2020-01-13T20:11:37.214Z,1578946297.214 [Supervisor](DEBUG): Initializing supervisor.
2020-01-13T20:11:37.216Z,1578946297.216 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2020-01-13T20:11:37.217Z,1578946297.217 [SyncHandler](INFO): Protected caller Thread ID is 4622
2020-01-13T20:11:37.217Z,1578946297.217 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2020-01-13T20:11:37.218Z,1578946297.218 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2020-01-13T20:11:37.219Z,1578946297.219 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 4623
2020-01-13T20:11:37.221Z,1578946297.221 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2020-01-13T20:11:37.232Z,1578946297.232 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2020-01-13T20:11:37.233Z,1578946297.233 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2020-01-13T20:11:37.233Z,1578946297.233 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 4624
2020-01-13T20:11:37.234Z,1578946297.234 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2020-01-13T20:11:37.235Z,1578946297.235 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2020-01-13T20:11:37.235Z,1578946297.235 [logger ThreadHandler](INFO): Protected caller Thread ID is 4625
2020-01-13T20:11:37.237Z,1578946297.237 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2020-01-13T20:11:37.238Z,1578946297.238 [Supervisor](INFO): Looking for Config files in directory: Config/
2020-01-13T20:11:37.239Z,1578946297.239 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2020-01-13T20:11:37.665Z,1578946297.665 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2020-01-13T20:11:37.666Z,1578946297.666 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2020-01-13T20:11:37.760Z,1578946297.760 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2020-01-13T20:11:37.760Z,1578946297.760 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2020-01-13T20:11:38.060Z,1578946298.060 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2020-01-13T20:11:38.061Z,1578946298.061 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2020-01-13T20:11:38.194Z,1578946298.194 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2020-01-13T20:11:38.195Z,1578946298.195 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2020-01-13T20:11:38.376Z,1578946298.376 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2020-01-13T20:11:38.376Z,1578946298.376 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2020-01-13T20:11:38.804Z,1578946298.804 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2020-01-13T20:11:38.805Z,1578946298.805 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2020-01-13T20:11:39.007Z,1578946299.007 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2020-01-13T20:11:39.008Z,1578946299.008 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2020-01-13T20:11:39.147Z,1578946299.147 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2020-01-13T20:11:39.147Z,1578946299.147 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2020-01-13T20:11:39.326Z,1578946299.326 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2020-01-13T20:11:39.327Z,1578946299.327 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2020-01-13T20:11:39.419Z,1578946299.419 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2020-01-13T20:11:39.420Z,1578946299.420 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2020-01-13T20:11:39.707Z,1578946299.707 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2020-01-13T20:11:39.708Z,1578946299.708 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2020-01-13T20:11:39.786Z,1578946299.786 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2020-01-13T20:11:39.886Z,1578946299.886 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2020-01-13T20:11:39.887Z,1578946299.887 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2020-01-13T20:11:40.502Z,1578946300.502 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2020-01-13T20:11:40.502Z,1578946300.502 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2020-01-13T20:11:40.898Z,1578946300.898 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2020-01-13T20:11:40.900Z,1578946300.900 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/
2020-01-13T20:11:40.900Z,1578946300.900 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/vehicle.cfg
2020-01-13T20:11:41.097Z,1578946301.097 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Control.cfg
2020-01-13T20:11:41.198Z,1578946301.198 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/BIT.cfg
2020-01-13T20:11:41.292Z,1578946301.292 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Battery.cfg
2020-01-13T20:11:41.512Z,1578946301.512 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2020-01-13T20:11:41.512Z,1578946301.512 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Simulator.cfg
2020-01-13T20:11:41.594Z,1578946301.594 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Navigation.cfg
2020-01-13T20:11:41.685Z,1578946301.685 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/logger.cfg
2020-01-13T20:11:41.784Z,1578946301.784 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/secure.cfg
2020-01-13T20:11:41.864Z,1578946301.864 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Servo.cfg
2020-01-13T20:11:41.970Z,1578946301.970 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Sensor.cfg
2020-01-13T20:11:42.295Z,1578946302.295 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Science.cfg
2020-01-13T20:11:42.591Z,1578946302.591 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/root/
2020-01-13T20:11:42.591Z,1578946302.591 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2020-01-13T20:11:42.612Z,1578946302.612 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2020-01-13T20:11:43.143Z,1578946303.143 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_orientation
2020-01-13T20:11:43.148Z,1578946303.148 [AHRS_M2](INFO): created writer for : platform_orientation
2020-01-13T20:11:43.150Z,1578946303.150 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_magnetic_orientation
2020-01-13T20:11:43.155Z,1578946303.155 [AHRS_M2](INFO): created writer for : platform_magnetic_orientation
2020-01-13T20:11:43.155Z,1578946303.155 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_pitch_angle
2020-01-13T20:11:43.160Z,1578946303.160 [AHRS_M2](INFO): created writer for : platform_pitch_angle
2020-01-13T20:11:43.161Z,1578946303.161 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_roll_angle
2020-01-13T20:11:43.165Z,1578946303.165 [AHRS_M2](INFO): created writer for : platform_roll_angle
2020-01-13T20:11:43.232Z,1578946303.232 [AHRS_M2] Loaded
2020-01-13T20:11:43.233Z,1578946303.233 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2020-01-13T20:11:43.308Z,1578946303.308 [DataOverHttps] Loaded
2020-01-13T20:11:43.308Z,1578946303.308 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2020-01-13T20:11:43.310Z,1578946303.310 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 4076F4E0
2020-01-13T20:11:43.310Z,1578946303.310 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 4704
2020-01-13T20:11:43.333Z,1578946303.333 [DDM] Loaded
2020-01-13T20:11:43.333Z,1578946303.333 [ComponentRegistry](DEBUG): SyncComponent "DDM" handled in the control thread.
2020-01-13T20:11:43.345Z,1578946303.345 [Depth_Keller] Loaded
2020-01-13T20:11:43.346Z,1578946303.346 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2020-01-13T20:11:43.350Z,1578946303.350 [DropWeight] Loaded
2020-01-13T20:11:43.350Z,1578946303.350 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2020-01-13T20:11:43.408Z,1578946303.408 [DUSBL_Hydroid] Loaded
2020-01-13T20:11:43.408Z,1578946303.408 [ComponentRegistry](DEBUG): SyncComponent "DUSBL_Hydroid" handled in the control thread.
2020-01-13T20:11:43.453Z,1578946303.453 [Micromodem] Loaded
2020-01-13T20:11:43.454Z,1578946303.454 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2020-01-13T20:11:43.546Z,1578946303.546 [NAL9602] Loaded
2020-01-13T20:11:43.546Z,1578946303.546 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2020-01-13T20:11:43.582Z,1578946303.582 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/voltage_now
2020-01-13T20:11:43.582Z,1578946303.582 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/current_now
2020-01-13T20:11:43.583Z,1578946303.583 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/charge_now
2020-01-13T20:11:43.583Z,1578946303.583 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/charge_full
2020-01-13T20:11:43.584Z,1578946303.584 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/voltage_now
2020-01-13T20:11:43.584Z,1578946303.584 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/current_now
2020-01-13T20:11:43.585Z,1578946303.585 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/charge_now
2020-01-13T20:11:43.585Z,1578946303.585 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/charge_full
2020-01-13T20:11:43.585Z,1578946303.585 [Onboard] Loaded
2020-01-13T20:11:43.586Z,1578946303.586 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2020-01-13T20:11:43.591Z,1578946303.591 [PowerOnly] Loaded
2020-01-13T20:11:43.591Z,1578946303.591 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2020-01-13T20:11:43.598Z,1578946303.598 [Radio_Surface] Loaded
2020-01-13T20:11:43.598Z,1578946303.598 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2020-01-13T20:11:43.599Z,1578946303.599 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 4079F4E0
2020-01-13T20:11:43.599Z,1578946303.599 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 4705
2020-01-13T20:11:43.641Z,1578946303.641 [RDI_Pathfinder] Loaded
2020-01-13T20:11:43.641Z,1578946303.641 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2020-01-13T20:11:45.056Z,1578946305.056 [BPC1] Loaded
2020-01-13T20:11:45.056Z,1578946305.056 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2020-01-13T20:11:45.057Z,1578946305.057 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2020-01-13T20:11:45.057Z,1578946305.057 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2020-01-13T20:11:45.070Z,1578946305.070 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2020-01-13T20:11:45.071Z,1578946305.071 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2020-01-13T20:11:45.171Z,1578946305.171 [DeadReckonUsingMultipleVelocitySources] Loaded
2020-01-13T20:11:45.171Z,1578946305.171 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2020-01-13T20:11:45.191Z,1578946305.191 [NavChart] Loaded
2020-01-13T20:11:45.191Z,1578946305.191 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2020-01-13T20:11:45.195Z,1578946305.195 [UniversalFixResidualReporter] Loaded
2020-01-13T20:11:45.195Z,1578946305.195 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2020-01-13T20:11:45.195Z,1578946305.195 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2020-01-13T20:11:45.196Z,1578946305.196 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2020-01-13T20:11:45.299Z,1578946305.299 [BuoyancyServo] Loaded
2020-01-13T20:11:45.300Z,1578946305.300 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2020-01-13T20:11:45.314Z,1578946305.314 [ElevatorServo] Loaded
2020-01-13T20:11:45.315Z,1578946305.315 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2020-01-13T20:11:45.329Z,1578946305.329 [MassServo] Loaded
2020-01-13T20:11:45.329Z,1578946305.329 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2020-01-13T20:11:45.343Z,1578946305.343 [RudderServo] Loaded
2020-01-13T20:11:45.343Z,1578946305.343 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2020-01-13T20:11:45.358Z,1578946305.358 [ThrusterServo] Loaded
2020-01-13T20:11:45.358Z,1578946305.358 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2020-01-13T20:11:45.358Z,1578946305.358 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2020-01-13T20:11:45.359Z,1578946305.359 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2020-01-13T20:11:45.606Z,1578946305.606 [CTD_NeilBrown] Loaded
2020-01-13T20:11:45.606Z,1578946305.606 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2020-01-13T20:11:45.607Z,1578946305.607 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 408F34E0
2020-01-13T20:11:45.608Z,1578946305.608 [CTD_NeilBrown ThreadHandler](INFO): Protected caller Thread ID is 4706
2020-01-13T20:11:45.622Z,1578946305.622 [PAR_Licor] Loaded
2020-01-13T20:11:45.622Z,1578946305.622 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2020-01-13T20:11:45.664Z,1578946305.664 [WetLabsSeaOWL_UV_A] Loaded
2020-01-13T20:11:45.664Z,1578946305.664 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2020-01-13T20:11:45.665Z,1578946305.665 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 409234E0
2020-01-13T20:11:45.665Z,1578946305.665 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 4707
2020-01-13T20:11:45.666Z,1578946305.666 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2020-01-13T20:11:45.666Z,1578946305.666 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2020-01-13T20:11:45.965Z,1578946305.965 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2020-01-13T20:11:45.965Z,1578946305.965 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2020-01-13T20:11:46.004Z,1578946306.004 [DepthRateCalculator] Loaded
2020-01-13T20:11:46.005Z,1578946306.005 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2020-01-13T20:11:46.010Z,1578946306.010 [PitchRateCalculator] Loaded
2020-01-13T20:11:46.010Z,1578946306.010 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2020-01-13T20:11:46.022Z,1578946306.022 [SpeedCalculator] Loaded
2020-01-13T20:11:46.022Z,1578946306.022 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2020-01-13T20:11:46.042Z,1578946306.042 [TempGradientCalculator] Loaded
2020-01-13T20:11:46.042Z,1578946306.042 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2020-01-13T20:11:46.048Z,1578946306.048 [YawRateCalculator] Loaded
2020-01-13T20:11:46.048Z,1578946306.048 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2020-01-13T20:11:46.087Z,1578946306.087 [ElevatorOffsetCalculator] Loaded
2020-01-13T20:11:46.087Z,1578946306.087 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2020-01-13T20:11:46.088Z,1578946306.088 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2020-01-13T20:11:46.088Z,1578946306.088 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2020-01-13T20:11:46.220Z,1578946306.220 [SBIT](DEBUG): Construct Startup Built In Test.
2020-01-13T20:11:46.241Z,1578946306.241 [SBIT] Loaded
2020-01-13T20:11:46.241Z,1578946306.241 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2020-01-13T20:11:46.242Z,1578946306.242 [IBIT](DEBUG): Construct Initiated Built In Test.
2020-01-13T20:11:46.254Z,1578946306.254 [IBIT] Loaded
2020-01-13T20:11:46.254Z,1578946306.254 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2020-01-13T20:11:46.257Z,1578946306.257 [CBIT](DEBUG): Construct Continuous Built In Test.
2020-01-13T20:11:46.389Z,1578946306.389 [CBIT] Loaded
2020-01-13T20:11:46.389Z,1578946306.389 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2020-01-13T20:11:46.390Z,1578946306.390 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2020-01-13T20:11:46.390Z,1578946306.390 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2020-01-13T20:11:46.468Z,1578946306.468 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2020-01-13T20:11:46.469Z,1578946306.469 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2020-01-13T20:11:46.563Z,1578946306.563 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2020-01-13T20:11:46.564Z,1578946306.564 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2020-01-13T20:11:46.610Z,1578946306.610 [VerticalControl](DEBUG): Construct VerticalControl.
2020-01-13T20:11:46.691Z,1578946306.691 [VerticalControl] Loaded
2020-01-13T20:11:46.691Z,1578946306.691 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2020-01-13T20:11:46.692Z,1578946306.692 [HorizontalControl](DEBUG): Construct HorizontalControl.
2020-01-13T20:11:46.757Z,1578946306.757 [HorizontalControl] Loaded
2020-01-13T20:11:46.758Z,1578946306.758 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2020-01-13T20:11:46.758Z,1578946306.758 [SpeedControl](DEBUG): Construct SpeedControl.
2020-01-13T20:11:46.760Z,1578946306.760 [SpeedControl] Loaded
2020-01-13T20:11:46.760Z,1578946306.760 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2020-01-13T20:11:46.761Z,1578946306.761 [LoopControl](DEBUG): Construct LoopControl.
2020-01-13T20:11:46.761Z,1578946306.761 [LoopControl] Loaded
2020-01-13T20:11:46.762Z,1578946306.762 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2020-01-13T20:11:46.762Z,1578946306.762 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2020-01-13T20:11:46.763Z,1578946306.763 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2020-01-13T20:11:46.794Z,1578946306.794 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2020-01-13T20:11:46.797Z,1578946306.797 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2020-01-13T20:11:46.798Z,1578946306.798 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2020-01-13T20:11:46.805Z,1578946306.805 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2020-01-13T20:11:46.806Z,1578946306.806 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40B024E0
2020-01-13T20:11:46.806Z,1578946306.806 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 4708
2020-01-13T20:11:46.810Z,1578946306.810 [Supervisor](INFO): Main Thread ID is 4621
2020-01-13T20:11:46.811Z,1578946306.811 [Supervisor](DEBUG): Running supervisor.
2020-01-13T20:11:46.811Z,1578946306.811 [CommandLine ThreadHandler](INFO): Handler Thread ID is 4709
2020-01-13T20:11:46.814Z,1578946306.814 [controlThread ThreadHandler](INFO): Handler Thread ID is 4710
2020-01-13T20:11:46.814Z,1578946306.814 [controlThread](DEBUG): Initializing ControlThread
2020-01-13T20:11:46.820Z,1578946306.820 [NavChart](DEBUG): Initialize NavChart Navigation.
2020-01-13T20:11:46.820Z,1578946306.820 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2020-01-13T20:11:46.825Z,1578946306.825 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2020-01-13T20:11:46.825Z,1578946306.825 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2020-01-13T20:11:46.826Z,1578946306.826 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2020-01-13T20:11:46.826Z,1578946306.826 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2020-01-13T20:11:46.827Z,1578946306.827 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2020-01-13T20:11:46.827Z,1578946306.827 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2020-01-13T20:11:46.827Z,1578946306.827 [SBIT](INFO): Initialize SBIT Component.
2020-01-13T20:11:46.828Z,1578946306.828 [SBIT](IMPORTANT): git: 2019-12-03-34-g1420f60
2020-01-13T20:11:46.828Z,1578946306.828 [SBIT](INFO): git hash: 1420f6075bfd9e2317cf67bc08ebc33a04e592a5
2020-01-13T20:11:46.828Z,1578946306.828 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2020-01-13T20:11:46.829Z,1578946306.829 [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
2020-01-13T20:11:46.830Z,1578946306.830 [SBIT](INFO): Beginning SBIT in 39.000000 seconds.
2020-01-13T20:11:46.831Z,1578946306.831 [IBIT](INFO): Initialize IBIT Component.
2020-01-13T20:11:46.832Z,1578946306.832 [CBIT](DEBUG): Initialize CBIT Component.
2020-01-13T20:11:46.833Z,1578946306.833 [logger ThreadHandler](INFO): Handler Thread ID is 4711
2020-01-13T20:11:46.845Z,1578946306.845 [CBIT](DEBUG): Initialized mux pins.
2020-01-13T20:11:46.845Z,1578946306.845 [CBIT](DEBUG): Initializing the watchdog timer.
2020-01-13T20:11:46.853Z,1578946306.853 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 4712
2020-01-13T20:11:46.854Z,1578946306.854 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2020-01-13T20:11:46.865Z,1578946306.865 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 4713
2020-01-13T20:11:46.869Z,1578946306.869 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2020-01-13T20:11:46.869Z,1578946306.869 [CBIT](DEBUG): Initializing heartbeat.
2020-01-13T20:11:46.877Z,1578946306.877 [CTD_NeilBrown ThreadHandler](INFO): Handler Thread ID is 4714
2020-01-13T20:11:46.878Z,1578946306.878 [CTD_NeilBrown](INFO): Powering down
2020-01-13T20:11:46.905Z,1578946306.905 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 4715
2020-01-13T20:11:46.906Z,1578946306.906 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-01-13T20:11:46.929Z,1578946306.929 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 4716
2020-01-13T20:11:46.932Z,1578946306.932 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2020-01-13T20:11:46.932Z,1578946306.932 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2020-01-13T20:11:46.933Z,1578946306.933 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2020-01-13T20:11:46.933Z,1578946306.933 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2020-01-13T20:11:46.933Z,1578946306.933 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2020-01-13T20:11:46.934Z,1578946306.934 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2020-01-13T20:11:46.934Z,1578946306.934 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2020-01-13T20:11:46.934Z,1578946306.934 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2020-01-13T20:11:46.934Z,1578946306.934 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2020-01-13T20:11:46.934Z,1578946306.934 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2020-01-13T20:11:46.935Z,1578946306.935 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2020-01-13T20:11:46.935Z,1578946306.935 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2020-01-13T20:11:46.935Z,1578946306.935 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2020-01-13T20:11:46.935Z,1578946306.935 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2020-01-13T20:11:46.935Z,1578946306.935 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2020-01-13T20:11:46.935Z,1578946306.935 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2020-01-13T20:11:46.941Z,1578946306.941 [CBIT](DEBUG): Deactivating GF circuits.
2020-01-13T20:11:46.941Z,1578946306.941 [CBIT](DEBUG): Deactivating emergency mode.
2020-01-13T20:11:46.977Z,1578946306.977 [CBIT](DEBUG): Backplane powered.
2020-01-13T20:11:46.977Z,1578946306.977 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2020-01-13T20:11:46.979Z,1578946306.979 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2020-01-13T20:11:46.979Z,1578946306.979 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2020-01-13T20:11:46.980Z,1578946306.980 [LoopControl](DEBUG): Initialize LoopControlComponent.
2020-01-13T20:11:46.981Z,1578946306.981 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2020-01-13T20:11:46.990Z,1578946306.990 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2020-01-13T20:11:47.001Z,1578946307.001 [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>


