2020-01-23T20:00:56.128Z,1579809656.128 [Supervisor](DEBUG): Initializing supervisor.
2020-01-23T20:00:56.131Z,1579809656.131 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2020-01-23T20:00:56.132Z,1579809656.132 [SyncHandler](INFO): Protected caller Thread ID is 1411
2020-01-23T20:00:56.132Z,1579809656.132 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2020-01-23T20:00:56.133Z,1579809656.133 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2020-01-23T20:00:56.134Z,1579809656.134 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 1412
2020-01-23T20:00:56.137Z,1579809656.137 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2020-01-23T20:00:56.149Z,1579809656.149 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2020-01-23T20:00:56.150Z,1579809656.150 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2020-01-23T20:00:56.150Z,1579809656.150 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 1413
2020-01-23T20:00:56.151Z,1579809656.151 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2020-01-23T20:00:56.152Z,1579809656.152 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2020-01-23T20:00:56.152Z,1579809656.152 [logger ThreadHandler](INFO): Protected caller Thread ID is 1414
2020-01-23T20:00:56.154Z,1579809656.154 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2020-01-23T20:00:56.154Z,1579809656.154 [Supervisor](INFO): Looking for Config files in directory: Config/
2020-01-23T20:00:56.156Z,1579809656.156 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2020-01-23T20:00:56.586Z,1579809656.586 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2020-01-23T20:00:56.586Z,1579809656.586 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2020-01-23T20:00:56.683Z,1579809656.683 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2020-01-23T20:00:56.683Z,1579809656.683 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2020-01-23T20:00:56.993Z,1579809656.993 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2020-01-23T20:00:56.993Z,1579809656.993 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2020-01-23T20:00:57.129Z,1579809657.129 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2020-01-23T20:00:57.129Z,1579809657.129 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2020-01-23T20:00:57.318Z,1579809657.318 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2020-01-23T20:00:57.319Z,1579809657.319 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2020-01-23T20:00:57.756Z,1579809657.756 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2020-01-23T20:00:57.757Z,1579809657.757 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2020-01-23T20:00:57.963Z,1579809657.963 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2020-01-23T20:00:57.963Z,1579809657.963 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2020-01-23T20:00:58.104Z,1579809658.104 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2020-01-23T20:00:58.105Z,1579809658.105 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2020-01-23T20:00:58.292Z,1579809658.292 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2020-01-23T20:00:58.292Z,1579809658.292 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2020-01-23T20:00:58.386Z,1579809658.386 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2020-01-23T20:00:58.387Z,1579809658.387 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2020-01-23T20:00:58.681Z,1579809658.681 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2020-01-23T20:00:58.681Z,1579809658.681 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2020-01-23T20:00:58.760Z,1579809658.760 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2020-01-23T20:00:58.861Z,1579809658.861 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2020-01-23T20:00:58.862Z,1579809658.862 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2020-01-23T20:00:59.702Z,1579809659.702 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2020-01-23T20:00:59.703Z,1579809659.703 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2020-01-23T20:01:00.303Z,1579809660.303 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2020-01-23T20:01:00.305Z,1579809660.305 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/
2020-01-23T20:01:00.306Z,1579809660.306 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/vehicle.cfg
2020-01-23T20:01:00.880Z,1579809660.880 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Control.cfg
2020-01-23T20:01:01.043Z,1579809661.043 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/BIT.cfg
2020-01-23T20:01:01.140Z,1579809661.140 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Battery.cfg
2020-01-23T20:01:01.365Z,1579809661.365 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2020-01-23T20:01:01.365Z,1579809661.365 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Simulator.cfg
2020-01-23T20:01:01.449Z,1579809661.449 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Navigation.cfg
2020-01-23T20:01:01.540Z,1579809661.540 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/logger.cfg
2020-01-23T20:01:01.636Z,1579809661.636 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/secure.cfg
2020-01-23T20:01:01.718Z,1579809661.718 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Servo.cfg
2020-01-23T20:01:01.823Z,1579809661.823 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/workSite.cfg
2020-01-23T20:01:01.915Z,1579809661.915 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Sensor.cfg
2020-01-23T20:01:02.094Z,1579809662.094 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Science.cfg
2020-01-23T20:01:02.223Z,1579809662.223 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/root/
2020-01-23T20:01:02.223Z,1579809662.223 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2020-01-23T20:01:02.231Z,1579809662.231 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2020-01-23T20:01:02.532Z,1579809662.532 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_orientation
2020-01-23T20:01:02.537Z,1579809662.537 [AHRS_M2](INFO): created writer for : platform_orientation
2020-01-23T20:01:02.539Z,1579809662.539 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_magnetic_orientation
2020-01-23T20:01:02.544Z,1579809662.544 [AHRS_M2](INFO): created writer for : platform_magnetic_orientation
2020-01-23T20:01:02.544Z,1579809662.544 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_pitch_angle
2020-01-23T20:01:02.549Z,1579809662.549 [AHRS_M2](INFO): created writer for : platform_pitch_angle
2020-01-23T20:01:02.550Z,1579809662.550 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_roll_angle
2020-01-23T20:01:02.555Z,1579809662.555 [AHRS_M2](INFO): created writer for : platform_roll_angle
2020-01-23T20:01:02.622Z,1579809662.622 [AHRS_M2] Loaded
2020-01-23T20:01:02.622Z,1579809662.622 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2020-01-23T20:01:02.700Z,1579809662.700 [DataOverHttps] Loaded
2020-01-23T20:01:02.701Z,1579809662.701 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2020-01-23T20:01:02.702Z,1579809662.702 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 407684E0
2020-01-23T20:01:02.702Z,1579809662.702 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 1496
2020-01-23T20:01:02.725Z,1579809662.725 [DDM] Loaded
2020-01-23T20:01:02.725Z,1579809662.725 [ComponentRegistry](DEBUG): SyncComponent "DDM" handled in the control thread.
2020-01-23T20:01:02.738Z,1579809662.738 [Depth_Keller] Loaded
2020-01-23T20:01:02.738Z,1579809662.738 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2020-01-23T20:01:02.742Z,1579809662.742 [DropWeight] Loaded
2020-01-23T20:01:02.743Z,1579809662.743 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2020-01-23T20:01:02.801Z,1579809662.801 [DUSBL_Hydroid] Loaded
2020-01-23T20:01:02.801Z,1579809662.801 [ComponentRegistry](DEBUG): SyncComponent "DUSBL_Hydroid" handled in the control thread.
2020-01-23T20:01:02.845Z,1579809662.845 [Micromodem] Loaded
2020-01-23T20:01:02.845Z,1579809662.845 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2020-01-23T20:01:02.938Z,1579809662.938 [NAL9602] Loaded
2020-01-23T20:01:02.938Z,1579809662.938 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2020-01-23T20:01:02.975Z,1579809662.975 [Onboard] Loaded
2020-01-23T20:01:02.976Z,1579809662.976 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2020-01-23T20:01:02.981Z,1579809662.981 [PowerOnly] Loaded
2020-01-23T20:01:02.981Z,1579809662.981 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2020-01-23T20:01:02.987Z,1579809662.987 [Radio_Surface] Loaded
2020-01-23T20:01:02.988Z,1579809662.988 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2020-01-23T20:01:02.989Z,1579809662.989 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 407984E0
2020-01-23T20:01:02.989Z,1579809662.989 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 1497
2020-01-23T20:01:03.030Z,1579809663.030 [RDI_Pathfinder] Loaded
2020-01-23T20:01:03.030Z,1579809663.030 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2020-01-23T20:01:04.438Z,1579809664.438 [BPC1] Loaded
2020-01-23T20:01:04.438Z,1579809664.438 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2020-01-23T20:01:04.439Z,1579809664.439 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2020-01-23T20:01:04.439Z,1579809664.439 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2020-01-23T20:01:04.452Z,1579809664.452 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2020-01-23T20:01:04.453Z,1579809664.453 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2020-01-23T20:01:04.565Z,1579809664.565 [DeadReckonUsingMultipleVelocitySources] Loaded
2020-01-23T20:01:04.565Z,1579809664.565 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2020-01-23T20:01:04.584Z,1579809664.584 [NavChart] Loaded
2020-01-23T20:01:04.585Z,1579809664.585 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2020-01-23T20:01:04.588Z,1579809664.588 [UniversalFixResidualReporter] Loaded
2020-01-23T20:01:04.589Z,1579809664.589 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2020-01-23T20:01:04.589Z,1579809664.589 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2020-01-23T20:01:04.590Z,1579809664.590 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2020-01-23T20:01:04.693Z,1579809664.693 [BuoyancyServo] Loaded
2020-01-23T20:01:04.693Z,1579809664.693 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2020-01-23T20:01:04.707Z,1579809664.707 [ElevatorServo] Loaded
2020-01-23T20:01:04.708Z,1579809664.708 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2020-01-23T20:01:04.722Z,1579809664.722 [MassServo] Loaded
2020-01-23T20:01:04.722Z,1579809664.722 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2020-01-23T20:01:04.736Z,1579809664.736 [RudderServo] Loaded
2020-01-23T20:01:04.737Z,1579809664.737 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2020-01-23T20:01:04.750Z,1579809664.750 [ThrusterServo] Loaded
2020-01-23T20:01:04.751Z,1579809664.751 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2020-01-23T20:01:04.751Z,1579809664.751 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2020-01-23T20:01:04.752Z,1579809664.752 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2020-01-23T20:01:04.999Z,1579809664.999 [CTD_NeilBrown] Loaded
2020-01-23T20:01:04.999Z,1579809664.999 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2020-01-23T20:01:05.000Z,1579809665.000 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 408EC4E0
2020-01-23T20:01:05.001Z,1579809665.001 [CTD_NeilBrown ThreadHandler](INFO): Protected caller Thread ID is 1498
2020-01-23T20:01:05.014Z,1579809665.014 [PAR_Licor] Loaded
2020-01-23T20:01:05.015Z,1579809665.015 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2020-01-23T20:01:05.056Z,1579809665.056 [WetLabsSeaOWL_UV_A] Loaded
2020-01-23T20:01:05.056Z,1579809665.056 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2020-01-23T20:01:05.057Z,1579809665.057 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 4091C4E0
2020-01-23T20:01:05.058Z,1579809665.058 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 1499
2020-01-23T20:01:05.058Z,1579809665.058 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2020-01-23T20:01:05.059Z,1579809665.059 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2020-01-23T20:01:05.518Z,1579809665.518 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2020-01-23T20:01:05.519Z,1579809665.519 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2020-01-23T20:01:05.640Z,1579809665.640 [DepthRateCalculator] Loaded
2020-01-23T20:01:05.640Z,1579809665.640 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2020-01-23T20:01:05.762Z,1579809665.762 [PitchRateCalculator] Loaded
2020-01-23T20:01:05.762Z,1579809665.762 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2020-01-23T20:01:05.789Z,1579809665.789 [SpeedCalculator] Loaded
2020-01-23T20:01:05.789Z,1579809665.789 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2020-01-23T20:01:05.841Z,1579809665.841 [TempGradientCalculator] Loaded
2020-01-23T20:01:05.841Z,1579809665.841 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2020-01-23T20:01:05.846Z,1579809665.846 [YawRateCalculator] Loaded
2020-01-23T20:01:05.846Z,1579809665.846 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2020-01-23T20:01:05.885Z,1579809665.885 [ElevatorOffsetCalculator] Loaded
2020-01-23T20:01:05.886Z,1579809665.886 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2020-01-23T20:01:05.886Z,1579809665.886 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2020-01-23T20:01:05.886Z,1579809665.886 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2020-01-23T20:01:06.042Z,1579809666.042 [SBIT](DEBUG): Construct Startup Built In Test.
2020-01-23T20:01:06.062Z,1579809666.062 [SBIT] Loaded
2020-01-23T20:01:06.063Z,1579809666.063 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2020-01-23T20:01:06.063Z,1579809666.063 [IBIT](DEBUG): Construct Initiated Built In Test.
2020-01-23T20:01:06.075Z,1579809666.075 [IBIT] Loaded
2020-01-23T20:01:06.076Z,1579809666.076 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2020-01-23T20:01:06.079Z,1579809666.079 [CBIT](DEBUG): Construct Continuous Built In Test.
2020-01-23T20:01:06.210Z,1579809666.210 [CBIT] Loaded
2020-01-23T20:01:06.210Z,1579809666.210 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2020-01-23T20:01:06.211Z,1579809666.211 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2020-01-23T20:01:06.211Z,1579809666.211 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2020-01-23T20:01:06.290Z,1579809666.290 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2020-01-23T20:01:06.290Z,1579809666.290 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2020-01-23T20:01:06.384Z,1579809666.384 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2020-01-23T20:01:06.385Z,1579809666.385 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2020-01-23T20:01:06.431Z,1579809666.431 [VerticalControl](DEBUG): Construct VerticalControl.
2020-01-23T20:01:06.511Z,1579809666.511 [VerticalControl] Loaded
2020-01-23T20:01:06.511Z,1579809666.511 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2020-01-23T20:01:06.512Z,1579809666.512 [HorizontalControl](DEBUG): Construct HorizontalControl.
2020-01-23T20:01:06.578Z,1579809666.578 [HorizontalControl] Loaded
2020-01-23T20:01:06.578Z,1579809666.578 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2020-01-23T20:01:06.579Z,1579809666.579 [SpeedControl](DEBUG): Construct SpeedControl.
2020-01-23T20:01:06.580Z,1579809666.580 [SpeedControl] Loaded
2020-01-23T20:01:06.580Z,1579809666.580 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2020-01-23T20:01:06.581Z,1579809666.581 [LoopControl](DEBUG): Construct LoopControl.
