2020-01-14T01:24:40.557Z,1578965080.557 [Supervisor](DEBUG): Initializing supervisor.
2020-01-14T01:24:40.560Z,1578965080.560 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2020-01-14T01:24:40.561Z,1578965080.561 [SyncHandler](INFO): Protected caller Thread ID is 2276
2020-01-14T01:24:40.561Z,1578965080.561 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2020-01-14T01:24:40.562Z,1578965080.562 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2020-01-14T01:24:40.563Z,1578965080.563 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 2277
2020-01-14T01:24:40.566Z,1578965080.566 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2020-01-14T01:24:40.577Z,1578965080.577 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2020-01-14T01:24:40.578Z,1578965080.578 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2020-01-14T01:24:40.578Z,1578965080.578 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 2278
2020-01-14T01:24:40.579Z,1578965080.579 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2020-01-14T01:24:40.580Z,1578965080.580 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2020-01-14T01:24:40.580Z,1578965080.580 [logger ThreadHandler](INFO): Protected caller Thread ID is 2279
2020-01-14T01:24:40.582Z,1578965080.582 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2020-01-14T01:24:40.583Z,1578965080.583 [Supervisor](INFO): Looking for Config files in directory: Config/
2020-01-14T01:24:40.584Z,1578965080.584 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2020-01-14T01:24:41.006Z,1578965081.006 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2020-01-14T01:24:41.007Z,1578965081.007 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2020-01-14T01:24:41.101Z,1578965081.101 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2020-01-14T01:24:41.101Z,1578965081.101 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2020-01-14T01:24:41.401Z,1578965081.401 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2020-01-14T01:24:41.401Z,1578965081.401 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2020-01-14T01:24:41.534Z,1578965081.534 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2020-01-14T01:24:41.535Z,1578965081.535 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2020-01-14T01:24:41.715Z,1578965081.715 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2020-01-14T01:24:41.715Z,1578965081.715 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2020-01-14T01:24:42.142Z,1578965082.142 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2020-01-14T01:24:42.143Z,1578965082.143 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2020-01-14T01:24:42.345Z,1578965082.345 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2020-01-14T01:24:42.345Z,1578965082.345 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2020-01-14T01:24:42.483Z,1578965082.483 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2020-01-14T01:24:42.484Z,1578965082.484 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2020-01-14T01:24:42.662Z,1578965082.662 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2020-01-14T01:24:42.663Z,1578965082.663 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2020-01-14T01:24:42.755Z,1578965082.755 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2020-01-14T01:24:42.756Z,1578965082.756 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2020-01-14T01:24:43.043Z,1578965083.043 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2020-01-14T01:24:43.044Z,1578965083.044 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2020-01-14T01:24:43.122Z,1578965083.122 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2020-01-14T01:24:43.222Z,1578965083.222 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2020-01-14T01:24:43.223Z,1578965083.223 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2020-01-14T01:24:43.834Z,1578965083.834 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2020-01-14T01:24:43.835Z,1578965083.835 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2020-01-14T01:24:44.229Z,1578965084.229 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2020-01-14T01:24:44.231Z,1578965084.231 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/
2020-01-14T01:24:44.232Z,1578965084.232 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/vehicle.cfg
2020-01-14T01:24:44.428Z,1578965084.428 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Control.cfg
2020-01-14T01:24:44.529Z,1578965084.529 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/BIT.cfg
2020-01-14T01:24:44.623Z,1578965084.623 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Battery.cfg
2020-01-14T01:24:44.842Z,1578965084.842 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2020-01-14T01:24:44.843Z,1578965084.843 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Simulator.cfg
2020-01-14T01:24:44.926Z,1578965084.926 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Navigation.cfg
2020-01-14T01:24:45.018Z,1578965085.018 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/logger.cfg
2020-01-14T01:24:45.121Z,1578965085.121 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/secure.cfg
2020-01-14T01:24:45.202Z,1578965085.202 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Servo.cfg
2020-01-14T01:24:45.325Z,1578965085.325 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Sensor.cfg
2020-01-14T01:24:45.756Z,1578965085.756 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Science.cfg
2020-01-14T01:24:45.924Z,1578965085.924 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/root/
2020-01-14T01:24:45.925Z,1578965085.925 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2020-01-14T01:24:45.938Z,1578965085.938 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2020-01-14T01:24:46.367Z,1578965086.367 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_orientation
2020-01-14T01:24:46.372Z,1578965086.372 [AHRS_M2](INFO): created writer for : platform_orientation
2020-01-14T01:24:46.374Z,1578965086.374 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_magnetic_orientation
2020-01-14T01:24:46.379Z,1578965086.379 [AHRS_M2](INFO): created writer for : platform_magnetic_orientation
2020-01-14T01:24:46.379Z,1578965086.379 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_pitch_angle
2020-01-14T01:24:46.384Z,1578965086.384 [AHRS_M2](INFO): created writer for : platform_pitch_angle
2020-01-14T01:24:46.385Z,1578965086.385 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_roll_angle
2020-01-14T01:24:46.389Z,1578965086.389 [AHRS_M2](INFO): created writer for : platform_roll_angle
2020-01-14T01:24:46.457Z,1578965086.457 [AHRS_M2] Loaded
2020-01-14T01:24:46.458Z,1578965086.458 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2020-01-14T01:24:46.533Z,1578965086.533 [DataOverHttps] Loaded
2020-01-14T01:24:46.533Z,1578965086.533 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2020-01-14T01:24:46.534Z,1578965086.534 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 4076F4E0
2020-01-14T01:24:46.535Z,1578965086.535 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 2358
2020-01-14T01:24:46.558Z,1578965086.558 [DDM] Loaded
2020-01-14T01:24:46.558Z,1578965086.558 [ComponentRegistry](DEBUG): SyncComponent "DDM" handled in the control thread.
2020-01-14T01:24:46.570Z,1578965086.570 [Depth_Keller] Loaded
2020-01-14T01:24:46.571Z,1578965086.571 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2020-01-14T01:24:46.575Z,1578965086.575 [DropWeight] Loaded
2020-01-14T01:24:46.575Z,1578965086.575 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2020-01-14T01:24:46.634Z,1578965086.634 [DUSBL_Hydroid] Loaded
2020-01-14T01:24:46.634Z,1578965086.634 [ComponentRegistry](DEBUG): SyncComponent "DUSBL_Hydroid" handled in the control thread.
2020-01-14T01:24:46.678Z,1578965086.678 [Micromodem] Loaded
2020-01-14T01:24:46.679Z,1578965086.679 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2020-01-14T01:24:46.771Z,1578965086.771 [NAL9602] Loaded
2020-01-14T01:24:46.771Z,1578965086.771 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2020-01-14T01:24:46.807Z,1578965086.807 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/voltage_now
2020-01-14T01:24:46.807Z,1578965086.807 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/current_now
2020-01-14T01:24:46.808Z,1578965086.808 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/charge_now
2020-01-14T01:24:46.808Z,1578965086.808 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/charge_full
2020-01-14T01:24:46.809Z,1578965086.809 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/voltage_now
2020-01-14T01:24:46.809Z,1578965086.809 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/current_now
2020-01-14T01:24:46.810Z,1578965086.810 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/charge_now
2020-01-14T01:24:46.810Z,1578965086.810 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/charge_full
2020-01-14T01:24:46.810Z,1578965086.810 [Onboard] Loaded
2020-01-14T01:24:46.811Z,1578965086.811 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2020-01-14T01:24:46.816Z,1578965086.816 [PowerOnly] Loaded
2020-01-14T01:24:46.816Z,1578965086.816 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2020-01-14T01:24:46.823Z,1578965086.823 [Radio_Surface] Loaded
2020-01-14T01:24:46.823Z,1578965086.823 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2020-01-14T01:24:46.824Z,1578965086.824 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 4079F4E0
2020-01-14T01:24:46.824Z,1578965086.824 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 2359
2020-01-14T01:24:46.866Z,1578965086.866 [RDI_Pathfinder] Loaded
2020-01-14T01:24:46.866Z,1578965086.866 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2020-01-14T01:24:48.292Z,1578965088.292 [BPC1] Loaded
2020-01-14T01:24:48.292Z,1578965088.292 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2020-01-14T01:24:48.292Z,1578965088.292 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2020-01-14T01:24:48.293Z,1578965088.293 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2020-01-14T01:24:48.306Z,1578965088.306 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2020-01-14T01:24:48.306Z,1578965088.306 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2020-01-14T01:24:48.406Z,1578965088.406 [DeadReckonUsingMultipleVelocitySources] Loaded
2020-01-14T01:24:48.406Z,1578965088.406 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2020-01-14T01:24:48.426Z,1578965088.426 [NavChart] Loaded
2020-01-14T01:24:48.426Z,1578965088.426 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2020-01-14T01:24:48.430Z,1578965088.430 [UniversalFixResidualReporter] Loaded
2020-01-14T01:24:48.430Z,1578965088.430 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2020-01-14T01:24:48.430Z,1578965088.430 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2020-01-14T01:24:48.431Z,1578965088.431 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2020-01-14T01:24:48.535Z,1578965088.535 [BuoyancyServo] Loaded
2020-01-14T01:24:48.535Z,1578965088.535 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2020-01-14T01:24:48.550Z,1578965088.550 [ElevatorServo] Loaded
2020-01-14T01:24:48.550Z,1578965088.550 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2020-01-14T01:24:48.564Z,1578965088.564 [MassServo] Loaded
2020-01-14T01:24:48.565Z,1578965088.565 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2020-01-14T01:24:48.579Z,1578965088.579 [RudderServo] Loaded
2020-01-14T01:24:48.579Z,1578965088.579 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2020-01-14T01:24:48.593Z,1578965088.593 [ThrusterServo] Loaded
2020-01-14T01:24:48.594Z,1578965088.594 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2020-01-14T01:24:48.594Z,1578965088.594 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2020-01-14T01:24:48.595Z,1578965088.595 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2020-01-14T01:24:48.843Z,1578965088.843 [CTD_NeilBrown] Loaded
2020-01-14T01:24:48.843Z,1578965088.843 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2020-01-14T01:24:48.844Z,1578965088.844 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 408F34E0
2020-01-14T01:24:48.844Z,1578965088.844 [CTD_NeilBrown ThreadHandler](INFO): Protected caller Thread ID is 2360
2020-01-14T01:24:48.859Z,1578965088.859 [PAR_Licor] Loaded
2020-01-14T01:24:48.859Z,1578965088.859 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2020-01-14T01:24:48.901Z,1578965088.901 [WetLabsSeaOWL_UV_A] Loaded
2020-01-14T01:24:48.901Z,1578965088.901 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2020-01-14T01:24:48.902Z,1578965088.902 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 409234E0
2020-01-14T01:24:48.902Z,1578965088.902 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 2361
2020-01-14T01:24:48.903Z,1578965088.903 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2020-01-14T01:24:48.904Z,1578965088.904 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2020-01-14T01:24:49.204Z,1578965089.204 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2020-01-14T01:24:49.204Z,1578965089.204 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2020-01-14T01:24:49.244Z,1578965089.244 [DepthRateCalculator] Loaded
2020-01-14T01:24:49.244Z,1578965089.244 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2020-01-14T01:24:49.250Z,1578965089.250 [PitchRateCalculator] Loaded
2020-01-14T01:24:49.250Z,1578965089.250 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2020-01-14T01:24:49.261Z,1578965089.261 [SpeedCalculator] Loaded
2020-01-14T01:24:49.262Z,1578965089.262 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2020-01-14T01:24:49.281Z,1578965089.281 [TempGradientCalculator] Loaded
2020-01-14T01:24:49.282Z,1578965089.282 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2020-01-14T01:24:49.287Z,1578965089.287 [YawRateCalculator] Loaded
2020-01-14T01:24:49.287Z,1578965089.287 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2020-01-14T01:24:49.326Z,1578965089.326 [ElevatorOffsetCalculator] Loaded
2020-01-14T01:24:49.326Z,1578965089.326 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2020-01-14T01:24:49.327Z,1578965089.327 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2020-01-14T01:24:49.327Z,1578965089.327 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2020-01-14T01:24:49.460Z,1578965089.460 [SBIT](DEBUG): Construct Startup Built In Test.
2020-01-14T01:24:49.480Z,1578965089.480 [SBIT] Loaded
2020-01-14T01:24:49.481Z,1578965089.481 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2020-01-14T01:24:49.481Z,1578965089.481 [IBIT](DEBUG): Construct Initiated Built In Test.
2020-01-14T01:24:49.493Z,1578965089.493 [IBIT] Loaded
2020-01-14T01:24:49.494Z,1578965089.494 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2020-01-14T01:24:49.497Z,1578965089.497 [CBIT](DEBUG): Construct Continuous Built In Test.
2020-01-14T01:24:49.630Z,1578965089.630 [CBIT] Loaded
2020-01-14T01:24:49.630Z,1578965089.630 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2020-01-14T01:24:49.630Z,1578965089.630 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2020-01-14T01:24:49.631Z,1578965089.631 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2020-01-14T01:24:49.709Z,1578965089.709 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2020-01-14T01:24:49.710Z,1578965089.710 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2020-01-14T01:24:49.805Z,1578965089.805 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2020-01-14T01:24:49.805Z,1578965089.805 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2020-01-14T01:24:49.851Z,1578965089.851 [VerticalControl](DEBUG): Construct VerticalControl.
2020-01-14T01:24:49.930Z,1578965089.930 [VerticalControl] Loaded
2020-01-14T01:24:49.931Z,1578965089.931 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2020-01-14T01:24:49.931Z,1578965089.931 [HorizontalControl](DEBUG): Construct HorizontalControl.
2020-01-14T01:24:49.998Z,1578965089.998 [HorizontalControl] Loaded
2020-01-14T01:24:49.998Z,1578965089.998 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2020-01-14T01:24:49.999Z,1578965089.999 [SpeedControl](DEBUG): Construct SpeedControl.
2020-01-14T01:24:50.001Z,1578965090.001 [SpeedControl] Loaded
2020-01-14T01:24:50.001Z,1578965090.001 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2020-01-14T01:24:50.001Z,1578965090.001 [LoopControl](DEBUG): Construct LoopControl.
2020-01-14T01:24:50.002Z,1578965090.002 [LoopControl] Loaded
2020-01-14T01:24:50.002Z,1578965090.002 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2020-01-14T01:24:50.003Z,1578965090.003 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2020-01-14T01:24:50.003Z,1578965090.003 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2020-01-14T01:24:50.034Z,1578965090.034 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2020-01-14T01:24:50.038Z,1578965090.038 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2020-01-14T01:24:50.039Z,1578965090.039 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2020-01-14T01:24:50.045Z,1578965090.045 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2020-01-14T01:24:50.046Z,1578965090.046 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40B024E0
2020-01-14T01:24:50.047Z,1578965090.047 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 2362
2020-01-14T01:24:50.051Z,1578965090.051 [Supervisor](INFO): Main Thread ID is 2275
2020-01-14T01:24:50.051Z,1578965090.051 [Supervisor](DEBUG): Running supervisor.
2020-01-14T01:24:50.052Z,1578965090.052 [CommandLine ThreadHandler](INFO): Handler Thread ID is 2363
2020-01-14T01:24:50.054Z,1578965090.054 [controlThread ThreadHandler](INFO): Handler Thread ID is 2364
2020-01-14T01:24:50.055Z,1578965090.055 [controlThread](DEBUG): Initializing ControlThread
2020-01-14T01:24:50.060Z,1578965090.060 [NavChart](DEBUG): Initialize NavChart Navigation.
2020-01-14T01:24:50.060Z,1578965090.060 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2020-01-14T01:24:50.065Z,1578965090.065 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2020-01-14T01:24:50.065Z,1578965090.065 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2020-01-14T01:24:50.066Z,1578965090.066 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2020-01-14T01:24:50.066Z,1578965090.066 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2020-01-14T01:24:50.066Z,1578965090.066 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2020-01-14T01:24:50.067Z,1578965090.067 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2020-01-14T01:24:50.067Z,1578965090.067 [SBIT](INFO): Initialize SBIT Component.
2020-01-14T01:24:50.068Z,1578965090.068 [SBIT](IMPORTANT): git: 2019-12-03-34-g1420f60
2020-01-14T01:24:50.068Z,1578965090.068 [SBIT](INFO): git hash: 1420f6075bfd9e2317cf67bc08ebc33a04e592a5
2020-01-14T01:24:50.068Z,1578965090.068 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2020-01-14T01:24:50.069Z,1578965090.069 [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
2020-01-14T01:24:50.070Z,1578965090.070 [SBIT](INFO): Beginning SBIT in 39.000000 seconds.
2020-01-14T01:24:50.071Z,1578965090.071 [IBIT](INFO): Initialize IBIT Component.
2020-01-14T01:24:50.072Z,1578965090.072 [CBIT](DEBUG): Initialize CBIT Component.
2020-01-14T01:24:50.073Z,1578965090.073 [logger ThreadHandler](INFO): Handler Thread ID is 2365
2020-01-14T01:24:50.085Z,1578965090.085 [CBIT](DEBUG): Initialized mux pins.
2020-01-14T01:24:50.085Z,1578965090.085 [CBIT](DEBUG): Initializing the watchdog timer.
2020-01-14T01:24:50.093Z,1578965090.093 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 2366
2020-01-14T01:24:50.094Z,1578965090.094 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2020-01-14T01:24:50.105Z,1578965090.105 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 2367
2020-01-14T01:24:50.109Z,1578965090.109 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2020-01-14T01:24:50.109Z,1578965090.109 [CBIT](DEBUG): Initializing heartbeat.
2020-01-14T01:24:50.117Z,1578965090.117 [CTD_NeilBrown ThreadHandler](INFO): Handler Thread ID is 2368
2020-01-14T01:24:50.118Z,1578965090.118 [CTD_NeilBrown](INFO): Powering down
2020-01-14T01:24:50.137Z,1578965090.137 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 2369
2020-01-14T01:24:50.138Z,1578965090.138 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-01-14T01:24:50.169Z,1578965090.169 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 2370
2020-01-14T01:24:50.172Z,1578965090.172 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2020-01-14T01:24:50.172Z,1578965090.172 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2020-01-14T01:24:50.173Z,1578965090.173 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2020-01-14T01:24:50.173Z,1578965090.173 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2020-01-14T01:24:50.173Z,1578965090.173 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2020-01-14T01:24:50.173Z,1578965090.173 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2020-01-14T01:24:50.174Z,1578965090.174 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2020-01-14T01:24:50.174Z,1578965090.174 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2020-01-14T01:24:50.174Z,1578965090.174 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2020-01-14T01:24:50.174Z,1578965090.174 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2020-01-14T01:24:50.174Z,1578965090.174 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2020-01-14T01:24:50.174Z,1578965090.174 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2020-01-14T01:24:50.175Z,1578965090.175 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2020-01-14T01:24:50.175Z,1578965090.175 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2020-01-14T01:24:50.175Z,1578965090.175 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2020-01-14T01:24:50.175Z,1578965090.175 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2020-01-14T01:24:50.181Z,1578965090.181 [CBIT](DEBUG): Deactivating GF circuits.
2020-01-14T01:24:50.181Z,1578965090.181 [CBIT](DEBUG): Deactivating emergency mode.
2020-01-14T01:24:50.217Z,1578965090.217 [CBIT](DEBUG): Backplane powered.
2020-01-14T01:24:50.217Z,1578965090.217 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2020-01-14T01:24:50.219Z,1578965090.219 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2020-01-14T01:24:50.220Z,1578965090.220 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2020-01-14T01:24:50.220Z,1578965090.220 [LoopControl](DEBUG): Initialize LoopControlComponent.
2020-01-14T01:24:50.221Z,1578965090.221 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2020-01-14T01:24:50.231Z,1578965090.231 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2020-01-14T01:24:50.249Z,1578965090.249 [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>