2020-01-13T20:11:47.002Z,1578946307.002 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2020-01-13T20:11:47.080Z,1578946307.080 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2020-01-13T20:11:47.082Z,1578946307.082 [Default:A.Wait](DEBUG): Construct Wait.
2020-01-13T20:11:47.083Z,1578946307.083 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2020-01-13T20:11:47.103Z,1578946307.103 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2020-01-13T20:11:47.130Z,1578946307.130 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2020-01-13T20:11:47.135Z,1578946307.135 [Default:E.Execute](DEBUG): Construct Execute.
2020-01-13T20:11:47.149Z,1578946307.149 [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>


2020-01-13T20:11:47.178Z,1578946307.178 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,DDM,Depth_Keller,DropWeight,DUSBL_Hydroid,Micromodem,NAL9602,Onboard,PowerOnly,RDI_Pathfinder,BPC1,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2020-01-13T20:11:47.191Z,1578946307.191 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2020-01-13T20:11:47.229Z,1578946307.229 [DDM](INFO): Powering up
2020-01-13T20:11:47.229Z,1578946307.229 [DDM](DEBUG): Initializing DDM.
2020-01-13T20:11:47.255Z,1578946307.255 [DUSBL_Hydroid](INFO): Powering up
2020-01-13T20:11:47.255Z,1578946307.255 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2020-01-13T20:11:47.269Z,1578946307.269 [Radio_Surface](INFO): Powering up
2020-01-13T20:11:47.497Z,1578946307.497 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2020-01-13T20:11:47.501Z,1578946307.501 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2020-01-13T20:11:47.502Z,1578946307.502 [ElevatorServo](DEBUG): Initializing EZServoServo.
2020-01-13T20:11:47.509Z,1578946307.509 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2020-01-13T20:11:47.510Z,1578946307.510 [MassServo](DEBUG): Initializing EZServoServo.
2020-01-13T20:11:47.518Z,1578946307.518 [MassServo](DEBUG): Initializing MassServo.
2020-01-13T20:11:47.518Z,1578946307.518 [RudderServo](DEBUG): Initializing EZServoServo.
2020-01-13T20:11:47.521Z,1578946307.521 [RudderServo](DEBUG): Initializing RudderServo.
2020-01-13T20:11:47.522Z,1578946307.522 [ThrusterServo](DEBUG): Initializing EZServoServo.
2020-01-13T20:11:47.529Z,1578946307.529 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2020-01-13T20:11:47.614Z,1578946307.614 [DropWeight](CRITICAL): DROP WEIGHT MISSING.

2020-01-13T20:11:47.614Z,1578946307.614 [DropWeight] Hardware Fault, FailCount= 1
2020-01-13T20:11:47.614Z,1578946307.614 [DropWeight](ERROR): Hardware Fault
2020-01-13T20:11:47.616Z,1578946307.616 [Micromodem](INFO): Powering up
2020-01-13T20:11:47.616Z,1578946307.616 [Micromodem](DEBUG): Initializing Micromodem.
2020-01-13T20:11:47.675Z,1578946307.675 [CommandLine](FAULT): Scheduling is paused
2020-01-13T20:11:47.675Z,1578946307.675 [CBIT](INFO): Critical error at 20200113T201147
2020-01-13T20:11:47.675Z,1578946307.675 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2020-01-13T20:11:47.678Z,1578946307.678 [CBIT](ERROR): Hardware Fault in component: DropWeight
2020-01-13T20:11:47.678Z,1578946307.678 [CBIT](CRITICAL): Hardware Fault in component: DropWeight
2020-01-13T20:11:48.373Z,1578946308.373 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2020-01-13T20:11:48.373Z,1578946308.373 [RudderServo](FAULT): Rudder failed to initialize
2020-01-13T20:11:48.373Z,1578946308.373 [RudderServo] Communications Fault, FailCount= 1
2020-01-13T20:11:48.373Z,1578946308.373 [RudderServo](ERROR): Communications Fault
2020-01-13T20:11:48.482Z,1578946308.482 [CBIT](INFO): Critical error at 20200113T201147
2020-01-13T20:11:48.485Z,1578946308.485 [CBIT](ERROR): Communications Fault in component: RudderServo
2020-01-13T20:11:48.686Z,1578946308.686 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-01-13T20:11:48.686Z,1578946308.686 [RudderServo](INFO): Powering down
2020-01-13T20:11:49.357Z,1578946309.357 [RudderServo](DEBUG): Initializing EZServoServo.
2020-01-13T20:11:49.478Z,1578946309.478 [RudderServo](DEBUG): Initializing RudderServo.
2020-01-13T20:11:49.482Z,1578946309.482 [CBIT](INFO): Clearing failed state for component RudderServo
2020-01-13T20:11:49.482Z,1578946309.482 [RudderServo] No Fault, FailCount= 1
2020-01-13T20:11:52.573Z,1578946312.573 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2020-01-13T20:11:52.976Z,1578946312.976 [Micromodem](INFO): Nmea in: $CATMG,2020-01-13T20:11:52.383225Z,RTC,RTC*5B

2020-01-13T20:11:52.976Z,1578946312.976 [Micromodem](ERROR): CFG response from modem unexpected: $CATMG,2020-01-13T20:11:52.383225Z,RTC,RTC*5B

2020-01-13T20:11:53.379Z,1578946313.379 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2020-01-13T20:11:53.379Z,1578946313.379 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2020-01-13T20:11:53.783Z,1578946313.783 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2020-01-13T20:11:53.783Z,1578946313.783 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2020-01-13T20:11:54.191Z,1578946314.191 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2020-01-13T20:11:54.191Z,1578946314.191 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,3*2C

2020-01-13T20:11:54.595Z,1578946314.595 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,3*2E

2020-01-13T20:11:54.595Z,1578946314.595 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2020-01-13T20:11:54.999Z,1578946314.999 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2020-01-13T20:11:54.999Z,1578946314.999 [Micromodem](INFO): Nmea out: $CCCFG,FC0,10000*46

2020-01-13T20:11:55.399Z,1578946315.399 [Micromodem](INFO): Nmea in: $CACFG,FC0,10000*44

2020-01-13T20:11:55.399Z,1578946315.399 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2020-01-13T20:11:55.812Z,1578946315.812 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2020-01-13T20:11:55.812Z,1578946315.812 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2020-01-13T20:11:56.186Z,1578946316.186 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2020-01-13T20:11:56.187Z,1578946316.187 [Micromodem](INFO): Nmea out: $CCCLK,2020,01,13,20,11,57*47

2020-01-13T20:11:56.613Z,1578946316.613 [Micromodem](INFO): Nmea in: $CACLK,2020,1,13,20,11,57*75

2020-01-13T20:11:57.393Z,1578946317.393 [Micromodem](INFO): Nmea in: $CATMS,0,2020-01-13T20:11:58Z*7A

2020-01-13T20:11:57.454Z,1578946317.454 [Micromodem](INFO): Nmea in: $CATMG,2020-01-13T20:11:58.027303Z,USER_CMD,RTC*18

2020-01-13T20:11:57.807Z,1578946317.807 [DDM](INFO): Dynamic Docking Module:E
2020-01-13T20:12:00.644Z,1578946320.644 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2020-01-13T20:12:02.336Z,1578946322.336 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.005365
2020-01-13T20:12:05.478Z,1578946325.478 [DUSBL_Hydroid](INFO): DUSBL Version:O
2020-01-13T20:12:13.547Z,1578946333.547 [NAL9602](INFO): Powering up NAL9602
2020-01-13T20:12:24.479Z,1578946344.479 [NAL9602](INFO): NAL9602 initialized
2020-01-13T20:12:26.638Z,1578946346.638 [SBIT](IMPORTANT): Beginning Startup BIT
2020-01-13T20:12:26.666Z,1578946346.666 [CBIT](IMPORTANT): Beginning ground fault scan
2020-01-13T20:12:29.912Z,1578946349.912 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-13T20:12:29.912Z,1578946349.912 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2020-01-13T20:12:37.729Z,1578946357.729 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.013288
CHAN A1 (24V): -0.028266
CHAN A2 (12V): -0.007586
CHAN A3 (5V): -0.002445
CHAN B0 (3.3V): 0.000250
CHAN B1 (3.15aV): -0.000087
CHAN B2 (3.15bV): -0.000176
CHAN B3 (GND): 0.002062
OPEN: 0.005206
Full Scale Calc: 4.765 mA, -1.589 mA
2020-01-13T20:12:42.142Z,1578946362.142 [CommandLine](IMPORTANT): got command show variable latch
2020-01-13T20:12:42.342Z,1578946362.342 [CommandLine](IMPORTANT): DDM.latchState (count)
2020-01-13T20:12:43.788Z,1578946363.788 [RDI_Pathfinder](ERROR): Failed to parse:
:B,32768,V
2020-01-13T20:13:04.870Z,1578946384.870 [CommandLine](IMPORTANT): got command show stack
2020-01-13T20:13:04.870Z,1578946384.870 [CommandLine](IMPORTANT): Behavior Stack:

2020-01-13T20:13:04.870Z,1578946384.870 [MissionManager](IMPORTANT): Mission loaded, but not running.
2020-01-13T20:13:20.339Z,1578946400.339 [SBIT](FAULT): Rudder: EXPECTED:0.000000 ACTUAL:-0.006598
2020-01-13T20:13:20.339Z,1578946400.339 [SBIT](FAULT): Control surface position failure.
2020-01-13T20:13:20.750Z,1578946400.750 [SBIT](CRITICAL): SBIT FAILED
2020-01-13T20:13:20.781Z,1578946400.781 [CommandLine](IMPORTANT): got command configSet list
2020-01-13T20:13:20.781Z,1578946400.781 [CommandLine](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2020-01-13T20:13:20.782Z,1578946400.782 [CommandLine](IMPORTANT): DDM.loadAtStartup=1 bool;

2020-01-13T20:13:20.782Z,1578946400.782 [CommandLine](IMPORTANT): DDM.verbosity=3 count;

2020-01-13T20:13:20.783Z,1578946400.783 [CommandLine](IMPORTANT): DUSBL_Hydroid.detectionThreshold=75 count;

2020-01-13T20:13:20.783Z,1578946400.783 [CommandLine](IMPORTANT): DUSBL_Hydroid.transmitLockout=40 millisecond;

2020-01-13T20:13:20.783Z,1578946400.783 [CommandLine](IMPORTANT): Express linearApproximation DDM.DDMMode 1.000000 count;

2020-01-13T20:13:20.783Z,1578946400.783 [CommandLine](IMPORTANT): Express all DDM.cablePresent;

2020-01-13T20:13:20.783Z,1578946400.783 [CommandLine](IMPORTANT): Express linearApproximation DDM.latchState 1.000000 count;

2020-01-13T20:13:20.783Z,1578946400.783 [CommandLine](IMPORTANT): Express linearApproximation DDM.whiskerState 1.000000 count;

2020-01-13T20:13:20.783Z,1578946400.783 [CommandLine](IMPORTANT): Express linearApproximation DUSBL_Hydroid.acoustic_contact_range 1.000000 meter;

2020-01-13T20:13:20.783Z,1578946400.783 [CommandLine](IMPORTANT): Express linearApproximation DUSBL_Hydroid.xAngle 2.000000 degree;

2020-01-13T20:13:20.783Z,1578946400.783 [CommandLine](IMPORTANT): Express linearApproximation RDI_Pathfinder.height_above_sea_floor 2.000000 meter;

2020-01-13T20:13:20.784Z,1578946400.784 [CommandLine](IMPORTANT): Express linearApproximation platform_orientation 5.000000 degree;

2020-01-13T20:13:20.784Z,1578946400.784 [CommandLine](IMPORTANT): Express linearApproximation platform_x_velocity_wrt_ground 0.100000 meter_per_second;

2020-01-13T20:13:20.784Z,1578946400.784 [CommandLine](IMPORTANT): Express linearApproximation platform_y_velocity_wrt_ground 0.100000 meter_per_second;

2020-01-13T20:13:20.784Z,1578946400.784 [CommandLine](IMPORTANT): HorizontalControl.kiHeading=0.002 reciprocal_second;

2020-01-13T20:13:20.784Z,1578946400.784 [CommandLine](IMPORTANT): HorizontalControl.kpHeading=0.8 none;

2020-01-13T20:13:20.784Z,1578946400.784 [CommandLine](IMPORTANT): HorizontalControl.rudDeadband=0.05 degree;

2020-01-13T20:13:20.784Z,1578946400.784 [CommandLine](IMPORTANT): Micromodem.destinationAddress=12 enum;

2020-01-13T20:13:20.784Z,1578946400.784 [CommandLine](IMPORTANT): Micromodem.pwrampTXLevel=3 enum;

2020-01-13T20:13:20.785Z,1578946400.785 [CommandLine](IMPORTANT): Micromodem.surfaceThreshold=0 meter;

2020-01-13T20:13:20.785Z,1578946400.785 [CommandLine](IMPORTANT): PowerOnly.sampleTime=90 second;

2020-01-13T20:13:20.785Z,1578946400.785 [CommandLine](IMPORTANT): RudderServo.deviationAngle=0.0001 degree;

2020-01-13T20:13:20.785Z,1578946400.785 [CommandLine](IMPORTANT): VerticalControl.buoyancyNeutral=105 cubic_centimeter;

2020-01-13T20:13:20.785Z,1578946400.785 [CommandLine](IMPORTANT): VerticalControl.massDefault=-5 millimeter;

2020-01-13T20:13:20.791Z,1578946400.791 [CBIT](INFO): Critical error at 20200113T201320
2020-01-13T20:13:21.326Z,1578946401.326 [MissionManager](IMPORTANT): Started mission Startup
2020-01-13T20:13:21.326Z,1578946401.326 [Startup] Running Loop=1
2020-01-13T20:13:21.327Z,1578946401.327 [Startup](DEBUG): Aggregate::initialize Startup
2020-01-13T20:13:21.327Z,1578946401.327 [Startup:A.GoToSurface] Running Loop=1
2020-01-13T20:13:21.327Z,1578946401.327 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-13T20:13:21.327Z,1578946401.327 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-13T20:13:21.328Z,1578946401.328 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-13T20:13:21.328Z,1578946401.328 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-13T20:13:21.328Z,1578946401.328 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-13T20:13:21.329Z,1578946401.329 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-13T20:13:21.331Z,1578946401.331 [Startup:StartupSatComms] Running Loop=1
2020-01-13T20:13:21.331Z,1578946401.331 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2020-01-13T20:13:21.331Z,1578946401.331 [Startup:StartupSatComms:A] Running Loop=1
2020-01-13T20:13:21.520Z,1578946401.520 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2020-01-13T20:13:28.723Z,1578946408.723 [NAL9602](INFO): SBD MO Status=2, MOMSN=10158, MT Status=2, MTMSN=0
2020-01-13T20:13:28.724Z,1578946408.724 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2020-01-13T20:14:18.416Z,1578946458.416 [NAL9602](INFO): SBD MO Status=2, MOMSN=10158, MT Status=2, MTMSN=0
2020-01-13T20:14:18.416Z,1578946458.416 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2020-01-13T20:14:21.670Z,1578946461.670 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-13T20:14:21.670Z,1578946461.670 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,00,        +0.00,   0.00,140.00
2020-01-13T20:14:21.678Z,1578946461.678 [Startup:StartupSatComms:A](INFO): Timed out from 2020-01-13T20:13:21.3Z
2020-01-13T20:14:21.678Z,1578946461.678 [Startup:StartupSatComms:A] Stopped
2020-01-13T20:14:21.678Z,1578946461.678 [Startup:StartupSatComms:B] Running Loop=1
2020-01-13T20:14:22.078Z,1578946462.078 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2020-01-13T20:14:23.151Z,1578946463.151 [Micromodem](INFO): Outgoing frame #1, 47 bytes: 36AF1C5E040000005D00000400140000000000000000151D80030C5669C08C34EE79FCBC8AED99EE42ADFB4CBD3000
2020-01-13T20:14:23.151Z,1578946463.151 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,1*6B

