SBIT](IMPORTANT): VerticalControl.massDefault=-5 millimeter;

2020-01-23T19:14:42.045Z,1579806882.045 [MissionManager](IMPORTANT): Started mission DefaultUnder
2020-01-23T19:14:42.045Z,1579806882.045 [DefaultUnder] Running Loop=1
2020-01-23T19:14:42.045Z,1579806882.045 [DefaultUnder](DEBUG): Aggregate::initialize DefaultUnder
2020-01-23T19:14:42.045Z,1579806882.045 [DefaultUnder:uModemComms] Running Loop=1
2020-01-23T19:14:42.045Z,1579806882.045 [DefaultUnder:uModemComms](DEBUG): Aggregate::initialize DefaultUnder:uModemComms
2020-01-23T19:14:42.045Z,1579806882.045 [DefaultUnder:Notify] Running Loop=1
2020-01-23T19:14:42.045Z,1579806882.045 [DefaultUnder:Notify](DEBUG): Aggregate::initialize DefaultUnder:Notify
2020-01-23T19:14:42.046Z,1579806882.046 [DefaultUnder:Notify:A] Running Loop=1
2020-01-23T19:14:42.046Z,1579806882.046 [DefaultUnder:Notify:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A
2020-01-23T19:14:42.046Z,1579806882.046 [DefaultUnder:Notify:A:A] Running Loop=1
2020-01-23T19:14:42.046Z,1579806882.046 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A:A
2020-01-23T19:14:42.046Z,1579806882.046 [DefaultUnder:Notify:A:A:A.Wait] Running Loop=1
2020-01-23T19:14:42.046Z,1579806882.046 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Initialize Wait Component.
2020-01-23T19:14:42.046Z,1579806882.046 [DefaultUnder:C.] Running Loop=1
2020-01-23T19:14:42.046Z,1579806882.046 [DefaultUnder:C.](INFO): Initializing TrackAcousticContact.
2020-01-23T19:14:42.047Z,1579806882.047 [DefaultUnder:E.Wait] Running Loop=1
2020-01-23T19:14:42.047Z,1579806882.047 [DefaultUnder:E.Wait](DEBUG): Initialize Wait Component.
2020-01-23T19:14:42.048Z,1579806882.048 [DefaultUnder:C.] Running Loop=1
2020-01-23T19:14:42.048Z,1579806882.048 [DefaultUnder:Notify] Running Loop=1
2020-01-23T19:14:42.048Z,1579806882.048 [DefaultUnder:uModemComms] Running Loop=1
2020-01-23T19:14:42.049Z,1579806882.049 [DefaultUnder:uModemComms:CheckIn] Running Loop=1
2020-01-23T19:14:42.049Z,1579806882.049 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::initialize DefaultUnder:uModemComms:CheckIn
2020-01-23T19:14:42.049Z,1579806882.049 [DefaultUnder:uModemComms:CheckIn:A] Running Loop=1
2020-01-23T19:14:42.050Z,1579806882.050 [DefaultUnder:uModemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2020-01-23T19:14:42.412Z,1579806882.412 [Micromodem](INFO): Outgoing frame #1, 64 bytes: FDED295E0D0000005D00000400BD0000000000000000151D80030C5669BF3148E2FA22188B6A3173E5573572661C0BCBDFFAB423BD32D9A51E8904B0A920CE9A
2020-01-23T19:14:42.412Z,1579806882.412 [Micromodem](INFO): Outgoing frame #2, 64 bytes: EF9F66414C9B9FD6761AD008C3E3DC4FCA2E4E25B6359B14B772C42AD2EC5E54CD5F36943CEE1B636250FE035655B6928105C24D4EC1216EF4EA7FDC2A988AC7
2020-01-23T19:14:42.412Z,1579806882.412 [Micromodem](INFO): Outgoing frame #3, 49 bytes: 4539A4949DC05DB8C627478A1310945EDA3E5DCCFD911268358C0772C56BAAB20203267DC8F986105DBB0EE71132F14000
2020-01-23T19:14:42.413Z,1579806882.413 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-23T19:14:42.795Z,1579806882.795 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-23T19:14:43.203Z,1579806883.203 [Micromodem](INFO): Nmea in: $CADRQ,191443,1,12,0,64,1*7E

2020-01-23T19:14:43.204Z,1579806883.204 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,FDED295E0D0000005D00000400BD0000000000000000151D80030C5669BF3148E2FA22188B6A3173E5573572661C0BCBDFFAB423BD32D9A51E8904B0A920CE9A*42

2020-01-23T19:14:43.603Z,1579806883.603 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T19:14:44.011Z,1579806884.011 [Micromodem](INFO): Nmea in: $CADRQ,191444,1,12,0,64,2*7A

2020-01-23T19:14:44.012Z,1579806884.012 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,EF9F66414C9B9FD6761AD008C3E3DC4FCA2E4E25B6359B14B772C42AD2EC5E54CD5F36943CEE1B636250FE035655B6928105C24D4EC1216EF4EA7FDC2A988AC7*31

2020-01-23T19:14:44.425Z,1579806884.425 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T19:14:44.819Z,1579806884.819 [Micromodem](INFO): Nmea in: $CADRQ,191444,1,12,0,64,3*7B

2020-01-23T19:14:44.820Z,1579806884.820 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,4539A4949DC05DB8C627478A1310945EDA3E5DCCFD911268358C0772C56BAAB20203267DC8F986105DBB0EE71132F14000*38

2020-01-23T19:14:45.215Z,1579806885.215 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,49*44

2020-01-23T19:14:45.637Z,1579806885.637 [Micromodem](INFO): Nmea in: $CATXP,177*43

2020-01-23T19:14:47.653Z,1579806887.653 [CommandLine](IMPORTANT): got command get latitude
2020-01-23T19:14:47.654Z,1579806887.654 [CommandLine](FAULT): Element has no value
2020-01-23T19:14:49.263Z,1579806889.263 [Micromodem](INFO): Nmea in: $CATXF,177*55

2020-01-23T19:14:49.675Z,1579806889.675 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,191445.760364,3,0,200,4000,10000,1,1,12,1,3,3,3,177*7D

2020-01-23T19:14:52.495Z,1579806892.495 [CommandLine](IMPORTANT): got command run ./Missions/Demo/setNav.xml
2020-01-23T19:14:52.495Z,1579806892.495 [MissionManager](INFO): Loading Mission: ./Missions/Demo/setNav.xml
2020-01-23T19:14:52.517Z,1579806892.517 [MissionManager](INFO): DefineArg SetNav.DockLat = 0.642341 _
2020-01-23T19:14:52.521Z,1579806892.521 [MissionManager](INFO): DefineArg SetNav.DockLon = -2.126200 _
2020-01-23T19:14:52.563Z,1579806892.563 [SetNav:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2020-01-23T19:14:52.616Z,1579806892.616 [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>


