2019-11-12T21:29:43.602Z,1573594183.602 [Supervisor](DEBUG): Initializing supervisor.
2019-11-12T21:29:43.604Z,1573594183.604 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2019-11-12T21:29:43.605Z,1573594183.605 [SyncHandler](INFO): Protected caller Thread ID is 1872
2019-11-12T21:29:43.605Z,1573594183.605 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2019-11-12T21:29:43.606Z,1573594183.606 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2019-11-12T21:29:43.607Z,1573594183.607 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 1873
2019-11-12T21:29:43.610Z,1573594183.610 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2019-11-12T21:29:43.622Z,1573594183.622 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2019-11-12T21:29:43.623Z,1573594183.623 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2019-11-12T21:29:43.623Z,1573594183.623 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 1874
2019-11-12T21:29:43.624Z,1573594183.624 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2019-11-12T21:29:43.625Z,1573594183.625 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2019-11-12T21:29:43.625Z,1573594183.625 [logger ThreadHandler](INFO): Protected caller Thread ID is 1875
2019-11-12T21:29:43.627Z,1573594183.627 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2019-11-12T21:29:43.627Z,1573594183.627 [Supervisor](INFO): Looking for Config files in directory: Config/
2019-11-12T21:29:43.629Z,1573594183.629 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2019-11-12T21:29:44.097Z,1573594184.097 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2019-11-12T21:29:44.098Z,1573594184.098 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2019-11-12T21:29:44.195Z,1573594184.195 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2019-11-12T21:29:44.196Z,1573594184.196 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2019-11-12T21:29:44.500Z,1573594184.500 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2019-11-12T21:29:44.500Z,1573594184.500 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2019-11-12T21:29:44.641Z,1573594184.641 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2019-11-12T21:29:44.641Z,1573594184.641 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2019-11-12T21:29:44.824Z,1573594184.824 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2019-11-12T21:29:44.825Z,1573594184.825 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2019-11-12T21:29:45.255Z,1573594185.255 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2019-11-12T21:29:45.256Z,1573594185.256 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2019-11-12T21:29:45.458Z,1573594185.458 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2019-11-12T21:29:45.459Z,1573594185.459 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2019-11-12T21:29:45.600Z,1573594185.600 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2019-11-12T21:29:45.601Z,1573594185.601 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2019-11-12T21:29:45.784Z,1573594185.784 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2019-11-12T21:29:45.785Z,1573594185.785 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2019-11-12T21:29:45.881Z,1573594185.881 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2019-11-12T21:29:45.882Z,1573594185.882 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2019-11-12T21:29:46.174Z,1573594186.174 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2019-11-12T21:29:46.174Z,1573594186.174 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2019-11-12T21:29:46.280Z,1573594186.280 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2019-11-12T21:29:46.431Z,1573594186.431 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2019-11-12T21:29:46.432Z,1573594186.432 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2019-11-12T21:29:47.051Z,1573594187.051 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2019-11-12T21:29:47.051Z,1573594187.051 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2019-11-12T21:29:47.426Z,1573594187.426 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2019-11-12T21:29:47.428Z,1573594187.428 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/
2019-11-12T21:29:47.429Z,1573594187.429 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/vehicle.cfg
2019-11-12T21:29:47.627Z,1573594187.627 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Control.cfg
2019-11-12T21:29:47.727Z,1573594187.727 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/BIT.cfg
2019-11-12T21:29:47.825Z,1573594187.825 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Battery.cfg
2019-11-12T21:29:48.045Z,1573594188.045 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2019-11-12T21:29:48.046Z,1573594188.046 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Simulator.cfg
2019-11-12T21:29:48.144Z,1573594188.144 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Navigation.cfg
2019-11-12T21:29:48.633Z,1573594188.633 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/logger.cfg
2019-11-12T21:29:48.732Z,1573594188.732 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/secure.cfg
2019-11-12T21:29:48.815Z,1573594188.815 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Servo.cfg
2019-11-12T21:29:48.926Z,1573594188.926 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Sensor.cfg
2019-11-12T21:29:49.112Z,1573594189.112 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Science.cfg
2019-11-12T21:29:49.245Z,1573594189.245 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/root/
2019-11-12T21:29:49.246Z,1573594189.246 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2019-11-12T21:29:49.259Z,1573594189.259 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2019-11-12T21:29:49.561Z,1573594189.561 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_orientation
2019-11-12T21:29:49.566Z,1573594189.566 [AHRS_M2](INFO): created writer for : platform_orientation
2019-11-12T21:29:49.568Z,1573594189.568 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_magnetic_orientation
2019-11-12T21:29:49.573Z,1573594189.573 [AHRS_M2](INFO): created writer for : platform_magnetic_orientation
2019-11-12T21:29:49.574Z,1573594189.574 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_pitch_angle
2019-11-12T21:29:49.579Z,1573594189.579 [AHRS_M2](INFO): created writer for : platform_pitch_angle
2019-11-12T21:29:49.579Z,1573594189.579 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_roll_angle
2019-11-12T21:29:49.584Z,1573594189.584 [AHRS_M2](INFO): created writer for : platform_roll_angle
2019-11-12T21:29:49.652Z,1573594189.652 [AHRS_M2] Loaded
2019-11-12T21:29:49.652Z,1573594189.652 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2019-11-12T21:29:49.728Z,1573594189.728 [DataOverHttps] Loaded
2019-11-12T21:29:49.728Z,1573594189.728 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2019-11-12T21:29:49.730Z,1573594189.730 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 407684E0
2019-11-12T21:29:49.730Z,1573594189.730 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 1955
2019-11-12T21:29:49.748Z,1573594189.748 [DDM] Loaded
2019-11-12T21:29:49.748Z,1573594189.748 [ComponentRegistry](DEBUG): SyncComponent "DDM" handled in the control thread.
2019-11-12T21:29:49.761Z,1573594189.761 [Depth_Keller] Loaded
2019-11-12T21:29:49.761Z,1573594189.761 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2019-11-12T21:29:49.766Z,1573594189.766 [DropWeight] Loaded
2019-11-12T21:29:49.766Z,1573594189.766 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2019-11-12T21:29:49.826Z,1573594189.826 [DUSBL_Hydroid] Loaded
2019-11-12T21:29:49.826Z,1573594189.826 [ComponentRegistry](DEBUG): SyncComponent "DUSBL_Hydroid" handled in the control thread.
2019-11-12T21:29:49.871Z,1573594189.871 [Micromodem] Loaded
2019-11-12T21:29:49.872Z,1573594189.872 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2019-11-12T21:29:49.964Z,1573594189.964 [NAL9602] Loaded
2019-11-12T21:29:49.964Z,1573594189.964 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2019-11-12T21:29:49.980Z,1573594189.980 [Onboard] Loaded
2019-11-12T21:29:49.980Z,1573594189.980 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2019-11-12T21:29:49.986Z,1573594189.986 [PowerOnly] Loaded
2019-11-12T21:29:49.986Z,1573594189.986 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2019-11-12T21:29:49.992Z,1573594189.992 [Radio_Surface] Loaded
2019-11-12T21:29:49.992Z,1573594189.992 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2019-11-12T21:29:49.993Z,1573594189.993 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 407984E0
2019-11-12T21:29:49.994Z,1573594189.994 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 1956
2019-11-12T21:29:50.035Z,1573594190.035 [RDI_Pathfinder] Loaded
2019-11-12T21:29:50.035Z,1573594190.035 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2019-11-12T21:29:51.445Z,1573594191.445 [BPC1] Loaded
2019-11-12T21:29:51.445Z,1573594191.445 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2019-11-12T21:29:51.446Z,1573594191.446 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2019-11-12T21:29:51.446Z,1573594191.446 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2019-11-12T21:29:51.460Z,1573594191.460 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2019-11-12T21:29:51.461Z,1573594191.461 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2019-11-12T21:29:51.562Z,1573594191.562 [DeadReckonUsingMultipleVelocitySources] Loaded
2019-11-12T21:29:51.562Z,1573594191.562 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2019-11-12T21:29:51.581Z,1573594191.581 [NavChart] Loaded
2019-11-12T21:29:51.582Z,1573594191.582 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2019-11-12T21:29:51.585Z,1573594191.585 [UniversalFixResidualReporter] Loaded
2019-11-12T21:29:51.586Z,1573594191.586 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2019-11-12T21:29:51.586Z,1573594191.586 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2019-11-12T21:29:51.587Z,1573594191.587 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2019-11-12T21:29:51.690Z,1573594191.690 [BuoyancyServo] Loaded
2019-11-12T21:29:51.691Z,1573594191.691 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2019-11-12T21:29:51.705Z,1573594191.705 [ElevatorServo] Loaded
2019-11-12T21:29:51.705Z,1573594191.705 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2019-11-12T21:29:51.720Z,1573594191.720 [MassServo] Loaded
2019-11-12T21:29:51.720Z,1573594191.720 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2019-11-12T21:29:51.735Z,1573594191.735 [RudderServo] Loaded
2019-11-12T21:29:51.735Z,1573594191.735 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2019-11-12T21:29:51.749Z,1573594191.749 [ThrusterServo] Loaded
2019-11-12T21:29:51.749Z,1573594191.749 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2019-11-12T21:29:51.750Z,1573594191.750 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2019-11-12T21:29:51.750Z,1573594191.750 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2019-11-12T21:29:51.992Z,1573594191.992 [CTD_NeilBrown] Loaded
2019-11-12T21:29:51.992Z,1573594191.992 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2019-11-12T21:29:51.999Z,1573594191.999 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 408E34E0
2019-11-12T21:29:51.000Z,1573594192.000 [CTD_NeilBrown ThreadHandler](INFO): Protected caller Thread ID is 1957
2019-11-12T21:29:52.014Z,1573594192.014 [PAR_Licor] Loaded
2019-11-12T21:29:52.015Z,1573594192.015 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2019-11-12T21:29:52.057Z,1573594192.057 [WetLabsSeaOWL_UV_A] Loaded
2019-11-12T21:29:52.057Z,1573594192.057 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2019-11-12T21:29:52.058Z,1573594192.058 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 409134E0
2019-11-12T21:29:52.059Z,1573594192.059 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 1958
2019-11-12T21:29:52.059Z,1573594192.059 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2019-11-12T21:29:52.060Z,1573594192.060 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2019-11-12T21:29:52.345Z,1573594192.345 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2019-11-12T21:29:52.346Z,1573594192.346 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2019-11-12T21:29:52.386Z,1573594192.386 [DepthRateCalculator] Loaded
2019-11-12T21:29:52.387Z,1573594192.387 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2019-11-12T21:29:52.392Z,1573594192.392 [PitchRateCalculator] Loaded
2019-11-12T21:29:52.392Z,1573594192.392 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2019-11-12T21:29:52.404Z,1573594192.404 [SpeedCalculator] Loaded
2019-11-12T21:29:52.404Z,1573594192.404 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2019-11-12T21:29:52.424Z,1573594192.424 [TempGradientCalculator] Loaded
2019-11-12T21:29:52.424Z,1573594192.424 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2019-11-12T21:29:52.429Z,1573594192.429 [YawRateCalculator] Loaded
2019-11-12T21:29:52.430Z,1573594192.430 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2019-11-12T21:29:52.468Z,1573594192.468 [ElevatorOffsetCalculator] Loaded
2019-11-12T21:29:52.468Z,1573594192.468 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2019-11-12T21:29:52.468Z,1573594192.468 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2019-11-12T21:29:52.469Z,1573594192.469 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2019-11-12T21:29:52.597Z,1573594192.597 [SBIT](DEBUG): Construct Startup Built In Test.
2019-11-12T21:29:52.618Z,1573594192.618 [SBIT] Loaded
2019-11-12T21:29:52.618Z,1573594192.618 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2019-11-12T21:29:52.619Z,1573594192.619 [IBIT](DEBUG): Construct Initiated Built In Test.
2019-11-12T21:29:52.633Z,1573594192.633 [IBIT] Loaded
2019-11-12T21:29:52.633Z,1573594192.633 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2019-11-12T21:29:52.636Z,1573594192.636 [CBIT](DEBUG): Construct Continuous Built In Test.
2019-11-12T21:29:52.768Z,1573594192.768 [CBIT] Loaded
2019-11-12T21:29:52.768Z,1573594192.768 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2019-11-12T21:29:52.769Z,1573594192.769 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2019-11-12T21:29:52.769Z,1573594192.769 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2019-11-12T21:29:52.851Z,1573594192.851 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2019-11-12T21:29:52.852Z,1573594192.852 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2019-11-12T21:29:52.949Z,1573594192.949 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2019-11-12T21:29:52.950Z,1573594192.950 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2019-11-12T21:29:53.014Z,1573594193.014 [VerticalControl](DEBUG): Construct VerticalControl.
2019-11-12T21:29:53.094Z,1573594193.094 [VerticalControl] Loaded
2019-11-12T21:29:53.094Z,1573594193.094 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2019-11-12T21:29:53.095Z,1573594193.095 [HorizontalControl](DEBUG): Construct HorizontalControl.
2019-11-12T21:29:53.149Z,1573594193.149 [HorizontalControl] Loaded
2019-11-12T21:29:53.149Z,1573594193.149 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2019-11-12T21:29:53.150Z,1573594193.150 [SpeedControl](DEBUG): Construct SpeedControl.
2019-11-12T21:29:53.151Z,1573594193.151 [SpeedControl] Loaded
2019-11-12T21:29:53.152Z,1573594193.152 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2019-11-12T21:29:53.152Z,1573594193.152 [LoopControl](DEBUG): Construct LoopControl.
2019-11-12T21:29:53.153Z,1573594193.153 [LoopControl] Loaded
2019-11-12T21:29:53.153Z,1573594193.153 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2019-11-12T21:29:53.153Z,1573594193.153 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2019-11-12T21:29:53.154Z,1573594193.154 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2019-11-12T21:29:53.286Z,1573594193.286 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2019-11-12T21:29:53.290Z,1573594193.290 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2019-11-12T21:29:53.291Z,1573594193.291 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2019-11-12T21:29:53.298Z,1573594193.298 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2019-11-12T21:29:53.302Z,1573594193.302 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40AF74E0
2019-11-12T21:29:53.302Z,1573594193.302 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 1959
2019-11-12T21:29:53.307Z,1573594193.307 [Supervisor](INFO): Main Thread ID is 1871
2019-11-12T21:29:53.307Z,1573594193.307 [Supervisor](DEBUG): Running supervisor.
2019-11-12T21:29:53.307Z,1573594193.307 [CommandLine ThreadHandler](INFO): Handler Thread ID is 1960
2019-11-12T21:29:53.310Z,1573594193.310 [controlThread ThreadHandler](INFO): Handler Thread ID is 1961
2019-11-12T21:29:53.311Z,1573594193.311 [controlThread](DEBUG): Initializing ControlThread
2019-11-12T21:29:53.316Z,1573594193.316 [NavChart](DEBUG): Initialize NavChart Navigation.
2019-11-12T21:29:53.316Z,1573594193.316 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2019-11-12T21:29:53.321Z,1573594193.321 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2019-11-12T21:29:53.322Z,1573594193.322 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2019-11-12T21:29:53.322Z,1573594193.322 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2019-11-12T21:29:53.322Z,1573594193.322 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2019-11-12T21:29:53.323Z,1573594193.323 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2019-11-12T21:29:53.323Z,1573594193.323 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2019-11-12T21:29:53.323Z,1573594193.323 [SBIT](INFO): Initialize SBIT Component.
2019-11-12T21:29:53.324Z,1573594193.324 [SBIT](IMPORTANT): git: 2019-11-04-75-gf9406cc
2019-11-12T21:29:53.324Z,1573594193.324 [SBIT](INFO): git hash: f9406ccb14a1e49e28e492e765e6b68e35ebc0b0
2019-11-12T21:29:53.324Z,1573594193.324 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2019-11-12T21:29:53.326Z,1573594193.326 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #2 PREEMPT Thu Jan 11 20:13:48 PST 2018
Kernel Reported: #2 PREEMPT Wed May 15 08:34:03 PDT 2019
2019-11-12T21:29:53.327Z,1573594193.327 [SBIT](INFO): Beginning SBIT in 28.000000 seconds.
2019-11-12T21:29:53.327Z,1573594193.327 [IBIT](INFO): Initialize IBIT Component.
2019-11-12T21:29:53.328Z,1573594193.328 [CBIT](DEBUG): Initialize CBIT Component.
2019-11-12T21:29:53.329Z,1573594193.329 [logger ThreadHandler](INFO): Handler Thread ID is 1962
2019-11-12T21:29:53.341Z,1573594193.341 [CBIT](DEBUG): Initialized mux pins.
2019-11-12T21:29:53.341Z,1573594193.341 [CBIT](DEBUG): Initializing the watchdog timer.
2019-11-12T21:29:53.349Z,1573594193.349 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 1963
2019-11-12T21:29:53.351Z,1573594193.351 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2019-11-12T21:29:53.365Z,1573594193.365 [CBIT](CRITICAL): LAST REBOOT DUE TO WATCHDOG TIMER RESET.
2019-11-12T21:29:53.365Z,1573594193.365 [CBIT](DEBUG): Initializing heartbeat.
2019-11-12T21:29:53.373Z,1573594193.373 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 1964
2019-11-12T21:29:53.375Z,1573594193.375 [CTD_NeilBrown ThreadHandler](INFO): Handler Thread ID is 1965
2019-11-12T21:29:53.376Z,1573594193.376 [CTD_NeilBrown](INFO): Powering down
2019-11-12T21:29:53.397Z,1573594193.397 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 1967
2019-11-12T21:29:53.402Z,1573594193.402 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 1966
2019-11-12T21:29:53.402Z,1573594193.402 [WetLabsSeaOWL_UV_A](INFO): Powering down
2019-11-12T21:29:53.437Z,1573594193.437 [CBIT](DEBUG): Deactivating GF circuits.
2019-11-12T21:29:53.437Z,1573594193.437 [CBIT](DEBUG): Deactivating emergency mode.
2019-11-12T21:29:53.455Z,1573594193.455 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2019-11-12T21:29:53.455Z,1573594193.455 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2019-11-12T21:29:53.455Z,1573594193.455 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2019-11-12T21:29:53.455Z,1573594193.455 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2019-11-12T21:29:53.456Z,1573594193.456 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2019-11-12T21:29:53.456Z,1573594193.456 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2019-11-12T21:29:53.456Z,1573594193.456 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2019-11-12T21:29:53.456Z,1573594193.456 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2019-11-12T21:29:53.456Z,1573594193.456 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2019-11-12T21:29:53.457Z,1573594193.457 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2019-11-12T21:29:53.457Z,1573594193.457 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2019-11-12T21:29:53.457Z,1573594193.457 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2019-11-12T21:29:53.457Z,1573594193.457 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2019-11-12T21:29:53.458Z,1573594193.458 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2019-11-12T21:29:53.458Z,1573594193.458 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2019-11-12T21:29:53.458Z,1573594193.458 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2019-11-12T21:29:53.473Z,1573594193.473 [CBIT](DEBUG): Backplane powered.
2019-11-12T21:29:53.473Z,1573594193.473 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2019-11-12T21:29:53.475Z,1573594193.475 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2019-11-12T21:29:53.475Z,1573594193.475 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2019-11-12T21:29:53.476Z,1573594193.476 [LoopControl](DEBUG): Initialize LoopControlComponent.
2019-11-12T21:29:53.477Z,1573594193.477 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2019-11-12T21:29:53.492Z,1573594193.492 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2019-11-12T21:29:53.506Z,1573594193.506 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Units="Tethys/Units"
       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/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="Startup">

