2020-01-23T19:38:20.963Z,1579808300.963 [Supervisor](DEBUG): Initializing supervisor.
2020-01-23T19:38:20.966Z,1579808300.966 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2020-01-23T19:38:20.966Z,1579808300.966 [SyncHandler](INFO): Protected caller Thread ID is 990
2020-01-23T19:38:20.967Z,1579808300.967 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2020-01-23T19:38:20.968Z,1579808300.968 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2020-01-23T19:38:20.968Z,1579808300.968 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 991
2020-01-23T19:38:20.971Z,1579808300.971 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2020-01-23T19:38:20.984Z,1579808300.984 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2020-01-23T19:38:20.985Z,1579808300.985 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2020-01-23T19:38:20.985Z,1579808300.985 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 992
2020-01-23T19:38:20.986Z,1579808300.986 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2020-01-23T19:38:20.986Z,1579808300.986 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2020-01-23T19:38:20.987Z,1579808300.987 [logger ThreadHandler](INFO): Protected caller Thread ID is 993
2020-01-23T19:38:20.989Z,1579808300.989 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2020-01-23T19:38:20.989Z,1579808300.989 [Supervisor](INFO): Looking for Config files in directory: Config/
2020-01-23T19:38:20.991Z,1579808300.991 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2020-01-23T19:38:21.423Z,1579808301.423 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2020-01-23T19:38:21.423Z,1579808301.423 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2020-01-23T19:38:21.519Z,1579808301.519 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2020-01-23T19:38:21.520Z,1579808301.520 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2020-01-23T19:38:21.829Z,1579808301.829 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2020-01-23T19:38:21.829Z,1579808301.829 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2020-01-23T19:38:21.966Z,1579808301.966 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2020-01-23T19:38:21.966Z,1579808301.966 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2020-01-23T19:38:22.155Z,1579808302.155 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2020-01-23T19:38:22.155Z,1579808302.155 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2020-01-23T19:38:22.595Z,1579808302.595 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2020-01-23T19:38:22.595Z,1579808302.595 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2020-01-23T19:38:22.802Z,1579808302.802 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2020-01-23T19:38:22.802Z,1579808302.802 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2020-01-23T19:38:22.943Z,1579808302.943 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2020-01-23T19:38:22.944Z,1579808302.944 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2020-01-23T19:38:23.132Z,1579808303.132 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2020-01-23T19:38:23.133Z,1579808303.133 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2020-01-23T19:38:23.227Z,1579808303.227 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2020-01-23T19:38:23.227Z,1579808303.227 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2020-01-23T19:38:23.523Z,1579808303.523 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2020-01-23T19:38:23.524Z,1579808303.524 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2020-01-23T19:38:23.602Z,1579808303.602 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2020-01-23T19:38:23.703Z,1579808303.703 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2020-01-23T19:38:23.703Z,1579808303.703 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2020-01-23T19:38:24.334Z,1579808304.334 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2020-01-23T19:38:24.335Z,1579808304.335 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2020-01-23T19:38:24.738Z,1579808304.738 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2020-01-23T19:38:24.739Z,1579808304.739 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/
2020-01-23T19:38:24.740Z,1579808304.740 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/vehicle.cfg
2020-01-23T19:38:24.948Z,1579808304.948 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Control.cfg
2020-01-23T19:38:25.047Z,1579808305.047 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/BIT.cfg
2020-01-23T19:38:25.145Z,1579808305.145 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Battery.cfg
2020-01-23T19:38:25.420Z,1579808305.420 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2020-01-23T19:38:25.421Z,1579808305.421 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Simulator.cfg
2020-01-23T19:38:25.803Z,1579808305.803 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Navigation.cfg
2020-01-23T19:38:26.053Z,1579808306.053 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/logger.cfg
2020-01-23T19:38:26.247Z,1579808306.247 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/secure.cfg
2020-01-23T19:38:26.335Z,1579808306.335 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Servo.cfg
2020-01-23T19:38:26.441Z,1579808306.441 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/workSite.cfg
2020-01-23T19:38:26.532Z,1579808306.532 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Sensor.cfg
2020-01-23T19:38:26.713Z,1579808306.713 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Science.cfg
2020-01-23T19:38:26.841Z,1579808306.841 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/root/
2020-01-23T19:38:26.842Z,1579808306.842 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2020-01-23T19:38:26.849Z,1579808306.849 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2020-01-23T19:38:27.160Z,1579808307.160 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_orientation
2020-01-23T19:38:27.165Z,1579808307.165 [AHRS_M2](INFO): created writer for : platform_orientation
2020-01-23T19:38:27.167Z,1579808307.167 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_magnetic_orientation
2020-01-23T19:38:27.172Z,1579808307.172 [AHRS_M2](INFO): created writer for : platform_magnetic_orientation
2020-01-23T19:38:27.172Z,1579808307.172 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_pitch_angle
2020-01-23T19:38:27.177Z,1579808307.177 [AHRS_M2](INFO): created writer for : platform_pitch_angle
2020-01-23T19:38:27.178Z,1579808307.178 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_roll_angle
2020-01-23T19:38:27.183Z,1579808307.183 [AHRS_M2](INFO): created writer for : platform_roll_angle
2020-01-23T19:38:27.252Z,1579808307.252 [AHRS_M2] Loaded
2020-01-23T19:38:27.252Z,1579808307.252 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2020-01-23T19:38:27.331Z,1579808307.331 [DataOverHttps] Loaded
2020-01-23T19:38:27.331Z,1579808307.331 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2020-01-23T19:38:27.332Z,1579808307.332 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 407684E0
2020-01-23T19:38:27.333Z,1579808307.333 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 1075
2020-01-23T19:38:27.356Z,1579808307.356 [DDM] Loaded
2020-01-23T19:38:27.356Z,1579808307.356 [ComponentRegistry](DEBUG): SyncComponent "DDM" handled in the control thread.
2020-01-23T19:38:27.369Z,1579808307.369 [Depth_Keller] Loaded
2020-01-23T19:38:27.369Z,1579808307.369 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2020-01-23T19:38:27.374Z,1579808307.374 [DropWeight] Loaded
2020-01-23T19:38:27.374Z,1579808307.374 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2020-01-23T19:38:27.434Z,1579808307.434 [DUSBL_Hydroid] Loaded
2020-01-23T19:38:27.434Z,1579808307.434 [ComponentRegistry](DEBUG): SyncComponent "DUSBL_Hydroid" handled in the control thread.
2020-01-23T19:38:27.479Z,1579808307.479 [Micromodem] Loaded
2020-01-23T19:38:27.480Z,1579808307.480 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2020-01-23T19:38:27.574Z,1579808307.574 [NAL9602] Loaded
2020-01-23T19:38:27.575Z,1579808307.575 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2020-01-23T19:38:27.614Z,1579808307.614 [Onboard] Loaded
2020-01-23T19:38:27.614Z,1579808307.614 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2020-01-23T19:38:27.620Z,1579808307.620 [PowerOnly] Loaded
2020-01-23T19:38:27.620Z,1579808307.620 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2020-01-23T19:38:27.626Z,1579808307.626 [Radio_Surface] Loaded
2020-01-23T19:38:27.626Z,1579808307.626 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2020-01-23T19:38:27.627Z,1579808307.627 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 407984E0
2020-01-23T19:38:27.628Z,1579808307.628 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 1076
2020-01-23T19:38:27.670Z,1579808307.670 [RDI_Pathfinder] Loaded
2020-01-23T19:38:27.670Z,1579808307.670 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2020-01-23T19:38:29.119Z,1579808309.119 [BPC1] Loaded
2020-01-23T19:38:29.119Z,1579808309.119 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2020-01-23T19:38:29.120Z,1579808309.120 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2020-01-23T19:38:29.120Z,1579808309.120 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2020-01-23T19:38:29.133Z,1579808309.133 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2020-01-23T19:38:29.134Z,1579808309.134 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2020-01-23T19:38:29.247Z,1579808309.247 [DeadReckonUsingMultipleVelocitySources] Loaded
2020-01-23T19:38:29.248Z,1579808309.248 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2020-01-23T19:38:29.267Z,1579808309.267 [NavChart] Loaded
2020-01-23T19:38:29.268Z,1579808309.268 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2020-01-23T19:38:29.271Z,1579808309.271 [UniversalFixResidualReporter] Loaded
2020-01-23T19:38:29.272Z,1579808309.272 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2020-01-23T19:38:29.272Z,1579808309.272 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2020-01-23T19:38:29.273Z,1579808309.273 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2020-01-23T19:38:29.379Z,1579808309.379 [BuoyancyServo] Loaded
2020-01-23T19:38:29.379Z,1579808309.379 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2020-01-23T19:38:29.394Z,1579808309.394 [ElevatorServo] Loaded
2020-01-23T19:38:29.394Z,1579808309.394 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2020-01-23T19:38:29.408Z,1579808309.408 [MassServo] Loaded
2020-01-23T19:38:29.408Z,1579808309.408 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2020-01-23T19:38:29.423Z,1579808309.423 [RudderServo] Loaded
2020-01-23T19:38:29.424Z,1579808309.424 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2020-01-23T19:38:29.438Z,1579808309.438 [ThrusterServo] Loaded
2020-01-23T19:38:29.438Z,1579808309.438 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2020-01-23T19:38:29.438Z,1579808309.438 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2020-01-23T19:38:29.439Z,1579808309.439 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2020-01-23T19:38:29.694Z,1579808309.694 [CTD_NeilBrown] Loaded
2020-01-23T19:38:29.694Z,1579808309.694 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2020-01-23T19:38:29.695Z,1579808309.695 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 408EC4E0
2020-01-23T19:38:29.695Z,1579808309.695 [CTD_NeilBrown ThreadHandler](INFO): Protected caller Thread ID is 1077
2020-01-23T19:38:29.709Z,1579808309.709 [PAR_Licor] Loaded
2020-01-23T19:38:29.710Z,1579808309.710 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2020-01-23T19:38:29.752Z,1579808309.752 [WetLabsSeaOWL_UV_A] Loaded
2020-01-23T19:38:29.752Z,1579808309.752 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2020-01-23T19:38:29.754Z,1579808309.754 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 4091C4E0
2020-01-23T19:38:29.754Z,1579808309.754 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 1078
2020-01-23T19:38:29.754Z,1579808309.754 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2020-01-23T19:38:29.755Z,1579808309.755 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2020-01-23T19:38:30.087Z,1579808310.087 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2020-01-23T19:38:30.087Z,1579808310.087 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2020-01-23T19:38:30.128Z,1579808310.128 [DepthRateCalculator] Loaded
2020-01-23T19:38:30.128Z,1579808310.128 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2020-01-23T19:38:30.133Z,1579808310.133 [PitchRateCalculator] Loaded
2020-01-23T19:38:30.134Z,1579808310.134 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2020-01-23T19:38:30.146Z,1579808310.146 [SpeedCalculator] Loaded
2020-01-23T19:38:30.146Z,1579808310.146 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2020-01-23T19:38:30.166Z,1579808310.166 [TempGradientCalculator] Loaded
2020-01-23T19:38:30.166Z,1579808310.166 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2020-01-23T19:38:30.172Z,1579808310.172 [YawRateCalculator] Loaded
2020-01-23T19:38:30.172Z,1579808310.172 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2020-01-23T19:38:30.211Z,1579808310.211 [ElevatorOffsetCalculator] Loaded
2020-01-23T19:38:30.212Z,1579808310.212 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2020-01-23T19:38:30.212Z,1579808310.212 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2020-01-23T19:38:30.213Z,1579808310.213 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2020-01-23T19:38:30.347Z,1579808310.347 [SBIT](DEBUG): Construct Startup Built In Test.
2020-01-23T19:38:30.369Z,1579808310.369 [SBIT] Loaded
2020-01-23T19:38:30.369Z,1579808310.369 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2020-01-23T19:38:30.370Z,1579808310.370 [IBIT](DEBUG): Construct Initiated Built In Test.
2020-01-23T19:38:30.382Z,1579808310.382 [IBIT] Loaded
2020-01-23T19:38:30.382Z,1579808310.382 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2020-01-23T19:38:30.385Z,1579808310.385 [CBIT](DEBUG): Construct Continuous Built In Test.
2020-01-23T19:38:30.518Z,1579808310.518 [CBIT] Loaded
2020-01-23T19:38:30.519Z,1579808310.519 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2020-01-23T19:38:30.519Z,1579808310.519 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2020-01-23T19:38:30.519Z,1579808310.519 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2020-01-23T19:38:30.750Z,1579808310.750 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2020-01-23T19:38:30.750Z,1579808310.750 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2020-01-23T19:38:30.852Z,1579808310.852 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2020-01-23T19:38:30.853Z,1579808310.853 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2020-01-23T19:38:30.901Z,1579808310.901 [VerticalControl](DEBUG): Construct VerticalControl.
2020-01-23T19:38:30.982Z,1579808310.982 [VerticalControl] Loaded
2020-01-23T19:38:30.982Z,1579808310.982 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2020-01-23T19:38:30.983Z,1579808310.983 [HorizontalControl](DEBUG): Construct HorizontalControl.
2020-01-23T19:38:31.050Z,1579808311.050 [HorizontalControl] Loaded
2020-01-23T19:38:31.050Z,1579808311.050 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2020-01-23T19:38:31.051Z,1579808311.051 [SpeedControl](DEBUG): Construct SpeedControl.
2020-01-23T19:38:31.052Z,1579808311.052 [SpeedControl] Loaded
2020-01-23T19:38:31.052Z,1579808311.052 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2020-01-23T19:38:31.053Z,1579808311.053 [LoopControl](DEBUG): Construct LoopControl.
2020-01-23T19:38:31.054Z,1579808311.054 [LoopControl] Loaded
2020-01-23T19:38:31.054Z,1579808311.054 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2020-01-23T19:38:31.054Z,1579808311.054 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2020-01-23T19:38:31.055Z,1579808311.055 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2020-01-23T19:38:31.087Z,1579808311.087 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2020-01-23T19:38:31.091Z,1579808311.091 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2020-01-23T19:38:31.091Z,1579808311.091 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2020-01-23T19:38:31.098Z,1579808311.098 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2020-01-23T19:38:31.099Z,1579808311.099 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40AFC4E0
2020-01-23T19:38:31.099Z,1579808311.099 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 1079
2020-01-23T19:38:31.104Z,1579808311.104 [Supervisor](INFO): Main Thread ID is 870
2020-01-23T19:38:31.104Z,1579808311.104 [Supervisor](DEBUG): Running supervisor.
2020-01-23T19:38:31.104Z,1579808311.104 [CommandLine ThreadHandler](INFO): Handler Thread ID is 1080
2020-01-23T19:38:31.107Z,1579808311.107 [controlThread ThreadHandler](INFO): Handler Thread ID is 1081
2020-01-23T19:38:31.107Z,1579808311.107 [controlThread](DEBUG): Initializing ControlThread
2020-01-23T19:38:31.116Z,1579808311.116 [NavChart](DEBUG): Initialize NavChart Navigation.
2020-01-23T19:38:31.117Z,1579808311.117 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2020-01-23T19:38:31.121Z,1579808311.121 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2020-01-23T19:38:31.122Z,1579808311.122 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2020-01-23T19:38:31.122Z,1579808311.122 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2020-01-23T19:38:31.122Z,1579808311.122 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2020-01-23T19:38:31.123Z,1579808311.123 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2020-01-23T19:38:31.123Z,1579808311.123 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2020-01-23T19:38:31.124Z,1579808311.124 [SBIT](INFO): Initialize SBIT Component.
2020-01-23T19:38:31.124Z,1579808311.124 [SBIT](IMPORTANT): git: 2019-12-03-78-gb92fbb9
2020-01-23T19:38:31.124Z,1579808311.124 [SBIT](INFO): git hash: b92fbb99b4c8d1793352820b784fbd968d0634e4
2020-01-23T19:38:31.125Z,1579808311.125 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2020-01-23T19:38:31.126Z,1579808311.126 [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
2020-01-23T19:38:31.127Z,1579808311.127 [SBIT](INFO): Beginning SBIT in 39.000000 seconds.
2020-01-23T19:38:31.128Z,1579808311.128 [IBIT](INFO): Initialize IBIT Component.
2020-01-23T19:38:31.128Z,1579808311.128 [CBIT](DEBUG): Initialize CBIT Component.
2020-01-23T19:38:31.130Z,1579808311.130 [logger ThreadHandler](INFO): Handler Thread ID is 1082
2020-01-23T19:38:31.141Z,1579808311.141 [CBIT](DEBUG): Initialized mux pins.
2020-01-23T19:38:31.141Z,1579808311.141 [CBIT](DEBUG): Initializing the watchdog timer.
2020-01-23T19:38:31.149Z,1579808311.149 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 1083
2020-01-23T19:38:31.150Z,1579808311.150 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2020-01-23T19:38:31.161Z,1579808311.161 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 1084
2020-01-23T19:38:31.165Z,1579808311.165 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2020-01-23T19:38:31.165Z,1579808311.165 [CBIT](DEBUG): Initializing heartbeat.
2020-01-23T19:38:31.173Z,1579808311.173 [CTD_NeilBrown ThreadHandler](INFO): Handler Thread ID is 1085
2020-01-23T19:38:31.174Z,1579808311.174 [CTD_NeilBrown](INFO): Powering down
2020-01-23T19:38:31.201Z,1579808311.201 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 1086
2020-01-23T19:38:31.202Z,1579808311.202 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-01-23T19:38:31.226Z,1579808311.226 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 1087
2020-01-23T19:38:31.228Z,1579808311.228 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2020-01-23T19:38:31.229Z,1579808311.229 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2020-01-23T19:38:31.229Z,1579808311.229 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2020-01-23T19:38:31.229Z,1579808311.229 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2020-01-23T19:38:31.229Z,1579808311.229 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2020-01-23T19:38:31.229Z,1579808311.229 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2020-01-23T19:38:31.230Z,1579808311.230 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2020-01-23T19:38:31.230Z,1579808311.230 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2020-01-23T19:38:31.230Z,1579808311.230 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2020-01-23T19:38:31.230Z,1579808311.230 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2020-01-23T19:38:31.230Z,1579808311.230 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2020-01-23T19:38:31.230Z,1579808311.230 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2020-01-23T19:38:31.231Z,1579808311.231 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2020-01-23T19:38:31.231Z,1579808311.231 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2020-01-23T19:38:31.231Z,1579808311.231 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2020-01-23T19:38:31.231Z,1579808311.231 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2020-01-23T19:38:31.237Z,1579808311.237 [CBIT](DEBUG): Deactivating GF circuits.
2020-01-23T19:38:31.237Z,1579808311.237 [CBIT](DEBUG): Deactivating emergency mode.
2020-01-23T19:38:31.273Z,1579808311.273 [CBIT](DEBUG): Backplane powered.
2020-01-23T19:38:31.273Z,1579808311.273 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2020-01-23T19:38:31.275Z,1579808311.275 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2020-01-23T19:38:31.276Z,1579808311.276 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2020-01-23T19:38:31.276Z,1579808311.276 [LoopControl](DEBUG): Initialize LoopControlComponent.
2020-01-23T19:38:31.277Z,1579808311.277 [MissionManager](INFO): Loading Mission: Missions/underIce/StartupUnder.xml
2020-01-23T19:38:31.283Z,1579808311.283 [MissionManager](ERROR): Top node has no child nodes: Mission
2020-01-23T19:38:31.283Z,1579808311.283 [MissionManager](ERROR): Could not load startup mission.
2020-01-23T19:38:31.283Z,1579808311.283 [MissionManager](INFO): Loading Mission: Missions/underIce/DefaultUnder.xml
2020-01-23T19:38:31.519Z,1579808311.519 [MissionManager](INFO): DefineArg DefaultUnder.uModemCommsInterval = 5.000000 min
2020-01-23T19:38:31.534Z,1579808311.534 [MissionManager](INFO): DefineArg DefaultUnder.TransponderCode = 2.000000 count
2020-01-23T19:38:31.537Z,1579808311.537 [MissionManager](INFO): DefineArg DefaultUnder.AcousticUpdatePeriod = 60.000000 s
2020-01-23T19:38:31.540Z,1579808311.540 [MissionManager](INFO): DefineArg DefaultUnder.DockingAcousticUpdatePeriod = 2.500000 s
2020-01-23T19:38:31.565Z,1579808311.565 [Radio_Surface](INFO): Powering up
2020-01-23T19:38:31.573Z,1579808311.573 [MissionManager](INFO): DefineArg DefaultUnder.NumberOfPings = 1.000000 count
2020-01-23T19:38:31.576Z,1579808311.576 [MissionManager](INFO): DefineOutput DefaultUnder.TrackingUpdatePeriod = 60.000000 n/a
2020-01-23T19:38:31.579Z,1579808311.579 [MissionManager](INFO): DefineOutput DefaultUnder.Surface = -1.000000 count
2020-01-23T19:38:31.607Z,1579808311.607 [MissionManager](INFO): DefineOutput DefaultUnder.Docked = 0.000000 count
2020-01-23T19:38:31.610Z,1579808311.610 [MissionManager](INFO): DefineOutput DefaultUnder.Home = 1.000000 count
2020-01-23T19:38:31.646Z,1579808311.646 [MissionManager](INFO): DefineOutput DefaultUnder.DefaultMode = 0.000000 n/a
2020-01-23T19:38:31.649Z,1579808311.649 [MissionManager](INFO): DefineOutput DefaultUnder.CaptureMode = -1.000000 count
2020-01-23T19:38:31.665Z,1579808311.665 [MissionManager](INFO): DefineOutput DefaultUnder.ElapsedSinceDefaultStarted = 0.000000 min
2020-01-23T19:38:31.677Z,1579808311.677 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Construct Wait.
2020-01-23T19:38:31.687Z,1579808311.687 [DefaultUnder:Notify:A:C.Execute](DEBUG): Construct Execute.
2020-01-23T19:38:31.907Z,1579808311.907 [MissionManager](INFO): Inserting Stack: Missions/Insert/LineCapture.xml
2020-01-23T19:38:32.426Z,1579808312.426 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockDepth = 6.000000 _
2020-01-23T19:38:32.446Z,1579808312.446 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockLat = 0.642341 _
2020-01-23T19:38:32.449Z,1579808312.449 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockLon = -2.126200 _
2020-01-23T19:38:32.469Z,1579808312.469 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DetachRange = 8.000000 m
2020-01-23T19:38:32.472Z,1579808312.472 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DetachTimeout = 30.000000 min
2020-01-23T19:38:32.475Z,1579808312.475 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MidcourseDepth = 15.000000 m
2020-01-23T19:38:32.502Z,1579808312.502 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MidcourseSpeed = 1.000000 m/s
2020-01-23T19:38:32.506Z,1579808312.506 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MidcourseTimeout = 12.000000 h
2020-01-23T19:38:32.509Z,1579808312.509 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.TerminalRange = 650.000000 m
2020-01-23T19:38:32.512Z,1579808312.512 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.ArmRange = 40.000000 m
2020-01-23T19:38:32.540Z,1579808312.540 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockRange = 2.000000 m
2020-01-23T19:38:32.543Z,1579808312.543 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockTimeout = 60.000000 s
2020-01-23T19:38:32.554Z,1579808312.554 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.RolloutDistance = 250.000000 m
2020-01-23T19:38:32.557Z,1579808312.557 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.UpdateNav = 1 bool
2020-01-23T19:38:32.585Z,1579808312.585 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.AcousticTimeout = 10.000000 min
2020-01-23T19:38:32.588Z,1579808312.588 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.TerminalSpeed = 0.800000 m/s
2020-01-23T19:38:32.591Z,1579808312.591 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.SearchTimeout = 60.000000 min
2020-01-23T19:38:32.603Z,1579808312.603 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.CircleRadius = 300.000000 m
2020-01-23T19:38:32.627Z,1579808312.627 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.CircleMaxError = 100.000000 m
2020-01-23T19:38:32.630Z,1579808312.630 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.CircleTurnToPort = 0 bool
2020-01-23T19:38:32.649Z,1579808312.649 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DepthDeadband = 0.010000 m
2020-01-23T19:38:32.659Z,1579808312.659 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.RudderDeadband = 0.001000 arcdeg
2020-01-23T19:38:32.662Z,1579808312.662 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MinAltitude = 5.000000 m
2020-01-23T19:38:32.673Z,1579808312.673 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MaxDepth = 205.000000 m
2020-01-23T19:38:32.677Z,1579808312.677 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MinOffshore = 500.000000 m
2020-01-23T19:38:32.680Z,1579808312.680 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Depth = 15.000000 n/a
2020-01-23T19:38:32.703Z,1579808312.703 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Speed = 1.000000 n/a
2020-01-23T19:38:32.707Z,1579808312.707 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.DoneTimeout = -1.000000 count
2020-01-23T19:38:32.710Z,1579808312.710 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Done = 0.000000 count
2020-01-23T19:38:32.730Z,1579808312.730 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.DetachFromDock = 1.000000 count
2020-01-23T19:38:32.733Z,1579808312.733 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Midcourse = 2.000000 count
2020-01-23T19:38:32.753Z,1579808312.753 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Terminal = 3.000000 count
2020-01-23T19:38:32.756Z,1579808312.756 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.GuidanceMode = 1.000000 n/a
2020-01-23T19:38:32.759Z,1579808312.759 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.ElapsedRange = 0.000000 min
2020-01-23T19:38:32.779Z,1579808312.779 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.Range = nan m
2020-01-23T19:38:32.781Z,1579808312.781 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2020-01-23T19:38:32.842Z,1579808312.842 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2020-01-23T19:38:32.845Z,1579808312.845 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2020-01-23T19:38:32.865Z,1579808312.865 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2020-01-23T19:38:32.866Z,1579808312.866 [DefaultUnder:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2020-01-23T19:38:32.889Z,1579808312.889 [DefaultUnder:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-01-23T19:38:32.913Z,1579808312.913 [DefaultUnder:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2020-01-23T19:38:32.944Z,1579808312.944 [DefaultUnder:LineCapture:H.Mass](DEBUG): Construct.
2020-01-23T19:38:32.985Z,1579808312.985 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:B.Buoyancy](DEBUG): Construct Buoyancy.
2020-01-23T19:38:32.988Z,1579808312.988 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:C.SetSpeed](DEBUG): Construct.
2020-01-23T19:38:32.991Z,1579808312.991 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:D.Pitch](DEBUG): Construct.
2020-01-23T19:38:33.027Z,1579808313.027 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed](DEBUG): Construct.
2020-01-23T19:38:33.030Z,1579808313.030 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:B.Pitch](DEBUG): Construct.
2020-01-23T19:38:33.058Z,1579808313.058 [DefaultUnder:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2020-01-23T19:38:33.112Z,1579808313.112 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2020-01-23T19:38:33.153Z,1579808313.153 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:G.Circle](DEBUG): Construct.
2020-01-23T19:38:33.227Z,1579808313.227 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2020-01-23T19:38:33.243Z,1579808313.243 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:H.LineCapture](DEBUG): Construct.
2020-01-23T19:38:33.282Z,1579808313.282 [DefaultUnder:LineCapture:K.Wait](DEBUG): Construct Wait.
2020-01-23T19:38:33.284Z,1579808313.284 [DefaultUnder:E.Wait](DEBUG): Construct Wait.
2020-01-23T19:38:33.303Z,1579808313.303 [DefaultUnder:Default:Docked:run:B.Docked](DEBUG): Construct.
2020-01-23T19:38:33.377Z,1579808313.377 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): Construct GoToSurface.
2020-01-23T19:38:33.412Z,1579808313.412 [DefaultUnder:Default:Surface:run:SurfaceComms:Read_Iridium_uModem:A_Timeout:A.Execute](DEBUG): Construct Execute.
2020-01-23T19:38:33.435Z,1579808313.435 [DefaultUnder:Default:Surface:run:SurfaceComms:C.Wait](DEBUG): Construct Wait.
2020-01-23T19:38:33.487Z,1579808313.487 [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>