2020-01-23T19:14:52.623Z,1579806892.623 [CommandLine](IMPORTANT): Running ./Missions/Demo/setNav.xml
2020-01-23T19:14:52.937Z,1579806892.937 [DefaultUnder] Stopped
2020-01-23T19:14:52.937Z,1579806892.937 [DefaultUnder](DEBUG): Aggregate::uninitialize DefaultUnder
2020-01-23T19:14:52.937Z,1579806892.937 [DefaultUnder:uModemComms] Stopped
2020-01-23T19:14:52.937Z,1579806892.937 [DefaultUnder:uModemComms](DEBUG): Aggregate::uninitialize DefaultUnder:uModemComms
2020-01-23T19:14:52.937Z,1579806892.937 [DefaultUnder:uModemComms:CheckIn] Stopped
2020-01-23T19:14:52.938Z,1579806892.938 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::uninitialize DefaultUnder:uModemComms:CheckIn
2020-01-23T19:14:52.938Z,1579806892.938 [DefaultUnder:uModemComms:CheckIn:A] Stopped
2020-01-23T19:14:52.938Z,1579806892.938 [DefaultUnder:Notify] Stopped
2020-01-23T19:14:52.938Z,1579806892.938 [DefaultUnder:Notify](DEBUG): Aggregate::uninitialize DefaultUnder:Notify
2020-01-23T19:14:52.938Z,1579806892.938 [DefaultUnder:Notify:A] Stopped
2020-01-23T19:14:52.938Z,1579806892.938 [DefaultUnder:Notify:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A
2020-01-23T19:14:52.938Z,1579806892.938 [DefaultUnder:Notify:A:A] Stopped
2020-01-23T19:14:52.938Z,1579806892.938 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A:A
2020-01-23T19:14:52.938Z,1579806892.938 [DefaultUnder:Notify:A:A:A.Wait] Stopped
2020-01-23T19:14:52.938Z,1579806892.938 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-23T19:14:52.938Z,1579806892.938 [DefaultUnder:C.] Stopped
2020-01-23T19:14:52.938Z,1579806892.938 [DefaultUnder:E.Wait] Stopped
2020-01-23T19:14:52.938Z,1579806892.938 [DefaultUnder:E.Wait](DEBUG): Uninitialize Wait Component.
2020-01-23T19:14:52.939Z,1579806892.939 [MissionManager](IMPORTANT): Started mission SetNav
2020-01-23T19:14:52.939Z,1579806892.939 [SetNav] Running Loop=1
2020-01-23T19:14:52.939Z,1579806892.939 [SetNav](DEBUG): Aggregate::initialize SetNav
2020-01-23T19:14:52.939Z,1579806892.939 [SetNav:UpdateNav] Running Loop=1
2020-01-23T19:14:52.939Z,1579806892.939 [SetNav:UpdateNav](DEBUG): Aggregate::initialize SetNav:UpdateNav
2020-01-23T19:14:52.939Z,1579806892.939 [SetNav:UpdateNav:A] Running Loop=1
2020-01-23T19:14:52.940Z,1579806892.940 [SetNav:UpdateNav:A](INFO): Reseting nav to dock location at range <Undefined> m 
2020-01-23T19:14:52.940Z,1579806892.940 [SetNav:UpdateNav:A] Stopped
2020-01-23T19:14:52.940Z,1579806892.940 [SetNav:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T19:14:52.940Z,1579806892.940 [SetNav:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T19:14:53.343Z,1579806893.343 [SetNav:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T191453: (36.803398, -121.822304)
2020-01-23T19:14:53.344Z,1579806893.344 [SetNav:UpdateNav:B.SetNav] Stopped
2020-01-23T19:14:53.344Z,1579806893.344 [SetNav:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T19:14:53.344Z,1579806893.344 [SetNav:UpdateNav](INFO): Completed SetNav:UpdateNav
2020-01-23T19:14:53.344Z,1579806893.344 [SetNav:UpdateNav] Stopped
2020-01-23T19:14:53.344Z,1579806893.344 [SetNav:UpdateNav](DEBUG): Aggregate::uninitialize SetNav:UpdateNav
2020-01-23T19:14:53.344Z,1579806893.344 [SetNav](INFO): Completed SetNav
2020-01-23T19:14:53.344Z,1579806893.344 [MissionManager](INFO): SetNav is completed.
2020-01-23T19:14:53.344Z,1579806893.344 [MissionManager](INFO): Uninitializing Mission SetNav
2020-01-23T19:14:53.344Z,1579806893.344 [SetNav] Stopped
2020-01-23T19:14:53.345Z,1579806893.345 [SetNav](DEBUG): Aggregate::uninitialize SetNav
2020-01-23T19:14:53.728Z,1579806893.728 [MissionManager](IMPORTANT): Started mission DefaultUnder
2020-01-23T19:14:53.728Z,1579806893.728 [DefaultUnder] Running Loop=1
2020-01-23T19:14:53.728Z,1579806893.728 [DefaultUnder](DEBUG): Aggregate::initialize DefaultUnder
2020-01-23T19:14:53.728Z,1579806893.728 [DefaultUnder:uModemComms] Running Loop=1
2020-01-23T19:14:53.749Z,1579806893.749 [DefaultUnder:uModemComms](DEBUG): Aggregate::initialize DefaultUnder:uModemComms
2020-01-23T19:14:53.749Z,1579806893.749 [DefaultUnder:Notify] Running Loop=1
2020-01-23T19:14:53.749Z,1579806893.749 [DefaultUnder:Notify](DEBUG): Aggregate::initialize DefaultUnder:Notify
2020-01-23T19:14:53.749Z,1579806893.749 [DefaultUnder:Notify:A] Running Loop=1
2020-01-23T19:14:53.749Z,1579806893.749 [DefaultUnder:Notify:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A
2020-01-23T19:14:53.749Z,1579806893.749 [DefaultUnder:Notify:A:A] Running Loop=1
2020-01-23T19:14:53.749Z,1579806893.749 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A:A
2020-01-23T19:14:53.750Z,1579806893.750 [DefaultUnder:Notify:A:A:A.Wait] Running Loop=1
2020-01-23T19:14:53.750Z,1579806893.750 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Initialize Wait Component.
2020-01-23T19:14:53.750Z,1579806893.750 [DefaultUnder:C.] Running Loop=1
2020-01-23T19:14:53.750Z,1579806893.750 [DefaultUnder:C.](INFO): Initializing TrackAcousticContact.
2020-01-23T19:14:53.750Z,1579806893.750 [DefaultUnder:E.Wait] Running Loop=1
2020-01-23T19:14:53.750Z,1579806893.750 [DefaultUnder:E.Wait](DEBUG): Initialize Wait Component.
2020-01-23T19:14:53.751Z,1579806893.751 [DefaultUnder:uModemComms:CheckIn] Running Loop=1
2020-01-23T19:14:53.751Z,1579806893.751 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::initialize DefaultUnder:uModemComms:CheckIn
2020-01-23T19:14:53.751Z,1579806893.751 [DefaultUnder:uModemComms:CheckIn:A] Running Loop=1
2020-01-23T19:14:55.268Z,1579806895.268 [CommandLine](IMPORTANT): got command get latitude
2020-01-23T19:14:55.268Z,1579806895.268 [CommandLine](FAULT): Element has no value
2020-01-23T19:15:07.093Z,1579806907.093 [DefaultUnder:E.Wait](INFO): Done Waiting.
2020-01-23T19:15:07.093Z,1579806907.093 [DefaultUnder:E.Wait] Stopped
2020-01-23T19:15:07.093Z,1579806907.093 [DefaultUnder:E.Wait](DEBUG): Uninitialize Wait Component.
2020-01-23T19:15:07.093Z,1579806907.093 [DefaultUnder:Default] Running Loop=1
2020-01-23T19:15:07.093Z,1579806907.093 [DefaultUnder:Default](DEBUG): Aggregate::initialize DefaultUnder:Default
2020-01-23T19:15:07.093Z,1579806907.093 [DefaultUnder:Default:Docked] Running Loop=1
2020-01-23T19:15:07.094Z,1579806907.094 [DefaultUnder:Default:Docked](DEBUG): Aggregate::initialize DefaultUnder:Default:Docked
2020-01-23T19:15:07.094Z,1579806907.094 [DefaultUnder:Default:Docked:run] Running Loop=1
2020-01-23T19:15:07.094Z,1579806907.094 [DefaultUnder:Default:Docked:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Docked:run
2020-01-23T19:15:07.094Z,1579806907.094 [DefaultUnder:Default:Docked:run:A] Running Loop=1
2020-01-23T19:15:07.094Z,1579806907.094 [DefaultUnder:Default:Home] Running Loop=1
2020-01-23T19:15:07.094Z,1579806907.094 [DefaultUnder:Default:Home](DEBUG): Aggregate::initialize DefaultUnder:Default:Home
2020-01-23T19:15:07.094Z,1579806907.094 [DefaultUnder:Default:Home:run] Running Loop=1
2020-01-23T19:15:07.094Z,1579806907.094 [DefaultUnder:Default:Home:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Home:run
