2020-02-04T20:56:03.716Z,1580849763.716 [Supervisor](DEBUG): Initializing supervisor.
2020-02-04T20:56:03.718Z,1580849763.718 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2020-02-04T20:56:03.719Z,1580849763.719 [SyncHandler](INFO): Protected caller Thread ID is 3541
2020-02-04T20:56:03.719Z,1580849763.719 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2020-02-04T20:56:03.720Z,1580849763.720 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2020-02-04T20:56:03.720Z,1580849763.720 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 3542
2020-02-04T20:56:03.723Z,1580849763.723 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2020-02-04T20:56:03.735Z,1580849763.735 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2020-02-04T20:56:03.736Z,1580849763.736 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2020-02-04T20:56:03.736Z,1580849763.736 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 3543
2020-02-04T20:56:03.737Z,1580849763.737 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2020-02-04T20:56:03.738Z,1580849763.738 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2020-02-04T20:56:03.738Z,1580849763.738 [logger ThreadHandler](INFO): Protected caller Thread ID is 3544
2020-02-04T20:56:03.740Z,1580849763.740 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2020-02-04T20:56:03.740Z,1580849763.740 [Supervisor](INFO): Looking for Config files in directory: Config/
2020-02-04T20:56:03.742Z,1580849763.742 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2020-02-04T20:56:04.172Z,1580849764.172 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2020-02-04T20:56:04.173Z,1580849764.173 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2020-02-04T20:56:04.269Z,1580849764.269 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2020-02-04T20:56:04.270Z,1580849764.270 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2020-02-04T20:56:04.579Z,1580849764.579 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2020-02-04T20:56:04.580Z,1580849764.580 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2020-02-04T20:56:04.719Z,1580849764.719 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2020-02-04T20:56:04.720Z,1580849764.720 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2020-02-04T20:56:04.908Z,1580849764.908 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2020-02-04T20:56:04.909Z,1580849764.909 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2020-02-04T20:56:05.581Z,1580849765.581 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2020-02-04T20:56:05.582Z,1580849765.582 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2020-02-04T20:56:05.792Z,1580849765.792 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2020-02-04T20:56:05.792Z,1580849765.792 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2020-02-04T20:56:05.934Z,1580849765.934 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2020-02-04T20:56:05.934Z,1580849765.934 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2020-02-04T20:56:06.121Z,1580849766.121 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2020-02-04T20:56:06.122Z,1580849766.122 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2020-02-04T20:56:06.216Z,1580849766.216 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2020-02-04T20:56:06.217Z,1580849766.217 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2020-02-04T20:56:06.510Z,1580849766.510 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2020-02-04T20:56:06.510Z,1580849766.510 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2020-02-04T20:56:06.590Z,1580849766.590 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2020-02-04T20:56:06.691Z,1580849766.691 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2020-02-04T20:56:06.691Z,1580849766.691 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2020-02-04T20:56:07.317Z,1580849767.317 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2020-02-04T20:56:07.318Z,1580849767.318 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2020-02-04T20:56:07.719Z,1580849767.719 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2020-02-04T20:56:07.721Z,1580849767.721 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/
2020-02-04T20:56:07.722Z,1580849767.722 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/vehicle.cfg
2020-02-04T20:56:07.930Z,1580849767.930 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Control.cfg
2020-02-04T20:56:08.029Z,1580849768.029 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/BIT.cfg
2020-02-04T20:56:08.126Z,1580849768.126 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Battery.cfg
2020-02-04T20:56:08.350Z,1580849768.350 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2020-02-04T20:56:08.351Z,1580849768.351 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Simulator.cfg
2020-02-04T20:56:08.434Z,1580849768.434 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Navigation.cfg
2020-02-04T20:56:08.527Z,1580849768.527 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/logger.cfg
2020-02-04T20:56:08.622Z,1580849768.622 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/secure.cfg
2020-02-04T20:56:08.704Z,1580849768.704 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Servo.cfg
2020-02-04T20:56:08.810Z,1580849768.810 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/workSite.cfg
2020-02-04T20:56:08.902Z,1580849768.902 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Sensor.cfg
2020-02-04T20:56:09.082Z,1580849769.082 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Science.cfg
2020-02-04T20:56:09.210Z,1580849769.210 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2020-02-04T20:56:09.214Z,1580849769.214 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2020-02-04T20:56:09.528Z,1580849769.528 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_orientation
2020-02-04T20:56:09.533Z,1580849769.533 [AHRS_M2](INFO): created writer for : platform_orientation
2020-02-04T20:56:09.535Z,1580849769.535 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_magnetic_orientation
2020-02-04T20:56:09.540Z,1580849769.540 [AHRS_M2](INFO): created writer for : platform_magnetic_orientation
2020-02-04T20:56:09.540Z,1580849769.540 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_pitch_angle
2020-02-04T20:56:09.545Z,1580849769.545 [AHRS_M2](INFO): created writer for : platform_pitch_angle
2020-02-04T20:56:09.546Z,1580849769.546 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_roll_angle
2020-02-04T20:56:09.550Z,1580849769.550 [AHRS_M2](INFO): created writer for : platform_roll_angle
2020-02-04T20:56:09.618Z,1580849769.618 [AHRS_M2] Loaded
2020-02-04T20:56:09.619Z,1580849769.619 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2020-02-04T20:56:09.697Z,1580849769.697 [DataOverHttps] Loaded
2020-02-04T20:56:09.698Z,1580849769.698 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2020-02-04T20:56:09.699Z,1580849769.699 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 407684E0
2020-02-04T20:56:09.699Z,1580849769.699 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 3626
2020-02-04T20:56:09.722Z,1580849769.722 [DDM] Loaded
2020-02-04T20:56:09.722Z,1580849769.722 [ComponentRegistry](DEBUG): SyncComponent "DDM" handled in the control thread.
2020-02-04T20:56:09.735Z,1580849769.735 [Depth_Keller] Loaded
2020-02-04T20:56:09.735Z,1580849769.735 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2020-02-04T20:56:09.739Z,1580849769.739 [DropWeight] Loaded
2020-02-04T20:56:09.739Z,1580849769.739 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2020-02-04T20:56:09.799Z,1580849769.799 [DUSBL_Hydroid] Loaded
2020-02-04T20:56:09.799Z,1580849769.799 [ComponentRegistry](DEBUG): SyncComponent "DUSBL_Hydroid" handled in the control thread.
2020-02-04T20:56:09.844Z,1580849769.844 [Micromodem] Loaded
2020-02-04T20:56:09.844Z,1580849769.844 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2020-02-04T20:56:09.937Z,1580849769.937 [NAL9602] Loaded
2020-02-04T20:56:09.938Z,1580849769.938 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2020-02-04T20:56:09.976Z,1580849769.976 [Onboard] Loaded
2020-02-04T20:56:09.976Z,1580849769.976 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2020-02-04T20:56:09.982Z,1580849769.982 [PowerOnly] Loaded
2020-02-04T20:56:09.982Z,1580849769.982 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2020-02-04T20:56:09.988Z,1580849769.988 [Radio_Surface] Loaded
2020-02-04T20:56:09.988Z,1580849769.988 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2020-02-04T20:56:09.989Z,1580849769.989 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 407984E0
2020-02-04T20:56:09.990Z,1580849769.990 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 3627
2020-02-04T20:56:10.031Z,1580849770.031 [RDI_Pathfinder] Loaded
2020-02-04T20:56:10.032Z,1580849770.032 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2020-02-04T20:56:12.355Z,1580849772.355 [BPC1] Loaded
2020-02-04T20:56:12.355Z,1580849772.355 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2020-02-04T20:56:12.356Z,1580849772.356 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2020-02-04T20:56:12.356Z,1580849772.356 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2020-02-04T20:56:12.369Z,1580849772.369 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2020-02-04T20:56:12.369Z,1580849772.369 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2020-02-04T20:56:12.481Z,1580849772.481 [DeadReckonUsingMultipleVelocitySources] Loaded
2020-02-04T20:56:12.481Z,1580849772.481 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2020-02-04T20:56:12.501Z,1580849772.501 [NavChart] Loaded
2020-02-04T20:56:12.501Z,1580849772.501 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2020-02-04T20:56:12.505Z,1580849772.505 [UniversalFixResidualReporter] Loaded
2020-02-04T20:56:12.505Z,1580849772.505 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2020-02-04T20:56:12.506Z,1580849772.506 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2020-02-04T20:56:12.506Z,1580849772.506 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2020-02-04T20:56:12.609Z,1580849772.609 [BuoyancyServo] Loaded
2020-02-04T20:56:12.610Z,1580849772.610 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2020-02-04T20:56:12.624Z,1580849772.624 [ElevatorServo] Loaded
2020-02-04T20:56:12.624Z,1580849772.624 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2020-02-04T20:56:12.639Z,1580849772.639 [MassServo] Loaded
2020-02-04T20:56:12.639Z,1580849772.639 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2020-02-04T20:56:12.653Z,1580849772.653 [RudderServo] Loaded
2020-02-04T20:56:12.654Z,1580849772.654 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2020-02-04T20:56:12.668Z,1580849772.668 [ThrusterServo] Loaded
2020-02-04T20:56:12.668Z,1580849772.668 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2020-02-04T20:56:12.668Z,1580849772.668 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2020-02-04T20:56:12.669Z,1580849772.669 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2020-02-04T20:56:12.851Z,1580849772.851 [PAR_Licor] Loaded
2020-02-04T20:56:12.851Z,1580849772.851 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2020-02-04T20:56:12.894Z,1580849772.894 [WetLabsSeaOWL_UV_A] Loaded
2020-02-04T20:56:12.894Z,1580849772.894 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2020-02-04T20:56:12.895Z,1580849772.895 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 408EC4E0
2020-02-04T20:56:12.895Z,1580849772.895 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 3628
2020-02-04T20:56:12.896Z,1580849772.896 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2020-02-04T20:56:12.896Z,1580849772.896 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2020-02-04T20:56:13.218Z,1580849773.218 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2020-02-04T20:56:13.219Z,1580849773.219 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2020-02-04T20:56:13.259Z,1580849773.259 [DepthRateCalculator] Loaded
2020-02-04T20:56:13.260Z,1580849773.260 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2020-02-04T20:56:13.265Z,1580849773.265 [PitchRateCalculator] Loaded
2020-02-04T20:56:13.265Z,1580849773.265 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2020-02-04T20:56:13.277Z,1580849773.277 [SpeedCalculator] Loaded
2020-02-04T20:56:13.277Z,1580849773.277 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2020-02-04T20:56:13.298Z,1580849773.298 [TempGradientCalculator] Loaded
2020-02-04T20:56:13.298Z,1580849773.298 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2020-02-04T20:56:13.303Z,1580849773.303 [YawRateCalculator] Loaded
2020-02-04T20:56:13.303Z,1580849773.303 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2020-02-04T20:56:13.342Z,1580849773.342 [ElevatorOffsetCalculator] Loaded
2020-02-04T20:56:13.343Z,1580849773.343 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2020-02-04T20:56:13.343Z,1580849773.343 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2020-02-04T20:56:13.343Z,1580849773.343 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2020-02-04T20:56:13.476Z,1580849773.476 [SBIT](DEBUG): Construct Startup Built In Test.
2020-02-04T20:56:13.497Z,1580849773.497 [SBIT] Loaded
2020-02-04T20:56:13.497Z,1580849773.497 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2020-02-04T20:56:13.498Z,1580849773.498 [IBIT](DEBUG): Construct Initiated Built In Test.
2020-02-04T20:56:13.510Z,1580849773.510 [IBIT] Loaded
2020-02-04T20:56:13.510Z,1580849773.510 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2020-02-04T20:56:13.513Z,1580849773.513 [CBIT](DEBUG): Construct Continuous Built In Test.
2020-02-04T20:56:13.646Z,1580849773.646 [CBIT] Loaded
2020-02-04T20:56:13.646Z,1580849773.646 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2020-02-04T20:56:13.647Z,1580849773.647 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2020-02-04T20:56:13.647Z,1580849773.647 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2020-02-04T20:56:13.727Z,1580849773.727 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2020-02-04T20:56:13.728Z,1580849773.728 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2020-02-04T20:56:13.822Z,1580849773.822 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2020-02-04T20:56:13.823Z,1580849773.823 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2020-02-04T20:56:13.869Z,1580849773.869 [VerticalControl](DEBUG): Construct VerticalControl.
2020-02-04T20:56:13.949Z,1580849773.949 [VerticalControl] Loaded
2020-02-04T20:56:13.949Z,1580849773.949 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2020-02-04T20:56:13.950Z,1580849773.950 [HorizontalControl](DEBUG): Construct HorizontalControl.
2020-02-04T20:56:14.017Z,1580849774.017 [HorizontalControl] Loaded
2020-02-04T20:56:14.017Z,1580849774.017 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2020-02-04T20:56:14.018Z,1580849774.018 [SpeedControl](DEBUG): Construct SpeedControl.
2020-02-04T20:56:14.019Z,1580849774.019 [SpeedControl] Loaded
2020-02-04T20:56:14.020Z,1580849774.020 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2020-02-04T20:56:14.020Z,1580849774.020 [LoopControl](DEBUG): Construct LoopControl.
2020-02-04T20:56:14.021Z,1580849774.021 [LoopControl] Loaded
2020-02-04T20:56:14.021Z,1580849774.021 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2020-02-04T20:56:14.021Z,1580849774.021 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2020-02-04T20:56:14.022Z,1580849774.022 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2020-02-04T20:56:14.053Z,1580849774.053 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2020-02-04T20:56:14.056Z,1580849774.056 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2020-02-04T20:56:14.057Z,1580849774.057 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2020-02-04T20:56:14.064Z,1580849774.064 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2020-02-04T20:56:14.065Z,1580849774.065 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40ACC4E0
2020-02-04T20:56:14.065Z,1580849774.065 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 3629
2020-02-04T20:56:14.070Z,1580849774.070 [Supervisor](INFO): Main Thread ID is 2752
2020-02-04T20:56:14.070Z,1580849774.070 [Supervisor](DEBUG): Running supervisor.
2020-02-04T20:56:14.070Z,1580849774.070 [CommandLine ThreadHandler](INFO): Handler Thread ID is 3630
2020-02-04T20:56:14.073Z,1580849774.073 [controlThread ThreadHandler](INFO): Handler Thread ID is 3631
2020-02-04T20:56:14.073Z,1580849774.073 [controlThread](DEBUG): Initializing ControlThread
2020-02-04T20:56:14.080Z,1580849774.080 [NavChart](DEBUG): Initialize NavChart Navigation.
2020-02-04T20:56:14.080Z,1580849774.080 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2020-02-04T20:56:14.085Z,1580849774.085 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2020-02-04T20:56:14.085Z,1580849774.085 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2020-02-04T20:56:14.086Z,1580849774.086 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2020-02-04T20:56:14.086Z,1580849774.086 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2020-02-04T20:56:14.087Z,1580849774.087 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2020-02-04T20:56:14.087Z,1580849774.087 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2020-02-04T20:56:14.087Z,1580849774.087 [SBIT](INFO): Initialize SBIT Component.
2020-02-04T20:56:14.088Z,1580849774.088 [SBIT](IMPORTANT): git: 2020-01-26-7-g33cfb7a
2020-02-04T20:56:14.088Z,1580849774.088 [SBIT](INFO): git hash: 33cfb7a74ac29a70c1d69f5633740566e309ca44
2020-02-04T20:56:14.088Z,1580849774.088 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2020-02-04T20:56:14.089Z,1580849774.089 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #2 PREEMPT Thu Jan 11 20:13:48 PST 2018
Kernel Reported: #1 PREEMPT Wed Nov 13 12:38:10 PST 2019
2020-02-04T20:56:14.091Z,1580849774.091 [SBIT](INFO): Beginning SBIT in 39.000000 seconds.
2020-02-04T20:56:14.091Z,1580849774.091 [IBIT](INFO): Initialize IBIT Component.
2020-02-04T20:56:14.092Z,1580849774.092 [CBIT](DEBUG): Initialize CBIT Component.
2020-02-04T20:56:14.093Z,1580849774.093 [logger ThreadHandler](INFO): Handler Thread ID is 3632
2020-02-04T20:56:14.105Z,1580849774.105 [CBIT](DEBUG): Initialized mux pins.
2020-02-04T20:56:14.105Z,1580849774.105 [CBIT](DEBUG): Initializing the watchdog timer.
2020-02-04T20:56:14.113Z,1580849774.113 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 3633
2020-02-04T20:56:14.114Z,1580849774.114 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2020-02-04T20:56:14.125Z,1580849774.125 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 3634
2020-02-04T20:56:14.129Z,1580849774.129 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2020-02-04T20:56:14.129Z,1580849774.129 [CBIT](DEBUG): Initializing heartbeat.
2020-02-04T20:56:14.137Z,1580849774.137 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 3635
2020-02-04T20:56:14.138Z,1580849774.138 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-02-04T20:56:14.165Z,1580849774.165 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 3636
2020-02-04T20:56:14.168Z,1580849774.168 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2020-02-04T20:56:14.168Z,1580849774.168 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2020-02-04T20:56:14.169Z,1580849774.169 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2020-02-04T20:56:14.169Z,1580849774.169 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2020-02-04T20:56:14.169Z,1580849774.169 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2020-02-04T20:56:14.170Z,1580849774.170 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2020-02-04T20:56:14.170Z,1580849774.170 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2020-02-04T20:56:14.170Z,1580849774.170 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2020-02-04T20:56:14.170Z,1580849774.170 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2020-02-04T20:56:14.170Z,1580849774.170 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2020-02-04T20:56:14.170Z,1580849774.170 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2020-02-04T20:56:14.170Z,1580849774.170 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2020-02-04T20:56:14.171Z,1580849774.171 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2020-02-04T20:56:14.171Z,1580849774.171 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2020-02-04T20:56:14.171Z,1580849774.171 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2020-02-04T20:56:14.171Z,1580849774.171 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2020-02-04T20:56:14.201Z,1580849774.201 [CBIT](DEBUG): Deactivating GF circuits.
2020-02-04T20:56:14.201Z,1580849774.201 [CBIT](DEBUG): Deactivating emergency mode.
2020-02-04T20:56:14.237Z,1580849774.237 [CBIT](DEBUG): Backplane powered.
2020-02-04T20:56:14.237Z,1580849774.237 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2020-02-04T20:56:14.239Z,1580849774.239 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2020-02-04T20:56:14.239Z,1580849774.239 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2020-02-04T20:56:14.240Z,1580849774.240 [LoopControl](DEBUG): Initialize LoopControlComponent.
2020-02-04T20:56:14.241Z,1580849774.241 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2020-02-04T20:56:14.251Z,1580849774.251 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2020-02-04T20:56:14.269Z,1580849774.269 [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>


2020-02-04T20:56:14.270Z,1580849774.270 [MissionManager](INFO): Loading Mission: Missions/underIce/DefaultWithUndock.xml
2020-02-04T20:56:14.351Z,1580849774.351 [MissionManager](INFO): DefineArg DefaultWithUndock.ElapsedSinceDefaultStarted = 0.000000 min
2020-02-04T20:56:14.367Z,1580849774.367 [MissionManager](INFO): DefineArg DefaultWithUndock.DetachTimeout = 30.000000 min
2020-02-04T20:56:14.380Z,1580849774.380 [MissionManager](INFO): DefineArg DefaultWithUndock.MicromodemCommsInterval = 2.000000 min
2020-02-04T20:56:14.381Z,1580849774.381 [DefaultWithUndock:A.Wait](DEBUG): Construct Wait.
2020-02-04T20:56:14.383Z,1580849774.383 [DefaultWithUndock:B.Undock](DEBUG): Construct.
2020-02-04T20:56:14.416Z,1580849774.416 [DefaultWithUndock:C.GoToSurface](DEBUG): Construct GoToSurface.
2020-02-04T20:56:14.458Z,1580849774.458 [DefaultWithUndock:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2020-02-04T20:56:14.460Z,1580849774.460 [DefaultWithUndock:CheckIn:C.Wait](DEBUG): Construct Wait.
2020-02-04T20:56:14.486Z,1580849774.486 [DefaultWithUndock:F.Execute](DEBUG): Construct Execute.
2020-02-04T20:56:14.490Z,1580849774.490 [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="DefaultWithUndock">

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

    <DefineArg Name="DetachTimeout"><Description>
        Maximum time duration for the vehicle to reach the approach depth after detaching form the dock.
        The vehicle will switch over to midcourse guidance after the timeout is expired.
    </Description><Units:minute/><Value>30</Value></DefineArg>

    <DefineArg Name="MicromodemCommsInterval"><Description>
        How often to trigger Umodem communications
    </Description><Units:minute/><Value>2</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>30</Value></Setting>
    </Guidance:Wait>

    <!-- Leave the dock if necessary --> 
    <Guidance:Undock>
        <Sequence/>
        <Timeout Duration="DetachTimeout">
            <Syslog Severity="Important">Timed out while trying to detach from dock at current depth of <Universal:depth/><Units:meter/>.</Syslog>
        </Timeout>
    </Guidance:Undock>

    <!-- This mission assumes open water so from here on it's the same old default that's always used -->
    <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>


2020-02-04T20:56:14.494Z,1580849774.494 [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,
2020-02-04T20:56:14.514Z,1580849774.514 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2020-02-04T20:56:14.529Z,1580849774.529 [Radio_Surface](INFO): Powering up
2020-02-04T20:56:14.547Z,1580849774.547 [DDM](INFO): Powering up
2020-02-04T20:56:14.547Z,1580849774.547 [DDM](DEBUG): Initializing DDM.
2020-02-04T20:56:14.655Z,1580849774.655 [DUSBL_Hydroid](INFO): Powering up
2020-02-04T20:56:14.655Z,1580849774.655 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2020-02-04T20:56:14.903Z,1580849774.903 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2020-02-04T20:56:14.909Z,1580849774.909 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2020-02-04T20:56:14.910Z,1580849774.910 [ElevatorServo](DEBUG): Initializing EZServoServo.
2020-02-04T20:56:14.917Z,1580849774.917 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2020-02-04T20:56:14.918Z,1580849774.918 [MassServo](DEBUG): Initializing EZServoServo.
2020-02-04T20:56:14.925Z,1580849774.925 [MassServo](DEBUG): Initializing MassServo.
2020-02-04T20:56:14.926Z,1580849774.926 [RudderServo](DEBUG): Initializing EZServoServo.
2020-02-04T20:56:14.934Z,1580849774.934 [RudderServo](DEBUG): Initializing RudderServo.
2020-02-04T20:56:14.934Z,1580849774.934 [ThrusterServo](DEBUG): Initializing EZServoServo.
2020-02-04T20:56:14.941Z,1580849774.941 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2020-02-04T20:56:15.024Z,1580849775.024 [Micromodem](INFO): Powering up
2020-02-04T20:56:15.024Z,1580849775.024 [Micromodem](DEBUG): Initializing Micromodem.
2020-02-04T20:56:19.869Z,1580849779.869 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2020-02-04T20:56:20.272Z,1580849780.272 [Micromodem](INFO): Nmea in: $CATMG,2020-02-04T20:56:20.304006Z,RTC,RTC*54

