2019-10-30T22:52:19.225Z,1572475939.225 [CommandLine](IMPORTANT): got command restart logs
2019-10-30T22:52:19.689Z,1572475939.689 [NAL9602](DEBUG): Fix Requested
2019-10-30T22:52:22.917Z,1572475942.917 [NAL9602](DEBUG): Fix Requested
2019-10-30T22:52:25.749Z,1572475945.749 [NAL9602](DEBUG): Fix Requested
2019-10-30T22:52:28.581Z,1572475948.581 [NAL9602](DEBUG): Fix Requested
2019-10-30T22:52:30.207Z,1572475950.207 [Default:A.Wait](INFO): Done Waiting.
2019-10-30T22:52:30.207Z,1572475950.207 [Default:A.Wait] Stopped
2019-10-30T22:52:30.207Z,1572475950.207 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-10-30T22:52:30.608Z,1572475950.608 [Default:CheckIn] Running Loop=1
2019-10-30T22:52:30.608Z,1572475950.608 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-10-30T22:52:30.608Z,1572475950.608 [Default:CheckIn:Read_GPS] Running Loop=1
2019-10-30T22:52:31.817Z,1572475951.817 [NAL9602](DEBUG): Fix Requested
2019-10-30T22:52:34.650Z,1572475954.650 [NAL9602](DEBUG): Fix Requested
2019-10-30T22:52:37.481Z,1572475957.481 [NAL9602](DEBUG): Fix Requested
2019-10-30T22:52:40.713Z,1572475960.713 [NAL9602](DEBUG): Fix Requested
2019-10-30T22:52:43.521Z,1572475963.521 [NAL9602](DEBUG): Fix Requested
2019-10-30T22:52:45.230Z,1572475965.230 [DataOverHttps](IMPORTANT): SBD MTMSN=20191030T225140
2019-10-30T22:52:46.765Z,1572475966.765 [NAL9602](DEBUG): Fix Requested
2019-10-30T22:52:49.581Z,1572475969.581 [NAL9602](DEBUG): Fix Requested
2019-10-30T22:52:52.828Z,1572475972.828 [DataOverHttps](INFO): Received command:load Maintenance/DUSBL_Tracking.xml;set DUSBL.TrackingUpdatePeriod 3 second;run 
2019-10-30T22:52:52.845Z,1572475972.845 [NAL9602](DEBUG): Fix Requested
2019-10-30T22:52:52.926Z,1572475972.926 [CommandLine](IMPORTANT): got command load ./Missions/Maintenance/DUSBL_Tracking.xml
2019-10-30T22:52:52.927Z,1572475972.927 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/DUSBL_Tracking.xml
2019-10-30T22:52:52.976Z,1572475972.976 [MissionManager](INFO): DefineArg DUSBL.MissionTimeout = 10.000000 min
2019-10-30T22:52:52.998Z,1572475972.998 [MissionManager](INFO): DefineArg DUSBL.TransponderCode = 2.000000 count
2019-10-30T22:52:53.000Z,1572475973.000 [MissionManager](INFO): DefineArg DUSBL.TrackingUpdatePeriod = 4.000000 s
2019-10-30T22:52:53.007Z,1572475973.007 [MissionManager](INFO): DefineArg DUSBL.NumberOfPings = 1.000000 count
2019-10-30T22:52:53.013Z,1572475973.013 [MissionManager](INFO): DefineArg DUSBL.EnabledDUSBL = DUSBL_Hydroid.loadAtStartup
2019-10-30T22:52:53.014Z,1572475973.014 [DUSBL:A.Pitch](DEBUG): Construct.
2019-10-30T22:52:53.029Z,1572475973.029 [DUSBL:B.SetSpeed](DEBUG): Construct.
2019-10-30T22:52:53.069Z,1572475973.069 [DUSBL:RequestRepeater:A.Wait](DEBUG): Construct Wait.
2019-10-30T22:52:53.084Z,1572475973.084 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<!-- ====================
     Generated by TethysL
     ==================== -->
<Mission xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
         xmlns="Tethys"
         xmlns:Units="Tethys/Units"
         xmlns:Guidance="Tethys/Guidance"
         xmlns:Control="Tethys/Control"
         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/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd"
       Id="DUSBL">