2020-01-23T19:15:07.094Z,1579806907.094 [DefaultUnder:Default:Home:run:A] Running Loop=1
2020-01-23T19:15:07.094Z,1579806907.094 [DefaultUnder:Default:Surface] Running Loop=1
2020-01-23T19:15:07.095Z,1579806907.095 [DefaultUnder:Default:Surface](DEBUG): Aggregate::initialize DefaultUnder:Default:Surface
2020-01-23T19:15:07.095Z,1579806907.095 [DefaultUnder:Default:Surface:run] Running Loop=1
2020-01-23T19:15:07.095Z,1579806907.095 [DefaultUnder:Default:Surface:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Surface:run
2020-01-23T19:15:07.095Z,1579806907.095 [DefaultUnder:Default:Surface:run:B.GoToSurface] Running Loop=1
2020-01-23T19:15:07.095Z,1579806907.095 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-23T19:15:07.095Z,1579806907.095 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-23T19:15:07.096Z,1579806907.096 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-23T19:15:07.096Z,1579806907.096 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-23T19:15:07.096Z,1579806907.096 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-23T19:15:07.097Z,1579806907.097 [DefaultUnder:Default:Surface:run:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-23T19:15:07.097Z,1579806907.097 [DefaultUnder:Default:Surface:run:A] Running Loop=1
2020-01-23T19:15:07.483Z,1579806907.483 [DefaultUnder:Default:Surface] Stopped
2020-01-23T19:15:07.483Z,1579806907.483 [DefaultUnder:Default:Surface](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Surface
2020-01-23T19:15:07.484Z,1579806907.484 [DefaultUnder:Default:Surface:run] Stopped
2020-01-23T19:15:07.484Z,1579806907.484 [DefaultUnder:Default:Surface:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Surface:run
2020-01-23T19:15:07.484Z,1579806907.484 [DefaultUnder:Default:Surface:run:A] Stopped
2020-01-23T19:15:07.484Z,1579806907.484 [DefaultUnder:Default:Surface:run:B.GoToSurface] Stopped
2020-01-23T19:15:07.484Z,1579806907.484 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-23T19:15:07.484Z,1579806907.484 [DefaultUnder:Default:Home] Stopped
2020-01-23T19:15:07.484Z,1579806907.484 [DefaultUnder:Default:Home](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Home
2020-01-23T19:15:07.484Z,1579806907.484 [DefaultUnder:Default:Home:run] Stopped
2020-01-23T19:15:07.484Z,1579806907.484 [DefaultUnder:Default:Home:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Home:run
2020-01-23T19:15:07.484Z,1579806907.484 [DefaultUnder:Default:Home:run:A] Stopped
2020-01-23T19:15:07.484Z,1579806907.484 [DefaultUnder:Default:Docked] Running Loop=1
2020-01-23T19:15:07.485Z,1579806907.485 [DefaultUnder:Default:Docked:run:A] Stopped
2020-01-23T19:15:07.485Z,1579806907.485 [DefaultUnder:Default:Docked:run:B.Docked] Running Loop=1
2020-01-23T19:15:07.485Z,1579806907.485 [DefaultUnder:Default:Docked:run:B.Docked](DEBUG): Initialize.
2020-01-23T19:15:07.486Z,1579806907.486 [DefaultUnder:Default:Docked:run:B.Docked](INFO): Depth unspecified. Maintaining workSite beacon depth of 6.000000 m.
2020-01-23T19:15:14.979Z,1579806914.979 [CommandLine](IMPORTANT): got command show variable "multipleSources"
2020-01-23T19:15:20.139Z,1579806920.139 [CommandLine](IMPORTANT): got command show variable multiple_source
2020-01-23T19:15:23.630Z,1579806923.630 [CommandLine](IMPORTANT): got command show variable multiple
2020-01-23T19:15:23.676Z,1579806923.676 [CommandLine](IMPORTANT): DeadReckonUsingMultipleVelocitySources.loadAtStartup (bool)
2020-01-23T19:15:23.676Z,1579806923.676 [CommandLine](IMPORTANT): DeadReckonUsingMultipleVelocitySources.accuracyPremultiplier (none)
2020-01-23T19:15:23.677Z,1579806923.677 [CommandLine](IMPORTANT): DeadReckonUsingMultipleVelocitySources.allowableFailures (count)
2020-01-23T19:15:23.677Z,1579806923.677 [CommandLine](IMPORTANT): DeadReckonUsingMultipleVelocitySources.orientationStaleAfter (minute)
2020-01-23T19:15:23.678Z,1579806923.678 [CommandLine](IMPORTANT): DeadReckonUsingMultipleVelocitySources.velocityStaleAfter (second)
2020-01-23T19:15:23.678Z,1579806923.678 [CommandLine](IMPORTANT): DeadReckonUsingMultipleVelocitySources.verbosity (count)
2020-01-23T19:15:23.847Z,1579806923.847 [CommandLine](IMPORTANT): DeadReckonUsingMultipleVelocitySources.latitude (degree)
2020-01-23T19:15:23.848Z,1579806923.848 [CommandLine](IMPORTANT): DeadReckonUsingMultipleVelocitySources.longitude (degree)
2020-01-23T19:15:23.850Z,1579806923.850 [CommandLine](IMPORTANT): DeadReckonUsingMultipleVelocitySources.depth (meter)
2020-01-23T19:15:23.851Z,1579806923.851 [CommandLine](IMPORTANT): DeadReckonUsingMultipleVelocitySources.horizontal_path_length_since_last_fix (meter)
2020-01-23T19:15:23.852Z,1579806923.852 [CommandLine](IMPORTANT): DeadReckonUsingMultipleVelocitySources.fix_distance_made_good (meter)
2020-01-23T19:15:23.853Z,1579806923.853 [CommandLine](IMPORTANT): DeadReckonUsingMultipleVelocitySources.fix_horizontal_path_length_since_last_fix (meter)
2020-01-23T19:15:23.855Z,1579806923.855 [CommandLine](IMPORTANT): DeadReckonUsingMultipleVelocitySources.fix_residual_distance (meter)
2020-01-23T19:15:23.855Z,1579806923.855 [CommandLine](IMPORTANT): DeadReckonUsingMultipleVelocitySources.fix_residual_bearing (radian)
2020-01-23T19:15:23.856Z,1579806923.856 [CommandLine](IMPORTANT): DeadReckonUsingMultipleVelocitySources.fix_residual_percent_distance_traveled (percent)
2020-01-23T19:15:23.868Z,1579806923.868 [CommandLine](IMPORTANT): DeadReckonUsingMultipleVelocitySources.elapsed_since_orientation_read (second)
2020-01-23T19:15:23.869Z,1579806923.869 [CommandLine](IMPORTANT): DeadReckonUsingMultipleVelocitySources.elapsed_since_velocity_read (second)
2020-01-23T19:15:23.870Z,1579806923.870 [CommandLine](IMPORTANT): DeadReckonUsingMultipleVelocitySources.latitude_accuracy (radian)
2020-01-23T19:15:23.871Z,1579806923.871 [CommandLine](IMPORTANT): DeadReckonUsingMultipleVelocitySources.velocity_source (count)
2020-01-23T19:15:43.723Z,1579806943.723 [CommandLine](IMPORTANT): got command get DeadReckonUsingMultipleVelocitySources.verbosity
2020-01-23T19:15:43.723Z,1579806943.723 [CommandLine](IMPORTANT): DeadReckonUsingMultipleVelocitySources.verbosity 0 count
2020-01-23T19:15:47.439Z,1579806947.439 [Micromodem](ERROR): Buffer fill timout failure.
2020-01-23T19:15:47.876Z,1579806947.876 [Micromodem](INFO): Outgoing frame #1, 64 bytes: FDED295E0D0000005D00000400BD0000000000000000151D80030C5669BF3148E2FA22188B6A3173E5573572661C0BCBDFFAB423BD32D9A51E8904B0A920CE9A
2020-01-23T19:15:47.876Z,1579806947.876 [Micromodem](INFO): Outgoing frame #2, 64 bytes: EF9F66414C9B9FD6761AD008C3E3DC4FCA2E4E25B6359B14B772C42AD2EC5E54CD5F36943CEE1B636250FE035655B6928105C24D4EC1216EF4EA7FDC2A988AC7
2020-01-23T19:15:47.881Z,1579806947.881 [Micromodem](INFO): Outgoing frame #3, 49 bytes: 4539A4949DC05DB8C627478A1310945EDA3E5DCCFD911268358C0772C56BAAB20203267DC8F986105DBB0EE71132F14000
2020-01-23T19:15:47.881Z,1579806947.881 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-23T19:15:48.252Z,1579806948.252 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-23T19:15:48.652Z,1579806948.652 [Micromodem](INFO): Nmea in: $CADRQ,191548,1,12,0,64,1*74