2020-01-14T01:24:50.250Z,1578965090.250 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2020-01-14T01:24:50.317Z,1578965090.317 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2020-01-14T01:24:50.318Z,1578965090.318 [Default:A.Wait](DEBUG): Construct Wait.
2020-01-14T01:24:50.320Z,1578965090.320 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2020-01-14T01:24:50.371Z,1578965090.371 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2020-01-14T01:24:50.374Z,1578965090.374 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2020-01-14T01:24:50.384Z,1578965090.384 [Default:E.Execute](DEBUG): Construct Execute.
2020-01-14T01:24:50.388Z,1578965090.388 [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>


2020-01-14T01:24:50.397Z,1578965090.397 [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,
2020-01-14T01:24:50.402Z,1578965090.402 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2020-01-14T01:24:50.449Z,1578965090.449 [DDM](INFO): Powering up
2020-01-14T01:24:50.449Z,1578965090.449 [DDM](DEBUG): Initializing DDM.
2020-01-14T01:24:50.475Z,1578965090.475 [DUSBL_Hydroid](INFO): Powering up
2020-01-14T01:24:50.475Z,1578965090.475 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2020-01-14T01:24:50.509Z,1578965090.509 [Radio_Surface](INFO): Powering up
2020-01-14T01:24:50.642Z,1578965090.642 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2020-01-14T01:24:50.645Z,1578965090.645 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2020-01-14T01:24:50.646Z,1578965090.646 [ElevatorServo](DEBUG): Initializing EZServoServo.
2020-01-14T01:24:50.654Z,1578965090.654 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2020-01-14T01:24:50.655Z,1578965090.655 [MassServo](DEBUG): Initializing EZServoServo.
2020-01-14T01:24:50.667Z,1578965090.667 [MassServo](DEBUG): Initializing MassServo.
2020-01-14T01:24:50.668Z,1578965090.668 [RudderServo](DEBUG): Initializing EZServoServo.
2020-01-14T01:24:50.670Z,1578965090.670 [RudderServo](DEBUG): Initializing RudderServo.
2020-01-14T01:24:50.671Z,1578965090.671 [ThrusterServo](DEBUG): Initializing EZServoServo.
2020-01-14T01:24:50.685Z,1578965090.685 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2020-01-14T01:24:50.906Z,1578965090.906 [DropWeight](CRITICAL): DROP WEIGHT MISSING.

2020-01-14T01:24:50.906Z,1578965090.906 [DropWeight] Hardware Fault, FailCount= 1
2020-01-14T01:24:50.906Z,1578965090.906 [DropWeight](ERROR): Hardware Fault
2020-01-14T01:24:50.908Z,1578965090.908 [Micromodem](INFO): Powering up
2020-01-14T01:24:50.908Z,1578965090.908 [Micromodem](DEBUG): Initializing Micromodem.
2020-01-14T01:24:50.967Z,1578965090.967 [CommandLine](FAULT): Scheduling is paused
2020-01-14T01:24:50.968Z,1578965090.968 [CBIT](INFO): Critical error at 20200114T012450
2020-01-14T01:24:50.968Z,1578965090.968 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2020-01-14T01:24:50.978Z,1578965090.978 [CBIT](ERROR): Hardware Fault in component: DropWeight
2020-01-14T01:24:50.979Z,1578965090.979 [CBIT](CRITICAL): Hardware Fault in component: DropWeight
2020-01-14T01:24:51.585Z,1578965091.585 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2020-01-14T01:24:51.585Z,1578965091.585 [RudderServo](FAULT): Rudder failed to initialize
2020-01-14T01:24:51.585Z,1578965091.585 [RudderServo] Communications Fault, FailCount= 1
2020-01-14T01:24:51.585Z,1578965091.585 [RudderServo](ERROR): Communications Fault
2020-01-14T01:24:51.694Z,1578965091.694 [CBIT](INFO): Critical error at 20200114T012450
2020-01-14T01:24:51.697Z,1578965091.697 [CBIT](ERROR): Communications Fault in component: RudderServo
2020-01-14T01:24:51.894Z,1578965091.894 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-01-14T01:24:51.894Z,1578965091.894 [RudderServo](INFO): Powering down
2020-01-14T01:24:52.555Z,1578965092.555 [RudderServo](DEBUG): Initializing EZServoServo.
2020-01-14T01:24:52.674Z,1578965092.674 [RudderServo](DEBUG): Initializing RudderServo.
2020-01-14T01:24:52.678Z,1578965092.678 [CBIT](INFO): Clearing failed state for component RudderServo
2020-01-14T01:24:52.678Z,1578965092.678 [RudderServo] No Fault, FailCount= 1
2020-01-14T01:24:55.785Z,1578965095.785 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2020-01-14T01:24:56.187Z,1578965096.187 [Micromodem](INFO): Nmea in: $CATMG,2020-01-14T01:24:55.219006Z,RTC,RTC*5F

2020-01-14T01:24:56.188Z,1578965096.188 [Micromodem](ERROR): CFG response from modem unexpected: $CATMG,2020-01-14T01:24:55.219006Z,RTC,RTC*5F

2020-01-14T01:24:56.595Z,1578965096.595 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2020-01-14T01:24:56.595Z,1578965096.595 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2020-01-14T01:24:56.995Z,1578965096.995 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2020-01-14T01:24:56.995Z,1578965096.995 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2020-01-14T01:24:57.403Z,1578965097.403 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2020-01-14T01:24:57.403Z,1578965097.403 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2020-01-14T01:24:57.807Z,1578965097.807 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2020-01-14T01:24:57.807Z,1578965097.807 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2020-01-14T01:24:58.211Z,1578965098.211 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2020-01-14T01:24:58.211Z,1578965098.211 [Micromodem](INFO): Nmea out: $CCCFG,FC0,10000*46

2020-01-14T01:24:58.611Z,1578965098.611 [Micromodem](INFO): Nmea in: $CACFG,FC0,10000*44

2020-01-14T01:24:58.611Z,1578965098.611 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2020-01-14T01:24:59.019Z,1578965099.019 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2020-01-14T01:24:59.019Z,1578965099.019 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2020-01-14T01:24:59.395Z,1578965099.395 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2020-01-14T01:24:59.395Z,1578965099.395 [Micromodem](INFO): Nmea out: $CCCLK,2020,01,14,01,25,00*46

2020-01-14T01:24:59.804Z,1578965099.804 [Micromodem](INFO): Nmea in: $CACLK,2020,1,14,1,25,0*74

2020-01-14T01:24:59.818Z,1578965099.818 [Micromodem](INFO): Nmea in: $CATMS,0,2020-01-14T01:25:01Z*75

2020-01-14T01:24:59.819Z,1578965099.819 [Micromodem](INFO): Nmea in: $CATMG,2020-01-14T01:25:01.026108Z,USER_CMD,RTC*1F

2020-01-14T01:25:01.008Z,1578965101.008 [DDM](INFO): Dynamic Docking Module:�
2020-01-14T01:25:01.804Z,1578965101.804 [DDM](INFO): Pause: Retracting whiskers
2020-01-14T01:25:03.864Z,1578965103.864 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2020-01-14T01:25:07.892Z,1578965107.892 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.005493
2020-01-14T01:25:08.690Z,1578965108.690 [DUSBL_Hydroid](INFO): DUSBL Version:O
2020-01-14T01:25:17.163Z,1578965117.163 [NAL9602](INFO): Powering up NAL9602
2020-01-14T01:25:28.084Z,1578965128.084 [NAL9602](INFO): NAL9602 initialized
2020-01-14T01:25:29.836Z,1578965129.836 [SBIT](IMPORTANT): Beginning Startup BIT
2020-01-14T01:25:29.848Z,1578965129.848 [CBIT](IMPORTANT): Beginning ground fault scan
2020-01-14T01:25:40.825Z,1578965140.825 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.024615
CHAN A1 (24V): -0.028853
CHAN A2 (12V): -0.007185
CHAN A3 (5V): -0.002337
CHAN B0 (3.3V): 0.000066
CHAN B1 (3.15aV): 0.000175
CHAN B2 (3.15bV): 0.000205
CHAN B3 (GND): 0.002348
OPEN: 0.005123
Full Scale Calc: 4.765 mA, -1.589 mA
2020-01-14T01:25:44.353Z,1578965144.353 [Micromodem](INFO): Nmea in: $CACYC,1,12,1,1,0,1*68

2020-01-14T01:25:44.353Z,1578965144.353 [Micromodem](INFO): Have incoming data
2020-01-14T01:25:44.357Z,1578965144.357 [Micromodem](INFO): Nmea in: $CARXD,12,1,0,1,3D90B8D172D0E11A94BB9A0D6EC0434A2AB488F6*51

2020-01-14T01:25:44.358Z,1578965144.358 [Micromodem](ERROR): Could not determine end of data in CARXD:$CARXD,12,1,0,1,3D90B8D172D0E11A94BB9A0D6EC0434A2AB488F6*51

2020-01-14T01:25:44.754Z,1578965144.754 [Micromodem](INFO): Nmea in: $CACST,6,0,20200114012543.824075,06,3125,34,0093,0150,14,02,02,00,02,1,012,001,0,3,1,0,150,35.0,11.00,00,-8.00,-01,-0.02,18,10000,4000*43

2020-01-14T01:25:49.414Z,1578965149.414 [Micromodem](INFO): Nmea in: $CACYC,1,12,1,1,0,1*68

2020-01-14T01:25:49.414Z,1578965149.414 [Micromodem](INFO): Have incoming data
2020-01-14T01:25:49.419Z,1578965149.419 [Micromodem](INFO): Nmea in: $CARXD,12,1,0,1,EA49DA6859B6D6FDD7866B1D923D9D8A099CA094*52

2020-01-14T01:25:49.425Z,1578965149.425 [Micromodem](INFO): Received command:failc
2020-01-14T01:25:49.518Z,1578965149.518 [CommandLine](IMPORTANT): got command failComponent
2020-01-14T01:25:49.519Z,1578965149.519 [CommandLine](IMPORTANT): Failed components:
2020-01-14T01:25:49.519Z,1578965149.519 [CommandLine](IMPORTANT): DropWeight: Hardware Fault
2020-01-14T01:25:49.802Z,1578965149.802 [Micromodem](INFO): Nmea in: $CACST,6,0,20200114012548.852465,06,4749,36,0140,0150,14,02,02,00,02,1,012,001,0,3,1,0,150,34.0,11.00,00,-8.00,-01,-0.02,19,10000,4000*4A

2020-01-14T01:26:05.296Z,1578965165.296 [CommandLine](IMPORTANT): got command show variable range
2020-01-14T01:26:05.300Z,1578965165.300 [CommandLine](IMPORTANT): acoustic_contact_range (unknown)
2020-01-14T01:26:05.449Z,1578965165.449 [CommandLine](IMPORTANT): BR_Ping1D.minRange (meter)
2020-01-14T01:26:05.449Z,1578965165.449 [CommandLine](IMPORTANT): BR_Ping1D.maxRange (meter)
2020-01-14T01:26:05.483Z,1578965165.483 [CommandLine](IMPORTANT): DUSBL_Hydroid.acoustic_contact_range (meter)
2020-01-14T01:26:05.484Z,1578965165.484 [CommandLine](IMPORTANT): Micromodem.range_request (count)
2020-01-14T01:26:05.520Z,1578965165.520 [CommandLine](IMPORTANT): Micromodem.range (meter)
2020-01-14T01:26:05.527Z,1578965165.527 [CommandLine](IMPORTANT): RDI_Pathfinder.Beam1Range (meter)
2020-01-14T01:26:05.527Z,1578965165.527 [CommandLine](IMPORTANT): RDI_Pathfinder.Beam2Range (meter)
2020-01-14T01:26:05.528Z,1578965165.528 [CommandLine](IMPORTANT): RDI_Pathfinder.Beam3Range (meter)
2020-01-14T01:26:05.528Z,1578965165.528 [CommandLine](IMPORTANT): RDI_Pathfinder.Beam4Range (meter)
2020-01-14T01:26:12.270Z,1578965172.270 [CommandLine](IMPORTANT): got command report touch DUSBL_Hydroid.acoustic_contact_range
2020-01-14T01:26:14.207Z,1578965174.207 [CommandLine](IMPORTANT): got command show stack
2020-01-14T01:26:14.207Z,1578965174.207 [CommandLine](IMPORTANT): Behavior Stack:

2020-01-14T01:26:14.207Z,1578965174.207 [MissionManager](IMPORTANT): Mission loaded, but not running.
2020-01-14T01:26:14.995Z,1578965174.995 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-01-14T01:26:14.995Z,1578965174.995 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,200112,35.0  0.0,1448.9,  0
2020-01-14T01:26:21.071Z,1578965181.071 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2020-01-14T01:26:23.171Z,1578965183.171 [SBIT](FAULT): Rudder: EXPECTED:0.000000 ACTUAL:0.017595
2020-01-14T01:26:23.171Z,1578965183.171 [SBIT](FAULT): Control surface position failure.
2020-01-14T01:26:23.582Z,1578965183.582 [SBIT](CRITICAL): SBIT FAILED
2020-01-14T01:26:23.636Z,1578965183.636 [CommandLine](IMPORTANT): got command configSet list
2020-01-14T01:26:23.636Z,1578965183.636 [CommandLine](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2020-01-14T01:26:23.639Z,1578965183.639 [CommandLine](IMPORTANT): DDM.loadAtStartup=1 bool;

2020-01-14T01:26:23.639Z,1578965183.639 [CommandLine](IMPORTANT): DDM.verbosity=3 count;

