2021-02-09T19:25:45.007Z,1612898745.007 [Supervisor](DEBUG): Initializing supervisor.
2021-02-09T19:25:45.011Z,1612898745.011 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2021-02-09T19:25:45.012Z,1612898745.012 [SyncHandler](INFO): Protected caller Thread ID is 2011
2021-02-09T19:25:45.012Z,1612898745.012 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2021-02-09T19:25:45.013Z,1612898745.013 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2021-02-09T19:25:45.014Z,1612898745.014 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 2012
2021-02-09T19:25:45.018Z,1612898745.018 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2021-02-09T19:25:45.037Z,1612898745.037 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2021-02-09T19:25:45.038Z,1612898745.038 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2021-02-09T19:25:45.038Z,1612898745.038 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 2013
2021-02-09T19:25:45.040Z,1612898745.040 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2021-02-09T19:25:45.041Z,1612898745.041 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2021-02-09T19:25:45.041Z,1612898745.041 [logger ThreadHandler](INFO): Protected caller Thread ID is 2014
2021-02-09T19:25:45.045Z,1612898745.045 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2021-02-09T19:25:45.045Z,1612898745.045 [Supervisor](INFO): Looking for Config files in directory: Config/
2021-02-09T19:25:45.047Z,1612898745.047 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2021-02-09T19:25:45.267Z,1612898745.267 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2021-02-09T19:25:45.267Z,1612898745.267 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2021-02-09T19:25:45.347Z,1612898745.347 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2021-02-09T19:25:45.822Z,1612898745.822 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2021-02-09T19:25:45.823Z,1612898745.823 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2021-02-09T19:25:46.128Z,1612898746.128 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2021-02-09T19:25:46.128Z,1612898746.128 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2021-02-09T19:25:46.222Z,1612898746.222 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2021-02-09T19:25:46.223Z,1612898746.223 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2021-02-09T19:25:46.512Z,1612898746.512 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2021-02-09T19:25:46.513Z,1612898746.513 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2021-02-09T19:25:46.699Z,1612898746.699 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2021-02-09T19:25:46.700Z,1612898746.700 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2021-02-09T19:25:47.336Z,1612898747.336 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2021-02-09T19:25:47.336Z,1612898747.336 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2021-02-09T19:25:47.459Z,1612898747.459 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2021-02-09T19:25:47.460Z,1612898747.460 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2021-02-09T19:25:47.537Z,1612898747.537 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2021-02-09T19:25:48.145Z,1612898748.145 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2021-02-09T19:25:48.146Z,1612898748.146 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2021-02-09T19:25:48.484Z,1612898748.484 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2021-02-09T19:25:48.484Z,1612898748.484 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2021-02-09T19:25:48.662Z,1612898748.662 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2021-02-09T19:25:48.663Z,1612898748.663 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2021-02-09T19:25:48.762Z,1612898748.762 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2021-02-09T19:25:48.763Z,1612898748.763 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2021-02-09T19:25:48.906Z,1612898748.906 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2021-02-09T19:25:48.907Z,1612898748.907 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2021-02-09T19:25:49.116Z,1612898749.116 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2021-02-09T19:25:49.118Z,1612898749.118 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2021-02-09T19:25:49.119Z,1612898749.119 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Navigation.cfg
2021-02-09T19:25:49.208Z,1612898749.208 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2021-02-09T19:25:49.291Z,1612898749.291 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2021-02-09T19:25:49.389Z,1612898749.389 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/secure.cfg
2021-02-09T19:25:49.471Z,1612898749.471 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2021-02-09T19:25:49.563Z,1612898749.563 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2021-02-09T19:25:49.661Z,1612898749.661 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2021-02-09T19:25:49.840Z,1612898749.840 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/workSite.cfg