2020-02-04T20:56:20.272Z,1580849780.272 [Micromodem](ERROR): CFG response from modem unexpected: $CATMG,2020-02-04T20:56:20.304006Z,RTC,RTC*54

2020-02-04T20:56:20.675Z,1580849780.675 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2020-02-04T20:56:20.675Z,1580849780.675 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2020-02-04T20:56:21.079Z,1580849781.079 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2020-02-04T20:56:21.079Z,1580849781.079 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2020-02-04T20:56:21.483Z,1580849781.483 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2020-02-04T20:56:21.484Z,1580849781.484 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2020-02-04T20:56:21.887Z,1580849781.887 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2020-02-04T20:56:21.887Z,1580849781.887 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2020-02-04T20:56:22.291Z,1580849782.291 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2020-02-04T20:56:22.291Z,1580849782.291 [Micromodem](INFO): Nmea out: $CCCFG,FC0,10000*46

2020-02-04T20:56:22.684Z,1580849782.684 [Micromodem](INFO): Nmea in: $CACFG,FC0,10000*44

2020-02-04T20:56:22.684Z,1580849782.684 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2020-02-04T20:56:23.119Z,1580849783.119 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2020-02-04T20:56:23.119Z,1580849783.119 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2020-02-04T20:56:23.479Z,1580849783.479 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2020-02-04T20:56:23.480Z,1580849783.480 [Micromodem](INFO): Nmea out: $CCCLK,2020,02,04,20,56,24*45

2020-02-04T20:56:23.892Z,1580849783.892 [Micromodem](INFO): Nmea in: $CACLK,2020,2,4,20,56,24*47

2020-02-04T20:56:23.893Z,1580849783.893 [Micromodem](INFO): Nmea in: $CATMS,0,2020-02-04T20:56:25Z*76

2020-02-04T20:56:23.895Z,1580849783.895 [Micromodem](INFO): Nmea in: $CATMG,2020-02-04T20:56:25.026164Z,USER_CMD,RTC*16

2020-02-04T20:56:25.093Z,1580849785.093 [DDM](INFO): Dynamic Docking Module:º
2020-02-04T20:56:28.336Z,1580849788.336 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2020-02-04T20:56:32.762Z,1580849792.762 [DUSBL_Hydroid](INFO): DUSBL Version:O
2020-02-04T20:56:40.040Z,1580849800.040 [NAL9602](INFO): Powering up NAL9602
2020-02-04T20:56:50.943Z,1580849810.943 [NAL9602](INFO): NAL9602 initialized
2020-02-04T20:56:53.824Z,1580849813.824 [SBIT](IMPORTANT): Beginning Startup BIT
2020-02-04T20:56:53.855Z,1580849813.855 [CBIT](IMPORTANT): Beginning ground fault scan
2020-02-04T20:57:04.917Z,1580849824.917 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): 0.013094
CHAN A1 (24V): -0.028002
CHAN A2 (12V): -0.006961
CHAN A3 (5V): -0.002230
CHAN B0 (3.3V): 0.000343
CHAN B1 (3.15aV): 0.000396
CHAN B2 (3.15bV): 0.001055
CHAN B3 (GND): 0.002065
OPEN: 0.005411
Full Scale Calc: 4.765 mA, -1.589 mA
2020-02-04T20:57:35.259Z,1580849855.259 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00,   0.00
2020-02-04T20:57:47.500Z,1580849867.500 [SBIT](IMPORTANT): SBIT PASSED
2020-02-04T20:57:47.500Z,1580849867.500 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2020-02-04T20:57:47.505Z,1580849867.505 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=105 cubic_centimeter;

2020-02-04T20:57:47.505Z,1580849867.505 [SBIT](IMPORTANT): VerticalControl.massDefault=0.5 centimeter;

2020-02-04T20:57:47.859Z,1580849867.859 [MissionManager](IMPORTANT): Started mission Startup
2020-02-04T20:57:47.860Z,1580849867.860 [Startup] Running Loop=1
2020-02-04T20:57:47.860Z,1580849867.860 [Startup](DEBUG): Aggregate::initialize Startup
2020-02-04T20:57:47.860Z,1580849867.860 [Startup:A.GoToSurface] Running Loop=1
2020-02-04T20:57:47.860Z,1580849867.860 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-02-04T20:57:47.861Z,1580849867.861 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-02-04T20:57:47.861Z,1580849867.861 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-02-04T20:57:47.862Z,1580849867.862 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-02-04T20:57:47.862Z,1580849867.862 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-02-04T20:57:47.862Z,1580849867.862 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-02-04T20:57:47.864Z,1580849867.864 [Startup:StartupSatComms] Running Loop=1
2020-02-04T20:57:47.864Z,1580849867.864 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2020-02-04T20:57:47.864Z,1580849867.864 [Startup:StartupSatComms:A] Running Loop=1
2020-02-04T20:57:48.278Z,1580849868.278 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2020-02-04T20:58:48.093Z,1580849928.093 [Startup:StartupSatComms:A](INFO): Timed out from 2020-02-04T20:57:47.9Z
2020-02-04T20:58:48.093Z,1580849928.093 [Startup:StartupSatComms:A] Stopped
2020-02-04T20:58:48.093Z,1580849928.093 [Startup:StartupSatComms:B] Running Loop=1
2020-02-04T20:58:48.483Z,1580849928.483 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2020-02-04T20:59:04.286Z,1580849944.286 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2020-02-04T20:59:14.315Z,1580849954.315 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2020-02-04T20:59:14.315Z,1580849954.315 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-02-04T20:59:14.325Z,1580849954.325 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-02-04T20:59:14.735Z,1580849954.735 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-02-04T20:59:14.735Z,1580849954.735 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2020-02-04T20:59:21.274Z,1580849961.274 [CommandLine](IMPORTANT): got command show stack
2020-02-04T20:59:21.274Z,1580849961.274 [CommandLine](IMPORTANT): Behavior Stack:

2020-02-04T20:59:21.274Z,1580849961.274 [Startup](IMPORTANT): Priority 0: Startup:A.GoToSurface
2020-02-04T20:59:21.274Z,1580849961.274 [Startup:StartupSatComms](IMPORTANT): Priority 1: Startup:StartupSatComms:B
2020-02-04T20:59:27.735Z,1580849967.735 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2020-02-04T20:59:28.050Z,1580849968.050 [Startup:StartupSatComms:B] Stopped
2020-02-04T20:59:28.051Z,1580849968.051 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2020-02-04T20:59:28.051Z,1580849968.051 [Startup:StartupSatComms] Stopped
2020-02-04T20:59:28.051Z,1580849968.051 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2020-02-04T20:59:28.053Z,1580849968.053 [Startup](INFO): Completed Startup
2020-02-04T20:59:28.054Z,1580849968.054 [MissionManager](INFO): Startup is completed.
2020-02-04T20:59:28.054Z,1580849968.054 [MissionManager](INFO): Uninitializing Mission Startup
2020-02-04T20:59:28.054Z,1580849968.054 [Startup] Stopped
2020-02-04T20:59:28.055Z,1580849968.055 [Startup](DEBUG): Aggregate::uninitialize Startup
2020-02-04T20:59:28.055Z,1580849968.055 [Startup:A.GoToSurface] Stopped
2020-02-04T20:59:28.055Z,1580849968.055 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-02-04T20:59:28.461Z,1580849968.461 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2020-02-04T20:59:28.461Z,1580849968.461 [DefaultWithUndock] Running Loop=1
2020-02-04T20:59:28.461Z,1580849968.461 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2020-02-04T20:59:28.461Z,1580849968.461 [DefaultWithUndock:C.GoToSurface] Running Loop=1
2020-02-04T20:59:28.461Z,1580849968.461 [DefaultWithUndock:C.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-02-04T20:59:28.461Z,1580849968.461 [DefaultWithUndock:C.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-02-04T20:59:28.462Z,1580849968.462 [DefaultWithUndock:C.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-02-04T20:59:28.462Z,1580849968.462 [DefaultWithUndock:C.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-02-04T20:59:28.462Z,1580849968.462 [DefaultWithUndock:C.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-02-04T20:59:28.463Z,1580849968.463 [DefaultWithUndock:C.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-02-04T20:59:28.463Z,1580849968.463 [DefaultWithUndock:A.Wait] Running Loop=1
2020-02-04T20:59:28.463Z,1580849968.463 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2020-02-04T20:59:30.520Z,1580849970.520 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2020-02-04T20:59:39.443Z,1580849979.443 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004865
2020-02-04T20:59:41.435Z,1580849981.435 [CommandLine](IMPORTANT): got command strobe off
2020-02-04T20:59:41.435Z,1580849981.435 [CommandLine](IMPORTANT): Deactivating strobe
2020-02-04T20:59:58.790Z,1580849998.790 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2020-02-04T20:59:58.790Z,1580849998.790 [DefaultWithUndock:A.Wait] Stopped
2020-02-04T20:59:58.790Z,1580849998.790 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2020-02-04T20:59:58.790Z,1580849998.790 [DefaultWithUndock:B.Undock] Running Loop=1
2020-02-04T20:59:58.790Z,1580849998.790 [DefaultWithUndock:B.Undock](DEBUG): Initialize.
2020-02-04T20:59:59.553Z,1580849999.553 [PowerOnly](INFO): Powering up
2020-02-04T21:00:03.308Z,1580850003.308 [DefaultWithUndock:B.Undock](INFO): Detaching from dock.
2020-02-04T21:00:03.721Z,1580850003.721 [DefaultWithUndock:B.Undock](INFO): Detected possible detachment. Starting timer.
2020-02-04T21:00:15.251Z,1580850015.251 [CommandLine](IMPORTANT): got command show stack
2020-02-04T21:00:15.251Z,1580850015.251 [CommandLine](IMPORTANT): Behavior Stack:

2020-02-04T21:00:15.251Z,1580850015.251 [DefaultWithUndock](IMPORTANT): Priority 0: DefaultWithUndock:B.Undock
2020-02-04T21:00:15.252Z,1580850015.252 [DefaultWithUndock](IMPORTANT): Priority 1: DefaultWithUndock:C.GoToSurface
2020-02-04T21:00:23.855Z,1580850023.855 [DefaultWithUndock:B.Undock](INFO): Detached at range: nan m. Transitioning DDM to standby.
2020-02-04T21:00:26.716Z,1580850026.716 [DefaultWithUndock:B.Undock](INFO): DDM at standby.
2020-02-04T21:00:27.092Z,1580850027.092 [DefaultWithUndock:B.Undock](IMPORTANT): Undocking sequence complete.
2020-02-04T21:00:27.092Z,1580850027.092 [DefaultWithUndock:B.Undock] Stopped
2020-02-04T21:00:27.464Z,1580850027.464 [DefaultWithUndock:CheckIn] Running Loop=1
2020-02-04T21:00:27.464Z,1580850027.464 [DefaultWithUndock:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:CheckIn
2020-02-04T21:00:27.464Z,1580850027.464 [DefaultWithUndock:CheckIn:Read_GPS] Running Loop=1
2020-02-04T21:00:27.879Z,1580850027.879 [DefaultWithUndock:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2020-02-04T21:01:05.694Z,1580850065.694 [DataOverHttps](IMPORTANT): SBD MTMSN=20200204T210053
2020-02-04T21:01:13.209Z,1580850073.209 [DataOverHttps](INFO): Received command:load Maintenance/DUSBL.xml;set DUSBL.TransponderCode 12 count;run 
2020-02-04T21:01:13.239Z,1580850073.239 [CommandLine](IMPORTANT): got command load ./Missions/Maintenance/DUSBL.xml
2020-02-04T21:01:13.239Z,1580850073.239 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/DUSBL.xml
2020-02-04T21:01:13.262Z,1580850073.262 [MissionManager](INFO): DefineArg DUSBL.MissionTimeout = 90.000000 min
2020-02-04T21:01:13.266Z,1580850073.266 [MissionManager](INFO): DefineArg DUSBL.NumberOfRequests = 10.000000 count
2020-02-04T21:01:13.293Z,1580850073.293 [MissionManager](INFO): DefineArg DUSBL.TransponderCode = 2.000000 count
2020-02-04T21:01:13.301Z,1580850073.301 [MissionManager](INFO): DefineArg DUSBL.NumberOfPings = 1.000000 count
2020-02-04T21:01:13.304Z,1580850073.304 [MissionManager](INFO): DefineArg DUSBL.EnabledDUSBL = DUSBL_Hydroid.loadAtStartup
2020-02-04T21:01:13.318Z,1580850073.318 [DUSBL:A.Pitch](DEBUG): Construct.
2020-02-04T21:01:13.328Z,1580850073.328 [DUSBL:B.SetSpeed](DEBUG): Construct.
2020-02-04T21:01:13.348Z,1580850073.348 [DUSBL:RequestRepeater:C.Wait](DEBUG): Construct Wait.
2020-02-04T21:01:13.356Z,1580850073.356 [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>


2020-02-04T21:01:13.361Z,1580850073.361 [CommandLine](IMPORTANT): Loaded ./Missions/Maintenance/DUSBL.xml
2020-02-04T21:01:14.934Z,1580850074.934 [CommandLine](IMPORTANT): got command set DUSBL.TransponderCode 12.000000 count
2020-02-04T21:01:14.934Z,1580850074.934 [CommandLine](IMPORTANT): got command run 
2020-02-04T21:01:14.936Z,1580850074.936 [CommandLine](IMPORTANT): Running 
2020-02-04T21:01:15.184Z,1580850075.184 [DefaultWithUndock] Stopped
2020-02-04T21:01:15.184Z,1580850075.184 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2020-02-04T21:01:15.184Z,1580850075.184 [DefaultWithUndock:C.GoToSurface] Stopped
2020-02-04T21:01:15.184Z,1580850075.184 [DefaultWithUndock:C.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-02-04T21:01:15.184Z,1580850075.184 [DefaultWithUndock:CheckIn] Stopped
2020-02-04T21:01:15.184Z,1580850075.184 [DefaultWithUndock:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:CheckIn
2020-02-04T21:01:15.185Z,1580850075.185 [DefaultWithUndock:CheckIn:Read_GPS] Stopped
2020-02-04T21:01:15.185Z,1580850075.185 [MissionManager](IMPORTANT): Started mission DUSBL
2020-02-04T21:01:15.185Z,1580850075.185 [DUSBL] Running Loop=1
2020-02-04T21:01:15.185Z,1580850075.185 [DUSBL](DEBUG): Aggregate::initialize DUSBL
2020-02-04T21:01:15.185Z,1580850075.185 [DUSBL:A.Pitch] Running Loop=1
2020-02-04T21:01:15.186Z,1580850075.186 [DUSBL:A.Pitch](DEBUG): Initialize.
2020-02-04T21:01:15.186Z,1580850075.186 [DUSBL:B.SetSpeed] Running Loop=1
2020-02-04T21:01:15.187Z,1580850075.187 [DUSBL:B.SetSpeed](DEBUG): Initialize.
2020-02-04T21:01:15.187Z,1580850075.187 [DUSBL:C] Running Loop=1
2020-02-04T21:01:15.187Z,1580850075.187 [DUSBL:RequestRepeater] Running Loop=1
2020-02-04T21:01:15.188Z,1580850075.188 [DUSBL:RequestRepeater](DEBUG): Aggregate::initialize DUSBL:RequestRepeater
2020-02-04T21:01:15.188Z,1580850075.188 [DUSBL:RequestRepeater:A] Running Loop=1
2020-02-04T21:01:15.188Z,1580850075.188 [DUSBL:RequestRepeater:B] Running Loop=1
2020-02-04T21:01:15.188Z,1580850075.188 [DUSBL:RequestRepeater:C.Wait] Running Loop=1
2020-02-04T21:01:15.188Z,1580850075.188 [DUSBL:RequestRepeater:C.Wait](DEBUG): Initialize Wait Component.
2020-02-04T21:01:15.190Z,1580850075.190 [DUSBL:RequestRepeater:B] Running Loop=1
2020-02-04T21:01:15.190Z,1580850075.190 [DUSBL:RequestRepeater:A] Running Loop=1
2020-02-04T21:01:15.192Z,1580850075.192 [DUSBL:C](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_range
2020-02-04T21:01:15.192Z,1580850075.192 [DUSBL:C](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_direction_vehicle_frame
2020-02-04T21:01:15.192Z,1580850075.192 [DUSBL:B.SetSpeed] Running Loop=1
2020-02-04T21:01:15.193Z,1580850075.193 [DUSBL:A.Pitch] Running Loop=1
2020-02-04T21:01:17.116Z,1580850077.116 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:01:17.544Z,1580850077.544 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:01:18.329Z,1580850078.329 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210118.58*58

2020-02-04T21:01:18.480Z,1580850078.480 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2020-02-04T21:01:20.742Z,1580850080.742 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:01:21.548Z,1580850081.548 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:01:21.963Z,1580850081.963 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:01:22.767Z,1580850082.767 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210123.01*5C

2020-02-04T21:01:25.194Z,1580850085.194 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:01:25.996Z,1580850085.996 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:01:26.430Z,1580850086.430 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:01:27.216Z,1580850087.216 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210127.46*5B

2020-02-04T21:01:29.630Z,1580850089.630 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:01:30.122Z,1580850090.122 [CommandLine](IMPORTANT): got command show variable range
2020-02-04T21:01:30.124Z,1580850090.124 [CommandLine](IMPORTANT): acoustic_contact_range (unknown)
2020-02-04T21:01:30.254Z,1580850090.254 [CommandLine](IMPORTANT): BR_Ping1D.minRange (meter)
2020-02-04T21:01:30.255Z,1580850090.255 [CommandLine](IMPORTANT): BR_Ping1D.maxRange (meter)
2020-02-04T21:01:30.293Z,1580850090.293 [CommandLine](IMPORTANT): DUSBL_Hydroid.acoustic_contact_range (meter)
2020-02-04T21:01:30.294Z,1580850090.294 [CommandLine](IMPORTANT): Micromodem.range_request (count)
2020-02-04T21:01:30.295Z,1580850090.295 [CommandLine](IMPORTANT): Micromodem.range (meter)
2020-02-04T21:01:30.298Z,1580850090.298 [CommandLine](IMPORTANT): RDI_Pathfinder.Beam1Range (meter)
2020-02-04T21:01:30.298Z,1580850090.298 [CommandLine](IMPORTANT): RDI_Pathfinder.Beam2Range (meter)
2020-02-04T21:01:30.299Z,1580850090.299 [CommandLine](IMPORTANT): RDI_Pathfinder.Beam3Range (meter)
2020-02-04T21:01:30.299Z,1580850090.299 [CommandLine](IMPORTANT): RDI_Pathfinder.Beam4Range (meter)
2020-02-04T21:01:30.444Z,1580850090.444 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:01:30.850Z,1580850090.850 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:01:30.899Z,1580850090.899 [PowerOnly](INFO): Powering down
2020-02-04T21:01:31.654Z,1580850091.654 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210131.91*56

2020-02-04T21:01:34.074Z,1580850094.074 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:01:34.888Z,1580850094.888 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:01:35.293Z,1580850095.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:01:36.101Z,1580850096.101 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210136.35*5F

2020-02-04T21:01:38.524Z,1580850098.524 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:01:39.332Z,1580850099.332 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:01:39.739Z,1580850099.739 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:01:40.548Z,1580850100.548 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210140.79*56

2020-02-04T21:01:42.967Z,1580850102.967 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:01:43.776Z,1580850103.776 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:01:44.186Z,1580850104.186 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:01:45.004Z,1580850105.004 [Micromodem](INFO): Nmea in: $SNTTA,,,0.289233,,210145.24*44

2020-02-04T21:01:47.229Z,1580850107.229 [CommandLine](IMPORTANT): got command get acoustic_contact_range
2020-02-04T21:01:47.229Z,1580850107.229 [CommandLine](FAULT): Element has no value
2020-02-04T21:01:47.425Z,1580850107.425 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:01:48.228Z,1580850108.228 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:01:48.621Z,1580850108.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:01:49.437Z,1580850109.437 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210149.69*5E

2020-02-04T21:01:51.864Z,1580850111.864 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:01:52.664Z,1580850112.664 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:01:53.091Z,1580850113.091 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:01:53.875Z,1580850113.875 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210154.13*5F

2020-02-04T21:01:54.280Z,1580850114.280 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2020-02-04T21:01:56.296Z,1580850116.296 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:01:57.108Z,1580850117.108 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:01:57.515Z,1580850117.515 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:01:58.325Z,1580850118.325 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210158.57*53

2020-02-04T21:02:00.738Z,1580850120.738 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:02:01.547Z,1580850121.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:02:01.953Z,1580850121.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:02:02.786Z,1580850122.786 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210203.01*5D

2020-02-04T21:02:05.189Z,1580850125.189 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:02:05.996Z,1580850125.996 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:02:06.426Z,1580850126.426 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:02:07.212Z,1580850127.212 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210207.46*5A

2020-02-04T21:02:09.631Z,1580850129.631 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:02:10.099Z,1580850130.099 [RDI_Pathfinder](ERROR): Failed to parse:
:R-32768,-32768,V
2020-02-04T21:02:10.440Z,1580850130.440 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:02:10.851Z,1580850130.851 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:02:11.656Z,1580850131.656 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210211.90*56

2020-02-04T21:02:14.078Z,1580850134.078 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:02:14.876Z,1580850134.876 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:02:15.292Z,1580850135.292 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:02:15.364Z,1580850135.364 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2020-02-04T21:02:15.364Z,1580850135.364 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-02-04T21:02:15.374Z,1580850135.374 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-02-04T21:02:15.731Z,1580850135.731 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-02-04T21:02:15.731Z,1580850135.731 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2020-02-04T21:02:16.095Z,1580850136.095 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210216.34*5F

2020-02-04T21:02:18.515Z,1580850138.515 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:02:19.328Z,1580850139.328 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:02:19.725Z,1580850139.725 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:02:20.541Z,1580850140.541 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210220.80*55

2020-02-04T21:02:22.971Z,1580850142.971 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:02:23.776Z,1580850143.776 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:02:24.185Z,1580850144.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:02:24.993Z,1580850144.993 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210225.24*5E

2020-02-04T21:02:27.418Z,1580850147.418 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:02:28.222Z,1580850148.222 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:02:28.619Z,1580850148.619 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:02:29.433Z,1580850149.433 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210229.69*5B

2020-02-04T21:02:31.850Z,1580850151.850 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:02:32.652Z,1580850152.652 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:02:33.078Z,1580850153.078 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:02:33.880Z,1580850153.880 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210234.12*5B

2020-02-04T21:02:36.290Z,1580850156.290 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:02:37.106Z,1580850157.106 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:02:37.510Z,1580850157.510 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:02:38.322Z,1580850158.322 [Micromodem](INFO): Nmea in: $SNTTA,,0.340089,,,210238.57*4E

2020-02-04T21:02:40.738Z,1580850160.738 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:02:41.544Z,1580850161.544 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:02:41.949Z,1580850161.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:02:42.760Z,1580850162.760 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210243.01*59