2020-01-23T20:01:06.582Z,1579809666.582 [LoopControl] Loaded
2020-01-23T20:01:06.582Z,1579809666.582 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2020-01-23T20:01:06.582Z,1579809666.582 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2020-01-23T20:01:06.583Z,1579809666.583 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2020-01-23T20:01:06.614Z,1579809666.614 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2020-01-23T20:01:06.618Z,1579809666.618 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2020-01-23T20:01:06.618Z,1579809666.618 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2020-01-23T20:01:06.625Z,1579809666.625 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2020-01-23T20:01:06.626Z,1579809666.626 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40AFC4E0
2020-01-23T20:01:06.626Z,1579809666.626 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 1500
2020-01-23T20:01:06.631Z,1579809666.631 [Supervisor](INFO): Main Thread ID is 870
2020-01-23T20:01:06.631Z,1579809666.631 [Supervisor](DEBUG): Running supervisor.
2020-01-23T20:01:06.632Z,1579809666.632 [CommandLine ThreadHandler](INFO): Handler Thread ID is 1501
2020-01-23T20:01:06.634Z,1579809666.634 [controlThread ThreadHandler](INFO): Handler Thread ID is 1502
2020-01-23T20:01:06.634Z,1579809666.634 [controlThread](DEBUG): Initializing ControlThread
2020-01-23T20:01:06.640Z,1579809666.640 [DeadReckonUsingMultipleVelocitySources](INFO): Will consider orientation measurement stale after 120s.
2020-01-23T20:01:06.641Z,1579809666.641 [DeadReckonUsingMultipleVelocitySources](INFO): Will consider velocity measurement stale after 20s.
2020-01-23T20:01:06.641Z,1579809666.641 [NavChart](DEBUG): Initialize NavChart Navigation.
2020-01-23T20:01:06.642Z,1579809666.642 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2020-01-23T20:01:06.645Z,1579809666.645 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2020-01-23T20:01:06.646Z,1579809666.646 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2020-01-23T20:01:06.646Z,1579809666.646 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2020-01-23T20:01:06.646Z,1579809666.646 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2020-01-23T20:01:06.647Z,1579809666.647 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2020-01-23T20:01:06.647Z,1579809666.647 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2020-01-23T20:01:06.648Z,1579809666.648 [SBIT](INFO): Initialize SBIT Component.
2020-01-23T20:01:06.648Z,1579809666.648 [SBIT](IMPORTANT): git: 2019-12-03-78-gb92fbb9
2020-01-23T20:01:06.648Z,1579809666.648 [SBIT](INFO): git hash: b92fbb99b4c8d1793352820b784fbd968d0634e4
2020-01-23T20:01:06.649Z,1579809666.649 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2020-01-23T20:01:06.650Z,1579809666.650 [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
2020-01-23T20:01:06.651Z,1579809666.651 [SBIT](INFO): Beginning SBIT in 39.000000 seconds.
2020-01-23T20:01:06.651Z,1579809666.651 [IBIT](INFO): Initialize IBIT Component.
2020-01-23T20:01:06.652Z,1579809666.652 [CBIT](DEBUG): Initialize CBIT Component.
2020-01-23T20:01:06.653Z,1579809666.653 [logger ThreadHandler](INFO): Handler Thread ID is 1503
2020-01-23T20:01:06.665Z,1579809666.665 [CBIT](DEBUG): Initialized mux pins.
2020-01-23T20:01:06.665Z,1579809666.665 [CBIT](DEBUG): Initializing the watchdog timer.
2020-01-23T20:01:06.673Z,1579809666.673 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 1504
2020-01-23T20:01:06.674Z,1579809666.674 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2020-01-23T20:01:06.685Z,1579809666.685 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 1505
2020-01-23T20:01:06.689Z,1579809666.689 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2020-01-23T20:01:06.689Z,1579809666.689 [CBIT](DEBUG): Initializing heartbeat.
2020-01-23T20:01:06.697Z,1579809666.697 [CTD_NeilBrown ThreadHandler](INFO): Handler Thread ID is 1506
2020-01-23T20:01:06.698Z,1579809666.698 [CTD_NeilBrown](INFO): Powering down
2020-01-23T20:01:06.725Z,1579809666.725 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 1507
2020-01-23T20:01:06.726Z,1579809666.726 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-01-23T20:01:06.753Z,1579809666.753 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 1508
2020-01-23T20:01:06.756Z,1579809666.756 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2020-01-23T20:01:06.756Z,1579809666.756 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2020-01-23T20:01:06.756Z,1579809666.756 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2020-01-23T20:01:06.757Z,1579809666.757 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2020-01-23T20:01:06.757Z,1579809666.757 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2020-01-23T20:01:06.757Z,1579809666.757 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2020-01-23T20:01:06.757Z,1579809666.757 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2020-01-23T20:01:06.757Z,1579809666.757 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2020-01-23T20:01:06.758Z,1579809666.758 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2020-01-23T20:01:06.758Z,1579809666.758 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2020-01-23T20:01:06.758Z,1579809666.758 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2020-01-23T20:01:06.758Z,1579809666.758 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2020-01-23T20:01:06.758Z,1579809666.758 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2020-01-23T20:01:06.758Z,1579809666.758 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2020-01-23T20:01:06.758Z,1579809666.758 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2020-01-23T20:01:06.759Z,1579809666.759 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2020-01-23T20:01:06.761Z,1579809666.761 [CBIT](DEBUG): Deactivating GF circuits.
2020-01-23T20:01:06.761Z,1579809666.761 [CBIT](DEBUG): Deactivating emergency mode.
2020-01-23T20:01:06.797Z,1579809666.797 [CBIT](DEBUG): Backplane powered.
2020-01-23T20:01:06.797Z,1579809666.797 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2020-01-23T20:01:06.799Z,1579809666.799 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2020-01-23T20:01:06.800Z,1579809666.800 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2020-01-23T20:01:06.800Z,1579809666.800 [LoopControl](DEBUG): Initialize LoopControlComponent.
2020-01-23T20:01:06.801Z,1579809666.801 [MissionManager](INFO): Loading Mission: Missions/underIce/StartupUnder.xml
2020-01-23T20:01:06.807Z,1579809666.807 [MissionManager](ERROR): Top node has no child nodes: Mission
2020-01-23T20:01:06.807Z,1579809666.807 [MissionManager](ERROR): Could not load startup mission.
2020-01-23T20:01:06.807Z,1579809666.807 [MissionManager](INFO): Loading Mission: Missions/underIce/DefaultUnder.xml
2020-01-23T20:01:07.035Z,1579809667.035 [MissionManager](INFO): DefineArg DefaultUnder.uModemCommsInterval = 5.000000 min
2020-01-23T20:01:07.054Z,1579809667.054 [MissionManager](INFO): DefineArg DefaultUnder.TransponderCode = 2.000000 count
2020-01-23T20:01:07.058Z,1579809667.058 [MissionManager](INFO): DefineArg DefaultUnder.AcousticUpdatePeriod = 60.000000 s
2020-01-23T20:01:07.077Z,1579809667.077 [MissionManager](INFO): DefineArg DefaultUnder.DockingAcousticUpdatePeriod = 2.500000 s
2020-01-23T20:01:07.080Z,1579809667.080 [MissionManager](INFO): DefineArg DefaultUnder.NumberOfPings = 1.000000 count
2020-01-23T20:01:07.084Z,1579809667.084 [MissionManager](INFO): DefineOutput DefaultUnder.TrackingUpdatePeriod = 60.000000 n/a
2020-01-23T20:01:07.089Z,1579809667.089 [Radio_Surface](INFO): Powering up
2020-01-23T20:01:07.107Z,1579809667.107 [MissionManager](INFO): DefineOutput DefaultUnder.Surface = -1.000000 count
2020-01-23T20:01:07.111Z,1579809667.111 [MissionManager](INFO): DefineOutput DefaultUnder.Docked = 0.000000 count
2020-01-23T20:01:07.128Z,1579809667.128 [MissionManager](INFO): DefineOutput DefaultUnder.Home = 1.000000 count
2020-01-23T20:01:07.132Z,1579809667.132 [MissionManager](INFO): DefineOutput DefaultUnder.DefaultMode = 0.000000 n/a
2020-01-23T20:01:07.167Z,1579809667.167 [MissionManager](INFO): DefineOutput DefaultUnder.CaptureMode = -1.000000 count
2020-01-23T20:01:07.170Z,1579809667.170 [MissionManager](INFO): DefineOutput DefaultUnder.ElapsedSinceDefaultStarted = 0.000000 min
2020-01-23T20:01:07.188Z,1579809667.188 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Construct Wait.
2020-01-23T20:01:07.214Z,1579809667.214 [DefaultUnder:Notify:A:C.Execute](DEBUG): Construct Execute.
2020-01-23T20:01:07.435Z,1579809667.435 [MissionManager](INFO): Inserting Stack: Missions/Insert/LineCapture.xml
2020-01-23T20:01:07.950Z,1579809667.950 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockDepth = 6.000000 _
2020-01-23T20:01:07.963Z,1579809667.963 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockLat = 0.642341 _
2020-01-23T20:01:07.967Z,1579809667.967 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockLon = -2.126200 _
2020-01-23T20:01:07.998Z,1579809667.998 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DetachRange = 8.000000 m
2020-01-23T20:01:08.001Z,1579809668.001 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DetachTimeout = 30.000000 min
2020-01-23T20:01:08.004Z,1579809668.004 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MidcourseDepth = 15.000000 m
2020-01-23T20:01:08.028Z,1579809668.028 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MidcourseSpeed = 1.000000 m/s
2020-01-23T20:01:08.031Z,1579809668.031 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MidcourseTimeout = 12.000000 h
2020-01-23T20:01:08.046Z,1579809668.046 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.TerminalRange = 650.000000 m
2020-01-23T20:01:08.050Z,1579809668.050 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.ArmRange = 40.000000 m
2020-01-23T20:01:08.073Z,1579809668.073 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockRange = 2.000000 m
2020-01-23T20:01:08.077Z,1579809668.077 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DockTimeout = 60.000000 s
2020-01-23T20:01:08.080Z,1579809668.080 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.RolloutDistance = 250.000000 m
2020-01-23T20:01:08.099Z,1579809668.099 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.UpdateNav = 1 bool
2020-01-23T20:01:08.102Z,1579809668.102 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.AcousticTimeout = 10.000000 min
2020-01-23T20:01:08.122Z,1579809668.122 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.TerminalSpeed = 0.800000 m/s
2020-01-23T20:01:08.127Z,1579809668.127 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.SearchTimeout = 60.000000 min
2020-01-23T20:01:08.131Z,1579809668.131 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.CircleRadius = 300.000000 m
2020-01-23T20:01:08.158Z,1579809668.158 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.CircleMaxError = 100.000000 m
2020-01-23T20:01:08.161Z,1579809668.161 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.CircleTurnToPort = 0 bool
2020-01-23T20:01:08.181Z,1579809668.181 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.DepthDeadband = 0.010000 m
2020-01-23T20:01:08.184Z,1579809668.184 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.RudderDeadband = 0.001000 arcdeg
2020-01-23T20:01:08.188Z,1579809668.188 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MinAltitude = 5.000000 m
2020-01-23T20:01:08.211Z,1579809668.211 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MaxDepth = 205.000000 m
2020-01-23T20:01:08.226Z,1579809668.226 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.MinOffshore = 500.000000 m
2020-01-23T20:01:08.230Z,1579809668.230 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Depth = 15.000000 n/a
2020-01-23T20:01:08.253Z,1579809668.253 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Speed = 1.000000 n/a
2020-01-23T20:01:08.257Z,1579809668.257 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.DoneTimeout = -1.000000 count
2020-01-23T20:01:08.260Z,1579809668.260 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Done = 0.000000 count
2020-01-23T20:01:08.280Z,1579809668.280 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.DetachFromDock = 1.000000 count
2020-01-23T20:01:08.283Z,1579809668.283 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Midcourse = 2.000000 count
2020-01-23T20:01:08.310Z,1579809668.310 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.Terminal = 3.000000 count
2020-01-23T20:01:08.314Z,1579809668.314 [MissionManager](INFO): DefineOutput DefaultUnder:LineCapture.GuidanceMode = 1.000000 n/a
2020-01-23T20:01:08.330Z,1579809668.330 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.ElapsedRange = 0.000000 min
2020-01-23T20:01:08.333Z,1579809668.333 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture.Range = nan m
2020-01-23T20:01:08.335Z,1579809668.335 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2020-01-23T20:01:08.380Z,1579809668.380 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2020-01-23T20:01:08.400Z,1579809668.400 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2020-01-23T20:01:08.403Z,1579809668.403 [MissionManager](INFO): DefineArg DefaultUnder:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2020-01-23T20:01:08.404Z,1579809668.404 [DefaultUnder:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2020-01-23T20:01:08.431Z,1579809668.431 [DefaultUnder:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-01-23T20:01:08.459Z,1579809668.459 [DefaultUnder:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2020-01-23T20:01:08.515Z,1579809668.515 [DefaultUnder:LineCapture:H.Mass](DEBUG): Construct.
2020-01-23T20:01:08.539Z,1579809668.539 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:B.Buoyancy](DEBUG): Construct Buoyancy.
2020-01-23T20:01:08.563Z,1579809668.563 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:C.SetSpeed](DEBUG): Construct.
2020-01-23T20:01:08.566Z,1579809668.566 [DefaultUnder:LineCapture:DiveCmd:Guided:dive:D.Pitch](DEBUG): Construct.
2020-01-23T20:01:08.581Z,1579809668.581 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed](DEBUG): Construct.
2020-01-23T20:01:08.584Z,1579809668.584 [DefaultUnder:LineCapture:DiveCmd:DriftAwayFromDock:dive:B.Pitch](DEBUG): Construct.
2020-01-23T20:01:08.640Z,1579809668.640 [DefaultUnder:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2020-01-23T20:01:08.688Z,1579809668.688 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2020-01-23T20:01:08.739Z,1579809668.739 [DefaultUnder:LineCapture:HomingSequence:MidcourseGuidance:guide:G.Circle](DEBUG): Construct.
2020-01-23T20:01:08.813Z,1579809668.813 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2020-01-23T20:01:08.845Z,1579809668.845 [DefaultUnder:LineCapture:HomingSequence:TerminalGuidance:guide:H.LineCapture](DEBUG): Construct.
2020-01-23T20:01:08.868Z,1579809668.868 [DefaultUnder:LineCapture:K.Wait](DEBUG): Construct Wait.
2020-01-23T20:01:08.882Z,1579809668.882 [DefaultUnder:E.Wait](DEBUG): Construct Wait.
2020-01-23T20:01:08.888Z,1579809668.888 [DefaultUnder:Default:Docked:run:B.Docked](DEBUG): Construct.
2020-01-23T20:01:08.958Z,1579809668.958 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): Construct GoToSurface.
2020-01-23T20:01:09.005Z,1579809669.005 [DefaultUnder:Default:Surface:run:SurfaceComms:Read_Iridium_uModem:A_Timeout:A.Execute](DEBUG): Construct Execute.
2020-01-23T20:01:09.008Z,1579809669.008 [DefaultUnder:Default:Surface:run:SurfaceComms:C.Wait](DEBUG): Construct Wait.
2020-01-23T20:01:09.077Z,1579809669.077 [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>