2020-01-23T19:38:33.492Z,1579808313.492 [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,
2020-01-23T19:38:33.505Z,1579808313.505 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2020-01-23T19:38:33.553Z,1579808313.553 [DDM](INFO): Powering up
2020-01-23T19:38:33.554Z,1579808313.554 [DDM](DEBUG): Initializing DDM.
2020-01-23T19:38:33.579Z,1579808313.579 [DUSBL_Hydroid](INFO): Powering up
2020-01-23T19:38:33.579Z,1579808313.579 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2020-01-23T19:38:33.770Z,1579808313.770 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2020-01-23T19:38:33.777Z,1579808313.777 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2020-01-23T19:38:33.778Z,1579808313.778 [ElevatorServo](DEBUG): Initializing EZServoServo.
2020-01-23T19:38:33.785Z,1579808313.785 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2020-01-23T19:38:33.786Z,1579808313.786 [MassServo](DEBUG): Initializing EZServoServo.
2020-01-23T19:38:33.793Z,1579808313.793 [MassServo](DEBUG): Initializing MassServo.
2020-01-23T19:38:33.794Z,1579808313.794 [RudderServo](DEBUG): Initializing EZServoServo.
2020-01-23T19:38:33.801Z,1579808313.801 [RudderServo](DEBUG): Initializing RudderServo.
2020-01-23T19:38:33.802Z,1579808313.802 [ThrusterServo](DEBUG): Initializing EZServoServo.
2020-01-23T19:38:33.809Z,1579808313.809 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2020-01-23T19:38:34.032Z,1579808314.032 [Micromodem](INFO): Powering up
2020-01-23T19:38:34.032Z,1579808314.032 [Micromodem](DEBUG): Initializing Micromodem.
2020-01-23T19:38:34.689Z,1579808314.689 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2020-01-23T19:38:34.689Z,1579808314.689 [RudderServo](FAULT): Rudder failed to initialize
2020-01-23T19:38:34.689Z,1579808314.689 [RudderServo] Communications Fault, FailCount= 1
2020-01-23T19:38:34.689Z,1579808314.689 [RudderServo](ERROR): Communications Fault
2020-01-23T19:38:34.800Z,1579808314.800 [CBIT](ERROR): Communications Fault in component: RudderServo
2020-01-23T19:38:34.990Z,1579808314.990 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-01-23T19:38:34.990Z,1579808314.990 [RudderServo](INFO): Powering down
2020-01-23T19:38:35.677Z,1579808315.677 [RudderServo](DEBUG): Initializing EZServoServo.
2020-01-23T19:38:35.798Z,1579808315.798 [RudderServo](DEBUG): Initializing RudderServo.
2020-01-23T19:38:35.802Z,1579808315.802 [CBIT](INFO): Clearing failed state for component RudderServo
2020-01-23T19:38:35.802Z,1579808315.802 [RudderServo] No Fault, FailCount= 1
2020-01-23T19:38:38.889Z,1579808318.889 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2020-01-23T19:38:39.292Z,1579808319.292 [Micromodem](INFO): Nmea in: $CATMG,2020-01-23T19:38:38.749421Z,RTC,RTC*55

2020-01-23T19:38:39.292Z,1579808319.292 [Micromodem](ERROR): CFG response from modem unexpected: $CATMG,2020-01-23T19:38:38.749421Z,RTC,RTC*55

2020-01-23T19:38:39.695Z,1579808319.695 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2020-01-23T19:38:39.695Z,1579808319.695 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2020-01-23T19:38:40.103Z,1579808320.103 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2020-01-23T19:38:40.103Z,1579808320.103 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2020-01-23T19:38:40.508Z,1579808320.508 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2020-01-23T19:38:40.508Z,1579808320.508 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2020-01-23T19:38:40.925Z,1579808320.925 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2020-01-23T19:38:40.926Z,1579808320.926 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2020-01-23T19:38:41.316Z,1579808321.316 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2020-01-23T19:38:41.316Z,1579808321.316 [Micromodem](INFO): Nmea out: $CCCFG,FC0,10000*46

2020-01-23T19:38:41.715Z,1579808321.715 [Micromodem](INFO): Nmea in: $CACFG,FC0,10000*44

2020-01-23T19:38:41.715Z,1579808321.715 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2020-01-23T19:38:42.142Z,1579808322.142 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2020-01-23T19:38:42.142Z,1579808322.142 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2020-01-23T19:38:42.504Z,1579808322.504 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2020-01-23T19:38:42.505Z,1579808322.505 [Micromodem](INFO): Nmea out: $CCCLK,2020,01,23,19,38,43*40

2020-01-23T19:38:42.911Z,1579808322.911 [Micromodem](INFO): Nmea in: $CACLK,2020,1,23,19,38,43*72

2020-01-23T19:38:43.308Z,1579808323.308 [Micromodem](INFO): Nmea in: $CATMS,0,2020-01-23T19:38:44Z*75

2020-01-23T19:38:43.309Z,1579808323.309 [Micromodem](INFO): Nmea in: $CATMG,2020-01-23T19:38:44.027498Z,USER_CMD,RTC*12

2020-01-23T19:38:44.119Z,1579808324.119 [DDM](INFO): Dynamic Docking Module:
2020-01-23T19:38:46.960Z,1579808326.960 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2020-01-23T19:38:51.790Z,1579808331.790 [DUSBL_Hydroid](INFO): DUSBL Version:O
2020-01-23T19:38:57.863Z,1579808337.863 [NAL9602](INFO): Powering up NAL9602
2020-01-23T19:39:08.751Z,1579808348.751 [NAL9602](INFO): NAL9602 initialized
2020-01-23T19:39:10.878Z,1579808350.878 [SBIT](IMPORTANT): Beginning Startup BIT
2020-01-23T19:39:10.886Z,1579808350.886 [CBIT](IMPORTANT): Beginning ground fault scan
2020-01-23T19:39:22.037Z,1579808362.037 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.009122
CHAN A1 (24V): -0.029093
CHAN A2 (12V): -0.007498
CHAN A3 (5V): -0.002392
CHAN B0 (3.3V): 0.000226
CHAN B1 (3.15aV): 0.000187
CHAN B2 (3.15bV): 0.000231
CHAN B3 (GND): 0.002084
OPEN: 0.005153
Full Scale Calc: 4.765 mA, -1.589 mA
2020-01-23T19:39:46.902Z,1579808386.902 [CommandLine](IMPORTANT): got command get latitude
2020-01-23T19:39:46.902Z,1579808386.902 [CommandLine](FAULT): Element has no value
2020-01-23T19:40:04.232Z,1579808404.232 [SBIT](IMPORTANT): SBIT PASSED
2020-01-23T19:40:04.232Z,1579808404.232 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2020-01-23T19:40:04.233Z,1579808404.233 [SBIT](IMPORTANT): DDM.verbosity=3 count;

2020-01-23T19:40:04.233Z,1579808404.233 [SBIT](IMPORTANT): DUSBL_Hydroid.detectionThreshold=30 count;

2020-01-23T19:40:04.233Z,1579808404.233 [SBIT](IMPORTANT): Micromodem.pwrampTXLevel=0 enum;

2020-01-23T19:40:04.233Z,1579808404.233 [SBIT](IMPORTANT): Micromodem.sendExpress=1 bool;

2020-01-23T19:40:04.233Z,1579808404.233 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=105 cubic_centimeter;

2020-01-23T19:40:04.233Z,1579808404.233 [SBIT](IMPORTANT): VerticalControl.massDefault=-5 millimeter;