2021-02-09T19:25:49.915Z,1612898749.915 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2021-02-09T19:25:50.061Z,1612898750.061 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2021-02-09T19:25:50.192Z,1612898750.192 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2021-02-09T19:25:50.305Z,1612898750.305 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Battery.cfg
2021-02-09T19:25:50.556Z,1612898750.556 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2021-02-09T19:25:50.556Z,1612898750.556 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2021-02-09T19:25:50.561Z,1612898750.561 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2021-02-09T19:25:50.611Z,1612898750.611 [VerticalControl](DEBUG): Construct VerticalControl.
2021-02-09T19:25:50.671Z,1612898750.671 [VerticalControl] Loaded
2021-02-09T19:25:50.671Z,1612898750.671 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2021-02-09T19:25:50.673Z,1612898750.673 [HorizontalControl](DEBUG): Construct HorizontalControl.
2021-02-09T19:25:50.710Z,1612898750.710 [HorizontalControl] Loaded
2021-02-09T19:25:50.711Z,1612898750.711 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2021-02-09T19:25:50.713Z,1612898750.713 [SpeedControl](DEBUG): Construct SpeedControl.
2021-02-09T19:25:50.716Z,1612898750.716 [SpeedControl] Loaded
2021-02-09T19:25:50.716Z,1612898750.716 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2021-02-09T19:25:50.719Z,1612898750.719 [LoopControl](DEBUG): Construct LoopControl.
2021-02-09T19:25:50.719Z,1612898750.719 [LoopControl] Loaded
2021-02-09T19:25:50.720Z,1612898750.720 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2021-02-09T19:25:50.720Z,1612898750.720 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2021-02-09T19:25:50.721Z,1612898750.721 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2021-02-09T19:25:50.731Z,1612898750.731 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2021-02-09T19:25:50.732Z,1612898750.732 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2021-02-09T19:25:50.833Z,1612898750.833 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2021-02-09T19:25:50.833Z,1612898750.833 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2021-02-09T19:25:50.968Z,1612898750.968 [BuoyancyServo] Loaded
2021-02-09T19:25:50.968Z,1612898750.968 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2021-02-09T19:25:50.987Z,1612898750.987 [ElevatorServo] Loaded
2021-02-09T19:25:50.987Z,1612898750.987 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2021-02-09T19:25:51.004Z,1612898751.004 [MassServo] Loaded
2021-02-09T19:25:51.005Z,1612898751.005 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2021-02-09T19:25:51.021Z,1612898751.021 [RudderServo] Loaded
2021-02-09T19:25:51.022Z,1612898751.022 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2021-02-09T19:25:51.038Z,1612898751.038 [ThrusterServo] Loaded
2021-02-09T19:25:51.039Z,1612898751.039 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2021-02-09T19:25:51.039Z,1612898751.039 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2021-02-09T19:25:51.040Z,1612898751.040 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2021-02-09T19:25:51.117Z,1612898751.117 [DeadReckonUsingMultipleVelocitySources] Loaded
2021-02-09T19:25:51.118Z,1612898751.118 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2021-02-09T19:25:51.130Z,1612898751.130 [NavChart] Loaded
2021-02-09T19:25:51.130Z,1612898751.130 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2021-02-09T19:25:51.136Z,1612898751.136 [UniversalFixResidualReporter] Loaded
2021-02-09T19:25:51.136Z,1612898751.136 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2021-02-09T19:25:51.137Z,1612898751.137 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2021-02-09T19:25:51.137Z,1612898751.137 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2021-02-09T19:25:51.190Z,1612898751.190 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2021-02-09T19:25:51.190Z,1612898751.190 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2021-02-09T19:25:51.513Z,1612898751.513 [AHRS_M2] Loaded
2021-02-09T19:25:51.514Z,1612898751.514 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2021-02-09T19:25:52.317Z,1612898752.317 [BPC1] Loaded
2021-02-09T19:25:52.318Z,1612898752.318 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2021-02-09T19:25:52.644Z,1612898752.644 [DataOverHttps] Loaded
2021-02-09T19:25:52.644Z,1612898752.644 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2021-02-09T19:25:52.646Z,1612898752.646 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 4087C4E0
2021-02-09T19:25:52.646Z,1612898752.646 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 2099
2021-02-09T19:25:52.730Z,1612898752.730 [Depth_Keller] Loaded
2021-02-09T19:25:52.731Z,1612898752.731 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2021-02-09T19:25:52.735Z,1612898752.735 [DropWeight] Loaded
2021-02-09T19:25:52.735Z,1612898752.735 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2021-02-09T19:25:52.898Z,1612898752.898 [NAL9602] Loaded
2021-02-09T19:25:52.899Z,1612898752.899 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2021-02-09T19:25:52.983Z,1612898752.983 [Onboard] Loaded
2021-02-09T19:25:52.983Z,1612898752.983 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2021-02-09T19:25:52.984Z,1612898752.984 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 408AC4E0
2021-02-09T19:25:52.984Z,1612898752.984 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 2100