2020-01-13T20:14:23.365Z,1578946463.365 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,1*69

2020-01-13T20:14:23.715Z,1578946463.715 [Micromodem](INFO): Nmea in: $CADRQ,201424,1,12,0,64,1*75

2020-01-13T20:14:23.715Z,1578946463.715 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,36AF1C5E040000005D00000400140000000000000000151D80030C5669C08C34EE79FCBC8AED99EE42ADFB4CBD3000*32

2020-01-13T20:14:24.128Z,1578946464.128 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,47*4A

2020-01-13T20:14:24.527Z,1578946464.527 [Micromodem](INFO): Nmea in: $CATXP,47*71

2020-01-13T20:14:25.745Z,1578946465.745 [Micromodem](INFO): Nmea in: $CATXF,47*67

2020-01-13T20:14:26.140Z,1578946466.140 [Micromodem](INFO): Nmea in: $CAXST,6,20200113,201424.687682,3,0,200,4000,10000,1,1,12,1,1,1,3,47*44

2020-01-13T20:14:30.724Z,1578946470.724 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20200113T175606/Courier0004.lzma
2020-01-13T20:14:32.730Z,1578946472.730 [DataOverHttps](INFO): Moved sent file to Logs/20200113T175606/Courier0004.lzma.bak
2020-01-13T20:14:32.731Z,1578946472.731 [DataOverHttps](INFO): SBD MOMSN=12191296
2020-01-13T20:14:35.925Z,1578946475.925 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2020-01-13T20:14:35.925Z,1578946475.925 [RDI_Pathfinder] Communications Fault, FailCount= 1
2020-01-13T20:14:35.925Z,1578946475.925 [RDI_Pathfinder](ERROR): Communications Fault
2020-01-13T20:14:35.925Z,1578946475.925 [RDI_Pathfinder](ERROR): Failed to parse:
2020-01-13T20:14:35.998Z,1578946475.998 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2020-01-13T20:14:36.329Z,1578946476.329 [RDI_Pathfinder](INFO): Powering down
2020-01-13T20:14:37.114Z,1578946477.114 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2020-01-13T20:14:37.114Z,1578946477.114 [RDI_Pathfinder] No Fault, FailCount= 1
2020-01-13T20:14:42.002Z,1578946482.002 [CommandLine](IMPORTANT): got command show stack
2020-01-13T20:14:42.002Z,1578946482.002 [CommandLine](IMPORTANT): Behavior Stack:

2020-01-13T20:14:42.002Z,1578946482.002 [Startup](IMPORTANT): Priority 0: Startup:A.GoToSurface
2020-01-13T20:14:42.002Z,1578946482.002 [Startup:StartupSatComms](IMPORTANT): Priority 1: Startup:StartupSatComms:B
2020-01-13T20:14:47.185Z,1578946487.185 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2020-01-13T20:14:47.185Z,1578946487.185 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-13T20:14:47.225Z,1578946487.225 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-13T20:14:47.630Z,1578946487.630 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-13T20:14:47.630Z,1578946487.630 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2020-01-13T20:14:49.569Z,1578946489.569 [DataOverHttps](INFO): Sending 255 bytes from file Logs/20200113T201137/Courier0000.lzma
2020-01-13T20:14:50.113Z,1578946490.113 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.latitude_fix 30.799999 degree
2020-01-13T20:14:50.114Z,1578946490.114 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.latitude_fix" handled in the control thread.
2020-01-13T20:14:50.115Z,1578946490.115 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.longitude_fix -121.900002 degree
2020-01-13T20:14:50.116Z,1578946490.116 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.longitude_fix" handled in the control thread.
2020-01-13T20:14:50.402Z,1578946490.402 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2020-01-13T20:14:50.445Z,1578946490.445 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,DDM,Depth_Keller,DropWeight,DUSBL_Hydroid,Micromodem,NAL9602,Onboard,PowerOnly,RDI_Pathfinder,BPC1,PAR_Licor,Depth_Keller,PAR_Licor,Maintain_NAL9602.latitude_fix,Maintain_NAL9602.longitude_fix,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2020-01-13T20:14:50.816Z,1578946490.816 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-13T20:14:50.816Z,1578946490.816 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2020-01-13T20:14:50.816Z,1578946490.816 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-13T20:14:50.826Z,1578946490.826 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-13T20:14:51.239Z,1578946491.239 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-13T20:14:51.239Z,1578946491.239 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2020-01-13T20:14:51.575Z,1578946491.575 [DataOverHttps](INFO): Moved sent file to Logs/20200113T201137/Courier0000.lzma.bak
2020-01-13T20:14:51.576Z,1578946491.576 [DataOverHttps](INFO): SBD MOMSN=12191298
2020-01-13T20:14:52.031Z,1578946492.031 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-13T20:14:52.031Z,1578946492.031 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 3
2020-01-13T20:14:52.031Z,1578946492.031 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-13T20:14:52.041Z,1578946492.041 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-13T20:14:52.498Z,1578946492.498 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-13T20:14:52.498Z,1578946492.498 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 3
2020-01-13T20:14:52.813Z,1578946492.813 [NAL9602](INFO): SBD MO Status=2, MOMSN=10158, MT Status=2, MTMSN=0
2020-01-13T20:14:52.813Z,1578946492.813 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2020-01-13T20:14:53.274Z,1578946493.274 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-13T20:14:53.274Z,1578946493.274 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 4
2020-01-13T20:14:53.274Z,1578946493.274 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-13T20:14:53.359Z,1578946493.359 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-13T20:14:53.729Z,1578946493.729 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-13T20:14:53.729Z,1578946493.729 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 4
2020-01-13T20:14:54.480Z,1578946494.480 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-13T20:14:54.480Z,1578946494.480 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 5
2020-01-13T20:14:54.480Z,1578946494.480 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-13T20:14:54.506Z,1578946494.506 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-13T20:14:54.886Z,1578946494.886 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-13T20:14:54.886Z,1578946494.886 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 5
2020-01-13T20:14:55.775Z,1578946495.775 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-13T20:14:55.775Z,1578946495.775 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 6
2020-01-13T20:14:55.775Z,1578946495.775 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-13T20:14:55.785Z,1578946495.785 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-13T20:14:56.108Z,1578946496.108 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-13T20:14:56.108Z,1578946496.108 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 6
2020-01-13T20:14:56.910Z,1578946496.910 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-13T20:14:56.910Z,1578946496.910 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 7
2020-01-13T20:14:56.910Z,1578946496.910 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-13T20:14:56.932Z,1578946496.932 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-13T20:14:57.342Z,1578946497.342 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-13T20:14:57.342Z,1578946497.342 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 7
2020-01-13T20:14:58.086Z,1578946498.086 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-13T20:14:58.086Z,1578946498.086 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 8
2020-01-13T20:14:58.087Z,1578946498.087 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-13T20:14:58.140Z,1578946498.140 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-13T20:14:58.560Z,1578946498.560 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-13T20:14:58.560Z,1578946498.560 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 8
2020-01-13T20:14:59.304Z,1578946499.304 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-13T20:14:59.309Z,1578946499.309 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 9
2020-01-13T20:14:59.309Z,1578946499.309 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-13T20:14:59.358Z,1578946499.358 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-13T20:14:59.780Z,1578946499.780 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-13T20:14:59.780Z,1578946499.780 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 9
2020-01-13T20:15:00.535Z,1578946500.535 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-13T20:15:00.536Z,1578946500.536 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 10
2020-01-13T20:15:00.536Z,1578946500.536 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-13T20:15:00.578Z,1578946500.578 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-13T20:15:00.950Z,1578946500.950 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-13T20:15:00.950Z,1578946500.950 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 10
2020-01-13T20:15:01.618Z,1578946501.618 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1578946432.000000 second
2020-01-13T20:15:10.320Z,1578946510.320 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2020-01-13T20:15:10.635Z,1578946510.635 [Startup:StartupSatComms:B] Stopped
2020-01-13T20:15:10.635Z,1578946510.635 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2020-01-13T20:15:10.635Z,1578946510.635 [Startup:StartupSatComms] Stopped
2020-01-13T20:15:10.635Z,1578946510.635 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2020-01-13T20:15:10.636Z,1578946510.636 [Startup](INFO): Completed Startup
2020-01-13T20:15:10.636Z,1578946510.636 [MissionManager](INFO): Startup is completed.
2020-01-13T20:15:10.636Z,1578946510.636 [MissionManager](INFO): Uninitializing Mission Startup
2020-01-13T20:15:10.636Z,1578946510.636 [Startup] Stopped
2020-01-13T20:15:10.636Z,1578946510.636 [Startup](DEBUG): Aggregate::uninitialize Startup
2020-01-13T20:15:10.636Z,1578946510.636 [Startup:A.GoToSurface] Stopped
2020-01-13T20:15:10.636Z,1578946510.636 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-13T20:15:10.992Z,1578946510.992 [NAL9602](INFO): SBD MO Status=0, MOMSN=10158, MT Status=0, MTMSN=0
2020-01-13T20:15:10.992Z,1578946510.992 [NAL9602](INFO): No messages in MT queue
2020-01-13T20:15:11.053Z,1578946511.053 [MissionManager](IMPORTANT): Started mission Default
2020-01-13T20:15:11.053Z,1578946511.053 [Default] Running Loop=1
2020-01-13T20:15:11.053Z,1578946511.053 [Default](DEBUG): Aggregate::initialize Default
2020-01-13T20:15:11.053Z,1578946511.053 [Default:B.GoToSurface] Running Loop=1
2020-01-13T20:15:11.053Z,1578946511.053 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-13T20:15:11.054Z,1578946511.054 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-13T20:15:11.054Z,1578946511.054 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-13T20:15:11.054Z,1578946511.054 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-13T20:15:11.054Z,1578946511.054 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-13T20:15:11.055Z,1578946511.055 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-13T20:15:11.055Z,1578946511.055 [Default:A.Wait] Running Loop=1
2020-01-13T20:15:11.055Z,1578946511.055 [Default:A.Wait](DEBUG): Initialize Wait Component.
2020-01-13T20:15:14.118Z,1578946514.118 [DataOverHttps](INFO): Sending 120 bytes from file Logs/20200110T015429/Express0008.lzma
2020-01-13T20:15:16.122Z,1578946516.122 [DataOverHttps](INFO): Moved sent file to Logs/20200110T015429/Express0008.lzma.bak
2020-01-13T20:15:16.122Z,1578946516.122 [DataOverHttps](INFO): SBD MOMSN=12191304
2020-01-13T20:15:24.381Z,1578946524.381 [Default:A.Wait](INFO): Done Waiting.
2020-01-13T20:15:24.381Z,1578946524.381 [Default:A.Wait] Stopped
2020-01-13T20:15:24.381Z,1578946524.381 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-13T20:15:24.755Z,1578946524.755 [Default:CheckIn] Running Loop=1
2020-01-13T20:15:24.755Z,1578946524.755 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2020-01-13T20:15:24.755Z,1578946524.755 [Default:CheckIn:Read_GPS] Running Loop=1
2020-01-13T20:15:25.165Z,1578946525.165 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2020-01-13T20:15:25.975Z,1578946525.975 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2020-01-13T20:15:36.384Z,1578946536.384 [CommandLine](IMPORTANT): got command show variable range
2020-01-13T20:15:36.388Z,1578946536.388 [CommandLine](IMPORTANT): acoustic_contact_range (unknown)
2020-01-13T20:15:36.624Z,1578946536.624 [CommandLine](IMPORTANT): BR_Ping1D.minRange (meter)
2020-01-13T20:15:36.629Z,1578946536.629 [CommandLine](IMPORTANT): BR_Ping1D.maxRange (meter)
2020-01-13T20:15:36.665Z,1578946536.665 [CommandLine](IMPORTANT): DUSBL_Hydroid.acoustic_contact_range (meter)
2020-01-13T20:15:36.666Z,1578946536.666 [CommandLine](IMPORTANT): Micromodem.range_request (count)
2020-01-13T20:15:36.667Z,1578946536.667 [CommandLine](IMPORTANT): Micromodem.range (meter)
2020-01-13T20:15:36.670Z,1578946536.670 [CommandLine](IMPORTANT): RDI_Pathfinder.Beam1Range (meter)
2020-01-13T20:15:36.670Z,1578946536.670 [CommandLine](IMPORTANT): RDI_Pathfinder.Beam2Range (meter)
2020-01-13T20:15:36.671Z,1578946536.671 [CommandLine](IMPORTANT): RDI_Pathfinder.Beam3Range (meter)
2020-01-13T20:15:36.671Z,1578946536.671 [CommandLine](IMPORTANT): RDI_Pathfinder.Beam4Range (meter)
2020-01-13T20:15:45.737Z,1578946545.737 [CommandLine](IMPORTANT): got command report touch DUSBL_Hydroid.acoustic_contact_range
2020-01-13T20:15:50.414Z,1578946550.414 [CommandLine](IMPORTANT): got command run ./Missions/Maintenance/DUSBL.xml
2020-01-13T20:15:50.414Z,1578946550.414 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/DUSBL.xml
2020-01-13T20:15:50.441Z,1578946550.441 [MissionManager](INFO): DefineArg DUSBL.MissionTimeout = 90.000000 min
2020-01-13T20:15:50.444Z,1578946550.444 [MissionManager](INFO): DefineArg DUSBL.NumberOfRequests = 10.000000 count
2020-01-13T20:15:50.448Z,1578946550.448 [MissionManager](INFO): DefineArg DUSBL.TransponderCode = 2.000000 count
2020-01-13T20:15:50.451Z,1578946550.451 [MissionManager](INFO): DefineArg DUSBL.NumberOfPings = 1.000000 count
2020-01-13T20:15:50.455Z,1578946550.455 [MissionManager](INFO): DefineArg DUSBL.EnabledDUSBL = DUSBL_Hydroid.loadAtStartup
2020-01-13T20:15:50.456Z,1578946550.456 [DUSBL:A.Pitch](DEBUG): Construct.
2020-01-13T20:15:50.462Z,1578946550.462 [DUSBL:B.SetSpeed](DEBUG): Construct.
2020-01-13T20:15:50.494Z,1578946550.494 [DUSBL:RequestRepeater:C.Wait](DEBUG): Construct Wait.
2020-01-13T20:15:50.507Z,1578946550.507 [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>


2020-01-13T20:15:50.513Z,1578946550.513 [CommandLine](IMPORTANT): Running ./Missions/Maintenance/DUSBL.xml
2020-01-13T20:15:50.673Z,1578946550.673 [Default] Stopped
2020-01-13T20:15:50.674Z,1578946550.674 [Default](DEBUG): Aggregate::uninitialize Default
2020-01-13T20:15:50.674Z,1578946550.674 [Default:B.GoToSurface] Stopped
2020-01-13T20:15:50.674Z,1578946550.674 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-13T20:15:50.674Z,1578946550.674 [Default:CheckIn] Stopped
2020-01-13T20:15:50.674Z,1578946550.674 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2020-01-13T20:15:50.674Z,1578946550.674 [Default:CheckIn:Read_GPS] Stopped
2020-01-13T20:15:50.674Z,1578946550.674 [MissionManager](IMPORTANT): Started mission DUSBL
2020-01-13T20:15:50.674Z,1578946550.674 [DUSBL] Running Loop=1
2020-01-13T20:15:50.674Z,1578946550.674 [DUSBL](DEBUG): Aggregate::initialize DUSBL
2020-01-13T20:15:50.674Z,1578946550.674 [DUSBL:A.Pitch] Running Loop=1
2020-01-13T20:15:50.675Z,1578946550.675 [DUSBL:A.Pitch](DEBUG): Initialize.
2020-01-13T20:15:50.675Z,1578946550.675 [DUSBL:B.SetSpeed] Running Loop=1
2020-01-13T20:15:50.675Z,1578946550.675 [DUSBL:B.SetSpeed](DEBUG): Initialize.
2020-01-13T20:15:50.675Z,1578946550.675 [DUSBL:C] Running Loop=1
2020-01-13T20:15:50.675Z,1578946550.675 [DUSBL:RequestRepeater] Running Loop=1
2020-01-13T20:15:50.675Z,1578946550.675 [DUSBL:RequestRepeater](DEBUG): Aggregate::initialize DUSBL:RequestRepeater
2020-01-13T20:15:50.675Z,1578946550.675 [DUSBL:RequestRepeater:A] Running Loop=1
2020-01-13T20:15:50.675Z,1578946550.675 [DUSBL:RequestRepeater:B] Running Loop=1
2020-01-13T20:15:50.676Z,1578946550.676 [DUSBL:RequestRepeater:C.Wait] Running Loop=1
2020-01-13T20:15:50.676Z,1578946550.676 [DUSBL:RequestRepeater:C.Wait](DEBUG): Initialize Wait Component.
2020-01-13T20:15:50.676Z,1578946550.676 [DUSBL:RequestRepeater:B] Running Loop=1
2020-01-13T20:15:50.676Z,1578946550.676 [DUSBL:RequestRepeater:A] Running Loop=1
2020-01-13T20:15:50.685Z,1578946550.685 [DUSBL:C](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_range
2020-01-13T20:15:50.686Z,1578946550.686 [DUSBL:C](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_direction_vehicle_frame
2020-01-13T20:15:50.686Z,1578946550.686 [DUSBL:B.SetSpeed] Running Loop=1
2020-01-13T20:15:50.686Z,1578946550.686 [DUSBL:A.Pitch] Running Loop=1
2020-01-13T20:15:52.603Z,1578946552.603 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:15:53.019Z,1578946553.019 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:15:53.815Z,1578946553.815 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201553.55*5E