2020-02-04T21:02:45.179Z,1580850165.179 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:02:45.255Z,1580850165.255 [DUSBL:RequestRepeater:C.Wait](INFO): Done Waiting.
2020-02-04T21:02:45.255Z,1580850165.255 [DUSBL:RequestRepeater:C.Wait] Stopped
2020-02-04T21:02:45.256Z,1580850165.256 [DUSBL:RequestRepeater:C.Wait](DEBUG): Uninitialize Wait Component.
2020-02-04T21:02:45.256Z,1580850165.256 [DUSBL:RequestRepeater](INFO): Completed DUSBL:RequestRepeater
2020-02-04T21:02:45.256Z,1580850165.256 [DUSBL:RequestRepeater] Stopped
2020-02-04T21:02:45.256Z,1580850165.256 [DUSBL:RequestRepeater](DEBUG): Aggregate::uninitialize DUSBL:RequestRepeater
2020-02-04T21:02:45.257Z,1580850165.257 [DUSBL:RequestRepeater:A] Stopped
2020-02-04T21:02:45.257Z,1580850165.257 [DUSBL:RequestRepeater:B] Stopped
2020-02-04T21:02:45.257Z,1580850165.257 [DUSBL:RequestRepeater](INFO): Running loop #2
2020-02-04T21:02:45.257Z,1580850165.257 [DUSBL:RequestRepeater] Running Loop=2
2020-02-04T21:02:45.257Z,1580850165.257 [DUSBL:RequestRepeater](DEBUG): Aggregate::initialize DUSBL:RequestRepeater
2020-02-04T21:02:45.257Z,1580850165.257 [DUSBL:RequestRepeater:A] Running Loop=1
2020-02-04T21:02:45.257Z,1580850165.257 [DUSBL:RequestRepeater:B] Running Loop=1
2020-02-04T21:02:45.257Z,1580850165.257 [DUSBL:RequestRepeater:C.Wait] Running Loop=1
2020-02-04T21:02:45.257Z,1580850165.257 [DUSBL:RequestRepeater:C.Wait](DEBUG): Initialize Wait Component.
2020-02-04T21:02:45.993Z,1580850165.993 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:02:46.422Z,1580850166.422 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:02:47.208Z,1580850167.208 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210247.46*5E

2020-02-04T21:02:49.626Z,1580850169.626 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:02:50.436Z,1580850170.436 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:02:50.842Z,1580850170.842 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:02:51.257Z,1580850171.257 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-02-04T21:02:51.257Z,1580850171.257 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,20020414155291,35.0, -0.1,  1.99
2020-02-04T21:02:51.647Z,1580850171.647 [Micromodem](INFO): Nmea in: $SNTTA,0.316061,,0.383435,,210251.90*5B

2020-02-04T21:02:54.066Z,1580850174.066 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:02:54.872Z,1580850174.872 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:02:55.291Z,1580850175.291 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:02:56.092Z,1580850176.092 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210256.34*5B

2020-02-04T21:02:58.524Z,1580850178.524 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:02:59.328Z,1580850179.328 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:02:59.739Z,1580850179.739 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:03:00.541Z,1580850180.541 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210300.79*50

2020-02-04T21:03:02.958Z,1580850182.958 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:03:03.772Z,1580850183.772 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:03:03.848Z,1580850183.848 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2020-02-04T21:03:03.862Z,1580850183.862 [BPC1](INFO): Received data from all battery sticks.
2020-02-04T21:03:04.180Z,1580850184.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:03:04.983Z,1580850184.983 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210305.23*5A

2020-02-04T21:03:07.418Z,1580850187.418 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:03:08.204Z,1580850188.204 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:03:08.617Z,1580850188.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:03:09.427Z,1580850189.427 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210309.67*56

2020-02-04T21:03:11.847Z,1580850191.847 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:03:12.648Z,1580850192.648 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:03:13.086Z,1580850193.086 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:03:13.869Z,1580850193.869 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210314.11*5B

2020-02-04T21:03:16.286Z,1580850196.286 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:03:17.096Z,1580850197.096 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:03:17.505Z,1580850197.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:03:18.310Z,1580850198.310 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210318.56*54

2020-02-04T21:03:20.730Z,1580850200.730 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:03:21.536Z,1580850201.536 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:03:21.955Z,1580850201.955 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:03:22.758Z,1580850202.758 [Micromodem](INFO): Nmea in: $SNTTA,0.500638,,,,210323.00*49

2020-02-04T21:03:25.182Z,1580850205.182 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:03:25.988Z,1580850205.988 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:03:26.398Z,1580850206.398 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:03:27.206Z,1580850207.206 [Micromodem](INFO): Nmea in: $SNTTA,,,,0.074986,210327.45*40

2020-02-04T21:03:29.620Z,1580850209.620 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:03:30.428Z,1580850210.428 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:03:30.838Z,1580850210.838 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:03:31.650Z,1580850211.650 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210331.89*5D

2020-02-04T21:03:34.070Z,1580850214.070 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:03:34.871Z,1580850214.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:03:35.277Z,1580850215.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:03:36.089Z,1580850216.089 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210336.34*5C

2020-02-04T21:03:38.502Z,1580850218.502 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:03:39.326Z,1580850219.326 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:03:39.726Z,1580850219.726 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:03:40.541Z,1580850220.541 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210340.79*54

2020-02-04T21:03:42.955Z,1580850222.955 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:03:43.764Z,1580850223.764 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:03:44.169Z,1580850224.169 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:03:44.977Z,1580850224.977 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210345.23*5E

2020-02-04T21:03:47.404Z,1580850227.404 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:03:48.205Z,1580850228.205 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:03:48.609Z,1580850228.609 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:03:49.091Z,1580850229.091 [RDI_Pathfinder](ERROR): Failed to parse:
68,-32768,-32768,V
2020-02-04T21:03:49.424Z,1580850229.424 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210349.67*52

2020-02-04T21:03:51.838Z,1580850231.838 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:03:52.644Z,1580850232.644 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:03:53.052Z,1580850233.052 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:03:53.868Z,1580850233.868 [Micromodem](INFO): Nmea in: $SNTTA,,,0.060092,,210354.11*4C

2020-02-04T21:03:56.279Z,1580850236.279 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:03:57.096Z,1580850237.096 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:03:57.501Z,1580850237.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:03:58.313Z,1580850238.313 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210358.56*50

2020-02-04T21:04:00.763Z,1580850240.763 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:04:01.535Z,1580850241.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:04:01.941Z,1580850241.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:04:02.755Z,1580850242.755 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210403.00*5A

2020-02-04T21:04:05.166Z,1580850245.166 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:04:05.867Z,1580850245.867 [CommandLine](IMPORTANT): got command stop
2020-02-04T21:04:05.867Z,1580850245.867 [CommandLine](IMPORTANT): Scheduling is paused
2020-02-04T21:04:05.867Z,1580850245.867 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2020-02-04T21:04:05.980Z,1580850245.980 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:04:06.075Z,1580850246.075 [MissionManager](INFO): MissionManager is completed.
2020-02-04T21:04:06.075Z,1580850246.075 [MissionManager](INFO): Uninitializing Mission DUSBL
2020-02-04T21:04:06.076Z,1580850246.076 [DUSBL] Stopped
2020-02-04T21:04:06.076Z,1580850246.076 [DUSBL](DEBUG): Aggregate::uninitialize DUSBL
2020-02-04T21:04:06.076Z,1580850246.076 [DUSBL:A.Pitch] Stopped
2020-02-04T21:04:06.076Z,1580850246.076 [DUSBL:B.SetSpeed] Stopped
2020-02-04T21:04:06.076Z,1580850246.076 [DUSBL:B.SetSpeed](DEBUG): Uninitialize.
2020-02-04T21:04:06.076Z,1580850246.076 [DUSBL:C] Stopped
2020-02-04T21:04:06.076Z,1580850246.076 [DUSBL:RequestRepeater] Stopped
2020-02-04T21:04:06.076Z,1580850246.076 [DUSBL:RequestRepeater](DEBUG): Aggregate::uninitialize DUSBL:RequestRepeater
2020-02-04T21:04:06.076Z,1580850246.076 [DUSBL:RequestRepeater:A] Stopped
2020-02-04T21:04:06.076Z,1580850246.076 [DUSBL:RequestRepeater:B] Stopped
2020-02-04T21:04:06.077Z,1580850246.077 [DUSBL:RequestRepeater:C.Wait] Stopped
2020-02-04T21:04:06.077Z,1580850246.077 [DUSBL:RequestRepeater:C.Wait](DEBUG): Uninitialize Wait Component.
2020-02-04T21:04:06.391Z,1580850246.391 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:04:06.481Z,1580850246.481 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2020-02-04T21:04:06.481Z,1580850246.481 [DefaultWithUndock] Running Loop=1
2020-02-04T21:04:06.481Z,1580850246.481 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2020-02-04T21:04:06.481Z,1580850246.481 [DefaultWithUndock:C.GoToSurface] Running Loop=1
2020-02-04T21:04:06.481Z,1580850246.481 [DefaultWithUndock:C.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-02-04T21:04:06.482Z,1580850246.482 [DefaultWithUndock:C.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-02-04T21:04:06.482Z,1580850246.482 [DefaultWithUndock:C.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-02-04T21:04:06.482Z,1580850246.482 [DefaultWithUndock:C.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-02-04T21:04:06.483Z,1580850246.483 [DefaultWithUndock:C.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-02-04T21:04:06.483Z,1580850246.483 [DefaultWithUndock:C.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-02-04T21:04:06.483Z,1580850246.483 [DefaultWithUndock:A.Wait] Running Loop=1
2020-02-04T21:04:06.483Z,1580850246.483 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2020-02-04T21:04:07.198Z,1580850247.198 [Micromodem](INFO): Nmea in: $SNTTA,,0.012076,,,210407.45*43

2020-02-04T21:04:10.463Z,1580850250.463 [RDI_Pathfinder](ERROR): Failed to parse:
:B,-32768,-32768,V
2020-02-04T21:04:11.196Z,1580850251.196 [CommandLine](IMPORTANT): got command show variable detectionThreshold
2020-02-04T21:04:11.395Z,1580850251.395 [CommandLine](IMPORTANT): DUSBL_Hydroid.detectionThreshold (count)
2020-02-04T21:04:19.591Z,1580850259.591 [CommandLine](IMPORTANT): got command get DUSBL_Hydroid.detectionThreshold
2020-02-04T21:04:19.591Z,1580850259.591 [CommandLine](IMPORTANT): DUSBL_Hydroid.detectionThreshold 75 count
2020-02-04T21:04:36.716Z,1580850276.716 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2020-02-04T21:04:36.716Z,1580850276.716 [DefaultWithUndock:A.Wait] Stopped
2020-02-04T21:04:36.716Z,1580850276.716 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2020-02-04T21:04:36.716Z,1580850276.716 [DefaultWithUndock:B.Undock] Running Loop=1
2020-02-04T21:04:36.716Z,1580850276.716 [DefaultWithUndock:B.Undock](DEBUG): Initialize.
2020-02-04T21:04:37.525Z,1580850277.525 [PowerOnly](INFO): Powering up
2020-02-04T21:04:38.088Z,1580850278.088 [CommandLine](IMPORTANT): got command configSet DUSBL_Hydroid.detectionThreshold 50.000000 count persist
2020-02-04T21:04:40.407Z,1580850280.407 [DefaultWithUndock:B.Undock](INFO): Detaching from dock.
2020-02-04T21:04:40.799Z,1580850280.799 [DefaultWithUndock:B.Undock](INFO): Detached at range: nan m. Transitioning DDM to standby.
2020-02-04T21:04:43.651Z,1580850283.651 [DefaultWithUndock:B.Undock](INFO): DDM at standby.
2020-02-04T21:04:44.035Z,1580850284.035 [DefaultWithUndock:B.Undock](IMPORTANT): Undocking sequence complete.
2020-02-04T21:04:44.035Z,1580850284.035 [DefaultWithUndock:B.Undock] Stopped
2020-02-04T21:04:44.309Z,1580850284.309 [CommandLine](IMPORTANT): got command failComponent hardware DUSBL
2020-02-04T21:04:44.310Z,1580850284.310 [CommandLine](FAULT): Could not find component with name: DUSBL
2020-02-04T21:04:44.434Z,1580850284.434 [DefaultWithUndock:CheckIn] Running Loop=1
2020-02-04T21:04:44.434Z,1580850284.434 [DefaultWithUndock:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:CheckIn
2020-02-04T21:04:44.434Z,1580850284.434 [DefaultWithUndock:CheckIn:Read_GPS] Running Loop=1
2020-02-04T21:04:46.434Z,1580850286.434 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-02-04T21:04:46.434Z,1580850286.434 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +0    +0.00,        +0.00,   0.00,497.99
2020-02-04T21:04:52.967Z,1580850292.967 [CommandLine](IMPORTANT): got command failComponent hardware DUSBL_Hydroid
2020-02-04T21:04:52.967Z,1580850292.967 [DUSBL_Hydroid] Hardware Fault, FailCount= 1
2020-02-04T21:04:52.968Z,1580850292.968 [DUSBL_Hydroid](ERROR): Hardware Fault
2020-02-04T21:04:52.968Z,1580850292.968 [CommandLine](IMPORTANT): DUSBL_Hydroid failureMode is Hardware Fault
2020-02-04T21:04:53.250Z,1580850293.250 [DUSBL_Hydroid](INFO): Powering down
2020-02-04T21:04:53.387Z,1580850293.387 [CBIT](ERROR): Hardware Fault in component: DUSBL_Hydroid
2020-02-04T21:04:54.127Z,1580850294.127 [CBIT](INFO): Clearing failed state for component DUSBL_Hydroid
2020-02-04T21:04:54.127Z,1580850294.127 [DUSBL_Hydroid] No Fault, FailCount= 1
2020-02-04T21:04:56.482Z,1580850296.482 [DUSBL_Hydroid](INFO): Powering up
2020-02-04T21:04:56.482Z,1580850296.482 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2020-02-04T21:05:14.662Z,1580850314.662 [DUSBL_Hydroid](INFO): DUSBL Version:O
2020-02-04T21:05:16.322Z,1580850316.322 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 3
2020-02-04T21:05:16.322Z,1580850316.322 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-02-04T21:05:16.332Z,1580850316.332 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-02-04T21:05:16.738Z,1580850316.738 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-02-04T21:05:16.738Z,1580850316.738 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 3
2020-02-04T21:05:25.026Z,1580850325.026 [DataOverHttps](IMPORTANT): SBD MTMSN=20200204T210512
2020-02-04T21:05:32.596Z,1580850332.596 [DataOverHttps](INFO): Received command:load Maintenance/DUSBL.xml;set DUSBL.TransponderCode 12 count;run 
2020-02-04T21:05:32.610Z,1580850332.610 [CommandLine](IMPORTANT): got command load ./Missions/Maintenance/DUSBL.xml
2020-02-04T21:05:32.611Z,1580850332.611 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/DUSBL.xml
2020-02-04T21:05:32.663Z,1580850332.663 [MissionManager](INFO): DefineArg DUSBL.MissionTimeout = 90.000000 min
2020-02-04T21:05:32.676Z,1580850332.676 [MissionManager](INFO): DefineArg DUSBL.NumberOfRequests = 10.000000 count
2020-02-04T21:05:32.678Z,1580850332.678 [MissionManager](INFO): DefineArg DUSBL.TransponderCode = 2.000000 count
2020-02-04T21:05:32.680Z,1580850332.680 [MissionManager](INFO): DefineArg DUSBL.NumberOfPings = 1.000000 count
2020-02-04T21:05:32.682Z,1580850332.682 [MissionManager](INFO): DefineArg DUSBL.EnabledDUSBL = DUSBL_Hydroid.loadAtStartup
2020-02-04T21:05:32.683Z,1580850332.683 [DUSBL:A.Pitch](DEBUG): Construct.
2020-02-04T21:05:32.687Z,1580850332.687 [DUSBL:B.SetSpeed](DEBUG): Construct.
2020-02-04T21:05:32.693Z,1580850332.694 [DUSBL:RequestRepeater:C.Wait](DEBUG): Construct Wait.
2020-02-04T21:05:32.697Z,1580850332.697 [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>


2020-02-04T21:05:32.697Z,1580850332.697 [CommandLine](IMPORTANT): Loaded ./Missions/Maintenance/DUSBL.xml
2020-02-04T21:05:34.283Z,1580850334.283 [CommandLine](IMPORTANT): got command set DUSBL.TransponderCode 12.000000 count
2020-02-04T21:05:34.283Z,1580850334.283 [CommandLine](IMPORTANT): got command run 
2020-02-04T21:05:34.287Z,1580850334.287 [CommandLine](IMPORTANT): Running 
2020-02-04T21:05:34.496Z,1580850334.496 [DefaultWithUndock] Stopped
2020-02-04T21:05:34.496Z,1580850334.496 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2020-02-04T21:05:34.496Z,1580850334.496 [DefaultWithUndock:C.GoToSurface] Stopped
2020-02-04T21:05:34.496Z,1580850334.496 [DefaultWithUndock:C.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-02-04T21:05:34.496Z,1580850334.496 [DefaultWithUndock:CheckIn] Stopped
2020-02-04T21:05:34.496Z,1580850334.496 [DefaultWithUndock:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:CheckIn
2020-02-04T21:05:34.496Z,1580850334.496 [DefaultWithUndock:CheckIn:Read_GPS] Stopped
2020-02-04T21:05:34.497Z,1580850334.497 [MissionManager](IMPORTANT): Started mission DUSBL
2020-02-04T21:05:34.501Z,1580850334.501 [DUSBL] Running Loop=1
2020-02-04T21:05:34.501Z,1580850334.501 [DUSBL](DEBUG): Aggregate::initialize DUSBL
2020-02-04T21:05:34.501Z,1580850334.501 [DUSBL:A.Pitch] Running Loop=1
2020-02-04T21:05:34.501Z,1580850334.501 [DUSBL:A.Pitch](DEBUG): Initialize.
2020-02-04T21:05:34.502Z,1580850334.502 [DUSBL:B.SetSpeed] Running Loop=1
2020-02-04T21:05:34.502Z,1580850334.502 [DUSBL:B.SetSpeed](DEBUG): Initialize.
2020-02-04T21:05:34.502Z,1580850334.502 [DUSBL:C] Running Loop=1
2020-02-04T21:05:34.502Z,1580850334.502 [DUSBL:RequestRepeater] Running Loop=1
2020-02-04T21:05:34.502Z,1580850334.502 [DUSBL:RequestRepeater](DEBUG): Aggregate::initialize DUSBL:RequestRepeater
2020-02-04T21:05:34.502Z,1580850334.502 [DUSBL:RequestRepeater:A] Running Loop=1
2020-02-04T21:05:34.502Z,1580850334.502 [DUSBL:RequestRepeater:B] Running Loop=1
2020-02-04T21:05:34.502Z,1580850334.502 [DUSBL:RequestRepeater:C.Wait] Running Loop=1
2020-02-04T21:05:34.502Z,1580850334.502 [DUSBL:RequestRepeater:C.Wait](DEBUG): Initialize Wait Component.
2020-02-04T21:05:34.503Z,1580850334.503 [DUSBL:RequestRepeater:B] Running Loop=1
2020-02-04T21:05:34.503Z,1580850334.503 [DUSBL:RequestRepeater:A] Running Loop=1
2020-02-04T21:05:34.503Z,1580850334.503 [DUSBL:C](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_range
2020-02-04T21:05:34.504Z,1580850334.504 [DUSBL:C](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_direction_vehicle_frame
2020-02-04T21:05:34.504Z,1580850334.504 [DUSBL:B.SetSpeed] Running Loop=1
2020-02-04T21:05:34.504Z,1580850334.504 [DUSBL:A.Pitch] Running Loop=1
2020-02-04T21:05:36.480Z,1580850336.480 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:05:36.885Z,1580850336.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:05:37.697Z,1580850337.697 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210537.95*50

2020-02-04T21:05:40.114Z,1580850340.114 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:05:40.925Z,1580850340.925 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:05:41.335Z,1580850341.335 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:05:42.137Z,1580850342.137 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210542.39*54

2020-02-04T21:05:44.550Z,1580850344.550 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:05:45.368Z,1580850345.368 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:05:45.765Z,1580850345.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:05:46.578Z,1580850346.578 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210546.83*51

2020-02-04T21:05:49.002Z,1580850349.002 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:05:49.808Z,1580850349.808 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:05:50.218Z,1580850350.218 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:05:51.025Z,1580850351.025 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210551.28*56

2020-02-04T21:05:53.446Z,1580850353.446 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:05:54.252Z,1580850354.252 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:05:54.657Z,1580850354.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:05:55.468Z,1580850355.468 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210555.72*5D

2020-02-04T21:05:57.886Z,1580850357.886 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:05:58.712Z,1580850358.712 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:05:59.101Z,1580850359.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:05:59.926Z,1580850359.926 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210600.17*5D

2020-02-04T21:06:02.330Z,1580850362.330 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:06:03.142Z,1580850363.142 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:06:03.565Z,1580850363.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:06:04.363Z,1580850364.363 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210604.60*59

2020-02-04T21:06:06.435Z,1580850366.435 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-02-04T21:06:06.435Z,1580850366.435 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-3268,-32768,V
2020-02-04T21:06:06.774Z,1580850366.774 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:06:07.588Z,1580850367.588 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:06:07.993Z,1580850367.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:06:08.811Z,1580850368.811 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210609.05*57

2020-02-04T21:06:08.839Z,1580850368.839 [PowerOnly](INFO): Powering down
2020-02-04T21:06:10.452Z,1580850370.452 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-02-04T21:06:10.453Z,1580850370.453 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,20020414191291,35.0, -0.1,   0.0,1448:RA,  0.00,   0.00,   0.00,   0.00,   0.00
2020-02-04T21:06:11.218Z,1580850371.218 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:06:12.057Z,1580850372.057 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:06:12.439Z,1580850372.439 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:06:13.245Z,1580850373.245 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210613.52*5E

2020-02-04T21:06:15.663Z,1580850375.663 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:06:16.472Z,1580850376.472 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:06:16.873Z,1580850376.873 [Micromodem](INFO): Nmea in: $SNPG0,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:06:16.874Z,1580850376.874 [Micromodem](ERROR): Response from modem failed NMEA checksum: $SNPG0,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D
 expected 8
2020-02-04T21:06:16.874Z,1580850376.874 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:06:16.877Z,1580850376.877 [Micromodem](INFO): Nmea in: $CATXP,400*46

2020-02-04T21:06:16.878Z,1580850376.878 [Micromodem](ERROR): Response from modem unexpected: $CATXP,400*46

2020-02-04T21:06:17.284Z,1580850377.284 [Micromodem](INFO): Nmea in: $CATXF,400*50

2020-02-04T21:06:17.285Z,1580850377.285 [Micromodem](ERROR): Response from modem unexpected: $CATXF,400*50

2020-02-04T21:06:17.287Z,1580850377.287 [Micromodem](INFO): Nmea in: $CAXST,6,20200204,210617.939144,3,0,80,2000,14500,-2,0,0,0,0,0,-1,0*78

2020-02-04T21:06:17.287Z,1580850377.287 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20200204,210617.939144,3,0,80,2000,14500,-2,0,0,0,0,0,-1,0*78

2020-02-04T21:06:17.689Z,1580850377.689 [Micromodem](INFO): Nmea in: $CAERR,210618,NI  ,29,Busy completing a previous request*77