    <Guidance:GoToSurface>
        <Progression/>
    </Guidance:GoToSurface>

    <Aggregate Id="StartupSatComms">

        <Sequence/>

        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:latitude_fix/>
        </ReadDatum>

        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:platform_communications/>
        </ReadDatum>

    </Aggregate>

</Mission>


2019-11-12T21:29:53.507Z,1573594193.507 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2019-11-12T21:29:53.777Z,1573594193.777 [Radio_Surface](INFO): Powering up
2019-11-12T21:29:53.785Z,1573594193.785 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2019-11-12T21:29:53.786Z,1573594193.786 [Default:A.Wait](DEBUG): Construct Wait.
2019-11-12T21:29:53.788Z,1573594193.788 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-11-12T21:29:53.822Z,1573594193.822 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2019-11-12T21:29:53.841Z,1573594193.841 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2019-11-12T21:29:53.846Z,1573594193.846 [Default:E.Execute](DEBUG): Construct Execute.
2019-11-12T21:29:53.866Z,1573594193.866 [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="Default">

    <DefineArg Name="ElapsedSinceDefaultStarted"><Units:minute/><Value>0</Value></DefineArg>

    <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>

    <Guidance:GoToSurface>
        <Progression/>
    </Guidance:GoToSurface>

    <Aggregate Id="CheckIn">

        <Sequence Repeat="288"/>

        <ReadDatum Id="Read_GPS">
            <Timeout Duration="P5M"/>
            <Universal:time_fix/>
        </ReadDatum>

        <ReadDatum Id="Read_Iridium">
            <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>

        <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 and Default mission.</Syslog>

    <Guidance:Execute>
        <Sequence/>
        <Setting><Guidance:Execute.command/><String>restart logs</String></Setting>
    </Guidance:Execute>

</Mission>


2019-11-12T21:29:53.878Z,1573594193.878 [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,
2019-11-12T21:29:53.888Z,1573594193.888 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2019-11-12T21:29:53.938Z,1573594193.938 [DDM](INFO): Powering up
2019-11-12T21:29:53.939Z,1573594193.939 [DDM](DEBUG): Initializing DDM.
2019-11-12T21:29:53.963Z,1573594193.963 [DUSBL_Hydroid](INFO): Powering up
2019-11-12T21:29:53.963Z,1573594193.963 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2019-11-12T21:29:54.144Z,1573594194.144 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2019-11-12T21:29:54.153Z,1573594194.153 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2019-11-12T21:29:54.154Z,1573594194.154 [ElevatorServo](DEBUG): Initializing EZServoServo.
2019-11-12T21:29:54.161Z,1573594194.161 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2019-11-12T21:29:54.162Z,1573594194.162 [MassServo](DEBUG): Initializing EZServoServo.
2019-11-12T21:29:54.169Z,1573594194.169 [MassServo](DEBUG): Initializing MassServo.
2019-11-12T21:29:54.170Z,1573594194.170 [RudderServo](DEBUG): Initializing EZServoServo.
2019-11-12T21:29:54.177Z,1573594194.177 [RudderServo](DEBUG): Initializing RudderServo.
2019-11-12T21:29:54.178Z,1573594194.178 [ThrusterServo](DEBUG): Initializing EZServoServo.
2019-11-12T21:29:54.185Z,1573594194.185 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2019-11-12T21:29:54.187Z,1573594194.187 [CommandLine](FAULT): Scheduling is paused
2019-11-12T21:29:54.187Z,1573594194.187 [CBIT](INFO): Critical error at 20191112T212953
2019-11-12T21:29:54.188Z,1573594194.188 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2019-11-12T21:29:54.308Z,1573594194.308 [Micromodem](INFO): Powering up
2019-11-12T21:29:54.308Z,1573594194.308 [Micromodem](DEBUG): Initializing Micromodem.
2019-11-12T21:29:55.089Z,1573594195.089 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2019-11-12T21:29:55.089Z,1573594195.089 [RudderServo](FAULT): Rudder failed to initialize
2019-11-12T21:29:55.089Z,1573594195.089 [RudderServo] Communications Fault, FailCount= 1
2019-11-12T21:29:55.089Z,1573594195.089 [RudderServo](ERROR): Communications Fault
2019-11-12T21:29:55.200Z,1573594195.200 [CBIT](ERROR): Communications Fault in component: RudderServo
2019-11-12T21:29:55.421Z,1573594195.421 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2019-11-12T21:29:55.421Z,1573594195.421 [RudderServo](INFO): Powering down
2019-11-12T21:29:56.080Z,1573594196.080 [RudderServo](DEBUG): Initializing EZServoServo.
2019-11-12T21:29:56.201Z,1573594196.201 [RudderServo](DEBUG): Initializing RudderServo.
2019-11-12T21:29:56.205Z,1573594196.205 [CBIT](INFO): Clearing failed state for component RudderServo
2019-11-12T21:29:56.205Z,1573594196.205 [RudderServo] No Fault, FailCount= 1
2019-11-12T21:29:59.289Z,1573594199.289 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2019-11-12T21:29:59.692Z,1573594199.692 [Micromodem](INFO): Nmea in: $CATMG,2019-11-12T21:29:59.409505Z,RTC,RTC*50

2019-11-12T21:29:59.692Z,1573594199.692 [Micromodem](ERROR): CFG response from modem unexpected: $CATMG,2019-11-12T21:29:59.409505Z,RTC,RTC*50

2019-11-12T21:30:00.227Z,1573594200.227 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2019-11-12T21:30:00.227Z,1573594200.227 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2019-11-12T21:30:00.635Z,1573594200.635 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2019-11-12T21:30:00.635Z,1573594200.635 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2019-11-12T21:30:01.035Z,1573594201.035 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2019-11-12T21:30:01.036Z,1573594201.036 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2019-11-12T21:30:01.439Z,1573594201.439 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2019-11-12T21:30:01.439Z,1573594201.439 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2019-11-12T21:30:01.843Z,1573594201.843 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2019-11-12T21:30:01.843Z,1573594201.843 [Micromodem](INFO): Nmea out: $CCCFG,FC0,10000*46

2019-11-12T21:30:02.247Z,1573594202.247 [Micromodem](INFO): Nmea in: $CACFG,FC0,10000*44

2019-11-12T21:30:02.247Z,1573594202.247 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2019-11-12T21:30:02.655Z,1573594202.655 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2019-11-12T21:30:02.656Z,1573594202.656 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2019-11-12T21:30:03.035Z,1573594203.035 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2019-11-12T21:30:03.036Z,1573594203.036 [Micromodem](INFO): Nmea out: $CCCLK,2019,11,12,21,30,04*49

2019-11-12T21:30:03.440Z,1573594203.440 [Micromodem](INFO): Nmea in: $CACLK,2019,11,12,21,30,4*7B