2020-01-13T20:15:56.244Z,1578946556.244 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:15:57.043Z,1578946557.043 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:15:57.461Z,1578946557.461 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:15:58.271Z,1578946558.271 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201557.99*5A

2020-01-13T20:16:00.682Z,1578946560.682 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:16:01.486Z,1578946561.486 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:16:01.897Z,1578946561.897 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:16:02.703Z,1578946562.703 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201602.43*5E

2020-01-13T20:16:05.126Z,1578946565.126 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:16:05.931Z,1578946565.931 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:16:06.335Z,1578946566.335 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:16:07.155Z,1578946567.155 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201606.88*5D

2020-01-13T20:16:09.570Z,1578946569.570 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:16:10.381Z,1578946570.381 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:16:10.781Z,1578946570.781 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:16:11.592Z,1578946571.592 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201611.33*5B

2020-01-13T20:16:14.014Z,1578946574.014 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:16:14.824Z,1578946574.824 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:16:15.224Z,1578946575.224 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:16:16.039Z,1578946576.039 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201615.77*5F

2020-01-13T20:16:18.455Z,1578946578.455 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:16:19.267Z,1578946579.267 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:16:19.694Z,1578946579.694 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:16:20.476Z,1578946580.476 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201620.21*5A

2020-01-13T20:16:22.902Z,1578946582.902 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:16:22.903Z,1578946582.903 [NAL9602](INFO): Not Powering down - fast GPS
2020-01-13T20:16:23.363Z,1578946583.363 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-01-13T20:16:23.363Z,1578946583.363 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +0.00 +0.00,        +0.00,   0.00, 93.00
2020-01-13T20:16:23.717Z,1578946583.717 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:16:24.111Z,1578946584.111 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:16:24.926Z,1578946584.926 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201624.66*5D

2020-01-13T20:16:27.342Z,1578946587.342 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:16:28.153Z,1578946588.153 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:16:28.561Z,1578946588.561 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:16:29.374Z,1578946589.374 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201629.10*51

2020-01-13T20:16:31.786Z,1578946591.786 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:16:32.595Z,1578946592.595 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:16:33.004Z,1578946593.004 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:16:33.817Z,1578946593.817 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201633.54*5A

2020-01-13T20:16:36.234Z,1578946596.234 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:16:37.049Z,1578946597.049 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:16:37.443Z,1578946597.443 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:16:38.257Z,1578946598.257 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201638.00*50

2020-01-13T20:16:40.678Z,1578946600.678 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:16:41.485Z,1578946601.485 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:16:41.896Z,1578946601.896 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:16:42.697Z,1578946602.697 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201642.43*5A

2020-01-13T20:16:43.553Z,1578946603.553 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-63 in onboard configuration file).
2020-01-13T20:16:45.129Z,1578946605.129 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:16:45.931Z,1578946605.931 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:16:46.337Z,1578946606.337 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:16:47.152Z,1578946607.152 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201646.88*59

2020-01-13T20:16:49.566Z,1578946609.566 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:16:50.375Z,1578946610.375 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:16:50.781Z,1578946610.781 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:16:51.587Z,1578946611.587 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201651.32*5E

2020-01-13T20:16:54.010Z,1578946614.010 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:16:54.824Z,1578946614.824 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:16:55.225Z,1578946615.225 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:16:56.039Z,1578946616.039 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201655.77*5B

2020-01-13T20:16:57.625Z,1578946617.625 [CommandLine](IMPORTANT): got command stop
2020-01-13T20:16:57.626Z,1578946617.626 [CommandLine](IMPORTANT): Scheduling is paused
2020-01-13T20:16:57.626Z,1578946617.626 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2020-01-13T20:16:57.733Z,1578946617.733 [MissionManager](INFO): MissionManager is completed.
2020-01-13T20:16:57.733Z,1578946617.733 [MissionManager](INFO): Uninitializing Mission DUSBL
2020-01-13T20:16:57.733Z,1578946617.733 [DUSBL] Stopped
2020-01-13T20:16:57.733Z,1578946617.733 [DUSBL](DEBUG): Aggregate::uninitialize DUSBL
2020-01-13T20:16:57.733Z,1578946617.733 [DUSBL:A.Pitch] Stopped
2020-01-13T20:16:57.733Z,1578946617.733 [DUSBL:B.SetSpeed] Stopped
2020-01-13T20:16:57.734Z,1578946617.734 [DUSBL:B.SetSpeed](DEBUG): Uninitialize.
2020-01-13T20:16:57.734Z,1578946617.734 [DUSBL:C] Stopped
2020-01-13T20:16:57.734Z,1578946617.734 [DUSBL:RequestRepeater] Stopped
2020-01-13T20:16:57.734Z,1578946617.734 [DUSBL:RequestRepeater](DEBUG): Aggregate::uninitialize DUSBL:RequestRepeater
2020-01-13T20:16:57.734Z,1578946617.734 [DUSBL:RequestRepeater:A] Stopped
2020-01-13T20:16:57.734Z,1578946617.734 [DUSBL:RequestRepeater:B] Stopped
2020-01-13T20:16:57.734Z,1578946617.734 [DUSBL:RequestRepeater:C.Wait] Stopped
2020-01-13T20:16:57.734Z,1578946617.734 [DUSBL:RequestRepeater:C.Wait](DEBUG): Uninitialize Wait Component.
2020-01-13T20:16:58.086Z,1578946618.086 [MissionManager](IMPORTANT): Started mission Default
2020-01-13T20:16:58.086Z,1578946618.086 [Default] Running Loop=1
2020-01-13T20:16:58.086Z,1578946618.086 [Default](DEBUG): Aggregate::initialize Default
2020-01-13T20:16:58.086Z,1578946618.086 [Default:B.GoToSurface] Running Loop=1
2020-01-13T20:16:58.086Z,1578946618.086 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-13T20:16:58.086Z,1578946618.086 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-13T20:16:58.087Z,1578946618.087 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-13T20:16:58.087Z,1578946618.087 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-13T20:16:58.087Z,1578946618.087 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-13T20:16:58.088Z,1578946618.088 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-13T20:16:58.088Z,1578946618.088 [Default:A.Wait] Running Loop=1
2020-01-13T20:16:58.088Z,1578946618.088 [Default:A.Wait](DEBUG): Initialize Wait Component.
2020-01-13T20:17:11.436Z,1578946631.436 [Default:A.Wait](INFO): Done Waiting.
2020-01-13T20:17:11.436Z,1578946631.436 [Default:A.Wait] Stopped
2020-01-13T20:17:11.436Z,1578946631.436 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-13T20:17:11.811Z,1578946631.811 [Default:CheckIn] Running Loop=1
2020-01-13T20:17:11.811Z,1578946631.811 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2020-01-13T20:17:11.811Z,1578946631.811 [Default:CheckIn:Read_GPS] Running Loop=1
2020-01-13T20:17:21.538Z,1578946641.538 [CommandLine](IMPORTANT): got command show variable detectionThresho
2020-01-13T20:17:21.691Z,1578946641.691 [CommandLine](IMPORTANT): DUSBL_Hydroid.detectionThreshold (count)
2020-01-13T20:17:28.976Z,1578946648.976 [CommandLine](IMPORTANT): got command get DUSBL_Hydroid.detectionThreshold
2020-01-13T20:17:28.976Z,1578946648.976 [CommandLine](IMPORTANT): DUSBL_Hydroid.detectionThreshold 75 count
2020-01-13T20:17:45.187Z,1578946665.187 [CommandLine](IMPORTANT): got command configSet DUSBL_Hydroid.detectionThreshold 25.000000 count persist
2020-01-13T20:17:48.963Z,1578946668.963 [CommandLine](IMPORTANT): got command failComponent hardware DUSBL
2020-01-13T20:17:48.963Z,1578946668.963 [CommandLine](FAULT): Could not find component with name: DUSBL
2020-01-13T20:17:53.026Z,1578946673.026 [CommandLine](IMPORTANT): got command failComponent hardware DUSBL_Hydroid
2020-01-13T20:17:53.026Z,1578946673.026 [DUSBL_Hydroid] Hardware Fault, FailCount= 1
2020-01-13T20:17:53.026Z,1578946673.026 [DUSBL_Hydroid](ERROR): Hardware Fault
2020-01-13T20:17:53.026Z,1578946673.026 [CommandLine](IMPORTANT): DUSBL_Hydroid failureMode is Hardware Fault
2020-01-13T20:17:53.054Z,1578946673.054 [CBIT](ERROR): Hardware Fault in component: DUSBL_Hydroid
2020-01-13T20:17:53.394Z,1578946673.394 [DUSBL_Hydroid](INFO): Powering down
2020-01-13T20:17:54.260Z,1578946674.260 [CBIT](INFO): Clearing failed state for component DUSBL_Hydroid
2020-01-13T20:17:54.260Z,1578946674.260 [DUSBL_Hydroid] No Fault, FailCount= 1
2020-01-13T20:17:56.624Z,1578946676.624 [DUSBL_Hydroid](INFO): Powering up
2020-01-13T20:17:56.624Z,1578946676.624 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2020-01-13T20:18:14.694Z,1578946694.694 [DUSBL_Hydroid](INFO): DUSBL Version:O
2020-01-13T20:18:21.179Z,1578946701.179 [CommandLine](IMPORTANT): got command run ./Missions/Maintenance/DUSBL.xml
2020-01-13T20:18:21.179Z,1578946701.179 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/DUSBL.xml
2020-01-13T20:18:21.262Z,1578946701.262 [MissionManager](INFO): DefineArg DUSBL.MissionTimeout = 90.000000 min
2020-01-13T20:18:21.264Z,1578946701.264 [MissionManager](INFO): DefineArg DUSBL.NumberOfRequests = 10.000000 count
2020-01-13T20:18:21.277Z,1578946701.277 [MissionManager](INFO): DefineArg DUSBL.TransponderCode = 2.000000 count
2020-01-13T20:18:21.279Z,1578946701.279 [MissionManager](INFO): DefineArg DUSBL.NumberOfPings = 1.000000 count
2020-01-13T20:18:21.293Z,1578946701.293 [MissionManager](INFO): DefineArg DUSBL.EnabledDUSBL = DUSBL_Hydroid.loadAtStartup
2020-01-13T20:18:21.294Z,1578946701.294 [DUSBL:A.Pitch](DEBUG): Construct.
2020-01-13T20:18:21.328Z,1578946701.328 [DUSBL:B.SetSpeed](DEBUG): Construct.
2020-01-13T20:18:21.358Z,1578946701.358 [DUSBL:RequestRepeater:C.Wait](DEBUG): Construct Wait.
2020-01-13T20:18:21.370Z,1578946701.370 [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>


2020-01-13T20:18:21.372Z,1578946701.372 [CommandLine](IMPORTANT): Running ./Missions/Maintenance/DUSBL.xml
2020-01-13T20:18:21.602Z,1578946701.602 [Default] Stopped
2020-01-13T20:18:21.602Z,1578946701.602 [Default](DEBUG): Aggregate::uninitialize Default
2020-01-13T20:18:21.602Z,1578946701.602 [Default:B.GoToSurface] Stopped
2020-01-13T20:18:21.602Z,1578946701.602 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-13T20:18:21.602Z,1578946701.602 [Default:CheckIn] Stopped
2020-01-13T20:18:21.602Z,1578946701.602 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2020-01-13T20:18:21.602Z,1578946701.602 [Default:CheckIn:Read_GPS] Stopped
2020-01-13T20:18:21.602Z,1578946701.602 [MissionManager](IMPORTANT): Started mission DUSBL
2020-01-13T20:18:21.603Z,1578946701.603 [DUSBL] Running Loop=1
2020-01-13T20:18:21.603Z,1578946701.603 [DUSBL](DEBUG): Aggregate::initialize DUSBL
2020-01-13T20:18:21.603Z,1578946701.603 [DUSBL:A.Pitch] Running Loop=1
2020-01-13T20:18:21.603Z,1578946701.603 [DUSBL:A.Pitch](DEBUG): Initialize.
2020-01-13T20:18:21.603Z,1578946701.603 [DUSBL:B.SetSpeed] Running Loop=1
2020-01-13T20:18:21.603Z,1578946701.603 [DUSBL:B.SetSpeed](DEBUG): Initialize.
2020-01-13T20:18:21.603Z,1578946701.603 [DUSBL:C] Running Loop=1
2020-01-13T20:18:21.603Z,1578946701.603 [DUSBL:RequestRepeater] Running Loop=1
2020-01-13T20:18:21.604Z,1578946701.604 [DUSBL:RequestRepeater](DEBUG): Aggregate::initialize DUSBL:RequestRepeater
2020-01-13T20:18:21.604Z,1578946701.604 [DUSBL:RequestRepeater:A] Running Loop=1
2020-01-13T20:18:21.604Z,1578946701.604 [DUSBL:RequestRepeater:B] Running Loop=1
2020-01-13T20:18:21.604Z,1578946701.604 [DUSBL:RequestRepeater:C.Wait] Running Loop=1
2020-01-13T20:18:21.604Z,1578946701.604 [DUSBL:RequestRepeater:C.Wait](DEBUG): Initialize Wait Component.
2020-01-13T20:18:21.604Z,1578946701.604 [DUSBL:RequestRepeater:B] Running Loop=1
2020-01-13T20:18:21.604Z,1578946701.604 [DUSBL:RequestRepeater:A] Running Loop=1
2020-01-13T20:18:21.605Z,1578946701.605 [DUSBL:C](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_range
2020-01-13T20:18:21.606Z,1578946701.606 [DUSBL:C](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_direction_vehicle_frame
2020-01-13T20:18:21.606Z,1578946701.606 [DUSBL:B.SetSpeed] Running Loop=1
2020-01-13T20:18:21.606Z,1578946701.606 [DUSBL:A.Pitch] Running Loop=1
2020-01-13T20:18:23.584Z,1578946703.584 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:18:23.983Z,1578946703.983 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:18:24.795Z,1578946704.795 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201824.53*55

2020-01-13T20:18:26.823Z,1578946706.823 [NAL9602](INFO): SBD MO Status=2, MOMSN=10159, MT Status=2, MTMSN=0
2020-01-13T20:18:26.823Z,1578946706.823 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2020-01-13T20:18:27.218Z,1578946707.218 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:18:28.031Z,1578946708.031 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:18:28.447Z,1578946708.447 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:18:29.255Z,1578946709.255 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201828.98*5E

2020-01-13T20:18:31.656Z,1578946711.656 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:18:32.471Z,1578946712.471 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:18:32.881Z,1578946712.881 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:18:33.682Z,1578946713.682 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201833.42*53

2020-01-13T20:18:36.106Z,1578946716.106 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:18:36.910Z,1578946716.910 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:18:37.321Z,1578946717.321 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:18:37.814Z,1578946717.814 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 2.819999 m
2020-01-13T20:18:38.126Z,1578946718.126 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201837.86*5F

2020-01-13T20:18:40.955Z,1578946720.955 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:18:41.358Z,1578946721.358 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:18:42.167Z,1578946722.167 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201841.90*59

2020-01-13T20:18:44.194Z,1578946724.194 [NAL9602](INFO): SBD MO Status=2, MOMSN=10159, MT Status=2, MTMSN=0
2020-01-13T20:18:44.194Z,1578946724.194 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2020-01-13T20:18:44.586Z,1578946724.586 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:18:45.399Z,1578946725.399 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:18:45.808Z,1578946725.808 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:18:46.610Z,1578946726.610 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201846.35*51

2020-01-13T20:18:49.039Z,1578946729.039 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:18:49.843Z,1578946729.843 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:18:50.249Z,1578946730.249 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:18:51.071Z,1578946731.071 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201850.79*5E

2020-01-13T20:18:52.715Z,1578946732.715 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-13T20:18:52.716Z,1578946732.716 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2020-01-13T20:18:53.498Z,1578946733.498 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:18:54.328Z,1578946734.328 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:18:54.713Z,1578946734.713 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:18:55.521Z,1578946735.521 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201855.27*50

2020-01-13T20:18:57.942Z,1578946737.942 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:18:58.752Z,1578946738.752 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:18:59.157Z,1578946739.157 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:18:59.969Z,1578946739.969 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201859.70*5E

2020-01-13T20:19:02.386Z,1578946742.386 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:19:03.204Z,1578946743.204 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:19:03.599Z,1578946743.599 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:19:04.039Z,1578946744.039 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 2.819999 m
2020-01-13T20:19:04.415Z,1578946744.415 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201904.15*54