2020-02-04T21:06:17.689Z,1580850377.689 [Micromodem](ERROR): Got error from modem: $CAERR,210618,NI  ,29,Busy completing a previous request*77

2020-02-04T21:06:17.690Z,1580850377.690 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210617.93*57

2020-02-04T21:06:17.691Z,1580850377.691 [Micromodem](ERROR): Response from modem unexpected: $SNTTA,,,,,210617.93*57

2020-02-04T21:06:20.108Z,1580850380.108 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:06:28.191Z,1580850388.191 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:06:28.590Z,1580850388.590 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:06:29.407Z,1580850389.407 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210629.65*53

2020-02-04T21:06:31.077Z,1580850391.077 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2020-02-04T21:06:31.823Z,1580850391.823 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:06:32.010Z,1580850392.010 [CommandLine](IMPORTANT): got command stop
2020-02-04T21:06:32.010Z,1580850392.010 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2020-02-04T21:06:32.276Z,1580850392.276 [MissionManager](INFO): MissionManager is completed.
2020-02-04T21:06:32.276Z,1580850392.276 [MissionManager](INFO): Uninitializing Mission DUSBL
2020-02-04T21:06:32.276Z,1580850392.276 [DUSBL] Stopped
2020-02-04T21:06:32.276Z,1580850392.276 [DUSBL](DEBUG): Aggregate::uninitialize DUSBL
2020-02-04T21:06:32.276Z,1580850392.276 [DUSBL:A.Pitch] Stopped
2020-02-04T21:06:32.276Z,1580850392.276 [DUSBL:B.SetSpeed] Stopped
2020-02-04T21:06:32.276Z,1580850392.276 [DUSBL:B.SetSpeed](DEBUG): Uninitialize.
2020-02-04T21:06:32.276Z,1580850392.276 [DUSBL:C] Stopped
2020-02-04T21:06:32.276Z,1580850392.276 [DUSBL:RequestRepeater] Stopped
2020-02-04T21:06:32.277Z,1580850392.277 [DUSBL:RequestRepeater](DEBUG): Aggregate::uninitialize DUSBL:RequestRepeater
2020-02-04T21:06:32.277Z,1580850392.277 [DUSBL:RequestRepeater:A] Stopped
2020-02-04T21:06:32.277Z,1580850392.277 [DUSBL:RequestRepeater:B] Stopped
2020-02-04T21:06:32.277Z,1580850392.277 [DUSBL:RequestRepeater:C.Wait] Stopped
2020-02-04T21:06:32.277Z,1580850392.277 [DUSBL:RequestRepeater:C.Wait](DEBUG): Uninitialize Wait Component.
2020-02-04T21:06:32.665Z,1580850392.665 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2020-02-04T21:06:32.665Z,1580850392.665 [DefaultWithUndock] Running Loop=1
2020-02-04T21:06:32.665Z,1580850392.665 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2020-02-04T21:06:32.665Z,1580850392.665 [DefaultWithUndock:C.GoToSurface] Running Loop=1
2020-02-04T21:06:32.665Z,1580850392.665 [DefaultWithUndock:C.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-02-04T21:06:32.666Z,1580850392.666 [DefaultWithUndock:C.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-02-04T21:06:32.666Z,1580850392.666 [DefaultWithUndock:C.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-02-04T21:06:32.666Z,1580850392.666 [DefaultWithUndock:C.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-02-04T21:06:32.667Z,1580850392.667 [DefaultWithUndock:C.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-02-04T21:06:32.667Z,1580850392.667 [DefaultWithUndock:C.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-02-04T21:06:32.668Z,1580850392.668 [DefaultWithUndock:A.Wait] Running Loop=1
2020-02-04T21:06:32.668Z,1580850392.668 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2020-02-04T21:06:46.815Z,1580850406.815 [RDI_Pathfinder](ERROR): Failed to parse:
:BI,-32768,-32768,-32768,-32768,V
2020-02-04T21:06:50.522Z,1580850410.522 [CommandLine](IMPORTANT): got command configSet DUSBL_Hydroid.detectionThreshold 35.000000 count persist
2020-02-04T21:06:52.835Z,1580850412.835 [NAL9602](FAULT): GPS failed to acquire within timeout.
2020-02-04T21:06:52.836Z,1580850412.836 [NAL9602] Data Fault, FailCount= 1
2020-02-04T21:06:52.836Z,1580850412.836 [NAL9602](ERROR): Data Fault
2020-02-04T21:06:52.909Z,1580850412.909 [CBIT](ERROR): Data Fault in component: NAL9602
2020-02-04T21:06:53.231Z,1580850413.231 [NAL9602](INFO): Powering down
2020-02-04T21:06:53.635Z,1580850413.635 [NAL9602](FAULT): LCB fault:  Software Overcurrent.
2020-02-04T21:06:53.636Z,1580850413.636 [NAL9602] Hardware Fault, FailCount= 1
2020-02-04T21:06:53.636Z,1580850413.636 [NAL9602](ERROR): Hardware Fault
2020-02-04T21:06:54.083Z,1580850414.083 [CBIT](INFO): Clearing failed state for component NAL9602
2020-02-04T21:06:54.084Z,1580850414.084 [NAL9602] No Fault, FailCount= 1
2020-02-04T21:06:57.769Z,1580850417.769 [CommandLine](IMPORTANT): got command failComponent hardware DUSBL_Hydroid
2020-02-04T21:06:57.769Z,1580850417.769 [DUSBL_Hydroid] Hardware Fault, FailCount= 1
2020-02-04T21:06:57.769Z,1580850417.769 [DUSBL_Hydroid](ERROR): Hardware Fault
2020-02-04T21:06:57.770Z,1580850417.770 [CommandLine](IMPORTANT): DUSBL_Hydroid failureMode is Hardware Fault
2020-02-04T21:06:58.094Z,1580850418.094 [DUSBL_Hydroid](INFO): Powering down
2020-02-04T21:06:58.202Z,1580850418.202 [CBIT](ERROR): Hardware Fault in component: DUSBL_Hydroid
2020-02-04T21:06:58.929Z,1580850418.929 [CBIT](INFO): Clearing failed state for component DUSBL_Hydroid
2020-02-04T21:06:58.929Z,1580850418.929 [DUSBL_Hydroid] No Fault, FailCount= 1
2020-02-04T21:07:01.315Z,1580850421.315 [DUSBL_Hydroid](INFO): Powering up
2020-02-04T21:07:01.316Z,1580850421.316 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2020-02-04T21:07:02.964Z,1580850422.964 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2020-02-04T21:07:02.964Z,1580850422.964 [DefaultWithUndock:A.Wait] Stopped
2020-02-04T21:07:02.964Z,1580850422.964 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2020-02-04T21:07:02.964Z,1580850422.964 [DefaultWithUndock:B.Undock] Running Loop=1
2020-02-04T21:07:02.964Z,1580850422.964 [DefaultWithUndock:B.Undock](DEBUG): Initialize.
2020-02-04T21:07:03.757Z,1580850423.757 [PowerOnly](INFO): Powering up
2020-02-04T21:07:07.052Z,1580850427.052 [DefaultWithUndock:B.Undock](INFO): Detaching from dock.
2020-02-04T21:07:07.467Z,1580850427.467 [DefaultWithUndock:B.Undock](INFO): Detached at range: nan m. Transitioning DDM to standby.
2020-02-04T21:07:07.751Z,1580850427.751 [CommandLine](IMPORTANT): got command show variable DUSBL_hydroid
2020-02-04T21:07:07.878Z,1580850427.878 [CommandLine](IMPORTANT): DUSBL_Hydroid.loadAtStartup (bool)
2020-02-04T21:07:07.878Z,1580850427.878 [CommandLine](IMPORTANT): DUSBL_Hydroid.simulateHardware (bool)
2020-02-04T21:07:07.879Z,1580850427.879 [CommandLine](IMPORTANT): DUSBL_Hydroid.defaultTurnAroundTime (second)
2020-02-04T21:07:07.879Z,1580850427.879 [CommandLine](IMPORTANT): DUSBL_Hydroid.defaultSoundSpeed (meter_per_second)
2020-02-04T21:07:07.879Z,1580850427.879 [CommandLine](IMPORTANT): DUSBL_Hydroid.detectionThreshold (count)
2020-02-04T21:07:07.880Z,1580850427.880 [CommandLine](IMPORTANT): DUSBL_Hydroid.recieveTimeout (millisecond)
2020-02-04T21:07:07.880Z,1580850427.880 [CommandLine](IMPORTANT): DUSBL_Hydroid.transmitLockout (millisecond)
2020-02-04T21:07:07.881Z,1580850427.881 [CommandLine](IMPORTANT): DUSBL_Hydroid.transponderCode (enum)
2020-02-04T21:07:07.889Z,1580850427.889 [CommandLine](IMPORTANT): DUSBL_Hydroid.numberOfPingsRequested (count)
2020-02-04T21:07:07.890Z,1580850427.890 [CommandLine](IMPORTANT): DUSBL_Hydroid.verbosity (enum)
2020-02-04T21:07:07.890Z,1580850427.890 [CommandLine](IMPORTANT): DUSBL_Hydroid.xCenter (angular_degree)
2020-02-04T21:07:07.890Z,1580850427.890 [CommandLine](IMPORTANT): DUSBL_Hydroid.yCenter (angular_degree)
2020-02-04T21:07:07.947Z,1580850427.947 [CommandLine](IMPORTANT): DUSBL_Hydroid.loadControl (none)
2020-02-04T21:07:07.948Z,1580850427.948 [CommandLine](IMPORTANT): DUSBL_Hydroid.uart (none)
2020-02-04T21:07:07.948Z,1580850427.948 [CommandLine](IMPORTANT): DUSBL_Hydroid.baud (bit_per_second)
2020-02-04T21:07:07.982Z,1580850427.982 [CommandLine](IMPORTANT): DUSBL_Hydroid.xAngle (angular_degree)
2020-02-04T21:07:07.982Z,1580850427.982 [CommandLine](IMPORTANT): DUSBL_Hydroid.yAngle (angular_degree)
2020-02-04T21:07:07.982Z,1580850427.982 [CommandLine](IMPORTANT): DUSBL_Hydroid.travelTime (microsecond)
2020-02-04T21:07:07.983Z,1580850427.983 [CommandLine](IMPORTANT): DUSBL_Hydroid.latency (microsecond)
2020-02-04T21:07:07.983Z,1580850427.983 [CommandLine](IMPORTANT): DUSBL_Hydroid.gain (ratio)
2020-02-04T21:07:07.984Z,1580850427.984 [CommandLine](IMPORTANT): DUSBL_Hydroid.inBandSignalToNoise (ratio)
2020-02-04T21:07:07.984Z,1580850427.984 [CommandLine](IMPORTANT): DUSBL_Hydroid.outBandSignalToNoise (ratio)
2020-02-04T21:07:07.984Z,1580850427.984 [CommandLine](IMPORTANT): DUSBL_Hydroid.acoustic_contact_range (meter)
2020-02-04T21:07:07.989Z,1580850427.989 [CommandLine](IMPORTANT): DUSBL_Hydroid.acoustic_contact_direction_vehicle_frame (none)
2020-02-04T21:07:07.990Z,1580850427.990 [CommandLine](IMPORTANT): DUSBL_Hydroid.acoustic_contact_address (enum)
2020-02-04T21:07:07.990Z,1580850427.990 [CommandLine](IMPORTANT): DUSBL_Hydroid.acoustic_receive_time (epoch_second)
2020-02-04T21:07:08.088Z,1580850428.088 [CommandLine](IMPORTANT): DUSBL_Hydroid.component_voltage (volt)
2020-02-04T21:07:08.089Z,1580850428.089 [CommandLine](IMPORTANT): DUSBL_Hydroid.component_avgVoltage (volt)
2020-02-04T21:07:08.107Z,1580850428.107 [CommandLine](IMPORTANT): DUSBL_Hydroid.component_current (milliampere)
2020-02-04T21:07:08.107Z,1580850428.107 [CommandLine](IMPORTANT): DUSBL_Hydroid.component_avgCurrent (milliampere)
2020-02-04T21:07:10.302Z,1580850430.302 [DefaultWithUndock:B.Undock](INFO): DDM at standby.
2020-02-04T21:07:10.670Z,1580850430.670 [DefaultWithUndock:B.Undock](IMPORTANT): Undocking sequence complete.
2020-02-04T21:07:10.670Z,1580850430.670 [DefaultWithUndock:B.Undock] Stopped
2020-02-04T21:07:11.089Z,1580850431.089 [DefaultWithUndock:CheckIn] Running Loop=1
2020-02-04T21:07:11.089Z,1580850431.089 [DefaultWithUndock:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:CheckIn
2020-02-04T21:07:11.089Z,1580850431.089 [DefaultWithUndock:CheckIn:Read_GPS] Running Loop=1
2020-02-04T21:07:19.498Z,1580850439.498 [DUSBL_Hydroid](INFO): DUSBL Version:O
2020-02-04T21:07:23.535Z,1580850443.535 [NAL9602](INFO): Powering up NAL9602
2020-02-04T21:07:34.440Z,1580850454.440 [NAL9602](INFO): NAL9602 initialized
2020-02-04T21:07:57.137Z,1580850477.137 [CommandLine](IMPORTANT): got command show stack
2020-02-04T21:07:57.138Z,1580850477.138 [CommandLine](IMPORTANT): Behavior Stack:

2020-02-04T21:07:57.138Z,1580850477.138 [DefaultWithUndock](IMPORTANT): Priority 0: DefaultWithUndock:C.GoToSurface
2020-02-04T21:07:57.138Z,1580850477.138 [DefaultWithUndock:CheckIn](IMPORTANT): Priority 1: DefaultWithUndock:CheckIn:Read_GPS
2020-02-04T21:07:57.250Z,1580850477.250 [DataOverHttps](IMPORTANT): SBD MTMSN=20200204T210744
2020-02-04T21:08:06.428Z,1580850486.428 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-02-04T21:08:06.428Z,1580850486.428 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,     ,        +0.00,        +0.00,   0.00,697.98
2020-02-04T21:08:06.877Z,1580850486.877 [DataOverHttps](INFO): Received command:load Maintenance/DUSBL.xml;set DUSBL.TransponderCode 12 count;run 
2020-02-04T21:08:06.896Z,1580850486.896 [CommandLine](IMPORTANT): got command load ./Missions/Maintenance/DUSBL.xml
2020-02-04T21:08:06.897Z,1580850486.897 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/DUSBL.xml
2020-02-04T21:08:06.951Z,1580850486.951 [MissionManager](INFO): DefineArg DUSBL.MissionTimeout = 90.000000 min
2020-02-04T21:08:06.953Z,1580850486.953 [MissionManager](INFO): DefineArg DUSBL.NumberOfRequests = 10.000000 count
2020-02-04T21:08:06.955Z,1580850486.955 [MissionManager](INFO): DefineArg DUSBL.TransponderCode = 2.000000 count
2020-02-04T21:08:06.957Z,1580850486.957 [MissionManager](INFO): DefineArg DUSBL.NumberOfPings = 1.000000 count
2020-02-04T21:08:06.959Z,1580850486.959 [MissionManager](INFO): DefineArg DUSBL.EnabledDUSBL = DUSBL_Hydroid.loadAtStartup
2020-02-04T21:08:06.960Z,1580850486.960 [DUSBL:A.Pitch](DEBUG): Construct.
2020-02-04T21:08:06.964Z,1580850486.964 [DUSBL:B.SetSpeed](DEBUG): Construct.
2020-02-04T21:08:07.006Z,1580850487.006 [DUSBL:RequestRepeater:C.Wait](DEBUG): Construct Wait.
2020-02-04T21:08:07.010Z,1580850487.010 [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>


2020-02-04T21:08:07.011Z,1580850487.011 [CommandLine](IMPORTANT): Loaded ./Missions/Maintenance/DUSBL.xml
2020-02-04T21:08:08.603Z,1580850488.603 [CommandLine](IMPORTANT): got command set DUSBL.TransponderCode 12.000000 count
2020-02-04T21:08:08.604Z,1580850488.604 [CommandLine](IMPORTANT): got command run 
2020-02-04T21:08:08.606Z,1580850488.606 [CommandLine](IMPORTANT): Running 
2020-02-04T21:08:08.829Z,1580850488.829 [DefaultWithUndock] Stopped
2020-02-04T21:08:08.830Z,1580850488.830 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2020-02-04T21:08:08.830Z,1580850488.830 [DefaultWithUndock:C.GoToSurface] Stopped
2020-02-04T21:08:08.830Z,1580850488.830 [DefaultWithUndock:C.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-02-04T21:08:08.830Z,1580850488.830 [DefaultWithUndock:CheckIn] Stopped
2020-02-04T21:08:08.830Z,1580850488.830 [DefaultWithUndock:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:CheckIn
2020-02-04T21:08:08.830Z,1580850488.830 [DefaultWithUndock:CheckIn:Read_GPS] Stopped
2020-02-04T21:08:08.830Z,1580850488.830 [MissionManager](IMPORTANT): Started mission DUSBL
2020-02-04T21:08:08.830Z,1580850488.830 [DUSBL] Running Loop=1
2020-02-04T21:08:08.830Z,1580850488.830 [DUSBL](DEBUG): Aggregate::initialize DUSBL
2020-02-04T21:08:08.830Z,1580850488.830 [DUSBL:A.Pitch] Running Loop=1
2020-02-04T21:08:08.831Z,1580850488.831 [DUSBL:A.Pitch](DEBUG): Initialize.
2020-02-04T21:08:08.831Z,1580850488.831 [DUSBL:B.SetSpeed] Running Loop=1
2020-02-04T21:08:08.831Z,1580850488.831 [DUSBL:B.SetSpeed](DEBUG): Initialize.
2020-02-04T21:08:08.831Z,1580850488.831 [DUSBL:C] Running Loop=1
2020-02-04T21:08:08.831Z,1580850488.831 [DUSBL:RequestRepeater] Running Loop=1
2020-02-04T21:08:08.831Z,1580850488.831 [DUSBL:RequestRepeater](DEBUG): Aggregate::initialize DUSBL:RequestRepeater
2020-02-04T21:08:08.831Z,1580850488.831 [DUSBL:RequestRepeater:A] Running Loop=1
2020-02-04T21:08:08.831Z,1580850488.831 [DUSBL:RequestRepeater:B] Running Loop=1
2020-02-04T21:08:08.831Z,1580850488.831 [DUSBL:RequestRepeater:C.Wait] Running Loop=1
2020-02-04T21:08:08.831Z,1580850488.831 [DUSBL:RequestRepeater:C.Wait](DEBUG): Initialize Wait Component.
2020-02-04T21:08:08.832Z,1580850488.832 [DUSBL:RequestRepeater:B] Running Loop=1
2020-02-04T21:08:08.832Z,1580850488.832 [DUSBL:RequestRepeater:A] Running Loop=1
2020-02-04T21:08:08.833Z,1580850488.833 [DUSBL:C](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_range
2020-02-04T21:08:08.833Z,1580850488.833 [DUSBL:C](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_direction_vehicle_frame
2020-02-04T21:08:08.834Z,1580850488.834 [DUSBL:B.SetSpeed] Running Loop=1
2020-02-04T21:08:08.834Z,1580850488.834 [DUSBL:A.Pitch] Running Loop=1
2020-02-04T21:08:10.808Z,1580850490.808 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:08:11.205Z,1580850491.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:08:12.047Z,1580850492.047 [Micromodem](INFO): Nmea in: $SNTTA,,,0.138206,,210812.27*43

2020-02-04T21:08:14.442Z,1580850494.442 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:08:15.249Z,1580850495.249 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:08:15.658Z,1580850495.658 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:08:16.468Z,1580850496.468 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210816.71*54

2020-02-04T21:08:17.296Z,1580850497.296 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 4
2020-02-04T21:08:17.296Z,1580850497.296 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-02-04T21:08:17.310Z,1580850497.310 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-02-04T21:08:17.740Z,1580850497.740 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-02-04T21:08:17.740Z,1580850497.740 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 4
2020-02-04T21:08:18.886Z,1580850498.886 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:08:19.688Z,1580850499.688 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:08:20.101Z,1580850500.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:08:20.906Z,1580850500.906 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210821.15*52

2020-02-04T21:08:23.330Z,1580850503.330 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:08:24.141Z,1580850504.141 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:08:24.551Z,1580850504.551 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:08:25.367Z,1580850505.367 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210825.61*55

2020-02-04T21:08:27.432Z,1580850507.432 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2020-02-04T21:08:27.783Z,1580850507.783 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:08:28.580Z,1580850508.580 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:08:28.995Z,1580850508.995 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:08:29.794Z,1580850509.794 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210830.05*53