    <Description>
        This mission is requests a DUSBL arming.
    </Description>

    <DefineArg Name="MissionTimeout"><Description>
        How long to let the mission run.
    </Description><Units:minute/><Value>10</Value></DefineArg>

    <DefineArg Name="TransponderCode"><Description>
        Transponder Address.
    </Description><Units:count/><Value>2</Value></DefineArg>
    
    <DefineArg Name="TrackingUpdatePeriod"><Description>
        How long to wait between acoustic queries
    </Description><Units:second/><Value>4</Value></DefineArg>
    
    <DefineArg Name="NumberOfPings"><Description>
        Number of pings requested each time.
    </Description><Units:count/><Value>1</Value></DefineArg>
    
    <DefineArg Name="EnabledDUSBL"><Description>
        Automatically set to true if the DUSBL is enabled. Set to false to disable
        reading from the DUSBL.
    </Description><Sensor:DUSBL_Hydroid.loadAtStartup/></DefineArg>    

    <Timeout Duration="MissionTimeout"/>

    <Guidance:Pitch>
        <Parallel/>
        <Setting><Guidance:Pitch.massPosition/><Control:VerticalControl.massDefault/></Setting>
    </Guidance:Pitch>

    <Guidance:SetSpeed>
        <Parallel/>
        <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0</Value></Setting>
    </Guidance:SetSpeed>

    
    <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>
    
      <Aggregate Id="RequestRepeater">

        <Sequence/>
        
          <Guidance:Wait>
            <Sequence/>
            <Setting><Guidance:Wait.duration/><Arg Name="MissionTimeout"/></Setting>            
          </Guidance:Wait>
      </Aggregate>

</Mission>


2019-10-30T22:52:53.084Z,1572475973.085 [CommandLine](IMPORTANT): Loaded ./Missions/Maintenance/DUSBL_Tracking.xml
2019-10-30T22:52:54.666Z,1572475974.666 [CommandLine](IMPORTANT): got command set DUSBL.TrackingUpdatePeriod 3.000000 second
2019-10-30T22:52:54.667Z,1572475974.667 [CommandLine](IMPORTANT): got command run 
2019-10-30T22:52:54.668Z,1572475974.668 [CommandLine](IMPORTANT): Running 
2019-10-30T22:52:54.855Z,1572475974.855 [Default] Stopped
2019-10-30T22:52:54.855Z,1572475974.855 [Default](DEBUG): Aggregate::uninitialize Default
2019-10-30T22:52:54.855Z,1572475974.855 [Default:B.GoToSurface] Stopped
2019-10-30T22:52:54.855Z,1572475974.855 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-10-30T22:52:54.855Z,1572475974.855 [Default:CheckIn] Stopped
2019-10-30T22:52:54.855Z,1572475974.855 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-10-30T22:52:54.855Z,1572475974.855 [Default:CheckIn:Read_GPS] Stopped
2019-10-30T22:52:54.855Z,1572475974.855 [MissionManager](IMPORTANT): Started mission DUSBL
2019-10-30T22:52:54.856Z,1572475974.856 [DUSBL] Running Loop=1
2019-10-30T22:52:54.856Z,1572475974.856 [DUSBL](DEBUG): Aggregate::initialize DUSBL
2019-10-30T22:52:54.856Z,1572475974.856 [DUSBL:A.Pitch] Running Loop=1
2019-10-30T22:52:54.856Z,1572475974.856 [DUSBL:A.Pitch](DEBUG): Initialize.
2019-10-30T22:52:54.856Z,1572475974.856 [DUSBL:B.SetSpeed] Running Loop=1
2019-10-30T22:52:54.856Z,1572475974.856 [DUSBL:B.SetSpeed](DEBUG): Initialize.
2019-10-30T22:52:54.856Z,1572475974.856 [DUSBL:C.] Running Loop=1
2019-10-30T22:52:54.856Z,1572475974.856 [DUSBL:C.](INFO): Initializing TrackAcousticContact.
2019-10-30T22:52:54.856Z,1572475974.856 [DUSBL:RequestRepeater] Running Loop=1
2019-10-30T22:52:54.857Z,1572475974.857 [DUSBL:RequestRepeater](DEBUG): Aggregate::initialize DUSBL:RequestRepeater
2019-10-30T22:52:54.857Z,1572475974.857 [DUSBL:RequestRepeater:A.Wait] Running Loop=1
2019-10-30T22:52:54.857Z,1572475974.857 [DUSBL:RequestRepeater:A.Wait](DEBUG): Initialize Wait Component.
2019-10-30T22:52:54.857Z,1572475974.857 [DUSBL:C.] Running Loop=1
2019-10-30T22:52:54.858Z,1572475974.858 [DUSBL:B.SetSpeed] Running Loop=1
2019-10-30T22:52:54.858Z,1572475974.858 [DUSBL:A.Pitch] Running Loop=1
2019-10-30T22:52:55.641Z,1572475975.641 [NAL9602](DEBUG): Fix Requested
2019-10-30T22:52:58.092Z,1572475978.092 [DUSBL:C.](INFO): *** querying acoustic contact ***
2019-10-30T22:52:58.868Z,1572475978.868 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-10-30T22:52:58.885Z,1572475978.885 [NAL9602](DEBUG): Fix Requested
2019-10-30T22:52:59.269Z,1572475979.269 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-10-30T22:52:59.755Z,1572475979.755 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 0.659999 m
2019-10-30T22:52:59.761Z,1572475979.761 [Reporter](INFO): DUSBL_Hydroid.xAngle 64.149997 arcdeg
2019-10-30T22:53:00.102Z,1572475980.102 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225259.87*5A