2020-01-23T19:40:04.634Z,1579808404.634 [MissionManager](IMPORTANT): Started mission DefaultUnder
2020-01-23T19:40:04.634Z,1579808404.634 [DefaultUnder] Running Loop=1
2020-01-23T19:40:04.634Z,1579808404.634 [DefaultUnder](DEBUG): Aggregate::initialize DefaultUnder
2020-01-23T19:40:04.634Z,1579808404.634 [DefaultUnder:uModemComms] Running Loop=1
2020-01-23T19:40:04.634Z,1579808404.634 [DefaultUnder:uModemComms](DEBUG): Aggregate::initialize DefaultUnder:uModemComms
2020-01-23T19:40:04.634Z,1579808404.634 [DefaultUnder:Notify] Running Loop=1
2020-01-23T19:40:04.634Z,1579808404.634 [DefaultUnder:Notify](DEBUG): Aggregate::initialize DefaultUnder:Notify
2020-01-23T19:40:04.635Z,1579808404.635 [DefaultUnder:Notify:A] Running Loop=1
2020-01-23T19:40:04.635Z,1579808404.635 [DefaultUnder:Notify:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A
2020-01-23T19:40:04.635Z,1579808404.635 [DefaultUnder:Notify:A:A] Running Loop=1
2020-01-23T19:40:04.635Z,1579808404.635 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A:A
2020-01-23T19:40:04.635Z,1579808404.635 [DefaultUnder:Notify:A:A:A.Wait] Running Loop=1
2020-01-23T19:40:04.635Z,1579808404.635 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Initialize Wait Component.
2020-01-23T19:40:04.635Z,1579808404.635 [DefaultUnder:C.] Running Loop=1
2020-01-23T19:40:04.635Z,1579808404.635 [DefaultUnder:C.](INFO): Initializing TrackAcousticContact.
2020-01-23T19:40:04.636Z,1579808404.636 [DefaultUnder:E.Wait] Running Loop=1
2020-01-23T19:40:04.636Z,1579808404.636 [DefaultUnder:E.Wait](DEBUG): Initialize Wait Component.
2020-01-23T19:40:04.637Z,1579808404.637 [DefaultUnder:C.] Running Loop=1
2020-01-23T19:40:04.637Z,1579808404.637 [DefaultUnder:Notify] Running Loop=1
2020-01-23T19:40:04.638Z,1579808404.638 [DefaultUnder:uModemComms] Running Loop=1
2020-01-23T19:40:04.638Z,1579808404.638 [DefaultUnder:uModemComms:CheckIn] Running Loop=1
2020-01-23T19:40:04.638Z,1579808404.638 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::initialize DefaultUnder:uModemComms:CheckIn
2020-01-23T19:40:04.638Z,1579808404.638 [DefaultUnder:uModemComms:CheckIn:A] Running Loop=1
2020-01-23T19:40:04.639Z,1579808404.639 [DefaultUnder:uModemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2020-01-23T19:40:17.951Z,1579808417.951 [DefaultUnder:E.Wait](INFO): Done Waiting.
2020-01-23T19:40:17.951Z,1579808417.951 [DefaultUnder:E.Wait] Stopped
2020-01-23T19:40:17.951Z,1579808417.951 [DefaultUnder:E.Wait](DEBUG): Uninitialize Wait Component.
2020-01-23T19:40:17.951Z,1579808417.951 [DefaultUnder:Default] Running Loop=1
2020-01-23T19:40:17.951Z,1579808417.951 [DefaultUnder:Default](DEBUG): Aggregate::initialize DefaultUnder:Default
2020-01-23T19:40:17.952Z,1579808417.952 [DefaultUnder:Default:Docked] Running Loop=1
2020-01-23T19:40:17.952Z,1579808417.952 [DefaultUnder:Default:Docked](DEBUG): Aggregate::initialize DefaultUnder:Default:Docked
2020-01-23T19:40:17.952Z,1579808417.952 [DefaultUnder:Default:Docked:run] Running Loop=1
2020-01-23T19:40:17.952Z,1579808417.952 [DefaultUnder:Default:Docked:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Docked:run
2020-01-23T19:40:17.952Z,1579808417.952 [DefaultUnder:Default:Docked:run:A] Running Loop=1
2020-01-23T19:40:17.953Z,1579808417.953 [DefaultUnder:Default:Home] Running Loop=1
2020-01-23T19:40:17.953Z,1579808417.953 [DefaultUnder:Default:Home](DEBUG): Aggregate::initialize DefaultUnder:Default:Home
2020-01-23T19:40:17.953Z,1579808417.953 [DefaultUnder:Default:Home:run] Running Loop=1
2020-01-23T19:40:17.953Z,1579808417.953 [DefaultUnder:Default:Home:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Home:run
2020-01-23T19:40:17.954Z,1579808417.954 [DefaultUnder:Default:Home:run:A] Running Loop=1
2020-01-23T19:40:17.954Z,1579808417.954 [DefaultUnder:Default:Surface] Running Loop=1
2020-01-23T19:40:17.954Z,1579808417.954 [DefaultUnder:Default:Surface](DEBUG): Aggregate::initialize DefaultUnder:Default:Surface
2020-01-23T19:40:17.954Z,1579808417.954 [DefaultUnder:Default:Surface:run] Running Loop=1
2020-01-23T19:40:17.954Z,1579808417.954 [DefaultUnder:Default:Surface:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Surface:run
2020-01-23T19:40:17.954Z,1579808417.954 [DefaultUnder:Default:Surface:run:B.GoToSurface] Running Loop=1
2020-01-23T19:40:17.954Z,1579808417.954 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-23T19:40:17.955Z,1579808417.955 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-23T19:40:17.956Z,1579808417.956 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-23T19:40:17.956Z,1579808417.956 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-23T19:40:17.957Z,1579808417.957 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-23T19:40:17.958Z,1579808417.958 [DefaultUnder:Default:Surface:run:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-23T19:40:17.958Z,1579808417.958 [DefaultUnder:Default:Surface:run:A] Running Loop=1
2020-01-23T19:40:18.345Z,1579808418.345 [DefaultUnder:Default:Surface] Stopped
2020-01-23T19:40:18.345Z,1579808418.345 [DefaultUnder:Default:Surface](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Surface
2020-01-23T19:40:18.345Z,1579808418.345 [DefaultUnder:Default:Surface:run] Stopped
2020-01-23T19:40:18.346Z,1579808418.346 [DefaultUnder:Default:Surface:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Surface:run
2020-01-23T19:40:18.346Z,1579808418.346 [DefaultUnder:Default:Surface:run:A] Stopped
2020-01-23T19:40:18.346Z,1579808418.346 [DefaultUnder:Default:Surface:run:B.GoToSurface] Stopped
2020-01-23T19:40:18.346Z,1579808418.346 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-23T19:40:18.346Z,1579808418.346 [DefaultUnder:Default:Home] Stopped
2020-01-23T19:40:18.346Z,1579808418.346 [DefaultUnder:Default:Home](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Home
2020-01-23T19:40:18.346Z,1579808418.346 [DefaultUnder:Default:Home:run] Stopped
2020-01-23T19:40:18.346Z,1579808418.346 [DefaultUnder:Default:Home:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Home:run
2020-01-23T19:40:18.346Z,1579808418.346 [DefaultUnder:Default:Home:run:A] Stopped
2020-01-23T19:40:18.346Z,1579808418.346 [DefaultUnder:Default:Docked] Running Loop=1
2020-01-23T19:40:18.346Z,1579808418.346 [DefaultUnder:Default:Docked:run:A] Stopped
2020-01-23T19:40:18.347Z,1579808418.347 [DefaultUnder:Default:Docked:run:B.Docked] Running Loop=1
2020-01-23T19:40:18.347Z,1579808418.347 [DefaultUnder:Default:Docked:run:B.Docked](DEBUG): Initialize.
2020-01-23T19:40:18.347Z,1579808418.347 [DefaultUnder:Default:Docked:run:B.Docked](INFO): Depth unspecified. Maintaining workSite beacon depth of 6.000000 m.
2020-01-23T19:40:32.955Z,1579808432.955 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-01-23T19:40:32.955Z,1579808432.955 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +     +0.00,        +0.00,   0.00,106.00
2020-01-23T19:40:45.623Z,1579808445.623 [CommandLine](IMPORTANT): got command report mod latitude
2020-01-23T19:40:45.894Z,1579808445.894 [Reporter](INFO): latitude no_value
2020-01-23T19:41:00.427Z,1579808460.427 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004960
2020-01-23T19:41:04.799Z,1579808464.799 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T19:41:05.580Z,1579808465.580 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T19:41:05.985Z,1579808465.985 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T19:41:06.791Z,1579808466.791 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194106.48*59

2020-01-23T19:41:08.388Z,1579808468.388 [DataOverHttps](INFO): Sending 53 bytes from file Logs/20200123T192504/Courier0010.lzma
2020-01-23T19:41:09.214Z,1579808469.214 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-23T19:41:10.394Z,1579808470.394 [DataOverHttps](INFO): Moved sent file to Logs/20200123T192504/Courier0010.lzma.bak
2020-01-23T19:41:10.395Z,1579808470.395 [DataOverHttps](INFO): SBD MOMSN=12199085
2020-01-23T19:41:17.950Z,1579808477.950 [CommandLine](IMPORTANT): got command run ./Missions/Demo/setNav.xml
2020-01-23T19:41:17.951Z,1579808477.951 [MissionManager](INFO): Loading Mission: ./Missions/Demo/setNav.xml
2020-01-23T19:41:17.977Z,1579808477.977 [MissionManager](INFO): DefineArg SetNav.DockLat = 0.642341 _
2020-01-23T19:41:17.980Z,1579808477.980 [MissionManager](INFO): DefineArg SetNav.DockLon = -2.126200 _
2020-01-23T19:41:17.983Z,1579808477.983 [SetNav:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2020-01-23T19:41:18.021Z,1579808478.021 [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>


2020-01-23T19:41:18.024Z,1579808478.024 [CommandLine](IMPORTANT): Running ./Missions/Demo/setNav.xml
2020-01-23T19:41:18.160Z,1579808478.160 [DefaultUnder] Stopped
2020-01-23T19:41:18.161Z,1579808478.161 [DefaultUnder](DEBUG): Aggregate::uninitialize DefaultUnder
2020-01-23T19:41:18.161Z,1579808478.161 [DefaultUnder:uModemComms] Stopped
2020-01-23T19:41:18.161Z,1579808478.161 [DefaultUnder:uModemComms](DEBUG): Aggregate::uninitialize DefaultUnder:uModemComms
2020-01-23T19:41:18.161Z,1579808478.161 [DefaultUnder:uModemComms:CheckIn] Stopped
2020-01-23T19:41:18.161Z,1579808478.161 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::uninitialize DefaultUnder:uModemComms:CheckIn
2020-01-23T19:41:18.161Z,1579808478.161 [DefaultUnder:uModemComms:CheckIn:A] Stopped
2020-01-23T19:41:18.161Z,1579808478.161 [DefaultUnder:Notify] Stopped
2020-01-23T19:41:18.162Z,1579808478.162 [DefaultUnder:Notify](DEBUG): Aggregate::uninitialize DefaultUnder:Notify
2020-01-23T19:41:18.162Z,1579808478.162 [DefaultUnder:Notify:A] Stopped
2020-01-23T19:41:18.162Z,1579808478.162 [DefaultUnder:Notify:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A
2020-01-23T19:41:18.162Z,1579808478.162 [DefaultUnder:Notify:A:A] Stopped
2020-01-23T19:41:18.162Z,1579808478.162 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A:A
2020-01-23T19:41:18.162Z,1579808478.162 [DefaultUnder:Notify:A:A:A.Wait] Stopped
2020-01-23T19:41:18.162Z,1579808478.162 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-23T19:41:18.162Z,1579808478.162 [DefaultUnder:C.] Stopped
2020-01-23T19:41:18.162Z,1579808478.162 [DefaultUnder:Default] Stopped
2020-01-23T19:41:18.162Z,1579808478.162 [DefaultUnder:Default](DEBUG): Aggregate::uninitialize DefaultUnder:Default
2020-01-23T19:41:18.162Z,1579808478.162 [DefaultUnder:Default:Docked] Stopped
2020-01-23T19:41:18.162Z,1579808478.162 [DefaultUnder:Default:Docked](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Docked
2020-01-23T19:41:18.162Z,1579808478.162 [DefaultUnder:Default:Docked:run] Stopped
2020-01-23T19:41:18.163Z,1579808478.163 [DefaultUnder:Default:Docked:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Docked:run
2020-01-23T19:41:18.163Z,1579808478.163 [DefaultUnder:Default:Docked:run:B.Docked] Stopped
2020-01-23T19:41:18.163Z,1579808478.163 [MissionManager](IMPORTANT): Started mission SetNav
2020-01-23T19:41:18.163Z,1579808478.163 [SetNav] Running Loop=1
2020-01-23T19:41:18.163Z,1579808478.163 [SetNav](DEBUG): Aggregate::initialize SetNav
2020-01-23T19:41:18.164Z,1579808478.164 [SetNav:UpdateNav] Running Loop=1
2020-01-23T19:41:18.164Z,1579808478.164 [SetNav:UpdateNav](DEBUG): Aggregate::initialize SetNav:UpdateNav
2020-01-23T19:41:18.164Z,1579808478.164 [SetNav:UpdateNav:A] Running Loop=1
2020-01-23T19:41:18.164Z,1579808478.164 [SetNav:UpdateNav:A](INFO): Reseting nav to dock location at range <Undefined> m 
2020-01-23T19:41:18.164Z,1579808478.164 [SetNav:UpdateNav:A] Stopped
2020-01-23T19:41:18.164Z,1579808478.164 [SetNav:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T19:41:18.164Z,1579808478.164 [SetNav:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T19:41:18.551Z,1579808478.551 [SetNav:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T194118: (36.803398, -121.822304)
2020-01-23T19:41:18.552Z,1579808478.552 [SetNav:UpdateNav:B.SetNav] Stopped
2020-01-23T19:41:18.552Z,1579808478.552 [SetNav:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T19:41:18.552Z,1579808478.552 [SetNav:UpdateNav](INFO): Completed SetNav:UpdateNav
2020-01-23T19:41:18.552Z,1579808478.552 [SetNav:UpdateNav] Stopped
2020-01-23T19:41:18.552Z,1579808478.552 [SetNav:UpdateNav](DEBUG): Aggregate::uninitialize SetNav:UpdateNav
2020-01-23T19:41:18.552Z,1579808478.552 [SetNav](INFO): Completed SetNav
2020-01-23T19:41:18.552Z,1579808478.552 [MissionManager](INFO): SetNav is completed.
2020-01-23T19:41:18.552Z,1579808478.552 [MissionManager](INFO): Uninitializing Mission SetNav
2020-01-23T19:41:18.552Z,1579808478.552 [SetNav] Stopped
2020-01-23T19:41:18.552Z,1579808478.552 [SetNav](DEBUG): Aggregate::uninitialize SetNav
2020-01-23T19:41:18.956Z,1579808478.956 [MissionManager](IMPORTANT): Started mission DefaultUnder
2020-01-23T19:41:18.956Z,1579808478.956 [DefaultUnder] Running Loop=1
2020-01-23T19:41:18.956Z,1579808478.956 [DefaultUnder](DEBUG): Aggregate::initialize DefaultUnder
2020-01-23T19:41:18.956Z,1579808478.956 [DefaultUnder:uModemComms] Running Loop=1
2020-01-23T19:41:18.956Z,1579808478.956 [DefaultUnder:uModemComms](DEBUG): Aggregate::initialize DefaultUnder:uModemComms
2020-01-23T19:41:18.956Z,1579808478.956 [DefaultUnder:Notify] Running Loop=1
2020-01-23T19:41:18.956Z,1579808478.956 [DefaultUnder:Notify](DEBUG): Aggregate::initialize DefaultUnder:Notify
2020-01-23T19:41:18.961Z,1579808478.961 [DefaultUnder:Notify:A] Running Loop=1
2020-01-23T19:41:18.961Z,1579808478.961 [DefaultUnder:Notify:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A
2020-01-23T19:41:18.961Z,1579808478.961 [DefaultUnder:Notify:A:A] Running Loop=1
2020-01-23T19:41:18.961Z,1579808478.961 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A:A
2020-01-23T19:41:18.961Z,1579808478.961 [DefaultUnder:Notify:A:A:A.Wait] Running Loop=1
2020-01-23T19:41:18.961Z,1579808478.961 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Initialize Wait Component.
2020-01-23T19:41:18.961Z,1579808478.961 [DefaultUnder:C.] Running Loop=1
2020-01-23T19:41:18.961Z,1579808478.961 [DefaultUnder:C.](INFO): Initializing TrackAcousticContact.
2020-01-23T19:41:18.962Z,1579808478.962 [DefaultUnder:E.Wait] Running Loop=1
2020-01-23T19:41:18.962Z,1579808478.962 [DefaultUnder:E.Wait](DEBUG): Initialize Wait Component.
2020-01-23T19:41:18.963Z,1579808478.963 [DefaultUnder:uModemComms:CheckIn] Running Loop=1
2020-01-23T19:41:18.963Z,1579808478.963 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::initialize DefaultUnder:uModemComms:CheckIn
2020-01-23T19:41:18.963Z,1579808478.963 [DefaultUnder:uModemComms:CheckIn:A] Running Loop=1
2020-01-23T19:41:23.270Z,1579808483.270 [CommandLine](IMPORTANT): got command get latitude
2020-01-23T19:41:23.271Z,1579808483.271 [CommandLine](FAULT): Element has no value
2020-01-23T19:41:28.200Z,1579808488.200 [DataOverHttps](INFO): Sending 151 bytes from file Logs/20200123T193718/Courier0000.lzma
2020-01-23T19:41:29.880Z,1579808489.880 [CommandLine](IMPORTANT): got command run ./Missions/Demo/setNav.xml
2020-01-23T19:41:29.880Z,1579808489.880 [MissionManager](INFO): Loading Mission: ./Missions/Demo/setNav.xml
2020-01-23T19:41:29.915Z,1579808489.915 [MissionManager](INFO): DefineArg SetNav.DockLat = 0.642341 _
2020-01-23T19:41:29.918Z,1579808489.918 [MissionManager](INFO): DefineArg SetNav.DockLon = -2.126200 _
2020-01-23T19:41:29.920Z,1579808489.920 [SetNav:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2020-01-23T19:41:29.957Z,1579808489.957 [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>