2020-01-23T19:15:48.653Z,1579806948.653 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,FDED295E0D0000005D00000400BD0000000000000000151D80030C5669BF3148E2FA22188B6A3173E5573572661C0BCBDFFAB423BD32D9A51E8904B0A920CE9A*42

2020-01-23T19:15:49.059Z,1579806949.059 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T19:15:49.459Z,1579806949.459 [Micromodem](INFO): Nmea in: $CADRQ,191549,1,12,0,64,2*76

2020-01-23T19:15:49.460Z,1579806949.460 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,EF9F66414C9B9FD6761AD008C3E3DC4FCA2E4E25B6359B14B772C42AD2EC5E54CD5F36943CEE1B636250FE035655B6928105C24D4EC1216EF4EA7FDC2A988AC7*31

2020-01-23T19:15:49.859Z,1579806949.859 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T19:15:50.271Z,1579806950.271 [Micromodem](INFO): Nmea in: $CADRQ,191550,1,12,0,64,3*7F

2020-01-23T19:15:50.271Z,1579806950.271 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,4539A4949DC05DB8C627478A1310945EDA3E5DCCFD911268358C0772C56BAAB20203267DC8F986105DBB0EE71132F14000*38

2020-01-23T19:15:50.678Z,1579806950.678 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,49*44

2020-01-23T19:15:51.071Z,1579806951.071 [Micromodem](INFO): Nmea in: $CATXP,177*43

2020-01-23T19:15:51.218Z,1579806951.218 [CommandLine](IMPORTANT): got command configSet DeadReckonUsingMultipleVelocitySources.verbosity 2.000000 count persist
2020-01-23T19:15:53.966Z,1579806953.966 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T19:15:54.712Z,1579806954.712 [Micromodem](INFO): Nmea in: $CATXF,177*55

2020-01-23T19:15:54.712Z,1579806954.712 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T19:15:55.122Z,1579806955.122 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,191551.214302,3,0,200,4000,10000,1,1,12,1,3,3,3,177*7F

2020-01-23T19:15:55.122Z,1579806955.122 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20200123,191551.214302,3,0,200,4000,10000,1,1,12,1,3,3,3,177*7F

2020-01-23T19:15:56.330Z,1579806956.330 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T19:15:57.944Z,1579806957.944 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T19:15:58.352Z,1579806958.352 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-23T19:15:58.373Z,1579806958.373 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-23T19:15:58.756Z,1579806958.756 [Micromodem](INFO): Nmea in: $CAACK,12,1,3,1*7B