2020-01-14T01:26:23.639Z,1578965183.639 [CommandLine](IMPORTANT): DUSBL_Hydroid.detectionThreshold=25 count;

2020-01-14T01:26:23.640Z,1578965183.640 [CommandLine](IMPORTANT): DUSBL_Hydroid.transmitLockout=40 millisecond;

2020-01-14T01:26:23.640Z,1578965183.640 [CommandLine](IMPORTANT): Express linearApproximation DDM.DDMMode 1.000000 count;

2020-01-14T01:26:23.640Z,1578965183.640 [CommandLine](IMPORTANT): Express all DDM.cablePresent;

2020-01-14T01:26:23.645Z,1578965183.645 [CommandLine](IMPORTANT): HorizontalControl.kiHeading=0.002 reciprocal_second;

2020-01-14T01:26:23.645Z,1578965183.645 [CommandLine](IMPORTANT): HorizontalControl.kpHeading=0.8 none;

2020-01-14T01:26:23.646Z,1578965183.646 [CommandLine](IMPORTANT): HorizontalControl.rudDeadband=0.05 degree;

2020-01-14T01:26:23.646Z,1578965183.646 [CommandLine](IMPORTANT): Micromodem.destinationAddress=12 enum;

2020-01-14T01:26:23.647Z,1578965183.647 [CommandLine](IMPORTANT): Micromodem.surfaceThreshold=0 meter;

2020-01-14T01:26:23.647Z,1578965183.647 [CommandLine](IMPORTANT): PowerOnly.sampleTime=90 second;

2020-01-14T01:26:23.647Z,1578965183.647 [CommandLine](IMPORTANT): RudderServo.deviationAngle=0.0001 degree;

2020-01-14T01:26:23.647Z,1578965183.647 [CommandLine](IMPORTANT): VerticalControl.buoyancyNeutral=105 cubic_centimeter;

2020-01-14T01:26:23.648Z,1578965183.648 [CommandLine](IMPORTANT): VerticalControl.massDefault=-5 millimeter;

2020-01-14T01:26:23.658Z,1578965183.658 [CBIT](INFO): Critical error at 20200114T012623
2020-01-14T01:26:24.127Z,1578965184.127 [MissionManager](IMPORTANT): Started mission Startup
2020-01-14T01:26:24.128Z,1578965184.128 [Startup] Running Loop=1
2020-01-14T01:26:24.128Z,1578965184.128 [Startup](DEBUG): Aggregate::initialize Startup
2020-01-14T01:26:24.128Z,1578965184.128 [Startup:A.GoToSurface] Running Loop=1
2020-01-14T01:26:24.128Z,1578965184.128 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-14T01:26:24.145Z,1578965184.145 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-14T01:26:24.146Z,1578965184.146 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-14T01:26:24.146Z,1578965184.146 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-14T01:26:24.146Z,1578965184.146 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-14T01:26:24.147Z,1578965184.147 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-14T01:26:24.148Z,1578965184.148 [Startup:StartupSatComms] Running Loop=1
2020-01-14T01:26:24.148Z,1578965184.148 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2020-01-14T01:26:24.148Z,1578965184.148 [Startup:StartupSatComms:A] Running Loop=1
2020-01-14T01:26:24.338Z,1578965184.338 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2020-01-14T01:26:46.143Z,1578965206.143 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.latitude_fix 36.799999 degree
2020-01-14T01:26:46.144Z,1578965206.144 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.latitude_fix" handled in the control thread.
2020-01-14T01:26:46.145Z,1578965206.145 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.longitude_fix -121.900002 degree
2020-01-14T01:26:46.146Z,1578965206.146 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.longitude_fix" handled in the control thread.
2020-01-14T01:26:46.548Z,1578965206.548 [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,
2020-01-14T01:26:46.935Z,1578965206.935 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-14T01:26:46.935Z,1578965206.935 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2020-01-14T01:26:46.935Z,1578965206.935 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-14T01:26:46.953Z,1578965206.953 [Startup:StartupSatComms:A] Stopped
2020-01-14T01:26:46.953Z,1578965206.953 [Startup:StartupSatComms:B] Running Loop=1
2020-01-14T01:26:46.965Z,1578965206.965 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-14T01:26:47.348Z,1578965207.348 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2020-01-14T01:26:47.377Z,1578965207.377 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-14T01:26:47.377Z,1578965207.377 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2020-01-14T01:26:48.246Z,1578965208.246 [Micromodem](INFO): Outgoing frame #1, 64 bytes: A5161D5E000001005D000004008F0200000000000000151D80030C5669BF3148E2FA22188B6A388EEB0BC45C9E58EC1F659FAAC29EC6B6829A7CC0606A7B8EA6
2020-01-14T01:26:48.247Z,1578965208.247 [Micromodem](INFO): Outgoing frame #2, 64 bytes: AA422B2385EC73C0FABC6B0C6D70893EB78F88D46452A4A3C7E9D8907F12032C01CF700820374B1C8E5D82357819DDFA5B46F5DFA93FEDD106818297EE3670DA
2020-01-14T01:26:48.247Z,1578965208.247 [Micromodem](INFO): Outgoing frame #3, 64 bytes: C5CC726D9E65DB0A8B6B1A5835DA74241E6DA5E786B7DAEC8F7F3C8B6F9D83F49D768632BAC056B788D63AAB2AB8F9951867A5188E2B9BF14D41C343AB5D4E91
2020-01-14T01:26:48.248Z,1578965208.248 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-14T01:26:48.459Z,1578965208.459 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-14T01:26:48.526Z,1578965208.526 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-14T01:26:48.526Z,1578965208.526 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2020-01-14T01:26:48.527Z,1578965208.527 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-14T01:26:48.549Z,1578965208.549 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-14T01:26:48.855Z,1578965208.855 [Micromodem](INFO): Nmea in: $CADRQ,012649,1,12,0,64,1*7C

2020-01-14T01:26:48.855Z,1578965208.855 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,A5161D5E000001005D000004008F0200000000000000151D80030C5669BF3148E2FA22188B6A388EEB0BC45C9E58EC1F659FAAC29EC6B6829A7CC0606A7B8EA6*47

2020-01-14T01:26:49.073Z,1578965209.073 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-14T01:26:49.073Z,1578965209.073 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2020-01-14T01:26:49.238Z,1578965209.238 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-14T01:26:49.642Z,1578965209.642 [Micromodem](INFO): Nmea in: $CADRQ,012650,1,12,0,64,2*77

2020-01-14T01:26:49.643Z,1578965209.643 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,AA422B2385EC73C0FABC6B0C6D70893EB78F88D46452A4A3C7E9D8907F12032C01CF700820374B1C8E5D82357819DDFA5B46F5DFA93FEDD106818297EE3670DA*3F

2020-01-14T01:26:49.736Z,1578965209.736 [RDI_Pathfinder](ERROR): Failed to parse:


2020-01-14T01:26:49.955Z,1578965209.955 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-14T01:26:49.955Z,1578965209.955 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 3
2020-01-14T01:26:49.955Z,1578965209.955 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-14T01:26:50.001Z,1578965210.001 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-14T01:26:50.049Z,1578965210.049 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-14T01:26:50.130Z,1578965210.130 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-14T01:26:50.130Z,1578965210.130 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 3
2020-01-14T01:26:50.451Z,1578965210.451 [Micromodem](INFO): Nmea in: $CADRQ,012651,1,12,0,64,3*77

2020-01-14T01:26:50.451Z,1578965210.451 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,C5CC726D9E65DB0A8B6B1A5835DA74241E6DA5E786B7DAEC8F7F3C8B6F9D83F49D768632BAC056B788D63AAB2AB8F9951867A5188E2B9BF14D41C343AB5D4E91*4F

2020-01-14T01:26:50.851Z,1578965210.851 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-14T01:26:50.891Z,1578965210.891 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-14T01:26:50.891Z,1578965210.891 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 4
2020-01-14T01:26:50.891Z,1578965210.891 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-14T01:26:50.938Z,1578965210.938 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-14T01:26:51.263Z,1578965211.263 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-14T01:26:51.328Z,1578965211.328 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-14T01:26:51.328Z,1578965211.328 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 4
2020-01-14T01:26:52.111Z,1578965212.111 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-14T01:26:52.112Z,1578965212.112 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 5
2020-01-14T01:26:52.112Z,1578965212.112 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-14T01:26:52.129Z,1578965212.129 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-14T01:26:52.508Z,1578965212.508 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-14T01:26:52.508Z,1578965212.508 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 5
2020-01-14T01:26:53.328Z,1578965213.328 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-14T01:26:53.328Z,1578965213.328 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 6
2020-01-14T01:26:53.328Z,1578965213.328 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-14T01:26:53.371Z,1578965213.371 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-14T01:26:53.754Z,1578965213.754 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-14T01:26:53.754Z,1578965213.754 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 6
2020-01-14T01:26:54.531Z,1578965214.531 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-14T01:26:54.531Z,1578965214.531 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 7
2020-01-14T01:26:54.531Z,1578965214.531 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-14T01:26:54.567Z,1578965214.567 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-14T01:26:54.891Z,1578965214.891 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2020-01-14T01:26:54.971Z,1578965214.971 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-14T01:26:54.971Z,1578965214.971 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 7
2020-01-14T01:26:55.296Z,1578965215.296 [Micromodem](INFO): Nmea in: $CAXST,6,20200114,012651.989327,3,0,200,4000,10000,1,1,12,1,3,3,3,192*71

2020-01-14T01:26:55.731Z,1578965215.731 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-14T01:26:55.731Z,1578965215.731 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 8
2020-01-14T01:26:55.731Z,1578965215.731 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-14T01:26:55.761Z,1578965215.761 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-14T01:26:56.140Z,1578965216.140 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-14T01:26:56.140Z,1578965216.140 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 8
2020-01-14T01:26:56.633Z,1578965216.633 [DataOverHttps](INFO): Sending 343 bytes from file Logs/20200114T011725/Courier0000.lzma
2020-01-14T01:26:56.948Z,1578965216.948 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-14T01:26:56.948Z,1578965216.948 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 9
2020-01-14T01:26:56.948Z,1578965216.948 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-14T01:26:56.958Z,1578965216.958 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-14T01:26:57.437Z,1578965217.437 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-14T01:26:57.437Z,1578965217.437 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 9
2020-01-14T01:26:58.123Z,1578965218.123 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-14T01:26:58.148Z,1578965218.148 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-14T01:26:58.148Z,1578965218.148 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 10
2020-01-14T01:26:58.148Z,1578965218.148 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-14T01:26:58.158Z,1578965218.158 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-14T01:26:58.537Z,1578965218.537 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-14T01:26:58.623Z,1578965218.623 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-14T01:26:58.623Z,1578965218.623 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 10
2020-01-14T01:26:58.645Z,1578965218.645 [DataOverHttps](INFO): Moved sent file to Logs/20200114T011725/Courier0000.lzma.bak
2020-01-14T01:26:58.645Z,1578965218.645 [DataOverHttps](INFO): SBD MOMSN=12192357
2020-01-14T01:26:58.939Z,1578965218.939 [Micromodem](INFO): Nmea in: $CAACK,12,1,3,1*7B

2020-01-14T01:26:58.940Z,1578965218.940 [Micromodem](INFO): Sent 184 bytes from file Logs/20200114T011725/Courier0000.lzma.parts
2020-01-14T01:26:58.940Z,1578965218.940 [Micromodem](INFO): Packets left to send: 1
2020-01-14T01:26:59.338Z,1578965219.338 [Micromodem](INFO): Nmea in: $CACST,6,0,20200114012658.386762,06,2546,34,0104,0150,07,01,01,00,03,1,012,001,0,4,1,0,150,33.5,10.00,22,-7.00,-01,-0.02,15,10000,4000*43

2020-01-14T01:27:00.265Z,1578965220.265 [Micromodem](INFO): Outgoing frame #1, 47 bytes: A5161D5E040000005D00000400140000000000000000151D80030C5669C08C34EE6AEAC8E27BFE4C1574FD4A540000
2020-01-14T01:27:00.265Z,1578965220.265 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,1*6B

2020-01-14T01:27:00.380Z,1578965220.380 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-01-14T01:27:00.380Z,1578965220.380 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 11
2020-01-14T01:27:00.388Z,1578965220.388 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-01-14T01:27:00.406Z,1578965220.406 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-01-14T01:27:00.544Z,1578965220.544 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-01-14T01:27:00.544Z,1578965220.544 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 11
2020-01-14T01:27:00.927Z,1578965220.927 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1578965248.000000 second
2020-01-14T01:27:01.231Z,1578965221.231 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,1*69

2020-01-14T01:27:01.646Z,1578965221.646 [Micromodem](INFO): Nmea in: $CADRQ,012701,1,12,0,64,1*71

2020-01-14T01:27:01.647Z,1578965221.647 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,A5161D5E040000005D00000400140000000000000000151D80030C5669C08C34EE6AEAC8E27BFE4C1574FD4A540000*4C

2020-01-14T01:27:02.042Z,1578965222.042 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,47*4A

2020-01-14T01:27:02.447Z,1578965222.447 [Micromodem](INFO): Nmea in: $CATXP,47*71

2020-01-14T01:27:03.662Z,1578965223.662 [Micromodem](INFO): Nmea in: $CATXF,47*67

2020-01-14T01:27:04.059Z,1578965224.059 [Micromodem](INFO): Nmea in: $CAXST,6,20200114,012703.149139,3,0,200,4000,10000,1,1,12,1,1,1,3,47*47

2020-01-14T01:27:05.675Z,1578965225.675 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-14T01:27:05.675Z,1578965225.675 [Micromodem](INFO): Sent 39 bytes from file Logs/20200114T011725/Courier0004.lzma.parts
2020-01-14T01:27:05.676Z,1578965225.676 [Micromodem](INFO): Packets left to send: 0
2020-01-14T01:27:06.082Z,1578965226.082 [Micromodem](INFO): Nmea in: $CACST,6,0,20200114012705.868418,06,2201,33,0125,0150,37,02,02,00,03,1,012,001,0,4,1,0,150,33.6,11.00,24,-8.00,-01,-0.02,18,10000,4000*4A

2020-01-14T01:27:07.280Z,1578965227.280 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 58181D5E000001005D00000400D70200000000000000151D80030C5669BF3148E2FA22188B6A388EEB0BC45C9E58EC1F659FAAC29EC6B6829A7CC0606A7B8EA6
2020-01-14T01:27:07.285Z,1578965227.285 [Micromodem](INFO): Outgoing frame #2, 64 bytes: AA422B2385EC73C0FABC6B0C6D70893EB78F88D46452A4A3C7E9D8907F12032C01CF700820374B1C8E5D82357819DDFA5B46F5DFA93FEDD106818297EE367BB5
2020-01-14T01:27:07.286Z,1578965227.286 [Micromodem](INFO): Outgoing frame #3, 64 bytes: 1C2DA988629B23F07C6EC550A08A5A99D2CB4F036DD979AF966C08B43AA523924D5AE1BDD1ECFC61EEA7706AFED04C33048C412F6E96CE0EFD748FB5536A21E4
2020-01-14T01:27:07.286Z,1578965227.286 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-14T01:27:08.230Z,1578965228.230 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-14T01:27:08.655Z,1578965228.655 [Micromodem](INFO): Nmea in: $CADRQ,012708,1,12,0,64,1*78

2020-01-14T01:27:08.656Z,1578965228.656 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,58181D5E000001005D00000400D70200000000000000151D80030C5669BF3148E2FA22188B6A388EEB0BC45C9E58EC1F659FAAC29EC6B6829A7CC0606A7B8EA6*3D

2020-01-14T01:27:09.042Z,1578965229.042 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-14T01:27:09.442Z,1578965229.442 [Micromodem](INFO): Nmea in: $CADRQ,012710,1,12,0,64,2*72

2020-01-14T01:27:09.443Z,1578965229.443 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,AA422B2385EC73C0FABC6B0C6D70893EB78F88D46452A4A3C7E9D8907F12032C01CF700820374B1C8E5D82357819DDFA5B46F5DFA93FEDD106818297EE367BB5*3F

2020-01-14T01:27:09.854Z,1578965229.854 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-14T01:27:10.260Z,1578965230.260 [Micromodem](INFO): Nmea in: $CADRQ,012710,1,12,0,64,3*73

2020-01-14T01:27:10.260Z,1578965230.260 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,1C2DA988629B23F07C6EC550A08A5A99D2CB4F036DD979AF966C08B43AA523924D5AE1BDD1ECFC61EEA7706AFED04C33048C412F6E96CE0EFD748FB5536A21E4*34