2021-02-09T19:25:53.035Z,1612898753.035 [Radio_Surface] Loaded
2021-02-09T19:25:53.036Z,1612898753.036 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2021-02-09T19:25:53.041Z,1612898753.041 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 408DC4E0
2021-02-09T19:25:53.049Z,1612898753.049 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 2101
2021-02-09T19:25:53.071Z,1612898753.071 [AMEcho] Loaded
2021-02-09T19:25:53.071Z,1612898753.071 [ComponentRegistry](DEBUG): SyncComponent "AMEcho" handled in the control thread.
2021-02-09T19:25:53.071Z,1612898753.071 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2021-02-09T19:25:53.072Z,1612898753.072 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2021-02-09T19:25:53.207Z,1612898753.207 [DepthRateCalculator] Loaded
2021-02-09T19:25:53.208Z,1612898753.208 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2021-02-09T19:25:53.212Z,1612898753.212 [PitchRateCalculator] Loaded
2021-02-09T19:25:53.213Z,1612898753.213 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2021-02-09T19:25:53.221Z,1612898753.221 [SpeedCalculator] Loaded
2021-02-09T19:25:53.222Z,1612898753.222 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2021-02-09T19:25:53.236Z,1612898753.236 [TempGradientCalculator] Loaded
2021-02-09T19:25:53.236Z,1612898753.236 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2021-02-09T19:25:53.241Z,1612898753.241 [YawRateCalculator] Loaded
2021-02-09T19:25:53.241Z,1612898753.241 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2021-02-09T19:25:53.258Z,1612898753.258 [ElevatorOffsetCalculator] Loaded
2021-02-09T19:25:53.258Z,1612898753.258 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2021-02-09T19:25:53.259Z,1612898753.259 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2021-02-09T19:25:53.259Z,1612898753.259 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2021-02-09T19:25:53.387Z,1612898753.387 [CANONSampler] Loaded
2021-02-09T19:25:53.387Z,1612898753.387 [ComponentRegistry](DEBUG): SyncComponent "CANONSampler" handled in the control thread.
2021-02-09T19:25:53.444Z,1612898753.444 [CTD_Seabird] Loaded
2021-02-09T19:25:53.444Z,1612898753.444 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2021-02-09T19:25:53.445Z,1612898753.445 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 4098E4E0
2021-02-09T19:25:53.445Z,1612898753.445 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 2102
2021-02-09T19:25:53.464Z,1612898753.464 [PAR_Licor] Loaded
2021-02-09T19:25:53.464Z,1612898753.464 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2021-02-09T19:25:53.495Z,1612898753.495 [WetLabsBB2FL] Loaded
2021-02-09T19:25:53.495Z,1612898753.495 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2021-02-09T19:25:53.496Z,1612898753.496 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 409BE4E0
2021-02-09T19:25:53.496Z,1612898753.496 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 2103
2021-02-09T19:25:53.497Z,1612898753.497 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2021-02-09T19:25:53.498Z,1612898753.498 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2021-02-09T19:25:53.525Z,1612898753.525 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2021-02-09T19:25:53.525Z,1612898753.525 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2021-02-09T19:25:53.827Z,1612898753.827 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2021-02-09T19:25:53.827Z,1612898753.827 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2021-02-09T19:25:53.963Z,1612898753.963 [SBIT](DEBUG): Construct Startup Built In Test.
2021-02-09T19:25:53.972Z,1612898753.972 [SBIT] Loaded
2021-02-09T19:25:53.972Z,1612898753.972 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2021-02-09T19:25:53.975Z,1612898753.975 [IBIT](DEBUG): Construct Initiated Built In Test.
2021-02-09T19:25:53.987Z,1612898753.987 [IBIT] Loaded
2021-02-09T19:25:53.988Z,1612898753.988 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2021-02-09T19:25:53.993Z,1612898753.993 [CBIT](DEBUG): Construct Continuous Built In Test.
2021-02-09T19:25:54.091Z,1612898754.091 [CBIT] Loaded
2021-02-09T19:25:54.091Z,1612898754.091 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2021-02-09T19:25:54.092Z,1612898754.092 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2021-02-09T19:25:54.092Z,1612898754.092 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2021-02-09T19:25:54.176Z,1612898754.176 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2021-02-09T19:25:54.182Z,1612898754.182 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2021-02-09T19:25:54.184Z,1612898754.184 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2021-02-09T19:25:54.195Z,1612898754.195 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2021-02-09T19:25:54.196Z,1612898754.196 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40AEE4E0
2021-02-09T19:25:54.196Z,1612898754.196 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 2104
2021-02-09T19:25:54.200Z,1612898754.200 [Supervisor](INFO): Main Thread ID is 817
2021-02-09T19:25:54.200Z,1612898754.200 [Supervisor](DEBUG): Running supervisor.
2021-02-09T19:25:54.201Z,1612898754.201 [CommandLine ThreadHandler](INFO): Handler Thread ID is 2105