2020-02-04T21:08:32.214Z,1580850512.214 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:08:32.509Z,1580850512.509 [CommandLine](IMPORTANT): got command stop
2020-02-04T21:08:32.509Z,1580850512.509 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2020-02-04T21:08:32.672Z,1580850512.672 [MissionManager](INFO): MissionManager is completed.
2020-02-04T21:08:32.672Z,1580850512.672 [MissionManager](INFO): Uninitializing Mission DUSBL
2020-02-04T21:08:32.672Z,1580850512.672 [DUSBL] Stopped
2020-02-04T21:08:32.672Z,1580850512.672 [DUSBL](DEBUG): Aggregate::uninitialize DUSBL
2020-02-04T21:08:32.672Z,1580850512.672 [DUSBL:A.Pitch] Stopped
2020-02-04T21:08:32.672Z,1580850512.672 [DUSBL:B.SetSpeed] Stopped
2020-02-04T21:08:32.672Z,1580850512.672 [DUSBL:B.SetSpeed](DEBUG): Uninitialize.
2020-02-04T21:08:32.672Z,1580850512.672 [DUSBL:C] Stopped
2020-02-04T21:08:32.672Z,1580850512.672 [DUSBL:RequestRepeater] Stopped
2020-02-04T21:08:32.672Z,1580850512.672 [DUSBL:RequestRepeater](DEBUG): Aggregate::uninitialize DUSBL:RequestRepeater
2020-02-04T21:08:32.672Z,1580850512.672 [DUSBL:RequestRepeater:A] Stopped
2020-02-04T21:08:32.673Z,1580850512.673 [DUSBL:RequestRepeater:B] Stopped
2020-02-04T21:08:32.673Z,1580850512.673 [DUSBL:RequestRepeater:C.Wait] Stopped
2020-02-04T21:08:32.673Z,1580850512.673 [DUSBL:RequestRepeater:C.Wait](DEBUG): Uninitialize Wait Component.
2020-02-04T21:08:33.094Z,1580850513.094 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2020-02-04T21:08:33.094Z,1580850513.094 [DefaultWithUndock] Running Loop=1
2020-02-04T21:08:33.094Z,1580850513.094 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2020-02-04T21:08:33.094Z,1580850513.094 [DefaultWithUndock:C.GoToSurface] Running Loop=1
2020-02-04T21:08:33.094Z,1580850513.094 [DefaultWithUndock:C.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-02-04T21:08:33.095Z,1580850513.095 [DefaultWithUndock:C.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-02-04T21:08:33.095Z,1580850513.095 [DefaultWithUndock:C.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-02-04T21:08:33.095Z,1580850513.095 [DefaultWithUndock:C.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-02-04T21:08:33.096Z,1580850513.096 [DefaultWithUndock:C.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-02-04T21:08:33.096Z,1580850513.096 [DefaultWithUndock:C.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-02-04T21:08:33.096Z,1580850513.096 [DefaultWithUndock:A.Wait] Running Loop=1
2020-02-04T21:08:33.096Z,1580850513.096 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2020-02-04T21:08:35.075Z,1580850515.075 [PowerOnly](INFO): Powering down
2020-02-04T21:08:35.632Z,1580850515.632 [CommandLine](IMPORTANT): got command show variable DUSBL
2020-02-04T21:08:35.685Z,1580850515.685 [CommandLine](IMPORTANT): DUSBL_Hydroid.loadAtStartup (bool)
2020-02-04T21:08:35.686Z,1580850515.686 [CommandLine](IMPORTANT): DUSBL_Hydroid.simulateHardware (bool)
2020-02-04T21:08:35.686Z,1580850515.686 [CommandLine](IMPORTANT): DUSBL_Hydroid.defaultTurnAroundTime (second)
2020-02-04T21:08:35.686Z,1580850515.686 [CommandLine](IMPORTANT): DUSBL_Hydroid.defaultSoundSpeed (meter_per_second)
2020-02-04T21:08:35.687Z,1580850515.687 [CommandLine](IMPORTANT): DUSBL_Hydroid.detectionThreshold (count)
2020-02-04T21:08:35.687Z,1580850515.687 [CommandLine](IMPORTANT): DUSBL_Hydroid.recieveTimeout (millisecond)
2020-02-04T21:08:35.687Z,1580850515.687 [CommandLine](IMPORTANT): DUSBL_Hydroid.transmitLockout (millisecond)
2020-02-04T21:08:35.688Z,1580850515.688 [CommandLine](IMPORTANT): DUSBL_Hydroid.transponderCode (enum)
2020-02-04T21:08:35.688Z,1580850515.688 [CommandLine](IMPORTANT): DUSBL_Hydroid.numberOfPingsRequested (count)
2020-02-04T21:08:35.688Z,1580850515.688 [CommandLine](IMPORTANT): DUSBL_Hydroid.verbosity (enum)
2020-02-04T21:08:35.688Z,1580850515.688 [CommandLine](IMPORTANT): DUSBL_Hydroid.xCenter (angular_degree)
2020-02-04T21:08:35.689Z,1580850515.689 [CommandLine](IMPORTANT): DUSBL_Hydroid.yCenter (angular_degree)
2020-02-04T21:08:35.692Z,1580850515.692 [CommandLine](IMPORTANT): Micromodem.dusblPingCode (none)
2020-02-04T21:08:35.775Z,1580850515.775 [CommandLine](IMPORTANT): DUSBL_Hydroid.loadControl (none)
2020-02-04T21:08:35.776Z,1580850515.776 [CommandLine](IMPORTANT): DUSBL_Hydroid.uart (none)
2020-02-04T21:08:35.776Z,1580850515.776 [CommandLine](IMPORTANT): DUSBL_Hydroid.baud (bit_per_second)
2020-02-04T21:08:35.784Z,1580850515.784 [CommandLine](IMPORTANT): Micromodem.dusblPingCodeRequested (enum)
2020-02-04T21:08:35.793Z,1580850515.793 [CommandLine](IMPORTANT): DUSBL_Hydroid.xAngle (angular_degree)
2020-02-04T21:08:35.794Z,1580850515.794 [CommandLine](IMPORTANT): DUSBL_Hydroid.yAngle (angular_degree)
2020-02-04T21:08:35.794Z,1580850515.794 [CommandLine](IMPORTANT): DUSBL_Hydroid.travelTime (microsecond)
2020-02-04T21:08:35.794Z,1580850515.794 [CommandLine](IMPORTANT): DUSBL_Hydroid.latency (microsecond)
2020-02-04T21:08:35.795Z,1580850515.795 [CommandLine](IMPORTANT): DUSBL_Hydroid.gain (ratio)
2020-02-04T21:08:35.795Z,1580850515.795 [CommandLine](IMPORTANT): DUSBL_Hydroid.inBandSignalToNoise (ratio)
2020-02-04T21:08:35.795Z,1580850515.795 [CommandLine](IMPORTANT): DUSBL_Hydroid.outBandSignalToNoise (ratio)
2020-02-04T21:08:35.795Z,1580850515.795 [CommandLine](IMPORTANT): DUSBL_Hydroid.acoustic_contact_range (meter)
2020-02-04T21:08:35.796Z,1580850515.796 [CommandLine](IMPORTANT): DUSBL_Hydroid.acoustic_contact_direction_vehicle_frame (none)
2020-02-04T21:08:35.796Z,1580850515.796 [CommandLine](IMPORTANT): DUSBL_Hydroid.acoustic_contact_address (enum)
2020-02-04T21:08:35.796Z,1580850515.796 [CommandLine](IMPORTANT): DUSBL_Hydroid.acoustic_receive_time (epoch_second)
2020-02-04T21:08:35.951Z,1580850515.951 [CommandLine](IMPORTANT): DUSBL_Hydroid.component_voltage (volt)
2020-02-04T21:08:35.952Z,1580850515.952 [CommandLine](IMPORTANT): DUSBL_Hydroid.component_avgVoltage (volt)
2020-02-04T21:08:35.952Z,1580850515.952 [CommandLine](IMPORTANT): DUSBL_Hydroid.component_current (milliampere)
2020-02-04T21:08:35.952Z,1580850515.952 [CommandLine](IMPORTANT): DUSBL_Hydroid.component_avgCurrent (milliampere)
2020-02-04T21:08:56.355Z,1580850536.355 [CommandLine](IMPORTANT): got command get DUSBL_Hydroid.acoustic_contact_address
2020-02-04T21:08:56.355Z,1580850536.355 [CommandLine](IMPORTANT): DUSBL_Hydroid.acoustic_contact_address 12 enum
2020-02-04T21:09:03.364Z,1580850543.364 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2020-02-04T21:09:03.364Z,1580850543.364 [DefaultWithUndock:A.Wait] Stopped
2020-02-04T21:09:03.364Z,1580850543.364 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2020-02-04T21:09:03.364Z,1580850543.364 [DefaultWithUndock:B.Undock] Running Loop=1
2020-02-04T21:09:03.364Z,1580850543.364 [DefaultWithUndock:B.Undock](DEBUG): Initialize.
2020-02-04T21:09:04.154Z,1580850544.154 [PowerOnly](INFO): Powering up
2020-02-04T21:09:07.042Z,1580850547.042 [DefaultWithUndock:B.Undock](INFO): Detaching from dock.
2020-02-04T21:09:07.455Z,1580850547.455 [DefaultWithUndock:B.Undock](INFO): Detached at range: nan m. Transitioning DDM to standby.
2020-02-04T21:09:10.286Z,1580850550.286 [DefaultWithUndock:B.Undock](INFO): DDM at standby.
2020-02-04T21:09:10.654Z,1580850550.654 [DefaultWithUndock:B.Undock](IMPORTANT): Undocking sequence complete.
2020-02-04T21:09:10.654Z,1580850550.654 [DefaultWithUndock:B.Undock] Stopped
2020-02-04T21:09:11.092Z,1580850551.092 [DefaultWithUndock:CheckIn] Running Loop=1
2020-02-04T21:09:11.113Z,1580850551.113 [DefaultWithUndock:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:CheckIn
2020-02-04T21:09:11.113Z,1580850551.113 [DefaultWithUndock:CheckIn:Read_GPS] Running Loop=1
2020-02-04T21:10:12.447Z,1580850612.447 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-02-04T21:10:12.447Z,1580850612.447 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,20020414231491,35.0, -0.1,   0.0,1448.9,,  0.00,   0.00,   0.00,   0.00
2020-02-04T21:10:35.450Z,1580850635.450 [PowerOnly](INFO): Powering down
2020-02-04T21:11:18.322Z,1580850678.322 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 5
2020-02-04T21:11:18.322Z,1580850678.322 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-02-04T21:11:18.332Z,1580850678.332 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-02-04T21:11:18.728Z,1580850678.728 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-02-04T21:11:18.728Z,1580850678.728 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 5
2020-02-04T21:11:21.810Z,1580850681.810 [CommandLine](IMPORTANT): got command show variable DUSBL
2020-02-04T21:11:21.861Z,1580850681.861 [CommandLine](IMPORTANT): DUSBL_Hydroid.loadAtStartup (bool)
2020-02-04T21:11:21.861Z,1580850681.861 [CommandLine](IMPORTANT): DUSBL_Hydroid.simulateHardware (bool)
2020-02-04T21:11:21.862Z,1580850681.862 [CommandLine](IMPORTANT): DUSBL_Hydroid.defaultTurnAroundTime (second)
2020-02-04T21:11:21.862Z,1580850681.862 [CommandLine](IMPORTANT): DUSBL_Hydroid.defaultSoundSpeed (meter_per_second)
2020-02-04T21:11:21.862Z,1580850681.862 [CommandLine](IMPORTANT): DUSBL_Hydroid.detectionThreshold (count)
2020-02-04T21:11:21.863Z,1580850681.863 [CommandLine](IMPORTANT): DUSBL_Hydroid.recieveTimeout (millisecond)
2020-02-04T21:11:21.863Z,1580850681.863 [CommandLine](IMPORTANT): DUSBL_Hydroid.transmitLockout (millisecond)
2020-02-04T21:11:21.863Z,1580850681.863 [CommandLine](IMPORTANT): DUSBL_Hydroid.transponderCode (enum)
2020-02-04T21:11:21.864Z,1580850681.864 [CommandLine](IMPORTANT): DUSBL_Hydroid.numberOfPingsRequested (count)
2020-02-04T21:11:21.864Z,1580850681.864 [CommandLine](IMPORTANT): DUSBL_Hydroid.verbosity (enum)
2020-02-04T21:11:21.864Z,1580850681.864 [CommandLine](IMPORTANT): DUSBL_Hydroid.xCenter (angular_degree)
2020-02-04T21:11:21.865Z,1580850681.865 [CommandLine](IMPORTANT): DUSBL_Hydroid.yCenter (angular_degree)
2020-02-04T21:11:21.868Z,1580850681.868 [CommandLine](IMPORTANT): Micromodem.dusblPingCode (none)
2020-02-04T21:11:21.879Z,1580850681.879 [CommandLine](IMPORTANT): DUSBL_Hydroid.loadControl (none)
2020-02-04T21:11:21.880Z,1580850681.880 [CommandLine](IMPORTANT): DUSBL_Hydroid.uart (none)
2020-02-04T21:11:21.880Z,1580850681.880 [CommandLine](IMPORTANT): DUSBL_Hydroid.baud (bit_per_second)
2020-02-04T21:11:21.971Z,1580850681.971 [CommandLine](IMPORTANT): Micromodem.dusblPingCodeRequested (enum)
2020-02-04T21:11:21.971Z,1580850681.971 [CommandLine](IMPORTANT): DUSBL_Hydroid.xAngle (angular_degree)
2020-02-04T21:11:21.971Z,1580850681.971 [CommandLine](IMPORTANT): DUSBL_Hydroid.yAngle (angular_degree)
2020-02-04T21:11:21.972Z,1580850681.972 [CommandLine](IMPORTANT): DUSBL_Hydroid.travelTime (microsecond)
2020-02-04T21:11:21.972Z,1580850681.972 [CommandLine](IMPORTANT): DUSBL_Hydroid.latency (microsecond)
2020-02-04T21:11:21.972Z,1580850681.972 [CommandLine](IMPORTANT): DUSBL_Hydroid.gain (ratio)
2020-02-04T21:11:21.989Z,1580850681.989 [CommandLine](IMPORTANT): DUSBL_Hydroid.inBandSignalToNoise (ratio)
2020-02-04T21:11:21.990Z,1580850681.990 [CommandLine](IMPORTANT): DUSBL_Hydroid.outBandSignalToNoise (ratio)
2020-02-04T21:11:21.990Z,1580850681.990 [CommandLine](IMPORTANT): DUSBL_Hydroid.acoustic_contact_range (meter)
2020-02-04T21:11:21.990Z,1580850681.990 [CommandLine](IMPORTANT): DUSBL_Hydroid.acoustic_contact_direction_vehicle_frame (none)
2020-02-04T21:11:21.991Z,1580850681.991 [CommandLine](IMPORTANT): DUSBL_Hydroid.acoustic_contact_address (enum)
2020-02-04T21:11:21.991Z,1580850681.991 [CommandLine](IMPORTANT): DUSBL_Hydroid.acoustic_receive_time (epoch_second)
2020-02-04T21:11:22.144Z,1580850682.144 [CommandLine](IMPORTANT): DUSBL_Hydroid.component_voltage (volt)
2020-02-04T21:11:22.145Z,1580850682.145 [CommandLine](IMPORTANT): DUSBL_Hydroid.component_avgVoltage (volt)
2020-02-04T21:11:22.149Z,1580850682.149 [CommandLine](IMPORTANT): DUSBL_Hydroid.component_current (milliampere)
2020-02-04T21:11:22.149Z,1580850682.149 [CommandLine](IMPORTANT): DUSBL_Hydroid.component_avgCurrent (milliampere)
2020-02-04T21:11:38.618Z,1580850698.618 [CommandLine](IMPORTANT): got command get DUSBL_Hydroid.verbosity
2020-02-04T21:11:38.619Z,1580850698.619 [CommandLine](IMPORTANT): DUSBL_Hydroid.verbosity 0 enum
2020-02-04T21:11:47.411Z,1580850707.411 [CommandLine](IMPORTANT): got command configSet DUSBL_Hydroid.verbosity 3.000000 enum persist
2020-02-04T21:11:53.442Z,1580850713.442 [CommandLine](IMPORTANT): got command failComponent hardware DUSBL_Hydroid
2020-02-04T21:11:53.442Z,1580850713.442 [DUSBL_Hydroid] Hardware Fault, FailCount= 1
2020-02-04T21:11:53.442Z,1580850713.442 [DUSBL_Hydroid](ERROR): Hardware Fault
2020-02-04T21:11:53.442Z,1580850713.442 [CommandLine](IMPORTANT): DUSBL_Hydroid failureMode is Hardware Fault
2020-02-04T21:11:53.520Z,1580850713.520 [CBIT](ERROR): Hardware Fault in component: DUSBL_Hydroid
2020-02-04T21:11:53.806Z,1580850713.806 [DUSBL_Hydroid](INFO): Powering down
2020-02-04T21:11:54.656Z,1580850714.656 [CBIT](INFO): Clearing failed state for component DUSBL_Hydroid
2020-02-04T21:11:54.656Z,1580850714.656 [DUSBL_Hydroid] No Fault, FailCount= 1
2020-02-04T21:11:57.042Z,1580850717.042 [DUSBL_Hydroid](INFO): Powering up
2020-02-04T21:11:57.042Z,1580850717.042 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2020-02-04T21:12:15.239Z,1580850735.239 [DUSBL_Hydroid](INFO): DUSBL Version:O
2020-02-04T21:12:15.570Z,1580850735.570 [DataOverHttps](IMPORTANT): SBD MTMSN=20200204T211203
2020-02-04T21:12:23.037Z,1580850743.037 [DataOverHttps](INFO): Received command:load Maintenance/DUSBL.xml;set DUSBL.TransponderCode 12 count;run 
2020-02-04T21:12:23.067Z,1580850743.067 [CommandLine](IMPORTANT): got command load ./Missions/Maintenance/DUSBL.xml
2020-02-04T21:12:23.068Z,1580850743.068 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/DUSBL.xml
2020-02-04T21:12:23.132Z,1580850743.132 [MissionManager](INFO): DefineArg DUSBL.MissionTimeout = 90.000000 min
2020-02-04T21:12:23.144Z,1580850743.144 [MissionManager](INFO): DefineArg DUSBL.NumberOfRequests = 10.000000 count
2020-02-04T21:12:23.146Z,1580850743.146 [MissionManager](INFO): DefineArg DUSBL.TransponderCode = 2.000000 count
2020-02-04T21:12:23.148Z,1580850743.148 [MissionManager](INFO): DefineArg DUSBL.NumberOfPings = 1.000000 count
2020-02-04T21:12:23.150Z,1580850743.150 [MissionManager](INFO): DefineArg DUSBL.EnabledDUSBL = DUSBL_Hydroid.loadAtStartup
2020-02-04T21:12:23.151Z,1580850743.151 [DUSBL:A.Pitch](DEBUG): Construct.
2020-02-04T21:12:23.155Z,1580850743.155 [DUSBL:B.SetSpeed](DEBUG): Construct.
2020-02-04T21:12:23.161Z,1580850743.161 [DUSBL:RequestRepeater:C.Wait](DEBUG): Construct Wait.
2020-02-04T21:12:23.165Z,1580850743.165 [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>


2020-02-04T21:12:23.165Z,1580850743.165 [CommandLine](IMPORTANT): Loaded ./Missions/Maintenance/DUSBL.xml
2020-02-04T21:12:24.765Z,1580850744.765 [CommandLine](IMPORTANT): got command set DUSBL.TransponderCode 12.000000 count
2020-02-04T21:12:24.766Z,1580850744.766 [CommandLine](IMPORTANT): got command run 
2020-02-04T21:12:24.767Z,1580850744.767 [CommandLine](IMPORTANT): Running 
2020-02-04T21:12:24.951Z,1580850744.951 [DefaultWithUndock] Stopped
2020-02-04T21:12:24.951Z,1580850744.951 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2020-02-04T21:12:24.951Z,1580850744.951 [DefaultWithUndock:C.GoToSurface] Stopped
2020-02-04T21:12:24.951Z,1580850744.951 [DefaultWithUndock:C.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-02-04T21:12:24.951Z,1580850744.951 [DefaultWithUndock:CheckIn] Stopped
2020-02-04T21:12:24.951Z,1580850744.951 [DefaultWithUndock:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:CheckIn
2020-02-04T21:12:24.951Z,1580850744.951 [DefaultWithUndock:CheckIn:Read_GPS] Stopped
2020-02-04T21:12:24.951Z,1580850744.951 [MissionManager](IMPORTANT): Started mission DUSBL
2020-02-04T21:12:24.952Z,1580850744.952 [DUSBL] Running Loop=1
2020-02-04T21:12:24.952Z,1580850744.952 [DUSBL](DEBUG): Aggregate::initialize DUSBL
2020-02-04T21:12:24.952Z,1580850744.952 [DUSBL:A.Pitch] Running Loop=1
2020-02-04T21:12:24.952Z,1580850744.952 [DUSBL:A.Pitch](DEBUG): Initialize.
2020-02-04T21:12:24.952Z,1580850744.952 [DUSBL:B.SetSpeed] Running Loop=1
2020-02-04T21:12:24.952Z,1580850744.952 [DUSBL:B.SetSpeed](DEBUG): Initialize.
2020-02-04T21:12:24.952Z,1580850744.952 [DUSBL:C] Running Loop=1
2020-02-04T21:12:24.952Z,1580850744.952 [DUSBL:RequestRepeater] Running Loop=1
2020-02-04T21:12:24.952Z,1580850744.952 [DUSBL:RequestRepeater](DEBUG): Aggregate::initialize DUSBL:RequestRepeater
2020-02-04T21:12:24.953Z,1580850744.953 [DUSBL:RequestRepeater:A] Running Loop=1
2020-02-04T21:12:24.973Z,1580850744.973 [DUSBL:RequestRepeater:B] Running Loop=1
2020-02-04T21:12:24.973Z,1580850744.973 [DUSBL:RequestRepeater:C.Wait] Running Loop=1
2020-02-04T21:12:24.973Z,1580850744.973 [DUSBL:RequestRepeater:C.Wait](DEBUG): Initialize Wait Component.
2020-02-04T21:12:24.973Z,1580850744.973 [DUSBL:RequestRepeater:B] Running Loop=1
2020-02-04T21:12:24.974Z,1580850744.974 [DUSBL:RequestRepeater:A] Running Loop=1
2020-02-04T21:12:24.974Z,1580850744.974 [DUSBL:C](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_range
2020-02-04T21:12:24.975Z,1580850744.975 [DUSBL:C](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_direction_vehicle_frame
2020-02-04T21:12:24.975Z,1580850744.975 [DUSBL:B.SetSpeed] Running Loop=1
2020-02-04T21:12:24.975Z,1580850744.975 [DUSBL:A.Pitch] Running Loop=1
2020-02-04T21:12:26.549Z,1580850746.549 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:233.926163
2020-02-04T21:12:26.549Z,1580850746.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2020-02-04T21:12:26.549Z,1580850746.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2020-02-04T21:12:26.549Z,1580850746.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 35
2020-02-04T21:12:26.550Z,1580850746.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2020-02-04T21:12:26.938Z,1580850746.938 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
O
2020-02-04T21:12:26.939Z,1580850746.939 [DUSBL_Hydroid](INFO): Command Ack
2020-02-04T21:12:26.939Z,1580850746.939 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 12
2020-02-04T21:12:26.940Z,1580850746.940 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:12:27.349Z,1580850747.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:12:28.160Z,1580850748.160 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211228.41*51

2020-02-04T21:12:30.574Z,1580850750.574 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,F4
2020-02-04T21:12:30.575Z,1580850750.575 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,F4
2020-02-04T21:12:30.575Z,1580850750.575 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:12:30.984Z,1580850750.984 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2020-02-04T21:12:30.984Z,1580850750.984 [DUSBL_Hydroid](INFO): ****** received ping request ******
2020-02-04T21:12:30.984Z,1580850750.984 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 35
2020-02-04T21:12:30.985Z,1580850750.985 [DUSBL_Hydroid](INFO): ****** ping requested ******
2020-02-04T21:12:31.386Z,1580850751.386 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,F4
2020-02-04T21:12:31.387Z,1580850751.387 [DUSBL_Hydroid](INFO): Command Ack
2020-02-04T21:12:31.387Z,1580850751.387 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 12
2020-02-04T21:12:31.388Z,1580850751.388 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:12:31.794Z,1580850751.794 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:12:32.600Z,1580850752.600 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211232.85*52

2020-02-04T21:12:35.030Z,1580850755.030 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,F4
2020-02-04T21:12:35.030Z,1580850755.030 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,F4
2020-02-04T21:12:35.031Z,1580850755.031 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:12:35.422Z,1580850755.422 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2020-02-04T21:12:35.422Z,1580850755.422 [DUSBL_Hydroid](INFO): ****** received ping request ******
2020-02-04T21:12:35.422Z,1580850755.422 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 35
2020-02-04T21:12:35.423Z,1580850755.423 [DUSBL_Hydroid](INFO): ****** ping requested ******
2020-02-04T21:12:35.826Z,1580850755.826 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,F4
2020-02-04T21:12:35.826Z,1580850755.826 [DUSBL_Hydroid](INFO): Command Ack
2020-02-04T21:12:35.827Z,1580850755.827 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 12
2020-02-04T21:12:35.828Z,1580850755.828 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:12:36.246Z,1580850756.246 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:12:37.052Z,1580850757.052 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211237.30*59