2020-01-23T19:15:58.780Z,1579806958.780 [Micromodem](INFO): Sent 169 bytes from file Logs/20200123T190325/Courier0013.lzma.parts
2020-01-23T19:15:58.782Z,1579806958.782 [Micromodem](INFO): Packets left to send: 0
2020-01-23T19:15:59.151Z,1579806959.151 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123191557.592331,06,616,27,0133,0150,89,02,02,00,03,1,012,001,0,4,1,0,150,20.0,4.00,10,-1.00,-01,-0.02,30,10000,4000*46

2020-01-23T19:15:59.170Z,1579806959.170 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 39F0295E000000005D00000400AB0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51B1C3DE1295C413B9EA27D0D0958A55575A4074CBAA7A5
2020-01-23T19:15:59.170Z,1579806959.170 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 3F6AE7AF0D07E622820F45259E052A3980439491B5FE44BA5725AF9F520D380EF650D1224C2DD44756ABC8376EA4F1C2928328840EB8F148A67DBA8E3F744407
2020-01-23T19:15:59.171Z,1579806959.171 [Micromodem](INFO): Outgoing frame #3, 31 bytes: 8E4C4CBB77E7035800BF8B4B5F220FBBB0D4B0DF4AC94F753717B1BE3DDD00
2020-01-23T19:15:59.171Z,1579806959.171 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-23T19:16:00.367Z,1579806960.367 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-23T19:16:00.771Z,1579806960.771 [Micromodem](INFO): Nmea in: $CADRQ,191600,1,12,0,64,1*7B

2020-01-23T19:16:00.772Z,1579806960.772 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,39F0295E000000005D00000400AB0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51B1C3DE1295C413B9EA27D0D0958A55575A4074CBAA7A5*42

2020-01-23T19:16:01.185Z,1579806961.185 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T19:16:01.580Z,1579806961.580 [Micromodem](INFO): Nmea in: $CADRQ,191601,1,12,0,64,2*79

2020-01-23T19:16:01.581Z,1579806961.581 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,3F6AE7AF0D07E622820F45259E052A3980439491B5FE44BA5725AF9F520D380EF650D1224C2DD44756ABC8376EA4F1C2928328840EB8F148A67DBA8E3F744407*3F

2020-01-23T19:16:01.983Z,1579806961.983 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T19:16:02.392Z,1579806962.392 [Micromodem](INFO): Nmea in: $CADRQ,191602,1,12,0,64,3*7B

2020-01-23T19:16:02.392Z,1579806962.392 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,8E4C4CBB77E7035800BF8B4B5F220FBBB0D4B0DF4AC94F753717B1BE3DDD00*4B

2020-01-23T19:16:02.787Z,1579806962.787 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,31*4B

2020-01-23T19:16:03.195Z,1579806963.195 [Micromodem](INFO): Nmea in: $CATXP,159*4F

2020-01-23T19:16:04.450Z,1579806964.450 [CommandLine](IMPORTANT): got command run ./Missions/Demo/setNav.xml
2020-01-23T19:16:04.450Z,1579806964.450 [MissionManager](INFO): Loading Mission: ./Missions/Demo/setNav.xml
2020-01-23T19:16:04.498Z,1579806964.498 [MissionManager](INFO): DefineArg SetNav.DockLat = 0.642341 _
2020-01-23T19:16:04.522Z,1579806964.522 [MissionManager](INFO): DefineArg SetNav.DockLon = -2.126200 _
2020-01-23T19:16:04.528Z,1579806964.528 [SetNav:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2020-01-23T19:16:04.563Z,1579806964.563 [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>