2019-11-12T21:30:04.238Z,1573594204.238 [Micromodem](INFO): Nmea in: $CATMS,0,2019-11-12T21:30:05Z*7A

2019-11-12T21:30:04.283Z,1573594204.283 [Micromodem](INFO): Nmea in: $CATMG,2019-11-12T21:30:05.026102Z,USER_CMD,RTC*1A

2019-11-12T21:30:07.494Z,1573594207.494 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2019-11-12T21:30:09.798Z,1573594209.798 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004416
2019-11-12T21:30:11.911Z,1573594211.911 [DUSBL_Hydroid](INFO): DUSBL Version:O
2019-11-12T21:30:14.329Z,1573594214.329 [DDM](FAULT): failed to initialize; deviceResponse_ loaded: =+@, available: 44B
2019-11-12T21:30:14.329Z,1573594214.329 [DDM] Communications Fault, FailCount= 1
2019-11-12T21:30:14.329Z,1573594214.329 [DDM](ERROR): Communications Fault
2019-11-12T21:30:14.403Z,1573594214.403 [CBIT](ERROR): Communications Fault in component: DDM
2019-11-12T21:30:14.733Z,1573594214.733 [DDM](INFO): Powering down
2019-11-12T21:30:15.620Z,1573594215.620 [CBIT](INFO): Clearing failed state for component DDM
2019-11-12T21:30:15.620Z,1573594215.620 [DDM] No Fault, FailCount= 1
2019-11-12T21:30:17.965Z,1573594217.965 [DDM](INFO): Powering up
2019-11-12T21:30:17.965Z,1573594217.965 [DDM](DEBUG): Initializing DDM.
2019-11-12T21:30:19.991Z,1573594219.991 [NAL9602](INFO): Powering up NAL9602
2019-11-12T21:30:22.052Z,1573594222.052 [SBIT](IMPORTANT): Beginning Startup BIT
2019-11-12T21:30:22.056Z,1573594222.056 [CBIT](IMPORTANT): Beginning ground fault scan
2019-11-12T21:30:28.721Z,1573594228.721 [DDM](INFO): Dynamic Docking Module:ø!C REMUS Capture Rev 1.1
2019-11-12T21:30:31.160Z,1573594231.160 [NAL9602](INFO): NAL9602 initialized
2019-11-12T21:30:32.894Z,1573594232.894 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.011839
CHAN A1 (24V): -0.029152
CHAN A2 (12V): -0.007348
CHAN A3 (5V): -0.001612
CHAN B0 (3.3V): 0.000350
CHAN B1 (3.15aV): -0.000039
CHAN B2 (3.15bV): -0.000104
CHAN B3 (GND): 0.002101
OPEN: 0.004953
Full Scale Calc: 4.765 mA, -1.589 mA
2019-11-12T21:30:33.609Z,1573594233.609 [RDI_Pathfinder](ERROR): Failed to parse:
:BI,-32768,-3268,-32768,V
2019-11-12T21:31:02.210Z,1573594262.210 [CommandLine](IMPORTANT): got command failComponent
2019-11-12T21:31:02.211Z,1573594262.211 [CommandLine](IMPORTANT): Failed components:
2019-11-12T21:31:02.211Z,1573594262.211 [CommandLine](IMPORTANT): No failed Components.
2019-11-12T21:31:08.507Z,1573594268.507 [CommandLine](IMPORTANT): got command show stack
2019-11-12T21:31:08.507Z,1573594268.507 [CommandLine](IMPORTANT): Behavior Stack:

2019-11-12T21:31:08.507Z,1573594268.507 [MissionManager](IMPORTANT): Mission loaded, but not running.
2019-11-12T21:31:10.381Z,1573594270.381 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.587204
2019-11-12T21:31:15.883Z,1573594275.883 [SBIT](IMPORTANT): SBIT PASSED
2019-11-12T21:31:15.914Z,1573594275.914 [CommandLine](IMPORTANT): got command configSet list
2019-11-12T21:31:15.915Z,1573594275.915 [CommandLine](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2019-11-12T21:31:15.915Z,1573594275.915 [CommandLine](IMPORTANT): DUSBL_Hydroid.detectionThreshold=75 count;

2019-11-12T21:31:15.915Z,1573594275.915 [CommandLine](IMPORTANT): DUSBL_Hydroid.transmitLockout=40 millisecond;

2019-11-12T21:31:15.916Z,1573594275.916 [CommandLine](IMPORTANT): DUSBL_Hydroid.verbosity=3 enum;

2019-11-12T21:31:15.916Z,1573594275.916 [CommandLine](IMPORTANT): Express linearApproximation DUSBL_Hydroid.acoustic_contact_range 1.000000 meter;

2019-11-12T21:31:15.916Z,1573594275.916 [CommandLine](IMPORTANT): Express linearApproximation DUSBL_Hydroid.xAngle 1.000000 degree;

2019-11-12T21:31:15.916Z,1573594275.916 [CommandLine](IMPORTANT): Express linearApproximation acoustic_contact_range 2.000000 meter;

2019-11-12T21:31:15.916Z,1573594275.916 [CommandLine](IMPORTANT): HorizontalControl.kiHeading=0.002 reciprocal_second;

2019-11-12T21:31:15.916Z,1573594275.916 [CommandLine](IMPORTANT): HorizontalControl.kpHeading=0.8 none;

2019-11-12T21:31:15.916Z,1573594275.916 [CommandLine](IMPORTANT): HorizontalControl.rudDeadband=0.05 degree;

2019-11-12T21:31:15.916Z,1573594275.916 [CommandLine](IMPORTANT): VerticalControl.buoyancyNeutral=250 cubic_centimeter;

2019-11-12T21:31:16.279Z,1573594276.279 [MissionManager](IMPORTANT): Started mission Startup
2019-11-12T21:31:16.279Z,1573594276.279 [Startup] Running Loop=1
2019-11-12T21:31:16.280Z,1573594276.280 [Startup](DEBUG): Aggregate::initialize Startup
2019-11-12T21:31:16.280Z,1573594276.280 [Startup:A.GoToSurface] Running Loop=1
2019-11-12T21:31:16.280Z,1573594276.280 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-11-12T21:31:16.280Z,1573594276.280 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-11-12T21:31:16.281Z,1573594276.281 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-11-12T21:31:16.281Z,1573594276.281 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-11-12T21:31:16.282Z,1573594276.282 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-11-12T21:31:16.282Z,1573594276.282 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-11-12T21:31:16.284Z,1573594276.284 [Startup:StartupSatComms] Running Loop=1
2019-11-12T21:31:16.284Z,1573594276.284 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2019-11-12T21:31:16.284Z,1573594276.284 [Startup:StartupSatComms:A] Running Loop=1
2019-11-12T21:31:16.674Z,1573594276.674 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2019-11-12T21:31:48.170Z,1573594308.170 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004124
2019-11-12T21:32:16.483Z,1573594336.483 [Startup:StartupSatComms:A](INFO): Timed out from 2019-11-12T21:31:16.3Z
2019-11-12T21:32:16.483Z,1573594336.483 [Startup:StartupSatComms:A] Stopped
2019-11-12T21:32:16.483Z,1573594336.483 [Startup:StartupSatComms:B] Running Loop=1
2019-11-12T21:32:16.871Z,1573594336.871 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-11-12T21:32:22.024Z,1573594342.024 [DataOverHttps](INFO): Sending 99 bytes from file Logs/20191112T212943/Courier0000.lzma
2019-11-12T21:32:24.033Z,1573594344.033 [DataOverHttps](INFO): Moved sent file to Logs/20191112T212943/Courier0000.lzma.bak
2019-11-12T21:32:24.034Z,1573594344.034 [DataOverHttps](INFO): SBD MOMSN=11974119
2019-11-12T21:32:44.632Z,1573594364.632 [DataOverHttps](INFO): Sending 64 bytes from file Logs/20191111T175904/Express0112.lzma
2019-11-12T21:32:48.647Z,1573594368.647 [DataOverHttps](INFO): Moved sent file to Logs/20191111T175904/Express0112.lzma.bak
2019-11-12T21:32:48.647Z,1573594368.647 [DataOverHttps](INFO): SBD MOMSN=11974124
2019-11-12T21:32:53.630Z,1573594373.630 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2019-11-12T21:32:53.630Z,1573594373.630 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-11-12T21:32:53.644Z,1573594373.644 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-11-12T21:32:54.066Z,1573594374.066 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-11-12T21:32:54.066Z,1573594374.066 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2019-11-12T21:33:05.986Z,1573594385.986 [DataOverHttps](INFO): Sending 1042 bytes from file Logs/20191112T212943/Express0001.lzma
2019-11-12T21:33:07.990Z,1573594387.990 [DataOverHttps](INFO): Moved sent file to Logs/20191112T212943/Express0001.lzma.bak
2019-11-12T21:33:07.990Z,1573594387.990 [DataOverHttps](INFO): SBD MOMSN=11974132
2019-11-12T21:33:09.390Z,1573594389.390 [Startup:StartupSatComms:B] Stopped
2019-11-12T21:33:09.390Z,1573594389.390 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2019-11-12T21:33:09.390Z,1573594389.390 [Startup:StartupSatComms] Stopped
2019-11-12T21:33:09.390Z,1573594389.390 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2019-11-12T21:33:09.391Z,1573594389.391 [Startup](INFO): Completed Startup
2019-11-12T21:33:09.391Z,1573594389.391 [MissionManager](INFO): Startup is completed.
2019-11-12T21:33:09.391Z,1573594389.391 [MissionManager](INFO): Uninitializing Mission Startup
2019-11-12T21:33:09.391Z,1573594389.391 [Startup] Stopped
2019-11-12T21:33:09.391Z,1573594389.391 [Startup](DEBUG): Aggregate::uninitialize Startup
2019-11-12T21:33:09.391Z,1573594389.391 [Startup:A.GoToSurface] Stopped
2019-11-12T21:33:09.392Z,1573594389.392 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-11-12T21:33:09.775Z,1573594389.775 [MissionManager](IMPORTANT): Started mission Default
2019-11-12T21:33:09.775Z,1573594389.775 [Default] Running Loop=1
2019-11-12T21:33:09.775Z,1573594389.775 [Default](DEBUG): Aggregate::initialize Default
2019-11-12T21:33:09.775Z,1573594389.775 [Default:B.GoToSurface] Running Loop=1
2019-11-12T21:33:09.775Z,1573594389.775 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-11-12T21:33:09.775Z,1573594389.775 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-11-12T21:33:09.776Z,1573594389.776 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-11-12T21:33:09.776Z,1573594389.776 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-11-12T21:33:09.776Z,1573594389.776 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-11-12T21:33:09.777Z,1573594389.777 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-11-12T21:33:09.777Z,1573594389.777 [Default:A.Wait] Running Loop=1
2019-11-12T21:33:09.777Z,1573594389.777 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-11-12T21:33:23.108Z,1573594403.108 [Default:A.Wait](INFO): Done Waiting.
2019-11-12T21:33:23.108Z,1573594403.108 [Default:A.Wait] Stopped
2019-11-12T21:33:23.108Z,1573594403.108 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-11-12T21:33:23.524Z,1573594403.524 [Default:CheckIn] Running Loop=1
2019-11-12T21:33:23.524Z,1573594403.524 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-12T21:33:23.529Z,1573594403.529 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-12T21:33:23.919Z,1573594403.919 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-11-12T21:35:27.547Z,1573594527.547 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2019-11-12T21:35:27.547Z,1573594527.547 [RDI_Pathfinder](ERROR): Failed to parse:
:RA   0.00,   0.00,   0.00,   0.00
2019-11-12T21:35:33.979Z,1573594533.979 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-12T21:35:54.623Z,1573594554.623 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2019-11-12T21:35:54.623Z,1573594554.623 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-11-12T21:35:54.658Z,1573594554.658 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-11-12T21:35:55.036Z,1573594555.036 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-11-12T21:35:55.036Z,1573594555.036 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2019-11-12T21:36:08.359Z,1573594568.359 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2019-11-12T21:36:08.359Z,1573594568.359 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  59.99
2019-11-12T21:37:08.595Z,1573594628.595 [CommandLine](IMPORTANT): got command show variable range
2019-11-12T21:37:08.657Z,1573594628.657 [CommandLine](IMPORTANT): acoustic_contact_range (unknown)
2019-11-12T21:37:08.732Z,1573594628.732 [CommandLine](IMPORTANT): BR_Ping1D.minRange (meter)
2019-11-12T21:37:08.732Z,1573594628.732 [CommandLine](IMPORTANT): BR_Ping1D.maxRange (meter)
2019-11-12T21:37:08.748Z,1573594628.748 [CommandLine](IMPORTANT): DUSBL_Hydroid.acoustic_contact_range (meter)
2019-11-12T21:37:08.749Z,1573594628.749 [CommandLine](IMPORTANT): Micromodem.range_request (count)
2019-11-12T21:37:08.750Z,1573594628.750 [CommandLine](IMPORTANT): Micromodem.range (meter)
2019-11-12T21:37:08.752Z,1573594628.752 [CommandLine](IMPORTANT): RDI_Pathfinder.Beam1Range (meter)
2019-11-12T21:37:08.753Z,1573594628.753 [CommandLine](IMPORTANT): RDI_Pathfinder.Beam2Range (meter)
2019-11-12T21:37:08.753Z,1573594628.753 [CommandLine](IMPORTANT): RDI_Pathfinder.Beam3Range (meter)
2019-11-12T21:37:08.754Z,1573594628.754 [CommandLine](IMPORTANT): RDI_Pathfinder.Beam4Range (meter)
2019-11-12T21:37:16.427Z,1573594636.427 [CommandLine](IMPORTANT): got command report touch acoustic_contact_range
2019-11-12T21:37:17.831Z,1573594637.831 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2019-11-12T21:37:17.834Z,1573594637.834 [BPC1](INFO): Received data from all battery sticks.
2019-11-12T21:37:24.702Z,1573594644.702 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-12T21:37:24.703Z,1573594644.703 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-12T21:37:27.529Z,1573594647.529 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-12T21:37:27.529Z,1573594647.529 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19111214484235,35.0, -0.1,   0.0, 0
2019-11-12T21:37:48.158Z,1573594668.158 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2019-11-12T21:37:48.158Z,1573594668.158 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +0.00,        +0.00,     ,   0.00,460.99
2019-11-12T21:38:03.594Z,1573594683.594 [DataOverHttps](IMPORTANT): SBD MTMSN=20191112T213722
2019-11-12T21:38:13.208Z,1573594693.208 [DataOverHttps](INFO): Received command:run Maintenance/DUSBL.xml
2019-11-12T21:38:13.222Z,1573594693.222 [CommandLine](IMPORTANT): got command run ./Missions/Maintenance/DUSBL.xml
2019-11-12T21:38:13.222Z,1573594693.222 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/DUSBL.xml
2019-11-12T21:38:13.321Z,1573594693.321 [MissionManager](INFO): DefineArg DUSBL.MissionTimeout = 90.000000 min
2019-11-12T21:38:13.337Z,1573594693.337 [MissionManager](INFO): DefineArg DUSBL.NumberOfRequests = 10.000000 count
2019-11-12T21:38:13.349Z,1573594693.349 [MissionManager](INFO): DefineArg DUSBL.TransponderCode = 2.000000 count
2019-11-12T21:38:13.352Z,1573594693.352 [MissionManager](INFO): DefineArg DUSBL.NumberOfPings = 1.000000 count
2019-11-12T21:38:13.360Z,1573594693.360 [MissionManager](INFO): DefineArg DUSBL.EnabledDUSBL = DUSBL_Hydroid.loadAtStartup
2019-11-12T21:38:13.366Z,1573594693.366 [DUSBL:A.Pitch](DEBUG): Construct.
2019-11-12T21:38:13.371Z,1573594693.371 [DUSBL:B.SetSpeed](DEBUG): Construct.
2019-11-12T21:38:13.400Z,1573594693.400 [DUSBL:RequestRepeater:C.Wait](DEBUG): Construct Wait.
2019-11-12T21:38:13.404Z,1573594693.404 [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>90</Value></DefineArg>