2020-01-23T20:01:09.082Z,1579809669.082 [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,
2020-01-23T20:01:09.101Z,1579809669.101 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2020-01-23T20:01:09.133Z,1579809669.133 [DDM](INFO): Powering up
2020-01-23T20:01:09.133Z,1579809669.133 [DDM](DEBUG): Initializing DDM.
2020-01-23T20:01:09.158Z,1579809669.158 [Depth_Keller](ERROR): Pressure reading out of range: 1913.424561 decibar
2020-01-23T20:01:09.158Z,1579809669.158 [DUSBL_Hydroid](INFO): Powering up
2020-01-23T20:01:09.159Z,1579809669.159 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2020-01-23T20:01:09.357Z,1579809669.357 [DepthRateCalculator](ERROR): Depth measurement is not active
2020-01-23T20:01:09.359Z,1579809669.359 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2020-01-23T20:01:09.360Z,1579809669.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): All data for platform velocity is invalid.
2020-01-23T20:01:09.360Z,1579809669.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:09.363Z,1579809669.363 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-23T20:01:09.382Z,1579809669.382 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2020-01-23T20:01:09.389Z,1579809669.389 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2020-01-23T20:01:09.390Z,1579809669.390 [ElevatorServo](DEBUG): Initializing EZServoServo.
2020-01-23T20:01:09.397Z,1579809669.397 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2020-01-23T20:01:09.398Z,1579809669.398 [MassServo](DEBUG): Initializing EZServoServo.
2020-01-23T20:01:09.405Z,1579809669.405 [MassServo](DEBUG): Initializing MassServo.
2020-01-23T20:01:09.406Z,1579809669.406 [RudderServo](DEBUG): Initializing EZServoServo.
2020-01-23T20:01:09.413Z,1579809669.413 [RudderServo](DEBUG): Initializing RudderServo.
2020-01-23T20:01:09.414Z,1579809669.414 [ThrusterServo](DEBUG): Initializing EZServoServo.
2020-01-23T20:01:09.421Z,1579809669.421 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2020-01-23T20:01:09.608Z,1579809669.608 [Micromodem](INFO): Powering up
2020-01-23T20:01:09.609Z,1579809669.609 [Micromodem](DEBUG): Initializing Micromodem.
2020-01-23T20:01:09.648Z,1579809669.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2020-01-23T20:01:09.648Z,1579809669.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): All data for platform velocity is invalid.
2020-01-23T20:01:09.648Z,1579809669.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:09.649Z,1579809669.649 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-23T20:01:09.955Z,1579809669.955 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2020-01-23T20:01:09.956Z,1579809669.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): All data for platform velocity is invalid.
2020-01-23T20:01:09.956Z,1579809669.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:09.957Z,1579809669.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-23T20:01:10.293Z,1579809670.293 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2020-01-23T20:01:10.293Z,1579809670.293 [RudderServo](FAULT): Rudder failed to initialize
2020-01-23T20:01:10.293Z,1579809670.293 [RudderServo] Communications Fault, FailCount= 1
2020-01-23T20:01:10.293Z,1579809670.293 [RudderServo](ERROR): Communications Fault
2020-01-23T20:01:10.404Z,1579809670.404 [CBIT](ERROR): Communications Fault in component: RudderServo
2020-01-23T20:01:10.475Z,1579809670.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2020-01-23T20:01:10.475Z,1579809670.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): All data for platform velocity is invalid.
2020-01-23T20:01:10.475Z,1579809670.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:10.476Z,1579809670.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-23T20:01:10.610Z,1579809670.610 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-01-23T20:01:10.610Z,1579809670.610 [RudderServo](INFO): Powering down
2020-01-23T20:01:10.855Z,1579809670.855 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2020-01-23T20:01:10.855Z,1579809670.855 [DeadReckonUsingMultipleVelocitySources](DEBUG): All data for platform velocity is invalid.
2020-01-23T20:01:10.856Z,1579809670.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:10.857Z,1579809670.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-23T20:01:11.271Z,1579809671.271 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2020-01-23T20:01:11.271Z,1579809671.271 [DeadReckonUsingMultipleVelocitySources](DEBUG): All data for platform velocity is invalid.
2020-01-23T20:01:11.271Z,1579809671.271 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:11.272Z,1579809671.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-23T20:01:11.294Z,1579809671.294 [RudderServo](DEBUG): Initializing EZServoServo.
2020-01-23T20:01:11.414Z,1579809671.414 [RudderServo](DEBUG): Initializing RudderServo.
2020-01-23T20:01:11.418Z,1579809671.418 [CBIT](INFO): Clearing failed state for component RudderServo
2020-01-23T20:01:11.418Z,1579809671.418 [RudderServo] No Fault, FailCount= 1
2020-01-23T20:01:11.663Z,1579809671.663 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2020-01-23T20:01:11.663Z,1579809671.663 [DeadReckonUsingMultipleVelocitySources](DEBUG): All data for platform velocity is invalid.
2020-01-23T20:01:11.664Z,1579809671.664 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:11.664Z,1579809671.664 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-23T20:01:12.075Z,1579809672.075 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2020-01-23T20:01:12.075Z,1579809672.075 [DeadReckonUsingMultipleVelocitySources](DEBUG): All data for platform velocity is invalid.
2020-01-23T20:01:12.081Z,1579809672.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:12.082Z,1579809672.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-23T20:01:12.531Z,1579809672.531 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2020-01-23T20:01:12.531Z,1579809672.531 [DeadReckonUsingMultipleVelocitySources](DEBUG): All data for platform velocity is invalid.
2020-01-23T20:01:12.532Z,1579809672.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:12.533Z,1579809672.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-23T20:01:12.887Z,1579809672.887 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2020-01-23T20:01:12.887Z,1579809672.887 [DeadReckonUsingMultipleVelocitySources](DEBUG): All data for platform velocity is invalid.
2020-01-23T20:01:12.888Z,1579809672.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:12.897Z,1579809672.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-23T20:01:13.305Z,1579809673.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2020-01-23T20:01:13.306Z,1579809673.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:13.307Z,1579809673.307 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000000.000000
2020-01-23T20:01:13.760Z,1579809673.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2020-01-23T20:01:13.760Z,1579809673.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:13.761Z,1579809673.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000000.092029
2020-01-23T20:01:14.131Z,1579809674.131 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2020-01-23T20:01:14.132Z,1579809674.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:14.141Z,1579809674.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000000.167296
2020-01-23T20:01:14.493Z,1579809674.493 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2020-01-23T20:01:14.532Z,1579809674.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2020-01-23T20:01:14.532Z,1579809674.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:14.533Z,1579809674.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000000.248359
2020-01-23T20:01:14.896Z,1579809674.896 [Micromodem](INFO): Nmea in: $CATMG,2020-01-23T20:01:14.322136Z,RTC,RTC*51