2020-01-23T19:16:04.581Z,1579806964.581 [CommandLine](IMPORTANT): Running ./Missions/Demo/setNav.xml
2020-01-23T19:16:04.857Z,1579806964.857 [DefaultUnder] Stopped
2020-01-23T19:16:04.857Z,1579806964.857 [DefaultUnder](DEBUG): Aggregate::uninitialize DefaultUnder
2020-01-23T19:16:04.857Z,1579806964.857 [DefaultUnder:uModemComms] Stopped
2020-01-23T19:16:04.857Z,1579806964.857 [DefaultUnder:uModemComms](DEBUG): Aggregate::uninitialize DefaultUnder:uModemComms
2020-01-23T19:16:04.857Z,1579806964.857 [DefaultUnder:uModemComms:CheckIn] Stopped
2020-01-23T19:16:04.857Z,1579806964.857 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::uninitialize DefaultUnder:uModemComms:CheckIn
2020-01-23T19:16:04.857Z,1579806964.857 [DefaultUnder:uModemComms:CheckIn:A] Stopped
2020-01-23T19:16:04.857Z,1579806964.857 [DefaultUnder:Notify] Stopped
2020-01-23T19:16:04.858Z,1579806964.858 [DefaultUnder:Notify](DEBUG): Aggregate::uninitialize DefaultUnder:Notify
2020-01-23T19:16:04.858Z,1579806964.858 [DefaultUnder:Notify:A] Stopped
2020-01-23T19:16:04.858Z,1579806964.858 [DefaultUnder:Notify:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A
2020-01-23T19:16:04.858Z,1579806964.858 [DefaultUnder:Notify:A:A] Stopped
2020-01-23T19:16:04.858Z,1579806964.858 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A:A
2020-01-23T19:16:04.858Z,1579806964.858 [DefaultUnder:Notify:A:A:A.Wait] Stopped
2020-01-23T19:16:04.858Z,1579806964.858 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-23T19:16:04.858Z,1579806964.858 [DefaultUnder:C.] Stopped
2020-01-23T19:16:04.858Z,1579806964.858 [DefaultUnder:Default] Stopped
2020-01-23T19:16:04.858Z,1579806964.858 [DefaultUnder:Default](DEBUG): Aggregate::uninitialize DefaultUnder:Default
2020-01-23T19:16:04.858Z,1579806964.858 [DefaultUnder:Default:Docked] Stopped
2020-01-23T19:16:04.858Z,1579806964.858 [DefaultUnder:Default:Docked](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Docked
2020-01-23T19:16:04.858Z,1579806964.858 [DefaultUnder:Default:Docked:run] Stopped
2020-01-23T19:16:04.859Z,1579806964.859 [DefaultUnder:Default:Docked:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Docked:run
2020-01-23T19:16:04.859Z,1579806964.859 [DefaultUnder:Default:Docked:run:B.Docked] Stopped
2020-01-23T19:16:04.859Z,1579806964.859 [MissionManager](IMPORTANT): Started mission SetNav
2020-01-23T19:16:04.859Z,1579806964.859 [SetNav] Running Loop=1
2020-01-23T19:16:04.859Z,1579806964.859 [SetNav](DEBUG): Aggregate::initialize SetNav
2020-01-23T19:16:04.859Z,1579806964.859 [SetNav:UpdateNav] Running Loop=1
2020-01-23T19:16:04.859Z,1579806964.859 [SetNav:UpdateNav](DEBUG): Aggregate::initialize SetNav:UpdateNav
2020-01-23T19:16:04.860Z,1579806964.860 [SetNav:UpdateNav:A] Running Loop=1
2020-01-23T19:16:04.860Z,1579806964.860 [SetNav:UpdateNav:A](INFO): Reseting nav to dock location at range <Undefined> m 
2020-01-23T19:16:04.860Z,1579806964.860 [SetNav:UpdateNav:A] Stopped
2020-01-23T19:16:04.860Z,1579806964.860 [SetNav:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T19:16:04.860Z,1579806964.860 [SetNav:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T19:16:05.263Z,1579806965.263 [SetNav:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T191605: (36.803398, -121.822304)
2020-01-23T19:16:05.263Z,1579806965.263 [SetNav:UpdateNav:B.SetNav] Stopped
2020-01-23T19:16:05.263Z,1579806965.263 [SetNav:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T19:16:05.263Z,1579806965.263 [SetNav:UpdateNav](INFO): Completed SetNav:UpdateNav
2020-01-23T19:16:05.264Z,1579806965.264 [SetNav:UpdateNav] Stopped
2020-01-23T19:16:05.264Z,1579806965.264 [SetNav:UpdateNav](DEBUG): Aggregate::uninitialize SetNav:UpdateNav
2020-01-23T19:16:05.264Z,1579806965.264 [SetNav](INFO): Completed SetNav
2020-01-23T19:16:05.264Z,1579806965.264 [MissionManager](INFO): SetNav is completed.
2020-01-23T19:16:05.264Z,1579806965.264 [MissionManager](INFO): Uninitializing Mission SetNav
2020-01-23T19:16:05.264Z,1579806965.264 [SetNav] Stopped
2020-01-23T19:16:05.264Z,1579806965.264 [SetNav](DEBUG): Aggregate::uninitialize SetNav
2020-01-23T19:16:05.667Z,1579806965.667 [MissionManager](IMPORTANT): Started mission DefaultUnder
2020-01-23T19:16:05.668Z,1579806965.668 [DefaultUnder] Running Loop=1
2020-01-23T19:16:05.668Z,1579806965.668 [DefaultUnder](DEBUG): Aggregate::initialize DefaultUnder
2020-01-23T19:16:05.668Z,1579806965.668 [DefaultUnder:uModemComms] Running Loop=1
2020-01-23T19:16:05.668Z,1579806965.668 [DefaultUnder:uModemComms](DEBUG): Aggregate::initialize DefaultUnder:uModemComms
2020-01-23T19:16:05.668Z,1579806965.668 [DefaultUnder:Notify] Running Loop=1
2020-01-23T19:16:05.668Z,1579806965.668 [DefaultUnder:Notify](DEBUG): Aggregate::initialize DefaultUnder:Notify
2020-01-23T19:16:05.668Z,1579806965.668 [DefaultUnder:Notify:A] Running Loop=1
2020-01-23T19:16:05.668Z,1579806965.668 [DefaultUnder:Notify:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A
2020-01-23T19:16:05.668Z,1579806965.668 [DefaultUnder:Notify:A:A] Running Loop=1
2020-01-23T19:16:05.669Z,1579806965.669 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A:A
2020-01-23T19:16:05.669Z,1579806965.669 [DefaultUnder:Notify:A:A:A.Wait] Running Loop=1
2020-01-23T19:16:05.669Z,1579806965.669 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Initialize Wait Component.
2020-01-23T19:16:05.669Z,1579806965.669 [DefaultUnder:C.] Running Loop=1
2020-01-23T19:16:05.669Z,1579806965.669 [DefaultUnder:C.](INFO): Initializing TrackAcousticContact.
2020-01-23T19:16:05.669Z,1579806965.669 [DefaultUnder:E.Wait] Running Loop=1
2020-01-23T19:16:05.669Z,1579806965.669 [DefaultUnder:E.Wait](DEBUG): Initialize Wait Component.
2020-01-23T19:16:05.670Z,1579806965.670 [DefaultUnder:uModemComms:CheckIn] Running Loop=1
2020-01-23T19:16:05.670Z,1579806965.670 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::initialize DefaultUnder:uModemComms:CheckIn
2020-01-23T19:16:05.671Z,1579806965.671 [DefaultUnder:uModemComms:CheckIn:A] Running Loop=1
2020-01-23T19:16:06.827Z,1579806966.827 [Micromodem](INFO): Nmea in: $CATXF,159*59

2020-01-23T19:16:07.236Z,1579806967.236 [Micromodem](INFO): Nmea in: $CAXST,6,20200123,191603.316271,3,0,200,4000,10000,1,1,12,1,3,3,3,159*71

2020-01-23T19:16:08.908Z,1579806968.908 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2020-01-23T19:16:08.908Z,1579806968.908 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-23T19:16:08.951Z,1579806968.951 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-23T19:16:09.377Z,1579806969.377 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-23T19:16:09.377Z,1579806969.377 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2020-01-23T19:16:09.710Z,1579806969.710 [DeadReckonUsingMultipleVelocitySources](INFO): Will consider orientation measurement stale after 120s.
2020-01-23T19:16:09.710Z,1579806969.710 [DeadReckonUsingMultipleVelocitySources](INFO): Will consider velocity measurement stale after 20s.
2020-01-23T19:16:10.067Z,1579806970.067 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-23T19:16:10.134Z,1579806970.134 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2020-01-23T19:16:10.135Z,1579806970.135 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:16:10.136Z,1579806970.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000035.242308
2020-01-23T19:16:10.468Z,1579806970.468 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-23T19:16:10.543Z,1579806970.543 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s.
2020-01-23T19:16:10.544Z,1579806970.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:16:10.547Z,1579806970.547 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000035.296375
2020-01-23T19:16:10.871Z,1579806970.871 [Micromodem](INFO): Nmea in: $CAACK,12,1,3,1*7B

2020-01-23T19:16:10.872Z,1579806970.872 [Micromodem](INFO): Sent 151 bytes from file Logs/20200123T191257/Courier0000.lzma.parts
2020-01-23T19:16:10.872Z,1579806970.872 [Micromodem](INFO): Packets left to send: 0
2020-01-23T19:16:10.984Z,1579806970.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.1 s old, using for 20.0 s.
2020-01-23T19:16:10.985Z,1579806970.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:16:10.986Z,1579806970.986 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000035.344102
2020-01-23T19:16:11.275Z,1579806971.275 [Micromodem](INFO): Nmea in: $CACST,6,0,20200123191609.676337,06,517,27,0105,0150,59,02,02,00,04,1,012,001,0,4,1,0,150,24.9,5.00,14,-2.00,-01,-0.02,22,10000,4000*44