2020-01-14T01:27:10.659Z,1578965230.659 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-14T01:27:11.059Z,1578965231.059 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-14T01:27:14.707Z,1578965234.707 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2020-01-14T01:27:15.139Z,1578965235.139 [Micromodem](INFO): Nmea in: $CAXST,6,20200114,012711.801419,3,0,200,4000,10000,1,1,12,1,3,3,3,192*7F

2020-01-14T01:27:17.927Z,1578965237.927 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-14T01:27:18.343Z,1578965238.343 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-14T01:27:18.735Z,1578965238.735 [Micromodem](INFO): Nmea in: $CAACK,12,1,3,1*7B

2020-01-14T01:27:18.735Z,1578965238.735 [Micromodem](INFO): Sent 184 bytes from file Logs/20200114T012440/Courier0000.lzma.parts
2020-01-14T01:27:18.735Z,1578965238.735 [Micromodem](INFO): Packets left to send: 1
2020-01-14T01:27:19.156Z,1578965239.156 [Micromodem](INFO): Nmea in: $CACST,6,0,20200114012718.204557,06,2498,33,0112,0150,14,02,02,00,02,1,012,001,0,4,1,0,150,34.0,10.00,23,-7.00,-01,-0.02,16,10000,4000*48

2020-01-14T01:27:20.329Z,1578965240.329 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 58181D5E00000000716A78D8DF95D118495674E9259427C96AD1CAC00A93F0AC66FC23F8B6BE4BA7969AC0EDA7A03F674249FB24DF128664287B544E5699F1DF
2020-01-14T01:27:20.329Z,1578965240.329 [Micromodem](INFO): Outgoing frame #2, 64 bytes: F56DBFD10EF28092D8C2CF4BBBE0D731B757271BBFE541931C7EE2CE7BFA337B4925B5B569D2B08E789DDB03E1A1E4AFEECEEB3B47E163E49B4EE653AEAD8B90
2020-01-14T01:27:20.330Z,1578965240.330 [Micromodem](INFO): Outgoing frame #3, 64 bytes: 67D9E6637E1CEE0298DEFCFAF41AC52E45D2DEEAE7D0D87CF0A24A8D8EAC62E7C30CA46F07F69BCA2E5B49CF2B95C421F3DEAEF8F3C687A50E86C22B2B175C00
2020-01-14T01:27:20.330Z,1578965240.330 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-14T01:27:21.311Z,1578965241.311 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-14T01:27:21.702Z,1578965241.702 [Micromodem](INFO): Nmea in: $CADRQ,012721,1,12,0,64,1*73

2020-01-14T01:27:21.703Z,1578965241.703 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,58181D5E00000000716A78D8DF95D118495674E9259427C96AD1CAC00A93F0AC66FC23F8B6BE4BA7969AC0EDA7A03F674249FB24DF128664287B544E5699F1DF*40

2020-01-14T01:27:22.110Z,1578965242.110 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-14T01:27:22.161Z,1578965242.161 [DataOverHttps](INFO): Sending 368 bytes from file Logs/20200114T012440/Courier0000.lzma
2020-01-14T01:27:22.510Z,1578965242.510 [Micromodem](INFO): Nmea in: $CADRQ,012723,1,12,0,64,2*72

2020-01-14T01:27:22.511Z,1578965242.511 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,F56DBFD10EF28092D8C2CF4BBBE0D731B757271BBFE541931C7EE2CE7BFA337B4925B5B569D2B08E789DDB03E1A1E4AFEECEEB3B47E163E49B4EE653AEAD8B90*48

2020-01-14T01:27:22.925Z,1578965242.925 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-14T01:27:23.322Z,1578965243.322 [Micromodem](INFO): Nmea in: $CADRQ,012723,1,12,0,64,3*73

2020-01-14T01:27:23.323Z,1578965243.323 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,67D9E6637E1CEE0298DEFCFAF41AC52E45D2DEEAE7D0D87CF0A24A8D8EAC62E7C30CA46F07F69BCA2E5B49CF2B95C421F3DEAEF8F3C687A50E86C22B2B175C00*3C

2020-01-14T01:27:23.391Z,1578965243.391 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-01-14T01:27:23.392Z,1578965243.392 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2020-01-14T01:27:23.726Z,1578965243.726 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-14T01:27:24.130Z,1578965244.130 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-14T01:27:24.166Z,1578965244.166 [DataOverHttps](INFO): Moved sent file to Logs/20200114T012440/Courier0000.lzma.bak
2020-01-14T01:27:24.166Z,1578965244.166 [DataOverHttps](INFO): SBD MOMSN=12192363
2020-01-14T01:27:27.774Z,1578965247.774 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2020-01-14T01:27:28.168Z,1578965248.168 [Micromodem](INFO): Nmea in: $CAXST,6,20200114,012724.863195,3,0,200,4000,10000,1,1,12,1,3,3,3,192*7C

2020-01-14T01:27:30.995Z,1578965250.995 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-14T01:27:31.403Z,1578965251.403 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-14T01:27:31.816Z,1578965251.816 [Micromodem](INFO): Nmea in: $CAACK,12,1,3,1*7B

2020-01-14T01:27:31.821Z,1578965251.821 [Micromodem](INFO): Sent 184 bytes from file Logs/20200114T012440/Courier0000.lzma.parts
2020-01-14T01:27:31.821Z,1578965251.821 [Micromodem](INFO): Packets left to send: 0
2020-01-14T01:27:32.214Z,1578965252.214 [Micromodem](INFO): Nmea in: $CACST,6,0,20200114012731.266981,06,2932,34,0143,0150,37,02,02,00,03,1,012,001,0,4,1,0,150,33.5,11.00,24,-8.00,-01,-0.01,19,10000,4000*49

2020-01-14T01:27:32.838Z,1578965252.838 [Startup:StartupSatComms:B] Stopped
2020-01-14T01:27:32.838Z,1578965252.838 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2020-01-14T01:27:32.838Z,1578965252.838 [Startup:StartupSatComms] Stopped
2020-01-14T01:27:32.838Z,1578965252.838 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2020-01-14T01:27:32.839Z,1578965252.839 [Startup](INFO): Completed Startup
2020-01-14T01:27:32.839Z,1578965252.839 [MissionManager](INFO): Startup is completed.
2020-01-14T01:27:32.839Z,1578965252.839 [MissionManager](INFO): Uninitializing Mission Startup
2020-01-14T01:27:32.839Z,1578965252.839 [Startup] Stopped
2020-01-14T01:27:32.839Z,1578965252.839 [Startup](DEBUG): Aggregate::uninitialize Startup
2020-01-14T01:27:32.839Z,1578965252.839 [Startup:A.GoToSurface] Stopped
2020-01-14T01:27:32.839Z,1578965252.839 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-14T01:27:33.049Z,1578965253.049 [MissionManager](IMPORTANT): Started mission Default
2020-01-14T01:27:33.049Z,1578965253.049 [Default] Running Loop=1
2020-01-14T01:27:33.049Z,1578965253.049 [Default](DEBUG): Aggregate::initialize Default
2020-01-14T01:27:33.049Z,1578965253.049 [Default:B.GoToSurface] Running Loop=1
2020-01-14T01:27:33.049Z,1578965253.049 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-14T01:27:33.050Z,1578965253.050 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-14T01:27:33.050Z,1578965253.050 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-14T01:27:33.051Z,1578965253.051 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-14T01:27:33.051Z,1578965253.051 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-14T01:27:33.051Z,1578965253.051 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-14T01:27:33.051Z,1578965253.051 [Default:A.Wait] Running Loop=1
2020-01-14T01:27:33.051Z,1578965253.051 [Default:A.Wait](DEBUG): Initialize Wait Component.
2020-01-14T01:27:42.883Z,1578965262.883 [DataOverHttps](INFO): Sending 823 bytes from file Logs/20200110T183104/Express0001.lzma
2020-01-14T01:27:43.383Z,1578965263.383 [Micromodem](INFO): Nmea in: $CACYC,1,12,1,1,0,1*68

2020-01-14T01:27:43.384Z,1578965263.384 [Micromodem](INFO): Have incoming data
2020-01-14T01:27:43.386Z,1578965263.386 [Micromodem](INFO): Nmea in: $CARXD,12,1,0,1,3D90B8D172D0E11A94BB9A0D6EC0434A2AB488F6*51

2020-01-14T01:27:43.388Z,1578965263.388 [Micromodem](INFO): Received command:stop
2020-01-14T01:27:43.418Z,1578965263.418 [CommandLine](IMPORTANT): got command stop
2020-01-14T01:27:43.419Z,1578965263.419 [CommandLine](IMPORTANT): Scheduling is paused
2020-01-14T01:27:43.778Z,1578965263.778 [Micromodem](INFO): Nmea in: $CACST,6,0,20200114012742.906521,06,3100,34,0110,0150,14,02,02,00,02,1,012,001,0,3,1,0,150,34.3,11.00,00,-8.00,-01,-0.02,16,10000,4000*44

2020-01-14T01:27:44.886Z,1578965264.886 [DataOverHttps](INFO): Moved sent file to Logs/20200110T183104/Express0001.lzma.bak
2020-01-14T01:27:44.886Z,1578965264.886 [DataOverHttps](INFO): SBD MOMSN=12192369
2020-01-14T01:27:46.246Z,1578965266.246 [Default:A.Wait](INFO): Done Waiting.
2020-01-14T01:27:46.246Z,1578965266.246 [Default:A.Wait] Stopped
2020-01-14T01:27:46.246Z,1578965266.246 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-14T01:27:46.694Z,1578965266.694 [Default:CheckIn] Running Loop=1
2020-01-14T01:27:46.694Z,1578965266.694 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2020-01-14T01:27:46.694Z,1578965266.694 [Default:CheckIn:Read_GPS] Running Loop=1
2020-01-14T01:27:47.053Z,1578965267.053 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2020-01-14T01:27:48.641Z,1578965268.641 [Micromodem](INFO): Nmea in: $CACYC,1,12,1,1,0,1*68

2020-01-14T01:27:48.642Z,1578965268.642 [Micromodem](INFO): Have incoming data
2020-01-14T01:27:48.680Z,1578965268.680 [Micromodem](INFO): Nmea in: $CARXD,12,1,0,1,EA49DA6859B6D6FDD7866B1D923D9D8A099CA094*52

2020-01-14T01:27:48.681Z,1578965268.681 [Micromodem](INFO): Received command:failc
2020-01-14T01:27:48.725Z,1578965268.725 [CommandLine](IMPORTANT): got command failComponent
2020-01-14T01:27:48.725Z,1578965268.725 [CommandLine](IMPORTANT): Failed components:
2020-01-14T01:27:48.726Z,1578965268.726 [CommandLine](IMPORTANT): DropWeight: Hardware Fault
2020-01-14T01:27:49.076Z,1578965269.076 [Micromodem](INFO): Nmea in: $CACST,6,0,20200114012747.958934,06,2730,34,0141,0150,22,02,02,00,03,1,012,001,0,3,1,0,150,34.2,11.00,00,-8.00,-01,-0.02,18,10000,4000*49

2020-01-14T01:27:53.453Z,1578965273.453 [CommandLine](IMPORTANT): got command report
2020-01-14T01:27:53.454Z,1578965273.454 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range reporting when touched
2020-01-14T01:27:54.559Z,1578965274.559 [CommandLine](IMPORTANT): got command show stack
2020-01-14T01:27:54.559Z,1578965274.559 [CommandLine](IMPORTANT): Behavior Stack:

2020-01-14T01:27:54.559Z,1578965274.559 [Default](IMPORTANT): Priority 0: Default:B.GoToSurface
2020-01-14T01:27:54.559Z,1578965274.559 [Default:CheckIn](IMPORTANT): Priority 1: Default:CheckIn:Read_GPS
2020-01-14T01:28:01.261Z,1578965281.261 [CommandLine](IMPORTANT): got command run ./Missions/Maintenance/DUSBL.xml
2020-01-14T01:28:01.262Z,1578965281.262 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/DUSBL.xml
2020-01-14T01:28:01.388Z,1578965281.388 [MissionManager](INFO): DefineArg DUSBL.MissionTimeout = 90.000000 min
2020-01-14T01:28:01.404Z,1578965281.404 [MissionManager](INFO): DefineArg DUSBL.NumberOfRequests = 10.000000 count
2020-01-14T01:28:01.450Z,1578965281.450 [MissionManager](INFO): DefineArg DUSBL.TransponderCode = 2.000000 count
2020-01-14T01:28:01.463Z,1578965281.463 [MissionManager](INFO): DefineArg DUSBL.NumberOfPings = 1.000000 count
2020-01-14T01:28:01.470Z,1578965281.470 [MissionManager](INFO): DefineArg DUSBL.EnabledDUSBL = DUSBL_Hydroid.loadAtStartup
2020-01-14T01:28:01.472Z,1578965281.472 [DUSBL:A.Pitch](DEBUG): Construct.
2020-01-14T01:28:01.501Z,1578965281.501 [DUSBL:B.SetSpeed](DEBUG): Construct.
2020-01-14T01:28:01.543Z,1578965281.543 [DUSBL:RequestRepeater:C.Wait](DEBUG): Construct Wait.
2020-01-14T01:28:01.559Z,1578965281.559 [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>


2020-01-14T01:28:01.574Z,1578965281.574 [CommandLine](IMPORTANT): Running ./Missions/Maintenance/DUSBL.xml
2020-01-14T01:28:01.723Z,1578965281.723 [Default] Stopped
2020-01-14T01:28:01.724Z,1578965281.724 [Default](DEBUG): Aggregate::uninitialize Default
2020-01-14T01:28:01.724Z,1578965281.724 [Default:B.GoToSurface] Stopped
2020-01-14T01:28:01.724Z,1578965281.724 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-14T01:28:01.724Z,1578965281.724 [Default:CheckIn] Stopped
2020-01-14T01:28:01.724Z,1578965281.724 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2020-01-14T01:28:01.724Z,1578965281.724 [Default:CheckIn:Read_GPS] Stopped
2020-01-14T01:28:01.724Z,1578965281.724 [MissionManager](IMPORTANT): Started mission DUSBL
2020-01-14T01:28:01.724Z,1578965281.724 [DUSBL] Running Loop=1
2020-01-14T01:28:01.729Z,1578965281.729 [DUSBL](DEBUG): Aggregate::initialize DUSBL
2020-01-14T01:28:01.729Z,1578965281.729 [DUSBL:A.Pitch] Running Loop=1
2020-01-14T01:28:01.729Z,1578965281.729 [DUSBL:A.Pitch](DEBUG): Initialize.
2020-01-14T01:28:01.729Z,1578965281.729 [DUSBL:B.SetSpeed] Running Loop=1
2020-01-14T01:28:01.729Z,1578965281.729 [DUSBL:B.SetSpeed](DEBUG): Initialize.
2020-01-14T01:28:01.729Z,1578965281.729 [DUSBL:C] Running Loop=1
2020-01-14T01:28:01.730Z,1578965281.730 [DUSBL:RequestRepeater] Running Loop=1
2020-01-14T01:28:01.730Z,1578965281.730 [DUSBL:RequestRepeater](DEBUG): Aggregate::initialize DUSBL:RequestRepeater
2020-01-14T01:28:01.730Z,1578965281.730 [DUSBL:RequestRepeater:A] Running Loop=1
2020-01-14T01:28:01.730Z,1578965281.730 [DUSBL:RequestRepeater:B] Running Loop=1
2020-01-14T01:28:01.730Z,1578965281.730 [DUSBL:RequestRepeater:C.Wait] Running Loop=1
2020-01-14T01:28:01.730Z,1578965281.730 [DUSBL:RequestRepeater:C.Wait](DEBUG): Initialize Wait Component.
2020-01-14T01:28:01.730Z,1578965281.730 [DUSBL:RequestRepeater:B] Running Loop=1
2020-01-14T01:28:01.731Z,1578965281.731 [DUSBL:RequestRepeater:A] Running Loop=1
2020-01-14T01:28:01.731Z,1578965281.731 [DUSBL:C](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_range
2020-01-14T01:28:01.732Z,1578965281.732 [DUSBL:C](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_direction_vehicle_frame
2020-01-14T01:28:01.732Z,1578965281.732 [DUSBL:B.SetSpeed] Running Loop=1
2020-01-14T01:28:01.732Z,1578965281.732 [DUSBL:A.Pitch] Running Loop=1
2020-01-14T01:28:03.667Z,1578965283.667 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-14T01:28:04.096Z,1578965284.096 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-14T01:28:04.883Z,1578965284.883 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012805.16*57

2020-01-14T01:28:07.302Z,1578965287.302 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-14T01:28:08.115Z,1578965288.115 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-14T01:28:08.546Z,1578965288.546 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-14T01:28:09.330Z,1578965289.330 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012809.61*5B