2020-01-13T20:19:06.963Z,1578946746.963 [CommandLine](IMPORTANT): got command stop
2020-01-13T20:19:06.963Z,1578946746.963 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2020-01-13T20:19:07.237Z,1578946747.237 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:19:07.327Z,1578946747.327 [MissionManager](INFO): MissionManager is completed.
2020-01-13T20:19:07.328Z,1578946747.328 [MissionManager](INFO): Uninitializing Mission DUSBL
2020-01-13T20:19:07.328Z,1578946747.328 [DUSBL] Stopped
2020-01-13T20:19:07.328Z,1578946747.328 [DUSBL](DEBUG): Aggregate::uninitialize DUSBL
2020-01-13T20:19:07.328Z,1578946747.328 [DUSBL:A.Pitch] Stopped
2020-01-13T20:19:07.328Z,1578946747.328 [DUSBL:B.SetSpeed] Stopped
2020-01-13T20:19:07.328Z,1578946747.328 [DUSBL:B.SetSpeed](DEBUG): Uninitialize.
2020-01-13T20:19:07.328Z,1578946747.328 [DUSBL:C] Stopped
2020-01-13T20:19:07.328Z,1578946747.328 [DUSBL:RequestRepeater] Stopped
2020-01-13T20:19:07.337Z,1578946747.337 [DUSBL:RequestRepeater](DEBUG): Aggregate::uninitialize DUSBL:RequestRepeater
2020-01-13T20:19:07.337Z,1578946747.337 [DUSBL:RequestRepeater:A] Stopped
2020-01-13T20:19:07.337Z,1578946747.337 [DUSBL:RequestRepeater:B] Stopped
2020-01-13T20:19:07.337Z,1578946747.337 [DUSBL:RequestRepeater:C.Wait] Stopped
2020-01-13T20:19:07.337Z,1578946747.337 [DUSBL:RequestRepeater:C.Wait](DEBUG): Uninitialize Wait Component.
2020-01-13T20:19:07.637Z,1578946747.637 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:19:07.729Z,1578946747.729 [MissionManager](IMPORTANT): Started mission Default
2020-01-13T20:19:07.729Z,1578946747.729 [Default] Running Loop=1
2020-01-13T20:19:07.729Z,1578946747.729 [Default](DEBUG): Aggregate::initialize Default
2020-01-13T20:19:07.729Z,1578946747.729 [Default:B.GoToSurface] Running Loop=1
2020-01-13T20:19:07.730Z,1578946747.730 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-13T20:19:07.730Z,1578946747.730 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-13T20:19:07.730Z,1578946747.730 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-13T20:19:07.730Z,1578946747.730 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-13T20:19:07.731Z,1578946747.731 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-13T20:19:07.731Z,1578946747.731 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-13T20:19:07.732Z,1578946747.732 [Default:A.Wait] Running Loop=1
2020-01-13T20:19:07.732Z,1578946747.732 [Default:A.Wait](DEBUG): Initialize Wait Component.
2020-01-13T20:19:08.448Z,1578946748.448 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201908.19*54

2020-01-13T20:19:10.501Z,1578946750.501 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2020-01-13T20:19:10.505Z,1578946750.505 [BPC1](INFO): Received data from all battery sticks.
2020-01-13T20:19:14.258Z,1578946754.258 [CommandLine](IMPORTANT): got command show variable xangle
2020-01-13T20:19:14.337Z,1578946754.337 [CommandLine](IMPORTANT): DUSBL_Hydroid.xAngle (angular_degree)
2020-01-13T20:19:21.016Z,1578946761.016 [Default:A.Wait](INFO): Done Waiting.
2020-01-13T20:19:21.016Z,1578946761.016 [Default:A.Wait] Stopped
2020-01-13T20:19:21.016Z,1578946761.016 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-13T20:19:21.442Z,1578946761.442 [Default:CheckIn] Running Loop=1
2020-01-13T20:19:21.442Z,1578946761.442 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2020-01-13T20:19:21.442Z,1578946761.442 [Default:CheckIn:Read_GPS] Running Loop=1
2020-01-13T20:19:21.604Z,1578946761.604 [CommandLine](IMPORTANT): got command report touch DUSBL_Hydroid.xAngle
2020-01-13T20:19:26.546Z,1578946766.546 [CommandLine](IMPORTANT): got command run ./Missions/Maintenance/DUSBL.xml
2020-01-13T20:19:26.546Z,1578946766.546 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/DUSBL.xml
2020-01-13T20:19:26.571Z,1578946766.571 [MissionManager](INFO): DefineArg DUSBL.MissionTimeout = 90.000000 min
2020-01-13T20:19:26.624Z,1578946766.624 [MissionManager](INFO): DefineArg DUSBL.NumberOfRequests = 10.000000 count
2020-01-13T20:19:26.665Z,1578946766.665 [MissionManager](INFO): DefineArg DUSBL.TransponderCode = 2.000000 count
2020-01-13T20:19:26.667Z,1578946766.667 [MissionManager](INFO): DefineArg DUSBL.NumberOfPings = 1.000000 count
2020-01-13T20:19:26.685Z,1578946766.685 [MissionManager](INFO): DefineArg DUSBL.EnabledDUSBL = DUSBL_Hydroid.loadAtStartup
2020-01-13T20:19:26.686Z,1578946766.686 [DUSBL:A.Pitch](DEBUG): Construct.
2020-01-13T20:19:26.707Z,1578946766.707 [DUSBL:B.SetSpeed](DEBUG): Construct.
2020-01-13T20:19:26.742Z,1578946766.742 [DUSBL:RequestRepeater:C.Wait](DEBUG): Construct Wait.
2020-01-13T20:19:26.750Z,1578946766.750 [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>


2020-01-13T20:19:26.752Z,1578946766.752 [CommandLine](IMPORTANT): Running ./Missions/Maintenance/DUSBL.xml
2020-01-13T20:19:27.076Z,1578946767.076 [Default] Stopped
2020-01-13T20:19:27.076Z,1578946767.076 [Default](DEBUG): Aggregate::uninitialize Default
2020-01-13T20:19:27.076Z,1578946767.076 [Default:B.GoToSurface] Stopped
2020-01-13T20:19:27.076Z,1578946767.076 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-13T20:19:27.076Z,1578946767.076 [Default:CheckIn] Stopped
2020-01-13T20:19:27.076Z,1578946767.076 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2020-01-13T20:19:27.076Z,1578946767.076 [Default:CheckIn:Read_GPS] Stopped
2020-01-13T20:19:27.076Z,1578946767.076 [MissionManager](IMPORTANT): Started mission DUSBL
2020-01-13T20:19:27.081Z,1578946767.081 [DUSBL] Running Loop=1
2020-01-13T20:19:27.081Z,1578946767.081 [DUSBL](DEBUG): Aggregate::initialize DUSBL
2020-01-13T20:19:27.081Z,1578946767.081 [DUSBL:A.Pitch] Running Loop=1
2020-01-13T20:19:27.081Z,1578946767.081 [DUSBL:A.Pitch](DEBUG): Initialize.
2020-01-13T20:19:27.081Z,1578946767.081 [DUSBL:B.SetSpeed] Running Loop=1
2020-01-13T20:19:27.081Z,1578946767.081 [DUSBL:B.SetSpeed](DEBUG): Initialize.
2020-01-13T20:19:27.081Z,1578946767.081 [DUSBL:C] Running Loop=1
2020-01-13T20:19:27.082Z,1578946767.082 [DUSBL:RequestRepeater] Running Loop=1
2020-01-13T20:19:27.082Z,1578946767.082 [DUSBL:RequestRepeater](DEBUG): Aggregate::initialize DUSBL:RequestRepeater
2020-01-13T20:19:27.082Z,1578946767.082 [DUSBL:RequestRepeater:A] Running Loop=1
2020-01-13T20:19:27.082Z,1578946767.082 [DUSBL:RequestRepeater:B] Running Loop=1
2020-01-13T20:19:27.082Z,1578946767.082 [DUSBL:RequestRepeater:C.Wait] Running Loop=1
2020-01-13T20:19:27.082Z,1578946767.082 [DUSBL:RequestRepeater:C.Wait](DEBUG): Initialize Wait Component.
2020-01-13T20:19:27.082Z,1578946767.082 [DUSBL:RequestRepeater:B] Running Loop=1
2020-01-13T20:19:27.083Z,1578946767.083 [DUSBL:RequestRepeater:A] Running Loop=1
2020-01-13T20:19:27.083Z,1578946767.083 [DUSBL:C](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_range
2020-01-13T20:19:27.084Z,1578946767.084 [DUSBL:C](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_direction_vehicle_frame
2020-01-13T20:19:27.084Z,1578946767.084 [DUSBL:B.SetSpeed] Running Loop=1
2020-01-13T20:19:27.084Z,1578946767.084 [DUSBL:A.Pitch] Running Loop=1
2020-01-13T20:19:29.047Z,1578946769.047 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:19:29.457Z,1578946769.457 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:19:29.955Z,1578946769.955 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 2.759999 m
2020-01-13T20:19:29.965Z,1578946769.965 [Reporter](INFO): DUSBL_Hydroid.xAngle 1.000000 arcdeg
2020-01-13T20:19:30.263Z,1578946770.263 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201929.99*5F

2020-01-13T20:19:33.091Z,1578946773.091 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:19:33.497Z,1578946773.497 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:19:33.930Z,1578946773.930 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 2.759999 m
2020-01-13T20:19:33.930Z,1578946773.930 [Reporter](INFO): DUSBL_Hydroid.xAngle 1.150000 arcdeg
2020-01-13T20:19:34.322Z,1578946774.322 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201934.04*57

2020-01-13T20:19:37.150Z,1578946777.150 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:19:37.531Z,1578946777.531 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:19:37.990Z,1578946777.990 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 2.759999 m
2020-01-13T20:19:37.990Z,1578946777.990 [Reporter](INFO): DUSBL_Hydroid.xAngle 0.850000 arcdeg
2020-01-13T20:19:38.350Z,1578946778.350 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201938.10*5E

2020-01-13T20:19:40.258Z,1578946780.258 [CommandLine](IMPORTANT): got command stop
2020-01-13T20:19:40.259Z,1578946780.259 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2020-01-13T20:19:40.432Z,1578946780.432 [MissionManager](INFO): MissionManager is completed.
2020-01-13T20:19:40.432Z,1578946780.432 [MissionManager](INFO): Uninitializing Mission DUSBL
2020-01-13T20:19:40.432Z,1578946780.432 [DUSBL] Stopped
2020-01-13T20:19:40.432Z,1578946780.432 [DUSBL](DEBUG): Aggregate::uninitialize DUSBL
2020-01-13T20:19:40.432Z,1578946780.432 [DUSBL:A.Pitch] Stopped
2020-01-13T20:19:40.432Z,1578946780.432 [DUSBL:B.SetSpeed] Stopped
2020-01-13T20:19:40.432Z,1578946780.432 [DUSBL:B.SetSpeed](DEBUG): Uninitialize.
2020-01-13T20:19:40.432Z,1578946780.432 [DUSBL:C] Stopped
2020-01-13T20:19:40.432Z,1578946780.432 [DUSBL:RequestRepeater] Stopped
2020-01-13T20:19:40.432Z,1578946780.432 [DUSBL:RequestRepeater](DEBUG): Aggregate::uninitialize DUSBL:RequestRepeater
2020-01-13T20:19:40.432Z,1578946780.432 [DUSBL:RequestRepeater:A] Stopped
2020-01-13T20:19:40.432Z,1578946780.432 [DUSBL:RequestRepeater:B] Stopped
2020-01-13T20:19:40.433Z,1578946780.433 [DUSBL:RequestRepeater:C.Wait] Stopped
2020-01-13T20:19:40.433Z,1578946780.433 [DUSBL:RequestRepeater:C.Wait](DEBUG): Uninitialize Wait Component.
2020-01-13T20:19:40.812Z,1578946780.812 [MissionManager](IMPORTANT): Started mission Default
2020-01-13T20:19:40.813Z,1578946780.813 [Default] Running Loop=1
2020-01-13T20:19:40.813Z,1578946780.813 [Default](DEBUG): Aggregate::initialize Default
2020-01-13T20:19:40.813Z,1578946780.813 [Default:B.GoToSurface] Running Loop=1
2020-01-13T20:19:40.813Z,1578946780.813 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-13T20:19:40.813Z,1578946780.813 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-13T20:19:40.814Z,1578946780.814 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-13T20:19:40.814Z,1578946780.814 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-13T20:19:40.814Z,1578946780.814 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-13T20:19:40.814Z,1578946780.814 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-13T20:19:40.815Z,1578946780.815 [Default:A.Wait] Running Loop=1
2020-01-13T20:19:40.815Z,1578946780.815 [Default:A.Wait](DEBUG): Initialize Wait Component.
2020-01-13T20:19:54.135Z,1578946794.135 [Default:A.Wait](INFO): Done Waiting.
2020-01-13T20:19:54.135Z,1578946794.135 [Default:A.Wait] Stopped
2020-01-13T20:19:54.135Z,1578946794.135 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-13T20:19:54.577Z,1578946794.577 [Default:CheckIn] Running Loop=1
2020-01-13T20:19:54.577Z,1578946794.577 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2020-01-13T20:19:54.578Z,1578946794.578 [Default:CheckIn:Read_GPS] Running Loop=1
2020-01-13T20:20:08.697Z,1578946808.697 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-13T20:20:08.698Z,1578946808.698 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-32768,-3:BE,-32768,-32768,-32768,V
2020-01-13T20:20:52.713Z,1578946852.713 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-13T20:20:52.713Z,1578946852.713 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,20011313334656,35.0, -0.1,   0.0,1448.9,,  0.00,   0.00,   0.00,   0.00,   0.00
2020-01-13T20:21:15.727Z,1578946875.727 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-13T20:21:15.727Z,1578946875.727 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,20011313340956,35.0, -.0,1448.9,  0
2020-01-13T20:21:29.069Z,1578946889.069 [RDI_Pathfinder](ERROR): Failed to parse:
:BI,-32768,-32768,-32768,-32768,V
2020-01-13T20:21:46.015Z,1578946906.015 [Micromodem](INFO): Nmea in: $CACYC,1,12,1,1,0,1*68

2020-01-13T20:21:46.015Z,1578946906.015 [Micromodem](INFO): Have incoming data
2020-01-13T20:21:46.017Z,1578946906.017 [Micromodem](INFO): Nmea in: $CAMSG,BAD_CRC,1*20

2020-01-13T20:21:46.419Z,1578946906.419 [Micromodem](INFO): Nmea in: $CACST,6,1,20200113202144.889957,06,172,16,0091,0150,179,02,02,01,04,1,012,001,3,3,1,1,150,-35.1,4.00,00,-1.00,-01,-0.50,52,10000,4000*5F

2020-01-13T20:21:51.259Z,1578946911.259 [Micromodem](INFO): Nmea in: $CAMSG,BAD_CRC, Data Header,2*00

2020-01-13T20:21:51.263Z,1578946911.263 [Micromodem](INFO): Nmea in: $CACST,6,1,20200113202149.983817,06,172,16,0092,0150,149,01,01,01,03,1,-01,-01,2,3,1,0,150,17.0,4.00,00,-1.00,-01,-0.02,35,10000,4000*73

2020-01-13T20:22:15.499Z,1578946935.499 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2020-01-13T20:22:25.200Z,1578946945.200 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,202225.00,A,3648.16546,N,12147.27246,W,0.428,0.00,130120,,,A*7B
2020-01-13T20:22:25.203Z,1578946945.203 [NAL9602](INFO): GPS fix at 20200113T202225: (36.802758, -121.787874)
2020-01-13T20:22:25.284Z,1578946945.284 [Default:CheckIn:Read_GPS] Stopped
2020-01-13T20:22:25.284Z,1578946945.284 [Default:CheckIn:Read_Iridium] Running Loop=1
2020-01-13T20:22:25.682Z,1578946945.682 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2020-01-13T20:22:26.638Z,1578946946.638 [Micromodem](ERROR): Buffer fill timout failure.
2020-01-13T20:22:28.367Z,1578946948.367 [Micromodem](INFO): Outgoing frame #1, 64 bytes: F9CE1C5E040002005D00000400820400000000000000151D80030C5669BF3148E2FA22188B6A3173E6960F887FF8A99E669AC91D474B0DB47F940EC581E0D567
2020-01-13T20:22:28.367Z,1578946948.367 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 266CC0E6F1A517638CB0C0B8BE372A0B00F6D61E05F93094AA77DEFC753FE61F094712E1114D8E0AD7B6106F0F7B016211E5CA62E332602D1D41ACBF7CDB6A31
2020-01-13T20:22:28.368Z,1578946948.368 [Micromodem](INFO): Outgoing frame #3, 64 bytes: 6612EED8A8416AE25E31B4E18619E5C1F90902C505781770CFDD053F3D92B2892521A612D82BE005FC891884D7C3CB5DD7953883BE2AE71D50B7C45BBC20A27C
2020-01-13T20:22:28.368Z,1578946948.368 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-13T20:22:28.626Z,1578946948.626 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-13T20:22:28.979Z,1578946948.979 [Micromodem](INFO): Nmea in: $CADRQ,202229,1,12,0,64,1*7D

2020-01-13T20:22:28.979Z,1578946948.979 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,F9CE1C5E040002005D00000400820400000000000000151D80030C5669BF3148E2FA22188B6A3173E6960F887FF8A99E669AC91D474B0DB47F940EC581E0D567*42

2020-01-13T20:22:29.382Z,1578946949.382 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-13T20:22:29.806Z,1578946949.806 [Micromodem](INFO): Nmea in: $CADRQ,202229,1,12,0,64,2*7E