2020-01-23T19:41:29.959Z,1579808489.959 [CommandLine](IMPORTANT): Running ./Missions/Demo/setNav.xml
2020-01-23T19:41:30.212Z,1579808490.212 [DataOverHttps](INFO): Moved sent file to Logs/20200123T193718/Courier0000.lzma.bak
2020-01-23T19:41:30.212Z,1579808490.212 [DataOverHttps](INFO): SBD MOMSN=12199087
2020-01-23T19:41:30.249Z,1579808490.249 [DefaultUnder] Stopped
2020-01-23T19:41:30.249Z,1579808490.249 [DefaultUnder](DEBUG): Aggregate::uninitialize DefaultUnder
2020-01-23T19:41:30.249Z,1579808490.249 [DefaultUnder:uModemComms] Stopped
2020-01-23T19:41:30.250Z,1579808490.250 [DefaultUnder:uModemComms](DEBUG): Aggregate::uninitialize DefaultUnder:uModemComms
2020-01-23T19:41:30.250Z,1579808490.250 [DefaultUnder:uModemComms:CheckIn] Stopped
2020-01-23T19:41:30.250Z,1579808490.250 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::uninitialize DefaultUnder:uModemComms:CheckIn
2020-01-23T19:41:30.250Z,1579808490.250 [DefaultUnder:uModemComms:CheckIn:A] Stopped
2020-01-23T19:41:30.250Z,1579808490.250 [DefaultUnder:Notify] Stopped
2020-01-23T19:41:30.250Z,1579808490.250 [DefaultUnder:Notify](DEBUG): Aggregate::uninitialize DefaultUnder:Notify
2020-01-23T19:41:30.250Z,1579808490.250 [DefaultUnder:Notify:A] Stopped
2020-01-23T19:41:30.250Z,1579808490.250 [DefaultUnder:Notify:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A
2020-01-23T19:41:30.250Z,1579808490.250 [DefaultUnder:Notify:A:A] Stopped
2020-01-23T19:41:30.250Z,1579808490.250 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A:A
2020-01-23T19:41:30.250Z,1579808490.250 [DefaultUnder:Notify:A:A:A.Wait] Stopped
2020-01-23T19:41:30.250Z,1579808490.250 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-23T19:41:30.250Z,1579808490.250 [DefaultUnder:C.] Stopped
2020-01-23T19:41:30.251Z,1579808490.251 [DefaultUnder:E.Wait] Stopped
2020-01-23T19:41:30.251Z,1579808490.251 [DefaultUnder:E.Wait](DEBUG): Uninitialize Wait Component.
2020-01-23T19:41:30.251Z,1579808490.251 [MissionManager](IMPORTANT): Started mission SetNav
2020-01-23T19:41:30.251Z,1579808490.251 [SetNav] Running Loop=1
2020-01-23T19:41:30.251Z,1579808490.251 [SetNav](DEBUG): Aggregate::initialize SetNav
2020-01-23T19:41:30.251Z,1579808490.251 [SetNav:UpdateNav] Running Loop=1
2020-01-23T19:41:30.252Z,1579808490.252 [SetNav:UpdateNav](DEBUG): Aggregate::initialize SetNav:UpdateNav
2020-01-23T19:41:30.252Z,1579808490.252 [SetNav:UpdateNav:A] Running Loop=1
2020-01-23T19:41:30.252Z,1579808490.252 [SetNav:UpdateNav:A](INFO): Reseting nav to dock location at range <Undefined> m 
2020-01-23T19:41:30.252Z,1579808490.252 [SetNav:UpdateNav:A] Stopped
2020-01-23T19:41:30.252Z,1579808490.252 [SetNav:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T19:41:30.252Z,1579808490.252 [SetNav:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T19:41:30.660Z,1579808490.660 [SetNav:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T194130: (36.803398, -121.822304)
2020-01-23T19:41:30.660Z,1579808490.660 [SetNav:UpdateNav:B.SetNav] Stopped
2020-01-23T19:41:30.665Z,1579808490.665 [SetNav:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T19:41:30.665Z,1579808490.665 [SetNav:UpdateNav](INFO): Completed SetNav:UpdateNav
2020-01-23T19:41:30.665Z,1579808490.665 [SetNav:UpdateNav] Stopped
2020-01-23T19:41:30.665Z,1579808490.665 [SetNav:UpdateNav](DEBUG): Aggregate::uninitialize SetNav:UpdateNav
2020-01-23T19:41:30.665Z,1579808490.665 [SetNav](INFO): Completed SetNav
2020-01-23T19:41:30.665Z,1579808490.665 [MissionManager](INFO): SetNav is completed.
2020-01-23T19:41:30.666Z,1579808490.666 [MissionManager](INFO): Uninitializing Mission SetNav
2020-01-23T19:41:30.666Z,1579808490.666 [SetNav] Stopped
2020-01-23T19:41:30.666Z,1579808490.666 [SetNav](DEBUG): Aggregate::uninitialize SetNav
2020-01-23T19:41:31.067Z,1579808491.067 [MissionManager](IMPORTANT): Started mission DefaultUnder
2020-01-23T19:41:31.067Z,1579808491.067 [DefaultUnder] Running Loop=1
2020-01-23T19:41:31.067Z,1579808491.067 [DefaultUnder](DEBUG): Aggregate::initialize DefaultUnder
2020-01-23T19:41:31.067Z,1579808491.067 [DefaultUnder:uModemComms] Running Loop=1
2020-01-23T19:41:31.067Z,1579808491.067 [DefaultUnder:uModemComms](DEBUG): Aggregate::initialize DefaultUnder:uModemComms
2020-01-23T19:41:31.067Z,1579808491.067 [DefaultUnder:Notify] Running Loop=1
2020-01-23T19:41:31.068Z,1579808491.068 [DefaultUnder:Notify](DEBUG): Aggregate::initialize DefaultUnder:Notify
2020-01-23T19:41:31.068Z,1579808491.068 [DefaultUnder:Notify:A] Running Loop=1
2020-01-23T19:41:31.068Z,1579808491.068 [DefaultUnder:Notify:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A
2020-01-23T19:41:31.068Z,1579808491.068 [DefaultUnder:Notify:A:A] Running Loop=1
2020-01-23T19:41:31.068Z,1579808491.068 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A:A
2020-01-23T19:41:31.068Z,1579808491.068 [DefaultUnder:Notify:A:A:A.Wait] Running Loop=1
2020-01-23T19:41:31.068Z,1579808491.068 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Initialize Wait Component.
2020-01-23T19:41:31.068Z,1579808491.068 [DefaultUnder:C.] Running Loop=1
2020-01-23T19:41:31.068Z,1579808491.068 [DefaultUnder:C.](INFO): Initializing TrackAcousticContact.
2020-01-23T19:41:31.069Z,1579808491.069 [DefaultUnder:E.Wait] Running Loop=1
2020-01-23T19:41:31.069Z,1579808491.069 [DefaultUnder:E.Wait](DEBUG): Initialize Wait Component.
2020-01-23T19:41:31.070Z,1579808491.070 [DefaultUnder:uModemComms:CheckIn] Running Loop=1
2020-01-23T19:41:31.070Z,1579808491.070 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::initialize DefaultUnder:uModemComms:CheckIn
2020-01-23T19:41:31.070Z,1579808491.070 [DefaultUnder:uModemComms:CheckIn:A] Running Loop=1
2020-01-23T19:41:31.490Z,1579808491.490 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2020-01-23T19:41:31.490Z,1579808491.490 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-23T19:41:31.530Z,1579808491.530 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-23T19:41:31.953Z,1579808491.953 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-23T19:41:31.953Z,1579808491.953 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2020-01-23T19:41:44.458Z,1579808504.458 [DefaultUnder:E.Wait](INFO): Done Waiting.
2020-01-23T19:41:44.458Z,1579808504.458 [DefaultUnder:E.Wait] Stopped
2020-01-23T19:41:44.459Z,1579808504.459 [DefaultUnder:E.Wait](DEBUG): Uninitialize Wait Component.
2020-01-23T19:41:44.459Z,1579808504.459 [DefaultUnder:Default] Running Loop=1
2020-01-23T19:41:44.459Z,1579808504.459 [DefaultUnder:Default](DEBUG): Aggregate::initialize DefaultUnder:Default
2020-01-23T19:41:44.459Z,1579808504.459 [DefaultUnder:Default:Docked] Running Loop=1
2020-01-23T19:41:44.459Z,1579808504.459 [DefaultUnder:Default:Docked](DEBUG): Aggregate::initialize DefaultUnder:Default:Docked
2020-01-23T19:41:44.459Z,1579808504.459 [DefaultUnder:Default:Docked:run] Running Loop=1
2020-01-23T19:41:44.459Z,1579808504.459 [DefaultUnder:Default:Docked:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Docked:run
2020-01-23T19:41:44.459Z,1579808504.459 [DefaultUnder:Default:Docked:run:A] Running Loop=1
2020-01-23T19:41:44.459Z,1579808504.459 [DefaultUnder:Default:Home] Running Loop=1
2020-01-23T19:41:44.460Z,1579808504.460 [DefaultUnder:Default:Home](DEBUG): Aggregate::initialize DefaultUnder:Default:Home
2020-01-23T19:41:44.460Z,1579808504.460 [DefaultUnder:Default:Home:run] Running Loop=1
2020-01-23T19:41:44.460Z,1579808504.460 [DefaultUnder:Default:Home:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Home:run
2020-01-23T19:41:44.460Z,1579808504.460 [DefaultUnder:Default:Home:run:A] Running Loop=1
2020-01-23T19:41:44.460Z,1579808504.460 [DefaultUnder:Default:Surface] Running Loop=1
2020-01-23T19:41:44.460Z,1579808504.460 [DefaultUnder:Default:Surface](DEBUG): Aggregate::initialize DefaultUnder:Default:Surface
2020-01-23T19:41:44.460Z,1579808504.460 [DefaultUnder:Default:Surface:run] Running Loop=1
2020-01-23T19:41:44.460Z,1579808504.460 [DefaultUnder:Default:Surface:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Surface:run
2020-01-23T19:41:44.460Z,1579808504.460 [DefaultUnder:Default:Surface:run:B.GoToSurface] Running Loop=1
2020-01-23T19:41:44.460Z,1579808504.460 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-23T19:41:44.465Z,1579808504.465 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-23T19:41:44.465Z,1579808504.465 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-23T19:41:44.465Z,1579808504.465 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-23T19:41:44.466Z,1579808504.466 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-23T19:41:44.466Z,1579808504.466 [DefaultUnder:Default:Surface:run:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-23T19:41:44.466Z,1579808504.466 [DefaultUnder:Default:Surface:run:A] Running Loop=1
2020-01-23T19:41:44.865Z,1579808504.865 [DefaultUnder:Default:Surface] Stopped
2020-01-23T19:41:44.865Z,1579808504.865 [DefaultUnder:Default:Surface](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Surface
2020-01-23T19:41:44.865Z,1579808504.865 [DefaultUnder:Default:Surface:run] Stopped
2020-01-23T19:41:44.865Z,1579808504.865 [DefaultUnder:Default:Surface:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Surface:run
2020-01-23T19:41:44.865Z,1579808504.865 [DefaultUnder:Default:Surface:run:A] Stopped
2020-01-23T19:41:44.865Z,1579808504.865 [DefaultUnder:Default:Surface:run:B.GoToSurface] Stopped
2020-01-23T19:41:44.866Z,1579808504.866 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-23T19:41:44.866Z,1579808504.866 [DefaultUnder:Default:Home] Stopped
2020-01-23T19:41:44.866Z,1579808504.866 [DefaultUnder:Default:Home](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Home
2020-01-23T19:41:44.866Z,1579808504.866 [DefaultUnder:Default:Home:run] Stopped
2020-01-23T19:41:44.866Z,1579808504.866 [DefaultUnder:Default:Home:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Home:run
2020-01-23T19:41:44.866Z,1579808504.866 [DefaultUnder:Default:Home:run:A] Stopped
2020-01-23T19:41:44.866Z,1579808504.866 [DefaultUnder:Default:Docked:run:A] Stopped
2020-01-23T19:41:44.866Z,1579808504.866 [DefaultUnder:Default:Docked:run:B.Docked] Running Loop=1
2020-01-23T19:41:44.866Z,1579808504.866 [DefaultUnder:Default:Docked:run:B.Docked](DEBUG): Initialize.
2020-01-23T19:41:44.867Z,1579808504.867 [DefaultUnder:Default:Docked:run:B.Docked](INFO): Depth unspecified. Maintaining workSite beacon depth of 6.000000 m.
2020-01-23T19:41:47.831Z,1579808507.831 [DataOverHttps](INFO): Sending 151 bytes from file Logs/20200123T193820/Courier0000.lzma
2020-01-23T19:41:49.833Z,1579808509.833 [DataOverHttps](INFO): Moved sent file to Logs/20200123T193820/Courier0000.lzma.bak
2020-01-23T19:41:49.834Z,1579808509.834 [DataOverHttps](INFO): SBD MOMSN=12199090
2020-01-23T19:41:58.043Z,1579808518.043 [CommandLine](IMPORTANT): got command run ./Missions/Demo/setNav.xml
2020-01-23T19:41:58.043Z,1579808518.043 [MissionManager](INFO): Loading Mission: ./Missions/Demo/setNav.xml
2020-01-23T19:41:58.078Z,1579808518.078 [MissionManager](INFO): DefineArg SetNav.DockLat = 0.642341 _
2020-01-23T19:41:58.080Z,1579808518.080 [MissionManager](INFO): DefineArg SetNav.DockLon = -2.126200 _
2020-01-23T19:41:58.082Z,1579808518.082 [SetNav:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2020-01-23T19:41:58.087Z,1579808518.087 [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>