2020-01-14T01:28:10.543Z,1578965290.543 [CommandLine](IMPORTANT): got command stop
2020-01-14T01:28:10.543Z,1578965290.543 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2020-01-14T01:28:10.645Z,1578965290.645 [MissionManager](INFO): MissionManager is completed.
2020-01-14T01:28:10.645Z,1578965290.645 [MissionManager](INFO): Uninitializing Mission DUSBL
2020-01-14T01:28:10.645Z,1578965290.645 [DUSBL] Stopped
2020-01-14T01:28:10.646Z,1578965290.646 [DUSBL](DEBUG): Aggregate::uninitialize DUSBL
2020-01-14T01:28:10.646Z,1578965290.646 [DUSBL:A.Pitch] Stopped
2020-01-14T01:28:10.646Z,1578965290.646 [DUSBL:B.SetSpeed] Stopped
2020-01-14T01:28:10.646Z,1578965290.646 [DUSBL:B.SetSpeed](DEBUG): Uninitialize.
2020-01-14T01:28:10.646Z,1578965290.646 [DUSBL:C] Stopped
2020-01-14T01:28:10.646Z,1578965290.646 [DUSBL:RequestRepeater] Stopped
2020-01-14T01:28:10.646Z,1578965290.646 [DUSBL:RequestRepeater](DEBUG): Aggregate::uninitialize DUSBL:RequestRepeater
2020-01-14T01:28:10.646Z,1578965290.646 [DUSBL:RequestRepeater:A] Stopped
2020-01-14T01:28:10.646Z,1578965290.646 [DUSBL:RequestRepeater:B] Stopped
2020-01-14T01:28:10.646Z,1578965290.646 [DUSBL:RequestRepeater:C.Wait] Stopped
2020-01-14T01:28:10.646Z,1578965290.646 [DUSBL:RequestRepeater:C.Wait](DEBUG): Uninitialize Wait Component.
2020-01-14T01:28:11.050Z,1578965291.050 [MissionManager](IMPORTANT): Started mission Default
2020-01-14T01:28:11.051Z,1578965291.051 [Default] Running Loop=1
2020-01-14T01:28:11.051Z,1578965291.051 [Default](DEBUG): Aggregate::initialize Default
2020-01-14T01:28:11.051Z,1578965291.051 [Default:B.GoToSurface] Running Loop=1
2020-01-14T01:28:11.051Z,1578965291.051 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-14T01:28:11.051Z,1578965291.051 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-14T01:28:11.051Z,1578965291.051 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-14T01:28:11.052Z,1578965291.052 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-14T01:28:11.052Z,1578965291.052 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-14T01:28:11.052Z,1578965291.052 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-14T01:28:11.053Z,1578965291.053 [Default:A.Wait] Running Loop=1
2020-01-14T01:28:11.053Z,1578965291.053 [Default:A.Wait](DEBUG): Initialize Wait Component.
2020-01-14T01:28:18.675Z,1578965298.675 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-01-14T01:28:18.676Z,1578965298.676 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-32768,
2020-01-14T01:28:23.080Z,1578965303.080 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00,   0.00
2020-01-14T01:28:24.200Z,1578965304.200 [Default:A.Wait](INFO): Done Waiting.
2020-01-14T01:28:24.200Z,1578965304.200 [Default:A.Wait] Stopped
2020-01-14T01:28:24.200Z,1578965304.200 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-14T01:28:24.428Z,1578965304.428 [Default:CheckIn] Running Loop=1
2020-01-14T01:28:24.428Z,1578965304.428 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2020-01-14T01:28:24.428Z,1578965304.428 [Default:CheckIn:Read_GPS] Running Loop=1
2020-01-14T01:30:03.157Z,1578965403.157 [CommandLine](IMPORTANT): got command failComponent
2020-01-14T01:30:03.157Z,1578965403.157 [CommandLine](IMPORTANT): Failed components:
2020-01-14T01:30:03.158Z,1578965403.158 [CommandLine](IMPORTANT): DropWeight: Hardware Fault
2020-01-14T01:30:08.931Z,1578965408.931 [Micromodem](INFO): Nmea in: $CACYC,1,12,1,1,0,1*68

2020-01-14T01:30:08.931Z,1578965408.931 [Micromodem](INFO): Have incoming data
2020-01-14T01:30:08.934Z,1578965408.934 [Micromodem](INFO): Nmea in: $CARXD,12,1,0,1,3D90B8D172D0E11A94BB9A0D6EC0434A2AB488F6*51

2020-01-14T01:30:08.935Z,1578965408.935 [Micromodem](INFO): Received command:stop
2020-01-14T01:30:08.966Z,1578965408.966 [CommandLine](IMPORTANT): got command stop
2020-01-14T01:30:09.338Z,1578965409.338 [Micromodem](INFO): Nmea in: $CACST,6,0,20200114013008.331029,06,4269,36,0129,0150,07,01,01,00,03,1,012,001,0,3,1,0,150,37.0,10.00,00,-7.00,-01,-0.02,16,10000,4000*41

2020-01-14T01:30:14.183Z,1578965414.183 [Micromodem](INFO): Nmea in: $CACYC,1,12,1,1,0,1*68

2020-01-14T01:30:14.183Z,1578965414.183 [Micromodem](INFO): Have incoming data
2020-01-14T01:30:14.186Z,1578965414.186 [Micromodem](INFO): Nmea in: $CARXD,12,1,0,1,EA49DA6859B6D6FDD7866B1D923D9D8A099CA094*52

2020-01-14T01:30:14.187Z,1578965414.187 [Micromodem](INFO): Received command:failc
2020-01-14T01:30:14.273Z,1578965414.273 [CommandLine](IMPORTANT): got command failComponent
2020-01-14T01:30:14.273Z,1578965414.273 [CommandLine](IMPORTANT): Failed components:
2020-01-14T01:30:14.273Z,1578965414.273 [CommandLine](IMPORTANT): DropWeight: Hardware Fault
2020-01-14T01:30:14.586Z,1578965414.586 [Micromodem](INFO): Nmea in: $CACST,6,0,20200114013013.459749,06,4231,36,0128,0150,14,02,02,00,02,1,012,001,0,3,1,0,150,37.4,10.00,00,-7.00,-01,-0.02,17,10000,4000*49

2020-01-14T01:30:17.385Z,1578965417.385 [CommandLine](IMPORTANT): got command report
2020-01-14T01:30:17.386Z,1578965417.386 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range reporting when touched
2020-01-14T01:30:21.886Z,1578965421.886 [CommandLine](IMPORTANT): got command run ./Missions/Maintenance/DUSBL.xml
2020-01-14T01:30:21.886Z,1578965421.886 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/DUSBL.xml
2020-01-14T01:30:21.987Z,1578965421.987 [MissionManager](INFO): DefineArg DUSBL.MissionTimeout = 90.000000 min
2020-01-14T01:30:21.991Z,1578965421.991 [MissionManager](INFO): DefineArg DUSBL.NumberOfRequests = 10.000000 count
2020-01-14T01:30:22.001Z,1578965422.001 [MissionManager](INFO): DefineArg DUSBL.TransponderCode = 2.000000 count
2020-01-14T01:30:22.004Z,1578965422.004 [MissionManager](INFO): DefineArg DUSBL.NumberOfPings = 1.000000 count
2020-01-14T01:30:22.006Z,1578965422.006 [MissionManager](INFO): DefineArg DUSBL.EnabledDUSBL = DUSBL_Hydroid.loadAtStartup
2020-01-14T01:30:22.006Z,1578965422.006 [DUSBL:A.Pitch](DEBUG): Construct.
2020-01-14T01:30:22.015Z,1578965422.015 [DUSBL:B.SetSpeed](DEBUG): Construct.
2020-01-14T01:30:22.031Z,1578965422.031 [DUSBL:RequestRepeater:C.Wait](DEBUG): Construct Wait.
2020-01-14T01:30:22.055Z,1578965422.055 [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>


2020-01-14T01:30:22.058Z,1578965422.058 [CommandLine](IMPORTANT): Running ./Missions/Maintenance/DUSBL.xml
2020-01-14T01:30:22.298Z,1578965422.298 [Default] Stopped
2020-01-14T01:30:22.298Z,1578965422.298 [Default](DEBUG): Aggregate::uninitialize Default
2020-01-14T01:30:22.299Z,1578965422.299 [Default:B.GoToSurface] Stopped
2020-01-14T01:30:22.299Z,1578965422.299 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-14T01:30:22.299Z,1578965422.299 [Default:CheckIn] Stopped
2020-01-14T01:30:22.299Z,1578965422.299 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2020-01-14T01:30:22.299Z,1578965422.299 [Default:CheckIn:Read_GPS] Stopped
2020-01-14T01:30:22.299Z,1578965422.299 [MissionManager](IMPORTANT): Started mission DUSBL
2020-01-14T01:30:22.299Z,1578965422.299 [DUSBL] Running Loop=1
2020-01-14T01:30:22.299Z,1578965422.299 [DUSBL](DEBUG): Aggregate::initialize DUSBL
2020-01-14T01:30:22.299Z,1578965422.299 [DUSBL:A.Pitch] Running Loop=1
2020-01-14T01:30:22.299Z,1578965422.299 [DUSBL:A.Pitch](DEBUG): Initialize.
2020-01-14T01:30:22.300Z,1578965422.300 [DUSBL:B.SetSpeed] Running Loop=1
2020-01-14T01:30:22.300Z,1578965422.300 [DUSBL:B.SetSpeed](DEBUG): Initialize.
2020-01-14T01:30:22.300Z,1578965422.300 [DUSBL:C] Running Loop=1
2020-01-14T01:30:22.300Z,1578965422.300 [DUSBL:RequestRepeater] Running Loop=1
2020-01-14T01:30:22.300Z,1578965422.300 [DUSBL:RequestRepeater](DEBUG): Aggregate::initialize DUSBL:RequestRepeater
2020-01-14T01:30:22.300Z,1578965422.300 [DUSBL:RequestRepeater:A] Running Loop=1
2020-01-14T01:30:22.300Z,1578965422.300 [DUSBL:RequestRepeater:B] Running Loop=1
2020-01-14T01:30:22.301Z,1578965422.301 [DUSBL:RequestRepeater:C.Wait] Running Loop=1
2020-01-14T01:30:22.301Z,1578965422.301 [DUSBL:RequestRepeater:C.Wait](DEBUG): Initialize Wait Component.
2020-01-14T01:30:22.301Z,1578965422.301 [DUSBL:RequestRepeater:B] Running Loop=1
2020-01-14T01:30:22.301Z,1578965422.301 [DUSBL:RequestRepeater:A] Running Loop=1
2020-01-14T01:30:22.302Z,1578965422.302 [DUSBL:C](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_range
2020-01-14T01:30:22.303Z,1578965422.303 [DUSBL:C](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_direction_vehicle_frame
2020-01-14T01:30:22.303Z,1578965422.303 [DUSBL:B.SetSpeed] Running Loop=1
2020-01-14T01:30:22.303Z,1578965422.303 [DUSBL:A.Pitch] Running Loop=1
2020-01-14T01:30:24.280Z,1578965424.280 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-14T01:30:24.691Z,1578965424.691 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-14T01:30:25.141Z,1578965425.141 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 1.259998 m
2020-01-14T01:30:25.492Z,1578965425.492 [Micromodem](INFO): Nmea in: $SNTTA,0.000908,,,,013025.78*4B

2020-01-14T01:30:28.319Z,1578965428.319 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-14T01:30:28.724Z,1578965428.724 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-14T01:30:29.183Z,1578965429.183 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 1.259998 m
2020-01-14T01:30:29.536Z,1578965429.536 [Micromodem](INFO): Nmea in: $SNTTA,0.000866,,,,013029.81*48

2020-01-14T01:30:29.837Z,1578965429.837 [CommandLine](IMPORTANT): got command stop
2020-01-14T01:30:29.838Z,1578965429.838 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2020-01-14T01:30:29.978Z,1578965429.978 [MissionManager](INFO): MissionManager is completed.
2020-01-14T01:30:29.978Z,1578965429.978 [MissionManager](INFO): Uninitializing Mission DUSBL
2020-01-14T01:30:29.978Z,1578965429.978 [DUSBL] Stopped
2020-01-14T01:30:29.978Z,1578965429.978 [DUSBL](DEBUG): Aggregate::uninitialize DUSBL
2020-01-14T01:30:29.978Z,1578965429.978 [DUSBL:A.Pitch] Stopped
2020-01-14T01:30:29.979Z,1578965429.979 [DUSBL:B.SetSpeed] Stopped
2020-01-14T01:30:29.979Z,1578965429.979 [DUSBL:B.SetSpeed](DEBUG): Uninitialize.
2020-01-14T01:30:29.979Z,1578965429.979 [DUSBL:C] Stopped
2020-01-14T01:30:29.979Z,1578965429.979 [DUSBL:RequestRepeater] Stopped
2020-01-14T01:30:29.979Z,1578965429.979 [DUSBL:RequestRepeater](DEBUG): Aggregate::uninitialize DUSBL:RequestRepeater
2020-01-14T01:30:29.979Z,1578965429.979 [DUSBL:RequestRepeater:A] Stopped
2020-01-14T01:30:29.979Z,1578965429.979 [DUSBL:RequestRepeater:B] Stopped
2020-01-14T01:30:29.979Z,1578965429.979 [DUSBL:RequestRepeater:C.Wait] Stopped
2020-01-14T01:30:29.979Z,1578965429.979 [DUSBL:RequestRepeater:C.Wait](DEBUG): Uninitialize Wait Component.
2020-01-14T01:30:30.385Z,1578965430.385 [MissionManager](IMPORTANT): Started mission Default
2020-01-14T01:30:30.386Z,1578965430.386 [Default] Running Loop=1
2020-01-14T01:30:30.386Z,1578965430.386 [Default](DEBUG): Aggregate::initialize Default
2020-01-14T01:30:30.386Z,1578965430.386 [Default:B.GoToSurface] Running Loop=1
2020-01-14T01:30:30.386Z,1578965430.386 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-14T01:30:30.386Z,1578965430.386 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-14T01:30:30.386Z,1578965430.386 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-14T01:30:30.387Z,1578965430.387 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-14T01:30:30.387Z,1578965430.387 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-14T01:30:30.387Z,1578965430.387 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-14T01:30:30.387Z,1578965430.387 [Default:A.Wait] Running Loop=1
2020-01-14T01:30:30.388Z,1578965430.388 [Default:A.Wait](DEBUG): Initialize Wait Component.
2020-01-14T01:30:31.551Z,1578965431.551 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2020-01-14T01:30:43.713Z,1578965443.713 [Default:A.Wait](INFO): Done Waiting.
2020-01-14T01:30:43.713Z,1578965443.713 [Default:A.Wait] Stopped
2020-01-14T01:30:43.713Z,1578965443.713 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-14T01:30:44.115Z,1578965444.115 [Default:CheckIn] Running Loop=1
2020-01-14T01:30:44.115Z,1578965444.115 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2020-01-14T01:30:44.115Z,1578965444.115 [Default:CheckIn:Read_GPS] Running Loop=1
2020-01-14T01:30:46.099Z,1578965446.099 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,013010.00,A,3648.15130,N,12147.29294,W,0.641,0.00,140120,,,A*70
2020-01-14T01:30:46.102Z,1578965446.102 [NAL9602](INFO): GPS fix at 20200114T013010: (36.802522, -121.788216)
2020-01-14T01:30:46.131Z,1578965446.131 [Default:CheckIn:Read_GPS] Stopped
2020-01-14T01:30:46.131Z,1578965446.131 [Default:CheckIn:Read_Iridium] Running Loop=1
2020-01-14T01:30:46.554Z,1578965446.554 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2020-01-14T01:30:47.708Z,1578965447.708 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 58181D5E040001005D00000400360300000000000000151D80030C5669BF3148E2FA22188B6A3173E6960F887FF8A99E669AC91D474B0DB47F940EC581E0D567
2020-01-14T01:30:47.708Z,1578965447.708 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 266CC0E6F1A517638CB0C0B8BE372A0B00F6D61E05F93094AA77DEFC753FE61F094712E1114D8E0AD7B6106F0F7B016211E5CA62E332602D1D41ACBF7CDB6A31
2020-01-14T01:30:47.715Z,1578965447.715 [Micromodem](INFO): Outgoing frame #3, 64 bytes: 6612EED8A8416AE25E31B4E18619E5C1F90902C505781770CFDD053F3D92B2892521A612D82BE005FC89188D99CEFADDC088B216DBA6368E09BF00A90E4DE3CB
2020-01-14T01:30:47.716Z,1578965447.716 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-14T01:30:47.942Z,1578965447.942 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-14T01:30:48.303Z,1578965448.303 [Micromodem](INFO): Nmea in: $CADRQ,013049,1,12,0,64,1*7B