2020-01-13T20:22:29.807Z,1578946949.807 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,266CC0E6F1A517638CB0C0B8BE372A0B00F6D61E05F93094AA77DEFC753FE61F094712E1114D8E0AD7B6106F0F7B016211E5CA62E332602D1D41ACBF7CDB6A31*3C

2020-01-13T20:22:30.214Z,1578946950.214 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-13T20:22:30.615Z,1578946950.615 [Micromodem](INFO): Nmea in: $CADRQ,202230,1,12,0,64,3*77

2020-01-13T20:22:30.615Z,1578946950.615 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,6612EED8A8416AE25E31B4E18619E5C1F90902C505781770CFDD053F3D92B2892521A612D82BE005FC891884D7C3CB5DD7953883BE2AE71D50B7C45BBC20A27C*4B

2020-01-13T20:22:30.998Z,1578946950.998 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-13T20:22:31.402Z,1578946951.402 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-13T20:22:33.376Z,1578946953.376 [DataOverHttps](INFO): Sending 391 bytes from file Logs/20200113T201137/Courier0004.lzma
2020-01-13T20:22:35.055Z,1578946955.055 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2020-01-13T20:22:35.398Z,1578946955.398 [DataOverHttps](INFO): Moved sent file to Logs/20200113T201137/Courier0004.lzma.bak
2020-01-13T20:22:35.398Z,1578946955.398 [DataOverHttps](INFO): SBD MOMSN=12191309
2020-01-13T20:22:35.444Z,1578946955.444 [Micromodem](INFO): Nmea in: $CAXST,6,20200113,202231.607205,3,0,200,4000,10000,1,1,12,1,3,3,3,192*7F

2020-01-13T20:22:37.889Z,1578946957.889 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-13T20:22:37.890Z,1578946957.890 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,20011313353156,35.0  0.,  0
2020-01-13T20:22:54.150Z,1578946974.150 [DataOverHttps](INFO): Sending 1436 bytes from file Logs/20200110T020229/Express0001.lzma
2020-01-13T20:22:56.150Z,1578946976.150 [DataOverHttps](INFO): Moved sent file to Logs/20200110T020229/Express0001.lzma.bak
2020-01-13T20:22:56.150Z,1578946976.150 [DataOverHttps](INFO): SBD MOMSN=12191312
2020-01-13T20:22:58.883Z,1578946978.883 [NAL9602](INFO): Not Powering down - fast GPS
2020-01-13T20:23:16.626Z,1578946996.626 [DataOverHttps](INFO): Sending 245 bytes from file Logs/20200110T020229/Express0005.lzma
2020-01-13T20:23:18.636Z,1578946998.636 [DataOverHttps](INFO): Moved sent file to Logs/20200110T020229/Express0005.lzma.bak
2020-01-13T20:23:18.637Z,1578946998.637 [DataOverHttps](INFO): SBD MOMSN=12191354
2020-01-13T20:23:33.630Z,1578947013.630 [Micromodem](ERROR): Buffer fill timout failure.
2020-01-13T20:23:35.210Z,1578947015.210 [Default:CheckIn:Read_Iridium] Stopped
2020-01-13T20:23:35.210Z,1578947015.210 [Default:CheckIn:C.Wait] Running Loop=1
2020-01-13T20:23:35.210Z,1578947015.210 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2020-01-13T20:23:37.998Z,1578947017.998 [DataOverHttps](INFO): Sending 119 bytes from file Logs/20200110T020229/Express0008.lzma
2020-01-13T20:23:40.002Z,1578947020.002 [DataOverHttps](INFO): Moved sent file to Logs/20200110T020229/Express0008.lzma.bak
2020-01-13T20:23:40.002Z,1578947020.002 [DataOverHttps](INFO): SBD MOMSN=12191357
2020-01-13T20:24:01.140Z,1578947041.140 [Micromodem](INFO): Nmea in: $CAMSG,BAD_CRC, Data Header,2*00

2020-01-13T20:24:01.144Z,1578947041.144 [Micromodem](INFO): Nmea in: $CACST,6,1,20200113202400.021881,06,173,16,0092,0150,179,02,02,01,03,1,-01,-01,2,3,1,0,150,19.4,3.00,00,0.00,-01,-0.15,38,10000,4000*5D

2020-01-13T20:26:47.650Z,1578947207.650 [CBIT](INFO): Clearing failed state for component DropWeight
2020-01-13T20:26:47.650Z,1578947207.650 [DropWeight] No Fault, FailCount= 1
2020-01-13T20:27:20.375Z,1578947240.375 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-01-13T20:27:20.375Z,1578947240.375 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +0    +0.00,        +0.00,   0.00,749.98
2020-01-13T20:28:35.495Z,1578947315.495 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2020-01-13T20:28:35.495Z,1578947315.495 [Default:CheckIn:C.Wait] Stopped
2020-01-13T20:28:35.496Z,1578947315.496 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2020-01-13T20:28:35.496Z,1578947315.496 [Default:CheckIn:D] Running Loop=1
2020-01-13T20:28:35.896Z,1578947315.896 [Default:CheckIn:D] Stopped
2020-01-13T20:28:35.896Z,1578947315.896 [Default:CheckIn:E] Running Loop=1
2020-01-13T20:28:36.305Z,1578947316.305 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 8.918058 min 
2020-01-13T20:28:36.305Z,1578947316.305 [Default:CheckIn:E] Stopped
2020-01-13T20:28:36.305Z,1578947316.305 [Default:CheckIn](INFO): Completed Default:CheckIn
2020-01-13T20:28:36.306Z,1578947316.306 [Default:CheckIn] Stopped
2020-01-13T20:28:36.306Z,1578947316.306 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2020-01-13T20:28:36.306Z,1578947316.306 [Default:CheckIn](INFO): Running loop #2
2020-01-13T20:28:36.306Z,1578947316.306 [Default:CheckIn] Running Loop=2
2020-01-13T20:28:36.306Z,1578947316.306 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2020-01-13T20:28:36.306Z,1578947316.306 [Default:CheckIn:Read_GPS] Running Loop=1
2020-01-13T20:29:08.983Z,1578947348.983 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2020-01-13T20:29:09.057Z,1578947349.057 [NAL9602](FAULT): received: 
+CSQ:0

OK159, 2, 0, 0, 0

OK
2020-01-13T20:29:09.057Z,1578947349.057 [NAL9602] Data Fault, FailCount= 1
2020-01-13T20:29:09.057Z,1578947349.057 [NAL9602](ERROR): Data Fault
2020-01-13T20:29:09.170Z,1578947349.170 [CBIT](ERROR): Data Fault in component: NAL9602
2020-01-13T20:29:09.394Z,1578947349.394 [NAL9602](INFO): Powering down
2020-01-13T20:29:10.251Z,1578947350.251 [CBIT](INFO): Clearing failed state for component NAL9602
2020-01-13T20:29:10.251Z,1578947350.251 [NAL9602] No Fault, FailCount= 1
2020-01-13T20:29:39.703Z,1578947379.703 [NAL9602](INFO): Powering up NAL9602
2020-01-13T20:29:50.606Z,1578947390.606 [NAL9602](INFO): NAL9602 initialized
2020-01-13T20:29:53.063Z,1578947393.063 [CommandLine](IMPORTANT): got command show variable surfaceThreshold
2020-01-13T20:29:53.100Z,1578947393.100 [CommandLine](IMPORTANT): VerticalControl.surfaceThreshold (meter)
2020-01-13T20:29:53.173Z,1578947393.173 [CommandLine](IMPORTANT): AcousticModem_Benthos_ATM900.surfaceThreshold (meter)
2020-01-13T20:29:53.175Z,1578947393.175 [CommandLine](IMPORTANT): DAT.surfaceThreshold (meter)
2020-01-13T20:29:53.179Z,1578947393.179 [CommandLine](IMPORTANT): Micromodem.surfaceThreshold (meter)
2020-01-13T20:30:00.726Z,1578947400.726 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-13T20:30:00.726Z,1578947400.726 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,20011313425456,35.0, -0.1,   0.0,144

2020-01-13T20:30:03.330Z,1578947403.330 [CommandLine](IMPORTANT): got command configSet Micromodem.surfaceThreshold -1.000000 meter persist
2020-01-13T20:30:15.243Z,1578947415.243 [Micromodem](INFO): Nmea in: $CACYC,1,12,1,1,0,1*68

2020-01-13T20:30:15.243Z,1578947415.243 [Micromodem](INFO): Have incoming data
2020-01-13T20:30:15.246Z,1578947415.246 [Micromodem](INFO): Nmea in: $CARXD,12,1,0,1,3D90B8D172D0E11A94BB9A0D6EC0434A2AB488F6*51

2020-01-13T20:30:15.247Z,1578947415.247 [Micromodem](ERROR): Could not determine end of data in CARXD:$CARXD,12,1,0,1,3D90B8D172D0E11A94BB9A0D6EC0434A2AB488F6*51

2020-01-13T20:30:15.648Z,1578947415.648 [Micromodem](INFO): Nmea in: $CACST,6,0,20200113203013.882726,06,174,16,0093,0150,149,01,01,01,03,1,012,001,0,3,1,0,150,-30.1,5.00,00,-2.00,-01,-0.02,48,10000,4000*56

2020-01-13T20:30:20.104Z,1578947420.104 [Micromodem](INFO): Nmea in: $CACYC,1,12,1,1,0,1*68

2020-01-13T20:30:20.105Z,1578947420.105 [Micromodem](INFO): Have incoming data
2020-01-13T20:30:20.108Z,1578947420.108 [Micromodem](INFO): Nmea in: $CARXD,12,1,0,1,EA49DA6859B6D6FDD7866B1D923D9D8A099CA094*52

2020-01-13T20:30:20.138Z,1578947420.138 [Micromodem](INFO): Received command:failc
2020-01-13T20:30:20.150Z,1578947420.150 [CommandLine](IMPORTANT): got command failComponent
2020-01-13T20:30:20.150Z,1578947420.150 [CommandLine](IMPORTANT): Failed components:
2020-01-13T20:30:20.151Z,1578947420.151 [CommandLine](IMPORTANT): No failed Components.
2020-01-13T20:30:20.494Z,1578947420.494 [Micromodem](INFO): Nmea in: $CACST,6,0,20200113203019.030810,06,169,16,0090,0150,149,01,01,01,03,1,012,001,0,3,1,0,150,20.8,3.00,00,0.00,-01,-0.01,34,10000,4000*5C

2020-01-13T20:30:21.345Z,1578947421.345 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-01-13T20:30:21.345Z,1578947421.345 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,32768,V
2020-01-13T20:30:53.923Z,1578947453.923 [CommandLine](IMPORTANT): got command get depth
2020-01-13T20:30:53.923Z,1578947453.923 [CommandLine](IMPORTANT): depth 0.168441 m
2020-01-13T20:31:00.419Z,1578947460.419 [CommandLine](IMPORTANT): got command maintain sensor Depth_Keller.depth 5.000000 meter
2020-01-13T20:31:00.420Z,1578947460.420 [ComponentRegistry](DEBUG): SyncComponent "Maintain_Depth_Keller.depth" handled in the control thread.
2020-01-13T20:31:00.552Z,1578947460.552 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,DDM,Depth_Keller,DropWeight,DUSBL_Hydroid,Micromodem,NAL9602,Onboard,PowerOnly,RDI_Pathfinder,BPC1,PAR_Licor,Depth_Keller,PAR_Licor,Maintain_NAL9602.latitude_fix,Maintain_NAL9602.longitude_fix,Maintain_Depth_Keller.depth,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2020-01-13T20:31:01.367Z,1578947461.367 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -22.00 mm (1 active estimators).
2020-01-13T20:31:02.002Z,1578947462.002 [CommandLine](IMPORTANT): got command get depth
2020-01-13T20:31:02.003Z,1578947462.003 [CommandLine](IMPORTANT): depth 5.000000 m
2020-01-13T20:31:10.923Z,1578947470.923 [CommandLine](IMPORTANT): got command maintain sensor Depth_Keller.depth 0.000000 meter
2020-01-13T20:31:13.174Z,1578947473.174 [CommandLine](IMPORTANT): got command get depth
2020-01-13T20:31:13.175Z,1578947473.175 [CommandLine](IMPORTANT): depth 0.000000 m
2020-01-13T20:31:18.736Z,1578947478.736 [CommandLine](IMPORTANT): got command failComponent hardware Micromodem
2020-01-13T20:31:18.736Z,1578947478.736 [Micromodem] Hardware Fault, FailCount= 1
2020-01-13T20:31:18.736Z,1578947478.736 [Micromodem](ERROR): Hardware Fault
2020-01-13T20:31:18.737Z,1578947478.737 [CommandLine](IMPORTANT): Micromodem failureMode is Hardware Fault
2020-01-13T20:31:18.748Z,1578947478.748 [Micromodem](INFO): Powering down
2020-01-13T20:31:18.966Z,1578947478.966 [CBIT](ERROR): Hardware Fault in component: Micromodem
2020-01-13T20:31:19.632Z,1578947479.632 [CBIT](INFO): Clearing failed state for component Micromodem
2020-01-13T20:31:19.632Z,1578947479.632 [Micromodem] No Fault, FailCount= 1
2020-01-13T20:31:22.378Z,1578947482.378 [Micromodem](INFO): Powering up
2020-01-13T20:31:22.379Z,1578947482.379 [Micromodem](DEBUG): Initializing Micromodem.
2020-01-13T20:31:27.232Z,1578947487.232 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2020-01-13T20:31:27.635Z,1578947487.635 [Micromodem](INFO): Nmea in: $CATMG,2020-01-13T20:31:27.133167Z,RTC,RTC*57

2020-01-13T20:31:27.635Z,1578947487.635 [Micromodem](ERROR): CFG response from modem unexpected: $CATMG,2020-01-13T20:31:27.133167Z,RTC,RTC*57

2020-01-13T20:31:28.038Z,1578947488.038 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2020-01-13T20:31:28.039Z,1578947488.039 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2020-01-13T20:31:28.438Z,1578947488.438 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2020-01-13T20:31:28.439Z,1578947488.439 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2020-01-13T20:31:28.843Z,1578947488.843 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2020-01-13T20:31:28.843Z,1578947488.843 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,3*2C

2020-01-13T20:31:29.251Z,1578947489.251 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,3*2E

2020-01-13T20:31:29.251Z,1578947489.251 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2020-01-13T20:31:29.682Z,1578947489.682 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2020-01-13T20:31:29.682Z,1578947489.682 [Micromodem](INFO): Nmea out: $CCCFG,FC0,10000*46

2020-01-13T20:31:30.055Z,1578947490.055 [Micromodem](INFO): Nmea in: $CACFG,FC0,10000*44

2020-01-13T20:31:30.055Z,1578947490.055 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2020-01-13T20:31:30.458Z,1578947490.458 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2020-01-13T20:31:30.459Z,1578947490.459 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2020-01-13T20:31:30.863Z,1578947490.863 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2020-01-13T20:31:30.863Z,1578947490.863 [Micromodem](INFO): Nmea out: $CCCLK,2020,01,13,20,31,31*45

2020-01-13T20:31:31.271Z,1578947491.271 [Micromodem](INFO): Nmea in: $CACLK,2020,1,13,20,31,31*77

2020-01-13T20:31:31.272Z,1578947491.272 [Micromodem](INFO): Nmea in: $CATMS,0,2020-01-13T20:31:32Z*74

2020-01-13T20:31:31.274Z,1578947491.274 [Micromodem](INFO): Nmea in: $CATMG,2020-01-13T20:31:32.027276Z,USER_CMD,RTC*15

2020-01-13T20:31:35.433Z,1578947495.433 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2020-01-13T20:31:35.433Z,1578947495.433 [RDI_Pathfinder] Communications Fault, FailCount= 1
2020-01-13T20:31:35.433Z,1578947495.433 [RDI_Pathfinder](ERROR): Communications Fault
2020-01-13T20:31:35.433Z,1578947495.433 [RDI_Pathfinder](ERROR): Failed to parse:
2020-01-13T20:31:35.490Z,1578947495.490 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2020-01-13T20:31:35.805Z,1578947495.805 [RDI_Pathfinder](INFO): Powering down
2020-01-13T20:31:36.550Z,1578947496.550 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2020-01-13T20:31:36.550Z,1578947496.550 [RDI_Pathfinder] No Fault, FailCount= 1
2020-01-13T20:31:49.857Z,1578947509.857 [Micromodem](INFO): Nmea in: $CACYC,1,12,1,1,0,1*68

2020-01-13T20:31:49.858Z,1578947509.858 [Micromodem](INFO): Have incoming data
2020-01-13T20:31:49.860Z,1578947509.860 [Micromodem](INFO): Nmea in: $CARXD,12,1,0,1,3D90B8D172D0E11A94BB9A0D6EC0434A2AB488F6*51

2020-01-13T20:31:49.861Z,1578947509.861 [Micromodem](INFO): Received command:stop
2020-01-13T20:31:49.878Z,1578947509.878 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2020-01-13T20:31:49.942Z,1578947509.942 [CommandLine](IMPORTANT): got command stop
2020-01-13T20:31:50.265Z,1578947510.265 [Micromodem](INFO): Nmea in: $CACST,6,0,20200113203148.712844,06,171,16,0094,0150,149,01,01,01,03,1,012,001,0,3,1,0,150,12.6,6.00,00,-3.00,-01,-0.02,35,10000,4000*74

2020-01-13T20:32:29.464Z,1578947549.464 [Micromodem](INFO): Nmea in: $CACYC,1,12,1,1,0,2*6B