2019-10-30T22:53:01.715Z,1572475981.715 [NAL9602](DEBUG): Fix Requested
2019-10-30T22:53:02.943Z,1572475982.943 [DUSBL:C.](INFO): *** querying acoustic contact ***
2019-10-30T22:53:03.716Z,1572475983.716 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-10-30T22:53:04.113Z,1572475984.113 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-10-30T22:53:04.573Z,1572475984.573 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 0.659999 m
2019-10-30T22:53:04.574Z,1572475984.574 [Reporter](INFO): DUSBL_Hydroid.xAngle 60.499999 arcdeg
2019-10-30T22:53:04.942Z,1572475984.942 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225304.72*59

2019-10-30T22:53:04.957Z,1572475984.957 [NAL9602](DEBUG): Fix Requested
2019-10-30T22:53:07.789Z,1572475987.789 [NAL9602](DEBUG): Fix Requested
2019-10-30T22:53:07.829Z,1572475987.829 [DUSBL:C.](INFO): *** querying acoustic contact ***
2019-10-30T22:53:08.564Z,1572475988.564 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-10-30T22:53:08.961Z,1572475988.961 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-10-30T22:53:09.427Z,1572475989.427 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 0.720000 m
2019-10-30T22:53:09.427Z,1572475989.427 [Reporter](INFO): DUSBL_Hydroid.xAngle 62.649999 arcdeg
2019-10-30T22:53:09.798Z,1572475989.798 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225309.57*53

2019-10-30T22:53:10.601Z,1572475990.601 [NAL9602](DEBUG): Fix Requested
2019-10-30T22:53:12.635Z,1572475992.635 [DUSBL:C.](INFO): *** querying acoustic contact ***
2019-10-30T22:53:13.412Z,1572475993.412 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-10-30T22:53:13.445Z,1572475993.445 [NAL9602](DEBUG): Fix Requested
2019-10-30T22:53:13.813Z,1572475993.813 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-10-30T22:53:14.305Z,1572475994.305 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 0.659999 m
2019-10-30T22:53:14.306Z,1572475994.306 [Reporter](INFO): DUSBL_Hydroid.xAngle 64.149997 arcdeg
2019-10-30T22:53:14.646Z,1572475994.646 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225314.41*58