    <DefineArg Name="NumberOfRequests"><Description>
        Number of pings to requst.
    </Description><Units:count/><Value>10</Value></DefineArg>

    <DefineArg Name="TransponderCode"><Description>
        Transponder Address.
    </Description><Units:count/><Value>2</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>

    <ReadData>
        <When>
            <Arg Name="EnabledDUSBL"/>
        </When>
            <Universal:acoustic_contact_range/>
            <Universal:acoustic_contact_direction_vehicle_frame/>
    </ReadData>
    
      <Aggregate Id="RequestRepeater">

        <Sequence Repeat="NumberOfRequests"/>
        <Assign><Parallel/><Sensor:DUSBL_Hydroid.transponderCode/><Arg Name="TransponderCode"/></Assign>
        <Assign><Parallel/><Sensor:DUSBL_Hydroid.pingRequested/><Arg Name="NumberOfPings"/></Assign>
          <Guidance:Wait>
            <Sequence/>
            <Setting><Guidance:Wait.duration/><Units:second/><Value>90</Value></Setting>
          </Guidance:Wait>
      </Aggregate>    
</Mission>


2019-11-12T21:38:13.414Z,1573594693.414 [CommandLine](IMPORTANT): Running ./Missions/Maintenance/DUSBL.xml
2019-11-12T21:38:13.622Z,1573594693.622 [Default] Stopped
2019-11-12T21:38:13.622Z,1573594693.622 [Default](DEBUG): Aggregate::uninitialize Default
2019-11-12T21:38:13.622Z,1573594693.622 [Default:B.GoToSurface] Stopped
2019-11-12T21:38:13.622Z,1573594693.622 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-11-12T21:38:13.622Z,1573594693.622 [Default:CheckIn] Stopped
2019-11-12T21:38:13.623Z,1573594693.623 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-12T21:38:13.623Z,1573594693.623 [Default:CheckIn:Read_GPS] Stopped
2019-11-12T21:38:13.623Z,1573594693.623 [MissionManager](IMPORTANT): Started mission DUSBL
2019-11-12T21:38:13.623Z,1573594693.623 [DUSBL] Running Loop=1
2019-11-12T21:38:13.623Z,1573594693.623 [DUSBL](DEBUG): Aggregate::initialize DUSBL
2019-11-12T21:38:13.623Z,1573594693.623 [DUSBL:A.Pitch] Running Loop=1
2019-11-12T21:38:13.623Z,1573594693.623 [DUSBL:A.Pitch](DEBUG): Initialize.
2019-11-12T21:38:13.624Z,1573594693.624 [DUSBL:B.SetSpeed] Running Loop=1
2019-11-12T21:38:13.624Z,1573594693.624 [DUSBL:B.SetSpeed](DEBUG): Initialize.
2019-11-12T21:38:13.624Z,1573594693.624 [DUSBL:C] Running Loop=1
2019-11-12T21:38:13.624Z,1573594693.624 [DUSBL:RequestRepeater] Running Loop=1
2019-11-12T21:38:13.624Z,1573594693.624 [DUSBL:RequestRepeater](DEBUG): Aggregate::initialize DUSBL:RequestRepeater
2019-11-12T21:38:13.624Z,1573594693.624 [DUSBL:RequestRepeater:A] Running Loop=1
2019-11-12T21:38:13.624Z,1573594693.624 [DUSBL:RequestRepeater:B] Running Loop=1
2019-11-12T21:38:13.624Z,1573594693.624 [DUSBL:RequestRepeater:C.Wait] Running Loop=1
2019-11-12T21:38:13.624Z,1573594693.624 [DUSBL:RequestRepeater:C.Wait](DEBUG): Initialize Wait Component.
2019-11-12T21:38:13.641Z,1573594693.641 [DUSBL:RequestRepeater:B] Running Loop=1
2019-11-12T21:38:13.641Z,1573594693.641 [DUSBL:RequestRepeater:A] Running Loop=1
2019-11-12T21:38:13.645Z,1573594693.645 [DUSBL:C](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_range
2019-11-12T21:38:13.646Z,1573594693.646 [DUSBL:C](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_direction_vehicle_frame
2019-11-12T21:38:13.646Z,1573594693.646 [DUSBL:B.SetSpeed] Running Loop=1
2019-11-12T21:38:13.646Z,1573594693.646 [DUSBL:A.Pitch] Running Loop=1
2019-11-12T21:38:15.192Z,1573594695.192 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2019-11-12T21:38:15.192Z,1573594695.192 [DUSBL_Hydroid](INFO): ****** received ping request ******
2019-11-12T21:38:15.193Z,1573594695.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2019-11-12T21:38:15.194Z,1573594695.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-11-12T21:38:15.586Z,1573594695.586 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
O
2019-11-12T21:38:15.586Z,1573594695.586 [DUSBL_Hydroid](INFO): Command Ack
2019-11-12T21:38:15.587Z,1573594695.587 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2019-11-12T21:38:15.588Z,1573594695.588 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-12T21:38:16.015Z,1573594696.015 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-12T21:38:16.804Z,1573594696.804 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213816.88*51

2019-11-12T21:38:19.218Z,1573594699.218 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,64
2019-11-12T21:38:19.219Z,1573594699.219 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,64
2019-11-12T21:38:19.219Z,1573594699.219 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-11-12T21:38:19.626Z,1573594699.626 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2019-11-12T21:38:19.626Z,1573594699.626 [DUSBL_Hydroid](INFO): ****** received ping request ******
2019-11-12T21:38:19.626Z,1573594699.626 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2019-11-12T21:38:19.627Z,1573594699.627 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-11-12T21:38:20.030Z,1573594700.030 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,64
2019-11-12T21:38:20.030Z,1573594700.030 [DUSBL_Hydroid](INFO): Command Ack
2019-11-12T21:38:20.031Z,1573594700.031 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2019-11-12T21:38:20.032Z,1573594700.032 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-12T21:38:20.437Z,1573594700.437 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-12T21:38:21.248Z,1573594701.248 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213821.32*54

2019-11-12T21:38:23.665Z,1573594703.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,64
2019-11-12T21:38:23.665Z,1573594703.665 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,64
2019-11-12T21:38:23.666Z,1573594703.666 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-11-12T21:38:24.066Z,1573594704.066 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2019-11-12T21:38:24.066Z,1573594704.066 [DUSBL_Hydroid](INFO): ****** received ping request ******
2019-11-12T21:38:24.066Z,1573594704.066 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2019-11-12T21:38:24.067Z,1573594704.067 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-11-12T21:38:24.467Z,1573594704.467 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,64
2019-11-12T21:38:24.467Z,1573594704.467 [DUSBL_Hydroid](INFO): Command Ack
2019-11-12T21:38:24.467Z,1573594704.467 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2019-11-12T21:38:24.468Z,1573594704.468 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-12T21:38:24.877Z,1573594704.877 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-12T21:38:25.691Z,1573594705.691 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213825.76*50

2019-11-12T21:38:28.113Z,1573594708.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,64
2019-11-12T21:38:28.114Z,1573594708.114 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,64
2019-11-12T21:38:28.114Z,1573594708.114 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-11-12T21:38:28.514Z,1573594708.514 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2019-11-12T21:38:28.514Z,1573594708.514 [DUSBL_Hydroid](INFO): ****** received ping request ******
2019-11-12T21:38:28.514Z,1573594708.514 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2019-11-12T21:38:28.515Z,1573594708.515 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-11-12T21:38:28.914Z,1573594708.914 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,64
2019-11-12T21:38:28.914Z,1573594708.914 [DUSBL_Hydroid](INFO): Command Ack
2019-11-12T21:38:28.915Z,1573594708.915 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2019-11-12T21:38:28.916Z,1573594708.916 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-12T21:38:29.321Z,1573594709.321 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-12T21:38:30.147Z,1573594710.147 [Micromodem](INFO): Nmea in: $SNTTA,0.319773,,0.443636,,213830.21*5E

2019-11-12T21:38:32.546Z,1573594712.546 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,64
2019-11-12T21:38:32.547Z,1573594712.547 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,64
2019-11-12T21:38:32.547Z,1573594712.547 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-11-12T21:38:32.954Z,1573594712.954 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2019-11-12T21:38:32.954Z,1573594712.954 [DUSBL_Hydroid](INFO): ****** received ping request ******
2019-11-12T21:38:32.955Z,1573594712.955 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2019-11-12T21:38:32.955Z,1573594712.955 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-11-12T21:38:33.358Z,1573594713.358 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,64
2019-11-12T21:38:33.358Z,1573594713.358 [DUSBL_Hydroid](INFO): Command Ack
2019-11-12T21:38:33.359Z,1573594713.359 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2019-11-12T21:38:33.360Z,1573594713.360 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-12T21:38:33.765Z,1573594713.765 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-12T21:38:34.580Z,1573594714.580 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213834.65*52

2019-11-12T21:38:36.994Z,1573594716.994 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,64
2019-11-12T21:38:36.995Z,1573594716.995 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,64
2019-11-12T21:38:36.995Z,1573594716.995 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-11-12T21:38:37.402Z,1573594717.402 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2019-11-12T21:38:37.402Z,1573594717.402 [DUSBL_Hydroid](INFO): ****** received ping request ******
2019-11-12T21:38:37.402Z,1573594717.402 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2019-11-12T21:38:37.403Z,1573594717.403 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-11-12T21:38:37.803Z,1573594717.803 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,64
2019-11-12T21:38:37.803Z,1573594717.803 [DUSBL_Hydroid](INFO): Command Ack
2019-11-12T21:38:37.803Z,1573594717.803 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2019-11-12T21:38:37.804Z,1573594717.804 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-12T21:38:38.220Z,1573594718.220 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-12T21:38:39.025Z,1573594719.025 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213839.10*5D

2019-11-12T21:38:41.442Z,1573594721.442 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,64
2019-11-12T21:38:41.443Z,1573594721.443 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,64
2019-11-12T21:38:41.443Z,1573594721.443 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-11-12T21:38:41.846Z,1573594721.846 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2019-11-12T21:38:41.846Z,1573594721.846 [DUSBL_Hydroid](INFO): ****** received ping request ******
2019-11-12T21:38:41.846Z,1573594721.846 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2019-11-12T21:38:41.847Z,1573594721.847 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-11-12T21:38:42.250Z,1573594722.250 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,64
2019-11-12T21:38:42.250Z,1573594722.250 [DUSBL_Hydroid](INFO): Command Ack
2019-11-12T21:38:42.250Z,1573594722.250 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2019-11-12T21:38:42.252Z,1573594722.252 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-12T21:38:42.653Z,1573594722.653 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-12T21:38:43.464Z,1573594723.464 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213843.54*50