2021-02-09T19:25:54.203Z,1612898754.203 [controlThread ThreadHandler](INFO): Handler Thread ID is 2106
2021-02-09T19:25:54.204Z,1612898754.204 [controlThread](DEBUG): Initializing ControlThread
2021-02-09T19:25:54.205Z,1612898754.205 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2021-02-09T19:25:54.207Z,1612898754.207 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2021-02-09T19:25:54.207Z,1612898754.207 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2021-02-09T19:25:54.208Z,1612898754.208 [LoopControl](DEBUG): Initialize LoopControlComponent.
2021-02-09T19:25:54.210Z,1612898754.210 [NavChart](DEBUG): Initialize NavChart Navigation.
2021-02-09T19:25:54.210Z,1612898754.210 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2021-02-09T19:25:54.214Z,1612898754.214 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2021-02-09T19:25:54.215Z,1612898754.215 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2021-02-09T19:25:54.215Z,1612898754.215 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2021-02-09T19:25:54.215Z,1612898754.215 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2021-02-09T19:25:54.216Z,1612898754.216 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2021-02-09T19:25:54.216Z,1612898754.216 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2021-02-09T19:25:54.221Z,1612898754.221 [SBIT](INFO): Initialize SBIT Component.
2021-02-09T19:25:54.221Z,1612898754.221 [SBIT](IMPORTANT): git: 2021-02-08
2021-02-09T19:25:54.222Z,1612898754.222 [SBIT](INFO): git hash: 7b13ec93af056796ce784f1b1cde49b67c75fd8d
2021-02-09T19:25:54.222Z,1612898754.222 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2021-02-09T19:25:54.223Z,1612898754.223 [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
2021-02-09T19:25:54.224Z,1612898754.224 [SBIT](INFO): Beginning SBIT in 57.000000 seconds.
2021-02-09T19:25:54.225Z,1612898754.225 [logger ThreadHandler](INFO): Handler Thread ID is 2107
2021-02-09T19:25:54.241Z,1612898754.241 [IBIT](INFO): Initialize IBIT Component.
2021-02-09T19:25:54.242Z,1612898754.242 [CBIT](DEBUG): Initialize CBIT Component.
2021-02-09T19:25:54.249Z,1612898754.249 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 2108
2021-02-09T19:25:54.250Z,1612898754.250 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2021-02-09T19:25:54.253Z,1612898754.253 [CBIT](DEBUG): Initialized mux pins.
2021-02-09T19:25:54.253Z,1612898754.253 [CBIT](DEBUG): Initializing the watchdog timer.
2021-02-09T19:25:54.261Z,1612898754.261 [Onboard ThreadHandler](INFO): Handler Thread ID is 2109
2021-02-09T19:25:54.277Z,1612898754.277 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2021-02-09T19:25:54.277Z,1612898754.277 [CBIT](DEBUG): Initializing heartbeat.
2021-02-09T19:25:54.279Z,1612898754.279 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 2110
2021-02-09T19:25:54.301Z,1612898754.301 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 2111
2021-02-09T19:25:54.302Z,1612898754.302 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2021-02-09T19:25:54.306Z,1612898754.306 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 2113
2021-02-09T19:25:54.309Z,1612898754.309 [WetLabsBB2FL](INFO): Powering up
2021-02-09T19:25:54.310Z,1612898754.310 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 2115
2021-02-09T19:25:54.314Z,1612898754.314 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2021-02-09T19:25:54.314Z,1612898754.314 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2021-02-09T19:25:54.314Z,1612898754.314 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2021-02-09T19:25:54.314Z,1612898754.314 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2021-02-09T19:25:54.314Z,1612898754.314 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2021-02-09T19:25:54.315Z,1612898754.315 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2021-02-09T19:25:54.315Z,1612898754.315 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2021-02-09T19:25:54.315Z,1612898754.315 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2021-02-09T19:25:54.315Z,1612898754.315 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2021-02-09T19:25:54.315Z,1612898754.315 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2021-02-09T19:25:54.315Z,1612898754.315 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2021-02-09T19:25:54.315Z,1612898754.315 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2021-02-09T19:25:54.316Z,1612898754.316 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2021-02-09T19:25:54.316Z,1612898754.316 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2021-02-09T19:25:54.316Z,1612898754.316 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2021-02-09T19:25:54.316Z,1612898754.316 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2021-02-09T19:25:54.349Z,1612898754.349 [CBIT](DEBUG): Deactivating GF circuits.
2021-02-09T19:25:54.349Z,1612898754.349 [CBIT](DEBUG): Deactivating emergency mode.
2021-02-09T19:25:54.385Z,1612898754.385 [CBIT](DEBUG): Backplane powered.
2021-02-09T19:25:54.386Z,1612898754.386 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2021-02-09T19:25:54.399Z,1612898754.399 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2021-02-09T19:25:54.426Z,1612898754.426 [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>