2019-10-30T22:53:15.449Z,1572475995.449 [NAL9602](DEBUG): Fix Requested
2019-10-30T22:53:17.461Z,1572475997.461 [NAL9602](DEBUG): Fix Requested
2019-10-30T22:53:17.503Z,1572475997.503 [DUSBL:C.](INFO): *** querying acoustic contact ***
2019-10-30T22:53:18.260Z,1572475998.260 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-10-30T22:53:18.657Z,1572475998.657 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-10-30T22:53:19.138Z,1572475999.138 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 0.659999 m
2019-10-30T22:53:19.138Z,1572475999.138 [Reporter](INFO): DUSBL_Hydroid.xAngle 61.749999 arcdeg
2019-10-30T22:53:19.490Z,1572475999.490 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225319.26*54

2019-10-30T22:53:20.709Z,1572476000.709 [NAL9602](DEBUG): Fix Requested
2019-10-30T22:53:22.320Z,1572476002.320 [DUSBL:C.](INFO): *** querying acoustic contact ***
2019-10-30T22:53:23.108Z,1572476003.108 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-10-30T22:53:23.509Z,1572476003.509 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-10-30T22:53:23.533Z,1572476003.533 [NAL9602](DEBUG): Fix Requested
2019-10-30T22:53:24.057Z,1572476004.057 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 0.720000 m
2019-10-30T22:53:24.058Z,1572476004.058 [Reporter](INFO): DUSBL_Hydroid.xAngle 62.649999 arcdeg
2019-10-30T22:53:24.342Z,1572476004.342 [Micromodem](INFO): Nmea in: $SNTTA,0.000115,,,,225324.11*45

2019-10-30T22:53:26.777Z,1572476006.777 [NAL9602](DEBUG): Fix Requested
2019-10-30T22:53:27.190Z,1572476007.190 [DUSBL:C.](INFO): *** querying acoustic contact ***
2019-10-30T22:53:27.956Z,1572476007.956 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-10-30T22:53:28.360Z,1572476008.360 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-10-30T22:53:28.857Z,1572476008.857 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 0.659999 m
2019-10-30T22:53:28.858Z,1572476008.858 [Reporter](INFO): DUSBL_Hydroid.xAngle 64.149997 arcdeg
2019-10-30T22:53:29.182Z,1572476009.182 [Micromodem](INFO): Nmea in: $SNTTA,,,0.012415,,225328.96*40

2019-10-30T22:53:29.597Z,1572476009.597 [NAL9602](DEBUG): Fix Requested
2019-10-30T22:53:32.028Z,1572476012.028 [DUSBL:C.](INFO): *** querying acoustic contact ***
2019-10-30T22:53:32.827Z,1572476012.827 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-10-30T22:53:32.849Z,1572476012.849 [NAL9602](DEBUG): Fix Requested
2019-10-30T22:53:33.201Z,1572476013.201 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-10-30T22:53:33.675Z,1572476013.675 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 0.720000 m
2019-10-30T22:53:33.675Z,1572476013.675 [Reporter](INFO): DUSBL_Hydroid.xAngle 62.899998 arcdeg
2019-10-30T22:53:34.031Z,1572476014.031 [Micromodem](INFO): Nmea in: $SNTTA,0.000123,,,,225333.83*4D

2019-10-30T22:53:35.649Z,1572476015.649 [NAL9602](DEBUG): Fix Requested
2019-10-30T22:53:36.877Z,1572476016.877 [DUSBL:C.](INFO): *** querying acoustic contact ***
2019-10-30T22:53:37.652Z,1572476017.652 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-10-30T22:53:38.056Z,1572476018.056 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-10-30T22:53:38.469Z,1572476018.469 [NAL9602](DEBUG): Fix Requested
2019-10-30T22:53:38.534Z,1572476018.534 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 0.720000 m
2019-10-30T22:53:38.535Z,1572476018.535 [Reporter](INFO): DUSBL_Hydroid.xAngle 63.150003 arcdeg
2019-10-30T22:53:38.878Z,1572476018.878 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225338.66*53