2020-01-23T19:41:58.089Z,1579808518.089 [CommandLine](IMPORTANT): Running ./Missions/Demo/setNav.xml
2020-01-23T19:41:58.191Z,1579808518.191 [DefaultUnder] Stopped
2020-01-23T19:41:58.191Z,1579808518.191 [DefaultUnder](DEBUG): Aggregate::uninitialize DefaultUnder
2020-01-23T19:41:58.191Z,1579808518.191 [DefaultUnder:uModemComms] Stopped
2020-01-23T19:41:58.191Z,1579808518.191 [DefaultUnder:uModemComms](DEBUG): Aggregate::uninitialize DefaultUnder:uModemComms
2020-01-23T19:41:58.192Z,1579808518.192 [DefaultUnder:uModemComms:CheckIn] Stopped
2020-01-23T19:41:58.192Z,1579808518.192 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::uninitialize DefaultUnder:uModemComms:CheckIn
2020-01-23T19:41:58.192Z,1579808518.192 [DefaultUnder:uModemComms:CheckIn:A] Stopped
2020-01-23T19:41:58.192Z,1579808518.192 [DefaultUnder:Notify] Stopped
2020-01-23T19:41:58.192Z,1579808518.192 [DefaultUnder:Notify](DEBUG): Aggregate::uninitialize DefaultUnder:Notify
2020-01-23T19:41:58.192Z,1579808518.192 [DefaultUnder:Notify:A] Stopped
2020-01-23T19:41:58.192Z,1579808518.192 [DefaultUnder:Notify:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A
2020-01-23T19:41:58.192Z,1579808518.192 [DefaultUnder:Notify:A:A] Stopped
2020-01-23T19:41:58.192Z,1579808518.192 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A:A
2020-01-23T19:41:58.192Z,1579808518.192 [DefaultUnder:Notify:A:A:A.Wait] Stopped
2020-01-23T19:41:58.192Z,1579808518.192 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-23T19:41:58.192Z,1579808518.192 [DefaultUnder:C.] Stopped
2020-01-23T19:41:58.192Z,1579808518.192 [DefaultUnder:Default] Stopped
2020-01-23T19:41:58.193Z,1579808518.193 [DefaultUnder:Default](DEBUG): Aggregate::uninitialize DefaultUnder:Default
2020-01-23T19:41:58.193Z,1579808518.193 [DefaultUnder:Default:Docked] Stopped
2020-01-23T19:41:58.193Z,1579808518.193 [DefaultUnder:Default:Docked](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Docked
2020-01-23T19:41:58.193Z,1579808518.193 [DefaultUnder:Default:Docked:run] Stopped
2020-01-23T19:41:58.193Z,1579808518.193 [DefaultUnder:Default:Docked:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Docked:run
2020-01-23T19:41:58.193Z,1579808518.193 [DefaultUnder:Default:Docked:run:B.Docked] Stopped
2020-01-23T19:41:58.193Z,1579808518.193 [MissionManager](IMPORTANT): Started mission SetNav
2020-01-23T19:41:58.193Z,1579808518.193 [SetNav] Running Loop=1
2020-01-23T19:41:58.194Z,1579808518.194 [SetNav](DEBUG): Aggregate::initialize SetNav
2020-01-23T19:41:58.194Z,1579808518.194 [SetNav:UpdateNav] Running Loop=1
2020-01-23T19:41:58.194Z,1579808518.194 [SetNav:UpdateNav](DEBUG): Aggregate::initialize SetNav:UpdateNav
2020-01-23T19:41:58.194Z,1579808518.194 [SetNav:UpdateNav:A] Running Loop=1
2020-01-23T19:41:58.194Z,1579808518.194 [SetNav:UpdateNav:A](INFO): Reseting nav to dock location at range <Undefined> m 
2020-01-23T19:41:58.195Z,1579808518.195 [SetNav:UpdateNav:A] Stopped
2020-01-23T19:41:58.195Z,1579808518.195 [SetNav:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T19:41:58.195Z,1579808518.195 [SetNav:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T19:41:58.681Z,1579808518.681 [SetNav:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T194158: (36.803398, -121.822304)
2020-01-23T19:41:58.681Z,1579808518.681 [SetNav:UpdateNav:B.SetNav] Stopped
2020-01-23T19:41:58.681Z,1579808518.681 [SetNav:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T19:41:58.681Z,1579808518.681 [SetNav:UpdateNav](INFO): Completed SetNav:UpdateNav
2020-01-23T19:41:58.681Z,1579808518.681 [SetNav:UpdateNav] Stopped
2020-01-23T19:41:58.681Z,1579808518.681 [SetNav:UpdateNav](DEBUG): Aggregate::uninitialize SetNav:UpdateNav
2020-01-23T19:41:58.682Z,1579808518.682 [SetNav](INFO): Completed SetNav
2020-01-23T19:41:58.682Z,1579808518.682 [MissionManager](INFO): SetNav is completed.
2020-01-23T19:41:58.682Z,1579808518.682 [MissionManager](INFO): Uninitializing Mission SetNav
2020-01-23T19:41:58.682Z,1579808518.682 [SetNav] Stopped
2020-01-23T19:41:58.682Z,1579808518.682 [SetNav](DEBUG): Aggregate::uninitialize SetNav
2020-01-23T19:41:58.991Z,1579808518.991 [MissionManager](IMPORTANT): Started mission DefaultUnder
2020-01-23T19:41:58.991Z,1579808518.991 [DefaultUnder] Running Loop=1
2020-01-23T19:41:58.991Z,1579808518.991 [DefaultUnder](DEBUG): Aggregate::initialize DefaultUnder
2020-01-23T19:41:58.991Z,1579808518.991 [DefaultUnder:uModemComms] Running Loop=1
2020-01-23T19:41:58.991Z,1579808518.991 [DefaultUnder:uModemComms](DEBUG): Aggregate::initialize DefaultUnder:uModemComms
2020-01-23T19:41:58.991Z,1579808518.991 [DefaultUnder:Notify] Running Loop=1
2020-01-23T19:41:58.991Z,1579808518.991 [DefaultUnder:Notify](DEBUG): Aggregate::initialize DefaultUnder:Notify
2020-01-23T19:41:58.992Z,1579808518.992 [DefaultUnder:Notify:A] Running Loop=1
2020-01-23T19:41:58.992Z,1579808518.992 [DefaultUnder:Notify:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A
2020-01-23T19:41:58.992Z,1579808518.992 [DefaultUnder:Notify:A:A] Running Loop=1
2020-01-23T19:41:58.992Z,1579808518.992 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A:A
2020-01-23T19:41:58.992Z,1579808518.992 [DefaultUnder:Notify:A:A:A.Wait] Running Loop=1
2020-01-23T19:41:58.992Z,1579808518.992 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Initialize Wait Component.
2020-01-23T19:41:58.992Z,1579808518.992 [DefaultUnder:C.] Running Loop=1
2020-01-23T19:41:58.992Z,1579808518.992 [DefaultUnder:C.](INFO): Initializing TrackAcousticContact.
2020-01-23T19:41:58.992Z,1579808518.992 [DefaultUnder:E.Wait] Running Loop=1
2020-01-23T19:41:58.993Z,1579808518.993 [DefaultUnder:E.Wait](DEBUG): Initialize Wait Component.
2020-01-23T19:41:58.994Z,1579808518.994 [DefaultUnder:uModemComms:CheckIn] Running Loop=1
2020-01-23T19:41:58.994Z,1579808518.994 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::initialize DefaultUnder:uModemComms:CheckIn
2020-01-23T19:41:58.994Z,1579808518.994 [DefaultUnder:uModemComms:CheckIn:A] Running Loop=1
2020-01-23T19:42:07.809Z,1579808527.809 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20200123T193820/Courier0004.lzma
2020-01-23T19:42:09.817Z,1579808529.817 [DataOverHttps](INFO): Moved sent file to Logs/20200123T193820/Courier0004.lzma.bak
2020-01-23T19:42:09.818Z,1579808529.818 [DataOverHttps](INFO): SBD MOMSN=12199093
2020-01-23T19:42:12.302Z,1579808532.302 [DefaultUnder:E.Wait](INFO): Done Waiting.
2020-01-23T19:42:12.302Z,1579808532.302 [DefaultUnder:E.Wait] Stopped
2020-01-23T19:42:12.302Z,1579808532.302 [DefaultUnder:E.Wait](DEBUG): Uninitialize Wait Component.
2020-01-23T19:42:12.302Z,1579808532.302 [DefaultUnder:Default] Running Loop=1
2020-01-23T19:42:12.303Z,1579808532.303 [DefaultUnder:Default](DEBUG): Aggregate::initialize DefaultUnder:Default
2020-01-23T19:42:12.303Z,1579808532.303 [DefaultUnder:Default:Docked] Running Loop=1
2020-01-23T19:42:12.303Z,1579808532.303 [DefaultUnder:Default:Docked](DEBUG): Aggregate::initialize DefaultUnder:Default:Docked
2020-01-23T19:42:12.303Z,1579808532.303 [DefaultUnder:Default:Docked:run] Running Loop=1
2020-01-23T19:42:12.303Z,1579808532.303 [DefaultUnder:Default:Docked:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Docked:run
2020-01-23T19:42:12.303Z,1579808532.303 [DefaultUnder:Default:Docked:run:A] Running Loop=1
2020-01-23T19:42:12.303Z,1579808532.303 [DefaultUnder:Default:Home] Running Loop=1
2020-01-23T19:42:12.303Z,1579808532.303 [DefaultUnder:Default:Home](DEBUG): Aggregate::initialize DefaultUnder:Default:Home
2020-01-23T19:42:12.303Z,1579808532.303 [DefaultUnder:Default:Home:run] Running Loop=1
2020-01-23T19:42:12.303Z,1579808532.303 [DefaultUnder:Default:Home:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Home:run
2020-01-23T19:42:12.304Z,1579808532.304 [DefaultUnder:Default:Home:run:A] Running Loop=1
2020-01-23T19:42:12.304Z,1579808532.304 [DefaultUnder:Default:Surface] Running Loop=1
2020-01-23T19:42:12.304Z,1579808532.304 [DefaultUnder:Default:Surface](DEBUG): Aggregate::initialize DefaultUnder:Default:Surface
2020-01-23T19:42:12.304Z,1579808532.304 [DefaultUnder:Default:Surface:run] Running Loop=1
2020-01-23T19:42:12.304Z,1579808532.304 [DefaultUnder:Default:Surface:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Surface:run
2020-01-23T19:42:12.304Z,1579808532.304 [DefaultUnder:Default:Surface:run:B.GoToSurface] Running Loop=1
2020-01-23T19:42:12.304Z,1579808532.304 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-23T19:42:12.304Z,1579808532.304 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-23T19:42:12.305Z,1579808532.305 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-23T19:42:12.305Z,1579808532.305 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-23T19:42:12.306Z,1579808532.306 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-23T19:42:12.306Z,1579808532.306 [DefaultUnder:Default:Surface:run:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-23T19:42:12.306Z,1579808532.306 [DefaultUnder:Default:Surface:run:A] Running Loop=1
2020-01-23T19:42:12.722Z,1579808532.722 [DefaultUnder:Default:Surface] Stopped
2020-01-23T19:42:12.722Z,1579808532.722 [DefaultUnder:Default:Surface](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Surface
2020-01-23T19:42:12.722Z,1579808532.722 [DefaultUnder:Default:Surface:run] Stopped
2020-01-23T19:42:12.722Z,1579808532.722 [DefaultUnder:Default:Surface:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Surface:run
2020-01-23T19:42:12.722Z,1579808532.722 [DefaultUnder:Default:Surface:run:A] Stopped
2020-01-23T19:42:12.723Z,1579808532.723 [DefaultUnder:Default:Surface:run:B.GoToSurface] Stopped
2020-01-23T19:42:12.723Z,1579808532.723 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-23T19:42:12.723Z,1579808532.723 [DefaultUnder:Default:Home] Stopped
2020-01-23T19:42:12.723Z,1579808532.723 [DefaultUnder:Default:Home](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Home
2020-01-23T19:42:12.723Z,1579808532.723 [DefaultUnder:Default:Home:run] Stopped
2020-01-23T19:42:12.723Z,1579808532.723 [DefaultUnder:Default:Home:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Home:run
2020-01-23T19:42:12.723Z,1579808532.723 [DefaultUnder:Default:Home:run:A] Stopped
2020-01-23T19:42:12.723Z,1579808532.723 [DefaultUnder:Default:Docked:run:A] Stopped
2020-01-23T19:42:12.723Z,1579808532.723 [DefaultUnder:Default:Docked:run:B.Docked] Running Loop=1
2020-01-23T19:42:12.723Z,1579808532.723 [DefaultUnder:Default:Docked:run:B.Docked](DEBUG): Initialize.
2020-01-23T19:42:12.724Z,1579808532.724 [DefaultUnder:Default:Docked:run:B.Docked](INFO): Depth unspecified. Maintaining workSite beacon depth of 6.000000 m.
2020-01-23T19:42:23.986Z,1579808543.986 [CommandLine](IMPORTANT): got command get latitude
2020-01-23T19:42:23.986Z,1579808543.986 [CommandLine](FAULT): Element has no value
2020-01-23T19:42:27.661Z,1579808547.661 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20200123T193820/Courier0007.lzma
2020-01-23T19:42:29.666Z,1579808549.666 [DataOverHttps](INFO): Moved sent file to Logs/20200123T193820/Courier0007.lzma.bak
2020-01-23T19:42:29.666Z,1579808549.666 [DataOverHttps](INFO): SBD MOMSN=12199095
2020-01-23T19:42:47.424Z,1579808567.424 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20200123T193820/Courier0010.lzma
2020-01-23T19:42:49.430Z,1579808569.430 [DataOverHttps](INFO): Moved sent file to Logs/20200123T193820/Courier0010.lzma.bak
2020-01-23T19:42:49.430Z,1579808569.430 [DataOverHttps](INFO): SBD MOMSN=12199097
2020-01-23T19:42:59.186Z,1579808579.186 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T19:42:59.952Z,1579808579.952 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T19:43:00.360Z,1579808580.360 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T19:43:01.163Z,1579808581.163 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194300.85*5C

2020-01-23T19:43:03.578Z,1579808583.578 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-23T19:43:06.776Z,1579808586.776 [DataOverHttps](INFO): Sending 78 bytes from file Logs/20200123T191257/Express0011.lzma
2020-01-23T19:43:08.782Z,1579808588.782 [DataOverHttps](INFO): Moved sent file to Logs/20200123T191257/Express0011.lzma.bak
2020-01-23T19:43:08.782Z,1579808588.782 [DataOverHttps](INFO): SBD MOMSN=12199099
2020-01-23T19:43:23.878Z,1579808603.878 [CommandLine](IMPORTANT): got command run ./Missions/Demo/setNav.xml
2020-01-23T19:43:23.878Z,1579808603.878 [MissionManager](INFO): Loading Mission: ./Missions/Demo/setNav.xml
2020-01-23T19:43:23.908Z,1579808603.908 [MissionManager](INFO): DefineArg SetNav.DockLat = 0.642341 _
2020-01-23T19:43:23.936Z,1579808603.936 [MissionManager](INFO): DefineArg SetNav.DockLon = -2.126200 _
2020-01-23T19:43:23.943Z,1579808603.943 [SetNav:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2020-01-23T19:43:23.951Z,1579808603.951 [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>