2019-11-12T21:38:43.941Z,1573594723.941 [CommandLine](IMPORTANT): got command stop
2019-11-12T21:38:43.942Z,1573594723.942 [CommandLine](IMPORTANT): Scheduling is paused
2019-11-12T21:38:43.942Z,1573594723.942 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-11-12T21:38:44.357Z,1573594724.357 [MissionManager](INFO): MissionManager is completed.
2019-11-12T21:38:44.357Z,1573594724.357 [MissionManager](INFO): Uninitializing Mission DUSBL
2019-11-12T21:38:44.357Z,1573594724.357 [DUSBL] Stopped
2019-11-12T21:38:44.358Z,1573594724.358 [DUSBL](DEBUG): Aggregate::uninitialize DUSBL
2019-11-12T21:38:44.358Z,1573594724.358 [DUSBL:A.Pitch] Stopped
2019-11-12T21:38:44.358Z,1573594724.358 [DUSBL:B.SetSpeed] Stopped
2019-11-12T21:38:44.358Z,1573594724.358 [DUSBL:B.SetSpeed](DEBUG): Uninitialize.
2019-11-12T21:38:44.358Z,1573594724.358 [DUSBL:C] Stopped
2019-11-12T21:38:44.358Z,1573594724.358 [DUSBL:RequestRepeater] Stopped
2019-11-12T21:38:44.358Z,1573594724.358 [DUSBL:RequestRepeater](DEBUG): Aggregate::uninitialize DUSBL:RequestRepeater
2019-11-12T21:38:44.358Z,1573594724.358 [DUSBL:RequestRepeater:A] Stopped
2019-11-12T21:38:44.358Z,1573594724.358 [DUSBL:RequestRepeater:B] Stopped
2019-11-12T21:38:44.358Z,1573594724.358 [DUSBL:RequestRepeater:C.Wait] Stopped
2019-11-12T21:38:44.358Z,1573594724.358 [DUSBL:RequestRepeater:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-12T21:38:44.722Z,1573594724.722 [MissionManager](IMPORTANT): Started mission Default
2019-11-12T21:38:44.722Z,1573594724.722 [Default] Running Loop=1
2019-11-12T21:38:44.722Z,1573594724.722 [Default](DEBUG): Aggregate::initialize Default
2019-11-12T21:38:44.722Z,1573594724.722 [Default:B.GoToSurface] Running Loop=1
2019-11-12T21:38:44.722Z,1573594724.722 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-11-12T21:38:44.723Z,1573594724.723 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-11-12T21:38:44.723Z,1573594724.723 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-11-12T21:38:44.723Z,1573594724.723 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-11-12T21:38:44.724Z,1573594724.724 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-11-12T21:38:44.724Z,1573594724.724 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-11-12T21:38:44.724Z,1573594724.724 [Default:A.Wait] Running Loop=1
2019-11-12T21:38:44.724Z,1573594724.724 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-11-12T21:38:47.239Z,1573594727.239 [CommandLine](IMPORTANT): got command configSet list
2019-11-12T21:38:47.239Z,1573594727.239 [CommandLine](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2019-11-12T21:38:47.240Z,1573594727.240 [CommandLine](IMPORTANT): DUSBL_Hydroid.detectionThreshold=75 count;

2019-11-12T21:38:47.240Z,1573594727.240 [CommandLine](IMPORTANT): DUSBL_Hydroid.transmitLockout=40 millisecond;

2019-11-12T21:38:47.240Z,1573594727.240 [CommandLine](IMPORTANT): DUSBL_Hydroid.verbosity=3 enum;

2019-11-12T21:38:47.240Z,1573594727.240 [CommandLine](IMPORTANT): Express linearApproximation DUSBL_Hydroid.acoustic_contact_range 1.000000 meter;

2019-11-12T21:38:47.240Z,1573594727.240 [CommandLine](IMPORTANT): Express linearApproximation DUSBL_Hydroid.xAngle 1.000000 degree;

2019-11-12T21:38:47.240Z,1573594727.240 [CommandLine](IMPORTANT): Express linearApproximation acoustic_contact_range 2.000000 meter;

2019-11-12T21:38:47.240Z,1573594727.240 [CommandLine](IMPORTANT): HorizontalControl.kiHeading=0.002 reciprocal_second;

2019-11-12T21:38:47.240Z,1573594727.240 [CommandLine](IMPORTANT): HorizontalControl.kpHeading=0.8 none;

2019-11-12T21:38:47.240Z,1573594727.240 [CommandLine](IMPORTANT): HorizontalControl.rudDeadband=0.05 degree;

2019-11-12T21:38:47.241Z,1573594727.241 [CommandLine](IMPORTANT): VerticalControl.buoyancyNeutral=250 cubic_centimeter;

2019-11-12T21:38:53.604Z,1573594733.604 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-12T21:38:53.604Z,1573594733.604 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19111214500835,35.0  0.0,1448.9,  0
2019-11-12T21:38:55.620Z,1573594735.620 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 3
2019-11-12T21:38:55.620Z,1573594735.620 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-11-12T21:38:55.630Z,1573594735.630 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-11-12T21:38:56.029Z,1573594736.029 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-11-12T21:38:56.030Z,1573594736.030 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 3
2019-11-12T21:38:58.044Z,1573594738.044 [Default:A.Wait](INFO): Done Waiting.
2019-11-12T21:38:58.044Z,1573594738.044 [Default:A.Wait] Stopped
2019-11-12T21:38:58.044Z,1573594738.044 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-11-12T21:38:58.443Z,1573594738.443 [Default:CheckIn] Running Loop=1
2019-11-12T21:38:58.443Z,1573594738.443 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-12T21:38:58.443Z,1573594738.443 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-12T21:38:58.759Z,1573594738.759 [CommandLine](IMPORTANT): got command show variable detectionThreshold
2019-11-12T21:38:58.879Z,1573594738.879 [CommandLine](IMPORTANT): DUSBL_Hydroid.detectionThreshold (count)
2019-11-12T21:39:08.217Z,1573594748.217 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2019-11-12T21:39:08.217Z,1573594748.217 [RDI_Pathfinder] Communications Fault, FailCount= 1
2019-11-12T21:39:08.217Z,1573594748.217 [RDI_Pathfinder](ERROR): Communications Fault
2019-11-12T21:39:08.217Z,1573594748.217 [RDI_Pathfinder](ERROR): Failed to parse:
2019-11-12T21:39:08.239Z,1573594748.239 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2019-11-12T21:39:08.617Z,1573594748.617 [RDI_Pathfinder](INFO): Powering down
2019-11-12T21:39:09.378Z,1573594749.378 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2019-11-12T21:39:09.378Z,1573594749.378 [RDI_Pathfinder] No Fault, FailCount= 1
2019-11-12T21:39:11.423Z,1573594751.423 [CommandLine](IMPORTANT): got command configSet DUSBL_Hydroid.detectionThreshold 30.000000 count persist
2019-11-12T21:39:22.693Z,1573594762.693 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2019-11-12T21:39:24.599Z,1573594764.599 [DataOverHttps](IMPORTANT): SBD MTMSN=20191112T213843
2019-11-12T21:39:31.987Z,1573594771.987 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-12T21:39:31.987Z,1573594771.987 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-12T21:39:32.120Z,1573594772.120 [DataOverHttps](INFO): Received command:run Maintenance/DUSBL.xml
2019-11-12T21:39:32.153Z,1573594772.153 [CommandLine](IMPORTANT): got command run ./Missions/Maintenance/DUSBL.xml
2019-11-12T21:39:32.154Z,1573594772.154 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/DUSBL.xml
2019-11-12T21:39:32.178Z,1573594772.178 [MissionManager](INFO): DefineArg DUSBL.MissionTimeout = 90.000000 min
2019-11-12T21:39:32.180Z,1573594772.180 [MissionManager](INFO): DefineArg DUSBL.NumberOfRequests = 10.000000 count
2019-11-12T21:39:32.183Z,1573594772.183 [MissionManager](INFO): DefineArg DUSBL.TransponderCode = 2.000000 count
2019-11-12T21:39:32.205Z,1573594772.205 [MissionManager](INFO): DefineArg DUSBL.NumberOfPings = 1.000000 count
2019-11-12T21:39:32.207Z,1573594772.207 [MissionManager](INFO): DefineArg DUSBL.EnabledDUSBL = DUSBL_Hydroid.loadAtStartup
2019-11-12T21:39:32.208Z,1573594772.208 [DUSBL:A.Pitch](DEBUG): Construct.
2019-11-12T21:39:32.212Z,1573594772.212 [DUSBL:B.SetSpeed](DEBUG): Construct.
2019-11-12T21:39:32.231Z,1573594772.231 [DUSBL:RequestRepeater:C.Wait](DEBUG): Construct Wait.
2019-11-12T21:39:32.242Z,1573594772.242 [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>90</Value></DefineArg>

    <DefineArg Name="NumberOfRequests"><Description>
        Number of pings to requst.
    </Description><Units:count/><Value>10</Value></DefineArg>

    <DefineArg Name="TransponderCode"><Description>
        Transponder Address.
    </Description><Units:count/><Value>2</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>

    <ReadData>
        <When>
            <Arg Name="EnabledDUSBL"/>
        </When>
            <Universal:acoustic_contact_range/>
            <Universal:acoustic_contact_direction_vehicle_frame/>
    </ReadData>
    
      <Aggregate Id="RequestRepeater">

        <Sequence Repeat="NumberOfRequests"/>
        <Assign><Parallel/><Sensor:DUSBL_Hydroid.transponderCode/><Arg Name="TransponderCode"/></Assign>
        <Assign><Parallel/><Sensor:DUSBL_Hydroid.pingRequested/><Arg Name="NumberOfPings"/></Assign>
          <Guidance:Wait>
            <Sequence/>
            <Setting><Guidance:Wait.duration/><Units:second/><Value>90</Value></Setting>
          </Guidance:Wait>
      </Aggregate>    
</Mission>


2019-11-12T21:39:32.244Z,1573594772.244 [CommandLine](IMPORTANT): Running ./Missions/Maintenance/DUSBL.xml
2019-11-12T21:39:32.393Z,1573594772.393 [Default] Stopped
2019-11-12T21:39:32.393Z,1573594772.393 [Default](DEBUG): Aggregate::uninitialize Default
2019-11-12T21:39:32.393Z,1573594772.393 [Default:B.GoToSurface] Stopped
2019-11-12T21:39:32.393Z,1573594772.393 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-11-12T21:39:32.393Z,1573594772.393 [Default:CheckIn] Stopped
2019-11-12T21:39:32.393Z,1573594772.393 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-12T21:39:32.394Z,1573594772.394 [Default:CheckIn:Read_GPS] Stopped
2019-11-12T21:39:32.394Z,1573594772.394 [MissionManager](IMPORTANT): Started mission DUSBL
2019-11-12T21:39:32.394Z,1573594772.394 [DUSBL] Running Loop=1
2019-11-12T21:39:32.394Z,1573594772.394 [DUSBL](DEBUG): Aggregate::initialize DUSBL
2019-11-12T21:39:32.394Z,1573594772.394 [DUSBL:A.Pitch] Running Loop=1
2019-11-12T21:39:32.394Z,1573594772.394 [DUSBL:A.Pitch](DEBUG): Initialize.
2019-11-12T21:39:32.395Z,1573594772.395 [DUSBL:B.SetSpeed] Running Loop=1
2019-11-12T21:39:32.395Z,1573594772.395 [DUSBL:B.SetSpeed](DEBUG): Initialize.
2019-11-12T21:39:32.395Z,1573594772.395 [DUSBL:C] Running Loop=1
2019-11-12T21:39:32.395Z,1573594772.395 [DUSBL:RequestRepeater] Running Loop=1
2019-11-12T21:39:32.395Z,1573594772.395 [DUSBL:RequestRepeater](DEBUG): Aggregate::initialize DUSBL:RequestRepeater
2019-11-12T21:39:32.395Z,1573594772.395 [DUSBL:RequestRepeater:A] Running Loop=1
2019-11-12T21:39:32.395Z,1573594772.395 [DUSBL:RequestRepeater:B] Running Loop=1
2019-11-12T21:39:32.396Z,1573594772.396 [DUSBL:RequestRepeater:C.Wait] Running Loop=1
2019-11-12T21:39:32.396Z,1573594772.396 [DUSBL:RequestRepeater:C.Wait](DEBUG): Initialize Wait Component.
2019-11-12T21:39:32.396Z,1573594772.396 [DUSBL:RequestRepeater:B] Running Loop=1
2019-11-12T21:39:32.396Z,1573594772.396 [DUSBL:RequestRepeater:A] Running Loop=1
2019-11-12T21:39:32.398Z,1573594772.398 [DUSBL:C](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_range
2019-11-12T21:39:32.398Z,1573594772.398 [DUSBL:C](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_direction_vehicle_frame
2019-11-12T21:39:32.398Z,1573594772.398 [DUSBL:B.SetSpeed] Running Loop=1
2019-11-12T21:39:32.398Z,1573594772.398 [DUSBL:A.Pitch] Running Loop=1
2019-11-12T21:39:33.980Z,1573594773.980 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:52.133022
2019-11-12T21:39:33.980Z,1573594773.980 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2019-11-12T21:39:33.980Z,1573594773.980 [DUSBL_Hydroid](INFO): ****** received ping request ******
2019-11-12T21:39:33.981Z,1573594773.981 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 30
2019-11-12T21:39:33.982Z,1573594773.982 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-11-12T21:39:34.366Z,1573594774.366 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,64
2019-11-12T21:39:34.366Z,1573594774.366 [DUSBL_Hydroid](INFO): Command Ack
2019-11-12T21:39:34.367Z,1573594774.367 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2019-11-12T21:39:34.368Z,1573594774.368 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-12T21:39:34.782Z,1573594774.782 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-12T21:39:35.585Z,1573594775.585 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213935.66*51