2019-10-30T22:53:40.901Z,1572476020.901 [NAL9602](DEBUG): Fix Requested
2019-10-30T22:53:41.731Z,1572476021.731 [DUSBL:C.](INFO): *** querying acoustic contact ***
2019-10-30T22:53:42.500Z,1572476022.500 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-10-30T22:53:42.907Z,1572476022.907 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-10-30T22:53:43.358Z,1572476023.358 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 0.659999 m
2019-10-30T22:53:43.358Z,1572476023.358 [Reporter](INFO): DUSBL_Hydroid.xAngle 63.600003 arcdeg
2019-10-30T22:53:43.722Z,1572476023.722 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225343.50*5A

2019-10-30T22:53:43.737Z,1572476023.737 [NAL9602](DEBUG): Fix Requested
2019-10-30T22:53:46.571Z,1572476026.571 [DUSBL:C.](INFO): *** querying acoustic contact ***
2019-10-30T22:53:46.964Z,1572476026.964 [NAL9602](DEBUG): Fix Requested
2019-10-30T22:53:47.356Z,1572476027.356 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-10-30T22:53:47.783Z,1572476027.783 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-10-30T22:53:48.214Z,1572476028.214 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 0.659999 m
2019-10-30T22:53:48.215Z,1572476028.215 [Reporter](INFO): DUSBL_Hydroid.xAngle 64.149997 arcdeg
2019-10-30T22:53:48.577Z,1572476028.577 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225348.36*51

2019-10-30T22:53:49.805Z,1572476029.805 [NAL9602](DEBUG): Fix Requested
2019-10-30T22:53:51.417Z,1572476031.417 [DUSBL:C.](INFO): *** querying acoustic contact ***
2019-10-30T22:53:52.192Z,1572476032.192 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-10-30T22:53:52.606Z,1572476032.606 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-10-30T22:53:52.633Z,1572476032.633 [NAL9602](DEBUG): Fix Requested
2019-10-30T22:53:53.078Z,1572476033.078 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 0.720000 m
2019-10-30T22:53:53.078Z,1572476033.078 [Reporter](INFO): DUSBL_Hydroid.xAngle 62.199999 arcdeg
2019-10-30T22:53:53.418Z,1572476033.418 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225353.20*5C

2019-10-30T22:53:55.445Z,1572476035.445 [NAL9602](DEBUG): Fix Requested
2019-10-30T22:53:56.281Z,1572476036.281 [DUSBL:C.](INFO): *** querying acoustic contact ***
2019-10-30T22:53:57.044Z,1572476037.044 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-10-30T22:53:57.454Z,1572476037.454 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-10-30T22:53:57.481Z,1572476037.481 [NAL9602](DEBUG): Fix Requested
2019-10-30T22:53:57.926Z,1572476037.926 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 0.659999 m
2019-10-30T22:53:57.927Z,1572476037.927 [Reporter](INFO): DUSBL_Hydroid.xAngle 64.149997 arcdeg
2019-10-30T22:53:58.266Z,1572476038.266 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225358.05*50

2019-10-30T22:54:00.689Z,1572476040.689 [NAL9602](DEBUG): Fix Requested
2019-10-30T22:54:01.147Z,1572476041.147 [DUSBL:C.](INFO): *** querying acoustic contact ***
2019-10-30T22:54:01.904Z,1572476041.904 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-10-30T22:54:02.293Z,1572476042.293 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-10-30T22:54:02.768Z,1572476042.768 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 0.659999 m
2019-10-30T22:54:02.778Z,1572476042.778 [Reporter](INFO): DUSBL_Hydroid.xAngle 62.999998 arcdeg
2019-10-30T22:54:03.118Z,1572476043.118 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225402.91*55