2020-01-23T19:43:23.953Z,1579808603.953 [CommandLine](IMPORTANT): Running ./Missions/Demo/setNav.xml
2020-01-23T19:43:24.287Z,1579808604.287 [DefaultUnder] Stopped
2020-01-23T19:43:24.287Z,1579808604.287 [DefaultUnder](DEBUG): Aggregate::uninitialize DefaultUnder
2020-01-23T19:43:24.287Z,1579808604.287 [DefaultUnder:uModemComms] Stopped
2020-01-23T19:43:24.287Z,1579808604.287 [DefaultUnder:uModemComms](DEBUG): Aggregate::uninitialize DefaultUnder:uModemComms
2020-01-23T19:43:24.287Z,1579808604.287 [DefaultUnder:uModemComms:CheckIn] Stopped
2020-01-23T19:43:24.287Z,1579808604.287 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::uninitialize DefaultUnder:uModemComms:CheckIn
2020-01-23T19:43:24.287Z,1579808604.287 [DefaultUnder:uModemComms:CheckIn:A] Stopped
2020-01-23T19:43:24.287Z,1579808604.287 [DefaultUnder:Notify] Stopped
2020-01-23T19:43:24.287Z,1579808604.287 [DefaultUnder:Notify](DEBUG): Aggregate::uninitialize DefaultUnder:Notify
2020-01-23T19:43:24.287Z,1579808604.287 [DefaultUnder:Notify:A] Stopped
2020-01-23T19:43:24.288Z,1579808604.288 [DefaultUnder:Notify:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A
2020-01-23T19:43:24.288Z,1579808604.288 [DefaultUnder:Notify:A:A] Stopped
2020-01-23T19:43:24.288Z,1579808604.288 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A:A
2020-01-23T19:43:24.288Z,1579808604.288 [DefaultUnder:Notify:A:A:A.Wait] Stopped
2020-01-23T19:43:24.288Z,1579808604.288 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-23T19:43:24.288Z,1579808604.288 [DefaultUnder:C.] Stopped
2020-01-23T19:43:24.288Z,1579808604.288 [DefaultUnder:Default] Stopped
2020-01-23T19:43:24.288Z,1579808604.288 [DefaultUnder:Default](DEBUG): Aggregate::uninitialize DefaultUnder:Default
2020-01-23T19:43:24.288Z,1579808604.288 [DefaultUnder:Default:Docked] Stopped
2020-01-23T19:43:24.288Z,1579808604.288 [DefaultUnder:Default:Docked](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Docked
2020-01-23T19:43:24.288Z,1579808604.288 [DefaultUnder:Default:Docked:run] Stopped
2020-01-23T19:43:24.288Z,1579808604.288 [DefaultUnder:Default:Docked:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Docked:run
2020-01-23T19:43:24.288Z,1579808604.288 [DefaultUnder:Default:Docked:run:B.Docked] Stopped
2020-01-23T19:43:24.313Z,1579808604.313 [MissionManager](IMPORTANT): Started mission SetNav
2020-01-23T19:43:24.313Z,1579808604.313 [SetNav] Running Loop=1
2020-01-23T19:43:24.313Z,1579808604.313 [SetNav](DEBUG): Aggregate::initialize SetNav
2020-01-23T19:43:24.314Z,1579808604.314 [SetNav:UpdateNav] Running Loop=1
2020-01-23T19:43:24.314Z,1579808604.314 [SetNav:UpdateNav](DEBUG): Aggregate::initialize SetNav:UpdateNav
2020-01-23T19:43:24.314Z,1579808604.314 [SetNav:UpdateNav:A] Running Loop=1
2020-01-23T19:43:24.314Z,1579808604.314 [SetNav:UpdateNav:A](INFO): Reseting nav to dock location at range <Undefined> m 
2020-01-23T19:43:24.314Z,1579808604.314 [SetNav:UpdateNav:A] Stopped
2020-01-23T19:43:24.314Z,1579808604.314 [SetNav:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T19:43:24.315Z,1579808604.315 [SetNav:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T19:43:24.653Z,1579808604.653 [SetNav:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T194324: (36.803398, -121.822304)
2020-01-23T19:43:24.653Z,1579808604.653 [SetNav:UpdateNav:B.SetNav] Stopped
2020-01-23T19:43:24.653Z,1579808604.653 [SetNav:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T19:43:24.653Z,1579808604.653 [SetNav:UpdateNav](INFO): Completed SetNav:UpdateNav
2020-01-23T19:43:24.653Z,1579808604.653 [SetNav:UpdateNav] Stopped
2020-01-23T19:43:24.653Z,1579808604.653 [SetNav:UpdateNav](DEBUG): Aggregate::uninitialize SetNav:UpdateNav
2020-01-23T19:43:24.654Z,1579808604.654 [SetNav](INFO): Completed SetNav
2020-01-23T19:43:24.654Z,1579808604.654 [MissionManager](INFO): SetNav is completed.
2020-01-23T19:43:24.654Z,1579808604.654 [MissionManager](INFO): Uninitializing Mission SetNav
2020-01-23T19:43:24.654Z,1579808604.654 [SetNav] Stopped
2020-01-23T19:43:24.654Z,1579808604.654 [SetNav](DEBUG): Aggregate::uninitialize SetNav
2020-01-23T19:43:25.058Z,1579808605.058 [MissionManager](IMPORTANT): Started mission DefaultUnder
2020-01-23T19:43:25.059Z,1579808605.059 [DefaultUnder] Running Loop=1
2020-01-23T19:43:25.059Z,1579808605.059 [DefaultUnder](DEBUG): Aggregate::initialize DefaultUnder
2020-01-23T19:43:25.059Z,1579808605.059 [DefaultUnder:uModemComms] Running Loop=1
2020-01-23T19:43:25.059Z,1579808605.059 [DefaultUnder:uModemComms](DEBUG): Aggregate::initialize DefaultUnder:uModemComms
2020-01-23T19:43:25.059Z,1579808605.059 [DefaultUnder:Notify] Running Loop=1
2020-01-23T19:43:25.059Z,1579808605.059 [DefaultUnder:Notify](DEBUG): Aggregate::initialize DefaultUnder:Notify
2020-01-23T19:43:25.059Z,1579808605.059 [DefaultUnder:Notify:A] Running Loop=1
2020-01-23T19:43:25.059Z,1579808605.059 [DefaultUnder:Notify:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A
2020-01-23T19:43:25.059Z,1579808605.059 [DefaultUnder:Notify:A:A] Running Loop=1
2020-01-23T19:43:25.059Z,1579808605.059 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A:A
2020-01-23T19:43:25.060Z,1579808605.060 [DefaultUnder:Notify:A:A:A.Wait] Running Loop=1
2020-01-23T19:43:25.060Z,1579808605.060 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Initialize Wait Component.
2020-01-23T19:43:25.060Z,1579808605.060 [DefaultUnder:C.] Running Loop=1
2020-01-23T19:43:25.060Z,1579808605.060 [DefaultUnder:C.](INFO): Initializing TrackAcousticContact.
2020-01-23T19:43:25.060Z,1579808605.060 [DefaultUnder:E.Wait] Running Loop=1
2020-01-23T19:43:25.060Z,1579808605.060 [DefaultUnder:E.Wait](DEBUG): Initialize Wait Component.
2020-01-23T19:43:25.065Z,1579808605.065 [DefaultUnder:uModemComms:CheckIn] Running Loop=1
2020-01-23T19:43:25.065Z,1579808605.065 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::initialize DefaultUnder:uModemComms:CheckIn
2020-01-23T19:43:25.066Z,1579808605.066 [DefaultUnder:uModemComms:CheckIn:A] Running Loop=1
2020-01-23T19:43:26.859Z,1579808606.859 [DataOverHttps](INFO): Sending 894 bytes from file Logs/20200123T191619/Express0001.lzma
2020-01-23T19:43:28.858Z,1579808608.858 [DataOverHttps](INFO): Moved sent file to Logs/20200123T191619/Express0001.lzma.bak
2020-01-23T19:43:28.858Z,1579808608.858 [DataOverHttps](INFO): SBD MOMSN=12199102
2020-01-23T19:43:38.215Z,1579808618.215 [DefaultUnder:E.Wait](INFO): Done Waiting.
2020-01-23T19:43:38.215Z,1579808618.215 [DefaultUnder:E.Wait] Stopped
2020-01-23T19:43:38.215Z,1579808618.215 [DefaultUnder:E.Wait](DEBUG): Uninitialize Wait Component.
2020-01-23T19:43:38.216Z,1579808618.216 [DefaultUnder:Default] Running Loop=1
2020-01-23T19:43:38.216Z,1579808618.216 [DefaultUnder:Default](DEBUG): Aggregate::initialize DefaultUnder:Default
2020-01-23T19:43:38.216Z,1579808618.216 [DefaultUnder:Default:Docked] Running Loop=1
2020-01-23T19:43:38.216Z,1579808618.216 [DefaultUnder:Default:Docked](DEBUG): Aggregate::initialize DefaultUnder:Default:Docked
2020-01-23T19:43:38.216Z,1579808618.216 [DefaultUnder:Default:Docked:run] Running Loop=1
2020-01-23T19:43:38.216Z,1579808618.216 [DefaultUnder:Default:Docked:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Docked:run
2020-01-23T19:43:38.216Z,1579808618.216 [DefaultUnder:Default:Docked:run:A] Running Loop=1
2020-01-23T19:43:38.216Z,1579808618.216 [DefaultUnder:Default:Home] Running Loop=1
2020-01-23T19:43:38.216Z,1579808618.216 [DefaultUnder:Default:Home](DEBUG): Aggregate::initialize DefaultUnder:Default:Home
2020-01-23T19:43:38.229Z,1579808618.229 [DefaultUnder:Default:Home:run] Running Loop=1
2020-01-23T19:43:38.229Z,1579808618.229 [DefaultUnder:Default:Home:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Home:run
2020-01-23T19:43:38.229Z,1579808618.229 [DefaultUnder:Default:Home:run:A] Running Loop=1
2020-01-23T19:43:38.229Z,1579808618.229 [DefaultUnder:Default:Surface] Running Loop=1
2020-01-23T19:43:38.229Z,1579808618.229 [DefaultUnder:Default:Surface](DEBUG): Aggregate::initialize DefaultUnder:Default:Surface
2020-01-23T19:43:38.229Z,1579808618.229 [DefaultUnder:Default:Surface:run] Running Loop=1
2020-01-23T19:43:38.230Z,1579808618.230 [DefaultUnder:Default:Surface:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Surface:run
2020-01-23T19:43:38.230Z,1579808618.230 [DefaultUnder:Default:Surface:run:B.GoToSurface] Running Loop=1
2020-01-23T19:43:38.230Z,1579808618.230 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-23T19:43:38.230Z,1579808618.230 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-23T19:43:38.230Z,1579808618.230 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-23T19:43:38.230Z,1579808618.230 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-23T19:43:38.231Z,1579808618.231 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-23T19:43:38.231Z,1579808618.231 [DefaultUnder:Default:Surface:run:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-23T19:43:38.231Z,1579808618.231 [DefaultUnder:Default:Surface:run:A] Running Loop=1
2020-01-23T19:43:38.560Z,1579808618.560 [DefaultUnder:Default:Surface] Stopped
2020-01-23T19:43:38.560Z,1579808618.560 [DefaultUnder:Default:Surface](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Surface
2020-01-23T19:43:38.560Z,1579808618.560 [DefaultUnder:Default:Surface:run] Stopped
2020-01-23T19:43:38.560Z,1579808618.560 [DefaultUnder:Default:Surface:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Surface:run
2020-01-23T19:43:38.560Z,1579808618.560 [DefaultUnder:Default:Surface:run:A] Stopped
2020-01-23T19:43:38.560Z,1579808618.560 [DefaultUnder:Default:Surface:run:B.GoToSurface] Stopped
2020-01-23T19:43:38.560Z,1579808618.560 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-23T19:43:38.560Z,1579808618.560 [DefaultUnder:Default:Home] Stopped
2020-01-23T19:43:38.560Z,1579808618.560 [DefaultUnder:Default:Home](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Home
2020-01-23T19:43:38.577Z,1579808618.577 [DefaultUnder:Default:Home:run] Stopped
2020-01-23T19:43:38.577Z,1579808618.577 [DefaultUnder:Default:Home:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Home:run
2020-01-23T19:43:38.577Z,1579808618.577 [DefaultUnder:Default:Home:run:A] Stopped
2020-01-23T19:43:38.577Z,1579808618.577 [DefaultUnder:Default:Docked:run:A] Stopped
2020-01-23T19:43:38.578Z,1579808618.578 [DefaultUnder:Default:Docked:run:B.Docked] Running Loop=1
2020-01-23T19:43:38.578Z,1579808618.578 [DefaultUnder:Default:Docked:run:B.Docked](DEBUG): Initialize.
2020-01-23T19:43:38.578Z,1579808618.578 [DefaultUnder:Default:Docked:run:B.Docked](INFO): Depth unspecified. Maintaining workSite beacon depth of 6.000000 m.
2020-01-23T19:43:42.582Z,1579808622.582 [CommandLine](IMPORTANT): got command show variable multipleVelocitySour
2020-01-23T19:43:42.762Z,1579808622.762 [CommandLine](IMPORTANT): DeadReckonUsingMultipleVelocitySources.loadAtStartup (bool)
2020-01-23T19:43:42.763Z,1579808622.763 [CommandLine](IMPORTANT): DeadReckonUsingMultipleVelocitySources.accuracyPremultiplier (none)
2020-01-23T19:43:42.763Z,1579808622.763 [CommandLine](IMPORTANT): DeadReckonUsingMultipleVelocitySources.allowableFailures (count)
2020-01-23T19:43:42.764Z,1579808622.764 [CommandLine](IMPORTANT): DeadReckonUsingMultipleVelocitySources.orientationStaleAfter (minute)
2020-01-23T19:43:42.764Z,1579808622.764 [CommandLine](IMPORTANT): DeadReckonUsingMultipleVelocitySources.velocityStaleAfter (second)
2020-01-23T19:43:42.773Z,1579808622.773 [CommandLine](IMPORTANT): DeadReckonUsingMultipleVelocitySources.verbosity (count)
2020-01-23T19:43:43.122Z,1579808623.122 [CommandLine](IMPORTANT): DeadReckonUsingMultipleVelocitySources.latitude (degree)
2020-01-23T19:43:43.123Z,1579808623.123 [CommandLine](IMPORTANT): DeadReckonUsingMultipleVelocitySources.longitude (degree)
2020-01-23T19:43:43.123Z,1579808623.123 [CommandLine](IMPORTANT): DeadReckonUsingMultipleVelocitySources.depth (meter)
2020-01-23T19:43:43.123Z,1579808623.123 [CommandLine](IMPORTANT): DeadReckonUsingMultipleVelocitySources.horizontal_path_length_since_last_fix (meter)
2020-01-23T19:43:43.124Z,1579808623.124 [CommandLine](IMPORTANT): DeadReckonUsingMultipleVelocitySources.fix_distance_made_good (meter)
2020-01-23T19:43:43.124Z,1579808623.124 [CommandLine](IMPORTANT): DeadReckonUsingMultipleVelocitySources.fix_horizontal_path_length_since_last_fix (meter)
2020-01-23T19:43:43.133Z,1579808623.133 [CommandLine](IMPORTANT): DeadReckonUsingMultipleVelocitySources.fix_residual_distance (meter)
2020-01-23T19:43:43.134Z,1579808623.134 [CommandLine](IMPORTANT): DeadReckonUsingMultipleVelocitySources.fix_residual_bearing (radian)
2020-01-23T19:43:43.135Z,1579808623.135 [CommandLine](IMPORTANT): DeadReckonUsingMultipleVelocitySources.fix_residual_percent_distance_traveled (percent)
2020-01-23T19:43:43.135Z,1579808623.135 [CommandLine](IMPORTANT): DeadReckonUsingMultipleVelocitySources.elapsed_since_orientation_read (second)
2020-01-23T19:43:43.136Z,1579808623.136 [CommandLine](IMPORTANT): DeadReckonUsingMultipleVelocitySources.elapsed_since_velocity_read (second)
2020-01-23T19:43:43.136Z,1579808623.136 [CommandLine](IMPORTANT): DeadReckonUsingMultipleVelocitySources.latitude_accuracy (radian)
2020-01-23T19:43:43.149Z,1579808623.149 [CommandLine](IMPORTANT): DeadReckonUsingMultipleVelocitySources.velocity_source (count)
2020-01-23T19:43:54.523Z,1579808634.523 [CommandLine](IMPORTANT): got command get DeadReckonUsingMultipleVelocitySources.verbosity
2020-01-23T19:43:54.524Z,1579808634.524 [CommandLine](IMPORTANT): DeadReckonUsingMultipleVelocitySources.verbosity 0 count
2020-01-23T19:43:56.372Z,1579808636.372 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20200123T193820/Courier0013.lzma
2020-01-23T19:43:58.379Z,1579808638.379 [DataOverHttps](INFO): Moved sent file to Logs/20200123T193820/Courier0013.lzma.bak
2020-01-23T19:43:58.379Z,1579808638.379 [DataOverHttps](INFO): SBD MOMSN=12199124
2020-01-23T19:44:06.896Z,1579808646.896 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-01-23T19:44:06.896Z,1579808646.896 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +0.0  +0.   +0.00,   0.00,320.00
2020-01-23T19:44:09.503Z,1579808649.503 [CommandLine](IMPORTANT): got command get DeadReckonUsingMultipleVelocitySources.loadAtStartup
2020-01-23T19:44:09.504Z,1579808649.504 [CommandLine](IMPORTANT): DeadReckonUsingMultipleVelocitySources.loadAtStartup 1 bool
2020-01-23T19:44:12.062Z,1579808652.062 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2020-01-23T19:44:16.228Z,1579808656.228 [DataOverHttps](INFO): Sending 205 bytes from file Logs/20200123T191619/Express0005.lzma
2020-01-23T19:44:18.234Z,1579808658.234 [DataOverHttps](INFO): Moved sent file to Logs/20200123T191619/Express0005.lzma.bak
2020-01-23T19:44:18.234Z,1579808658.234 [DataOverHttps](INFO): SBD MOMSN=12199126
2020-01-23T19:44:25.103Z,1579808665.103 [CommandLine](IMPORTANT): got command configSet DeadReckonUsingMultipleVelocitySources.verbosity 2.000000 count persist
2020-01-23T19:44:25.466Z,1579808665.466 [DefaultUnder:C.](INFO): *** querying acoustic contact ***
2020-01-23T19:44:26.212Z,1579808666.212 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-23T19:44:26.599Z,1579808666.599 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-23T19:44:27.406Z,1579808667.406 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194427.12*50