2021-02-09T19:25:54.427Z,1612898754.427 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2021-02-09T19:25:54.505Z,1612898754.505 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2021-02-09T19:25:54.506Z,1612898754.506 [Default:A.Wait](DEBUG): Construct Wait.
2021-02-09T19:25:54.508Z,1612898754.508 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-02-09T19:25:54.549Z,1612898754.549 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2021-02-09T19:25:54.551Z,1612898754.551 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2021-02-09T19:25:54.573Z,1612898754.573 [Default:E.Execute](DEBUG): Construct Execute.
2021-02-09T19:25:54.576Z,1612898754.576 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
         xmlns="Tethys"
         xmlns:Units="Tethys/Units"
         xmlns:Guidance="Tethys/Guidance"
         xmlns:Universal="Tethys/Universal"
         xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                             Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                             Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                             Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
         Id="Default">

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

    <Guidance:Wait>
        <Description>
            Wait a moment to see if the scheduler starts a new mission before
            starting to actually run Default.
        </Description>
        <Sequence/>
        <Setting><Guidance:Wait.duration/><Units:second/><Value>13</Value></Setting>
    </Guidance:Wait>

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

    <Aggregate Id="CheckIn">

        <Sequence Repeat="288"/>

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

        <ReadDatum Id="Read_Iridium">
            <Timeout Duration="P2H">
                <Guidance:Execute>
                    <Sequence/>
                    <Setting><Guidance:Execute.command/><String>Burn on</String></Setting>
                </Guidance:Execute>
                <Syslog Severity="Critical">Dropped weight due to communications timeout.</Syslog>
            </Timeout>
            <Universal:platform_communications/>
        </ReadDatum>

        <Guidance:Wait>
            <Sequence/>
            <Setting><Guidance:Wait.duration/><Units:minute/><Value>5</Value></Setting>
        </Guidance:Wait>

        <Assign><Sequence/><Arg Name="ElapsedSinceDefaultStarted"/><Elapsed><Universal:mission_started/></Elapsed></Assign>

        <Syslog Severity="Important">Default mission has been running for <Arg Name="ElapsedSinceDefaultStarted"/><Units:minute/></Syslog>