2019-10-30T22:54:03.529Z,1572476043.529 [NAL9602](DEBUG): Fix Requested
2019-10-30T22:54:05.965Z,1572476045.965 [DUSBL:C.](INFO): *** querying acoustic contact ***
2019-10-30T22:54:06.744Z,1572476046.744 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-10-30T22:54:06.770Z,1572476046.770 [NAL9602](DEBUG): Fix Requested
2019-10-30T22:54:07.141Z,1572476047.141 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-10-30T22:54:07.595Z,1572476047.595 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 0.720000 m
2019-10-30T22:54:07.595Z,1572476047.595 [Reporter](INFO): DUSBL_Hydroid.xAngle 61.700002 arcdeg
2019-10-30T22:54:07.973Z,1572476047.973 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225407.75*5A

2019-10-30T22:54:09.587Z,1572476049.587 [NAL9602](DEBUG): Fix Requested
2019-10-30T22:54:10.818Z,1572476050.818 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 7
2019-10-30T22:54:10.818Z,1572476050.818 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-10-30T22:54:10.820Z,1572476050.820 [DUSBL:C.](INFO): *** querying acoustic contact ***
2019-10-30T22:54:10.828Z,1572476050.828 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-10-30T22:54:11.266Z,1572476051.266 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-10-30T22:54:11.266Z,1572476051.266 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 7
2019-10-30T22:54:11.592Z,1572476051.592 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-10-30T22:54:11.989Z,1572476051.989 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-10-30T22:54:12.421Z,1572476052.421 [NAL9602](DEBUG): Fix Requested
2019-10-30T22:54:12.512Z,1572476052.512 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 0.659999 m
2019-10-30T22:54:12.512Z,1572476052.512 [Reporter](INFO): DUSBL_Hydroid.xAngle 61.950000 arcdeg
2019-10-30T22:54:12.821Z,1572476052.821 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225412.60*5A

2019-10-30T22:54:14.441Z,1572476054.441 [NAL9602](DEBUG): Fix Requested
2019-10-30T22:54:15.647Z,1572476055.647 [DUSBL:C.](INFO): *** querying acoustic contact ***
2019-10-30T22:54:16.432Z,1572476056.432 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-10-30T22:54:16.833Z,1572476056.833 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-10-30T22:54:16.857Z,1572476056.857 [NAL9602](DEBUG): Fix Requested
2019-10-30T22:54:17.309Z,1572476057.309 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 0.720000 m
2019-10-30T22:54:17.310Z,1572476057.310 [Reporter](INFO): DUSBL_Hydroid.xAngle 63.150003 arcdeg
2019-10-30T22:54:17.662Z,1572476057.662 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225417.44*59

2019-10-30T22:54:19.689Z,1572476059.689 [NAL9602](DEBUG): Fix Requested
2019-10-30T22:54:20.515Z,1572476060.515 [DUSBL:C.](INFO): *** querying acoustic contact ***
2019-10-30T22:54:21.284Z,1572476061.284 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-10-30T22:54:21.681Z,1572476061.681 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-10-30T22:54:22.158Z,1572476062.158 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 0.659999 m
2019-10-30T22:54:22.159Z,1572476062.159 [Reporter](INFO): DUSBL_Hydroid.xAngle 64.149997 arcdeg
2019-10-30T22:54:22.510Z,1572476062.510 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225422.29*54