2020-01-23T20:01:14.896Z,1579809674.896 [Micromodem](ERROR): CFG response from modem unexpected: $CATMG,2020-01-23T20:01:14.322136Z,RTC,RTC*51

2020-01-23T20:01:14.951Z,1579809674.951 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2020-01-23T20:01:14.952Z,1579809674.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:14.969Z,1579809674.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000000.333349
2020-01-23T20:01:15.303Z,1579809675.303 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2020-01-23T20:01:15.303Z,1579809675.303 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2020-01-23T20:01:15.340Z,1579809675.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2020-01-23T20:01:15.340Z,1579809675.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:15.353Z,1579809675.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000000.411996
2020-01-23T20:01:15.703Z,1579809675.703 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2020-01-23T20:01:15.703Z,1579809675.703 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2020-01-23T20:01:15.755Z,1579809675.755 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2020-01-23T20:01:15.755Z,1579809675.755 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:15.756Z,1579809675.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000000.496039
2020-01-23T20:01:16.111Z,1579809676.111 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2020-01-23T20:01:16.112Z,1579809676.112 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2020-01-23T20:01:16.186Z,1579809676.186 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2020-01-23T20:01:16.186Z,1579809676.186 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:16.187Z,1579809676.187 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000000.583370
2020-01-23T20:01:16.515Z,1579809676.515 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2020-01-23T20:01:16.516Z,1579809676.516 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2020-01-23T20:01:16.553Z,1579809676.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2020-01-23T20:01:16.553Z,1579809676.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:16.554Z,1579809676.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000000.657679
2020-01-23T20:01:16.923Z,1579809676.923 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2020-01-23T20:01:16.923Z,1579809676.923 [Micromodem](INFO): Nmea out: $CCCFG,FC0,10000*46

2020-01-23T20:01:16.977Z,1579809676.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2020-01-23T20:01:16.977Z,1579809676.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:16.978Z,1579809676.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000000.743478
2020-01-23T20:01:17.320Z,1579809677.320 [Micromodem](INFO): Nmea in: $CACFG,FC0,10000*44

2020-01-23T20:01:17.320Z,1579809677.320 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2020-01-23T20:01:17.364Z,1579809677.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2020-01-23T20:01:17.364Z,1579809677.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:17.365Z,1579809677.365 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000000.821837
2020-01-23T20:01:17.728Z,1579809677.728 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2020-01-23T20:01:17.728Z,1579809677.728 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2020-01-23T20:01:17.782Z,1579809677.782 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:17.783Z,1579809677.783 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000000.906360
2020-01-23T20:01:18.103Z,1579809678.103 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2020-01-23T20:01:18.104Z,1579809678.104 [Micromodem](INFO): Nmea out: $CCCLK,2020,01,23,20,01,19*4F

2020-01-23T20:01:18.155Z,1579809678.155 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:18.156Z,1579809678.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000000.982085
2020-01-23T20:01:18.515Z,1579809678.515 [Micromodem](INFO): Nmea in: $CACLK,2020,1,23,20,1,19*4D

2020-01-23T20:01:18.517Z,1579809678.517 [Micromodem](INFO): Nmea in: $CATMS,0,2020-01-23T20:01:20Z*77

2020-01-23T20:01:18.518Z,1579809678.518 [Micromodem](INFO): Nmea in: $CATMG,2020-01-23T20:01:20.026572Z,USER_CMD,RTC*14