2019-11-12T21:39:37.670Z,1573594777.670 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2019-11-12T21:39:38.006Z,1573594778.006 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,64
2019-11-12T21:39:38.006Z,1573594778.006 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,64
2019-11-12T21:39:38.007Z,1573594778.007 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-11-12T21:39:38.410Z,1573594778.410 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2019-11-12T21:39:38.410Z,1573594778.410 [DUSBL_Hydroid](INFO): ****** received ping request ******
2019-11-12T21:39:38.410Z,1573594778.410 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 30
2019-11-12T21:39:38.411Z,1573594778.411 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-11-12T21:39:38.814Z,1573594778.814 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,64
2019-11-12T21:39:38.815Z,1573594778.815 [DUSBL_Hydroid](INFO): Command Ack
2019-11-12T21:39:38.815Z,1573594778.815 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2019-11-12T21:39:38.816Z,1573594778.816 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-12T21:39:39.224Z,1573594779.224 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-12T21:39:40.033Z,1573594780.033 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213940.10*52

2019-11-12T21:39:42.451Z,1573594782.451 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,64
2019-11-12T21:39:42.451Z,1573594782.451 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,64
2019-11-12T21:39:42.451Z,1573594782.451 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-11-12T21:39:42.854Z,1573594782.854 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2019-11-12T21:39:42.854Z,1573594782.854 [DUSBL_Hydroid](INFO): ****** received ping request ******
2019-11-12T21:39:42.854Z,1573594782.854 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 30
2019-11-12T21:39:42.855Z,1573594782.855 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-11-12T21:39:43.254Z,1573594783.254 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,64
2019-11-12T21:39:43.254Z,1573594783.254 [DUSBL_Hydroid](INFO): Command Ack
2019-11-12T21:39:43.254Z,1573594783.254 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2019-11-12T21:39:43.256Z,1573594783.256 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-12T21:39:43.665Z,1573594783.665 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-12T21:39:44.475Z,1573594784.475 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213944.54*56

2019-11-12T21:39:46.890Z,1573594786.890 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,64
2019-11-12T21:39:46.890Z,1573594786.890 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,64
2019-11-12T21:39:46.890Z,1573594786.890 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-11-12T21:39:47.294Z,1573594787.294 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2019-11-12T21:39:47.294Z,1573594787.294 [DUSBL_Hydroid](INFO): ****** received ping request ******
2019-11-12T21:39:47.294Z,1573594787.294 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 30
2019-11-12T21:39:47.295Z,1573594787.295 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-11-12T21:39:47.702Z,1573594787.702 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,64
2019-11-12T21:39:47.702Z,1573594787.702 [DUSBL_Hydroid](INFO): Command Ack
2019-11-12T21:39:47.702Z,1573594787.702 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2019-11-12T21:39:47.704Z,1573594787.704 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-12T21:39:48.105Z,1573594788.105 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-12T21:39:48.916Z,1573594788.916 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213949.00*5A

2019-11-12T21:39:51.338Z,1573594791.338 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,64
2019-11-12T21:39:51.338Z,1573594791.338 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,64
2019-11-12T21:39:51.339Z,1573594791.339 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-11-12T21:39:51.742Z,1573594791.742 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2019-11-12T21:39:51.742Z,1573594791.742 [DUSBL_Hydroid](INFO): ****** received ping request ******
2019-11-12T21:39:51.742Z,1573594791.742 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 30
2019-11-12T21:39:51.743Z,1573594791.743 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-11-12T21:39:52.142Z,1573594792.142 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,64
2019-11-12T21:39:52.143Z,1573594792.143 [DUSBL_Hydroid](INFO): Command Ack
2019-11-12T21:39:52.143Z,1573594792.143 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2019-11-12T21:39:52.144Z,1573594792.144 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-12T21:39:52.553Z,1573594792.553 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-12T21:39:53.371Z,1573594793.371 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213953.44*51

2019-11-12T21:39:55.001Z,1573594795.001 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-12T21:39:55.001Z,1573594795.001 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-12T21:39:55.782Z,1573594795.782 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,64
2019-11-12T21:39:55.783Z,1573594795.783 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,64
2019-11-12T21:39:55.783Z,1573594795.783 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-11-12T21:39:56.188Z,1573594796.188 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2019-11-12T21:39:56.188Z,1573594796.188 [DUSBL_Hydroid](INFO): ****** received ping request ******
2019-11-12T21:39:56.188Z,1573594796.188 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 30
2019-11-12T21:39:56.189Z,1573594796.189 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-11-12T21:39:56.592Z,1573594796.592 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,64
2019-11-12T21:39:56.609Z,1573594796.609 [DUSBL_Hydroid](INFO): Command Ack
2019-11-12T21:39:56.610Z,1573594796.610 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2019-11-12T21:39:56.617Z,1573594796.617 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-12T21:39:57.010Z,1573594797.010 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-12T21:39:57.804Z,1573594797.804 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213957.91*5D

2019-11-12T21:40:00.228Z,1573594800.228 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,64
2019-11-12T21:40:00.231Z,1573594800.231 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,64
2019-11-12T21:40:00.232Z,1573594800.232 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-11-12T21:40:00.632Z,1573594800.632 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2019-11-12T21:40:00.632Z,1573594800.632 [DUSBL_Hydroid](INFO): ****** received ping request ******
2019-11-12T21:40:00.632Z,1573594800.632 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 30
2019-11-12T21:40:00.633Z,1573594800.633 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-11-12T21:40:01.033Z,1573594801.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,64
2019-11-12T21:40:01.033Z,1573594801.033 [DUSBL_Hydroid](INFO): Command Ack
2019-11-12T21:40:01.033Z,1573594801.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2019-11-12T21:40:01.034Z,1573594801.034 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-12T21:40:01.451Z,1573594801.451 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-12T21:40:01.839Z,1573594801.839 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,011,000,0029E,183,80,80,16,FF
2019-11-12T21:40:01.840Z,1573594801.840 [DUSBL_Hydroid](INFO): publishing direction and range info
2019-11-12T21:40:01.944Z,1573594801.944 [Reporter](INFO): acoustic_contact_range 2.699998 m
2019-11-12T21:40:02.255Z,1573594802.255 [Micromodem](INFO): Nmea in: $SNTTA,,,,,214002.32*5A

2019-11-12T21:40:04.678Z,1573594804.678 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2019-11-12T21:40:04.678Z,1573594804.678 [DUSBL_Hydroid](INFO): ****** received ping request ******
2019-11-12T21:40:04.678Z,1573594804.678 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 30
2019-11-12T21:40:04.679Z,1573594804.679 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-11-12T21:40:05.070Z,1573594805.070 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
011,000,0029E,183,80,80,16,FF
2019-11-12T21:40:05.070Z,1573594805.070 [DUSBL_Hydroid](INFO): Command Ack
2019-11-12T21:40:05.070Z,1573594805.070 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2019-11-12T21:40:05.072Z,1573594805.072 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-12T21:40:05.485Z,1573594805.485 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-12T21:40:06.299Z,1573594806.299 [Micromodem](INFO): Nmea in: $SNTTA,,,,,214006.36*5A

2019-11-12T21:40:07.206Z,1573594807.206 [CommandLine](IMPORTANT): got command stop
2019-11-12T21:40:07.207Z,1573594807.207 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-11-12T21:40:07.545Z,1573594807.545 [MissionManager](INFO): MissionManager is completed.
2019-11-12T21:40:07.545Z,1573594807.545 [MissionManager](INFO): Uninitializing Mission DUSBL
2019-11-12T21:40:07.545Z,1573594807.545 [DUSBL] Stopped
2019-11-12T21:40:07.545Z,1573594807.545 [DUSBL](DEBUG): Aggregate::uninitialize DUSBL
2019-11-12T21:40:07.545Z,1573594807.545 [DUSBL:A.Pitch] Stopped
2019-11-12T21:40:07.545Z,1573594807.545 [DUSBL:B.SetSpeed] Stopped
2019-11-12T21:40:07.545Z,1573594807.545 [DUSBL:B.SetSpeed](DEBUG): Uninitialize.
2019-11-12T21:40:07.546Z,1573594807.546 [DUSBL:C] Stopped
2019-11-12T21:40:07.546Z,1573594807.546 [DUSBL:RequestRepeater] Stopped
2019-11-12T21:40:07.546Z,1573594807.546 [DUSBL:RequestRepeater](DEBUG): Aggregate::uninitialize DUSBL:RequestRepeater
2019-11-12T21:40:07.546Z,1573594807.546 [DUSBL:RequestRepeater:A] Stopped
2019-11-12T21:40:07.546Z,1573594807.546 [DUSBL:RequestRepeater:B] Stopped
2019-11-12T21:40:07.546Z,1573594807.546 [DUSBL:RequestRepeater:C.Wait] Stopped
2019-11-12T21:40:07.546Z,1573594807.546 [DUSBL:RequestRepeater:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-12T21:40:07.944Z,1573594807.944 [MissionManager](IMPORTANT): Started mission Default
2019-11-12T21:40:07.945Z,1573594807.945 [Default] Running Loop=1
2019-11-12T21:40:07.945Z,1573594807.945 [Default](DEBUG): Aggregate::initialize Default
2019-11-12T21:40:07.945Z,1573594807.945 [Default:B.GoToSurface] Running Loop=1
2019-11-12T21:40:07.945Z,1573594807.945 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-11-12T21:40:07.945Z,1573594807.945 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-11-12T21:40:07.946Z,1573594807.946 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-11-12T21:40:07.946Z,1573594807.946 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-11-12T21:40:07.946Z,1573594807.946 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-11-12T21:40:07.947Z,1573594807.947 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-11-12T21:40:07.947Z,1573594807.947 [Default:A.Wait] Running Loop=1
2019-11-12T21:40:07.948Z,1573594807.948 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-11-12T21:40:12.003Z,1573594812.003 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-12T21:40:12.003Z,1573594812.003 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-12T21:40:17.632Z,1573594817.632 [CommandLine](IMPORTANT): got command configSet DUSBL_Hydroid.detectionThreshold 20.000000 count persist
2019-11-12T21:40:21.275Z,1573594821.275 [Default:A.Wait](INFO): Done Waiting.
2019-11-12T21:40:21.275Z,1573594821.275 [Default:A.Wait] Stopped
2019-11-12T21:40:21.275Z,1573594821.275 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-11-12T21:40:21.662Z,1573594821.662 [Default:CheckIn] Running Loop=1
2019-11-12T21:40:21.662Z,1573594821.662 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-12T21:40:21.662Z,1573594821.662 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-12T21:40:32.139Z,1573594832.139 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-11-12T21:40:32.140Z,1573594832.140 [NAL9602] Data Fault, FailCount= 1
2019-11-12T21:40:32.140Z,1573594832.140 [NAL9602](ERROR): Data Fault
2019-11-12T21:40:32.211Z,1573594832.211 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-12T21:40:32.543Z,1573594832.543 [NAL9602](INFO): Powering down
2019-11-12T21:40:33.396Z,1573594833.396 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-12T21:40:33.396Z,1573594833.396 [NAL9602] No Fault, FailCount= 1
2019-11-12T21:40:49.426Z,1573594849.426 [DataOverHttps](IMPORTANT): SBD MTMSN=20191112T214008
2019-11-12T21:40:57.248Z,1573594857.248 [DataOverHttps](INFO): Received command:run Maintenance/DUSBL.xml
2019-11-12T21:40:57.275Z,1573594857.275 [CommandLine](IMPORTANT): got command run ./Missions/Maintenance/DUSBL.xml
2019-11-12T21:40:57.276Z,1573594857.276 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/DUSBL.xml
2019-11-12T21:40:57.319Z,1573594857.319 [MissionManager](INFO): DefineArg DUSBL.MissionTimeout = 90.000000 min
2019-11-12T21:40:57.321Z,1573594857.321 [MissionManager](INFO): DefineArg DUSBL.NumberOfRequests = 10.000000 count
2019-11-12T21:40:57.323Z,1573594857.323 [MissionManager](INFO): DefineArg DUSBL.TransponderCode = 2.000000 count
2019-11-12T21:40:57.325Z,1573594857.325 [MissionManager](INFO): DefineArg DUSBL.NumberOfPings = 1.000000 count
2019-11-12T21:40:57.327Z,1573594857.327 [MissionManager](INFO): DefineArg DUSBL.EnabledDUSBL = DUSBL_Hydroid.loadAtStartup
2019-11-12T21:40:57.328Z,1573594857.328 [DUSBL:A.Pitch](DEBUG): Construct.
2019-11-12T21:40:57.333Z,1573594857.333 [DUSBL:B.SetSpeed](DEBUG): Construct.
2019-11-12T21:40:57.340Z,1573594857.340 [DUSBL:RequestRepeater:C.Wait](DEBUG): Construct Wait.
2019-11-12T21:40:57.344Z,1573594857.344 [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>90</Value></DefineArg>