2020-01-13T20:32:29.465Z,1578947549.465 [Micromodem](INFO): Have incoming data
2020-01-13T20:32:29.467Z,1578947549.467 [Micromodem](INFO): Nmea in: $CAMSG,BAD_CRC,1*20

2020-01-13T20:32:29.850Z,1578947549.850 [Micromodem](INFO): Nmea in: $CAMSG,BAD_CRC,2*23

2020-01-13T20:32:29.855Z,1578947549.855 [Micromodem](INFO): Nmea in: $CACST,6,1,20200113203227.184852,06,169,16,0092,0150,149,01,01,01,03,1,012,001,3,3,2,2,150,13.4,6.00,00,-3.00,-01,-0.77,34,10000,4000*7C

2020-01-13T20:32:39.545Z,1578947559.545 [NAL9602](INFO): SBD MO Status=2, MOMSN=10159, MT Status=2, MTMSN=0
2020-01-13T20:32:39.546Z,1578947559.546 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2020-01-13T20:32:52.884Z,1578947572.884 [NAL9602](INFO): SBD MO Status=2, MOMSN=10159, MT Status=2, MTMSN=0
2020-01-13T20:32:52.884Z,1578947572.884 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2020-01-13T20:33:00.466Z,1578947580.466 [CommandLine](IMPORTANT): got command report
2020-01-13T20:33:00.467Z,1578947580.467 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range reporting when touched
2020-01-13T20:33:00.467Z,1578947580.467 [Reporter](INFO): DUSBL_Hydroid.xAngle reporting when touched
2020-01-13T20:33:02.193Z,1578947582.193 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2020-01-13T20:33:07.420Z,1578947587.420 [NAL9602](INFO): SBD MO Status=2, MOMSN=10159, MT Status=2, MTMSN=0
2020-01-13T20:33:07.420Z,1578947587.420 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2020-01-13T20:33:09.450Z,1578947589.450 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2020-01-13T20:33:09.454Z,1578947589.454 [Micromodem](INFO): Nmea in: $CACST,6,1,20200113203309.551208,06,171,16,0091,0150,149,01,01,01,03,-1,-01,-01,1,3,1,0,150,20.6,-5.00,00,8.00,-01,-0.08,34,10000,4000*5C

2020-01-13T20:33:15.917Z,1578947595.917 [Micromodem](INFO): Nmea in: $CACYC,1,12,1,1,0,1*68

2020-01-13T20:33:15.917Z,1578947595.917 [Micromodem](INFO): Have incoming data
2020-01-13T20:33:15.920Z,1578947595.920 [Micromodem](INFO): Nmea in: $CARXD,12,1,0,1,EA49DA6859B6D6FDD7866B1D923D9D8A099CA094*52

2020-01-13T20:33:15.926Z,1578947595.926 [Micromodem](INFO): Received command:failc
2020-01-13T20:33:15.985Z,1578947595.985 [CommandLine](IMPORTANT): got command failComponent
2020-01-13T20:33:15.985Z,1578947595.985 [CommandLine](IMPORTANT): Failed components:
2020-01-13T20:33:15.985Z,1578947595.985 [CommandLine](IMPORTANT): No failed Components.
2020-01-13T20:33:16.310Z,1578947596.310 [Micromodem](INFO): Nmea in: $CACST,6,0,20200113203314.771289,06,169,16,0092,0150,149,02,02,01,02,1,012,001,0,3,1,0,150,13.1,5.00,00,-2.00,-01,-0.02,34,10000,4000*7A

2020-01-13T20:33:23.355Z,1578947603.355 [CommandLine](IMPORTANT): got command run ./Missions/Maintenance/DUSBL.xml
2020-01-13T20:33:23.355Z,1578947603.355 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/DUSBL.xml
2020-01-13T20:33:23.379Z,1578947603.379 [MissionManager](INFO): DefineArg DUSBL.MissionTimeout = 90.000000 min
2020-01-13T20:33:23.382Z,1578947603.382 [MissionManager](INFO): DefineArg DUSBL.NumberOfRequests = 10.000000 count
2020-01-13T20:33:23.383Z,1578947603.383 [MissionManager](INFO): DefineArg DUSBL.TransponderCode = 2.000000 count
2020-01-13T20:33:23.402Z,1578947603.402 [MissionManager](INFO): DefineArg DUSBL.NumberOfPings = 1.000000 count
2020-01-13T20:33:23.404Z,1578947603.404 [MissionManager](INFO): DefineArg DUSBL.EnabledDUSBL = DUSBL_Hydroid.loadAtStartup
2020-01-13T20:33:23.404Z,1578947603.404 [DUSBL:A.Pitch](DEBUG): Construct.
2020-01-13T20:33:23.425Z,1578947603.425 [DUSBL:B.SetSpeed](DEBUG): Construct.
2020-01-13T20:33:23.436Z,1578947603.436 [DUSBL:RequestRepeater:C.Wait](DEBUG): Construct Wait.
2020-01-13T20:33:23.444Z,1578947603.444 [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>


2020-01-13T20:33:23.450Z,1578947603.450 [CommandLine](IMPORTANT): Running ./Missions/Maintenance/DUSBL.xml
2020-01-13T20:33:23.657Z,1578947603.657 [Default] Stopped
2020-01-13T20:33:23.657Z,1578947603.657 [Default](DEBUG): Aggregate::uninitialize Default
2020-01-13T20:33:23.657Z,1578947603.657 [Default:B.GoToSurface] Stopped
2020-01-13T20:33:23.657Z,1578947603.657 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-13T20:33:23.657Z,1578947603.657 [Default:CheckIn] Stopped
2020-01-13T20:33:23.657Z,1578947603.657 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2020-01-13T20:33:23.658Z,1578947603.658 [Default:CheckIn:Read_GPS] Stopped
2020-01-13T20:33:23.658Z,1578947603.658 [MissionManager](IMPORTANT): Started mission DUSBL
2020-01-13T20:33:23.658Z,1578947603.658 [DUSBL] Running Loop=1
2020-01-13T20:33:23.658Z,1578947603.658 [DUSBL](DEBUG): Aggregate::initialize DUSBL
2020-01-13T20:33:23.658Z,1578947603.658 [DUSBL:A.Pitch] Running Loop=1
2020-01-13T20:33:23.658Z,1578947603.658 [DUSBL:A.Pitch](DEBUG): Initialize.
2020-01-13T20:33:23.658Z,1578947603.658 [DUSBL:B.SetSpeed] Running Loop=1
2020-01-13T20:33:23.658Z,1578947603.658 [DUSBL:B.SetSpeed](DEBUG): Initialize.
2020-01-13T20:33:23.659Z,1578947603.659 [DUSBL:C] Running Loop=1
2020-01-13T20:33:23.659Z,1578947603.659 [DUSBL:RequestRepeater] Running Loop=1
2020-01-13T20:33:23.659Z,1578947603.659 [DUSBL:RequestRepeater](DEBUG): Aggregate::initialize DUSBL:RequestRepeater
2020-01-13T20:33:23.659Z,1578947603.659 [DUSBL:RequestRepeater:A] Running Loop=1
2020-01-13T20:33:23.659Z,1578947603.659 [DUSBL:RequestRepeater:B] Running Loop=1
2020-01-13T20:33:23.659Z,1578947603.659 [DUSBL:RequestRepeater:C.Wait] Running Loop=1
2020-01-13T20:33:23.659Z,1578947603.659 [DUSBL:RequestRepeater:C.Wait](DEBUG): Initialize Wait Component.
2020-01-13T20:33:23.660Z,1578947603.660 [DUSBL:RequestRepeater:B] Running Loop=1
2020-01-13T20:33:23.660Z,1578947603.660 [DUSBL:RequestRepeater:A] Running Loop=1
2020-01-13T20:33:23.661Z,1578947603.661 [DUSBL:C](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_range
2020-01-13T20:33:23.661Z,1578947603.661 [DUSBL:C](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_direction_vehicle_frame
2020-01-13T20:33:23.661Z,1578947603.661 [DUSBL:B.SetSpeed] Running Loop=1
2020-01-13T20:33:23.662Z,1578947603.662 [DUSBL:A.Pitch] Running Loop=1
2020-01-13T20:33:25.665Z,1578947605.665 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:33:26.024Z,1578947606.024 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:33:27.221Z,1578947607.221 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203326.64*5A

2020-01-13T20:33:29.238Z,1578947609.238 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:33:30.042Z,1578947610.042 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:33:30.453Z,1578947610.453 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:33:31.259Z,1578947611.259 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203330.99*5F

2020-01-13T20:33:33.688Z,1578947613.688 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:33:34.491Z,1578947614.491 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:33:34.894Z,1578947614.894 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:33:34.907Z,1578947614.907 [NAL9602](INFO): SBD MO Status=2, MOMSN=10159, MT Status=2, MTMSN=0
2020-01-13T20:33:34.907Z,1578947614.907 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2020-01-13T20:33:35.703Z,1578947615.703 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203335.44*5A

2020-01-13T20:33:38.125Z,1578947618.125 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:33:38.935Z,1578947618.935 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:33:39.341Z,1578947619.341 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:33:40.156Z,1578947620.156 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203339.88*56

2020-01-13T20:33:40.955Z,1578947620.955 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2020-01-13T20:33:42.570Z,1578947622.570 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:33:43.386Z,1578947623.386 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:33:43.791Z,1578947623.791 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:33:44.607Z,1578947624.607 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203344.33*5C

2020-01-13T20:33:47.014Z,1578947627.014 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:33:47.819Z,1578947627.819 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:33:48.229Z,1578947628.229 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:33:49.036Z,1578947629.036 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203348.76*51

2020-01-13T20:33:51.454Z,1578947631.454 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:33:52.263Z,1578947632.263 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:33:52.669Z,1578947632.669 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:33:53.479Z,1578947633.479 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203353.21*59

2020-01-13T20:33:55.901Z,1578947635.901 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:33:56.712Z,1578947636.712 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:33:57.117Z,1578947637.117 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:33:57.933Z,1578947637.933 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203357.66*5E

2020-01-13T20:33:59.187Z,1578947639.187 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-13T20:33:59.187Z,1578947639.187 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2020-01-13T20:34:00.342Z,1578947640.342 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:34:01.151Z,1578947641.151 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:34:01.557Z,1578947641.557 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:34:02.383Z,1578947642.383 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203402.10*58

2020-01-13T20:34:04.788Z,1578947644.788 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:34:05.599Z,1578947645.599 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:34:05.999Z,1578947645.999 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:34:06.811Z,1578947646.811 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203406.55*5D

2020-01-13T20:34:09.230Z,1578947649.230 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:34:10.044Z,1578947650.044 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:34:10.449Z,1578947650.449 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:34:11.259Z,1578947651.259 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203410.99*5A

2020-01-13T20:34:11.659Z,1578947651.659 [NAL9602](INFO): Not Powering down - fast GPS
2020-01-13T20:34:13.684Z,1578947653.684 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:34:14.487Z,1578947654.487 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:34:14.900Z,1578947654.900 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:34:15.698Z,1578947655.698 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203415.43*58

2020-01-13T20:34:18.121Z,1578947658.121 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:34:18.931Z,1578947658.931 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:34:19.337Z,1578947659.337 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:34:20.143Z,1578947660.143 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203419.88*53

2020-01-13T20:34:22.566Z,1578947662.566 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:34:23.384Z,1578947663.384 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:34:23.806Z,1578947663.806 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:34:24.595Z,1578947664.595 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203424.33*5D

2020-01-13T20:34:27.012Z,1578947667.012 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:34:27.815Z,1578947667.815 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:34:28.227Z,1578947668.227 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:34:29.031Z,1578947669.031 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203428.76*50

2020-01-13T20:34:31.450Z,1578947671.450 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:34:32.266Z,1578947672.266 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:34:32.677Z,1578947672.677 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:34:33.479Z,1578947673.479 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203433.21*58

2020-01-13T20:34:35.898Z,1578947675.898 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:34:36.722Z,1578947676.722 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:34:37.113Z,1578947677.113 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:34:37.935Z,1578947677.935 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203437.67*5E

2020-01-13T20:34:40.348Z,1578947680.348 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:34:41.145Z,1578947681.145 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:34:41.560Z,1578947681.560 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:34:42.367Z,1578947682.367 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203442.09*54

2020-01-13T20:34:44.786Z,1578947684.786 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:34:45.595Z,1578947685.595 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:34:46.001Z,1578947686.001 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:34:46.806Z,1578947686.806 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203446.54*58

2020-01-13T20:34:49.230Z,1578947689.230 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:34:50.040Z,1578947690.040 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:34:50.445Z,1578947690.445 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:34:51.262Z,1578947691.262 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203450.98*5F

2020-01-13T20:34:53.674Z,1578947693.674 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:34:53.719Z,1578947693.719 [DUSBL:RequestRepeater:C.Wait](INFO): Done Waiting.
2020-01-13T20:34:53.719Z,1578947693.719 [DUSBL:RequestRepeater:C.Wait] Stopped
2020-01-13T20:34:53.719Z,1578947693.719 [DUSBL:RequestRepeater:C.Wait](DEBUG): Uninitialize Wait Component.
2020-01-13T20:34:53.720Z,1578947693.720 [DUSBL:RequestRepeater](INFO): Completed DUSBL:RequestRepeater
2020-01-13T20:34:53.720Z,1578947693.720 [DUSBL:RequestRepeater] Stopped
2020-01-13T20:34:53.720Z,1578947693.720 [DUSBL:RequestRepeater](DEBUG): Aggregate::uninitialize DUSBL:RequestRepeater
2020-01-13T20:34:53.720Z,1578947693.720 [DUSBL:RequestRepeater:A] Stopped
2020-01-13T20:34:53.720Z,1578947693.720 [DUSBL:RequestRepeater:B] Stopped
2020-01-13T20:34:53.725Z,1578947693.725 [DUSBL:RequestRepeater](INFO): Running loop #2
2020-01-13T20:34:53.725Z,1578947693.725 [DUSBL:RequestRepeater] Running Loop=2
2020-01-13T20:34:53.725Z,1578947693.725 [DUSBL:RequestRepeater](DEBUG): Aggregate::initialize DUSBL:RequestRepeater
2020-01-13T20:34:53.725Z,1578947693.725 [DUSBL:RequestRepeater:A] Running Loop=1
2020-01-13T20:34:53.725Z,1578947693.725 [DUSBL:RequestRepeater:B] Running Loop=1
2020-01-13T20:34:53.725Z,1578947693.725 [DUSBL:RequestRepeater:C.Wait] Running Loop=1
2020-01-13T20:34:53.726Z,1578947693.726 [DUSBL:RequestRepeater:C.Wait](DEBUG): Initialize Wait Component.
2020-01-13T20:34:54.483Z,1578947694.483 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:34:54.889Z,1578947694.889 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:34:55.705Z,1578947695.705 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203455.43*5C

2020-01-13T20:34:58.119Z,1578947698.119 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:34:58.922Z,1578947698.922 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:34:59.333Z,1578947699.333 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:35:00.139Z,1578947700.139 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203459.87*58

2020-01-13T20:35:02.558Z,1578947702.558 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:35:03.368Z,1578947703.368 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:35:03.787Z,1578947703.787 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:35:04.583Z,1578947704.583 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203504.32*5F

2020-01-13T20:35:07.010Z,1578947707.010 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:35:07.815Z,1578947707.815 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:35:08.221Z,1578947708.221 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:35:09.033Z,1578947709.033 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203508.76*53

2020-01-13T20:35:11.450Z,1578947711.450 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:35:12.253Z,1578947712.253 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:35:12.665Z,1578947712.665 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:35:13.477Z,1578947713.477 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203513.20*5A

2020-01-13T20:35:15.896Z,1578947715.896 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:35:16.700Z,1578947716.700 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:35:17.103Z,1578947717.103 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:35:17.919Z,1578947717.919 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203517.65*5F

2020-01-13T20:35:20.334Z,1578947720.334 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:35:21.147Z,1578947721.147 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:35:21.553Z,1578947721.553 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:35:22.363Z,1578947722.363 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203522.09*53

2020-01-13T20:35:24.776Z,1578947724.776 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:35:25.597Z,1578947725.597 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:35:25.991Z,1578947725.991 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:35:26.806Z,1578947726.806 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203526.54*5F

2020-01-13T20:35:29.226Z,1578947729.226 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:35:30.040Z,1578947730.040 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:35:30.446Z,1578947730.446 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:35:31.247Z,1578947731.247 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203530.99*59

2020-01-13T20:35:33.676Z,1578947733.676 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:35:34.479Z,1578947734.479 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:35:34.885Z,1578947734.885 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:35:35.692Z,1578947735.692 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203535.43*5B

2020-01-13T20:35:38.117Z,1578947738.117 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:35:38.919Z,1578947738.919 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:35:39.325Z,1578947739.325 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:35:40.135Z,1578947740.135 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203539.87*5F

2020-01-13T20:35:42.558Z,1578947742.558 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:35:43.364Z,1578947743.364 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:35:43.785Z,1578947743.785 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:35:44.583Z,1578947744.583 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203544.31*58

2020-01-13T20:35:47.010Z,1578947747.010 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:35:47.811Z,1578947747.811 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:35:48.217Z,1578947748.217 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:35:48.666Z,1578947748.666 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 2.759999 m
2020-01-13T20:35:48.667Z,1578947748.667 [Reporter](INFO): DUSBL_Hydroid.xAngle 1.650000 arcdeg
2020-01-13T20:35:49.027Z,1578947749.027 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203548.76*57