2020-01-23T20:01:18.558Z,1579809678.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:18.559Z,1579809678.559 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000001.063596
2020-01-23T20:01:18.945Z,1579809678.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:18.946Z,1579809678.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000001.140322
2020-01-23T20:01:19.414Z,1579809679.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:19.415Z,1579809679.415 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000001.236923
2020-01-23T20:01:19.717Z,1579809679.717 [DDM](INFO): Dynamic Docking Module:
2020-01-23T20:01:19.857Z,1579809679.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:19.858Z,1579809679.858 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000001.326696
2020-01-23T20:01:20.157Z,1579809680.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:20.158Z,1579809680.158 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000001.385758
2020-01-23T20:01:20.602Z,1579809680.602 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:20.603Z,1579809680.603 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000001.477508
2020-01-23T20:01:20.985Z,1579809680.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:20.986Z,1579809680.986 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000001.553417
2020-01-23T20:01:21.372Z,1579809681.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:21.389Z,1579809681.389 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000001.633536
2020-01-23T20:01:21.765Z,1579809681.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:21.766Z,1579809681.766 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000001.713080
2020-01-23T20:01:22.176Z,1579809682.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:22.186Z,1579809682.186 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000001.796365
2020-01-23T20:01:22.564Z,1579809682.564 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2020-01-23T20:01:22.594Z,1579809682.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:22.595Z,1579809682.595 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000001.880874
2020-01-23T20:01:22.988Z,1579809682.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:22.998Z,1579809682.998 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000001.960789
2020-01-23T20:01:23.456Z,1579809683.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:23.465Z,1579809683.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000002.055419
2020-01-23T20:01:23.836Z,1579809683.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:23.846Z,1579809683.846 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000002.132504
2020-01-23T20:01:24.209Z,1579809684.209 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:24.210Z,1579809684.210 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000002.205460
2020-01-23T20:01:24.606Z,1579809684.606 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:24.607Z,1579809684.607 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000002.288299
2020-01-23T20:01:25.008Z,1579809685.008 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:25.017Z,1579809685.017 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000002.369818
2020-01-23T20:01:25.443Z,1579809685.443 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:25.444Z,1579809685.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000002.457891
2020-01-23T20:01:25.818Z,1579809685.818 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:25.819Z,1579809685.819 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000002.533780
2020-01-23T20:01:26.213Z,1579809686.213 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:26.214Z,1579809686.214 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000002.612099
2020-01-23T20:01:26.635Z,1579809686.635 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:26.636Z,1579809686.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000002.699192
2020-01-23T20:01:26.983Z,1579809686.983 [DUSBL_Hydroid](INFO): DUSBL Version:O
2020-01-23T20:01:27.044Z,1579809687.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:27.057Z,1579809687.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000002.782005
2020-01-23T20:01:27.450Z,1579809687.450 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:27.462Z,1579809687.462 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000002.863743
2020-01-23T20:01:27.881Z,1579809687.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:27.882Z,1579809687.882 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000002.949826
2020-01-23T20:01:28.233Z,1579809688.233 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:28.234Z,1579809688.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000003.021159
2020-01-23T20:01:28.660Z,1579809688.660 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:28.673Z,1579809688.673 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000003.109191
2020-01-23T20:01:29.044Z,1579809689.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:29.054Z,1579809689.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000003.187143
2020-01-23T20:01:29.449Z,1579809689.449 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:29.450Z,1579809689.450 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000003.267393
2020-01-23T20:01:29.867Z,1579809689.867 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:29.868Z,1579809689.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000003.353647
2020-01-23T20:01:30.256Z,1579809690.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:30.266Z,1579809690.266 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000003.432535
2020-01-23T20:01:30.660Z,1579809690.660 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:30.682Z,1579809690.682 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000003.514374
2020-01-23T20:01:31.086Z,1579809691.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:31.087Z,1579809691.087 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000003.600470
2020-01-23T20:01:31.505Z,1579809691.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:31.506Z,1579809691.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000003.680478
2020-01-23T20:01:31.874Z,1579809691.874 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:31.875Z,1579809691.875 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000003.760064
2020-01-23T20:01:32.281Z,1579809692.281 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:32.282Z,1579809692.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000003.840880
2020-01-23T20:01:32.733Z,1579809692.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:32.734Z,1579809692.734 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000003.933109
2020-01-23T20:01:33.043Z,1579809693.043 [NAL9602](INFO): Powering up NAL9602
2020-01-23T20:01:33.077Z,1579809693.077 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:33.078Z,1579809693.078 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000004.002030
2020-01-23T20:01:33.502Z,1579809693.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:33.503Z,1579809693.503 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000004.089717
2020-01-23T20:01:33.898Z,1579809693.898 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:33.899Z,1579809693.899 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000004.169917
2020-01-23T20:01:34.297Z,1579809694.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:34.298Z,1579809694.298 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000004.249078
2020-01-23T20:01:34.710Z,1579809694.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:34.711Z,1579809694.711 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000004.334344
2020-01-23T20:01:35.118Z,1579809695.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:35.119Z,1579809695.119 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000004.414302
2020-01-23T20:01:35.514Z,1579809695.514 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:35.515Z,1579809695.515 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000004.497139
2020-01-23T20:01:35.925Z,1579809695.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:35.926Z,1579809695.926 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000004.579544
2020-01-23T20:01:36.319Z,1579809696.319 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:36.320Z,1579809696.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000004.656514
2020-01-23T20:01:36.714Z,1579809696.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:36.715Z,1579809696.715 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000004.740250
2020-01-23T20:01:37.130Z,1579809697.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:37.131Z,1579809697.131 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000004.824382
2020-01-23T20:01:37.547Z,1579809697.547 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:37.548Z,1579809697.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000004.908843
2020-01-23T20:01:37.917Z,1579809697.917 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:37.918Z,1579809697.918 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000004.982943
2020-01-23T20:01:38.333Z,1579809698.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:38.334Z,1579809698.334 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000005.067164
2020-01-23T20:01:38.743Z,1579809698.743 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:38.744Z,1579809698.744 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000005.151186
2020-01-23T20:01:39.138Z,1579809699.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:39.139Z,1579809699.139 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000005.230994
2020-01-23T20:01:39.531Z,1579809699.531 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:39.532Z,1579809699.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000005.310696
2020-01-23T20:01:39.950Z,1579809699.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:39.951Z,1579809699.951 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000005.395493
2020-01-23T20:01:40.357Z,1579809700.357 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:40.358Z,1579809700.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000005.477034
2020-01-23T20:01:40.788Z,1579809700.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:40.804Z,1579809700.804 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000005.565064
2020-01-23T20:01:41.193Z,1579809701.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:41.194Z,1579809701.194 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000005.647239
2020-01-23T20:01:41.562Z,1579809701.562 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:41.563Z,1579809701.563 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000005.720840
2020-01-23T20:01:41.977Z,1579809701.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:41.978Z,1579809701.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000005.805102
2020-01-23T20:01:42.413Z,1579809702.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:42.414Z,1579809702.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000005.892495
2020-01-23T20:01:42.806Z,1579809702.806 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:42.807Z,1579809702.807 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000005.973760
2020-01-23T20:01:43.190Z,1579809703.190 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:43.191Z,1579809703.191 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000006.048078
2020-01-23T20:01:43.322Z,1579809703.322 [CommandLine](IMPORTANT): got command report mod latitude
2020-01-23T20:01:43.626Z,1579809703.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:43.627Z,1579809703.627 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000006.139997
2020-01-23T20:01:43.671Z,1579809703.671 [Reporter](INFO): latitude no_value
2020-01-23T20:01:43.951Z,1579809703.951 [NAL9602](INFO): NAL9602 initialized
2020-01-23T20:01:44.001Z,1579809704.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:44.002Z,1579809704.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000006.214939
2020-01-23T20:01:44.392Z,1579809704.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:44.397Z,1579809704.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000006.294967
2020-01-23T20:01:44.848Z,1579809704.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:44.857Z,1579809704.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000006.387265
2020-01-23T20:01:45.221Z,1579809705.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:45.226Z,1579809705.226 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000006.462786
2020-01-23T20:01:45.624Z,1579809705.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:45.645Z,1579809705.645 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000006.544470
2020-01-23T20:01:46.046Z,1579809706.046 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:46.047Z,1579809706.047 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000006.629857
2020-01-23T20:01:46.099Z,1579809706.099 [SBIT](IMPORTANT): Beginning Startup BIT
2020-01-23T20:01:46.115Z,1579809706.115 [CBIT](IMPORTANT): Beginning ground fault scan
2020-01-23T20:01:46.449Z,1579809706.449 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:46.450Z,1579809706.450 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000006.709904
2020-01-23T20:01:46.827Z,1579809706.827 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:46.828Z,1579809706.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000006.788171
2020-01-23T20:01:47.246Z,1579809707.246 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:47.247Z,1579809707.247 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000006.872875
2020-01-23T20:01:47.648Z,1579809707.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:47.653Z,1579809707.653 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000006.954398
2020-01-23T20:01:48.043Z,1579809708.043 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:48.044Z,1579809708.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000007.034254
2020-01-23T20:01:48.592Z,1579809708.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:48.598Z,1579809708.598 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000007.145574
2020-01-23T20:01:48.986Z,1579809708.986 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:48.987Z,1579809708.987 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000007.225227
2020-01-23T20:01:49.388Z,1579809709.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:49.393Z,1579809709.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000007.305211
2020-01-23T20:01:49.775Z,1579809709.775 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:49.776Z,1579809709.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000007.384985
2020-01-23T20:01:50.185Z,1579809710.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:50.186Z,1579809710.186 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000007.467220
2020-01-23T20:01:50.203Z,1579809710.203 [CommandLine](IMPORTANT): got command run ./Missions/Demo/setNav.xml
2020-01-23T20:01:50.203Z,1579809710.203 [MissionManager](INFO): Loading Mission: ./Missions/Demo/setNav.xml
2020-01-23T20:01:50.260Z,1579809710.260 [MissionManager](INFO): DefineArg SetNav.DockLat = 0.642341 _
2020-01-23T20:01:50.280Z,1579809710.280 [MissionManager](INFO): DefineArg SetNav.DockLon = -2.126200 _
2020-01-23T20:01:50.292Z,1579809710.292 [SetNav:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2020-01-23T20:01:50.314Z,1579809710.314 [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>


2020-01-23T20:01:50.333Z,1579809710.333 [CommandLine](IMPORTANT): Running ./Missions/Demo/setNav.xml
2020-01-23T20:01:50.585Z,1579809710.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:50.586Z,1579809710.586 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000007.548223
2020-01-23T20:01:51.008Z,1579809711.008 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:51.033Z,1579809711.033 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000007.634816
2020-01-23T20:01:51.393Z,1579809711.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:51.394Z,1579809711.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000007.711822
2020-01-23T20:01:51.840Z,1579809711.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:51.862Z,1579809711.862 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000007.803192
2020-01-23T20:01:52.221Z,1579809712.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:52.222Z,1579809712.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000007.879509
2020-01-23T20:01:52.615Z,1579809712.615 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:52.616Z,1579809712.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000007.960145
2020-01-23T20:01:53.048Z,1579809713.048 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:53.053Z,1579809713.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000008.047775
2020-01-23T20:01:53.428Z,1579809713.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:53.449Z,1579809713.449 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000008.124719
2020-01-23T20:01:53.811Z,1579809713.811 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:53.812Z,1579809713.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000008.202388
2020-01-23T20:01:53.916Z,1579809713.916 [CommandLine](IMPORTANT): got command show stack
2020-01-23T20:01:53.916Z,1579809713.916 [CommandLine](IMPORTANT): Behavior Stack:

2020-01-23T20:01:53.917Z,1579809713.917 [MissionManager](IMPORTANT): Mission loaded, but not running.
2020-01-23T20:01:54.234Z,1579809714.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:54.235Z,1579809714.235 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000008.288017
2020-01-23T20:01:54.638Z,1579809714.638 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:54.639Z,1579809714.639 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000008.369750
2020-01-23T20:01:55.029Z,1579809715.029 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:55.030Z,1579809715.030 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000008.448121
2020-01-23T20:01:55.471Z,1579809715.471 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:55.472Z,1579809715.472 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000008.538520
2020-01-23T20:01:55.837Z,1579809715.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:55.838Z,1579809715.838 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000008.611755
2020-01-23T20:01:56.229Z,1579809716.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:56.230Z,1579809716.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000008.691131
2020-01-23T20:01:56.646Z,1579809716.646 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:56.647Z,1579809716.647 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000008.776540
2020-01-23T20:01:57.077Z,1579809717.077 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:57.079Z,1579809717.079 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000008.861204
2020-01-23T20:01:57.161Z,1579809717.161 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.009375
CHAN A1 (24V): -0.028908
CHAN A2 (12V): -0.007386
CHAN A3 (5V): -0.002118
CHAN B0 (3.3V): -0.000033
CHAN B1 (3.15aV): 0.000386
CHAN B2 (3.15bV): 0.000199
CHAN B3 (GND): 0.002012
OPEN: 0.004941
Full Scale Calc: 4.765 mA, -1.589 mA
2020-01-23T20:01:57.524Z,1579809717.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:57.529Z,1579809717.529 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000008.954192
2020-01-23T20:01:57.877Z,1579809717.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:57.878Z,1579809717.878 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000009.023210
2020-01-23T20:01:58.269Z,1579809718.269 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:58.270Z,1579809718.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000009.104213
2020-01-23T20:01:58.664Z,1579809718.664 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:58.669Z,1579809718.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000009.185163
2020-01-23T20:01:59.081Z,1579809719.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:59.082Z,1579809719.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000009.268658
2020-01-23T20:01:59.465Z,1579809719.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:59.466Z,1579809719.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000009.346418
2020-01-23T20:01:59.879Z,1579809719.879 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:01:59.880Z,1579809719.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000009.431146
2020-01-23T20:02:00.281Z,1579809720.281 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:00.282Z,1579809720.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000009.511657
2020-01-23T20:02:00.689Z,1579809720.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:00.690Z,1579809720.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000009.591850
2020-01-23T20:02:01.086Z,1579809721.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:01.087Z,1579809721.087 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000009.675591
2020-01-23T20:02:01.501Z,1579809721.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:01.502Z,1579809721.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000009.758685
2020-01-23T20:02:02.090Z,1579809722.090 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:02.091Z,1579809722.091 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000009.878875
2020-01-23T20:02:02.474Z,1579809722.474 [RDI_Pathfinder](ERROR): Failed to parse:
:8,-32768,-32768,V
2020-01-23T20:02:02.488Z,1579809722.488 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:02.509Z,1579809722.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000009.959366
2020-01-23T20:02:02.869Z,1579809722.869 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:02.870Z,1579809722.870 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000010.035733
2020-01-23T20:02:03.277Z,1579809723.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:03.278Z,1579809723.278 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000010.118324
2020-01-23T20:02:03.690Z,1579809723.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:03.691Z,1579809723.691 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000010.202797
2020-01-23T20:02:04.085Z,1579809724.085 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:04.086Z,1579809724.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000010.280368
2020-01-23T20:02:04.510Z,1579809724.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:04.511Z,1579809724.511 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000010.368824
2020-01-23T20:02:04.885Z,1579809724.885 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:04.886Z,1579809724.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000010.443951
2020-01-23T20:02:05.285Z,1579809725.285 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:05.286Z,1579809725.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000010.525934
2020-01-23T20:02:05.688Z,1579809725.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:05.698Z,1579809725.698 [CommandLine](IMPORTANT): got command strobe off
2020-01-23T20:02:05.698Z,1579809725.698 [CommandLine](IMPORTANT): Deactivating strobe
2020-01-23T20:02:05.717Z,1579809725.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000010.607486
2020-01-23T20:02:06.081Z,1579809726.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:06.082Z,1579809726.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000010.687088
2020-01-23T20:02:06.496Z,1579809726.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:06.501Z,1579809726.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000010.770994
2020-01-23T20:02:06.886Z,1579809726.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:06.887Z,1579809726.887 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000010.849975
2020-01-23T20:02:07.329Z,1579809727.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:07.330Z,1579809727.330 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000010.938862
2020-01-23T20:02:07.755Z,1579809727.755 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:07.756Z,1579809727.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000011.026108
2020-01-23T20:02:08.133Z,1579809728.133 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:08.134Z,1579809728.134 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000011.101684
2020-01-23T20:02:08.543Z,1579809728.543 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:08.544Z,1579809728.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000011.185613
2020-01-23T20:02:08.905Z,1579809728.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:08.906Z,1579809728.906 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000011.258961
2020-01-23T20:02:09.310Z,1579809729.310 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:09.311Z,1579809729.311 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000011.340918
2020-01-23T20:02:09.771Z,1579809729.771 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:09.772Z,1579809729.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000011.434256
2020-01-23T20:02:10.142Z,1579809730.142 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:10.143Z,1579809730.143 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000011.509313
2020-01-23T20:02:10.522Z,1579809730.522 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:10.523Z,1579809730.523 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000011.586271
2020-01-23T20:02:10.939Z,1579809730.939 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:10.940Z,1579809730.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000011.670733
2020-01-23T20:02:11.331Z,1579809731.331 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:11.332Z,1579809731.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000011.750200
2020-01-23T20:02:11.728Z,1579809731.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:11.730Z,1579809731.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000011.830647
2020-01-23T20:02:12.147Z,1579809732.147 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:12.148Z,1579809732.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000011.915388
2020-01-23T20:02:12.560Z,1579809732.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:12.562Z,1579809732.562 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000011.999129
2020-01-23T20:02:12.970Z,1579809732.970 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:12.971Z,1579809732.971 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000012.081980
2020-01-23T20:02:13.374Z,1579809733.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:13.375Z,1579809733.375 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000012.163791
2020-01-23T20:02:13.789Z,1579809733.789 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:13.790Z,1579809733.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000012.247930
2020-01-23T20:02:14.166Z,1579809734.166 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:14.167Z,1579809734.167 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000012.324169
2020-01-23T20:02:14.572Z,1579809734.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:14.574Z,1579809734.574 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000012.406523
2020-01-23T20:02:14.962Z,1579809734.962 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:14.963Z,1579809734.963 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000012.485368
2020-01-23T20:02:15.370Z,1579809735.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:15.371Z,1579809735.371 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000012.568137
2020-01-23T20:02:15.787Z,1579809735.787 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:15.788Z,1579809735.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000012.652476
2020-01-23T20:02:16.181Z,1579809736.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:16.182Z,1579809736.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000012.729807
2020-01-23T20:02:16.604Z,1579809736.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:16.607Z,1579809736.607 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000012.817933
2020-01-23T20:02:16.987Z,1579809736.987 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:16.988Z,1579809736.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000012.895465
2020-01-23T20:02:17.393Z,1579809737.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:17.394Z,1579809737.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000012.977663
2020-01-23T20:02:17.849Z,1579809737.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:17.850Z,1579809737.850 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000013.070117
2020-01-23T20:02:18.221Z,1579809738.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:18.222Z,1579809738.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000013.145312
2020-01-23T20:02:18.643Z,1579809738.643 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:18.644Z,1579809738.644 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000013.230771
2020-01-23T20:02:19.018Z,1579809739.018 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:19.019Z,1579809739.019 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000013.306716
2020-01-23T20:02:19.421Z,1579809739.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:19.422Z,1579809739.422 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000013.388308
2020-01-23T20:02:19.840Z,1579809739.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:19.845Z,1579809739.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000013.473253
2020-01-23T20:02:20.216Z,1579809740.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:20.217Z,1579809740.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000013.549326
2020-01-23T20:02:20.621Z,1579809740.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:20.622Z,1579809740.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000013.631428
2020-01-23T20:02:21.040Z,1579809741.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:21.041Z,1579809741.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000013.716162
2020-01-23T20:02:21.426Z,1579809741.426 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:21.427Z,1579809741.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000013.794441
2020-01-23T20:02:21.840Z,1579809741.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:21.841Z,1579809741.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000013.878246
2020-01-23T20:02:22.351Z,1579809742.351 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:22.352Z,1579809742.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000013.981706
2020-01-23T20:02:22.666Z,1579809742.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:22.667Z,1579809742.667 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000014.045541
2020-01-23T20:02:23.082Z,1579809743.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:23.083Z,1579809743.083 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000014.129669
2020-01-23T20:02:23.548Z,1579809743.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:23.554Z,1579809743.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000014.224088
2020-01-23T20:02:23.858Z,1579809743.858 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:23.859Z,1579809743.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000014.286915
2020-01-23T20:02:24.278Z,1579809744.278 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:24.279Z,1579809744.279 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000014.371857
2020-01-23T20:02:24.684Z,1579809744.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:24.685Z,1579809744.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000014.454110
2020-01-23T20:02:25.066Z,1579809745.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:25.067Z,1579809745.067 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000014.531560
2020-01-23T20:02:25.484Z,1579809745.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:25.485Z,1579809745.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000014.616120
2020-01-23T20:02:25.875Z,1579809745.875 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:25.876Z,1579809745.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000014.695334
2020-01-23T20:02:26.264Z,1579809746.264 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:26.265Z,1579809746.265 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000014.774135
2020-01-23T20:02:26.689Z,1579809746.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:26.690Z,1579809746.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000014.860101
2020-01-23T20:02:27.083Z,1579809747.083 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:27.084Z,1579809747.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000014.940012
2020-01-23T20:02:27.511Z,1579809747.511 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:27.512Z,1579809747.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000015.026662
2020-01-23T20:02:27.922Z,1579809747.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:27.923Z,1579809747.923 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000015.109861
2020-01-23T20:02:28.314Z,1579809748.314 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:28.315Z,1579809748.315 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000015.189136
2020-01-23T20:02:28.858Z,1579809748.858 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:28.859Z,1579809748.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000015.299469
2020-01-23T20:02:29.231Z,1579809749.231 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:29.232Z,1579809749.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000015.374873
2020-01-23T20:02:29.666Z,1579809749.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:29.667Z,1579809749.667 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000015.462917
2020-01-23T20:02:30.048Z,1579809750.048 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:30.049Z,1579809750.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000015.540294
2020-01-23T20:02:30.432Z,1579809750.432 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:30.433Z,1579809750.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000015.618026
2020-01-23T20:02:30.858Z,1579809750.858 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:30.859Z,1579809750.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000015.704312
2020-01-23T20:02:31.248Z,1579809751.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:31.249Z,1579809751.249 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000015.783400
2020-01-23T20:02:31.670Z,1579809751.670 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:31.671Z,1579809751.671 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000015.868796
2020-01-23T20:02:32.084Z,1579809752.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:32.085Z,1579809752.085 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000015.952670
2020-01-23T20:02:32.508Z,1579809752.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:32.509Z,1579809752.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000016.038493
2020-01-23T20:02:32.863Z,1579809752.863 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:32.864Z,1579809752.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000016.110443
2020-01-23T20:02:33.261Z,1579809753.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:33.262Z,1579809753.262 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000016.190939
2020-01-23T20:02:33.678Z,1579809753.678 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:33.679Z,1579809753.679 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000016.275494
2020-01-23T20:02:34.075Z,1579809754.075 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:34.076Z,1579809754.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000016.355878
2020-01-23T20:02:34.494Z,1579809754.494 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:34.495Z,1579809754.495 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000016.440573
2020-01-23T20:02:34.878Z,1579809754.878 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:34.879Z,1579809754.879 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000016.518396
2020-01-23T20:02:35.282Z,1579809755.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:35.283Z,1579809755.283 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000016.600189
2020-01-23T20:02:35.834Z,1579809755.834 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:35.835Z,1579809755.835 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000016.712117
2020-01-23T20:02:36.110Z,1579809756.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:36.111Z,1579809756.111 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000016.767927
2020-01-23T20:02:36.555Z,1579809756.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:36.556Z,1579809756.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000016.858094
2020-01-23T20:02:36.914Z,1579809756.914 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:36.915Z,1579809756.915 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000016.930747
2020-01-23T20:02:37.339Z,1579809757.339 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:37.340Z,1579809757.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000017.015478
2020-01-23T20:02:37.720Z,1579809757.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:37.722Z,1579809757.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000017.094036
2020-01-23T20:02:38.123Z,1579809758.123 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:38.124Z,1579809758.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000017.175594
2020-01-23T20:02:38.556Z,1579809758.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:38.557Z,1579809758.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000017.263215
2020-01-23T20:02:38.923Z,1579809758.923 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:38.924Z,1579809758.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000017.337472
2020-01-23T20:02:39.327Z,1579809759.327 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:39.328Z,1579809759.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000017.419282
2020-01-23T20:02:39.742Z,1579809759.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:39.743Z,1579809759.743 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000017.503475
2020-01-23T20:02:39.754Z,1579809759.754 [SBIT](IMPORTANT): SBIT PASSED
2020-01-23T20:02:39.754Z,1579809759.754 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2020-01-23T20:02:39.755Z,1579809759.755 [SBIT](IMPORTANT): DDM.verbosity=3 count;

2020-01-23T20:02:39.755Z,1579809759.755 [SBIT](IMPORTANT): DUSBL_Hydroid.detectionThreshold=30 count;

2020-01-23T20:02:39.755Z,1579809759.755 [SBIT](IMPORTANT): DeadReckonUsingMultipleVelocitySources.verbosity=2 count;

2020-01-23T20:02:39.755Z,1579809759.755 [SBIT](IMPORTANT): Micromodem.pwrampTXLevel=0 enum;

2020-01-23T20:02:39.755Z,1579809759.755 [SBIT](IMPORTANT): Micromodem.sendExpress=1 bool;

2020-01-23T20:02:39.755Z,1579809759.755 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=105 cubic_centimeter;

2020-01-23T20:02:39.755Z,1579809759.755 [SBIT](IMPORTANT): VerticalControl.massDefault=-5 millimeter;