    <DefineArg Name="NumberOfRequests"><Description>
        Number of pings to requst.
    </Description><Units:count/><Value>10</Value></DefineArg>

    <DefineArg Name="TransponderCode"><Description>
        Transponder Address.
    </Description><Units:count/><Value>2</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>

    <ReadData>
        <When>
            <Arg Name="EnabledDUSBL"/>
        </When>
            <Universal:acoustic_contact_range/>
            <Universal:acoustic_contact_direction_vehicle_frame/>
    </ReadData>
    
      <Aggregate Id="RequestRepeater">

        <Sequence Repeat="NumberOfRequests"/>
        <Assign><Parallel/><Sensor:DUSBL_Hydroid.transponderCode/><Arg Name="TransponderCode"/></Assign>
        <Assign><Parallel/><Sensor:DUSBL_Hydroid.pingRequested/><Arg Name="NumberOfPings"/></Assign>
          <Guidance:Wait>
            <Sequence/>
            <Setting><Guidance:Wait.duration/><Units:second/><Value>90</Value></Setting>
          </Guidance:Wait>
      </Aggregate>    
</Mission>


2019-11-12T21:40:57.347Z,1573594857.347 [CommandLine](IMPORTANT): Running ./Missions/Maintenance/DUSBL.xml
2019-11-12T21:40:57.655Z,1573594857.655 [Default] Stopped
2019-11-12T21:40:57.656Z,1573594857.656 [Default](DEBUG): Aggregate::uninitialize Default
2019-11-12T21:40:57.656Z,1573594857.656 [Default:B.GoToSurface] Stopped
2019-11-12T21:40:57.656Z,1573594857.656 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-11-12T21:40:57.656Z,1573594857.656 [Default:CheckIn] Stopped
2019-11-12T21:40:57.656Z,1573594857.656 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-12T21:40:57.656Z,1573594857.656 [Default:CheckIn:Read_GPS] Stopped
2019-11-12T21:40:57.656Z,1573594857.656 [MissionManager](IMPORTANT): Started mission DUSBL
2019-11-12T21:40:57.656Z,1573594857.656 [DUSBL] Running Loop=1
2019-11-12T21:40:57.661Z,1573594857.661 [DUSBL](DEBUG): Aggregate::initialize DUSBL
2019-11-12T21:40:57.661Z,1573594857.661 [DUSBL:A.Pitch] Running Loop=1
2019-11-12T21:40:57.661Z,1573594857.661 [DUSBL:A.Pitch](DEBUG): Initialize.
2019-11-12T21:40:57.661Z,1573594857.661 [DUSBL:B.SetSpeed] Running Loop=1
2019-11-12T21:40:57.661Z,1573594857.661 [DUSBL:B.SetSpeed](DEBUG): Initialize.
2019-11-12T21:40:57.661Z,1573594857.661 [DUSBL:C] Running Loop=1
2019-11-12T21:40:57.662Z,1573594857.662 [DUSBL:RequestRepeater] Running Loop=1
2019-11-12T21:40:57.662Z,1573594857.662 [DUSBL:RequestRepeater](DEBUG): Aggregate::initialize DUSBL:RequestRepeater
2019-11-12T21:40:57.662Z,1573594857.662 [DUSBL:RequestRepeater:A] Running Loop=1
2019-11-12T21:40:57.662Z,1573594857.662 [DUSBL:RequestRepeater:B] Running Loop=1
2019-11-12T21:40:57.662Z,1573594857.662 [DUSBL:RequestRepeater:C.Wait] Running Loop=1
2019-11-12T21:40:57.662Z,1573594857.662 [DUSBL:RequestRepeater:C.Wait](DEBUG): Initialize Wait Component.
2019-11-12T21:40:57.662Z,1573594857.662 [DUSBL:RequestRepeater:B] Running Loop=1
2019-11-12T21:40:57.663Z,1573594857.663 [DUSBL:RequestRepeater:A] Running Loop=1
2019-11-12T21:40:57.663Z,1573594857.663 [DUSBL:C](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_range
2019-11-12T21:40:57.664Z,1573594857.664 [DUSBL:C](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_direction_vehicle_frame
2019-11-12T21:40:57.664Z,1573594857.664 [DUSBL:B.SetSpeed] Running Loop=1
2019-11-12T21:40:57.664Z,1573594857.664 [DUSBL:A.Pitch] Running Loop=1
2019-11-12T21:40:59.221Z,1573594859.221 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:54.541965
2019-11-12T21:40:59.221Z,1573594859.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2019-11-12T21:40:59.221Z,1573594859.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2019-11-12T21:40:59.221Z,1573594859.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 20
2019-11-12T21:40:59.222Z,1573594859.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-11-12T21:40:59.616Z,1573594859.616 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
011,000,0029E,183,80,80,16,FF
2019-11-12T21:40:59.616Z,1573594859.616 [DUSBL_Hydroid](INFO): Command Ack
2019-11-12T21:40:59.616Z,1573594859.616 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2019-11-12T21:40:59.618Z,1573594859.618 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-12T21:41:00.016Z,1573594860.016 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-12T21:41:00.837Z,1573594860.837 [Micromodem](INFO): Nmea in: $SNTTA,,,,,214100.91*50

2019-11-12T21:41:02.847Z,1573594862.847 [NAL9602](INFO): Powering up NAL9602
2019-11-12T21:41:03.242Z,1573594863.242 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,64
E,183,80,80,16,FF
2019-11-12T21:41:03.243Z,1573594863.243 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,64
E,183,80,80,16,FF
2019-11-12T21:41:03.243Z,1573594863.243 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-11-12T21:41:03.658Z,1573594863.658 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2019-11-12T21:41:03.658Z,1573594863.658 [DUSBL_Hydroid](INFO): ****** received ping request ******
2019-11-12T21:41:03.658Z,1573594863.658 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 20
2019-11-12T21:41:03.659Z,1573594863.659 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-11-12T21:41:04.055Z,1573594864.055 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,64
E,183,80,80,16,FF
2019-11-12T21:41:04.055Z,1573594864.055 [DUSBL_Hydroid](INFO): Command Ack
2019-11-12T21:41:04.055Z,1573594864.055 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2019-11-12T21:41:04.056Z,1573594864.056 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-12T21:41:04.457Z,1573594864.457 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-12T21:41:04.862Z,1573594864.862 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00B,000,002A0,184,80,80,15,FF
2019-11-12T21:41:04.863Z,1573594864.863 [DUSBL_Hydroid](INFO): publishing direction and range info
2019-11-12T21:41:04.934Z,1573594864.934 [Reporter](INFO): acoustic_contact_range 2.819999 m
2019-11-12T21:41:05.276Z,1573594865.276 [Micromodem](INFO): Nmea in: $SNTTA,,,,,214105.35*5B

2019-11-12T21:41:07.694Z,1573594867.694 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2019-11-12T21:41:07.694Z,1573594867.694 [DUSBL_Hydroid](INFO): ****** received ping request ******
2019-11-12T21:41:07.694Z,1573594867.694 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 20
2019-11-12T21:41:07.695Z,1573594867.695 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-11-12T21:41:08.090Z,1573594868.090 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00B,000,002A0,184,80,80,15,FF
2019-11-12T21:41:08.091Z,1573594868.091 [DUSBL_Hydroid](INFO): Command Ack
2019-11-12T21:41:08.091Z,1573594868.091 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2019-11-12T21:41:08.092Z,1573594868.092 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-12T21:41:08.505Z,1573594868.505 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-12T21:41:08.907Z,1573594868.907 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,015,000,002A1,183,80,80,11,FF
2019-11-12T21:41:08.907Z,1573594868.907 [DUSBL_Hydroid](INFO): publishing direction and range info
2019-11-12T21:41:09.002Z,1573594869.002 [Reporter](INFO): acoustic_contact_range 2.880000 m
2019-11-12T21:41:09.313Z,1573594869.313 [Micromodem](INFO): Nmea in: $SNTTA,,,,,214109.38*5A

2019-11-12T21:41:11.726Z,1573594871.726 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2019-11-12T21:41:11.726Z,1573594871.726 [DUSBL_Hydroid](INFO): ****** received ping request ******
2019-11-12T21:41:11.726Z,1573594871.726 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 20
2019-11-12T21:41:11.727Z,1573594871.727 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-11-12T21:41:12.138Z,1573594872.138 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
015,000,002A1,183,80,80,11,FF
2019-11-12T21:41:12.138Z,1573594872.138 [DUSBL_Hydroid](INFO): Command Ack
2019-11-12T21:41:12.138Z,1573594872.138 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2019-11-12T21:41:12.140Z,1573594872.140 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-12T21:41:12.550Z,1573594872.550 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-12T21:41:12.950Z,1573594872.950 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01D,000,0029E,185,80,80,12,FF
2019-11-12T21:41:12.951Z,1573594872.951 [DUSBL_Hydroid](INFO): publishing direction and range info
2019-11-12T21:41:13.036Z,1573594873.036 [Reporter](INFO): acoustic_contact_range 2.699998 m
2019-11-12T21:41:13.353Z,1573594873.353 [Micromodem](INFO): Nmea in: $SNTTA,,,,,214113.43*5D

2019-11-12T21:41:13.761Z,1573594873.761 [NAL9602](INFO): NAL9602 initialized
2019-11-12T21:41:14.995Z,1573594874.995 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-12T21:41:14.995Z,1573594874.995 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19111214522984,35.0, -0.1,   0.0,1448.9,,  0.00,   0.00,   0.00,   0.00,   0.00
2019-11-12T21:41:15.774Z,1573594875.774 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2019-11-12T21:41:15.774Z,1573594875.774 [DUSBL_Hydroid](INFO): ****** received ping request ******
2019-11-12T21:41:15.774Z,1573594875.774 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 20
2019-11-12T21:41:15.775Z,1573594875.775 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-11-12T21:41:16.178Z,1573594876.178 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01D,000,0029E,185,80,80,12,FF
2019-11-12T21:41:16.178Z,1573594876.178 [DUSBL_Hydroid](INFO): Command Ack
2019-11-12T21:41:16.178Z,1573594876.178 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2019-11-12T21:41:16.180Z,1573594876.180 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-12T21:41:16.581Z,1573594876.581 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-12T21:41:16.982Z,1573594876.982 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01C,000,0029E,185,80,80,0E,FF
2019-11-12T21:41:16.983Z,1573594876.983 [DUSBL_Hydroid](INFO): publishing direction and range info
2019-11-12T21:41:17.064Z,1573594877.064 [Reporter](INFO): acoustic_contact_range 2.699998 m
2019-11-12T21:41:17.397Z,1573594877.397 [Micromodem](INFO): Nmea in: $SNTTA,,,0.058690,,214117.47*41

2019-11-12T21:41:19.814Z,1573594879.814 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2019-11-12T21:41:19.814Z,1573594879.814 [DUSBL_Hydroid](INFO): ****** received ping request ******
2019-11-12T21:41:19.814Z,1573594879.814 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 20
2019-11-12T21:41:19.815Z,1573594879.815 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-11-12T21:41:20.218Z,1573594880.218 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01C,000,0029E,185,80,80,0E,FF
2019-11-12T21:41:20.218Z,1573594880.218 [DUSBL_Hydroid](INFO): Command Ack
2019-11-12T21:41:20.219Z,1573594880.219 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2019-11-12T21:41:20.220Z,1573594880.220 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-12T21:41:20.621Z,1573594880.621 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-12T21:41:21.032Z,1573594881.032 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01B,000,002A1,185,80,80,14,FF
2019-11-12T21:41:21.032Z,1573594881.032 [DUSBL_Hydroid](INFO): publishing direction and range info
2019-11-12T21:41:21.122Z,1573594881.122 [Reporter](INFO): acoustic_contact_range 2.880000 m
2019-11-12T21:41:21.432Z,1573594881.432 [Micromodem](INFO): Nmea in: $SNTTA,,,,,214121.51*5F