    </Aggregate>

    <Syslog Severity="Important">Restarting logs and Default mission.</Syslog>

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

</Mission>


2021-02-09T19:25:54.601Z,1612898754.601 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,Depth_Keller,DropWeight,NAL9602,AMEcho,CANONSampler,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,
2021-02-09T19:25:54.613Z,1612898754.613 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2021-02-09T19:25:54.697Z,1612898754.697 [Radio_Surface](INFO): Powering up
2021-02-09T19:25:54.775Z,1612898754.775 [AMEcho](INFO): Powering up
2021-02-09T19:25:54.777Z,1612898754.777 [AMEcho](INFO): Powered 24V power converter LCB with command: ! echo 1 > /dev/loadB2
2021-02-09T19:25:54.797Z,1612898754.797 [CANONSampler](INFO): Powering down
2021-02-09T19:25:54.801Z,1612898754.801 [CommandLine](IMPORTANT): got command ! echo 1 > /dev/loadB2
2021-02-09T19:25:54.943Z,1612898754.943 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-02-09T19:25:54.949Z,1612898754.949 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-02-09T19:25:54.950Z,1612898754.950 [ElevatorServo](DEBUG): Initializing EZServoServo.
2021-02-09T19:25:54.957Z,1612898754.957 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2021-02-09T19:25:54.958Z,1612898754.958 [MassServo](DEBUG): Initializing EZServoServo.
2021-02-09T19:25:54.965Z,1612898754.965 [MassServo](DEBUG): Initializing MassServo.
2021-02-09T19:25:54.966Z,1612898754.966 [RudderServo](DEBUG): Initializing EZServoServo.
2021-02-09T19:25:54.973Z,1612898754.973 [RudderServo](DEBUG): Initializing RudderServo.
2021-02-09T19:25:54.974Z,1612898754.974 [ThrusterServo](DEBUG): Initializing EZServoServo.
2021-02-09T19:25:54.981Z,1612898754.981 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2021-02-09T19:25:55.213Z,1612898755.213 [AMEcho](INFO): Powering down
2021-02-09T19:25:55.822Z,1612898755.822 [AMEcho](IMPORTANT): Setting 'depthThreshold' to 20.000000
2021-02-09T19:25:56.417Z,1612898756.417 [WetLabsBB2FL](INFO): Powering down
2021-02-09T19:26:23.294Z,1612898783.294 [NAL9602](INFO): Powering up NAL9602
2021-02-09T19:26:34.202Z,1612898794.202 [NAL9602](INFO): NAL9602 initialized
2021-02-09T19:26:48.752Z,1612898808.752 [NAL9602](INFO): SBD MO Status=0, MOMSN=24406, MT Status=0, MTMSN=0
2021-02-09T19:26:48.752Z,1612898808.752 [NAL9602](INFO): No messages in MT queue
2021-02-09T19:26:51.000Z,1612898812.000 [SBIT](IMPORTANT): Beginning Startup BIT
2021-02-09T19:26:52.033Z,1612898812.033 [CBIT](IMPORTANT): Beginning ground fault scan
2021-02-09T19:27:02.932Z,1612898822.932 [CBIT](IMPORTANT): Ground fault detected
mA:
CHAN A0 (Batt): -0.002925
CHAN A1 (24V): 0.000901
CHAN A2 (12V): -0.002062
CHAN A3 (5V): 4.753929
CHAN B0 (3.3V): 0.001715
CHAN B1 (3.15aV): 4.767929
CHAN B2 (3.15bV): -0.000402
CHAN B3 (GND): 0.000311
OPEN: -0.000588
Full Scale Calc: 4.765 mA, -1.589 mA
2021-02-09T19:27:46.160Z,1612898866.160 [SBIT](IMPORTANT): SBIT PASSED
2021-02-09T19:27:46.160Z,1612898866.160 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2021-02-09T19:27:46.161Z,1612898866.161 [SBIT](IMPORTANT): DataOverHttps.loadAtStartup=1 bool;

2021-02-09T19:27:46.161Z,1612898866.161 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=316.916912 cubic_centimeter;

2021-02-09T19:27:46.161Z,1612898866.161 [SBIT](IMPORTANT): VerticalControl.massDefault=-9.433714 millimeter;