2020-01-23T19:44:29.838Z,1579808669.838 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-23T19:44:32.681Z,1579808672.681 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2020-01-23T19:44:32.681Z,1579808672.681 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-23T19:44:32.738Z,1579808672.738 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-23T19:44:33.154Z,1579808673.154 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-23T19:44:33.154Z,1579808673.154 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2020-01-23T19:44:33.505Z,1579808673.505 [DeadReckonUsingMultipleVelocitySources](INFO): Will consider orientation measurement stale after 120s.
2020-01-23T19:44:33.505Z,1579808673.505 [DeadReckonUsingMultipleVelocitySources](INFO): Will consider velocity measurement stale after 20s.
2020-01-23T19:44:33.901Z,1579808673.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2020-01-23T19:44:33.901Z,1579808673.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:33.902Z,1579808673.902 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000031.321769
2020-01-23T19:44:34.330Z,1579808674.330 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s.
2020-01-23T19:44:34.330Z,1579808674.330 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:34.331Z,1579808674.331 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000031.379295
2020-01-23T19:44:34.733Z,1579808674.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.1 s old, using for 20.0 s.
2020-01-23T19:44:34.733Z,1579808674.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:34.735Z,1579808674.735 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000031.422237
2020-01-23T19:44:35.261Z,1579808675.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.6 s old, using for 20.0 s.
2020-01-23T19:44:35.261Z,1579808675.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:35.263Z,1579808675.263 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000031.468597
2020-01-23T19:44:35.587Z,1579808675.587 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.9 s old, using for 20.0 s.
2020-01-23T19:44:35.587Z,1579808675.587 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:35.588Z,1579808675.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000031.491617
2020-01-23T19:44:35.868Z,1579808675.868 [DataOverHttps](INFO): Sending 197 bytes from file Logs/20200123T191619/Express0008.lzma
2020-01-23T19:44:35.937Z,1579808675.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.3 s old, using for 20.0 s.
2020-01-23T19:44:35.938Z,1579808675.938 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:35.939Z,1579808675.939 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000031.511662
2020-01-23T19:44:36.392Z,1579808676.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.7 s old, using for 20.0 s.
2020-01-23T19:44:36.392Z,1579808676.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:36.393Z,1579808676.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000031.532711
2020-01-23T19:44:36.749Z,1579808676.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s.
2020-01-23T19:44:36.749Z,1579808676.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:36.750Z,1579808676.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000031.545813
2020-01-23T19:44:37.144Z,1579808677.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s.
2020-01-23T19:44:37.144Z,1579808677.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:37.145Z,1579808677.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000031.558062
2020-01-23T19:44:37.531Z,1579808677.531 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s.
2020-01-23T19:44:37.531Z,1579808677.531 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:37.532Z,1579808677.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000031.567597
2020-01-23T19:44:37.874Z,1579808677.874 [DataOverHttps](INFO): Moved sent file to Logs/20200123T191619/Express0008.lzma.bak
2020-01-23T19:44:37.874Z,1579808677.874 [DataOverHttps](INFO): SBD MOMSN=12199134
2020-01-23T19:44:37.966Z,1579808677.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s.
2020-01-23T19:44:37.966Z,1579808677.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:37.967Z,1579808677.967 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000031.576268
2020-01-23T19:44:38.351Z,1579808678.351 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s.
2020-01-23T19:44:38.351Z,1579808678.351 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:38.352Z,1579808678.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000031.582478
2020-01-23T19:44:38.754Z,1579808678.754 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s.
2020-01-23T19:44:38.755Z,1579808678.755 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:38.756Z,1579808678.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000031.587763
2020-01-23T19:44:39.171Z,1579808679.171 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s.
2020-01-23T19:44:39.171Z,1579808679.171 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:39.172Z,1579808679.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000031.592175
2020-01-23T19:44:39.546Z,1579808679.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s.
2020-01-23T19:44:39.546Z,1579808679.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:39.547Z,1579808679.547 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000031.595397
2020-01-23T19:44:39.960Z,1579808679.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s.
2020-01-23T19:44:39.960Z,1579808679.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:39.962Z,1579808679.962 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000031.598275
2020-01-23T19:44:40.356Z,1579808680.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s.
2020-01-23T19:44:40.356Z,1579808680.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:40.358Z,1579808680.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000031.600506
2020-01-23T19:44:40.769Z,1579808680.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s.
2020-01-23T19:44:40.769Z,1579808680.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:40.771Z,1579808680.771 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000031.602389
2020-01-23T19:44:41.197Z,1579808681.197 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s.
2020-01-23T19:44:41.197Z,1579808681.197 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:41.198Z,1579808681.198 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000031.603956
2020-01-23T19:44:41.597Z,1579808681.597 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s.
2020-01-23T19:44:41.597Z,1579808681.597 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:41.599Z,1579808681.599 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000031.605154
2020-01-23T19:44:42.097Z,1579808682.097 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.4 s old, using for 20.0 s.
2020-01-23T19:44:42.097Z,1579808682.097 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:42.098Z,1579808682.098 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000031.606365
2020-01-23T19:44:42.434Z,1579808682.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.8 s old, using for 20.0 s.
2020-01-23T19:44:42.434Z,1579808682.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:42.435Z,1579808682.435 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000031.607035
2020-01-23T19:44:42.820Z,1579808682.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.1 s old, using for 20.0 s.
2020-01-23T19:44:42.820Z,1579808682.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:42.826Z,1579808682.826 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000031.607638
2020-01-23T19:44:43.229Z,1579808683.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.5 s old, using for 20.0 s.
2020-01-23T19:44:43.230Z,1579808683.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:43.231Z,1579808683.231 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000031.608169
2020-01-23T19:44:43.633Z,1579808683.633 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.9 s old, using for 20.0 s.
2020-01-23T19:44:43.633Z,1579808683.633 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:43.634Z,1579808683.634 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000031.608577
2020-01-23T19:44:44.060Z,1579808684.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.4 s old, using for 20.0 s.
2020-01-23T19:44:44.060Z,1579808684.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:44.065Z,1579808684.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000031.608952
2020-01-23T19:44:44.449Z,1579808684.449 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.8 s old, using for 20.0 s.
2020-01-23T19:44:44.449Z,1579808684.449 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:44.451Z,1579808684.451 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000031.609216
2020-01-23T19:44:44.850Z,1579808684.850 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 12.2 s old, using for 20.0 s.
2020-01-23T19:44:44.850Z,1579808684.850 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:44.851Z,1579808684.851 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000031.609440
2020-01-23T19:44:45.261Z,1579808685.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 12.6 s old, using for 20.0 s.
2020-01-23T19:44:45.261Z,1579808685.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:45.262Z,1579808685.262 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000031.609625
2020-01-23T19:44:45.659Z,1579808685.659 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 13.0 s old, using for 20.0 s.
2020-01-23T19:44:45.660Z,1579808685.660 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:45.661Z,1579808685.661 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000031.609770
2020-01-23T19:44:46.050Z,1579808686.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 13.4 s old, using for 20.0 s.
2020-01-23T19:44:46.050Z,1579808686.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:46.051Z,1579808686.051 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000031.609885
2020-01-23T19:44:46.454Z,1579808686.454 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 13.8 s old, using for 20.0 s.
2020-01-23T19:44:46.454Z,1579808686.454 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:46.455Z,1579808686.455 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000031.609982
2020-01-23T19:44:46.879Z,1579808686.879 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 14.2 s old, using for 20.0 s.
2020-01-23T19:44:46.880Z,1579808686.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:46.881Z,1579808686.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000031.610064
2020-01-23T19:44:47.260Z,1579808687.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 14.6 s old, using for 20.0 s.
2020-01-23T19:44:47.260Z,1579808687.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:47.261Z,1579808687.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000031.610123
2020-01-23T19:44:47.670Z,1579808687.670 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 15.0 s old, using for 20.0 s.
2020-01-23T19:44:47.670Z,1579808687.670 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:47.671Z,1579808687.671 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000031.610176
2020-01-23T19:44:48.204Z,1579808688.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 15.5 s old, using for 20.0 s.
2020-01-23T19:44:48.204Z,1579808688.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:48.214Z,1579808688.214 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000031.610230
2020-01-23T19:44:48.491Z,1579808688.491 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 15.8 s old, using for 20.0 s.
2020-01-23T19:44:48.491Z,1579808688.491 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:48.492Z,1579808688.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000031.610254
2020-01-23T19:44:48.926Z,1579808688.926 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 16.2 s old, using for 20.0 s.
2020-01-23T19:44:48.926Z,1579808688.926 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:48.927Z,1579808688.927 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000031.610284
2020-01-23T19:44:49.378Z,1579808689.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 16.7 s old, using for 20.0 s.
2020-01-23T19:44:49.378Z,1579808689.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:49.379Z,1579808689.379 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000031.610308
2020-01-23T19:44:49.685Z,1579808689.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 17.0 s old, using for 20.0 s.
2020-01-23T19:44:49.685Z,1579808689.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:49.686Z,1579808689.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000031.610322
2020-01-23T19:44:50.107Z,1579808690.107 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 17.4 s old, using for 20.0 s.
2020-01-23T19:44:50.107Z,1579808690.107 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:50.108Z,1579808690.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000031.610337
2020-01-23T19:44:50.507Z,1579808690.507 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 17.8 s old, using for 20.0 s.
2020-01-23T19:44:50.508Z,1579808690.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:50.509Z,1579808690.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000031.610349
2020-01-23T19:44:50.944Z,1579808690.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 18.3 s old, using for 20.0 s.
2020-01-23T19:44:50.944Z,1579808690.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:50.949Z,1579808690.949 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000031.610359
2020-01-23T19:44:51.313Z,1579808691.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 18.6 s old, using for 20.0 s.
2020-01-23T19:44:51.313Z,1579808691.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:51.314Z,1579808691.314 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000031.610366
2020-01-23T19:44:51.709Z,1579808691.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 19.0 s old, using for 20.0 s.
2020-01-23T19:44:51.709Z,1579808691.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:51.711Z,1579808691.711 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000031.610372
2020-01-23T19:44:52.104Z,1579808692.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 19.4 s old, using for 20.0 s.
2020-01-23T19:44:52.104Z,1579808692.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:52.129Z,1579808692.129 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000031.610377
2020-01-23T19:44:52.510Z,1579808692.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 19.8 s old, using for 20.0 s.
2020-01-23T19:44:52.510Z,1579808692.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:52.511Z,1579808692.511 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000031.610381
2020-01-23T19:44:52.930Z,1579808692.930 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:52.931Z,1579808692.931 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000031.695391
2020-01-23T19:44:53.334Z,1579808693.334 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:53.335Z,1579808693.335 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000031.777339
2020-01-23T19:44:53.713Z,1579808693.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:53.714Z,1579808693.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000031.853166
2020-01-23T19:44:54.137Z,1579808694.137 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:54.138Z,1579808694.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000031.939924
2020-01-23T19:44:54.540Z,1579808694.540 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:54.545Z,1579808694.545 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000032.021493
2020-01-23T19:44:54.901Z,1579808694.901 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2020-01-23T19:44:54.905Z,1579808694.905 [BPC1](INFO): Received data from all battery sticks.
2020-01-23T19:44:54.911Z,1579808694.911 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:54.912Z,1579808694.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000032.096619
2020-01-23T19:44:55.332Z,1579808695.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:55.334Z,1579808695.334 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000032.181989
2020-01-23T19:44:55.568Z,1579808695.568 [DataOverHttps](INFO): Sending 78 bytes from file Logs/20200123T191619/Express0011.lzma
2020-01-23T19:44:55.733Z,1579808695.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:55.734Z,1579808695.734 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000032.263108
2020-01-23T19:44:56.126Z,1579808696.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:56.127Z,1579808696.127 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000032.342695
2020-01-23T19:44:56.525Z,1579808696.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:56.526Z,1579808696.526 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000032.423552
2020-01-23T19:44:56.933Z,1579808696.933 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:56.935Z,1579808696.935 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000032.506195
2020-01-23T19:44:57.345Z,1579808697.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:57.346Z,1579808697.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000032.589444
2020-01-23T19:44:57.574Z,1579808697.574 [DataOverHttps](INFO): Moved sent file to Logs/20200123T191619/Express0011.lzma.bak
2020-01-23T19:44:57.574Z,1579808697.574 [DataOverHttps](INFO): SBD MOMSN=12199143
2020-01-23T19:44:57.742Z,1579808697.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:57.743Z,1579808697.743 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000032.669844
2020-01-23T19:44:58.155Z,1579808698.155 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:58.156Z,1579808698.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000032.753498
2020-01-23T19:44:58.546Z,1579808698.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:58.547Z,1579808698.547 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000032.832644
2020-01-23T19:44:58.948Z,1579808698.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:58.962Z,1579808698.962 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000032.914121
2020-01-23T19:44:59.350Z,1579808699.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:59.351Z,1579808699.351 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000032.995485
2020-01-23T19:44:59.762Z,1579808699.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:44:59.763Z,1579808699.763 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000033.078890
2020-01-23T19:45:00.172Z,1579808700.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:00.177Z,1579808700.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000033.161998
2020-01-23T19:45:00.554Z,1579808700.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:00.555Z,1579808700.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000033.239271
2020-01-23T19:45:00.972Z,1579808700.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:00.978Z,1579808700.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000033.324047
2020-01-23T19:45:01.385Z,1579808701.385 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:01.386Z,1579808701.386 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000033.406739
2020-01-23T19:45:01.783Z,1579808701.783 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:01.784Z,1579808701.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000033.484519
2020-01-23T19:45:02.211Z,1579808702.211 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:02.212Z,1579808702.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000033.574900
2020-01-23T19:45:02.597Z,1579808702.597 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:02.598Z,1579808702.598 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000033.652192
2020-01-23T19:45:02.694Z,1579808702.694 [CommandLine](IMPORTANT): got command failComponent hardware DeadReckonUsingMultipleVelocitySources
2020-01-23T19:45:02.694Z,1579808702.694 [DeadReckonUsingMultipleVelocitySources] Hardware Fault, FailCount= 3
2020-01-23T19:45:02.694Z,1579808702.694 [DeadReckonUsingMultipleVelocitySources](ERROR): Hardware Fault
2020-01-23T19:45:02.694Z,1579808702.694 [CommandLine](IMPORTANT): DeadReckonUsingMultipleVelocitySources failureMode is Hardware Fault
2020-01-23T19:45:03.053Z,1579808703.053 [CBIT](ERROR): Hardware Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-23T19:45:03.053Z,1579808703.053 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-23T19:45:03.053Z,1579808703.053 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 3
2020-01-23T19:45:03.413Z,1579808703.413 [DeadReckonUsingMultipleVelocitySources](INFO): Will consider orientation measurement stale after 120s.
2020-01-23T19:45:03.413Z,1579808703.413 [DeadReckonUsingMultipleVelocitySources](INFO): Will consider velocity measurement stale after 20s.
2020-01-23T19:45:03.805Z,1579808703.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2020-01-23T19:45:03.805Z,1579808703.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:03.806Z,1579808703.806 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000033.850323
2020-01-23T19:45:04.229Z,1579808704.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s.
2020-01-23T19:45:04.229Z,1579808704.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:04.230Z,1579808704.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000033.906094
2020-01-23T19:45:04.594Z,1579808704.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s.
2020-01-23T19:45:04.594Z,1579808704.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:04.595Z,1579808704.595 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000033.946273
2020-01-23T19:45:04.998Z,1579808704.998 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s.
2020-01-23T19:45:04.998Z,1579808704.998 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:04.999Z,1579808704.999 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000033.981454
2020-01-23T19:45:05.423Z,1579808705.423 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s.
2020-01-23T19:45:05.423Z,1579808705.423 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:05.424Z,1579808705.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000034.011464
2020-01-23T19:45:05.829Z,1579808705.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s.
2020-01-23T19:45:05.829Z,1579808705.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:05.830Z,1579808705.830 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000034.034699
2020-01-23T19:45:06.252Z,1579808706.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.7 s old, using for 20.0 s.
2020-01-23T19:45:06.252Z,1579808706.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:06.253Z,1579808706.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000034.054277
2020-01-23T19:45:06.614Z,1579808706.614 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s.
2020-01-23T19:45:06.614Z,1579808706.614 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:06.616Z,1579808706.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000034.067885
2020-01-23T19:45:07.030Z,1579808707.030 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.4 s old, using for 20.0 s.
2020-01-23T19:45:07.030Z,1579808707.030 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:07.031Z,1579808707.031 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000034.080519
2020-01-23T19:45:07.440Z,1579808707.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s.
2020-01-23T19:45:07.440Z,1579808707.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:07.442Z,1579808707.442 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000034.090621
2020-01-23T19:45:07.858Z,1579808707.858 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s.
2020-01-23T19:45:07.858Z,1579808707.858 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:07.860Z,1579808707.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000034.098842
2020-01-23T19:45:08.236Z,1579808708.236 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.6 s old, using for 20.0 s.
2020-01-23T19:45:08.236Z,1579808708.236 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:08.237Z,1579808708.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000034.105029
2020-01-23T19:45:08.650Z,1579808708.650 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s.
2020-01-23T19:45:08.650Z,1579808708.650 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:08.651Z,1579808708.651 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000034.110452
2020-01-23T19:45:09.064Z,1579808709.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s.
2020-01-23T19:45:09.064Z,1579808709.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:09.065Z,1579808709.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000034.114835
2020-01-23T19:45:09.466Z,1579808709.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s.
2020-01-23T19:45:09.466Z,1579808709.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:09.467Z,1579808709.467 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000034.118289
2020-01-23T19:45:09.881Z,1579808709.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s.
2020-01-23T19:45:09.881Z,1579808709.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:09.882Z,1579808709.882 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000034.121175
2020-01-23T19:45:10.258Z,1579808710.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s.
2020-01-23T19:45:10.258Z,1579808710.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:10.259Z,1579808710.259 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000034.123296
2020-01-23T19:45:10.674Z,1579808710.674 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s.
2020-01-23T19:45:10.674Z,1579808710.674 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:10.675Z,1579808710.675 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000034.125196
2020-01-23T19:45:11.099Z,1579808711.099 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s.
2020-01-23T19:45:11.099Z,1579808711.099 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:11.100Z,1579808711.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000034.126767
2020-01-23T19:45:11.497Z,1579808711.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s.
2020-01-23T19:45:11.497Z,1579808711.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:11.499Z,1579808711.499 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000034.127945
2020-01-23T19:45:11.502Z,1579808711.502 [CommandLine](IMPORTANT): got command run ./Missions/Demo/setNav.xml
2020-01-23T19:45:11.505Z,1579808711.505 [MissionManager](INFO): Loading Mission: ./Missions/Demo/setNav.xml
2020-01-23T19:45:11.567Z,1579808711.567 [MissionManager](INFO): DefineArg SetNav.DockLat = 0.642341 _
2020-01-23T19:45:11.574Z,1579808711.574 [MissionManager](INFO): DefineArg SetNav.DockLon = -2.126200 _
2020-01-23T19:45:11.576Z,1579808711.576 [SetNav:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2020-01-23T19:45:11.592Z,1579808711.592 [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>