2020-02-04T21:12:39.466Z,1580850759.466 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,F4
2020-02-04T21:12:39.467Z,1580850759.467 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,F4
2020-02-04T21:12:39.467Z,1580850759.467 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:12:39.870Z,1580850759.870 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2020-02-04T21:12:39.870Z,1580850759.870 [DUSBL_Hydroid](INFO): ****** received ping request ******
2020-02-04T21:12:39.870Z,1580850759.870 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 35
2020-02-04T21:12:39.871Z,1580850759.871 [DUSBL_Hydroid](INFO): ****** ping requested ******
2020-02-04T21:12:39.895Z,1580850759.895 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,F4
2020-02-04T21:12:39.896Z,1580850759.896 [DUSBL_Hydroid](INFO): Command Ack
2020-02-04T21:12:39.896Z,1580850759.896 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 12
2020-02-04T21:12:39.898Z,1580850759.898 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:12:40.273Z,1580850760.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:12:41.085Z,1580850761.085 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211241.36*5E

2020-02-04T21:12:43.506Z,1580850763.506 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,F4
2020-02-04T21:12:43.507Z,1580850763.507 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,F4
2020-02-04T21:12:43.507Z,1580850763.507 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:12:43.906Z,1580850763.906 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2020-02-04T21:12:43.906Z,1580850763.906 [DUSBL_Hydroid](INFO): ****** received ping request ******
2020-02-04T21:12:43.906Z,1580850763.906 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 35
2020-02-04T21:12:43.907Z,1580850763.907 [DUSBL_Hydroid](INFO): ****** ping requested ******
2020-02-04T21:12:44.314Z,1580850764.314 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,F4
2020-02-04T21:12:44.314Z,1580850764.314 [DUSBL_Hydroid](INFO): Command Ack
2020-02-04T21:12:44.314Z,1580850764.314 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 12
2020-02-04T21:12:44.316Z,1580850764.316 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:12:44.722Z,1580850764.722 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:12:45.533Z,1580850765.533 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211245.78*50

2020-02-04T21:12:47.950Z,1580850767.950 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,F4
2020-02-04T21:12:47.950Z,1580850767.950 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,F4
2020-02-04T21:12:47.951Z,1580850767.951 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:12:48.354Z,1580850768.354 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2020-02-04T21:12:48.354Z,1580850768.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2020-02-04T21:12:48.354Z,1580850768.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 35
2020-02-04T21:12:48.355Z,1580850768.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2020-02-04T21:12:48.754Z,1580850768.754 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,F4
2020-02-04T21:12:48.754Z,1580850768.754 [DUSBL_Hydroid](INFO): Command Ack
2020-02-04T21:12:48.755Z,1580850768.755 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 12
2020-02-04T21:12:48.756Z,1580850768.756 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:12:49.165Z,1580850769.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:12:49.973Z,1580850769.973 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211250.22*5B

2020-02-04T21:12:52.390Z,1580850772.390 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,F4
2020-02-04T21:12:52.391Z,1580850772.391 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,F4
2020-02-04T21:12:52.391Z,1580850772.391 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:12:52.798Z,1580850772.798 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2020-02-04T21:12:52.798Z,1580850772.798 [DUSBL_Hydroid](INFO): ****** received ping request ******
2020-02-04T21:12:52.798Z,1580850772.798 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 35
2020-02-04T21:12:52.799Z,1580850772.799 [DUSBL_Hydroid](INFO): ****** ping requested ******
2020-02-04T21:12:53.199Z,1580850773.199 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,F4
2020-02-04T21:12:53.199Z,1580850773.199 [DUSBL_Hydroid](INFO): Command Ack
2020-02-04T21:12:53.199Z,1580850773.199 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 12
2020-02-04T21:12:53.201Z,1580850773.201 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:12:53.605Z,1580850773.605 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:12:54.417Z,1580850774.417 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211254.66*5F

2020-02-04T21:12:56.846Z,1580850776.846 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,F4
2020-02-04T21:12:56.847Z,1580850776.847 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,F4
2020-02-04T21:12:56.847Z,1580850776.847 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:12:57.234Z,1580850777.234 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2020-02-04T21:12:57.234Z,1580850777.234 [DUSBL_Hydroid](INFO): ****** received ping request ******
2020-02-04T21:12:57.234Z,1580850777.234 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 35
2020-02-04T21:12:57.235Z,1580850777.235 [DUSBL_Hydroid](INFO): ****** ping requested ******
2020-02-04T21:12:57.646Z,1580850777.646 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,F4
2020-02-04T21:12:57.646Z,1580850777.646 [DUSBL_Hydroid](INFO): Command Ack
2020-02-04T21:12:57.647Z,1580850777.647 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 12
2020-02-04T21:12:57.648Z,1580850777.648 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:12:58.060Z,1580850778.060 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:12:58.864Z,1580850778.864 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211259.11*52

2020-02-04T21:13:01.286Z,1580850781.286 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,F4
2020-02-04T21:13:01.287Z,1580850781.287 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,F4
2020-02-04T21:13:01.287Z,1580850781.287 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:13:01.694Z,1580850781.694 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2020-02-04T21:13:01.694Z,1580850781.694 [DUSBL_Hydroid](INFO): ****** received ping request ******
2020-02-04T21:13:01.694Z,1580850781.694 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 35
2020-02-04T21:13:01.695Z,1580850781.695 [DUSBL_Hydroid](INFO): ****** ping requested ******
2020-02-04T21:13:02.086Z,1580850782.086 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,F4
2020-02-04T21:13:02.086Z,1580850782.086 [DUSBL_Hydroid](INFO): Command Ack
2020-02-04T21:13:02.086Z,1580850782.086 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 12
2020-02-04T21:13:02.088Z,1580850782.088 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:13:02.502Z,1580850782.502 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:13:03.305Z,1580850783.305 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211303.55*5C

2020-02-04T21:13:05.718Z,1580850785.718 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,F4
2020-02-04T21:13:05.719Z,1580850785.719 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,F4
2020-02-04T21:13:05.719Z,1580850785.719 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:13:06.123Z,1580850786.123 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2020-02-04T21:13:06.123Z,1580850786.123 [DUSBL_Hydroid](INFO): ****** received ping request ******
2020-02-04T21:13:06.123Z,1580850786.123 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 35
2020-02-04T21:13:06.124Z,1580850786.124 [DUSBL_Hydroid](INFO): ****** ping requested ******
2020-02-04T21:13:06.534Z,1580850786.534 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,F4
2020-02-04T21:13:06.535Z,1580850786.535 [DUSBL_Hydroid](INFO): Command Ack
2020-02-04T21:13:06.535Z,1580850786.535 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 12
2020-02-04T21:13:06.536Z,1580850786.536 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:13:06.937Z,1580850786.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:13:07.756Z,1580850787.756 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211308.00*57

2020-02-04T21:13:10.166Z,1580850790.166 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,F4
2020-02-04T21:13:10.167Z,1580850790.167 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,F4
2020-02-04T21:13:10.167Z,1580850790.167 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:13:10.570Z,1580850790.570 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2020-02-04T21:13:10.570Z,1580850790.570 [DUSBL_Hydroid](INFO): ****** received ping request ******
2020-02-04T21:13:10.570Z,1580850790.570 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 35
2020-02-04T21:13:10.571Z,1580850790.571 [DUSBL_Hydroid](INFO): ****** ping requested ******
2020-02-04T21:13:10.980Z,1580850790.980 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,F4
2020-02-04T21:13:10.980Z,1580850790.980 [DUSBL_Hydroid](INFO): Command Ack
2020-02-04T21:13:10.980Z,1580850790.980 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 12
2020-02-04T21:13:10.982Z,1580850790.982 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:13:11.397Z,1580850791.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:13:12.208Z,1580850792.208 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211312.45*5D

2020-02-04T21:13:14.618Z,1580850794.618 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,F4
2020-02-04T21:13:14.618Z,1580850794.618 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,F4
2020-02-04T21:13:14.619Z,1580850794.619 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:13:15.018Z,1580850795.018 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2020-02-04T21:13:15.018Z,1580850795.018 [DUSBL_Hydroid](INFO): ****** received ping request ******
2020-02-04T21:13:15.018Z,1580850795.018 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 35
2020-02-04T21:13:15.019Z,1580850795.019 [DUSBL_Hydroid](INFO): ****** ping requested ******
2020-02-04T21:13:15.418Z,1580850795.418 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,F4
2020-02-04T21:13:15.418Z,1580850795.418 [DUSBL_Hydroid](INFO): Command Ack
2020-02-04T21:13:15.419Z,1580850795.419 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 12
2020-02-04T21:13:15.420Z,1580850795.420 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:13:15.835Z,1580850795.835 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:13:16.639Z,1580850796.639 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211316.88*58

2020-02-04T21:13:19.076Z,1580850799.076 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,F4
2020-02-04T21:13:19.076Z,1580850799.076 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,F4
2020-02-04T21:13:19.077Z,1580850799.077 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:13:19.462Z,1580850799.462 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2020-02-04T21:13:19.462Z,1580850799.462 [DUSBL_Hydroid](INFO): ****** received ping request ******
2020-02-04T21:13:19.462Z,1580850799.462 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 35
2020-02-04T21:13:19.463Z,1580850799.463 [DUSBL_Hydroid](INFO): ****** ping requested ******
2020-02-04T21:13:19.866Z,1580850799.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,F4
2020-02-04T21:13:19.867Z,1580850799.867 [DUSBL_Hydroid](INFO): Command Ack
2020-02-04T21:13:19.867Z,1580850799.867 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 12
2020-02-04T21:13:19.868Z,1580850799.868 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:13:20.277Z,1580850800.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:13:21.084Z,1580850801.084 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211321.33*5C

2020-02-04T21:13:23.495Z,1580850803.495 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,F4
2020-02-04T21:13:23.495Z,1580850803.495 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,F4
2020-02-04T21:13:23.495Z,1580850803.495 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:13:23.898Z,1580850803.898 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2020-02-04T21:13:23.898Z,1580850803.898 [DUSBL_Hydroid](INFO): ****** received ping request ******
2020-02-04T21:13:23.898Z,1580850803.898 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 35
2020-02-04T21:13:23.899Z,1580850803.899 [DUSBL_Hydroid](INFO): ****** ping requested ******
2020-02-04T21:13:24.312Z,1580850804.312 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,F4
2020-02-04T21:13:24.312Z,1580850804.312 [DUSBL_Hydroid](INFO): Command Ack
2020-02-04T21:13:24.312Z,1580850804.312 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 12
2020-02-04T21:13:24.314Z,1580850804.314 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:13:24.714Z,1580850804.714 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:13:25.529Z,1580850805.529 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211325.78*57

2020-02-04T21:13:27.942Z,1580850807.942 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,F4
2020-02-04T21:13:27.943Z,1580850807.943 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,F4
2020-02-04T21:13:27.943Z,1580850807.943 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:13:28.346Z,1580850808.346 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2020-02-04T21:13:28.346Z,1580850808.346 [DUSBL_Hydroid](INFO): ****** received ping request ******
2020-02-04T21:13:28.346Z,1580850808.346 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 35
2020-02-04T21:13:28.347Z,1580850808.347 [DUSBL_Hydroid](INFO): ****** ping requested ******
2020-02-04T21:13:28.755Z,1580850808.755 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,F4
2020-02-04T21:13:28.756Z,1580850808.756 [DUSBL_Hydroid](INFO): Command Ack
2020-02-04T21:13:28.756Z,1580850808.756 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 12
2020-02-04T21:13:28.757Z,1580850808.757 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:13:29.157Z,1580850809.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:13:29.978Z,1580850809.978 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211330.22*5C

2020-02-04T21:13:32.382Z,1580850812.382 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,F4
2020-02-04T21:13:32.383Z,1580850812.383 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,F4
2020-02-04T21:13:32.383Z,1580850812.383 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:13:32.802Z,1580850812.802 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2020-02-04T21:13:32.802Z,1580850812.802 [DUSBL_Hydroid](INFO): ****** received ping request ******
2020-02-04T21:13:32.802Z,1580850812.802 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 35
2020-02-04T21:13:32.803Z,1580850812.803 [DUSBL_Hydroid](INFO): ****** ping requested ******
2020-02-04T21:13:33.191Z,1580850813.191 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,F4
2020-02-04T21:13:33.191Z,1580850813.191 [DUSBL_Hydroid](INFO): Command Ack
2020-02-04T21:13:33.191Z,1580850813.191 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 12
2020-02-04T21:13:33.193Z,1580850813.193 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:13:33.597Z,1580850813.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:13:34.411Z,1580850814.411 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211334.66*58

2020-02-04T21:13:35.318Z,1580850815.318 [CommandLine](IMPORTANT): got command stop
2020-02-04T21:13:35.318Z,1580850815.318 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2020-02-04T21:13:35.671Z,1580850815.671 [MissionManager](INFO): MissionManager is completed.
2020-02-04T21:13:35.671Z,1580850815.671 [MissionManager](INFO): Uninitializing Mission DUSBL
2020-02-04T21:13:35.671Z,1580850815.671 [DUSBL] Stopped
2020-02-04T21:13:35.671Z,1580850815.671 [DUSBL](DEBUG): Aggregate::uninitialize DUSBL
2020-02-04T21:13:35.671Z,1580850815.671 [DUSBL:A.Pitch] Stopped
2020-02-04T21:13:35.671Z,1580850815.671 [DUSBL:B.SetSpeed] Stopped
2020-02-04T21:13:35.671Z,1580850815.671 [DUSBL:B.SetSpeed](DEBUG): Uninitialize.
2020-02-04T21:13:35.671Z,1580850815.671 [DUSBL:C] Stopped
2020-02-04T21:13:35.671Z,1580850815.671 [DUSBL:RequestRepeater] Stopped
2020-02-04T21:13:35.671Z,1580850815.671 [DUSBL:RequestRepeater](DEBUG): Aggregate::uninitialize DUSBL:RequestRepeater
2020-02-04T21:13:35.671Z,1580850815.671 [DUSBL:RequestRepeater:A] Stopped
2020-02-04T21:13:35.671Z,1580850815.671 [DUSBL:RequestRepeater:B] Stopped
2020-02-04T21:13:35.671Z,1580850815.671 [DUSBL:RequestRepeater:C.Wait] Stopped
2020-02-04T21:13:35.671Z,1580850815.671 [DUSBL:RequestRepeater:C.Wait](DEBUG): Uninitialize Wait Component.
2020-02-04T21:13:36.067Z,1580850816.067 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2020-02-04T21:13:36.067Z,1580850816.067 [DefaultWithUndock] Running Loop=1
2020-02-04T21:13:36.067Z,1580850816.067 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2020-02-04T21:13:36.067Z,1580850816.067 [DefaultWithUndock:C.GoToSurface] Running Loop=1
2020-02-04T21:13:36.067Z,1580850816.067 [DefaultWithUndock:C.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-02-04T21:13:36.068Z,1580850816.068 [DefaultWithUndock:C.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-02-04T21:13:36.068Z,1580850816.068 [DefaultWithUndock:C.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-02-04T21:13:36.068Z,1580850816.068 [DefaultWithUndock:C.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-02-04T21:13:36.068Z,1580850816.068 [DefaultWithUndock:C.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-02-04T21:13:36.069Z,1580850816.069 [DefaultWithUndock:C.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-02-04T21:13:36.070Z,1580850816.070 [DefaultWithUndock:A.Wait] Running Loop=1
2020-02-04T21:13:36.070Z,1580850816.070 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2020-02-04T21:13:41.358Z,1580850821.358 [CommandLine](IMPORTANT): got command show variable transponderCode
2020-02-04T21:13:41.471Z,1580850821.471 [CommandLine](IMPORTANT): DUSBL_Hydroid.transponderCode (enum)
2020-02-04T21:13:50.421Z,1580850830.421 [CommandLine](IMPORTANT): got command get DUSBL_Hydroid.transponderCode
2020-02-04T21:13:50.422Z,1580850830.422 [CommandLine](IMPORTANT): DUSBL_Hydroid.transponderCode 2 enum
2020-02-04T21:14:06.368Z,1580850846.368 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2020-02-04T21:14:06.368Z,1580850846.368 [DefaultWithUndock:A.Wait] Stopped
2020-02-04T21:14:06.368Z,1580850846.368 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2020-02-04T21:14:06.368Z,1580850846.368 [DefaultWithUndock:B.Undock] Running Loop=1
2020-02-04T21:14:06.369Z,1580850846.369 [DefaultWithUndock:B.Undock](DEBUG): Initialize.
2020-02-04T21:14:07.146Z,1580850847.146 [PowerOnly](INFO): Powering up
2020-02-04T21:14:10.066Z,1580850850.066 [DefaultWithUndock:B.Undock](INFO): Detaching from dock.
2020-02-04T21:14:10.434Z,1580850850.434 [DefaultWithUndock:B.Undock](INFO): Detached at range: nan m. Transitioning DDM to standby.
2020-02-04T21:14:11.335Z,1580850851.335 [CommandLine](IMPORTANT): got command show variable detectionThreshold
2020-02-04T21:14:11.399Z,1580850851.399 [CommandLine](IMPORTANT): DUSBL_Hydroid.detectionThreshold (count)
2020-02-04T21:14:12.441Z,1580850852.441 [RDI_Pathfinder](ERROR): Failed to parse:
:BI,-32768,-32768,-32768,-32768,V
2020-02-04T21:14:13.287Z,1580850853.287 [DefaultWithUndock:B.Undock](INFO): DDM at standby.
2020-02-04T21:14:13.654Z,1580850853.654 [DefaultWithUndock:B.Undock](IMPORTANT): Undocking sequence complete.
2020-02-04T21:14:13.654Z,1580850853.654 [DefaultWithUndock:B.Undock] Stopped
2020-02-04T21:14:14.047Z,1580850854.047 [DefaultWithUndock:CheckIn] Running Loop=1
2020-02-04T21:14:14.048Z,1580850854.048 [DefaultWithUndock:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:CheckIn
2020-02-04T21:14:14.048Z,1580850854.048 [DefaultWithUndock:CheckIn:Read_GPS] Running Loop=1
2020-02-04T21:14:19.295Z,1580850859.295 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 6
2020-02-04T21:14:19.295Z,1580850859.295 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-02-04T21:14:19.304Z,1580850859.304 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-02-04T21:14:19.754Z,1580850859.754 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-02-04T21:14:19.754Z,1580850859.754 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 6
2020-02-04T21:14:26.478Z,1580850866.478 [CommandLine](IMPORTANT): got command configSet DUSBL_Hydroid.detectionThreshold 20.000000 count persist
2020-02-04T21:14:32.956Z,1580850872.956 [CommandLine](IMPORTANT): got command failComponent hardware DUSBL_Hydroid
2020-02-04T21:14:32.956Z,1580850872.956 [DUSBL_Hydroid] Hardware Fault, FailCount= 1
2020-02-04T21:14:32.956Z,1580850872.956 [DUSBL_Hydroid](ERROR): Hardware Fault
2020-02-04T21:14:32.957Z,1580850872.957 [CommandLine](IMPORTANT): DUSBL_Hydroid failureMode is Hardware Fault
2020-02-04T21:14:33.004Z,1580850873.004 [DUSBL_Hydroid](INFO): Powering down
2020-02-04T21:14:33.161Z,1580850873.161 [CBIT](ERROR): Hardware Fault in component: DUSBL_Hydroid
2020-02-04T21:14:33.851Z,1580850873.851 [CBIT](INFO): Clearing failed state for component DUSBL_Hydroid
2020-02-04T21:14:33.851Z,1580850873.851 [DUSBL_Hydroid] No Fault, FailCount= 1
2020-02-04T21:14:36.230Z,1580850876.230 [DUSBL_Hydroid](INFO): Powering up
2020-02-04T21:14:36.230Z,1580850876.230 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2020-02-04T21:14:47.606Z,1580850887.606 [DataOverHttps](IMPORTANT): SBD MTMSN=20200204T211435
2020-02-04T21:14:54.417Z,1580850894.417 [DUSBL_Hydroid](INFO): DUSBL Version:O
2020-02-04T21:14:55.192Z,1580850895.192 [DataOverHttps](INFO): Received command:load Maintenance/DUSBL.xml;set DUSBL.TransponderCode 12 count;run 
2020-02-04T21:14:55.254Z,1580850895.254 [CommandLine](IMPORTANT): got command load ./Missions/Maintenance/DUSBL.xml
2020-02-04T21:14:55.255Z,1580850895.255 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/DUSBL.xml
2020-02-04T21:14:55.334Z,1580850895.334 [MissionManager](INFO): DefineArg DUSBL.MissionTimeout = 90.000000 min
2020-02-04T21:14:55.336Z,1580850895.336 [MissionManager](INFO): DefineArg DUSBL.NumberOfRequests = 10.000000 count
2020-02-04T21:14:55.343Z,1580850895.343 [MissionManager](INFO): DefineArg DUSBL.TransponderCode = 2.000000 count
2020-02-04T21:14:55.344Z,1580850895.344 [MissionManager](INFO): DefineArg DUSBL.NumberOfPings = 1.000000 count
2020-02-04T21:14:55.350Z,1580850895.351 [MissionManager](INFO): DefineArg DUSBL.EnabledDUSBL = DUSBL_Hydroid.loadAtStartup
2020-02-04T21:14:55.352Z,1580850895.352 [DUSBL:A.Pitch](DEBUG): Construct.
2020-02-04T21:14:55.365Z,1580850895.365 [DUSBL:B.SetSpeed](DEBUG): Construct.
2020-02-04T21:14:55.403Z,1580850895.403 [DUSBL:RequestRepeater:C.Wait](DEBUG): Construct Wait.
2020-02-04T21:14:55.411Z,1580850895.411 [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>