2021-02-09T19:27:46.557Z,1612898866.557 [MissionManager](IMPORTANT): Started mission Startup
2021-02-09T19:27:46.557Z,1612898866.557 [Startup] Running Loop=1
2021-02-09T19:27:46.557Z,1612898866.557 [Startup](DEBUG): Aggregate::initialize Startup
2021-02-09T19:27:46.557Z,1612898866.557 [Startup:A.GoToSurface] Running Loop=1
2021-02-09T19:27:46.557Z,1612898866.557 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-02-09T19:27:46.558Z,1612898866.558 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-02-09T19:27:46.558Z,1612898866.558 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-02-09T19:27:46.559Z,1612898866.559 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-02-09T19:27:46.559Z,1612898866.559 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-02-09T19:27:46.559Z,1612898866.559 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-02-09T19:27:46.561Z,1612898866.561 [Startup:StartupSatComms] Running Loop=1
2021-02-09T19:27:46.561Z,1612898866.561 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2021-02-09T19:27:46.561Z,1612898866.561 [Startup:StartupSatComms:A] Running Loop=1
2021-02-09T19:27:46.935Z,1612898866.935 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2021-02-09T19:28:04.306Z,1612898884.306 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,192803.00,A,3648.80504,N,12149.92860,W,0.369,0.00,090221,,,A*73
2021-02-09T19:28:04.310Z,1612898884.310 [NAL9602](INFO): GPS fix at 20210209T192803: (36.813417, -121.832143)
2021-02-09T19:28:04.320Z,1612898884.320 [Startup:StartupSatComms:A] Stopped
2021-02-09T19:28:04.320Z,1612898884.320 [Startup:StartupSatComms:B] Running Loop=1
2021-02-09T19:28:04.740Z,1612898884.740 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2021-02-09T19:28:22.559Z,1612898902.559 [NAL9602](INFO): SBD MO Status=1, MOMSN=24407, MT Status=0, MTMSN=0
2021-02-09T19:28:22.622Z,1612898902.622 [NAL9602](INFO): Sent 84 bytes from file Logs/20210209T180620/Courier0019.lzma
2021-02-09T19:28:22.622Z,1612898902.622 [NAL9602](INFO): Packets left to send: 0
2021-02-09T19:28:33.923Z,1612898913.923 [NAL9602](INFO): SBD MO Status=1, MOMSN=24408, MT Status=0, MTMSN=0
2021-02-09T19:28:33.977Z,1612898913.977 [NAL9602](INFO): Sent 267 bytes from file Logs/20210209T192544/Courier0000.lzma
2021-02-09T19:28:33.977Z,1612898913.977 [NAL9602](INFO): Packets left to send: 0
2021-02-09T19:28:42.883Z,1612898922.883 [NAL9602](INFO): SBD MO Status=1, MOMSN=24409, MT Status=0, MTMSN=0
2021-02-09T19:28:42.941Z,1612898922.941 [NAL9602](INFO): Sent 332 bytes from file Logs/20210209T180620/Express0020.lzma
2021-02-09T19:28:42.941Z,1612898922.941 [NAL9602](INFO): Packets left to send: 4
2021-02-09T19:28:52.643Z,1612898932.643 [NAL9602](INFO): SBD MO Status=1, MOMSN=24410, MT Status=0, MTMSN=0
2021-02-09T19:28:52.710Z,1612898932.710 [NAL9602](INFO): Sent 332 bytes from file Logs/20210209T180620/Express0020.lzma
2021-02-09T19:28:52.711Z,1612898932.711 [NAL9602](INFO): Packets left to send: 3
2021-02-09T19:29:04.459Z,1612898944.459 [Startup:StartupSatComms:B](INFO): Timed out from 2021-02-09T19:28:04.3Z
2021-02-09T19:29:04.459Z,1612898944.459 [Startup:StartupSatComms:B] Stopped
2021-02-09T19:29:04.459Z,1612898944.459 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2021-02-09T19:29:04.459Z,1612898944.459 [Startup:StartupSatComms] Stopped
2021-02-09T19:29:04.460Z,1612898944.460 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2021-02-09T19:29:04.460Z,1612898944.460 [Startup](INFO): Completed Startup
2021-02-09T19:29:04.461Z,1612898944.461 [MissionManager](INFO): Startup is completed.
2021-02-09T19:29:04.461Z,1612898944.461 [MissionManager](INFO): Uninitializing Mission Startup
2021-02-09T19:29:04.461Z,1612898944.461 [Startup] Stopped
2021-02-09T19:29:04.461Z,1612898944.461 [Startup](DEBUG): Aggregate::uninitialize Startup
2021-02-09T19:29:04.461Z,1612898944.461 [Startup:A.GoToSurface] Stopped