2020-01-13T20:35:51.852Z,1578947751.852 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:35:52.257Z,1578947752.257 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:35:53.073Z,1578947753.073 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203552.80*55

2020-01-13T20:35:55.482Z,1578947755.482 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:35:56.301Z,1578947756.301 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:35:56.701Z,1578947756.701 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:35:57.510Z,1578947757.510 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203557.25*5F

2020-01-13T20:35:59.930Z,1578947759.930 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:36:00.739Z,1578947760.739 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:36:01.145Z,1578947761.145 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:36:01.950Z,1578947761.950 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203601.69*57

2020-01-13T20:36:04.370Z,1578947764.370 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:36:05.190Z,1578947765.190 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:36:05.589Z,1578947765.589 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:36:06.399Z,1578947766.399 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203606.14*5A

2020-01-13T20:36:08.818Z,1578947768.818 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:36:09.623Z,1578947769.623 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:36:10.041Z,1578947770.041 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:36:10.489Z,1578947770.489 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 2.759999 m
2020-01-13T20:36:10.490Z,1578947770.490 [Reporter](INFO): DUSBL_Hydroid.xAngle 1.250000 arcdeg
2020-01-13T20:36:10.837Z,1578947770.837 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203610.57*5A

2020-01-13T20:36:13.668Z,1578947773.668 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:36:14.073Z,1578947774.073 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:36:14.879Z,1578947774.879 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203614.61*5B

2020-01-13T20:36:17.302Z,1578947777.302 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:36:18.105Z,1578947778.105 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:36:18.525Z,1578947778.525 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:36:19.320Z,1578947779.320 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203619.05*54

2020-01-13T20:36:21.746Z,1578947781.746 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:36:22.555Z,1578947782.555 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:36:22.969Z,1578947782.969 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:36:23.430Z,1578947783.430 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 2.759999 m
2020-01-13T20:36:23.431Z,1578947783.431 [Reporter](INFO): DUSBL_Hydroid.xAngle 1.400000 arcdeg
2020-01-13T20:36:23.770Z,1578947783.770 [Micromodem](INFO): Nmea in: $SNTTA,0.001854,,,,203623.50*4B

2020-01-13T20:36:24.206Z,1578947784.206 [DUSBL:RequestRepeater:C.Wait](INFO): Done Waiting.
2020-01-13T20:36:24.206Z,1578947784.206 [DUSBL:RequestRepeater:C.Wait] Stopped
2020-01-13T20:36:24.206Z,1578947784.206 [DUSBL:RequestRepeater:C.Wait](DEBUG): Uninitialize Wait Component.
2020-01-13T20:36:24.206Z,1578947784.206 [DUSBL:RequestRepeater](INFO): Completed DUSBL:RequestRepeater
2020-01-13T20:36:24.207Z,1578947784.207 [DUSBL:RequestRepeater] Stopped
2020-01-13T20:36:24.207Z,1578947784.207 [DUSBL:RequestRepeater](DEBUG): Aggregate::uninitialize DUSBL:RequestRepeater
2020-01-13T20:36:24.207Z,1578947784.207 [DUSBL:RequestRepeater:A] Stopped
2020-01-13T20:36:24.207Z,1578947784.207 [DUSBL:RequestRepeater:B] Stopped
2020-01-13T20:36:24.207Z,1578947784.207 [DUSBL:RequestRepeater](INFO): Running loop #3
2020-01-13T20:36:24.207Z,1578947784.207 [DUSBL:RequestRepeater] Running Loop=3
2020-01-13T20:36:24.207Z,1578947784.207 [DUSBL:RequestRepeater](DEBUG): Aggregate::initialize DUSBL:RequestRepeater
2020-01-13T20:36:24.207Z,1578947784.207 [DUSBL:RequestRepeater:A] Running Loop=1
2020-01-13T20:36:24.207Z,1578947784.207 [DUSBL:RequestRepeater:B] Running Loop=1
2020-01-13T20:36:24.207Z,1578947784.207 [DUSBL:RequestRepeater:C.Wait] Running Loop=1
2020-01-13T20:36:24.207Z,1578947784.207 [DUSBL:RequestRepeater:C.Wait](DEBUG): Initialize Wait Component.
2020-01-13T20:36:26.594Z,1578947786.594 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:36:27.012Z,1578947787.012 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:36:27.450Z,1578947787.450 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 2.759999 m
2020-01-13T20:36:27.450Z,1578947787.450 [Reporter](INFO): DUSBL_Hydroid.xAngle 0.750000 arcdeg
2020-01-13T20:36:27.811Z,1578947787.811 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203627.54*5D

2020-01-13T20:36:30.636Z,1578947790.636 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:36:31.042Z,1578947791.042 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:36:31.846Z,1578947791.846 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203631.58*56

2020-01-13T20:36:34.270Z,1578947794.270 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:36:35.085Z,1578947795.085 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:36:35.479Z,1578947795.479 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:36:35.958Z,1578947795.958 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 2.759999 m
2020-01-13T20:36:35.958Z,1578947795.958 [Reporter](INFO): DUSBL_Hydroid.xAngle 0.750000 arcdeg
2020-01-13T20:36:36.295Z,1578947796.295 [Micromodem](INFO): Nmea in: $SNTTA,0.001840,,,,203636.03*4C

2020-01-13T20:36:39.118Z,1578947799.118 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:36:39.525Z,1578947799.525 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:36:40.329Z,1578947800.329 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203640.06*5B

2020-01-13T20:36:42.751Z,1578947802.751 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:36:43.563Z,1578947803.563 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:36:43.969Z,1578947803.969 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:36:44.429Z,1578947804.429 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 2.759999 m
2020-01-13T20:36:44.430Z,1578947804.430 [Reporter](INFO): DUSBL_Hydroid.xAngle 1.750000 arcdeg
2020-01-13T20:36:44.784Z,1578947804.784 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203644.51*5D

2020-01-13T20:36:47.603Z,1578947807.603 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:36:48.011Z,1578947808.011 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:36:48.819Z,1578947808.819 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203648.55*55

2020-01-13T20:36:51.238Z,1578947811.238 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:36:52.047Z,1578947812.047 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:36:52.449Z,1578947812.449 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:36:53.259Z,1578947813.259 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203652.99*5E

2020-01-13T20:36:55.678Z,1578947815.678 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:36:56.497Z,1578947816.497 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:36:56.891Z,1578947816.891 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:36:57.707Z,1578947817.707 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203657.45*5A

2020-01-13T20:37:00.122Z,1578947820.122 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:37:00.938Z,1578947820.938 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:37:01.345Z,1578947821.345 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:37:02.151Z,1578947822.151 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203701.89*58

2020-01-13T20:37:04.570Z,1578947824.570 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:37:05.379Z,1578947825.379 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:37:05.791Z,1578947825.791 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:37:06.591Z,1578947826.591 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203706.33*5E

2020-01-13T20:37:09.014Z,1578947829.014 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:37:09.838Z,1578947829.838 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:37:10.225Z,1578947830.225 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:37:11.038Z,1578947831.038 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203710.78*56

2020-01-13T20:37:13.458Z,1578947833.458 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:37:14.267Z,1578947834.267 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:37:14.667Z,1578947834.667 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:37:15.485Z,1578947835.485 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203715.21*5F

2020-01-13T20:37:17.902Z,1578947837.902 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-13T20:37:18.614Z,1578947838.614 [CommandLine](IMPORTANT): got command stop
2020-01-13T20:37:18.615Z,1578947838.615 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2020-01-13T20:37:18.707Z,1578947838.707 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-13T20:37:18.849Z,1578947838.849 [MissionManager](INFO): MissionManager is completed.
2020-01-13T20:37:18.849Z,1578947838.849 [MissionManager](INFO): Uninitializing Mission DUSBL
2020-01-13T20:37:18.850Z,1578947838.850 [DUSBL] Stopped
2020-01-13T20:37:18.850Z,1578947838.850 [DUSBL](DEBUG): Aggregate::uninitialize DUSBL
2020-01-13T20:37:18.850Z,1578947838.850 [DUSBL:A.Pitch] Stopped
2020-01-13T20:37:18.850Z,1578947838.850 [DUSBL:B.SetSpeed] Stopped
2020-01-13T20:37:18.850Z,1578947838.850 [DUSBL:B.SetSpeed](DEBUG): Uninitialize.
2020-01-13T20:37:18.850Z,1578947838.850 [DUSBL:C] Stopped
2020-01-13T20:37:18.850Z,1578947838.850 [DUSBL:RequestRepeater] Stopped
2020-01-13T20:37:18.850Z,1578947838.850 [DUSBL:RequestRepeater](DEBUG): Aggregate::uninitialize DUSBL:RequestRepeater
2020-01-13T20:37:18.850Z,1578947838.850 [DUSBL:RequestRepeater:A] Stopped
2020-01-13T20:37:18.850Z,1578947838.850 [DUSBL:RequestRepeater:B] Stopped
2020-01-13T20:37:18.850Z,1578947838.850 [DUSBL:RequestRepeater:C.Wait] Stopped
2020-01-13T20:37:18.850Z,1578947838.850 [DUSBL:RequestRepeater:C.Wait](DEBUG): Uninitialize Wait Component.
2020-01-13T20:37:19.116Z,1578947839.116 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-13T20:37:19.244Z,1578947839.244 [MissionManager](IMPORTANT): Started mission Default
2020-01-13T20:37:19.244Z,1578947839.244 [Default] Running Loop=1
2020-01-13T20:37:19.244Z,1578947839.244 [Default](DEBUG): Aggregate::initialize Default
2020-01-13T20:37:19.244Z,1578947839.244 [Default:B.GoToSurface] Running Loop=1
2020-01-13T20:37:19.244Z,1578947839.244 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-13T20:37:19.244Z,1578947839.244 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-13T20:37:19.257Z,1578947839.257 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-13T20:37:19.257Z,1578947839.257 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-13T20:37:19.258Z,1578947839.258 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-13T20:37:19.258Z,1578947839.258 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-13T20:37:19.258Z,1578947839.258 [Default:A.Wait] Running Loop=1
2020-01-13T20:37:19.258Z,1578947839.258 [Default:A.Wait](DEBUG): Initialize Wait Component.
2020-01-13T20:37:19.923Z,1578947839.923 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203719.65*53

2020-01-13T20:37:22.235Z,1578947842.235 [CommandLine](IMPORTANT): got command quit
2020-01-13T20:37:23.289Z,1578947843.289 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-13T20:37:23.289Z,1578947843.289 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-13T20:37:23.325Z,1578947843.325 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2020-01-13T20:37:23.325Z,1578947843.325 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-13T20:37:23.326Z,1578947843.326 [CommandLine](INFO): Join timeout helper Thread ID is 4767
2020-01-13T20:37:23.327Z,1578947843.327 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2020-01-13T20:37:23.327Z,1578947843.327 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-13T20:37:23.327Z,1578947843.327 [NavChartDb](INFO): Join timeout helper Thread ID is 4768
2020-01-13T20:37:23.445Z,1578947843.445 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-13T20:37:23.445Z,1578947843.445 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-13T20:37:23.453Z,1578947843.453 [ComponentRegistry](INFO): Shutting down WetLabsSeaOWL_UV_A ThreadHandler
2020-01-13T20:37:23.453Z,1578947843.453 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-13T20:37:23.453Z,1578947843.453 [WetLabsSeaOWL_UV_A](INFO): Join timeout helper Thread ID is 4769
2020-01-13T20:37:23.677Z,1578947843.677 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-13T20:37:23.677Z,1578947843.677 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-01-13T20:37:23.678Z,1578947843.678 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-13T20:37:23.693Z,1578947843.693 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2020-01-13T20:37:23.694Z,1578947843.694 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-13T20:37:23.695Z,1578947843.695 [CTD_NeilBrown](INFO): Join timeout helper Thread ID is 4770
2020-01-13T20:37:23.733Z,1578947843.733 [CTD_NeilBrown ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-13T20:37:23.733Z,1578947843.733 [CTD_NeilBrown](INFO): Powering down
2020-01-13T20:37:23.745Z,1578947843.745 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-13T20:37:23.761Z,1578947843.761 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2020-01-13T20:37:23.761Z,1578947843.761 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-01-13T20:37:23.762Z,1578947843.762 [Radio_Surface](INFO): Join timeout helper Thread ID is 4771
2020-01-13T20:37:24.094Z,1578947844.094 [Radio_Surface](INFO): Powering down
2020-01-13T20:37:24.097Z,1578947844.097 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-13T20:37:24.098Z,1578947844.098 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-01-13T20:37:24.118Z,1578947844.118 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2020-01-13T20:37:24.118Z,1578947844.118 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-13T20:37:24.118Z,1578947844.118 [DataOverHttps](INFO): Join timeout helper Thread ID is 4772
2020-01-13T20:37:24.773Z,1578947844.773 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-13T20:37:24.774Z,1578947844.774 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-13T20:37:24.779Z,1578947844.779 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2020-01-13T20:37:24.779Z,1578947844.779 [logger ThreadHandler](INFO): Thread cancelled.
2020-01-13T20:37:24.780Z,1578947844.780 [logger](INFO): Join timeout helper Thread ID is 4773
2020-01-13T20:37:24.824Z,1578947844.824 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-13T20:37:24.834Z,1578947844.834 [logger ThreadHandler](INFO): Thread cancelled.
2020-01-13T20:37:24.846Z,1578947844.846 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2020-01-13T20:37:24.846Z,1578947844.846 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-13T20:37:24.846Z,1578947844.846 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2020-01-13T20:37:24.846Z,1578947844.846 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-01-13T20:37:24.846Z,1578947844.846 [controlThread](INFO): Join timeout helper Thread ID is 4774
2020-01-13T20:37:24.867Z,1578947844.867 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-13T20:37:24.868Z,1578947844.868 [controlThread](DEBUG): Uninitializing ControlThread
2020-01-13T20:37:24.868Z,1578947844.868 [AHRS_M2](INFO): Powering down
2020-01-13T20:37:24.945Z,1578947844.945 [DDM](INFO): Powering down
2020-01-13T20:37:25.034Z,1578947845.034 [DUSBL_Hydroid](INFO): Powering down
2020-01-13T20:37:25.105Z,1578947845.105 [Micromodem](INFO): Powering down
2020-01-13T20:37:25.201Z,1578947845.201 [NAL9602](INFO): Powering down
2020-01-13T20:37:25.273Z,1578947845.273 [RDI_Pathfinder](INFO): Powering down
2020-01-13T20:37:25.275Z,1578947845.275 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2020-01-13T20:37:25.276Z,1578947845.276 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2020-01-13T20:37:25.276Z,1578947845.276 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2020-01-13T20:37:25.277Z,1578947845.277 [MissionManager](INFO): Uninitializing Mission Default
2020-01-13T20:37:25.277Z,1578947845.277 [Default] Stopped
2020-01-13T20:37:25.277Z,1578947845.277 [Default](DEBUG): Aggregate::uninitialize Default
2020-01-13T20:37:25.277Z,1578947845.277 [Default:A.Wait] Stopped
2020-01-13T20:37:25.277Z,1578947845.277 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-13T20:37:25.277Z,1578947845.277 [Default:B.GoToSurface] Stopped
2020-01-13T20:37:25.277Z,1578947845.277 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-13T20:37:25.279Z,1578947845.279 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2020-01-13T20:37:25.280Z,1578947845.280 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2020-01-13T20:37:25.280Z,1578947845.280 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2020-01-13T20:37:25.280Z,1578947845.280 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2020-01-13T20:37:25.280Z,1578947845.280 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2020-01-13T20:37:25.281Z,1578947845.281 [BuoyancyServo](INFO): Powering down
2020-01-13T20:37:25.293Z,1578947845.293 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2020-01-13T20:37:25.293Z,1578947845.293 [ElevatorServo](INFO): Powering down
2020-01-13T20:37:25.294Z,1578947845.294 [MassServo](DEBUG): Uninitialize Mass Servo.
2020-01-13T20:37:25.294Z,1578947845.294 [MassServo](INFO): Powering down
2020-01-13T20:37:25.295Z,1578947845.295 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-01-13T20:37:25.295Z,1578947845.295 [RudderServo](INFO): Powering down
2020-01-13T20:37:25.295Z,1578947845.295 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2020-01-13T20:37:25.295Z,1578947845.295 [ThrusterServo](INFO): Powering down
2020-01-13T20:37:25.296Z,1578947845.296 [SBIT](DEBUG): Uninitialize SBIT Component.
2020-01-13T20:37:25.296Z,1578947845.296 [IBIT](DEBUG): Uninitialize IBIT Component.
2020-01-13T20:37:25.297Z,1578947845.297 [CBIT](DEBUG): Uninitialize CBIT Component.
2020-01-13T20:37:25.297Z,1578947845.297 [CBIT](DEBUG): Powering off loads.
2020-01-13T20:37:25.309Z,1578947845.309 [CBIT](DEBUG): Disabling WDT.
2020-01-13T20:37:25.321Z,1578947845.321 [CBIT](DEBUG): Opening all GF detection circuits.
2020-01-13T20:37:25.322Z,1578947845.322 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-01-13T20:37:25.373Z,1578947845.373 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-01-13T20:37:25.383Z,1578947845.383 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-13T20:37:25.424Z,1578947845.424 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-13T20:37:25.427Z,1578947845.427 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-13T20:37:25.484Z,1578947845.484 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-13T20:37:25.545Z,1578947845.545 [logger ThreadHandler](INFO): Thread cancelled.