2020-01-14T01:30:48.303Z,1578965448.303 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,58181D5E040001005D00000400360300000000000000151D80030C5669BF3148E2FA22188B6A3173E6960F887FF8A99E669AC91D474B0DB47F940EC581E0D567*33

2020-01-14T01:30:48.706Z,1578965448.706 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-14T01:30:49.111Z,1578965449.111 [Micromodem](INFO): Nmea in: $CADRQ,013049,1,12,0,64,2*78

2020-01-14T01:30:49.111Z,1578965449.111 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,266CC0E6F1A517638CB0C0B8BE372A0B00F6D61E05F93094AA77DEFC753FE61F094712E1114D8E0AD7B6106F0F7B016211E5CA62E332602D1D41ACBF7CDB6A31*3C

2020-01-14T01:30:49.518Z,1578965449.518 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-14T01:30:49.929Z,1578965449.929 [Micromodem](INFO): Nmea in: $CADRQ,013050,1,12,0,64,3*71

2020-01-14T01:30:49.929Z,1578965449.929 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,6612EED8A8416AE25E31B4E18619E5C1F90902C505781770CFDD053F3D92B2892521A612D82BE005FC89188D99CEFADDC088B216DBA6368E09BF00A90E4DE3CB*3B

2020-01-14T01:30:50.322Z,1578965450.322 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-14T01:30:50.726Z,1578965450.726 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-14T01:30:54.374Z,1578965454.374 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2020-01-14T01:30:54.768Z,1578965454.768 [Micromodem](INFO): Nmea in: $CAXST,6,20200114,013051.471735,3,0,200,4000,10000,1,1,12,1,3,3,3,192*7B

2020-01-14T01:30:55.545Z,1578965455.545 [DataOverHttps](INFO): Sending 298 bytes from file Logs/20200114T012440/Courier0004.lzma
2020-01-14T01:30:57.550Z,1578965457.550 [DataOverHttps](INFO): Moved sent file to Logs/20200114T012440/Courier0004.lzma.bak
2020-01-14T01:30:57.550Z,1578965457.550 [DataOverHttps](INFO): SBD MOMSN=12192386
2020-01-14T01:30:57.643Z,1578965457.643 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-14T01:30:57.999Z,1578965457.999 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-14T01:30:58.401Z,1578965458.401 [Micromodem](INFO): Nmea in: $CAACK,12,1,3,1*7B

2020-01-14T01:30:58.402Z,1578965458.402 [Micromodem](INFO): Sent 184 bytes from file Logs/20200114T012440/Courier0004.lzma.parts
2020-01-14T01:30:58.402Z,1578965458.402 [Micromodem](INFO): Packets left to send: 1
2020-01-14T01:30:58.814Z,1578965458.814 [Micromodem](INFO): Nmea in: $CACST,6,0,20200114013057.865991,06,2728,34,0120,0150,37,02,02,00,03,1,012,001,0,4,1,0,150,26.0,11.00,25,-8.00,-01,-0.02,26,10000,4000*48

2020-01-14T01:31:01.118Z,1578965461.118 [Default:CheckIn:Read_Iridium] Stopped
2020-01-14T01:31:01.119Z,1578965461.119 [Default:CheckIn:C.Wait] Running Loop=1
2020-01-14T01:31:01.119Z,1578965461.119 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2020-01-14T01:31:18.192Z,1578965478.192 [NAL9602](INFO): Not Powering down - fast GPS
2020-01-14T01:31:20.215Z,1578965480.215 [Micromodem](INFO): Nmea in: $CACYC,1,12,1,1,0,1*68

2020-01-14T01:31:20.215Z,1578965480.215 [Micromodem](INFO): Have incoming data
2020-01-14T01:31:20.247Z,1578965480.247 [Micromodem](INFO): Nmea in: $CARXD,12,1,0,1,3D90B8D172D0E11A94BB9A0D6EC0434A2AB488F6*51

2020-01-14T01:31:20.248Z,1578965480.248 [Micromodem](INFO): Received command:stop
2020-01-14T01:31:20.305Z,1578965480.305 [CommandLine](IMPORTANT): got command stop
2020-01-14T01:31:20.616Z,1578965480.616 [Micromodem](INFO): Nmea in: $CACST,6,0,20200114013119.399782,06,3330,35,0103,0150,14,02,02,00,02,1,012,001,0,3,1,0,150,34.7,11.00,00,-8.00,-01,-0.02,17,10000,4000*4D

2020-01-14T01:31:25.065Z,1578965485.065 [Micromodem](INFO): Nmea in: $CACYC,1,12,1,1,0,1*68

2020-01-14T01:31:25.065Z,1578965485.065 [Micromodem](INFO): Have incoming data
2020-01-14T01:31:25.463Z,1578965485.463 [Micromodem](INFO): Nmea in: $CARXD,12,1,0,1,EA49DA6859B6D6FDD7866B1D923D9D8A099CA094*52

2020-01-14T01:31:25.464Z,1578965485.464 [Micromodem](INFO): Received command:failc
2020-01-14T01:31:25.469Z,1578965485.469 [Micromodem](INFO): Nmea in: $CACST,6,0,20200114013124.613752,06,3178,35,0096,0150,14,02,02,00,02,1,012,001,0,3,1,0,150,35.0,11.00,00,-8.00,-01,-0.02,17,10000,4000*4C

2020-01-14T01:31:25.557Z,1578965485.557 [CommandLine](IMPORTANT): got command failComponent
2020-01-14T01:31:25.558Z,1578965485.558 [CommandLine](IMPORTANT): Failed components:
2020-01-14T01:31:25.558Z,1578965485.558 [CommandLine](IMPORTANT): DropWeight: Hardware Fault
2020-01-14T01:31:48.396Z,1578965508.396 [DataOverHttps](INFO): Sending 1384 bytes from file Logs/20200110T183521/Express0001.lzma
2020-01-14T01:31:50.398Z,1578965510.398 [DataOverHttps](INFO): Moved sent file to Logs/20200110T183521/Express0001.lzma.bak
2020-01-14T01:31:50.398Z,1578965510.398 [DataOverHttps](INFO): SBD MOMSN=12192389
2020-01-14T01:32:09.942Z,1578965529.942 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2020-01-14T01:32:09.961Z,1578965529.961 [BPC1](INFO): Received data from all battery sticks.
2020-01-14T01:33:54.603Z,1578965634.603 [CommandLine](IMPORTANT): got command run ./Missions/Maintenance/DUSBL.xml
2020-01-14T01:33:54.607Z,1578965634.607 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/DUSBL.xml
2020-01-14T01:33:54.672Z,1578965634.672 [MissionManager](INFO): DefineArg DUSBL.MissionTimeout = 90.000000 min
2020-01-14T01:33:54.674Z,1578965634.674 [MissionManager](INFO): DefineArg DUSBL.NumberOfRequests = 10.000000 count
2020-01-14T01:33:54.676Z,1578965634.676 [MissionManager](INFO): DefineArg DUSBL.TransponderCode = 2.000000 count
2020-01-14T01:33:54.691Z,1578965634.691 [MissionManager](INFO): DefineArg DUSBL.NumberOfPings = 1.000000 count
2020-01-14T01:33:54.692Z,1578965634.692 [MissionManager](INFO): DefineArg DUSBL.EnabledDUSBL = DUSBL_Hydroid.loadAtStartup
2020-01-14T01:33:54.702Z,1578965634.702 [DUSBL:A.Pitch](DEBUG): Construct.
2020-01-14T01:33:54.725Z,1578965634.725 [DUSBL:B.SetSpeed](DEBUG): Construct.
2020-01-14T01:33:54.736Z,1578965634.736 [DUSBL:RequestRepeater:C.Wait](DEBUG): Construct Wait.
2020-01-14T01:33:54.753Z,1578965634.753 [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>


2020-01-14T01:33:54.755Z,1578965634.755 [CommandLine](IMPORTANT): Running ./Missions/Maintenance/DUSBL.xml
2020-01-14T01:33:54.987Z,1578965634.987 [Default] Stopped
2020-01-14T01:33:54.987Z,1578965634.987 [Default](DEBUG): Aggregate::uninitialize Default
2020-01-14T01:33:54.987Z,1578965634.987 [Default:B.GoToSurface] Stopped
2020-01-14T01:33:54.987Z,1578965634.987 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-14T01:33:54.987Z,1578965634.987 [Default:CheckIn] Stopped
2020-01-14T01:33:54.987Z,1578965634.987 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2020-01-14T01:33:54.987Z,1578965634.987 [Default:CheckIn:C.Wait] Stopped
2020-01-14T01:33:54.987Z,1578965634.987 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2020-01-14T01:33:54.987Z,1578965634.987 [MissionManager](IMPORTANT): Started mission DUSBL
2020-01-14T01:33:54.987Z,1578965634.987 [DUSBL] Running Loop=1
2020-01-14T01:33:54.988Z,1578965634.988 [DUSBL](DEBUG): Aggregate::initialize DUSBL
2020-01-14T01:33:54.988Z,1578965634.988 [DUSBL:A.Pitch] Running Loop=1
2020-01-14T01:33:54.988Z,1578965634.988 [DUSBL:A.Pitch](DEBUG): Initialize.
2020-01-14T01:33:54.988Z,1578965634.988 [DUSBL:B.SetSpeed] Running Loop=1
2020-01-14T01:33:54.988Z,1578965634.988 [DUSBL:B.SetSpeed](DEBUG): Initialize.
2020-01-14T01:33:54.988Z,1578965634.988 [DUSBL:C] Running Loop=1
2020-01-14T01:33:54.988Z,1578965634.988 [DUSBL:RequestRepeater] Running Loop=1
2020-01-14T01:33:54.989Z,1578965634.989 [DUSBL:RequestRepeater](DEBUG): Aggregate::initialize DUSBL:RequestRepeater
2020-01-14T01:33:54.989Z,1578965634.989 [DUSBL:RequestRepeater:A] Running Loop=1
2020-01-14T01:33:54.989Z,1578965634.989 [DUSBL:RequestRepeater:B] Running Loop=1
2020-01-14T01:33:54.989Z,1578965634.989 [DUSBL:RequestRepeater:C.Wait] Running Loop=1
2020-01-14T01:33:54.989Z,1578965634.989 [DUSBL:RequestRepeater:C.Wait](DEBUG): Initialize Wait Component.
2020-01-14T01:33:54.990Z,1578965634.990 [DUSBL:RequestRepeater:B] Running Loop=1
2020-01-14T01:33:54.990Z,1578965634.990 [DUSBL:RequestRepeater:A] Running Loop=1
2020-01-14T01:33:54.991Z,1578965634.991 [DUSBL:C](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_range
2020-01-14T01:33:54.991Z,1578965634.991 [DUSBL:C](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_direction_vehicle_frame
2020-01-14T01:33:54.991Z,1578965634.991 [DUSBL:B.SetSpeed] Running Loop=1
2020-01-14T01:33:54.991Z,1578965634.991 [DUSBL:A.Pitch] Running Loop=1
2020-01-14T01:33:56.962Z,1578965636.962 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-14T01:33:57.372Z,1578965637.372 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-14T01:33:57.833Z,1578965637.833 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 0.899998 m
2020-01-14T01:33:58.183Z,1578965638.183 [Micromodem](INFO): Nmea in: $SNTTA,0.000630,,,,013358.46*4B

2020-01-14T01:34:01.007Z,1578965641.007 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-14T01:34:01.413Z,1578965641.413 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-14T01:34:01.886Z,1578965641.886 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 0.899998 m
2020-01-14T01:34:02.220Z,1578965642.220 [Micromodem](INFO): Nmea in: $SNTTA,0.000623,,,,013402.50*46

2020-01-14T01:34:03.623Z,1578965643.623 [CommandLine](IMPORTANT): got command stop
2020-01-14T01:34:03.624Z,1578965643.624 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2020-01-14T01:34:03.909Z,1578965643.909 [MissionManager](INFO): MissionManager is completed.
2020-01-14T01:34:03.910Z,1578965643.910 [MissionManager](INFO): Uninitializing Mission DUSBL
2020-01-14T01:34:03.910Z,1578965643.910 [DUSBL] Stopped
2020-01-14T01:34:03.910Z,1578965643.910 [DUSBL](DEBUG): Aggregate::uninitialize DUSBL
2020-01-14T01:34:03.910Z,1578965643.910 [DUSBL:A.Pitch] Stopped
2020-01-14T01:34:03.910Z,1578965643.910 [DUSBL:B.SetSpeed] Stopped
2020-01-14T01:34:03.910Z,1578965643.910 [DUSBL:B.SetSpeed](DEBUG): Uninitialize.
2020-01-14T01:34:03.910Z,1578965643.910 [DUSBL:C] Stopped
2020-01-14T01:34:03.910Z,1578965643.910 [DUSBL:RequestRepeater] Stopped
2020-01-14T01:34:03.910Z,1578965643.910 [DUSBL:RequestRepeater](DEBUG): Aggregate::uninitialize DUSBL:RequestRepeater
2020-01-14T01:34:03.910Z,1578965643.910 [DUSBL:RequestRepeater:A] Stopped
2020-01-14T01:34:03.910Z,1578965643.910 [DUSBL:RequestRepeater:B] Stopped
2020-01-14T01:34:03.910Z,1578965643.910 [DUSBL:RequestRepeater:C.Wait] Stopped
2020-01-14T01:34:03.910Z,1578965643.910 [DUSBL:RequestRepeater:C.Wait](DEBUG): Uninitialize Wait Component.
2020-01-14T01:34:04.282Z,1578965644.282 [MissionManager](IMPORTANT): Started mission Default
2020-01-14T01:34:04.282Z,1578965644.282 [Default] Running Loop=1
2020-01-14T01:34:04.282Z,1578965644.282 [Default](DEBUG): Aggregate::initialize Default
2020-01-14T01:34:04.282Z,1578965644.282 [Default:B.GoToSurface] Running Loop=1
2020-01-14T01:34:04.282Z,1578965644.282 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-14T01:34:04.283Z,1578965644.283 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-14T01:34:04.283Z,1578965644.283 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-14T01:34:04.283Z,1578965644.283 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-14T01:34:04.283Z,1578965644.283 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-14T01:34:04.284Z,1578965644.284 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-14T01:34:04.284Z,1578965644.284 [Default:A.Wait] Running Loop=1
2020-01-14T01:34:04.284Z,1578965644.284 [Default:A.Wait](DEBUG): Initialize Wait Component.
2020-01-14T01:34:17.636Z,1578965657.636 [Default:A.Wait](INFO): Done Waiting.
2020-01-14T01:34:17.636Z,1578965657.636 [Default:A.Wait] Stopped
2020-01-14T01:34:17.636Z,1578965657.636 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-14T01:34:18.019Z,1578965658.019 [Default:CheckIn] Running Loop=1
2020-01-14T01:34:18.020Z,1578965658.020 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2020-01-14T01:34:18.020Z,1578965658.020 [Default:CheckIn:Read_GPS] Running Loop=1
2020-01-14T01:34:20.001Z,1578965660.001 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,013345.00,A,3648.15895,N,12147.29036,W,0.194,341.44,140120,,,A*76
2020-01-14T01:34:20.003Z,1578965660.003 [NAL9602](INFO): GPS fix at 20200114T013345: (36.802649, -121.788173)
2020-01-14T01:34:20.062Z,1578965660.062 [Default:CheckIn:Read_GPS] Stopped
2020-01-14T01:34:20.062Z,1578965660.062 [Default:CheckIn:Read_Iridium] Running Loop=1
2020-01-14T01:34:21.834Z,1578965661.834 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 58181D5E070001005D00000400AD0100000000000000151D80030C5669BF3148E2FA22188B6A3173E5573572661C0BCBDFFAB423BD32D9A51E8904B0A920CE9A
2020-01-14T01:34:21.835Z,1578965661.835 [Micromodem](INFO): Outgoing frame #2, 64 bytes: EF9F66414C9B9FD6761AD008C3E3DC4FCA2E4E25B6359B14B772C42BBF445E54CD5F36943A3BDD9E89309E9017DB79DD009A333A47CF42F3BE4E4AD4301D597F
2020-01-14T01:34:21.835Z,1578965661.835 [Micromodem](INFO): Outgoing frame #3, 64 bytes: FFA3EC7FA24353C087A3A1B3BD161F92F69707865251F3B93C9772C25CD67B52231335EF84B8E92D5FFA309E6A3CA3D4D476AF50657E5350BFC6FA3A8FCDDDAE
2020-01-14T01:34:21.836Z,1578965661.836 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,3*69

2020-01-14T01:34:22.026Z,1578965662.026 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,3*6B