2020-01-23T19:16:11.316Z,1579806971.316 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 39F0295E040001005D00000400EA0100000000000000151D80030C5669BF3148E2FA22188B6A3173E4BCF8268A634C0E1E7A80B45D98BCAD1140F7067519B512
2020-01-23T19:16:11.316Z,1579806971.316 [Micromodem](INFO): Outgoing frame #2, 64 bytes: E42B3D40C9C5FBE2D94B3405DFAB23C5DD634F1AABE1C725853A0E574A1B3D9F03B984562D3E95015C6A78361EE2D4EFCBAFD96A17E819DB01CF68578E7F8179
2020-01-23T19:16:11.316Z,1579806971.316 [Micromodem](INFO): Outgoing frame #3, 64 bytes: E760145CC83765E1A2E70CFDD1E87CB7D12BD24A6624EF9F4F349A186AC4AD2F4DCD1881CA7856ABDF334B0822D97462D776767AFAD0DDB77E0B4C427D1C44E6
2020-01-23T19:16:11.317Z,1579806971.317 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-23T19:16:11.370Z,1579806971.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s.
2020-01-23T19:16:11.370Z,1579806971.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:16:11.371Z,1579806971.371 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000035.377654
2020-01-23T19:16:11.738Z,1579806971.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s.
2020-01-23T19:16:11.738Z,1579806971.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:16:11.739Z,1579806971.739 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000035.403705
2020-01-23T19:16:12.159Z,1579806972.159 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.3 s old, using for 20.0 s.
2020-01-23T19:16:12.159Z,1579806972.159 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:16:12.160Z,1579806972.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000035.427779
2020-01-23T19:16:12.491Z,1579806972.491 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-23T19:16:12.521Z,1579806972.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s.
2020-01-23T19:16:12.521Z,1579806972.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:16:12.522Z,1579806972.522 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000035.444541
2020-01-23T19:16:12.901Z,1579806972.901 [Micromodem](INFO): Nmea in: $CADRQ,191612,1,12,0,64,1*78

2020-01-23T19:16:12.901Z,1579806972.901 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,39F0295E040001005D00000400EA0100000000000000151D80030C5669BF3148E2FA22188B6A3173E4BCF8268A634C0E1E7A80B45D98BCAD1140F7067519B512*35

2020-01-23T19:16:13.057Z,1579806973.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s.
2020-01-23T19:16:13.058Z,1579806973.058 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:16:13.059Z,1579806973.059 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000035.464666
2020-01-23T19:16:13.302Z,1579806973.302 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T19:16:13.370Z,1579806973.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s.
2020-01-23T19:16:13.370Z,1579806973.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:16:13.371Z,1579806973.371 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000035.474170
2020-01-23T19:16:13.699Z,1579806973.699 [Micromodem](INFO): Nmea in: $CADRQ,191613,1,12,0,64,2*7A

2020-01-23T19:16:13.700Z,1579806973.700 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,E42B3D40C9C5FBE2D94B3405DFAB23C5DD634F1AABE1C725853A0E574A1B3D9F03B984562D3E95015C6A78361EE2D4EFCBAFD96A17E819DB01CF68578E7F8179*47

2020-01-23T19:16:13.846Z,1579806973.846 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.9 s old, using for 20.0 s.
2020-01-23T19:16:13.846Z,1579806973.846 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:16:13.854Z,1579806973.854 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000035.485761
2020-01-23T19:16:14.104Z,1579806974.104 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T19:16:14.137Z,1579806974.137 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.2 s old, using for 20.0 s.
2020-01-23T19:16:14.137Z,1579806974.137 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:16:14.138Z,1579806974.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000035.491661
2020-01-23T19:16:14.534Z,1579806974.534 [Micromodem](INFO): Nmea in: $CADRQ,191614,1,12,0,64,3*7C

2020-01-23T19:16:14.536Z,1579806974.536 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,E760145CC83765E1A2E70CFDD1E87CB7D12BD24A6624EF9F4F349A186AC4AD2F4DCD1881CA7856ABDF334B0822D97462D776767AFAD0DDB77E0B4C427D1C44E6*48