2020-02-04T21:14:55.412Z,1580850895.412 [CommandLine](IMPORTANT): Loaded ./Missions/Maintenance/DUSBL.xml
2020-02-04T21:14:56.969Z,1580850896.969 [CommandLine](IMPORTANT): got command set DUSBL.TransponderCode 12.000000 count
2020-02-04T21:14:56.969Z,1580850896.969 [CommandLine](IMPORTANT): got command run 
2020-02-04T21:14:56.971Z,1580850896.971 [CommandLine](IMPORTANT): Running 
2020-02-04T21:14:57.279Z,1580850897.279 [DefaultWithUndock] Stopped
2020-02-04T21:14:57.279Z,1580850897.279 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2020-02-04T21:14:57.279Z,1580850897.279 [DefaultWithUndock:C.GoToSurface] Stopped
2020-02-04T21:14:57.279Z,1580850897.279 [DefaultWithUndock:C.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-02-04T21:14:57.279Z,1580850897.279 [DefaultWithUndock:CheckIn] Stopped
2020-02-04T21:14:57.279Z,1580850897.279 [DefaultWithUndock:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:CheckIn
2020-02-04T21:14:57.279Z,1580850897.279 [DefaultWithUndock:CheckIn:Read_GPS] Stopped
2020-02-04T21:14:57.279Z,1580850897.279 [MissionManager](IMPORTANT): Started mission DUSBL
2020-02-04T21:14:57.280Z,1580850897.280 [DUSBL] Running Loop=1
2020-02-04T21:14:57.280Z,1580850897.280 [DUSBL](DEBUG): Aggregate::initialize DUSBL
2020-02-04T21:14:57.280Z,1580850897.280 [DUSBL:A.Pitch] Running Loop=1
2020-02-04T21:14:57.280Z,1580850897.280 [DUSBL:A.Pitch](DEBUG): Initialize.
2020-02-04T21:14:57.280Z,1580850897.280 [DUSBL:B.SetSpeed] Running Loop=1
2020-02-04T21:14:57.280Z,1580850897.280 [DUSBL:B.SetSpeed](DEBUG): Initialize.
2020-02-04T21:14:57.280Z,1580850897.280 [DUSBL:C] Running Loop=1
2020-02-04T21:14:57.280Z,1580850897.280 [DUSBL:RequestRepeater] Running Loop=1
2020-02-04T21:14:57.281Z,1580850897.281 [DUSBL:RequestRepeater](DEBUG): Aggregate::initialize DUSBL:RequestRepeater
2020-02-04T21:14:57.281Z,1580850897.281 [DUSBL:RequestRepeater:A] Running Loop=1
2020-02-04T21:14:57.281Z,1580850897.281 [DUSBL:RequestRepeater:B] Running Loop=1
2020-02-04T21:14:57.281Z,1580850897.281 [DUSBL:RequestRepeater:C.Wait] Running Loop=1
2020-02-04T21:14:57.281Z,1580850897.281 [DUSBL:RequestRepeater:C.Wait](DEBUG): Initialize Wait Component.
2020-02-04T21:14:57.281Z,1580850897.281 [DUSBL:RequestRepeater:B] Running Loop=1
2020-02-04T21:14:57.282Z,1580850897.282 [DUSBL:RequestRepeater:A] Running Loop=1
2020-02-04T21:14:57.282Z,1580850897.282 [DUSBL:C](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_range
2020-02-04T21:14:57.283Z,1580850897.283 [DUSBL:C](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_direction_vehicle_frame
2020-02-04T21:14:57.283Z,1580850897.283 [DUSBL:B.SetSpeed] Running Loop=1
2020-02-04T21:14:57.283Z,1580850897.283 [DUSBL:A.Pitch] Running Loop=1
2020-02-04T21:14:58.874Z,1580850898.874 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:86.070831
2020-02-04T21:14:58.874Z,1580850898.874 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2020-02-04T21:14:58.874Z,1580850898.874 [DUSBL_Hydroid](INFO): ****** received ping request ******
2020-02-04T21:14:58.874Z,1580850898.874 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 20
2020-02-04T21:14:58.875Z,1580850898.875 [DUSBL_Hydroid](INFO): ****** ping requested ******
2020-02-04T21:14:59.255Z,1580850899.255 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
O
2020-02-04T21:14:59.256Z,1580850899.256 [DUSBL_Hydroid](INFO): Command Ack
2020-02-04T21:14:59.256Z,1580850899.256 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 12
2020-02-04T21:14:59.258Z,1580850899.258 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:14:59.680Z,1580850899.680 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:15:00.074Z,1580850900.074 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE3,000,00268,185,80,80,17,FF
2020-02-04T21:15:00.075Z,1580850900.075 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2020-02-04T21:15:00.490Z,1580850900.490 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211500.72*5C

2020-02-04T21:15:02.894Z,1580850902.894 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2020-02-04T21:15:02.894Z,1580850902.894 [DUSBL_Hydroid](INFO): ****** received ping request ******
2020-02-04T21:15:02.894Z,1580850902.894 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 20
2020-02-04T21:15:02.895Z,1580850902.895 [DUSBL_Hydroid](INFO): ****** ping requested ******
2020-02-04T21:15:03.298Z,1580850903.298 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE3,000,00268,185,80,80,17,FF
2020-02-04T21:15:03.298Z,1580850903.298 [DUSBL_Hydroid](INFO): Command Ack
2020-02-04T21:15:03.299Z,1580850903.299 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 12
2020-02-04T21:15:03.300Z,1580850903.300 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:15:03.701Z,1580850903.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:15:04.115Z,1580850904.115 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE4,000,00267,185,80,80,19,FF
2020-02-04T21:15:04.116Z,1580850904.116 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2020-02-04T21:15:04.530Z,1580850904.530 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211504.77*5D

2020-02-04T21:15:06.934Z,1580850906.934 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2020-02-04T21:15:06.934Z,1580850906.934 [DUSBL_Hydroid](INFO): ****** received ping request ******
2020-02-04T21:15:06.934Z,1580850906.934 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 20
2020-02-04T21:15:06.935Z,1580850906.935 [DUSBL_Hydroid](INFO): ****** ping requested ******
2020-02-04T21:15:07.338Z,1580850907.338 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE4,000,00267,185,80,80,19,FF
2020-02-04T21:15:07.338Z,1580850907.338 [DUSBL_Hydroid](INFO): Command Ack
2020-02-04T21:15:07.338Z,1580850907.338 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 12
2020-02-04T21:15:07.340Z,1580850907.340 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:15:07.741Z,1580850907.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:15:07.794Z,1580850907.794 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-02-04T21:15:07.794Z,1580850907.794 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-3276,V
2020-02-04T21:15:08.147Z,1580850908.147 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDD,000,00267,185,80,80,16,FF
2020-02-04T21:15:08.148Z,1580850908.148 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2020-02-04T21:15:08.570Z,1580850908.570 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211508.80*59

2020-02-04T21:15:10.974Z,1580850910.974 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2020-02-04T21:15:10.974Z,1580850910.974 [DUSBL_Hydroid](INFO): ****** received ping request ******
2020-02-04T21:15:10.974Z,1580850910.974 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 20
2020-02-04T21:15:10.975Z,1580850910.975 [DUSBL_Hydroid](INFO): ****** ping requested ******
2020-02-04T21:15:11.370Z,1580850911.370 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDD,000,00267,185,80,80,16,FF
2020-02-04T21:15:11.371Z,1580850911.371 [DUSBL_Hydroid](INFO): Command Ack
2020-02-04T21:15:11.371Z,1580850911.371 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 12
2020-02-04T21:15:11.372Z,1580850911.372 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:15:11.785Z,1580850911.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:15:12.179Z,1580850912.179 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE2,000,00268,185,80,80,17,FF
2020-02-04T21:15:12.179Z,1580850912.179 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2020-02-04T21:15:12.606Z,1580850912.606 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211512.84*56

2020-02-04T21:15:15.010Z,1580850915.010 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2020-02-04T21:15:15.010Z,1580850915.010 [DUSBL_Hydroid](INFO): ****** received ping request ******
2020-02-04T21:15:15.011Z,1580850915.011 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 20
2020-02-04T21:15:15.011Z,1580850915.011 [DUSBL_Hydroid](INFO): ****** ping requested ******
2020-02-04T21:15:15.414Z,1580850915.414 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE2,000,00268,185,80,80,17,FF
2020-02-04T21:15:15.414Z,1580850915.414 [DUSBL_Hydroid](INFO): Command Ack
2020-02-04T21:15:15.415Z,1580850915.415 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 12
2020-02-04T21:15:15.416Z,1580850915.416 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:15:15.827Z,1580850915.827 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:15:16.222Z,1580850916.222 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE6,000,00268,183,80,80,15,FF
2020-02-04T21:15:16.223Z,1580850916.223 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2020-02-04T21:15:16.646Z,1580850916.646 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211516.88*5E

2020-02-04T21:15:19.067Z,1580850919.067 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2020-02-04T21:15:19.067Z,1580850919.067 [DUSBL_Hydroid](INFO): ****** received ping request ******
2020-02-04T21:15:19.067Z,1580850919.067 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 20
2020-02-04T21:15:19.068Z,1580850919.068 [DUSBL_Hydroid](INFO): ****** ping requested ******
2020-02-04T21:15:19.458Z,1580850919.458 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE6,000,00268,183,80,80,15,FF
2020-02-04T21:15:19.458Z,1580850919.458 [DUSBL_Hydroid](INFO): Command Ack
2020-02-04T21:15:19.459Z,1580850919.459 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 12
2020-02-04T21:15:19.460Z,1580850919.460 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:15:19.861Z,1580850919.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:15:20.262Z,1580850920.262 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDA,000,00267,184,80,80,18,FF
2020-02-04T21:15:20.263Z,1580850920.263 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2020-02-04T21:15:20.690Z,1580850920.690 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211520.92*50

2020-02-04T21:15:23.091Z,1580850923.091 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2020-02-04T21:15:23.091Z,1580850923.091 [DUSBL_Hydroid](INFO): ****** received ping request ******
2020-02-04T21:15:23.091Z,1580850923.091 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 20
2020-02-04T21:15:23.092Z,1580850923.092 [DUSBL_Hydroid](INFO): ****** ping requested ******
2020-02-04T21:15:23.498Z,1580850923.498 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDA,000,00267,184,80,80,18,FF
2020-02-04T21:15:23.498Z,1580850923.498 [DUSBL_Hydroid](INFO): Command Ack
2020-02-04T21:15:23.499Z,1580850923.499 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 12
2020-02-04T21:15:23.500Z,1580850923.500 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:15:23.897Z,1580850923.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:15:24.306Z,1580850924.306 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEC,000,00267,184,80,80,16,FF
2020-02-04T21:15:24.307Z,1580850924.307 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2020-02-04T21:15:24.722Z,1580850924.722 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211524.96*50

2020-02-04T21:15:27.130Z,1580850927.130 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2020-02-04T21:15:27.130Z,1580850927.130 [DUSBL_Hydroid](INFO): ****** received ping request ******
2020-02-04T21:15:27.130Z,1580850927.130 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 20
2020-02-04T21:15:27.131Z,1580850927.131 [DUSBL_Hydroid](INFO): ****** ping requested ******
2020-02-04T21:15:27.534Z,1580850927.534 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEC,000,00267,184,80,80,16,FF
2020-02-04T21:15:27.534Z,1580850927.534 [DUSBL_Hydroid](INFO): Command Ack
2020-02-04T21:15:27.534Z,1580850927.534 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 12
2020-02-04T21:15:27.536Z,1580850927.536 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:15:27.941Z,1580850927.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:15:28.342Z,1580850928.342 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE5,000,00267,183,80,80,18,FF
2020-02-04T21:15:28.343Z,1580850928.343 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2020-02-04T21:15:28.774Z,1580850928.774 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211529.00*52

2020-02-04T21:15:31.174Z,1580850931.174 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2020-02-04T21:15:31.174Z,1580850931.174 [DUSBL_Hydroid](INFO): ****** received ping request ******
2020-02-04T21:15:31.174Z,1580850931.174 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 20
2020-02-04T21:15:31.175Z,1580850931.175 [DUSBL_Hydroid](INFO): ****** ping requested ******
2020-02-04T21:15:31.580Z,1580850931.580 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE5,000,00267,183,80,80,18,FF
2020-02-04T21:15:31.580Z,1580850931.580 [DUSBL_Hydroid](INFO): Command Ack
2020-02-04T21:15:31.580Z,1580850931.580 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 12
2020-02-04T21:15:31.582Z,1580850931.582 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:15:31.985Z,1580850931.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:15:32.797Z,1580850932.797 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211533.05*5C

2020-02-04T21:15:35.239Z,1580850935.239 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,F4
7,183,80,80,18,FF
2020-02-04T21:15:35.239Z,1580850935.239 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,F4
7,183,80,80,18,FF
2020-02-04T21:15:35.240Z,1580850935.240 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:15:35.614Z,1580850935.614 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2020-02-04T21:15:35.615Z,1580850935.615 [DUSBL_Hydroid](INFO): ****** received ping request ******
2020-02-04T21:15:35.615Z,1580850935.615 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 20
2020-02-04T21:15:35.615Z,1580850935.615 [DUSBL_Hydroid](INFO): ****** ping requested ******
2020-02-04T21:15:36.014Z,1580850936.014 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,F4
7,183,80,80,18,FF
2020-02-04T21:15:36.015Z,1580850936.015 [DUSBL_Hydroid](INFO): Command Ack
2020-02-04T21:15:36.015Z,1580850936.015 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 12
2020-02-04T21:15:36.016Z,1580850936.016 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:15:36.434Z,1580850936.434 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:15:36.831Z,1580850936.831 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDF,000,00268,184,80,80,17,FF
2020-02-04T21:15:36.831Z,1580850936.831 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2020-02-04T21:15:37.254Z,1580850937.254 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211537.48*51

2020-02-04T21:15:37.920Z,1580850937.920 [CommandLine](IMPORTANT): got command show variable detectionThreshold
2020-02-04T21:15:37.986Z,1580850937.986 [CommandLine](IMPORTANT): DUSBL_Hydroid.detectionThreshold (count)
2020-02-04T21:15:38.487Z,1580850938.487 [PowerOnly](INFO): Powering down
2020-02-04T21:15:39.650Z,1580850939.650 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2020-02-04T21:15:39.650Z,1580850939.650 [DUSBL_Hydroid](INFO): ****** received ping request ******
2020-02-04T21:15:39.650Z,1580850939.650 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 20
2020-02-04T21:15:39.651Z,1580850939.651 [DUSBL_Hydroid](INFO): ****** ping requested ******
2020-02-04T21:15:40.066Z,1580850940.066 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDF,000,00268,184,80,80,17,FF
2020-02-04T21:15:40.066Z,1580850940.066 [DUSBL_Hydroid](INFO): Command Ack
2020-02-04T21:15:40.067Z,1580850940.067 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 12
2020-02-04T21:15:40.068Z,1580850940.068 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:15:40.462Z,1580850940.462 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:15:40.870Z,1580850940.870 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE2,000,00267,185,80,80,16,FF
2020-02-04T21:15:40.871Z,1580850940.871 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2020-02-04T21:15:41.290Z,1580850941.290 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211541.53*5A

2020-02-04T21:15:43.704Z,1580850943.704 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2020-02-04T21:15:43.704Z,1580850943.704 [DUSBL_Hydroid](INFO): ****** received ping request ******
2020-02-04T21:15:43.704Z,1580850943.704 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 20
2020-02-04T21:15:43.705Z,1580850943.705 [DUSBL_Hydroid](INFO): ****** ping requested ******
2020-02-04T21:15:44.130Z,1580850944.130 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE2,000,00267,185,80,80,16,FF
2020-02-04T21:15:44.130Z,1580850944.130 [DUSBL_Hydroid](INFO): Command Ack
2020-02-04T21:15:44.131Z,1580850944.131 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 12
2020-02-04T21:15:44.132Z,1580850944.132 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:15:44.525Z,1580850944.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:15:44.926Z,1580850944.926 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE2,000,00268,185,80,80,15,FF
2020-02-04T21:15:44.927Z,1580850944.927 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2020-02-04T21:15:45.350Z,1580850945.350 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211545.60*5E

2020-02-04T21:15:47.754Z,1580850947.754 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2020-02-04T21:15:47.754Z,1580850947.754 [DUSBL_Hydroid](INFO): ****** received ping request ******
2020-02-04T21:15:47.754Z,1580850947.754 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 20
2020-02-04T21:15:47.755Z,1580850947.755 [DUSBL_Hydroid](INFO): ****** ping requested ******
2020-02-04T21:15:47.793Z,1580850947.793 [RDI_Pathfinder](ERROR): Failed to parse:
:BI,-32768,-32768,-32768,-32768,V
2020-02-04T21:15:48.154Z,1580850948.154 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE2,000,00268,185,80,80,15,FF
2020-02-04T21:15:48.154Z,1580850948.154 [DUSBL_Hydroid](INFO): Command Ack
2020-02-04T21:15:48.154Z,1580850948.154 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 12
2020-02-04T21:15:48.156Z,1580850948.156 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:15:48.566Z,1580850948.566 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:15:48.966Z,1580850948.966 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDA,000,00268,185,80,80,15,FF
2020-02-04T21:15:48.967Z,1580850948.967 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2020-02-04T21:15:49.386Z,1580850949.386 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211549.62*50

2020-02-04T21:15:51.434Z,1580850951.434 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-02-04T21:15:51.434Z,1580850951.434 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,20020414285391,35.0, -0.1,   .9,  0
2020-02-04T21:15:51.790Z,1580850951.790 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2020-02-04T21:15:51.790Z,1580850951.790 [DUSBL_Hydroid](INFO): ****** received ping request ******
2020-02-04T21:15:51.790Z,1580850951.790 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 20
2020-02-04T21:15:51.791Z,1580850951.791 [DUSBL_Hydroid](INFO): ****** ping requested ******
2020-02-04T21:15:52.198Z,1580850952.198 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDA,000,00268,185,80,80,15,FF
2020-02-04T21:15:52.198Z,1580850952.198 [DUSBL_Hydroid](INFO): Command Ack
2020-02-04T21:15:52.199Z,1580850952.199 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 12
2020-02-04T21:15:52.200Z,1580850952.200 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:15:52.605Z,1580850952.605 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:15:53.002Z,1580850953.002 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDF,000,00267,185,80,80,16,FF
2020-02-04T21:15:53.003Z,1580850953.003 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2020-02-04T21:15:53.426Z,1580850953.426 [Micromodem](INFO): Nmea in: $SNTTA,0.133218,,,,211553.67*4A

2020-02-04T21:15:55.834Z,1580850955.834 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2020-02-04T21:15:55.834Z,1580850955.834 [DUSBL_Hydroid](INFO): ****** received ping request ******
2020-02-04T21:15:55.834Z,1580850955.834 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 20
2020-02-04T21:15:55.835Z,1580850955.835 [DUSBL_Hydroid](INFO): ****** ping requested ******
2020-02-04T21:15:56.238Z,1580850956.238 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDF,000,00267,185,80,80,16,FF
2020-02-04T21:15:56.238Z,1580850956.238 [DUSBL_Hydroid](INFO): Command Ack
2020-02-04T21:15:56.238Z,1580850956.238 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 12
2020-02-04T21:15:56.240Z,1580850956.240 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:15:56.642Z,1580850956.642 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:15:57.042Z,1580850957.042 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE0,000,00268,185,80,80,16,FF
2020-02-04T21:15:57.043Z,1580850957.043 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2020-02-04T21:15:57.470Z,1580850957.470 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211557.71*5D

2020-02-04T21:15:57.909Z,1580850957.909 [CommandLine](IMPORTANT): got command get DUSBL_Hydroid.detectionThreshold
2020-02-04T21:15:57.910Z,1580850957.910 [CommandLine](IMPORTANT): DUSBL_Hydroid.detectionThreshold 20 count
2020-02-04T21:15:59.890Z,1580850959.890 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2020-02-04T21:15:59.890Z,1580850959.890 [DUSBL_Hydroid](INFO): ****** received ping request ******
2020-02-04T21:15:59.890Z,1580850959.890 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 20
2020-02-04T21:15:59.891Z,1580850959.891 [DUSBL_Hydroid](INFO): ****** ping requested ******
2020-02-04T21:16:00.302Z,1580850960.302 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE0,000,00268,185,80,80,16,FF
2020-02-04T21:16:00.302Z,1580850960.302 [DUSBL_Hydroid](INFO): Command Ack
2020-02-04T21:16:00.302Z,1580850960.302 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 12
2020-02-04T21:16:00.303Z,1580850960.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:16:00.701Z,1580850960.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:16:01.154Z,1580850961.154 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE9,000,00267,183,80,80,16,FF
2020-02-04T21:16:01.155Z,1580850961.155 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2020-02-04T21:16:01.530Z,1580850961.530 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211601.77*5B

2020-02-04T21:16:03.930Z,1580850963.930 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2020-02-04T21:16:03.930Z,1580850963.930 [DUSBL_Hydroid](INFO): ****** received ping request ******
2020-02-04T21:16:03.930Z,1580850963.930 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 20
2020-02-04T21:16:03.931Z,1580850963.931 [DUSBL_Hydroid](INFO): ****** ping requested ******
2020-02-04T21:16:04.334Z,1580850964.334 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE9,000,00267,183,80,80,16,FF
2020-02-04T21:16:04.334Z,1580850964.334 [DUSBL_Hydroid](INFO): Command Ack
2020-02-04T21:16:04.335Z,1580850964.335 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 12
2020-02-04T21:16:04.336Z,1580850964.336 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:16:04.779Z,1580850964.779 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:16:05.150Z,1580850965.150 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD5,000,00268,185,80,80,17,FF
2020-02-04T21:16:05.151Z,1580850965.151 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2020-02-04T21:16:05.565Z,1580850965.565 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211605.80*57

2020-02-04T21:16:06.453Z,1580850966.453 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-02-04T21:16:06.454Z,1580850966.454 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +     +0.00,        +0.00,   0.00,1177.94
2020-02-04T21:16:07.970Z,1580850967.970 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2020-02-04T21:16:07.970Z,1580850967.970 [DUSBL_Hydroid](INFO): ****** received ping request ******
2020-02-04T21:16:07.970Z,1580850967.970 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 20
2020-02-04T21:16:07.971Z,1580850967.971 [DUSBL_Hydroid](INFO): ****** ping requested ******
2020-02-04T21:16:08.389Z,1580850968.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD5,000,00268,185,80,80,17,FF
2020-02-04T21:16:08.389Z,1580850968.389 [DUSBL_Hydroid](INFO): Command Ack
2020-02-04T21:16:08.389Z,1580850968.389 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 12
2020-02-04T21:16:08.391Z,1580850968.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:16:08.789Z,1580850968.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:16:09.193Z,1580850969.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD3,000,00267,184,80,80,17,FF
2020-02-04T21:16:09.194Z,1580850969.194 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2020-02-04T21:16:09.375Z,1580850969.375 [CommandLine](IMPORTANT): got command configSet DUSBL_Hydroid.detectionThreshold 30.000000 count persist
2020-02-04T21:16:09.614Z,1580850969.614 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211609.85*5E

2020-02-04T21:16:12.014Z,1580850972.014 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2020-02-04T21:16:12.014Z,1580850972.014 [DUSBL_Hydroid](INFO): ****** received ping request ******
2020-02-04T21:16:12.014Z,1580850972.014 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 20
2020-02-04T21:16:12.015Z,1580850972.015 [DUSBL_Hydroid](INFO): ****** ping requested ******
2020-02-04T21:16:12.410Z,1580850972.410 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD3,000,00267,184,80,80,17,FF
2020-02-04T21:16:12.410Z,1580850972.410 [DUSBL_Hydroid](INFO): Command Ack
2020-02-04T21:16:12.411Z,1580850972.411 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 12
2020-02-04T21:16:12.412Z,1580850972.412 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:16:12.828Z,1580850972.828 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:16:13.224Z,1580850973.224 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE1,000,00267,185,80,80,17,FF
2020-02-04T21:16:13.224Z,1580850973.224 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2020-02-04T21:16:13.646Z,1580850973.646 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211613.88*58