2020-01-23T20:02:40.149Z,1579809760.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:40.150Z,1579809760.150 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000017.585768
2020-01-23T20:02:40.151Z,1579809760.151 [MissionManager](IMPORTANT): Started mission SetNav
2020-01-23T20:02:40.151Z,1579809760.151 [SetNav] Running Loop=1
2020-01-23T20:02:40.151Z,1579809760.151 [SetNav](DEBUG): Aggregate::initialize SetNav
2020-01-23T20:02:40.152Z,1579809760.152 [SetNav:UpdateNav] Running Loop=1
2020-01-23T20:02:40.153Z,1579809760.153 [SetNav:UpdateNav](DEBUG): Aggregate::initialize SetNav:UpdateNav
2020-01-23T20:02:40.153Z,1579809760.153 [SetNav:UpdateNav:A] Running Loop=1
2020-01-23T20:02:40.153Z,1579809760.153 [SetNav:UpdateNav:A](INFO): Reseting nav to dock location at range <Undefined> m 
2020-01-23T20:02:40.153Z,1579809760.153 [SetNav:UpdateNav:A] Stopped
2020-01-23T20:02:40.153Z,1579809760.153 [SetNav:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T20:02:40.154Z,1579809760.154 [SetNav:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T20:02:40.565Z,1579809760.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:40.566Z,1579809760.566 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = 1000017.668336
2020-01-23T20:02:40.568Z,1579809760.568 [SetNav:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T200240: (36.803398, -121.822304)
2020-01-23T20:02:40.568Z,1579809760.568 [SetNav:UpdateNav:B.SetNav] Stopped
2020-01-23T20:02:40.569Z,1579809760.569 [SetNav:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T20:02:40.569Z,1579809760.569 [SetNav:UpdateNav](INFO): Completed SetNav:UpdateNav
2020-01-23T20:02:40.569Z,1579809760.569 [SetNav:UpdateNav] Stopped
2020-01-23T20:02:40.569Z,1579809760.569 [SetNav:UpdateNav](DEBUG): Aggregate::uninitialize SetNav:UpdateNav
2020-01-23T20:02:40.569Z,1579809760.569 [SetNav](INFO): Completed SetNav
2020-01-23T20:02:40.569Z,1579809760.569 [MissionManager](INFO): SetNav is completed.
2020-01-23T20:02:40.570Z,1579809760.570 [MissionManager](INFO): Uninitializing Mission SetNav
2020-01-23T20:02:40.570Z,1579809760.570 [SetNav] Stopped
2020-01-23T20:02:40.570Z,1579809760.570 [SetNav](DEBUG): Aggregate::uninitialize SetNav
2020-01-23T20:02:40.960Z,1579809760.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:40.961Z,1579809760.961 [DeadReckonUsingMultipleVelocitySources](IMPORTANT): Got GPS fix: latitudeAccuracy_ = 0.001, longitudeAccuracy = 0.001
2020-01-23T20:02:40.964Z,1579809760.964 [MissionManager](IMPORTANT): Started mission DefaultUnder
2020-01-23T20:02:40.964Z,1579809760.964 [DefaultUnder] Running Loop=1
2020-01-23T20:02:40.964Z,1579809760.964 [DefaultUnder](DEBUG): Aggregate::initialize DefaultUnder
2020-01-23T20:02:40.964Z,1579809760.964 [DefaultUnder:uModemComms] Running Loop=1
2020-01-23T20:02:40.964Z,1579809760.964 [DefaultUnder:uModemComms](DEBUG): Aggregate::initialize DefaultUnder:uModemComms
2020-01-23T20:02:40.964Z,1579809760.964 [DefaultUnder:Notify] Running Loop=1
2020-01-23T20:02:40.964Z,1579809760.964 [DefaultUnder:Notify](DEBUG): Aggregate::initialize DefaultUnder:Notify
2020-01-23T20:02:40.964Z,1579809760.964 [DefaultUnder:Notify:A] Running Loop=1
2020-01-23T20:02:40.965Z,1579809760.965 [DefaultUnder:Notify:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A
2020-01-23T20:02:40.965Z,1579809760.965 [DefaultUnder:Notify:A:A] Running Loop=1
2020-01-23T20:02:40.965Z,1579809760.965 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A:A
2020-01-23T20:02:40.965Z,1579809760.965 [DefaultUnder:Notify:A:A:A.Wait] Running Loop=1
2020-01-23T20:02:40.965Z,1579809760.965 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Initialize Wait Component.
2020-01-23T20:02:40.965Z,1579809760.965 [DefaultUnder:C.] Running Loop=1
2020-01-23T20:02:40.965Z,1579809760.965 [DefaultUnder:C.](INFO): Initializing TrackAcousticContact.
2020-01-23T20:02:40.966Z,1579809760.966 [DefaultUnder:E.Wait] Running Loop=1
2020-01-23T20:02:40.966Z,1579809760.966 [DefaultUnder:E.Wait](DEBUG): Initialize Wait Component.
2020-01-23T20:02:40.967Z,1579809760.967 [DefaultUnder:C.] Running Loop=1
2020-01-23T20:02:40.967Z,1579809760.967 [DefaultUnder:Notify] Running Loop=1
2020-01-23T20:02:40.967Z,1579809760.967 [DefaultUnder:uModemComms] Running Loop=1
2020-01-23T20:02:40.967Z,1579809760.967 [DefaultUnder:uModemComms:CheckIn] Running Loop=1
2020-01-23T20:02:40.968Z,1579809760.968 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::initialize DefaultUnder:uModemComms:CheckIn
2020-01-23T20:02:40.968Z,1579809760.968 [DefaultUnder:uModemComms:CheckIn:A] Running Loop=1
2020-01-23T20:02:40.969Z,1579809760.969 [DefaultUnder:uModemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2020-01-23T20:02:40.998Z,1579809760.998 [Reporter](INFO): latitude 36.803398 arcdeg
2020-01-23T20:02:41.358Z,1579809761.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:41.749Z,1579809761.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:42.163Z,1579809762.163 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:42.576Z,1579809762.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:42.968Z,1579809762.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:43.401Z,1579809763.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:43.783Z,1579809763.783 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:44.182Z,1579809764.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:44.636Z,1579809764.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:45.010Z,1579809765.010 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:45.392Z,1579809765.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:45.809Z,1579809765.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:46.204Z,1579809766.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:46.619Z,1579809766.619 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:47.009Z,1579809767.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:47.416Z,1579809767.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:47.831Z,1579809767.831 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:48.238Z,1579809768.238 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:48.627Z,1579809768.627 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:49.163Z,1579809769.163 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:49.461Z,1579809769.461 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:49.878Z,1579809769.878 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:50.250Z,1579809770.250 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:50.662Z,1579809770.662 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:51.056Z,1579809771.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:51.448Z,1579809771.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:51.860Z,1579809771.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:52.262Z,1579809772.262 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:52.678Z,1579809772.678 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:53.079Z,1579809773.079 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:53.508Z,1579809773.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:53.882Z,1579809773.882 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:54.290Z,1579809774.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:54.293Z,1579809774.293 [DefaultUnder:E.Wait](INFO): Done Waiting.
2020-01-23T20:02:54.293Z,1579809774.293 [DefaultUnder:E.Wait] Stopped
2020-01-23T20:02:54.294Z,1579809774.294 [DefaultUnder:E.Wait](DEBUG): Uninitialize Wait Component.
2020-01-23T20:02:54.294Z,1579809774.294 [DefaultUnder:Default] Running Loop=1
2020-01-23T20:02:54.294Z,1579809774.294 [DefaultUnder:Default](DEBUG): Aggregate::initialize DefaultUnder:Default
2020-01-23T20:02:54.294Z,1579809774.294 [DefaultUnder:Default:Docked] Running Loop=1
2020-01-23T20:02:54.294Z,1579809774.294 [DefaultUnder:Default:Docked](DEBUG): Aggregate::initialize DefaultUnder:Default:Docked
2020-01-23T20:02:54.294Z,1579809774.294 [DefaultUnder:Default:Docked:run] Running Loop=1
2020-01-23T20:02:54.294Z,1579809774.294 [DefaultUnder:Default:Docked:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Docked:run
2020-01-23T20:02:54.294Z,1579809774.294 [DefaultUnder:Default:Docked:run:A] Running Loop=1
2020-01-23T20:02:54.294Z,1579809774.294 [DefaultUnder:Default:Home] Running Loop=1
2020-01-23T20:02:54.294Z,1579809774.294 [DefaultUnder:Default:Home](DEBUG): Aggregate::initialize DefaultUnder:Default:Home
2020-01-23T20:02:54.295Z,1579809774.295 [DefaultUnder:Default:Home:run] Running Loop=1
2020-01-23T20:02:54.295Z,1579809774.295 [DefaultUnder:Default:Home:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Home:run
2020-01-23T20:02:54.295Z,1579809774.295 [DefaultUnder:Default:Home:run:A] Running Loop=1
2020-01-23T20:02:54.295Z,1579809774.295 [DefaultUnder:Default:Surface] Running Loop=1
2020-01-23T20:02:54.295Z,1579809774.295 [DefaultUnder:Default:Surface](DEBUG): Aggregate::initialize DefaultUnder:Default:Surface
2020-01-23T20:02:54.295Z,1579809774.295 [DefaultUnder:Default:Surface:run] Running Loop=1
2020-01-23T20:02:54.295Z,1579809774.295 [DefaultUnder:Default:Surface:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Surface:run
2020-01-23T20:02:54.295Z,1579809774.295 [DefaultUnder:Default:Surface:run:B.GoToSurface] Running Loop=1
2020-01-23T20:02:54.295Z,1579809774.295 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-23T20:02:54.296Z,1579809774.296 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-23T20:02:54.296Z,1579809774.296 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-23T20:02:54.296Z,1579809774.296 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-23T20:02:54.297Z,1579809774.297 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-23T20:02:54.297Z,1579809774.297 [DefaultUnder:Default:Surface:run:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-23T20:02:54.298Z,1579809774.298 [DefaultUnder:Default:Surface:run:A] Running Loop=1
2020-01-23T20:02:54.703Z,1579809774.703 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:54.710Z,1579809774.710 [DefaultUnder:Default:Surface] Stopped
2020-01-23T20:02:54.710Z,1579809774.710 [DefaultUnder:Default:Surface](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Surface
2020-01-23T20:02:54.710Z,1579809774.710 [DefaultUnder:Default:Surface:run] Stopped
2020-01-23T20:02:54.710Z,1579809774.710 [DefaultUnder:Default:Surface:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Surface:run
2020-01-23T20:02:54.710Z,1579809774.710 [DefaultUnder:Default:Surface:run:A] Stopped
2020-01-23T20:02:54.710Z,1579809774.710 [DefaultUnder:Default:Surface:run:B.GoToSurface] Stopped
2020-01-23T20:02:54.710Z,1579809774.710 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-23T20:02:54.710Z,1579809774.710 [DefaultUnder:Default:Home] Stopped
2020-01-23T20:02:54.711Z,1579809774.711 [DefaultUnder:Default:Home](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Home
2020-01-23T20:02:54.711Z,1579809774.711 [DefaultUnder:Default:Home:run] Stopped
2020-01-23T20:02:54.711Z,1579809774.711 [DefaultUnder:Default:Home:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Home:run
2020-01-23T20:02:54.711Z,1579809774.711 [DefaultUnder:Default:Home:run:A] Stopped
2020-01-23T20:02:54.711Z,1579809774.711 [DefaultUnder:Default:Docked] Running Loop=1
2020-01-23T20:02:54.711Z,1579809774.711 [DefaultUnder:Default:Docked:run:A] Stopped
2020-01-23T20:02:54.711Z,1579809774.711 [DefaultUnder:Default:Docked:run:B.Docked] Running Loop=1
2020-01-23T20:02:54.711Z,1579809774.711 [DefaultUnder:Default:Docked:run:B.Docked](DEBUG): Initialize.
2020-01-23T20:02:54.712Z,1579809774.712 [DefaultUnder:Default:Docked:run:B.Docked](INFO): Depth unspecified. Maintaining workSite beacon depth of 6.000000 m.
2020-01-23T20:02:55.087Z,1579809775.087 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:55.507Z,1579809775.507 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:55.997Z,1579809775.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:56.334Z,1579809776.334 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:56.748Z,1579809776.748 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:57.132Z,1579809777.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:57.579Z,1579809777.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:57.978Z,1579809777.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:58.369Z,1579809778.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:58.768Z,1579809778.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:59.153Z,1579809779.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:59.565Z,1579809779.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:02:59.982Z,1579809779.982 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:00.380Z,1579809780.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:00.806Z,1579809780.806 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:01.172Z,1579809781.172 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-23T20:03:01.172Z,1579809781.172 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,20012313141, -0.1,   0.0,1448.9,  0
2020-01-23T20:03:01.186Z,1579809781.186 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:01.591Z,1579809781.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:02.004Z,1579809782.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:02.493Z,1579809782.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:02.908Z,1579809782.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:03.222Z,1579809783.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:03.668Z,1579809783.668 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:04.024Z,1579809784.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:04.446Z,1579809784.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:04.867Z,1579809784.867 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:05.245Z,1579809785.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:05.669Z,1579809785.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:06.041Z,1579809786.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:06.492Z,1579809786.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:06.577Z,1579809786.577 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.latitude_fix 36.500000 degree
2020-01-23T20:03:06.578Z,1579809786.578 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.latitude_fix" handled in the control thread.
2020-01-23T20:03:06.579Z,1579809786.579 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.longitude_fix -121.900002 degree
2020-01-23T20:03:06.580Z,1579809786.580 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.longitude_fix" handled in the control thread.
2020-01-23T20:03:06.814Z,1579809786.814 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:06.900Z,1579809786.900 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,DDM,Depth_Keller,DropWeight,DUSBL_Hydroid,Micromodem,NAL9602,Onboard,PowerOnly,RDI_Pathfinder,BPC1,PAR_Licor,Depth_Keller,PAR_Licor,Maintain_NAL9602.latitude_fix,Maintain_NAL9602.longitude_fix,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2020-01-23T20:03:07.263Z,1579809787.263 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:07.649Z,1579809787.649 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:08.026Z,1579809788.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:08.541Z,1579809788.541 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-01-23T20:03:08.542Z,1579809788.542 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,32768,V
2020-01-23T20:03:08.548Z,1579809788.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:08.869Z,1579809788.869 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:09.270Z,1579809789.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:09.695Z,1579809789.695 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:10.061Z,1579809790.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:10.474Z,1579809790.474 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:10.887Z,1579809790.887 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:11.297Z,1579809791.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:11.706Z,1579809791.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:12.100Z,1579809792.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:12.532Z,1579809792.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:12.918Z,1579809792.918 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:13.311Z,1579809793.311 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:13.727Z,1579809793.727 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:14.113Z,1579809794.113 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:14.536Z,1579809794.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:14.919Z,1579809794.919 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:15.331Z,1579809795.331 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:15.918Z,1579809795.918 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:16.127Z,1579809796.127 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:16.400Z,1579809796.400 [CommandLine](IMPORTANT): got command get latitude
2020-01-23T20:03:16.404Z,1579809796.404 [CommandLine](IMPORTANT): latitude 36.803398 arcdeg
2020-01-23T20:03:16.589Z,1579809796.589 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:16.961Z,1579809796.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:17.361Z,1579809797.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:17.745Z,1579809797.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:18.118Z,1579809798.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:18.759Z,1579809798.759 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:18.950Z,1579809798.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:19.371Z,1579809799.371 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:19.784Z,1579809799.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:20.186Z,1579809800.186 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:20.571Z,1579809800.571 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:20.982Z,1579809800.982 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:21.390Z,1579809801.390 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:21.820Z,1579809801.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:22.180Z,1579809802.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:22.599Z,1579809802.599 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:22.995Z,1579809802.995 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:23.413Z,1579809803.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:23.808Z,1579809803.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:24.212Z,1579809804.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:24.620Z,1579809804.620 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:25.010Z,1579809805.010 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:25.445Z,1579809805.445 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:25.822Z,1579809805.822 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2020-01-23T20:03:25.831Z,1579809805.831 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:26.228Z,1579809806.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:26.318Z,1579809806.318 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1579809792.000000 second
2020-01-23T20:03:26.640Z,1579809806.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:26.645Z,1579809806.645 [DeadReckonUsingMultipleVelocitySources](DEBUG): Got GPS fix: latitudeAccuracy_ = 1.74533e-07, longitudeAccuracy = 1.74533e-07
2020-01-23T20:03:26.695Z,1579809806.695 [Reporter](INFO): latitude 36.500000 arcdeg
2020-01-23T20:03:27.012Z,1579809807.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:27.463Z,1579809807.463 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:27.815Z,1579809807.815 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:28.219Z,1579809808.219 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:28.710Z,1579809808.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:29.136Z,1579809809.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:29.471Z,1579809809.471 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:29.894Z,1579809809.894 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:30.019Z,1579809810.019 [CommandLine](IMPORTANT): got command maintain clear
2020-01-23T20:03:30.319Z,1579809810.319 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:30.401Z,1579809810.401 [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,
2020-01-23T20:03:30.665Z,1579809810.665 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:31.054Z,1579809811.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:31.506Z,1579809811.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:31.974Z,1579809811.974 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:32.348Z,1579809812.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:32.795Z,1579809812.795 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:33.098Z,1579809813.098 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:33.543Z,1579809813.543 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:33.910Z,1579809813.910 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:34.094Z,1579809814.094 [CommandLine](IMPORTANT): got command get latitude
2020-01-23T20:03:34.094Z,1579809814.094 [CommandLine](IMPORTANT): latitude 36.500000 arcdeg
2020-01-23T20:03:34.331Z,1579809814.331 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:34.767Z,1579809814.767 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:35.136Z,1579809815.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:35.556Z,1579809815.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:36.013Z,1579809816.013 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:36.335Z,1579809816.335 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:36.795Z,1579809816.795 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:37.147Z,1579809817.147 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:37.566Z,1579809817.566 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:37.974Z,1579809817.974 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:38.354Z,1579809818.354 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:38.893Z,1579809818.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:39.210Z,1579809819.210 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:39.419Z,1579809819.419 [CommandLine](IMPORTANT): got command run ./Missions/Demo/setNav.xml
2020-01-23T20:03:39.419Z,1579809819.419 [MissionManager](INFO): Loading Mission: ./Missions/Demo/setNav.xml
2020-01-23T20:03:39.438Z,1579809819.438 [MissionManager](INFO): DefineArg SetNav.DockLat = 0.642341 _
2020-01-23T20:03:39.440Z,1579809819.440 [MissionManager](INFO): DefineArg SetNav.DockLon = -2.126200 _
2020-01-23T20:03:39.451Z,1579809819.451 [SetNav:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2020-01-23T20:03:39.491Z,1579809819.491 [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>