2020-01-23T19:16:14.686Z,1579806974.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.8 s old, using for 20.0 s.
2020-01-23T19:16:14.686Z,1579806974.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:16:14.687Z,1579806974.687 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000035.500535
2020-01-23T19:16:14.911Z,1579806974.911 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-23T19:16:14.979Z,1579806974.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s.
2020-01-23T19:16:14.979Z,1579806974.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:16:14.980Z,1579806974.980 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000035.504364
2020-01-23T19:16:15.201Z,1579806975.201 [CommandLine](IMPORTANT): got command restart application
2020-01-23T19:16:15.311Z,1579806975.311 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-23T19:16:15.359Z,1579806975.359 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s.
2020-01-23T19:16:15.360Z,1579806975.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:16:15.360Z,1579806975.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000035.508397
2020-01-23T19:16:15.780Z,1579806975.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s.
2020-01-23T19:16:15.780Z,1579806975.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:16:15.781Z,1579806975.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000035.512007
2020-01-23T19:16:16.152Z,1579806976.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.2 s old, using for 20.0 s.
2020-01-23T19:16:16.152Z,1579806976.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:16:16.153Z,1579806976.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000035.514595
2020-01-23T19:16:16.205Z,1579806976.205 [Supervisor](INFO): Stop Mission called by Supervisor::terminate
2020-01-23T19:16:16.205Z,1579806976.205 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-23T19:16:16.205Z,1579806976.205 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:16:16.273Z,1579806976.273 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2020-01-23T19:16:16.273Z,1579806976.273 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:16:16.274Z,1579806976.274 [CommandLine](INFO): Join timeout helper Thread ID is 7641
2020-01-23T19:16:16.274Z,1579806976.274 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2020-01-23T19:16:16.274Z,1579806976.274 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:16:16.275Z,1579806976.275 [NavChartDb](INFO): Join timeout helper Thread ID is 7642
2020-01-23T19:16:16.361Z,1579806976.361 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-23T19:16:16.361Z,1579806976.361 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:16:16.373Z,1579806976.373 [ComponentRegistry](INFO): Shutting down WetLabsSeaOWL_UV_A ThreadHandler
2020-01-23T19:16:16.373Z,1579806976.373 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:16:16.373Z,1579806976.373 [WetLabsSeaOWL_UV_A](INFO): Join timeout helper Thread ID is 7643
2020-01-23T19:16:16.533Z,1579806976.533 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-23T19:16:16.533Z,1579806976.533 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-01-23T19:16:16.534Z,1579806976.534 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:16:16.549Z,1579806976.549 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2020-01-23T19:16:16.549Z,1579806976.549 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:16:16.549Z,1579806976.549 [CTD_NeilBrown](INFO): Join timeout helper Thread ID is 7644
2020-01-23T19:16:16.588Z,1579806976.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s.
2020-01-23T19:16:16.588Z,1579806976.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:16:16.589Z,1579806976.589 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000035.517048
2020-01-23T19:16:16.653Z,1579806976.653 [CTD_NeilBrown ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-23T19:16:16.653Z,1579806976.653 [CTD_NeilBrown](INFO): Powering down
2020-01-23T19:16:16.665Z,1579806976.665 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:16:16.677Z,1579806976.677 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2020-01-23T19:16:16.677Z,1579806976.677 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:16:16.677Z,1579806976.677 [DataOverHttps](INFO): Join timeout helper Thread ID is 7645
2020-01-23T19:16:16.950Z,1579806976.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.0 s old, using for 20.0 s.
2020-01-23T19:16:16.950Z,1579806976.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:16:16.951Z,1579806976.951 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000035.518702
2020-01-23T19:16:17.325Z,1579806977.325 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-23T19:16:17.325Z,1579806977.325 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:16:17.327Z,1579806977.327 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2020-01-23T19:16:17.327Z,1579806977.327 [logger ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:16:17.327Z,1579806977.327 [logger](INFO): Join timeout helper Thread ID is 7646
2020-01-23T19:16:17.362Z,1579806977.362 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s.
2020-01-23T19:16:17.362Z,1579806977.362 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:16:17.363Z,1579806977.363 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000035.520224
2020-01-23T19:16:17.373Z,1579806977.373 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-23T19:16:17.373Z,1579806977.373 [logger ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:16:17.378Z,1579806977.378 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2020-01-23T19:16:17.378Z,1579806977.378 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:16:17.378Z,1579806977.378 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2020-01-23T19:16:17.378Z,1579806977.378 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:16:17.378Z,1579806977.378 [controlThread](INFO): Join timeout helper Thread ID is 7647
2020-01-23T19:16:17.399Z,1579806977.399 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-23T19:16:17.399Z,1579806977.399 [controlThread](DEBUG): Uninitializing ControlThread
2020-01-23T19:16:17.399Z,1579806977.399 [AHRS_M2](INFO): Powering down
2020-01-23T19:16:17.469Z,1579806977.469 [DDM](INFO): Powering down
2020-01-23T19:16:17.574Z,1579806977.574 [DUSBL_Hydroid](INFO): Powering down
2020-01-23T19:16:17.645Z,1579806977.645 [Micromodem](INFO): Powering down
2020-01-23T19:16:17.741Z,1579806977.741 [NAL9602](INFO): Powering down
2020-01-23T19:16:17.813Z,1579806977.813 [RDI_Pathfinder](INFO): Powering down
2020-01-23T19:16:17.815Z,1579806977.815 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2020-01-23T19:16:17.816Z,1579806977.816 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2020-01-23T19:16:17.816Z,1579806977.816 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2020-01-23T19:16:17.817Z,1579806977.817 [MissionManager](INFO): Uninitializing Mission DefaultUnder
2020-01-23T19:16:17.817Z,1579806977.817 [DefaultUnder] Stopped
2020-01-23T19:16:17.817Z,1579806977.817 [DefaultUnder](DEBUG): Aggregate::uninitialize DefaultUnder
2020-01-23T19:16:17.817Z,1579806977.817 [DefaultUnder:uModemComms] Stopped
2020-01-23T19:16:17.818Z,1579806977.818 [DefaultUnder:uModemComms](DEBUG): Aggregate::uninitialize DefaultUnder:uModemComms
2020-01-23T19:16:17.818Z,1579806977.818 [DefaultUnder:uModemComms:CheckIn] Stopped
2020-01-23T19:16:17.818Z,1579806977.818 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::uninitialize DefaultUnder:uModemComms:CheckIn
2020-01-23T19:16:17.818Z,1579806977.818 [DefaultUnder:uModemComms:CheckIn:A] Stopped
2020-01-23T19:16:17.818Z,1579806977.818 [DefaultUnder:Notify] Stopped
2020-01-23T19:16:17.818Z,1579806977.818 [DefaultUnder:Notify](DEBUG): Aggregate::uninitialize DefaultUnder:Notify
2020-01-23T19:16:17.818Z,1579806977.818 [DefaultUnder:Notify:A] Stopped
2020-01-23T19:16:17.818Z,1579806977.818 [DefaultUnder:Notify:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A
2020-01-23T19:16:17.818Z,1579806977.818 [DefaultUnder:Notify:A:A] Stopped
2020-01-23T19:16:17.818Z,1579806977.818 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A:A
2020-01-23T19:16:17.818Z,1579806977.818 [DefaultUnder:Notify:A:A:A.Wait] Stopped
2020-01-23T19:16:17.818Z,1579806977.818 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-23T19:16:17.818Z,1579806977.818 [DefaultUnder:C.] Stopped
2020-01-23T19:16:17.818Z,1579806977.818 [DefaultUnder:E.Wait] Stopped
2020-01-23T19:16:17.819Z,1579806977.819 [DefaultUnder:E.Wait](DEBUG): Uninitialize Wait Component.
2020-01-23T19:16:17.846Z,1579806977.846 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2020-01-23T19:16:17.846Z,1579806977.846 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2020-01-23T19:16:17.846Z,1579806977.846 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2020-01-23T19:16:17.846Z,1579806977.846 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2020-01-23T19:16:17.847Z,1579806977.847 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2020-01-23T19:16:17.847Z,1579806977.847 [BuoyancyServo](INFO): Powering down
2020-01-23T19:16:17.977Z,1579806977.977 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2020-01-23T19:16:17.977Z,1579806977.977 [ElevatorServo](INFO): Powering down
2020-01-23T19:16:17.978Z,1579806977.978 [MassServo](DEBUG): Uninitialize Mass Servo.
2020-01-23T19:16:17.978Z,1579806977.978 [MassServo](INFO): Powering down
2020-01-23T19:16:17.979Z,1579806977.979 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-01-23T19:16:17.979Z,1579806977.979 [RudderServo](INFO): Powering down
2020-01-23T19:16:17.980Z,1579806977.980 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2020-01-23T19:16:17.980Z,1579806977.980 [ThrusterServo](INFO): Powering down
2020-01-23T19:16:17.980Z,1579806977.980 [SBIT](DEBUG): Uninitialize SBIT Component.
2020-01-23T19:16:17.981Z,1579806977.981 [IBIT](DEBUG): Uninitialize IBIT Component.
2020-01-23T19:16:17.981Z,1579806977.981 [CBIT](DEBUG): Uninitialize CBIT Component.
2020-01-23T19:16:17.981Z,1579806977.981 [CBIT](DEBUG): Powering off loads.
2020-01-23T19:16:17.993Z,1579806977.993 [CBIT](DEBUG): Disabling WDT.
2020-01-23T19:16:18.005Z,1579806978.005 [CBIT](DEBUG): Opening all GF detection circuits.
2020-01-23T19:16:18.006Z,1579806978.006 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:16:18.064Z,1579806978.064 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:16:18.105Z,1579806978.105 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:16:18.108Z,1579806978.108 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:16:18.165Z,1579806978.165 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:16:18.227Z,1579806978.227 [logger ThreadHandler](INFO): Thread cancelled.