2020-01-14T01:34:22.363Z,1578965662.363 [Micromodem](INFO): Nmea in: $CADRQ,013423,1,12,0,64,1*73

2020-01-14T01:34:22.363Z,1578965662.363 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,58181D5E070001005D00000400AD0100000000000000151D80030C5669BF3148E2FA22188B6A3173E5573572661C0BCBDFFAB423BD32D9A51E8904B0A920CE9A*4B

2020-01-14T01:34:22.767Z,1578965662.767 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-14T01:34:23.171Z,1578965663.171 [Micromodem](INFO): Nmea in: $CADRQ,013423,1,12,0,64,2*70

2020-01-14T01:34:23.172Z,1578965663.172 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,EF9F66414C9B9FD6761AD008C3E3DC4FCA2E4E25B6359B14B772C42BBF445E54CD5F36943A3BDD9E89309E9017DB79DD009A333A47CF42F3BE4E4AD4301D597F*3D

2020-01-14T01:34:23.575Z,1578965663.575 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-14T01:34:23.979Z,1578965663.979 [Micromodem](INFO): Nmea in: $CADRQ,013424,1,12,0,64,3*76

2020-01-14T01:34:23.979Z,1578965663.979 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,FFA3EC7FA24353C087A3A1B3BD161F92F69707865251F3B93C9772C25CD67B52231335EF84B8E92D5FFA309E6A3CA3D4D476AF50657E5350BFC6FA3A8FCDDDAE*44

2020-01-14T01:34:24.383Z,1578965664.383 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-14T01:34:24.784Z,1578965664.784 [Micromodem](INFO): Nmea in: $CATXP,192*48

2020-01-14T01:34:28.436Z,1578965668.436 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2020-01-14T01:34:28.828Z,1578965668.828 [Micromodem](INFO): Nmea in: $CAXST,6,20200114,013425.520498,3,0,200,4000,10000,1,1,12,1,3,3,3,192*7D

2020-01-14T01:34:31.655Z,1578965671.655 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-14T01:34:31.693Z,1578965671.693 [DataOverHttps](INFO): Sending 253 bytes from file Logs/20200114T012440/Courier0007.lzma
2020-01-14T01:34:32.059Z,1578965672.059 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-14T01:34:32.471Z,1578965672.471 [Micromodem](INFO): Nmea in: $CAACK,12,1,3,1*7B

2020-01-14T01:34:32.471Z,1578965672.471 [Micromodem](INFO): Sent 184 bytes from file Logs/20200114T012440/Courier0007.lzma.parts
2020-01-14T01:34:32.471Z,1578965672.471 [Micromodem](INFO): Packets left to send: 1
2020-01-14T01:34:32.870Z,1578965672.870 [Micromodem](INFO): Nmea in: $CACST,6,0,20200114013431.915905,06,3030,34,0119,0150,29,02,02,00,03,1,012,001,0,4,1,0,150,10.7,10.00,24,-7.00,-01,-0.02,41,10000,4000*41

2020-01-14T01:34:33.477Z,1578965673.477 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 58181D5E070000004B901FA92B5BB3CCCC273B2D92276B6507E62CC306CF553EBCF338875D58DCAD42043B88BC3CF11E6B2739C0246243591F14293721A68FE2
2020-01-14T01:34:33.477Z,1578965673.477 [Micromodem](INFO): Outgoing frame #2, 13 bytes: 9B53098EC97F30EBC33A758800
2020-01-14T01:34:33.478Z,1578965673.478 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,2*68

2020-01-14T01:34:33.699Z,1578965673.699 [DataOverHttps](INFO): Moved sent file to Logs/20200114T012440/Courier0007.lzma.bak
2020-01-14T01:34:33.699Z,1578965673.699 [DataOverHttps](INFO): SBD MOMSN=12192430
2020-01-14T01:34:34.414Z,1578965674.414 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,2*6A

2020-01-14T01:34:34.824Z,1578965674.824 [Micromodem](INFO): Nmea in: $CADRQ,013434,1,12,0,64,1*75

2020-01-14T01:34:34.824Z,1578965674.824 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,58181D5E070000004B901FA92B5BB3CCCC273B2D92276B6507E62CC306CF553EBCF338875D58DCAD42043B88BC3CF11E6B2739C0246243591F14293721A68FE2*3E

2020-01-14T01:34:35.227Z,1578965675.227 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-14T01:34:35.646Z,1578965675.646 [Micromodem](INFO): Nmea in: $CADRQ,013436,1,12,0,64,2*74

2020-01-14T01:34:35.647Z,1578965675.647 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,9B53098EC97F30EBC33A758800*4D

2020-01-14T01:34:36.034Z,1578965676.034 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,13*4B

2020-01-14T01:34:36.438Z,1578965676.438 [Micromodem](INFO): Nmea in: $CATXP,77*72

2020-01-14T01:34:38.858Z,1578965678.858 [Micromodem](INFO): Nmea in: $CATXF,77*64

2020-01-14T01:34:39.263Z,1578965679.263 [Micromodem](INFO): Nmea in: $CAXST,6,20200114,013437.124371,3,0,200,4000,10000,1,1,12,1,2,2,3,77*44

2020-01-14T01:34:50.579Z,1578965690.579 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2020-01-14T01:34:50.661Z,1578965690.661 [NAL9602](FAULT): received: 
+CSQ:0

OK
2020-01-14T01:34:50.661Z,1578965690.661 [NAL9602] Data Fault, FailCount= 1
2020-01-14T01:34:50.661Z,1578965690.661 [NAL9602](ERROR): Data Fault
2020-01-14T01:34:50.752Z,1578965690.752 [CBIT](ERROR): Data Fault in component: NAL9602
2020-01-14T01:34:50.983Z,1578965690.983 [NAL9602](INFO): Powering down
2020-01-14T01:34:51.858Z,1578965691.858 [CBIT](INFO): Clearing failed state for component NAL9602
2020-01-14T01:34:51.858Z,1578965691.858 [NAL9602] No Fault, FailCount= 1
2020-01-14T01:34:56.518Z,1578965696.518 [DataOverHttps](INFO): Sending 115 bytes from file Logs/20200110T183521/Express0005.lzma
2020-01-14T01:34:58.522Z,1578965698.522 [DataOverHttps](INFO): Moved sent file to Logs/20200110T183521/Express0005.lzma.bak
2020-01-14T01:34:58.522Z,1578965698.522 [DataOverHttps](INFO): SBD MOMSN=12192433
2020-01-14T01:35:01.990Z,1578965701.990 [CommandLine](IMPORTANT): got command run ./Missions/Maintenance/DUSBL.xml
2020-01-14T01:35:01.990Z,1578965701.990 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/DUSBL.xml
2020-01-14T01:35:02.042Z,1578965702.042 [MissionManager](INFO): DefineArg DUSBL.MissionTimeout = 90.000000 min
2020-01-14T01:35:02.044Z,1578965702.044 [MissionManager](INFO): DefineArg DUSBL.NumberOfRequests = 10.000000 count
2020-01-14T01:35:02.061Z,1578965702.061 [MissionManager](INFO): DefineArg DUSBL.TransponderCode = 2.000000 count
2020-01-14T01:35:02.064Z,1578965702.064 [MissionManager](INFO): DefineArg DUSBL.NumberOfPings = 1.000000 count
2020-01-14T01:35:02.065Z,1578965702.065 [MissionManager](INFO): DefineArg DUSBL.EnabledDUSBL = DUSBL_Hydroid.loadAtStartup
2020-01-14T01:35:02.066Z,1578965702.066 [DUSBL:A.Pitch](DEBUG): Construct.
2020-01-14T01:35:02.091Z,1578965702.091 [DUSBL:B.SetSpeed](DEBUG): Construct.
2020-01-14T01:35:02.122Z,1578965702.122 [DUSBL:RequestRepeater:C.Wait](DEBUG): Construct Wait.
2020-01-14T01:35:02.125Z,1578965702.125 [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>


2020-01-14T01:35:02.127Z,1578965702.127 [CommandLine](IMPORTANT): Running ./Missions/Maintenance/DUSBL.xml
2020-01-14T01:35:02.357Z,1578965702.357 [Default] Stopped
2020-01-14T01:35:02.357Z,1578965702.357 [Default](DEBUG): Aggregate::uninitialize Default
2020-01-14T01:35:02.357Z,1578965702.357 [Default:B.GoToSurface] Stopped
2020-01-14T01:35:02.357Z,1578965702.357 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-14T01:35:02.357Z,1578965702.357 [Default:CheckIn] Stopped
2020-01-14T01:35:02.357Z,1578965702.357 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2020-01-14T01:35:02.358Z,1578965702.358 [Default:CheckIn:Read_Iridium] Stopped
2020-01-14T01:35:02.358Z,1578965702.358 [MissionManager](IMPORTANT): Started mission DUSBL
2020-01-14T01:35:02.358Z,1578965702.358 [DUSBL] Running Loop=1
2020-01-14T01:35:02.358Z,1578965702.358 [DUSBL](DEBUG): Aggregate::initialize DUSBL
2020-01-14T01:35:02.358Z,1578965702.358 [DUSBL:A.Pitch] Running Loop=1
2020-01-14T01:35:02.358Z,1578965702.358 [DUSBL:A.Pitch](DEBUG): Initialize.
2020-01-14T01:35:02.358Z,1578965702.358 [DUSBL:B.SetSpeed] Running Loop=1
2020-01-14T01:35:02.358Z,1578965702.358 [DUSBL:B.SetSpeed](DEBUG): Initialize.
2020-01-14T01:35:02.359Z,1578965702.359 [DUSBL:C] Running Loop=1
2020-01-14T01:35:02.359Z,1578965702.359 [DUSBL:RequestRepeater] Running Loop=1
2020-01-14T01:35:02.359Z,1578965702.359 [DUSBL:RequestRepeater](DEBUG): Aggregate::initialize DUSBL:RequestRepeater
2020-01-14T01:35:02.359Z,1578965702.359 [DUSBL:RequestRepeater:A] Running Loop=1
2020-01-14T01:35:02.359Z,1578965702.359 [DUSBL:RequestRepeater:B] Running Loop=1
2020-01-14T01:35:02.359Z,1578965702.359 [DUSBL:RequestRepeater:C.Wait] Running Loop=1
2020-01-14T01:35:02.359Z,1578965702.359 [DUSBL:RequestRepeater:C.Wait](DEBUG): Initialize Wait Component.
2020-01-14T01:35:02.360Z,1578965702.360 [DUSBL:RequestRepeater:B] Running Loop=1
2020-01-14T01:35:02.360Z,1578965702.360 [DUSBL:RequestRepeater:A] Running Loop=1
2020-01-14T01:35:02.365Z,1578965702.365 [DUSBL:C](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_range
2020-01-14T01:35:02.365Z,1578965702.365 [DUSBL:C](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_direction_vehicle_frame
2020-01-14T01:35:02.365Z,1578965702.365 [DUSBL:B.SetSpeed] Running Loop=1
2020-01-14T01:35:02.366Z,1578965702.366 [DUSBL:A.Pitch] Running Loop=1
2020-01-14T01:35:04.315Z,1578965704.315 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-14T01:35:04.716Z,1578965704.716 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-14T01:35:05.199Z,1578965705.199 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 0.840001 m
2020-01-14T01:35:05.527Z,1578965705.527 [Micromodem](INFO): Nmea in: $SNTTA,0.000597,,,,013505.81*40

2020-01-14T01:35:08.351Z,1578965708.351 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-14T01:35:08.761Z,1578965708.761 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-14T01:35:09.198Z,1578965709.198 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 1.319999 m
2020-01-14T01:35:09.572Z,1578965709.572 [Micromodem](INFO): Nmea in: $SNTTA,0.000863,,,,013509.84*4F

2020-01-14T01:35:12.399Z,1578965712.399 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-14T01:35:12.804Z,1578965712.804 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-14T01:35:13.282Z,1578965713.282 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 1.259998 m
2020-01-14T01:35:13.623Z,1578965713.623 [Micromodem](INFO): Nmea in: $SNTTA,0.000850,,,,013513.89*49

2020-01-14T01:35:16.439Z,1578965716.439 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-14T01:35:16.841Z,1578965716.841 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-14T01:35:17.315Z,1578965717.315 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 1.259998 m
2020-01-14T01:35:17.652Z,1578965717.652 [Micromodem](INFO): Nmea in: $SNTTA,0.000849,,,,013517.93*4E

2020-01-14T01:35:20.479Z,1578965720.479 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-14T01:35:20.880Z,1578965720.880 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-14T01:35:21.287Z,1578965721.287 [NAL9602](INFO): Powering up NAL9602
2020-01-14T01:35:21.699Z,1578965721.699 [Micromodem](INFO): Nmea in: $SNTTA,,,,0.206614,013521.97*4D

2020-01-14T01:35:24.118Z,1578965724.118 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-14T01:35:24.919Z,1578965724.919 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-14T01:35:25.331Z,1578965725.331 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-14T01:35:25.804Z,1578965725.804 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 0.840001 m
2020-01-14T01:35:26.133Z,1578965726.133 [Micromodem](INFO): Nmea in: $SNTTA,0.000597,,,,013526.41*4D

2020-01-14T01:35:28.970Z,1578965728.970 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-14T01:35:29.368Z,1578965729.368 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-14T01:35:29.865Z,1578965729.865 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 0.959999 m
2020-01-14T01:35:30.181Z,1578965730.181 [Micromodem](INFO): Nmea in: $SNTTA,0.000631,,,,013530.47*43

2020-01-14T01:35:32.206Z,1578965732.206 [NAL9602](INFO): NAL9602 initialized
2020-01-14T01:35:33.003Z,1578965733.003 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-14T01:35:33.409Z,1578965733.409 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-14T01:35:33.866Z,1578965733.866 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 0.899998 m
2020-01-14T01:35:34.215Z,1578965734.215 [Micromodem](INFO): Nmea in: $SNTTA,0.000608,,,,013534.50*4B

2020-01-14T01:35:37.043Z,1578965737.043 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-14T01:35:37.448Z,1578965737.448 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-14T01:35:37.920Z,1578965737.920 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 0.899998 m
2020-01-14T01:35:38.256Z,1578965738.256 [Micromodem](INFO): Nmea in: $SNTTA,0.000615,,,,013538.54*4F

2020-01-14T01:35:41.110Z,1578965741.110 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-14T01:35:41.485Z,1578965741.485 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-14T01:35:41.947Z,1578965741.947 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 0.840001 m
2020-01-14T01:35:42.301Z,1578965742.301 [Micromodem](INFO): Nmea in: $SNTTA,0.000615,,,,013542.60*45

2020-01-14T01:35:45.119Z,1578965745.119 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-14T01:35:45.524Z,1578965745.524 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-14T01:35:46.045Z,1578965746.045 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 0.899998 m
2020-01-14T01:35:46.340Z,1578965746.340 [Micromodem](INFO): Nmea in: $SNTTA,0.000596,,,,013546.61*48

2020-01-14T01:35:47.944Z,1578965747.944 [DataOverHttps](INFO): Sending 1601 bytes from file Logs/20200110T184211/Express0001.lzma
2020-01-14T01:35:49.166Z,1578965749.166 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-14T01:35:49.569Z,1578965749.569 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-14T01:35:49.946Z,1578965749.946 [DataOverHttps](INFO): Moved sent file to Logs/20200110T184211/Express0001.lzma.bak
2020-01-14T01:35:49.946Z,1578965749.946 [DataOverHttps](INFO): SBD MOMSN=12192438
2020-01-14T01:35:50.377Z,1578965750.377 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013550.66*5C

2020-01-14T01:35:52.798Z,1578965752.798 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-01-14T01:35:53.614Z,1578965753.614 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-14T01:35:54.015Z,1578965754.015 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-14T01:35:54.470Z,1578965754.470 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 0.899998 m
2020-01-14T01:35:54.823Z,1578965754.823 [Micromodem](INFO): Nmea in: $SNTTA,0.000593,,,,013555.11*48

2020-01-14T01:35:57.647Z,1578965757.647 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-14T01:35:58.049Z,1578965758.049 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-14T01:35:58.512Z,1578965758.512 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 0.840001 m
2020-01-14T01:35:58.860Z,1578965758.860 [Micromodem](INFO): Nmea in: $SNTTA,0.000595,,,,013559.14*47

2020-01-14T01:36:01.683Z,1578965761.683 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-14T01:36:02.104Z,1578965762.104 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-14T01:36:02.568Z,1578965762.568 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 0.840001 m
2020-01-14T01:36:02.906Z,1578965762.906 [Micromodem](INFO): Nmea in: $SNTTA,0.000599,,,,013603.18*4B