2020-01-23T20:03:39.493Z,1579809819.493 [CommandLine](IMPORTANT): Running ./Missions/Demo/setNav.xml
2020-01-23T20:03:39.572Z,1579809819.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:39.606Z,1579809819.606 [DefaultUnder] Stopped
2020-01-23T20:03:39.607Z,1579809819.607 [DefaultUnder](DEBUG): Aggregate::uninitialize DefaultUnder
2020-01-23T20:03:39.607Z,1579809819.607 [DefaultUnder:uModemComms] Stopped
2020-01-23T20:03:39.607Z,1579809819.607 [DefaultUnder:uModemComms](DEBUG): Aggregate::uninitialize DefaultUnder:uModemComms
2020-01-23T20:03:39.607Z,1579809819.607 [DefaultUnder:uModemComms:CheckIn] Stopped
2020-01-23T20:03:39.608Z,1579809819.608 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::uninitialize DefaultUnder:uModemComms:CheckIn
2020-01-23T20:03:39.608Z,1579809819.608 [DefaultUnder:uModemComms:CheckIn:A] Stopped
2020-01-23T20:03:39.608Z,1579809819.608 [DefaultUnder:Notify] Stopped
2020-01-23T20:03:39.608Z,1579809819.608 [DefaultUnder:Notify](DEBUG): Aggregate::uninitialize DefaultUnder:Notify
2020-01-23T20:03:39.608Z,1579809819.608 [DefaultUnder:Notify:A] Stopped
2020-01-23T20:03:39.625Z,1579809819.625 [DefaultUnder:Notify:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A
2020-01-23T20:03:39.625Z,1579809819.625 [DefaultUnder:Notify:A:A] Stopped
2020-01-23T20:03:39.625Z,1579809819.625 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A:A
2020-01-23T20:03:39.625Z,1579809819.625 [DefaultUnder:Notify:A:A:A.Wait] Stopped
2020-01-23T20:03:39.625Z,1579809819.625 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-23T20:03:39.625Z,1579809819.625 [DefaultUnder:C.] Stopped
2020-01-23T20:03:39.625Z,1579809819.625 [DefaultUnder:Default] Stopped
2020-01-23T20:03:39.625Z,1579809819.625 [DefaultUnder:Default](DEBUG): Aggregate::uninitialize DefaultUnder:Default
2020-01-23T20:03:39.626Z,1579809819.626 [DefaultUnder:Default:Docked] Stopped
2020-01-23T20:03:39.626Z,1579809819.626 [DefaultUnder:Default:Docked](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Docked
2020-01-23T20:03:39.626Z,1579809819.626 [DefaultUnder:Default:Docked:run] Stopped
2020-01-23T20:03:39.626Z,1579809819.626 [DefaultUnder:Default:Docked:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Docked:run
2020-01-23T20:03:39.626Z,1579809819.626 [DefaultUnder:Default:Docked:run:B.Docked] Stopped
2020-01-23T20:03:39.626Z,1579809819.626 [MissionManager](IMPORTANT): Started mission SetNav
2020-01-23T20:03:39.626Z,1579809819.626 [SetNav] Running Loop=1
2020-01-23T20:03:39.626Z,1579809819.626 [SetNav](DEBUG): Aggregate::initialize SetNav
2020-01-23T20:03:39.627Z,1579809819.627 [SetNav:UpdateNav] Running Loop=1
2020-01-23T20:03:39.627Z,1579809819.627 [SetNav:UpdateNav](DEBUG): Aggregate::initialize SetNav:UpdateNav
2020-01-23T20:03:39.627Z,1579809819.627 [SetNav:UpdateNav:A] Running Loop=1
2020-01-23T20:03:39.627Z,1579809819.627 [SetNav:UpdateNav:A](INFO): Reseting nav to dock location at range <Undefined> m 
2020-01-23T20:03:39.627Z,1579809819.627 [SetNav:UpdateNav:A] Stopped
2020-01-23T20:03:39.627Z,1579809819.627 [SetNav:UpdateNav:B.SetNav] Running Loop=1
2020-01-23T20:03:39.627Z,1579809819.627 [SetNav:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-01-23T20:03:39.993Z,1579809819.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:40.022Z,1579809820.022 [SetNav:UpdateNav:B.SetNav](INFO): SetNav fix at 20200123T200339: (36.803398, -121.822304)
2020-01-23T20:03:40.022Z,1579809820.022 [SetNav:UpdateNav:B.SetNav] Stopped
2020-01-23T20:03:40.022Z,1579809820.022 [SetNav:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-01-23T20:03:40.022Z,1579809820.022 [SetNav:UpdateNav](INFO): Completed SetNav:UpdateNav
2020-01-23T20:03:40.023Z,1579809820.023 [SetNav:UpdateNav] Stopped
2020-01-23T20:03:40.023Z,1579809820.023 [SetNav:UpdateNav](DEBUG): Aggregate::uninitialize SetNav:UpdateNav
2020-01-23T20:03:40.023Z,1579809820.023 [SetNav](INFO): Completed SetNav
2020-01-23T20:03:40.023Z,1579809820.023 [MissionManager](INFO): SetNav is completed.
2020-01-23T20:03:40.023Z,1579809820.023 [MissionManager](INFO): Uninitializing Mission SetNav
2020-01-23T20:03:40.023Z,1579809820.023 [SetNav] Stopped
2020-01-23T20:03:40.023Z,1579809820.023 [SetNav](DEBUG): Aggregate::uninitialize SetNav
2020-01-23T20:03:40.382Z,1579809820.382 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:40.383Z,1579809820.383 [DeadReckonUsingMultipleVelocitySources](IMPORTANT): Got GPS fix: latitudeAccuracy_ = 0.001, longitudeAccuracy = 0.001
2020-01-23T20:03:40.394Z,1579809820.394 [MissionManager](IMPORTANT): Started mission DefaultUnder
2020-01-23T20:03:40.394Z,1579809820.394 [DefaultUnder] Running Loop=1
2020-01-23T20:03:40.394Z,1579809820.394 [DefaultUnder](DEBUG): Aggregate::initialize DefaultUnder
2020-01-23T20:03:40.395Z,1579809820.395 [DefaultUnder:uModemComms] Running Loop=1
2020-01-23T20:03:40.395Z,1579809820.395 [DefaultUnder:uModemComms](DEBUG): Aggregate::initialize DefaultUnder:uModemComms
2020-01-23T20:03:40.395Z,1579809820.395 [DefaultUnder:Notify] Running Loop=1
2020-01-23T20:03:40.395Z,1579809820.395 [DefaultUnder:Notify](DEBUG): Aggregate::initialize DefaultUnder:Notify
2020-01-23T20:03:40.395Z,1579809820.395 [DefaultUnder:Notify:A] Running Loop=1
2020-01-23T20:03:40.395Z,1579809820.395 [DefaultUnder:Notify:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A
2020-01-23T20:03:40.395Z,1579809820.395 [DefaultUnder:Notify:A:A] Running Loop=1
2020-01-23T20:03:40.395Z,1579809820.395 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::initialize DefaultUnder:Notify:A:A
2020-01-23T20:03:40.395Z,1579809820.395 [DefaultUnder:Notify:A:A:A.Wait] Running Loop=1
2020-01-23T20:03:40.395Z,1579809820.395 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Initialize Wait Component.
2020-01-23T20:03:40.396Z,1579809820.396 [DefaultUnder:C.] Running Loop=1
2020-01-23T20:03:40.396Z,1579809820.396 [DefaultUnder:C.](INFO): Initializing TrackAcousticContact.
2020-01-23T20:03:40.396Z,1579809820.396 [DefaultUnder:E.Wait] Running Loop=1
2020-01-23T20:03:40.396Z,1579809820.396 [DefaultUnder:E.Wait](DEBUG): Initialize Wait Component.
2020-01-23T20:03:40.405Z,1579809820.405 [DefaultUnder:uModemComms:CheckIn] Running Loop=1
2020-01-23T20:03:40.405Z,1579809820.405 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::initialize DefaultUnder:uModemComms:CheckIn
2020-01-23T20:03:40.406Z,1579809820.406 [DefaultUnder:uModemComms:CheckIn:A] Running Loop=1
2020-01-23T20:03:40.451Z,1579809820.451 [Reporter](INFO): latitude 36.803398 arcdeg
2020-01-23T20:03:40.714Z,1579809820.714 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.059972
2020-01-23T20:03:41.154Z,1579809821.154 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:41.518Z,1579809821.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:42.060Z,1579809822.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:42.349Z,1579809822.349 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:43.016Z,1579809823.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:43.246Z,1579809823.246 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:43.654Z,1579809823.654 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:44.016Z,1579809824.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:44.373Z,1579809824.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:44.817Z,1579809824.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:45.180Z,1579809825.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:45.630Z,1579809825.630 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:45.998Z,1579809825.998 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:46.494Z,1579809826.494 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:46.788Z,1579809826.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:47.226Z,1579809827.226 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:47.644Z,1579809827.644 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:48.022Z,1579809828.022 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:48.426Z,1579809828.426 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:48.864Z,1579809828.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:49.246Z,1579809829.246 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:49.700Z,1579809829.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:50.061Z,1579809830.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:50.452Z,1579809830.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:50.945Z,1579809830.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:51.249Z,1579809831.249 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:51.655Z,1579809831.655 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:52.055Z,1579809832.055 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:52.466Z,1579809832.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:52.880Z,1579809832.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:53.258Z,1579809833.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:53.673Z,1579809833.673 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:53.677Z,1579809833.677 [DefaultUnder:E.Wait](INFO): Done Waiting.
2020-01-23T20:03:53.677Z,1579809833.677 [DefaultUnder:E.Wait] Stopped
2020-01-23T20:03:53.677Z,1579809833.677 [DefaultUnder:E.Wait](DEBUG): Uninitialize Wait Component.
2020-01-23T20:03:53.677Z,1579809833.677 [DefaultUnder:Default] Running Loop=1
2020-01-23T20:03:53.677Z,1579809833.677 [DefaultUnder:Default](DEBUG): Aggregate::initialize DefaultUnder:Default
2020-01-23T20:03:53.677Z,1579809833.677 [DefaultUnder:Default:Docked] Running Loop=1
2020-01-23T20:03:53.678Z,1579809833.678 [DefaultUnder:Default:Docked](DEBUG): Aggregate::initialize DefaultUnder:Default:Docked
2020-01-23T20:03:53.678Z,1579809833.678 [DefaultUnder:Default:Docked:run] Running Loop=1
2020-01-23T20:03:53.678Z,1579809833.678 [DefaultUnder:Default:Docked:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Docked:run
2020-01-23T20:03:53.678Z,1579809833.678 [DefaultUnder:Default:Docked:run:A] Running Loop=1
2020-01-23T20:03:53.678Z,1579809833.678 [DefaultUnder:Default:Home] Running Loop=1
2020-01-23T20:03:53.678Z,1579809833.678 [DefaultUnder:Default:Home](DEBUG): Aggregate::initialize DefaultUnder:Default:Home
2020-01-23T20:03:53.678Z,1579809833.678 [DefaultUnder:Default:Home:run] Running Loop=1
2020-01-23T20:03:53.678Z,1579809833.678 [DefaultUnder:Default:Home:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Home:run
2020-01-23T20:03:53.678Z,1579809833.678 [DefaultUnder:Default:Home:run:A] Running Loop=1
2020-01-23T20:03:53.679Z,1579809833.679 [DefaultUnder:Default:Surface] Running Loop=1
2020-01-23T20:03:53.679Z,1579809833.679 [DefaultUnder:Default:Surface](DEBUG): Aggregate::initialize DefaultUnder:Default:Surface
2020-01-23T20:03:53.679Z,1579809833.679 [DefaultUnder:Default:Surface:run] Running Loop=1
2020-01-23T20:03:53.679Z,1579809833.679 [DefaultUnder:Default:Surface:run](DEBUG): Aggregate::initialize DefaultUnder:Default:Surface:run
2020-01-23T20:03:53.679Z,1579809833.679 [DefaultUnder:Default:Surface:run:B.GoToSurface] Running Loop=1
2020-01-23T20:03:53.679Z,1579809833.679 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-23T20:03:53.679Z,1579809833.679 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-23T20:03:53.680Z,1579809833.680 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-23T20:03:53.680Z,1579809833.680 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-23T20:03:53.680Z,1579809833.680 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-23T20:03:53.680Z,1579809833.680 [DefaultUnder:Default:Surface:run:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-23T20:03:53.681Z,1579809833.681 [DefaultUnder:Default:Surface:run:A] Running Loop=1
2020-01-23T20:03:54.052Z,1579809834.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:54.057Z,1579809834.057 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20200123T195726/Courier0004.lzma
2020-01-23T20:03:54.062Z,1579809834.062 [DefaultUnder:Default:Surface] Stopped
2020-01-23T20:03:54.062Z,1579809834.062 [DefaultUnder:Default:Surface](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Surface
2020-01-23T20:03:54.062Z,1579809834.062 [DefaultUnder:Default:Surface:run] Stopped
2020-01-23T20:03:54.062Z,1579809834.062 [DefaultUnder:Default:Surface:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Surface:run
2020-01-23T20:03:54.063Z,1579809834.063 [DefaultUnder:Default:Surface:run:A] Stopped
2020-01-23T20:03:54.063Z,1579809834.063 [DefaultUnder:Default:Surface:run:B.GoToSurface] Stopped
2020-01-23T20:03:54.063Z,1579809834.063 [DefaultUnder:Default:Surface:run:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-23T20:03:54.063Z,1579809834.063 [DefaultUnder:Default:Home] Stopped
2020-01-23T20:03:54.063Z,1579809834.063 [DefaultUnder:Default:Home](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Home
2020-01-23T20:03:54.063Z,1579809834.063 [DefaultUnder:Default:Home:run] Stopped
2020-01-23T20:03:54.063Z,1579809834.063 [DefaultUnder:Default:Home:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Home:run
2020-01-23T20:03:54.063Z,1579809834.063 [DefaultUnder:Default:Home:run:A] Stopped
2020-01-23T20:03:54.063Z,1579809834.063 [DefaultUnder:Default:Docked:run:A] Stopped
2020-01-23T20:03:54.063Z,1579809834.063 [DefaultUnder:Default:Docked:run:B.Docked] Running Loop=1
2020-01-23T20:03:54.064Z,1579809834.064 [DefaultUnder:Default:Docked:run:B.Docked](DEBUG): Initialize.
2020-01-23T20:03:54.064Z,1579809834.064 [DefaultUnder:Default:Docked:run:B.Docked](INFO): Depth unspecified. Maintaining workSite beacon depth of 6.000000 m.
2020-01-23T20:03:54.480Z,1579809834.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:54.870Z,1579809834.870 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:55.458Z,1579809835.458 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:55.723Z,1579809835.723 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:56.062Z,1579809836.062 [DataOverHttps](INFO): Moved sent file to Logs/20200123T195726/Courier0004.lzma.bak
2020-01-23T20:03:56.063Z,1579809836.063 [DataOverHttps](INFO): SBD MOMSN=12199372
2020-01-23T20:03:56.140Z,1579809836.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:56.608Z,1579809836.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:56.919Z,1579809836.919 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:57.329Z,1579809837.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:57.761Z,1579809837.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:58.157Z,1579809838.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:58.547Z,1579809838.547 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:58.924Z,1579809838.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:59.364Z,1579809839.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:03:59.809Z,1579809839.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:04:00.205Z,1579809840.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:04:00.611Z,1579809840.611 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:04:01.011Z,1579809841.011 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:04:01.376Z,1579809841.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:04:01.871Z,1579809841.871 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:04:02.197Z,1579809842.197 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:04:02.607Z,1579809842.607 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:04:02.998Z,1579809842.998 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:04:03.403Z,1579809843.403 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:04:03.841Z,1579809843.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:04:04.253Z,1579809844.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:04:04.666Z,1579809844.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:04:05.028Z,1579809845.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:04:05.451Z,1579809845.451 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:04:05.827Z,1579809845.827 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:04:06.194Z,1579809846.194 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:04:06.648Z,1579809846.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:04:07.014Z,1579809847.014 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:04:07.432Z,1579809847.432 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:04:07.911Z,1579809847.911 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:04:08.232Z,1579809848.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:04:08.728Z,1579809848.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:04:09.056Z,1579809849.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:04:09.538Z,1579809849.538 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:04:09.898Z,1579809849.898 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:04:10.278Z,1579809850.278 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:04:10.682Z,1579809850.682 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:04:11.082Z,1579809851.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:04:11.468Z,1579809851.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:04:11.886Z,1579809851.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:04:12.287Z,1579809852.287 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:04:12.694Z,1579809852.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:04:13.106Z,1579809853.106 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:04:13.532Z,1579809853.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:04:13.906Z,1579809853.906 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:04:14.306Z,1579809854.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:04:14.728Z,1579809854.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:04:15.117Z,1579809855.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:04:15.527Z,1579809855.527 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:04:15.830Z,1579809855.830 [CommandLine](IMPORTANT): got command restart application
2020-01-23T20:04:15.941Z,1579809855.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:04:16.309Z,1579809856.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:04:16.736Z,1579809856.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:04:16.833Z,1579809856.833 [Supervisor](INFO): Stop Mission called by Supervisor::terminate
2020-01-23T20:04:16.833Z,1579809856.833 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-23T20:04:16.833Z,1579809856.833 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-23T20:04:16.929Z,1579809856.929 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2020-01-23T20:04:16.929Z,1579809856.929 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-23T20:04:16.930Z,1579809856.930 [CommandLine](INFO): Join timeout helper Thread ID is 1540
2020-01-23T20:04:16.937Z,1579809856.937 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2020-01-23T20:04:16.937Z,1579809856.937 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-23T20:04:16.937Z,1579809856.937 [NavChartDb](INFO): Join timeout helper Thread ID is 1541
2020-01-23T20:04:16.977Z,1579809856.977 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-23T20:04:16.977Z,1579809856.977 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-23T20:04:16.985Z,1579809856.985 [ComponentRegistry](INFO): Shutting down WetLabsSeaOWL_UV_A ThreadHandler
2020-01-23T20:04:16.985Z,1579809856.985 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-23T20:04:16.985Z,1579809856.985 [WetLabsSeaOWL_UV_A](INFO): Join timeout helper Thread ID is 1542
2020-01-23T20:04:17.061Z,1579809857.061 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-23T20:04:17.062Z,1579809857.062 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-01-23T20:04:17.063Z,1579809857.063 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-23T20:04:17.069Z,1579809857.069 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2020-01-23T20:04:17.069Z,1579809857.069 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-23T20:04:17.069Z,1579809857.069 [CTD_NeilBrown](INFO): Join timeout helper Thread ID is 1543
2020-01-23T20:04:17.118Z,1579809857.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:04:17.193Z,1579809857.193 [CTD_NeilBrown ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-23T20:04:17.193Z,1579809857.193 [CTD_NeilBrown](INFO): Powering down
2020-01-23T20:04:17.205Z,1579809857.205 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-23T20:04:17.221Z,1579809857.221 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2020-01-23T20:04:17.221Z,1579809857.221 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-01-23T20:04:17.221Z,1579809857.221 [Radio_Surface](INFO): Join timeout helper Thread ID is 1544
2020-01-23T20:04:17.385Z,1579809857.385 [Radio_Surface](INFO): Powering down
2020-01-23T20:04:17.386Z,1579809857.386 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-23T20:04:17.386Z,1579809857.386 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-01-23T20:04:17.407Z,1579809857.407 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2020-01-23T20:04:17.408Z,1579809857.408 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-23T20:04:17.408Z,1579809857.408 [DataOverHttps](INFO): Join timeout helper Thread ID is 1545
2020-01-23T20:04:17.519Z,1579809857.519 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:04:17.981Z,1579809857.981 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-23T20:04:17.984Z,1579809857.984 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-23T20:04:17.986Z,1579809857.986 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2020-01-23T20:04:17.986Z,1579809857.986 [logger ThreadHandler](INFO): Thread cancelled.
2020-01-23T20:04:17.986Z,1579809857.986 [logger](INFO): Join timeout helper Thread ID is 1546
2020-01-23T20:04:17.998Z,1579809857.998 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-23T20:04:17.998Z,1579809857.998 [logger ThreadHandler](INFO): Thread cancelled.
2020-01-23T20:04:18.006Z,1579809858.006 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2020-01-23T20:04:18.006Z,1579809858.006 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-23T20:04:18.006Z,1579809858.006 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2020-01-23T20:04:18.006Z,1579809858.006 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-01-23T20:04:18.006Z,1579809858.006 [controlThread](INFO): Join timeout helper Thread ID is 1547
2020-01-23T20:04:18.009Z,1579809858.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2020-01-23T20:04:18.051Z,1579809858.051 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-23T20:04:18.051Z,1579809858.051 [controlThread](DEBUG): Uninitializing ControlThread
2020-01-23T20:04:18.051Z,1579809858.051 [AHRS_M2](INFO): Powering down
2020-01-23T20:04:18.121Z,1579809858.121 [DDM](INFO): Powering down
2020-01-23T20:04:18.214Z,1579809858.214 [DUSBL_Hydroid](INFO): Powering down
2020-01-23T20:04:18.285Z,1579809858.285 [Micromodem](INFO): Powering down
2020-01-23T20:04:18.381Z,1579809858.381 [NAL9602](INFO): Powering down
2020-01-23T20:04:18.453Z,1579809858.453 [RDI_Pathfinder](INFO): Powering down
2020-01-23T20:04:18.455Z,1579809858.455 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2020-01-23T20:04:18.456Z,1579809858.456 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2020-01-23T20:04:18.456Z,1579809858.456 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2020-01-23T20:04:18.457Z,1579809858.457 [MissionManager](INFO): Uninitializing Mission DefaultUnder
2020-01-23T20:04:18.457Z,1579809858.457 [DefaultUnder] Stopped
2020-01-23T20:04:18.457Z,1579809858.457 [DefaultUnder](DEBUG): Aggregate::uninitialize DefaultUnder
2020-01-23T20:04:18.457Z,1579809858.457 [DefaultUnder:uModemComms] Stopped
2020-01-23T20:04:18.457Z,1579809858.457 [DefaultUnder:uModemComms](DEBUG): Aggregate::uninitialize DefaultUnder:uModemComms
2020-01-23T20:04:18.457Z,1579809858.457 [DefaultUnder:uModemComms:CheckIn] Stopped
2020-01-23T20:04:18.458Z,1579809858.458 [DefaultUnder:uModemComms:CheckIn](DEBUG): Aggregate::uninitialize DefaultUnder:uModemComms:CheckIn
2020-01-23T20:04:18.458Z,1579809858.458 [DefaultUnder:uModemComms:CheckIn:A] Stopped
2020-01-23T20:04:18.458Z,1579809858.458 [DefaultUnder:Notify] Stopped
2020-01-23T20:04:18.458Z,1579809858.458 [DefaultUnder:Notify](DEBUG): Aggregate::uninitialize DefaultUnder:Notify
2020-01-23T20:04:18.458Z,1579809858.458 [DefaultUnder:Notify:A] Stopped
2020-01-23T20:04:18.458Z,1579809858.458 [DefaultUnder:Notify:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A
2020-01-23T20:04:18.458Z,1579809858.458 [DefaultUnder:Notify:A:A] Stopped
2020-01-23T20:04:18.458Z,1579809858.458 [DefaultUnder:Notify:A:A](DEBUG): Aggregate::uninitialize DefaultUnder:Notify:A:A
2020-01-23T20:04:18.458Z,1579809858.458 [DefaultUnder:Notify:A:A:A.Wait] Stopped
2020-01-23T20:04:18.458Z,1579809858.458 [DefaultUnder:Notify:A:A:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-23T20:04:18.458Z,1579809858.458 [DefaultUnder:C.] Stopped
2020-01-23T20:04:18.458Z,1579809858.458 [DefaultUnder:Default] Stopped
2020-01-23T20:04:18.458Z,1579809858.458 [DefaultUnder:Default](DEBUG): Aggregate::uninitialize DefaultUnder:Default
2020-01-23T20:04:18.459Z,1579809858.459 [DefaultUnder:Default:Docked] Stopped
2020-01-23T20:04:18.459Z,1579809858.459 [DefaultUnder:Default:Docked](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Docked
2020-01-23T20:04:18.459Z,1579809858.459 [DefaultUnder:Default:Docked:run] Stopped
2020-01-23T20:04:18.459Z,1579809858.459 [DefaultUnder:Default:Docked:run](DEBUG): Aggregate::uninitialize DefaultUnder:Default:Docked:run
2020-01-23T20:04:18.459Z,1579809858.459 [DefaultUnder:Default:Docked:run:B.Docked] Stopped
2020-01-23T20:04:18.486Z,1579809858.486 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2020-01-23T20:04:18.487Z,1579809858.487 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2020-01-23T20:04:18.487Z,1579809858.487 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2020-01-23T20:04:18.487Z,1579809858.487 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2020-01-23T20:04:18.487Z,1579809858.487 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2020-01-23T20:04:18.488Z,1579809858.488 [BuoyancyServo](INFO): Powering down
2020-01-23T20:04:18.617Z,1579809858.617 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2020-01-23T20:04:18.617Z,1579809858.617 [ElevatorServo](INFO): Powering down
2020-01-23T20:04:18.618Z,1579809858.618 [MassServo](DEBUG): Uninitialize Mass Servo.
2020-01-23T20:04:18.618Z,1579809858.618 [MassServo](INFO): Powering down
2020-01-23T20:04:18.619Z,1579809858.619 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-01-23T20:04:18.619Z,1579809858.619 [RudderServo](INFO): Powering down
2020-01-23T20:04:18.620Z,1579809858.620 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2020-01-23T20:04:18.620Z,1579809858.620 [ThrusterServo](INFO): Powering down
2020-01-23T20:04:18.620Z,1579809858.620 [SBIT](DEBUG): Uninitialize SBIT Component.
2020-01-23T20:04:18.621Z,1579809858.621 [IBIT](DEBUG): Uninitialize IBIT Component.
2020-01-23T20:04:18.621Z,1579809858.621 [CBIT](DEBUG): Uninitialize CBIT Component.
2020-01-23T20:04:18.621Z,1579809858.621 [CBIT](DEBUG): Powering off loads.
2020-01-23T20:04:18.633Z,1579809858.633 [CBIT](DEBUG): Disabling WDT.
2020-01-23T20:04:18.645Z,1579809858.645 [CBIT](DEBUG): Opening all GF detection circuits.
2020-01-23T20:04:18.646Z,1579809858.646 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-01-23T20:04:18.695Z,1579809858.695 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-01-23T20:04:18.705Z,1579809858.705 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-23T20:04:18.748Z,1579809858.748 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-23T20:04:18.751Z,1579809858.751 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-23T20:04:18.808Z,1579809858.808 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-23T20:04:18.881Z,1579809858.881 [logger ThreadHandler](INFO): Thread cancelled.