2020-01-23T19:45:11.625Z,1579808711.625 [CommandLine](IMPORTANT): Running ./Missions/Demo/setNav.xml
2020-01-23T19:45:11.931Z,1579808711.931 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s.
2020-01-23T19:45:11.932Z,1579808711.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:11.937Z,1579808711.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000034.129008
2020-01-23T19:45:11.938Z,1579808711.938 [DefaultUnder] Stopped
2020-01-23T19:45:11.938Z,1579808711.938 [DefaultUnder](DEBUG): Aggregate::uninitialize DefaultUnder
2020-01-23T19:45:11.938Z,1579808711.938 [DefaultUnder:uModemComms] Stopped
2020-01-23T19:45:11.938Z,1579808711.938 [DefaultUnder:uModemComms](DEBUG): Aggregate::uninitialize DefaultUnder:uModemComms
2020-01-23T19:45:11.938Z,1579808711.938 [DefaultUnder:uModemComms:CheckIn] Stopped
2020-01-23T19:45:11.938Z,1579808711.938 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::uninitialize DefaultUnder:uModemComms:CheckIn
2020-01-23T19:45:11.938Z,1579808711.938 [DefaultUnder:uModemComms:CheckIn:A] Stopped
2020-01-23T19:45:11.938Z,1579808711.938 [DefaultUnder:Notify] Stopped
2020-01-23T19:45:11.939Z,1579808711.939 [DefaultUnder:Notify](DEBUG): Aggregate::uninitialize DefaultUnder:Notify
2020-01-23T19:45:11.939Z,1579808711.939 [DefaultUnder:Notify:A] Stopped
2020-01-23T19:45:11.939Z,1579808711.939 [DefaultUnder:Notify:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A
2020-01-23T19:45:11.939Z,1579808711.939 [DefaultUnder:Notify:A:A] Stopped
2020-01-23T19:45:11.939Z,1579808711.939 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A:A
2020-01-23T19:45:11.939Z,1579808711.939 [DefaultUnder:Notify:A:A:A.Wait] Stopped
2020-01-23T19:45:11.939Z,1579808711.939 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-23T19:45:11.939Z,1579808711.939 [DefaultUnder:C.] Stopped
2020-01-23T19:45:11.939Z,1579808711.939 [DefaultUnder:Default] Stopped
2020-01-23T19:45:11.939Z,1579808711.939 [DefaultUnder:Default](DEBUG): Aggregate::uninitialize DefaultUnder:Default
2020-01-23T19:45:11.939Z,1579808711.939 [DefaultUnder:Default:Docked] Stopped
2020-01-23T19:45:11.939Z,1579808711.939 [DefaultUnder:Default:Docked](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Docked
2020-01-23T19:45:11.939Z,1579808711.939 [DefaultUnder:Default:Docked:run] Stopped
2020-01-23T19:45:11.940Z,1579808711.940 [DefaultUnder:Default:Docked:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Docked:run
2020-01-23T19:45:11.940Z,1579808711.940 [DefaultUnder:Default:Docked:run:B.Docked] Stopped
2020-01-23T19:45:11.940Z,1579808711.940 [MissionManager](IMPORTANT): Started mission SetNav
2020-01-23T19:45:11.940Z,1579808711.940 [SetNav] Running Loop=1
2020-01-23T19:45:11.940Z,1579808711.940 [SetNav](DEBUG): Aggregate::initialize SetNav
2020-01-23T19:45:11.940Z,1579808711.940 [SetNav:UpdateNav] Running Loop=1
2020-01-23T19:45:11.940Z,1579808711.940 [SetNav:UpdateNav](DEBUG): Aggregate::initialize SetNav:UpdateNav
2020-01-23T19:45:11.945Z,1579808711.945 [SetNav:UpdateNav:A] Running Loop=1
2020-01-23T19:45:11.945Z,1579808711.945 [SetNav:UpdateNav:A](INFO): Reseting nav to dock location at range <Undefined> m 
2020-01-23T19:45:11.945Z,1579808711.945 [SetNav:UpdateNav:A] Stopped
2020-01-23T19:45:11.945Z,1579808711.945 [SetNav:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T19:45:11.945Z,1579808711.945 [SetNav:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T19:45:12.297Z,1579808712.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s.
2020-01-23T19:45:12.297Z,1579808712.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:12.298Z,1579808712.298 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000034.129718
2020-01-23T19:45:12.305Z,1579808712.305 [SetNav:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T194512: (36.803398, -121.822304)
2020-01-23T19:45:12.305Z,1579808712.305 [SetNav:UpdateNav:B.SetNav] Stopped
2020-01-23T19:45:12.305Z,1579808712.305 [SetNav:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T19:45:12.305Z,1579808712.305 [SetNav:UpdateNav](INFO): Completed SetNav:UpdateNav
2020-01-23T19:45:12.305Z,1579808712.305 [SetNav:UpdateNav] Stopped
2020-01-23T19:45:12.305Z,1579808712.305 [SetNav:UpdateNav](DEBUG): Aggregate::uninitialize SetNav:UpdateNav
2020-01-23T19:45:12.306Z,1579808712.306 [SetNav](INFO): Completed SetNav
2020-01-23T19:45:12.306Z,1579808712.306 [MissionManager](INFO): SetNav is completed.
2020-01-23T19:45:12.306Z,1579808712.306 [MissionManager](INFO): Uninitializing Mission SetNav
2020-01-23T19:45:12.306Z,1579808712.306 [SetNav] Stopped
2020-01-23T19:45:12.306Z,1579808712.306 [SetNav](DEBUG): Aggregate::uninitialize SetNav
2020-01-23T19:45:12.695Z,1579808712.695 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.1 s old, using for 20.0 s.
2020-01-23T19:45:12.695Z,1579808712.695 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:12.696Z,1579808712.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): Got GPS fix: latitudeAccuracy_ = nan, longitudeAccuracy = nan
2020-01-23T19:45:12.696Z,1579808712.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000000.000000
2020-01-23T19:45:12.702Z,1579808712.702 [MissionManager](IMPORTANT): Started mission DefaultUnder
2020-01-23T19:45:12.702Z,1579808712.702 [DefaultUnder] Running Loop=1
2020-01-23T19:45:12.702Z,1579808712.702 [DefaultUnder](DEBUG): Aggregate::initialize DefaultUnder
2020-01-23T19:45:12.702Z,1579808712.702 [DefaultUnder:uModemComms] Running Loop=1
2020-01-23T19:45:12.702Z,1579808712.702 [DefaultUnder:uModemComms](DEBUG): Aggregate::initialize DefaultUnder:uModemComms
2020-01-23T19:45:12.702Z,1579808712.702 [DefaultUnder:Notify] Running Loop=1
2020-01-23T19:45:12.702Z,1579808712.702 [DefaultUnder:Notify](DEBUG): Aggregate::initialize DefaultUnder:Notify
2020-01-23T19:45:12.702Z,1579808712.702 [DefaultUnder:Notify:A] Running Loop=1
2020-01-23T19:45:12.702Z,1579808712.702 [DefaultUnder:Notify:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A
2020-01-23T19:45:12.703Z,1579808712.703 [DefaultUnder:Notify:A:A] Running Loop=1
2020-01-23T19:45:12.703Z,1579808712.703 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A:A
2020-01-23T19:45:12.703Z,1579808712.703 [DefaultUnder:Notify:A:A:A.Wait] Running Loop=1
2020-01-23T19:45:12.703Z,1579808712.703 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Initialize Wait Component.
2020-01-23T19:45:12.703Z,1579808712.703 [DefaultUnder:C.] Running Loop=1
2020-01-23T19:45:12.703Z,1579808712.703 [DefaultUnder:C.](INFO): Initializing TrackAcousticContact.
2020-01-23T19:45:12.703Z,1579808712.703 [DefaultUnder:E.Wait] Running Loop=1
2020-01-23T19:45:12.703Z,1579808712.703 [DefaultUnder:E.Wait](DEBUG): Initialize Wait Component.
2020-01-23T19:45:12.704Z,1579808712.704 [DefaultUnder:uModemComms:CheckIn] Running Loop=1
2020-01-23T19:45:12.704Z,1579808712.704 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::initialize DefaultUnder:uModemComms:CheckIn
2020-01-23T19:45:12.704Z,1579808712.704 [DefaultUnder:uModemComms:CheckIn:A] Running Loop=1
2020-01-23T19:45:13.350Z,1579808713.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.8 s old, using for 20.0 s.
2020-01-23T19:45:13.350Z,1579808713.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:13.351Z,1579808713.351 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000000.000844
2020-01-23T19:45:13.709Z,1579808713.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.1 s old, using for 20.0 s.
2020-01-23T19:45:13.709Z,1579808713.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:13.710Z,1579808713.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000000.001215
2020-01-23T19:45:14.127Z,1579808714.127 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.5 s old, using for 20.0 s.
2020-01-23T19:45:14.128Z,1579808714.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:14.133Z,1579808714.133 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000000.001572
2020-01-23T19:45:14.532Z,1579808714.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.9 s old, using for 20.0 s.
2020-01-23T19:45:14.532Z,1579808714.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:14.537Z,1579808714.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000000.001848
2020-01-23T19:45:14.922Z,1579808714.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 12.3 s old, using for 20.0 s.
2020-01-23T19:45:14.922Z,1579808714.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:14.923Z,1579808714.923 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000000.002065
2020-01-23T19:45:15.340Z,1579808715.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 12.7 s old, using for 20.0 s.
2020-01-23T19:45:15.340Z,1579808715.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:15.341Z,1579808715.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000000.002253
2020-01-23T19:45:15.681Z,1579808715.681 [DataOverHttps](INFO): Sending 740 bytes from file Logs/20200123T192007/Express0001.lzma
2020-01-23T19:45:15.742Z,1579808715.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 13.1 s old, using for 20.0 s.
2020-01-23T19:45:15.742Z,1579808715.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:15.743Z,1579808715.743 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000000.002399
2020-01-23T19:45:16.157Z,1579808716.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 13.6 s old, using for 20.0 s.
2020-01-23T19:45:16.157Z,1579808716.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:16.158Z,1579808716.158 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000000.002521
2020-01-23T19:45:16.546Z,1579808716.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 13.9 s old, using for 20.0 s.
2020-01-23T19:45:16.547Z,1579808716.547 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:16.548Z,1579808716.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000000.002614
2020-01-23T19:45:16.956Z,1579808716.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 14.4 s old, using for 20.0 s.
2020-01-23T19:45:16.956Z,1579808716.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:16.957Z,1579808716.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000000.002694
2020-01-23T19:45:17.358Z,1579808717.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 14.8 s old, using for 20.0 s.
2020-01-23T19:45:17.358Z,1579808717.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:17.359Z,1579808717.359 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000000.002757
2020-01-23T19:45:17.686Z,1579808717.686 [DataOverHttps](INFO): Moved sent file to Logs/20200123T192007/Express0001.lzma.bak
2020-01-23T19:45:17.686Z,1579808717.686 [DataOverHttps](INFO): SBD MOMSN=12199146
2020-01-23T19:45:17.786Z,1579808717.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 15.2 s old, using for 20.0 s.
2020-01-23T19:45:17.786Z,1579808717.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:17.787Z,1579808717.787 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000000.002811
2020-01-23T19:45:18.172Z,1579808718.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 15.6 s old, using for 20.0 s.
2020-01-23T19:45:18.172Z,1579808718.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:18.185Z,1579808718.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000000.002851
2020-01-23T19:45:18.556Z,1579808718.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 16.0 s old, using for 20.0 s.
2020-01-23T19:45:18.556Z,1579808718.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:18.557Z,1579808718.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000000.002882
2020-01-23T19:45:18.982Z,1579808718.982 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 16.4 s old, using for 20.0 s.
2020-01-23T19:45:18.983Z,1579808718.983 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:18.984Z,1579808718.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000000.002911
2020-01-23T19:45:19.361Z,1579808719.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 16.8 s old, using for 20.0 s.
2020-01-23T19:45:19.361Z,1579808719.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:19.362Z,1579808719.362 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000000.002932
2020-01-23T19:45:19.770Z,1579808719.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 17.2 s old, using for 20.0 s.
2020-01-23T19:45:19.770Z,1579808719.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:19.771Z,1579808719.771 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000000.002950
2020-01-23T19:45:20.187Z,1579808720.187 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 17.6 s old, using for 20.0 s.
2020-01-23T19:45:20.187Z,1579808720.187 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:20.188Z,1579808720.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000000.002965
2020-01-23T19:45:20.595Z,1579808720.595 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 18.0 s old, using for 20.0 s.
2020-01-23T19:45:20.595Z,1579808720.595 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:20.596Z,1579808720.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000000.002977
2020-01-23T19:45:21.019Z,1579808721.019 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 18.4 s old, using for 20.0 s.
2020-01-23T19:45:21.020Z,1579808721.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:21.025Z,1579808721.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000000.002987
2020-01-23T19:45:21.401Z,1579808721.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 18.8 s old, using for 20.0 s.
2020-01-23T19:45:21.401Z,1579808721.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:21.402Z,1579808721.402 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000000.002994
2020-01-23T19:45:21.809Z,1579808721.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 19.2 s old, using for 20.0 s.
2020-01-23T19:45:21.809Z,1579808721.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:21.810Z,1579808721.810 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000000.003000
2020-01-23T19:45:22.218Z,1579808722.218 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 19.6 s old, using for 20.0 s.
2020-01-23T19:45:22.218Z,1579808722.218 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:22.219Z,1579808722.219 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000000.003005
2020-01-23T19:45:22.601Z,1579808722.601 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 20.0 s old, using for 20.0 s.
2020-01-23T19:45:22.601Z,1579808722.601 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:22.602Z,1579808722.602 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000000.003009
2020-01-23T19:45:22.983Z,1579808722.983 [CommandLine](IMPORTANT): got command restart application
2020-01-23T19:45:23.042Z,1579808723.042 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:23.043Z,1579808723.043 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000000.093250
2020-01-23T19:45:23.429Z,1579808723.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:23.430Z,1579808723.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000000.170726
2020-01-23T19:45:23.841Z,1579808723.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:23.842Z,1579808723.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000000.254123
2020-01-23T19:45:23.989Z,1579808723.989 [Supervisor](INFO): Stop Mission called by Supervisor::terminate
2020-01-23T19:45:23.990Z,1579808723.990 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-23T19:45:23.991Z,1579808723.991 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:45:24.033Z,1579808724.033 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2020-01-23T19:45:24.033Z,1579808724.033 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:45:24.034Z,1579808724.034 [CommandLine](INFO): Join timeout helper Thread ID is 1117
2020-01-23T19:45:24.041Z,1579808724.041 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2020-01-23T19:45:24.041Z,1579808724.041 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:45:24.041Z,1579808724.041 [NavChartDb](INFO): Join timeout helper Thread ID is 1118
2020-01-23T19:45:24.253Z,1579808724.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:24.254Z,1579808724.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000000.338473
2020-01-23T19:45:24.337Z,1579808724.337 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-23T19:45:24.337Z,1579808724.337 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:45:24.357Z,1579808724.357 [ComponentRegistry](INFO): Shutting down WetLabsSeaOWL_UV_A ThreadHandler
2020-01-23T19:45:24.357Z,1579808724.357 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:45:24.357Z,1579808724.357 [WetLabsSeaOWL_UV_A](INFO): Join timeout helper Thread ID is 1119
2020-01-23T19:45:24.377Z,1579808724.377 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-23T19:45:24.377Z,1579808724.377 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-01-23T19:45:24.378Z,1579808724.378 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:45:24.398Z,1579808724.398 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2020-01-23T19:45:24.398Z,1579808724.398 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:45:24.398Z,1579808724.398 [CTD_NeilBrown](INFO): Join timeout helper Thread ID is 1120
2020-01-23T19:45:24.501Z,1579808724.501 [CTD_NeilBrown ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-23T19:45:24.501Z,1579808724.501 [CTD_NeilBrown](INFO): Powering down
2020-01-23T19:45:24.513Z,1579808724.513 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:45:24.525Z,1579808724.525 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2020-01-23T19:45:24.525Z,1579808724.525 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:45:24.525Z,1579808724.525 [Radio_Surface](INFO): Join timeout helper Thread ID is 1121
2020-01-23T19:45:24.618Z,1579808724.618 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:24.619Z,1579808724.619 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000000.412272
2020-01-23T19:45:24.917Z,1579808724.917 [Radio_Surface](INFO): Powering down
2020-01-23T19:45:24.918Z,1579808724.918 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-23T19:45:24.918Z,1579808724.918 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:45:24.934Z,1579808724.934 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2020-01-23T19:45:24.934Z,1579808724.934 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:45:24.934Z,1579808724.934 [DataOverHttps](INFO): Join timeout helper Thread ID is 1122
2020-01-23T19:45:25.026Z,1579808725.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:25.027Z,1579808725.027 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000000.495035
2020-01-23T19:45:25.424Z,1579808725.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T19:45:25.445Z,1579808725.445 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000000.575496
2020-01-23T19:45:25.469Z,1579808725.469 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-23T19:45:25.474Z,1579808725.474 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:45:25.478Z,1579808725.478 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2020-01-23T19:45:25.478Z,1579808725.478 [logger ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:45:25.479Z,1579808725.479 [logger](INFO): Join timeout helper Thread ID is 1123
2020-01-23T19:45:25.479Z,1579808725.479 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-23T19:45:25.479Z,1579808725.479 [logger ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:45:25.498Z,1579808725.498 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2020-01-23T19:45:25.498Z,1579808725.498 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:45:25.498Z,1579808725.498 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2020-01-23T19:45:25.498Z,1579808725.498 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:45:25.498Z,1579808725.498 [controlThread](INFO): Join timeout helper Thread ID is 1124
2020-01-23T19:45:25.785Z,1579808725.785 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-23T19:45:25.785Z,1579808725.785 [controlThread](DEBUG): Uninitializing ControlThread
2020-01-23T19:45:25.786Z,1579808725.786 [AHRS_M2](INFO): Powering down
2020-01-23T19:45:25.857Z,1579808725.857 [DDM](INFO): Powering down
2020-01-23T19:45:25.949Z,1579808725.949 [DUSBL_Hydroid](INFO): Powering down
2020-01-23T19:45:26.021Z,1579808726.021 [Micromodem](INFO): Powering down
2020-01-23T19:45:26.117Z,1579808726.117 [NAL9602](INFO): Powering down
2020-01-23T19:45:26.189Z,1579808726.189 [RDI_Pathfinder](INFO): Powering down
2020-01-23T19:45:26.190Z,1579808726.190 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2020-01-23T19:45:26.191Z,1579808726.191 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2020-01-23T19:45:26.192Z,1579808726.192 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2020-01-23T19:45:26.192Z,1579808726.192 [MissionManager](INFO): Uninitializing Mission DefaultUnder
2020-01-23T19:45:26.192Z,1579808726.192 [DefaultUnder] Stopped
2020-01-23T19:45:26.192Z,1579808726.192 [DefaultUnder](DEBUG): Aggregate::uninitialize DefaultUnder
2020-01-23T19:45:26.192Z,1579808726.192 [DefaultUnder:uModemComms] Stopped
2020-01-23T19:45:26.193Z,1579808726.193 [DefaultUnder:uModemComms](DEBUG): Aggregate::uninitialize DefaultUnder:uModemComms
2020-01-23T19:45:26.193Z,1579808726.193 [DefaultUnder:uModemComms:CheckIn] Stopped
2020-01-23T19:45:26.193Z,1579808726.193 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::uninitialize DefaultUnder:uModemComms:CheckIn
2020-01-23T19:45:26.193Z,1579808726.193 [DefaultUnder:uModemComms:CheckIn:A] Stopped
2020-01-23T19:45:26.193Z,1579808726.193 [DefaultUnder:Notify] Stopped
2020-01-23T19:45:26.193Z,1579808726.193 [DefaultUnder:Notify](DEBUG): Aggregate::uninitialize DefaultUnder:Notify
2020-01-23T19:45:26.193Z,1579808726.193 [DefaultUnder:Notify:A] Stopped
2020-01-23T19:45:26.193Z,1579808726.193 [DefaultUnder:Notify:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A
2020-01-23T19:45:26.193Z,1579808726.193 [DefaultUnder:Notify:A:A] Stopped
2020-01-23T19:45:26.193Z,1579808726.193 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A:A
2020-01-23T19:45:26.193Z,1579808726.193 [DefaultUnder:Notify:A:A:A.Wait] Stopped
2020-01-23T19:45:26.194Z,1579808726.194 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-23T19:45:26.194Z,1579808726.194 [DefaultUnder:C.] Stopped
2020-01-23T19:45:26.194Z,1579808726.194 [DefaultUnder:E.Wait] Stopped
2020-01-23T19:45:26.194Z,1579808726.194 [DefaultUnder:E.Wait](DEBUG): Uninitialize Wait Component.
2020-01-23T19:45:26.221Z,1579808726.221 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2020-01-23T19:45:26.222Z,1579808726.222 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2020-01-23T19:45:26.222Z,1579808726.222 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2020-01-23T19:45:26.222Z,1579808726.222 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2020-01-23T19:45:26.222Z,1579808726.222 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2020-01-23T19:45:26.222Z,1579808726.222 [BuoyancyServo](INFO): Powering down
2020-01-23T19:45:26.353Z,1579808726.353 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2020-01-23T19:45:26.353Z,1579808726.353 [ElevatorServo](INFO): Powering down
2020-01-23T19:45:26.354Z,1579808726.354 [MassServo](DEBUG): Uninitialize Mass Servo.
2020-01-23T19:45:26.354Z,1579808726.354 [MassServo](INFO): Powering down
2020-01-23T19:45:26.355Z,1579808726.355 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-01-23T19:45:26.355Z,1579808726.355 [RudderServo](INFO): Powering down
2020-01-23T19:45:26.356Z,1579808726.356 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2020-01-23T19:45:26.356Z,1579808726.356 [ThrusterServo](INFO): Powering down
2020-01-23T19:45:26.356Z,1579808726.356 [SBIT](DEBUG): Uninitialize SBIT Component.
2020-01-23T19:45:26.357Z,1579808726.357 [IBIT](DEBUG): Uninitialize IBIT Component.
2020-01-23T19:45:26.357Z,1579808726.357 [CBIT](DEBUG): Uninitialize CBIT Component.
2020-01-23T19:45:26.357Z,1579808726.357 [CBIT](DEBUG): Powering off loads.
2020-01-23T19:45:26.369Z,1579808726.369 [CBIT](DEBUG): Disabling WDT.
2020-01-23T19:45:26.381Z,1579808726.381 [CBIT](DEBUG): Opening all GF detection circuits.
2020-01-23T19:45:26.382Z,1579808726.382 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:45:26.435Z,1579808726.435 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:45:26.446Z,1579808726.446 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:45:26.487Z,1579808726.487 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:45:26.490Z,1579808726.490 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:45:26.547Z,1579808726.547 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-23T19:45:26.609Z,1579808726.609 [logger ThreadHandler](INFO): Thread cancelled.