2020-01-14T01:36:03.315Z,1578965763.315 [NAL9602](INFO): Not Powering down - fast GPS
2020-01-14T01:36:05.723Z,1578965765.723 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2020-01-14T01:36:06.127Z,1578965766.127 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2020-01-14T01:36:06.591Z,1578965766.591 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 0.899998 m
2020-01-14T01:36:06.943Z,1578965766.943 [Micromodem](INFO): Nmea in: $SNTTA,0.000596,,,,013607.22*49

2020-01-14T01:36:09.368Z,1578965769.368 [Micromodem](INFO): Nmea in: $CACYC,1,12,1,1,0,1*68

2020-01-14T01:36:09.368Z,1578965769.368 [Micromodem](INFO): Have incoming data
2020-01-14T01:36:09.403Z,1578965769.403 [Micromodem](INFO): Nmea in: $CARXD,12,1,0,1,3D90B8D172D0E11A94BB9A0D6EC0434A2AB488F6*51

2020-01-14T01:36:09.404Z,1578965769.404 [Micromodem](INFO): Received command:stop
2020-01-14T01:36:09.457Z,1578965769.457 [CommandLine](IMPORTANT): got command stop
2020-01-14T01:36:09.458Z,1578965769.458 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2020-01-14T01:36:09.487Z,1578965769.487 [MissionManager](INFO): MissionManager is completed.
2020-01-14T01:36:09.488Z,1578965769.488 [MissionManager](INFO): Uninitializing Mission DUSBL
2020-01-14T01:36:09.488Z,1578965769.488 [DUSBL] Stopped
2020-01-14T01:36:09.488Z,1578965769.488 [DUSBL](DEBUG): Aggregate::uninitialize DUSBL
2020-01-14T01:36:09.488Z,1578965769.488 [DUSBL:A.Pitch] Stopped
2020-01-14T01:36:09.488Z,1578965769.488 [DUSBL:B.SetSpeed] Stopped
2020-01-14T01:36:09.488Z,1578965769.488 [DUSBL:B.SetSpeed](DEBUG): Uninitialize.
2020-01-14T01:36:09.488Z,1578965769.488 [DUSBL:C] Stopped
2020-01-14T01:36:09.488Z,1578965769.488 [DUSBL:RequestRepeater] Stopped
2020-01-14T01:36:09.497Z,1578965769.497 [DUSBL:RequestRepeater](DEBUG): Aggregate::uninitialize DUSBL:RequestRepeater
2020-01-14T01:36:09.497Z,1578965769.497 [DUSBL:RequestRepeater:A] Stopped
2020-01-14T01:36:09.497Z,1578965769.497 [DUSBL:RequestRepeater:B] Stopped
2020-01-14T01:36:09.497Z,1578965769.497 [DUSBL:RequestRepeater:C.Wait] Stopped
2020-01-14T01:36:09.498Z,1578965769.498 [DUSBL:RequestRepeater:C.Wait](DEBUG): Uninitialize Wait Component.
2020-01-14T01:36:09.771Z,1578965769.771 [Micromodem](INFO): Nmea in: $CACST,6,0,20200114013608.917555,06,4303,36,0155,0150,07,01,01,00,03,1,012,001,0,3,1,0,150,34.5,10.00,00,-7.00,-01,-0.02,17,10000,4000*46

2020-01-14T01:36:09.806Z,1578965769.806 [MissionManager](IMPORTANT): Started mission Default
2020-01-14T01:36:09.806Z,1578965769.806 [Default] Running Loop=1
2020-01-14T01:36:09.806Z,1578965769.806 [Default](DEBUG): Aggregate::initialize Default
2020-01-14T01:36:09.807Z,1578965769.807 [Default:B.GoToSurface] Running Loop=1
2020-01-14T01:36:09.807Z,1578965769.807 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-01-14T01:36:09.807Z,1578965769.807 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-01-14T01:36:09.807Z,1578965769.807 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-01-14T01:36:09.807Z,1578965769.807 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-01-14T01:36:09.808Z,1578965769.808 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-01-14T01:36:09.808Z,1578965769.808 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-01-14T01:36:09.809Z,1578965769.809 [Default:A.Wait] Running Loop=1
2020-01-14T01:36:09.809Z,1578965769.809 [Default:A.Wait](DEBUG): Initialize Wait Component.
2020-01-14T01:36:23.140Z,1578965783.140 [Default:A.Wait](INFO): Done Waiting.
2020-01-14T01:36:23.140Z,1578965783.140 [Default:A.Wait] Stopped
2020-01-14T01:36:23.140Z,1578965783.140 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2020-01-14T01:36:23.540Z,1578965783.540 [Default:CheckIn] Running Loop=1
2020-01-14T01:36:23.540Z,1578965783.540 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2020-01-14T01:36:23.540Z,1578965783.540 [Default:CheckIn:Read_GPS] Running Loop=1
2020-01-14T01:36:36.291Z,1578965796.291 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1578965760.000000 second
2020-01-14T01:36:36.479Z,1578965796.479 [Default:CheckIn:Read_GPS] Stopped
2020-01-14T01:36:36.480Z,1578965796.480 [Default:CheckIn:Read_Iridium] Running Loop=1
2020-01-14T01:36:37.356Z,1578965797.356 [Micromodem](ERROR): Buffer fill timout failure.
2020-01-14T01:36:38.404Z,1578965798.404 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 58181D5E0A0000005D00000400430000000000000000151D80030C5669C08C34EE531270B94CA8F5DDF2C55BF71110745535AE8F13C3F57BF6522DB6BFF660DB
2020-01-14T01:36:38.404Z,1578965798.404 [Micromodem](INFO): Outgoing frame #2, 19 bytes: 1C3F7BBD9AFAC731BAFB0892BB461CA6284F00
2020-01-14T01:36:38.405Z,1578965798.405 [Micromodem](INFO): Nmea out: $CCCYC,0,1,12,1,0,2*68

2020-01-14T01:36:38.582Z,1578965798.582 [Micromodem](INFO): Nmea in: $CACYC,0,1,12,1,0,2*6A

2020-01-14T01:36:38.920Z,1578965798.920 [Micromodem](INFO): Nmea in: $CADRQ,013639,1,12,0,64,1*7A

2020-01-14T01:36:38.920Z,1578965798.920 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,58181D5E0A0000005D00000400430000000000000000151D80030C5669C08C34EE531270B94CA8F5DDF2C55BF71110745535AE8F13C3F57BF6522DB6BFF660DB*48

2020-01-14T01:36:39.326Z,1578965799.326 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,64*4B

2020-01-14T01:36:39.730Z,1578965799.730 [Micromodem](INFO): Nmea in: $CADRQ,013640,1,12,0,64,2*77

2020-01-14T01:36:39.731Z,1578965799.731 [Micromodem](INFO): Nmea out: $CCTXD,1,12,1,1C3F7BBD9AFAC731BAFB0892BB461CA6284F00*4D

2020-01-14T01:36:40.130Z,1578965800.130 [Micromodem](INFO): Nmea in: $CATXD,1,12,1,19*41

2020-01-14T01:36:40.534Z,1578965800.534 [Micromodem](INFO): Nmea in: $CATXP,83*79

2020-01-14T01:36:42.987Z,1578965802.987 [Micromodem](INFO): Nmea in: $CATXF,83*6F

2020-01-14T01:36:44.171Z,1578965804.171 [Micromodem](INFO): Nmea in: $CAXST,6,20200114,013641.209600,3,0,200,4000,10000,1,1,12,1,2,2,3,83*43

2020-01-14T01:36:44.992Z,1578965804.992 [DataOverHttps](INFO): Sending 75 bytes from file Logs/20200114T012440/Courier0010.lzma
2020-01-14T01:36:45.381Z,1578965805.381 [Micromodem](INFO): Nmea in: $CAACK,12,1,1,1*79

2020-01-14T01:36:45.787Z,1578965805.787 [Micromodem](INFO): Nmea in: $CAACK,12,1,2,1*7A

2020-01-14T01:36:45.788Z,1578965805.788 [Micromodem](INFO): Sent 75 bytes from file Logs/20200114T012440/Courier0010.lzma.parts
2020-01-14T01:36:45.788Z,1578965805.788 [Micromodem](INFO): Packets left to send: 0
2020-01-14T01:36:46.198Z,1578965806.198 [Micromodem](INFO): Nmea in: $CACST,6,0,20200114013645.745381,06,4985,36,0231,0150,37,02,02,00,03,1,012,001,0,4,1,0,150,9.2,10.00,24,-7.00,-01,-0.01,42,10000,4000*74

2020-01-14T01:36:47.479Z,1578965807.479 [Default:CheckIn:Read_Iridium] Stopped
2020-01-14T01:36:47.480Z,1578965807.480 [Default:CheckIn:C.Wait] Running Loop=1
2020-01-14T01:36:47.480Z,1578965807.480 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2020-01-14T01:36:47.923Z,1578965807.923 [DataOverHttps](FAULT): Server acknowledged file Logs/20200114T012440/Courier0010.lzma, notLogs/20200110T184443/Express0001.lzma
2020-01-14T01:36:47.923Z,1578965807.923 [DataOverHttps](INFO): SBD MOMSN=12192517
2020-01-14T01:37:31.070Z,1578965851.070 [CommandLine](IMPORTANT): got command quit
2020-01-14T01:37:31.616Z,1578965851.616 [DataOverHttps](INFO): Sending 1565 bytes from file Logs/20200110T184443/Express0001.lzma
2020-01-14T01:37:32.093Z,1578965852.093 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-14T01:37:32.093Z,1578965852.093 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-14T01:37:32.181Z,1578965852.181 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2020-01-14T01:37:32.181Z,1578965852.181 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-14T01:37:32.182Z,1578965852.182 [CommandLine](INFO): Join timeout helper Thread ID is 2400
2020-01-14T01:37:32.182Z,1578965852.182 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2020-01-14T01:37:32.182Z,1578965852.182 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-14T01:37:32.183Z,1578965852.183 [NavChartDb](INFO): Join timeout helper Thread ID is 2401
2020-01-14T01:37:32.289Z,1578965852.289 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-14T01:37:32.289Z,1578965852.289 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-14T01:37:32.301Z,1578965852.301 [ComponentRegistry](INFO): Shutting down WetLabsSeaOWL_UV_A ThreadHandler
2020-01-14T01:37:32.301Z,1578965852.301 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-14T01:37:32.301Z,1578965852.301 [WetLabsSeaOWL_UV_A](INFO): Join timeout helper Thread ID is 2402
2020-01-14T01:37:32.317Z,1578965852.317 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-14T01:37:32.317Z,1578965852.317 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-01-14T01:37:32.318Z,1578965852.318 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-14T01:37:32.321Z,1578965852.321 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2020-01-14T01:37:32.321Z,1578965852.321 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-14T01:37:32.321Z,1578965852.321 [CTD_NeilBrown](INFO): Join timeout helper Thread ID is 2403
2020-01-14T01:37:32.517Z,1578965852.517 [CTD_NeilBrown ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-14T01:37:32.517Z,1578965852.517 [CTD_NeilBrown](INFO): Powering down
2020-01-14T01:37:32.529Z,1578965852.529 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-14T01:37:32.543Z,1578965852.543 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2020-01-14T01:37:32.543Z,1578965852.543 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-01-14T01:37:32.544Z,1578965852.544 [Radio_Surface](INFO): Join timeout helper Thread ID is 2404
2020-01-14T01:37:32.749Z,1578965852.749 [Radio_Surface](INFO): Powering down
2020-01-14T01:37:32.750Z,1578965852.750 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-14T01:37:32.750Z,1578965852.750 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-01-14T01:37:32.762Z,1578965852.762 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2020-01-14T01:37:32.762Z,1578965852.762 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-14T01:37:32.762Z,1578965852.762 [DataOverHttps](INFO): Join timeout helper Thread ID is 2405
2020-01-14T01:37:33.618Z,1578965853.618 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-14T01:37:33.628Z,1578965853.628 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-14T01:37:33.646Z,1578965853.646 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2020-01-14T01:37:33.646Z,1578965853.646 [logger ThreadHandler](INFO): Thread cancelled.
2020-01-14T01:37:33.646Z,1578965853.646 [logger](INFO): Join timeout helper Thread ID is 2406
2020-01-14T01:37:33.647Z,1578965853.647 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-14T01:37:33.647Z,1578965853.647 [logger ThreadHandler](INFO): Thread cancelled.
2020-01-14T01:37:33.648Z,1578965853.648 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2020-01-14T01:37:33.648Z,1578965853.648 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-01-14T01:37:33.648Z,1578965853.648 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2020-01-14T01:37:33.648Z,1578965853.648 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-01-14T01:37:33.649Z,1578965853.649 [controlThread](INFO): Join timeout helper Thread ID is 2407
2020-01-14T01:37:33.706Z,1578965853.706 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2020-01-14T01:37:33.706Z,1578965853.706 [controlThread](DEBUG): Uninitializing ControlThread
2020-01-14T01:37:33.707Z,1578965853.707 [AHRS_M2](INFO): Powering down
2020-01-14T01:37:33.777Z,1578965853.777 [DDM](INFO): Powering down
2020-01-14T01:37:33.865Z,1578965853.865 [DUSBL_Hydroid](INFO): Powering down
2020-01-14T01:37:33.937Z,1578965853.937 [Micromodem](INFO): Powering down
2020-01-14T01:37:34.033Z,1578965854.033 [NAL9602](INFO): Powering down
2020-01-14T01:37:34.105Z,1578965854.105 [RDI_Pathfinder](INFO): Powering down
2020-01-14T01:37:34.107Z,1578965854.107 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2020-01-14T01:37:34.108Z,1578965854.108 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2020-01-14T01:37:34.108Z,1578965854.108 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2020-01-14T01:37:34.108Z,1578965854.108 [MissionManager](INFO): Uninitializing Mission Default
2020-01-14T01:37:34.109Z,1578965854.109 [Default] Stopped
2020-01-14T01:37:34.109Z,1578965854.109 [Default](DEBUG): Aggregate::uninitialize Default
2020-01-14T01:37:34.109Z,1578965854.109 [Default:B.GoToSurface] Stopped
2020-01-14T01:37:34.109Z,1578965854.109 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-01-14T01:37:34.109Z,1578965854.109 [Default:CheckIn] Stopped
2020-01-14T01:37:34.109Z,1578965854.109 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2020-01-14T01:37:34.109Z,1578965854.109 [Default:CheckIn:C.Wait] Stopped
2020-01-14T01:37:34.109Z,1578965854.109 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2020-01-14T01:37:34.111Z,1578965854.111 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2020-01-14T01:37:34.112Z,1578965854.112 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2020-01-14T01:37:34.112Z,1578965854.112 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2020-01-14T01:37:34.112Z,1578965854.112 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2020-01-14T01:37:34.112Z,1578965854.112 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2020-01-14T01:37:34.113Z,1578965854.113 [BuoyancyServo](INFO): Powering down
2020-01-14T01:37:34.125Z,1578965854.125 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2020-01-14T01:37:34.125Z,1578965854.125 [ElevatorServo](INFO): Powering down
2020-01-14T01:37:34.126Z,1578965854.126 [MassServo](DEBUG): Uninitialize Mass Servo.
2020-01-14T01:37:34.126Z,1578965854.126 [MassServo](INFO): Powering down
2020-01-14T01:37:34.127Z,1578965854.127 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-01-14T01:37:34.127Z,1578965854.127 [RudderServo](INFO): Powering down
2020-01-14T01:37:34.127Z,1578965854.127 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2020-01-14T01:37:34.128Z,1578965854.128 [ThrusterServo](INFO): Powering down
2020-01-14T01:37:34.128Z,1578965854.128 [SBIT](DEBUG): Uninitialize SBIT Component.
2020-01-14T01:37:34.129Z,1578965854.129 [IBIT](DEBUG): Uninitialize IBIT Component.
2020-01-14T01:37:34.129Z,1578965854.129 [CBIT](DEBUG): Uninitialize CBIT Component.
2020-01-14T01:37:34.129Z,1578965854.129 [CBIT](DEBUG): Powering off loads.
2020-01-14T01:37:34.141Z,1578965854.141 [CBIT](DEBUG): Disabling WDT.
2020-01-14T01:37:34.153Z,1578965854.153 [CBIT](DEBUG): Opening all GF detection circuits.
2020-01-14T01:37:34.154Z,1578965854.154 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-01-14T01:37:34.194Z,1578965854.194 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-01-14T01:37:34.204Z,1578965854.204 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-01-14T01:37:34.246Z,1578965854.246 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-01-14T01:37:34.248Z,1578965854.248 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2020-01-14T01:37:34.305Z,1578965854.305 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-01-14T01:37:34.367Z,1578965854.367 [logger ThreadHandler](INFO): Thread cancelled.