2019-11-12T21:41:23.854Z,1573594883.854 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2019-11-12T21:41:23.855Z,1573594883.855 [DUSBL_Hydroid](INFO): ****** received ping request ******
2019-11-12T21:41:23.855Z,1573594883.855 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 20
2019-11-12T21:41:23.856Z,1573594883.856 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-11-12T21:41:24.258Z,1573594884.258 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01B,000,002A1,185,80,80,14,FF
2019-11-12T21:41:24.259Z,1573594884.259 [DUSBL_Hydroid](INFO): Command Ack
2019-11-12T21:41:24.259Z,1573594884.259 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2019-11-12T21:41:24.260Z,1573594884.260 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-12T21:41:24.661Z,1573594884.661 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-12T21:41:24.886Z,1573594884.886 [CommandLine](IMPORTANT): got command stop
2019-11-12T21:41:24.886Z,1573594884.886 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-11-12T21:41:25.062Z,1573594885.062 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00C,000,002A2,184,80,80,11,FF
2019-11-12T21:41:25.063Z,1573594885.063 [DUSBL_Hydroid](INFO): publishing direction and range info
2019-11-12T21:41:25.123Z,1573594885.123 [MissionManager](INFO): MissionManager is completed.
2019-11-12T21:41:25.123Z,1573594885.123 [MissionManager](INFO): Uninitializing Mission DUSBL
2019-11-12T21:41:25.123Z,1573594885.123 [DUSBL] Stopped
2019-11-12T21:41:25.123Z,1573594885.123 [DUSBL](DEBUG): Aggregate::uninitialize DUSBL
2019-11-12T21:41:25.123Z,1573594885.123 [DUSBL:A.Pitch] Stopped
2019-11-12T21:41:25.123Z,1573594885.123 [DUSBL:B.SetSpeed] Stopped
2019-11-12T21:41:25.123Z,1573594885.123 [DUSBL:B.SetSpeed](DEBUG): Uninitialize.
2019-11-12T21:41:25.123Z,1573594885.123 [DUSBL:C] Stopped
2019-11-12T21:41:25.123Z,1573594885.123 [DUSBL:RequestRepeater] Stopped
2019-11-12T21:41:25.124Z,1573594885.124 [DUSBL:RequestRepeater](DEBUG): Aggregate::uninitialize DUSBL:RequestRepeater
2019-11-12T21:41:25.124Z,1573594885.124 [DUSBL:RequestRepeater:A] Stopped
2019-11-12T21:41:25.124Z,1573594885.124 [DUSBL:RequestRepeater:B] Stopped
2019-11-12T21:41:25.124Z,1573594885.124 [DUSBL:RequestRepeater:C.Wait] Stopped
2019-11-12T21:41:25.124Z,1573594885.124 [DUSBL:RequestRepeater:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-12T21:41:25.147Z,1573594885.147 [Reporter](INFO): acoustic_contact_range 2.940000 m
2019-11-12T21:41:25.473Z,1573594885.473 [Micromodem](INFO): Nmea in: $SNTTA,,,,,214125.55*5F

2019-11-12T21:41:25.537Z,1573594885.537 [MissionManager](IMPORTANT): Started mission Default
2019-11-12T21:41:25.537Z,1573594885.537 [Default] Running Loop=1
2019-11-12T21:41:25.537Z,1573594885.537 [Default](DEBUG): Aggregate::initialize Default
2019-11-12T21:41:25.538Z,1573594885.538 [Default:B.GoToSurface] Running Loop=1
2019-11-12T21:41:25.538Z,1573594885.538 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-11-12T21:41:25.538Z,1573594885.538 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-11-12T21:41:25.538Z,1573594885.538 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-11-12T21:41:25.539Z,1573594885.539 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-11-12T21:41:25.539Z,1573594885.539 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-11-12T21:41:25.539Z,1573594885.539 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-11-12T21:41:25.539Z,1573594885.539 [Default:A.Wait] Running Loop=1
2019-11-12T21:41:25.540Z,1573594885.540 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-11-12T21:41:38.840Z,1573594898.840 [Default:A.Wait](INFO): Done Waiting.
2019-11-12T21:41:38.840Z,1573594898.840 [Default:A.Wait] Stopped
2019-11-12T21:41:38.840Z,1573594898.840 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-11-12T21:41:39.232Z,1573594899.232 [Default:CheckIn] Running Loop=1
2019-11-12T21:41:39.232Z,1573594899.232 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-12T21:41:39.232Z,1573594899.232 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-12T21:41:56.619Z,1573594916.619 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 4
2019-11-12T21:41:56.619Z,1573594916.619 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-11-12T21:41:56.670Z,1573594916.670 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-11-12T21:41:57.027Z,1573594917.027 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-11-12T21:41:57.027Z,1573594917.027 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 4
2019-11-12T21:42:03.255Z,1573594923.255 [CommandLine](IMPORTANT): got command configSet DUSBL_Hydroid.detectionThreshold 20.000000 count persist
2019-11-12T21:42:10.846Z,1573594930.846 [DataOverHttps](IMPORTANT): SBD MTMSN=20191112T214130
2019-11-12T21:42:15.996Z,1573594935.996 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-12T21:42:15.996Z,1573594935.996 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,191112145.0, -0.1,   0.0,1448.9,  0
2019-11-12T21:42:18.019Z,1573594938.019 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-12T21:42:18.019Z,1573594938.019 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19111214533284,35.0, -0.1, 48.9,  0
2019-11-12T21:42:18.468Z,1573594938.468 [DataOverHttps](INFO): Received command:configSet DUSBL_Hydroid.detectionThreshold 20 count persist
2019-11-12T21:42:18.625Z,1573594938.625 [CommandLine](IMPORTANT): got command configSet DUSBL_Hydroid.detectionThreshold 20.000000 count persist
2019-11-12T21:42:25.911Z,1573594945.911 [CommandLine](IMPORTANT): got command restart system
2019-11-12T21:42:28.025Z,1573594948.025 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2019-11-12T21:42:28.025Z,1573594948.025 [CommandLine ThreadHandler](INFO): Thread cancelled.
2019-11-12T21:42:28.217Z,1573594948.217 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2019-11-12T21:42:28.217Z,1573594948.217 [CommandLine ThreadHandler](INFO): Thread cancelled.
2019-11-12T21:42:28.218Z,1573594948.218 [CommandLine](INFO): Join timeout helper Thread ID is 2017
2019-11-12T21:42:28.218Z,1573594948.218 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2019-11-12T21:42:28.219Z,1573594948.219 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2019-11-12T21:42:28.219Z,1573594948.219 [NavChartDb](INFO): Join timeout helper Thread ID is 2018
2019-11-12T21:42:28.613Z,1573594948.613 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2019-11-12T21:42:28.613Z,1573594948.613 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2019-11-12T21:42:28.621Z,1573594948.621 [ComponentRegistry](INFO): Shutting down WetLabsSeaOWL_UV_A ThreadHandler
2019-11-12T21:42:28.621Z,1573594948.621 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2019-11-12T21:42:28.621Z,1573594948.621 [WetLabsSeaOWL_UV_A](INFO): Join timeout helper Thread ID is 2019
2019-11-12T21:42:28.686Z,1573594948.686 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Uninitializing protected caller thread.
2019-11-12T21:42:28.686Z,1573594948.686 [WetLabsSeaOWL_UV_A](INFO): Powering down
2019-11-12T21:42:28.688Z,1573594948.688 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2019-11-12T21:42:28.701Z,1573594948.701 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2019-11-12T21:42:28.701Z,1573594948.701 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2019-11-12T21:42:28.701Z,1573594948.701 [CTD_NeilBrown](INFO): Join timeout helper Thread ID is 2020
2019-11-12T21:42:28.834Z,1573594948.834 [CTD_NeilBrown ThreadHandler](INFO): Uninitializing protected caller thread.
2019-11-12T21:42:28.835Z,1573594948.835 [CTD_NeilBrown](INFO): Powering down
2019-11-12T21:42:28.849Z,1573594948.849 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2019-11-12T21:42:28.865Z,1573594948.865 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2019-11-12T21:42:28.865Z,1573594948.865 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2019-11-12T21:42:28.865Z,1573594948.865 [Radio_Surface](INFO): Join timeout helper Thread ID is 2021
2019-11-12T21:42:29.065Z,1573594949.065 [Radio_Surface](INFO): Powering down
2019-11-12T21:42:29.066Z,1573594949.066 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2019-11-12T21:42:29.066Z,1573594949.066 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2019-11-12T21:42:29.078Z,1573594949.078 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2019-11-12T21:42:29.078Z,1573594949.078 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2019-11-12T21:42:29.078Z,1573594949.078 [DataOverHttps](INFO): Join timeout helper Thread ID is 2022
2019-11-12T21:42:29.489Z,1573594949.489 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2019-11-12T21:42:29.489Z,1573594949.489 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2019-11-12T21:42:29.502Z,1573594949.502 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2019-11-12T21:42:29.502Z,1573594949.502 [logger ThreadHandler](INFO): Thread cancelled.
2019-11-12T21:42:29.502Z,1573594949.502 [logger](INFO): Join timeout helper Thread ID is 2023
2019-11-12T21:42:29.509Z,1573594949.509 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2019-11-12T21:42:29.509Z,1573594949.509 [logger ThreadHandler](INFO): Thread cancelled.
2019-11-12T21:42:29.522Z,1573594949.522 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2019-11-12T21:42:29.522Z,1573594949.522 [CommandLine ThreadHandler](INFO): Thread cancelled.
2019-11-12T21:42:29.522Z,1573594949.522 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2019-11-12T21:42:29.522Z,1573594949.522 [controlThread ThreadHandler](INFO): Thread cancelled.
2019-11-12T21:42:29.523Z,1573594949.523 [controlThread](INFO): Join timeout helper Thread ID is 2024
2019-11-12T21:42:29.689Z,1573594949.689 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2019-11-12T21:42:29.689Z,1573594949.689 [controlThread](DEBUG): Uninitializing ControlThread
2019-11-12T21:42:29.690Z,1573594949.690 [AHRS_M2](INFO): Powering down
2019-11-12T21:42:29.762Z,1573594949.762 [DDM](INFO): Powering down
2019-11-12T21:42:29.833Z,1573594949.833 [DUSBL_Hydroid](INFO): Powering down
2019-11-12T21:42:29.905Z,1573594949.905 [Micromodem](INFO): Powering down
2019-11-12T21:42:30.001Z,1573594950.001 [NAL9602](INFO): Powering down
2019-11-12T21:42:30.073Z,1573594950.073 [RDI_Pathfinder](INFO): Powering down
2019-11-12T21:42:30.075Z,1573594950.075 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2019-11-12T21:42:30.076Z,1573594950.076 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2019-11-12T21:42:30.076Z,1573594950.076 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2019-11-12T21:42:30.077Z,1573594950.077 [MissionManager](INFO): Uninitializing Mission Default
2019-11-12T21:42:30.077Z,1573594950.077 [Default] Stopped
2019-11-12T21:42:30.077Z,1573594950.077 [Default](DEBUG): Aggregate::uninitialize Default
2019-11-12T21:42:30.077Z,1573594950.077 [Default:B.GoToSurface] Stopped
2019-11-12T21:42:30.077Z,1573594950.077 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-11-12T21:42:30.077Z,1573594950.077 [Default:CheckIn] Stopped
2019-11-12T21:42:30.077Z,1573594950.077 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-12T21:42:30.077Z,1573594950.077 [Default:CheckIn:Read_GPS] Stopped
2019-11-12T21:42:30.080Z,1573594950.080 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2019-11-12T21:42:30.080Z,1573594950.080 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2019-11-12T21:42:30.080Z,1573594950.080 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2019-11-12T21:42:30.081Z,1573594950.081 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2019-11-12T21:42:30.081Z,1573594950.081 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2019-11-12T21:42:30.081Z,1573594950.081 [BuoyancyServo](INFO): Powering down
2019-11-12T21:42:30.093Z,1573594950.093 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2019-11-12T21:42:30.093Z,1573594950.093 [ElevatorServo](INFO): Powering down
2019-11-12T21:42:30.094Z,1573594950.094 [MassServo](DEBUG): Uninitialize Mass Servo.
2019-11-12T21:42:30.094Z,1573594950.094 [MassServo](INFO): Powering down
2019-11-12T21:42:30.095Z,1573594950.095 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2019-11-12T21:42:30.095Z,1573594950.095 [RudderServo](INFO): Powering down
2019-11-12T21:42:30.096Z,1573594950.096 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2019-11-12T21:42:30.096Z,1573594950.096 [ThrusterServo](INFO): Powering down
2019-11-12T21:42:30.097Z,1573594950.097 [SBIT](DEBUG): Uninitialize SBIT Component.
2019-11-12T21:42:30.097Z,1573594950.097 [IBIT](DEBUG): Uninitialize IBIT Component.
2019-11-12T21:42:30.097Z,1573594950.097 [CBIT](DEBUG): Uninitialize CBIT Component.
2019-11-12T21:42:30.098Z,1573594950.098 [CBIT](DEBUG): Powering off loads.
2019-11-12T21:42:30.109Z,1573594950.109 [CBIT](DEBUG): Disabling WDT.
2019-11-12T21:42:30.121Z,1573594950.121 [CBIT](DEBUG): Opening all GF detection circuits.
2019-11-12T21:42:30.122Z,1573594950.122 [controlThread ThreadHandler](INFO): Thread cancelled.
2019-11-12T21:42:30.183Z,1573594950.183 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2019-11-12T21:42:30.193Z,1573594950.193 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2019-11-12T21:42:30.243Z,1573594950.243 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2019-11-12T21:42:30.246Z,1573594950.246 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2019-11-12T21:42:30.311Z,1573594950.311 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2019-11-12T21:42:30.369Z,1573594950.369 [logger ThreadHandler](INFO): Thread cancelled.