2019-10-30T22:54:22.925Z,1572476062.925 [NAL9602](DEBUG): Fix Requested
2019-10-30T22:54:25.379Z,1572476065.379 [DUSBL:C.](INFO): *** querying acoustic contact ***
2019-10-30T22:54:25.749Z,1572476065.749 [NAL9602](DEBUG): Fix Requested
2019-10-30T22:54:26.146Z,1572476066.146 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-10-30T22:54:26.545Z,1572476066.545 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-10-30T22:54:26.875Z,1572476066.875 [CommandLine](IMPORTANT): got command stop
2019-10-30T22:54:26.875Z,1572476066.875 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-10-30T22:54:27.012Z,1572476067.012 [MissionManager](INFO): MissionManager is completed.
2019-10-30T22:54:27.012Z,1572476067.012 [MissionManager](INFO): Uninitializing Mission DUSBL
2019-10-30T22:54:27.012Z,1572476067.012 [DUSBL] Stopped
2019-10-30T22:54:27.012Z,1572476067.012 [DUSBL](DEBUG): Aggregate::uninitialize DUSBL
2019-10-30T22:54:27.012Z,1572476067.012 [DUSBL:A.Pitch] Stopped
2019-10-30T22:54:27.012Z,1572476067.012 [DUSBL:B.SetSpeed] Stopped
2019-10-30T22:54:27.012Z,1572476067.012 [DUSBL:B.SetSpeed](DEBUG): Uninitialize.
2019-10-30T22:54:27.012Z,1572476067.012 [DUSBL:C.] Stopped
2019-10-30T22:54:27.013Z,1572476067.013 [DUSBL:RequestRepeater] Stopped
2019-10-30T22:54:27.017Z,1572476067.017 [DUSBL:RequestRepeater](DEBUG): Aggregate::uninitialize DUSBL:RequestRepeater
2019-10-30T22:54:27.017Z,1572476067.017 [DUSBL:RequestRepeater:A.Wait] Stopped
2019-10-30T22:54:27.017Z,1572476067.017 [DUSBL:RequestRepeater:A.Wait](DEBUG): Uninitialize Wait Component.
2019-10-30T22:54:27.042Z,1572476067.042 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 0.659999 m
2019-10-30T22:54:27.043Z,1572476067.043 [Reporter](INFO): DUSBL_Hydroid.xAngle 63.050002 arcdeg
2019-10-30T22:54:27.348Z,1572476067.348 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225427.15*5E

2019-10-30T22:54:27.414Z,1572476067.414 [MissionManager](IMPORTANT): Started mission Default
2019-10-30T22:54:27.414Z,1572476067.414 [Default] Running Loop=1
2019-10-30T22:54:27.414Z,1572476067.414 [Default](DEBUG): Aggregate::initialize Default
2019-10-30T22:54:27.414Z,1572476067.414 [Default:B.GoToSurface] Running Loop=1
2019-10-30T22:54:27.414Z,1572476067.414 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-10-30T22:54:27.415Z,1572476067.415 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-10-30T22:54:27.415Z,1572476067.415 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-10-30T22:54:27.415Z,1572476067.415 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-10-30T22:54:27.416Z,1572476067.416 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-10-30T22:54:27.416Z,1572476067.416 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-10-30T22:54:27.416Z,1572476067.416 [Default:A.Wait] Running Loop=1
2019-10-30T22:54:27.421Z,1572476067.421 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-10-30T22:54:28.955Z,1572476068.955 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-10-30T22:54:28.955Z,1572476068.955 [NAL9602] Data Fault, FailCount= 2
2019-10-30T22:54:28.955Z,1572476068.955 [NAL9602](ERROR): Data Fault
2019-10-30T22:54:29.038Z,1572476069.038 [CBIT](ERROR): Data Fault in component: NAL9602
2019-10-30T22:54:29.359Z,1572476069.359 [NAL9602](INFO): Powering down
2019-10-30T22:54:30.209Z,1572476070.209 [CBIT](INFO): Clearing failed state for component NAL9602
2019-10-30T22:54:30.209Z,1572476070.209 [NAL9602] No Fault, FailCount= 2
2019-10-30T22:54:40.710Z,1572476080.710 [Default:A.Wait](INFO): Done Waiting.
2019-10-30T22:54:40.711Z,1572476080.711 [Default:A.Wait] Stopped
2019-10-30T22:54:40.711Z,1572476080.711 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-10-30T22:54:41.127Z,1572476081.127 [Default:CheckIn] Running Loop=1
2019-10-30T22:54:41.127Z,1572476081.127 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-10-30T22:54:41.127Z,1572476081.127 [Default:CheckIn:Read_GPS] Running Loop=1
2019-10-30T22:54:59.667Z,1572476099.667 [NAL9602](INFO): Powering up NAL9602