2020-02-04T21:16:15.607Z,1580850975.607 [CommandLine](IMPORTANT): got command failComponent hardware DUSBL_Hydroid
2020-02-04T21:16:15.607Z,1580850975.607 [DUSBL_Hydroid] Hardware Fault, FailCount= 1
2020-02-04T21:16:15.607Z,1580850975.607 [DUSBL_Hydroid](ERROR): Hardware Fault
2020-02-04T21:16:15.607Z,1580850975.607 [CommandLine](IMPORTANT): DUSBL_Hydroid failureMode is Hardware Fault
2020-02-04T21:16:15.662Z,1580850975.662 [DUSBL_Hydroid](INFO): Powering down
2020-02-04T21:16:15.775Z,1580850975.775 [CBIT](ERROR): Hardware Fault in component: DUSBL_Hydroid
2020-02-04T21:16:16.536Z,1580850976.536 [CBIT](INFO): Clearing failed state for component DUSBL_Hydroid
2020-02-04T21:16:16.536Z,1580850976.536 [DUSBL_Hydroid] No Fault, FailCount= 1
2020-02-04T21:16:18.882Z,1580850978.882 [DUSBL_Hydroid](INFO): Powering up
2020-02-04T21:16:18.882Z,1580850978.882 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2020-02-04T21:16:27.423Z,1580850987.423 [DUSBL:RequestRepeater:C.Wait](INFO): Done Waiting.
2020-02-04T21:16:27.423Z,1580850987.423 [DUSBL:RequestRepeater:C.Wait] Stopped
2020-02-04T21:16:27.424Z,1580850987.424 [DUSBL:RequestRepeater:C.Wait](DEBUG): Uninitialize Wait Component.
2020-02-04T21:16:27.424Z,1580850987.424 [DUSBL:RequestRepeater](INFO): Completed DUSBL:RequestRepeater
2020-02-04T21:16:27.424Z,1580850987.424 [DUSBL:RequestRepeater] Stopped
2020-02-04T21:16:27.424Z,1580850987.424 [DUSBL:RequestRepeater](DEBUG): Aggregate::uninitialize DUSBL:RequestRepeater
2020-02-04T21:16:27.425Z,1580850987.425 [DUSBL:RequestRepeater:A] Stopped
2020-02-04T21:16:27.425Z,1580850987.425 [DUSBL:RequestRepeater:B] Stopped
2020-02-04T21:16:27.429Z,1580850987.429 [DUSBL:RequestRepeater](INFO): Running loop #2
2020-02-04T21:16:27.429Z,1580850987.429 [DUSBL:RequestRepeater] Running Loop=2
2020-02-04T21:16:27.429Z,1580850987.429 [DUSBL:RequestRepeater](DEBUG): Aggregate::initialize DUSBL:RequestRepeater
2020-02-04T21:16:27.429Z,1580850987.429 [DUSBL:RequestRepeater:A] Running Loop=1
2020-02-04T21:16:27.429Z,1580850987.429 [DUSBL:RequestRepeater:B] Running Loop=1
2020-02-04T21:16:27.429Z,1580850987.429 [DUSBL:RequestRepeater:C.Wait] Running Loop=1
2020-02-04T21:16:27.429Z,1580850987.429 [DUSBL:RequestRepeater:C.Wait](DEBUG): Initialize Wait Component.
2020-02-04T21:16:37.062Z,1580850997.062 [DUSBL_Hydroid](INFO): DUSBL Version:O
2020-02-04T21:16:37.458Z,1580850997.458 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2020-02-04T21:16:37.458Z,1580850997.458 [DUSBL_Hydroid](INFO): ****** received ping request ******
2020-02-04T21:16:37.459Z,1580850997.459 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 30
2020-02-04T21:16:37.459Z,1580850997.459 [DUSBL_Hydroid](INFO): ****** ping requested ******
2020-02-04T21:16:37.866Z,1580850997.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
O
2020-02-04T21:16:37.866Z,1580850997.866 [DUSBL_Hydroid](INFO): Command Ack
2020-02-04T21:16:37.867Z,1580850997.867 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 12
2020-02-04T21:16:37.868Z,1580850997.868 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:16:38.273Z,1580850998.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:16:39.092Z,1580850999.092 [Micromodem](INFO): Nmea in: $SNTTA,,,0.458959,,211639.33*42

2020-02-04T21:16:41.506Z,1580851001.506 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,F4
7,185,80,80,17,FF
2020-02-04T21:16:41.507Z,1580851001.507 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,F4
7,185,80,80,17,FF
2020-02-04T21:16:41.507Z,1580851001.507 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:16:41.910Z,1580851001.910 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2020-02-04T21:16:41.910Z,1580851001.910 [DUSBL_Hydroid](INFO): ****** received ping request ******
2020-02-04T21:16:41.910Z,1580851001.910 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 30
2020-02-04T21:16:41.911Z,1580851001.911 [DUSBL_Hydroid](INFO): ****** ping requested ******
2020-02-04T21:16:42.311Z,1580851002.311 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,F4
7,185,80,80,17,FF
2020-02-04T21:16:42.311Z,1580851002.311 [DUSBL_Hydroid](INFO): Command Ack
2020-02-04T21:16:42.311Z,1580851002.311 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 12
2020-02-04T21:16:42.312Z,1580851002.312 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:16:42.721Z,1580851002.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:16:43.544Z,1580851003.544 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211643.78*52

2020-02-04T21:16:45.954Z,1580851005.954 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,F4
7,185,80,80,17,FF
2020-02-04T21:16:45.954Z,1580851005.954 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,F4
7,185,80,80,17,FF
2020-02-04T21:16:45.955Z,1580851005.955 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:16:46.354Z,1580851006.354 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2020-02-04T21:16:46.354Z,1580851006.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2020-02-04T21:16:46.354Z,1580851006.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 30
2020-02-04T21:16:46.355Z,1580851006.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2020-02-04T21:16:46.758Z,1580851006.758 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,F4
7,185,80,80,17,FF
2020-02-04T21:16:46.758Z,1580851006.758 [DUSBL_Hydroid](INFO): Command Ack
2020-02-04T21:16:46.759Z,1580851006.759 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 12
2020-02-04T21:16:46.760Z,1580851006.760 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:16:47.165Z,1580851007.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:16:47.973Z,1580851007.973 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211648.23*57

2020-02-04T21:16:50.394Z,1580851010.394 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,F4
7,185,80,80,17,FF
2020-02-04T21:16:50.394Z,1580851010.394 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,F4
7,185,80,80,17,FF
2020-02-04T21:16:50.395Z,1580851010.395 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:16:50.798Z,1580851010.798 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2020-02-04T21:16:50.798Z,1580851010.798 [DUSBL_Hydroid](INFO): ****** received ping request ******
2020-02-04T21:16:50.798Z,1580851010.798 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 30
2020-02-04T21:16:50.799Z,1580851010.799 [DUSBL_Hydroid](INFO): ****** ping requested ******
2020-02-04T21:16:51.202Z,1580851011.202 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,F4
7,185,80,80,17,FF
2020-02-04T21:16:51.202Z,1580851011.202 [DUSBL_Hydroid](INFO): Command Ack
2020-02-04T21:16:51.203Z,1580851011.203 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 12
2020-02-04T21:16:51.204Z,1580851011.204 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:16:51.609Z,1580851011.609 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:16:52.427Z,1580851012.427 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211652.67*5C

2020-02-04T21:16:54.838Z,1580851014.838 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,F4
7,185,80,80,17,FF
2020-02-04T21:16:54.839Z,1580851014.839 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,F4
7,185,80,80,17,FF
2020-02-04T21:16:54.839Z,1580851014.839 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:16:55.242Z,1580851015.242 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2020-02-04T21:16:55.242Z,1580851015.242 [DUSBL_Hydroid](INFO): ****** received ping request ******
2020-02-04T21:16:55.242Z,1580851015.242 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 30
2020-02-04T21:16:55.243Z,1580851015.243 [DUSBL_Hydroid](INFO): ****** ping requested ******
2020-02-04T21:16:55.648Z,1580851015.648 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,F4
7,185,80,80,17,FF
2020-02-04T21:16:55.648Z,1580851015.648 [DUSBL_Hydroid](INFO): Command Ack
2020-02-04T21:16:55.648Z,1580851015.648 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 12
2020-02-04T21:16:55.650Z,1580851015.650 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:16:56.045Z,1580851016.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:16:56.865Z,1580851016.865 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211657.12*5B

2020-02-04T21:16:59.282Z,1580851019.282 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,F4
7,185,80,80,17,FF
2020-02-04T21:16:59.282Z,1580851019.282 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,F4
7,185,80,80,17,FF
2020-02-04T21:16:59.283Z,1580851019.283 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-02-04T21:16:59.682Z,1580851019.682 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2020-02-04T21:16:59.682Z,1580851019.682 [DUSBL_Hydroid](INFO): ****** received ping request ******
2020-02-04T21:16:59.682Z,1580851019.682 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 30
2020-02-04T21:16:59.683Z,1580851019.683 [DUSBL_Hydroid](INFO): ****** ping requested ******
2020-02-04T21:17:00.090Z,1580851020.090 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,F4
7,185,80,80,17,FF
2020-02-04T21:17:00.090Z,1580851020.090 [DUSBL_Hydroid](INFO): Command Ack
2020-02-04T21:17:00.090Z,1580851020.090 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 12
2020-02-04T21:17:00.092Z,1580851020.092 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*70

2020-02-04T21:17:00.497Z,1580851020.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*6D

2020-02-04T21:17:01.309Z,1580851021.309 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211701.56*59

2020-02-04T21:17:02.843Z,1580851022.843 [CommandLine](IMPORTANT): got command stop
2020-02-04T21:17:02.844Z,1580851022.844 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2020-02-04T21:17:02.968Z,1580851022.968 [MissionManager](INFO): MissionManager is completed.
2020-02-04T21:17:02.968Z,1580851022.968 [MissionManager](INFO): Uninitializing Mission DUSBL
2020-02-04T21:17:02.968Z,1580851022.968 [DUSBL] Stopped
2020-02-04T21:17:02.968Z,1580851022.968 [DUSBL](DEBUG): Aggregate::uninitialize DUSBL
2020-02-04T21:17:02.968Z,1580851022.968 [DUSBL:A.Pitch] Stopped
2020-02-04T21:17:02.968Z,1580851022.968 [DUSBL:B.SetSpeed] Stopped
2020-02-04T21:17:02.968Z,1580851022.968 [DUSBL:B.SetSpeed](DEBUG): Uninitialize.
2020-02-04T21:17:02.968Z,1580851022.968 [DUSBL:C] Stopped
2020-02-04T21:17:02.968Z,1580851022.968 [DUSBL:RequestRepeater] Stopped
2020-02-04T21:17:02.968Z,1580851022.968 [DUSBL:RequestRepeater](DEBUG): Aggregate::uninitialize DUSBL:RequestRepeater
2020-02-04T21:17:02.969Z,1580851022.969 [DUSBL:RequestRepeater:A] Stopped
2020-02-04T21:17:02.969Z,1580851022.969 [DUSBL:RequestRepeater:B] Stopped
2020-02-04T21:17:02.969Z,1580851022.969 [DUSBL:RequestRepeater:C.Wait] Stopped
2020-02-04T21:17:02.969Z,1580851022.969 [DUSBL:RequestRepeater:C.Wait](DEBUG): Uninitialize Wait Component.
2020-02-04T21:17:03.372Z,1580851023.372 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2020-02-04T21:17:03.372Z,1580851023.372 [DefaultWithUndock] Running Loop=1
2020-02-04T21:17:03.372Z,1580851023.372 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2020-02-04T21:17:03.372Z,1580851023.372 [DefaultWithUndock:C.GoToSurface] Running Loop=1
2020-02-04T21:17:03.373Z,1580851023.373 [DefaultWithUndock:C.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-02-04T21:17:03.377Z,1580851023.377 [DefaultWithUndock:C.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-02-04T21:17:03.377Z,1580851023.377 [DefaultWithUndock:C.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-02-04T21:17:03.378Z,1580851023.378 [DefaultWithUndock:C.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-02-04T21:17:03.378Z,1580851023.378 [DefaultWithUndock:C.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-02-04T21:17:03.378Z,1580851023.378 [DefaultWithUndock:C.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-02-04T21:17:03.379Z,1580851023.379 [DefaultWithUndock:A.Wait] Running Loop=1
2020-02-04T21:17:03.379Z,1580851023.379 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2020-02-04T21:17:07.419Z,1580851027.419 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-02-04T21:17:07.420Z,1580851027.420 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2020-02-04T21:17:11.060Z,1580851031.060 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-02-04T21:17:11.060Z,1580851031.060 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2020-02-04T21:17:20.343Z,1580851040.343 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 7
2020-02-04T21:17:20.343Z,1580851040.343 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-02-04T21:17:20.353Z,1580851040.353 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-02-04T21:17:20.762Z,1580851040.762 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-02-04T21:17:20.762Z,1580851040.762 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 7
2020-02-04T21:17:33.676Z,1580851053.676 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2020-02-04T21:17:33.676Z,1580851053.676 [DefaultWithUndock:A.Wait] Stopped
2020-02-04T21:17:33.676Z,1580851053.676 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2020-02-04T21:17:33.676Z,1580851053.676 [DefaultWithUndock:B.Undock] Running Loop=1
2020-02-04T21:17:33.676Z,1580851053.676 [DefaultWithUndock:B.Undock](DEBUG): Initialize.
2020-02-04T21:17:34.462Z,1580851054.462 [PowerOnly](INFO): Powering up
2020-02-04T21:17:36.083Z,1580851056.083 [NAL9602](FAULT): GPS failed to acquire within timeout.
2020-02-04T21:17:36.084Z,1580851056.084 [NAL9602] Data Fault, FailCount= 2
2020-02-04T21:17:36.084Z,1580851056.084 [NAL9602](ERROR): Data Fault
2020-02-04T21:17:36.151Z,1580851056.151 [CBIT](ERROR): Data Fault in component: NAL9602
2020-02-04T21:17:36.491Z,1580851056.491 [NAL9602](INFO): Powering down
2020-02-04T21:17:37.356Z,1580851057.356 [DefaultWithUndock:B.Undock](INFO): Detaching from dock.
2020-02-04T21:17:37.391Z,1580851057.391 [CBIT](INFO): Clearing failed state for component NAL9602
2020-02-04T21:17:37.391Z,1580851057.391 [NAL9602] No Fault, FailCount= 2
2020-02-04T21:17:37.728Z,1580851057.728 [DefaultWithUndock:B.Undock](INFO): Detached at range: nan m. Transitioning DDM to standby.
2020-02-04T21:17:40.572Z,1580851060.572 [DefaultWithUndock:B.Undock](INFO): DDM at standby.
2020-02-04T21:17:40.950Z,1580851060.950 [DefaultWithUndock:B.Undock](IMPORTANT): Undocking sequence complete.
2020-02-04T21:17:40.950Z,1580851060.950 [DefaultWithUndock:B.Undock] Stopped
2020-02-04T21:17:41.351Z,1580851061.351 [DefaultWithUndock:CheckIn] Running Loop=1
2020-02-04T21:17:41.351Z,1580851061.351 [DefaultWithUndock:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:CheckIn
2020-02-04T21:17:41.351Z,1580851061.351 [DefaultWithUndock:CheckIn:Read_GPS] Running Loop=1
2020-02-04T21:18:06.759Z,1580851086.759 [NAL9602](INFO): Powering up NAL9602
2020-02-04T21:18:17.667Z,1580851097.667 [NAL9602](INFO): NAL9602 initialized
2020-02-04T21:19:05.782Z,1580851145.782 [PowerOnly](INFO): Powering down
2020-02-04T21:19:44.154Z,1580851184.154 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-02-04T21:19:44.154Z,1580851184.154 [RDI_Pathfinder](ERROR): Failed to parse:
:BD +0.00,        +0.00,        +0.00,   0.00,1395.91
2020-02-04T21:20:12.420Z,1580851212.420 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2020-02-04T21:20:21.349Z,1580851221.349 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 8
2020-02-04T21:20:21.349Z,1580851221.349 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-02-04T21:20:21.366Z,1580851221.366 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-02-04T21:20:21.742Z,1580851221.742 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-02-04T21:20:21.742Z,1580851221.742 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 8
2020-02-04T21:20:52.850Z,1580851252.850 [DataOverHttps](IMPORTANT): SBD MTMSN=20200204T212040
2020-02-04T21:21:00.537Z,1580851260.537 [DataOverHttps](INFO): Received command:restart app
2020-02-04T21:21:00.637Z,1580851260.637 [CommandLine](IMPORTANT): got command restart application
2020-02-04T21:21:01.641Z,1580851261.641 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2020-02-04T21:21:01.641Z,1580851261.641 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-02-04T21:21:01.729Z,1580851261.729 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2020-02-04T21:21:01.729Z,1580851261.729 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-02-04T21:21:01.730Z,1580851261.730 [CommandLine](INFO): Join timeout helper Thread ID is 3766
2020-02-04T21:21:01.730Z,1580851261.730 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2020-02-04T21:21:01.730Z,1580851261.730 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-02-04T21:21:01.731Z,1580851261.731 [NavChartDb](INFO): Join timeout helper Thread ID is 3767
2020-02-04T21:21:01.849Z,1580851261.849 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2020-02-04T21:21:01.849Z,1580851261.849 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-02-04T21:21:01.853Z,1580851261.853 [ComponentRegistry](INFO): Shutting down WetLabsSeaOWL_UV_A ThreadHandler
2020-02-04T21:21:01.853Z,1580851261.853 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-02-04T21:21:01.853Z,1580851261.853 [WetLabsSeaOWL_UV_A](INFO): Join timeout helper Thread ID is 3768
2020-02-04T21:21:02.245Z,1580851262.245 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Uninitializing protected caller thread.
2020-02-04T21:21:02.245Z,1580851262.245 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-02-04T21:21:02.246Z,1580851262.246 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-02-04T21:21:02.253Z,1580851262.253 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2020-02-04T21:21:02.253Z,1580851262.253 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-02-04T21:21:02.253Z,1580851262.253 [Radio_Surface](INFO): Join timeout helper Thread ID is 3769
2020-02-04T21:21:02.289Z,1580851262.289 [Radio_Surface](INFO): Powering down
2020-02-04T21:21:02.290Z,1580851262.290 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2020-02-04T21:21:02.290Z,1580851262.290 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-02-04T21:21:02.297Z,1580851262.297 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2020-02-04T21:21:02.297Z,1580851262.297 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-02-04T21:21:02.297Z,1580851262.297 [DataOverHttps](INFO): Join timeout helper Thread ID is 3770
2020-02-04T21:21:02.541Z,1580851262.541 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2020-02-04T21:21:02.544Z,1580851262.544 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-02-04T21:21:02.546Z,1580851262.546 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2020-02-04T21:21:02.546Z,1580851262.546 [logger ThreadHandler](INFO): Thread cancelled.
2020-02-04T21:21:02.546Z,1580851262.546 [logger](INFO): Join timeout helper Thread ID is 3771
2020-02-04T21:21:02.570Z,1580851262.570 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2020-02-04T21:21:02.570Z,1580851262.570 [logger ThreadHandler](INFO): Thread cancelled.
2020-02-04T21:21:02.574Z,1580851262.574 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2020-02-04T21:21:02.574Z,1580851262.574 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-02-04T21:21:02.574Z,1580851262.574 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2020-02-04T21:21:02.574Z,1580851262.574 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-02-04T21:21:02.574Z,1580851262.574 [controlThread](INFO): Join timeout helper Thread ID is 3772
2020-02-04T21:21:02.885Z,1580851262.885 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2020-02-04T21:21:02.885Z,1580851262.885 [controlThread](DEBUG): Uninitializing ControlThread
2020-02-04T21:21:02.886Z,1580851262.886 [AHRS_M2](INFO): Powering down
2020-02-04T21:21:02.957Z,1580851262.957 [DDM](INFO): Powering down
2020-02-04T21:21:03.047Z,1580851263.047 [DUSBL_Hydroid](INFO): Powering down
2020-02-04T21:21:03.117Z,1580851263.117 [Micromodem](INFO): Powering down
2020-02-04T21:21:03.213Z,1580851263.213 [NAL9602](INFO): Powering down
2020-02-04T21:21:03.285Z,1580851263.285 [RDI_Pathfinder](INFO): Powering down
2020-02-04T21:21:03.286Z,1580851263.286 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2020-02-04T21:21:03.287Z,1580851263.287 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2020-02-04T21:21:03.288Z,1580851263.288 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2020-02-04T21:21:03.288Z,1580851263.288 [MissionManager](INFO): Uninitializing Mission DefaultWithUndock
2020-02-04T21:21:03.288Z,1580851263.288 [DefaultWithUndock] Stopped
2020-02-04T21:21:03.288Z,1580851263.288 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2020-02-04T21:21:03.288Z,1580851263.288 [DefaultWithUndock:C.GoToSurface] Stopped
2020-02-04T21:21:03.289Z,1580851263.289 [DefaultWithUndock:C.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-02-04T21:21:03.289Z,1580851263.289 [DefaultWithUndock:CheckIn] Stopped
2020-02-04T21:21:03.289Z,1580851263.289 [DefaultWithUndock:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:CheckIn
2020-02-04T21:21:03.289Z,1580851263.289 [DefaultWithUndock:CheckIn:Read_GPS] Stopped
2020-02-04T21:21:03.292Z,1580851263.292 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2020-02-04T21:21:03.292Z,1580851263.292 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2020-02-04T21:21:03.292Z,1580851263.292 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2020-02-04T21:21:03.293Z,1580851263.293 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2020-02-04T21:21:03.293Z,1580851263.293 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2020-02-04T21:21:03.293Z,1580851263.293 [BuoyancyServo](INFO): Powering down
2020-02-04T21:21:03.305Z,1580851263.305 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2020-02-04T21:21:03.305Z,1580851263.305 [ElevatorServo](INFO): Powering down
2020-02-04T21:21:03.306Z,1580851263.306 [MassServo](DEBUG): Uninitialize Mass Servo.
2020-02-04T21:21:03.306Z,1580851263.306 [MassServo](INFO): Powering down
2020-02-04T21:21:03.307Z,1580851263.307 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-02-04T21:21:03.307Z,1580851263.307 [RudderServo](INFO): Powering down
2020-02-04T21:21:03.308Z,1580851263.308 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2020-02-04T21:21:03.308Z,1580851263.308 [ThrusterServo](INFO): Powering down
2020-02-04T21:21:03.308Z,1580851263.308 [SBIT](DEBUG): Uninitialize SBIT Component.
2020-02-04T21:21:03.309Z,1580851263.309 [IBIT](DEBUG): Uninitialize IBIT Component.
2020-02-04T21:21:03.309Z,1580851263.309 [CBIT](DEBUG): Uninitialize CBIT Component.
2020-02-04T21:21:03.309Z,1580851263.309 [CBIT](DEBUG): Powering off loads.
2020-02-04T21:21:03.321Z,1580851263.321 [CBIT](DEBUG): Disabling WDT.
2020-02-04T21:21:03.333Z,1580851263.333 [CBIT](DEBUG): Opening all GF detection circuits.
2020-02-04T21:21:03.333Z,1580851263.333 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-02-04T21:21:03.372Z,1580851263.372 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-02-04T21:21:03.382Z,1580851263.382 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-02-04T21:21:03.428Z,1580851263.428 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2020-02-04T21:21:03.485Z,1580851263.485 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-02-04T21:21:03.545Z,1580851263.545 [logger ThreadHandler](INFO): Thread cancelled.