2021-02-09T19:29:04.461Z,1612898944.461 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-02-09T19:29:04.787Z,1612898944.787 [MissionManager](IMPORTANT): Started mission Default
2021-02-09T19:29:04.788Z,1612898944.788 [Default] Running Loop=1
2021-02-09T19:29:04.788Z,1612898944.788 [Default](DEBUG): Aggregate::initialize Default
2021-02-09T19:29:04.788Z,1612898944.788 [Default:B.GoToSurface] Running Loop=1
2021-02-09T19:29:04.788Z,1612898944.788 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-02-09T19:29:04.788Z,1612898944.788 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-02-09T19:29:04.789Z,1612898944.789 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-02-09T19:29:04.789Z,1612898944.789 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-02-09T19:29:04.789Z,1612898944.789 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-02-09T19:29:04.790Z,1612898944.790 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-02-09T19:29:04.790Z,1612898944.790 [Default:A.Wait] Running Loop=1
2021-02-09T19:29:04.790Z,1612898944.790 [Default:A.Wait](DEBUG): Initialize Wait Component.
2021-02-09T19:29:14.871Z,1612898954.871 [NAL9602](INFO): SBD MO Status=1, MOMSN=24411, MT Status=0, MTMSN=0
2021-02-09T19:29:14.921Z,1612898954.921 [NAL9602](INFO): Sent 332 bytes from file Logs/20210209T180620/Express0020.lzma
2021-02-09T19:29:14.921Z,1612898954.921 [NAL9602](INFO): Packets left to send: 2
2021-02-09T19:29:18.117Z,1612898958.117 [Default:A.Wait](INFO): Done Waiting.
2021-02-09T19:29:18.117Z,1612898958.117 [Default:A.Wait] Stopped
2021-02-09T19:29:18.117Z,1612898958.117 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2021-02-09T19:29:18.533Z,1612898958.533 [Default:CheckIn] Running Loop=1
2021-02-09T19:29:18.533Z,1612898958.533 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2021-02-09T19:29:18.533Z,1612898958.533 [Default:CheckIn:Read_GPS] Running Loop=1
2021-02-09T19:29:18.992Z,1612898958.992 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2021-02-09T19:29:20.528Z,1612898960.528 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,192919.00,A,3648.80594,N,12149.93394,W,0.661,286.33,090221,,,D*75
2021-02-09T19:29:20.530Z,1612898960.530 [NAL9602](INFO): GPS fix at 20210209T192919: (36.813432, -121.832232)
2021-02-09T19:29:20.540Z,1612898960.540 [Default:CheckIn:Read_GPS] Stopped
2021-02-09T19:29:20.540Z,1612898960.540 [Default:CheckIn:Read_Iridium] Running Loop=1
2021-02-09T19:29:20.954Z,1612898960.954 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2021-02-09T19:29:39.482Z,1612898979.482 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004292
2021-02-09T19:29:46.972Z,1612898986.972 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20210209T192544/Courier0004.lzma
2021-02-09T19:29:47.976Z,1612898987.976 [DataOverHttps](INFO): Moved sent file to Logs/20210209T192544/Courier0004.lzma.bak
2021-02-09T19:29:47.976Z,1612898987.976 [DataOverHttps](INFO): SBD MOMSN=15203558
2021-02-09T19:29:52.891Z,1612898992.891 [NAL9602](INFO): SBD MO Status=1, MOMSN=24412, MT Status=0, MTMSN=0
2021-02-09T19:29:52.945Z,1612898992.945 [NAL9602](INFO): Sent 73 bytes from file Logs/20210209T192544/Courier0004.lzma
2021-02-09T19:29:52.945Z,1612898992.945 [NAL9602](INFO): Packets left to send: 0
2021-02-09T19:29:52.000Z,1612898993.000 [Default:CheckIn:Read_Iridium] Stopped
2021-02-09T19:29:52.000Z,1612898993.000 [Default:CheckIn:C.Wait] Running Loop=1
2021-02-09T19:29:52.000Z,1612898993.000 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-02-09T19:30:03.914Z,1612899003.914 [DataOverHttps](INFO): Sending 1559 bytes from file Logs/20210209T180620/Express0020.lzma
2021-02-09T19:30:04.914Z,1612899004.914 [DataOverHttps](INFO): Moved sent file to Logs/20210209T180620/Express0020.lzma.bak
2021-02-09T19:30:04.915Z,1612899004.915 [DataOverHttps](INFO): SBD MOMSN=15203561
2021-02-09T19:30:23.592Z,1612899023.592 [NAL9602](INFO): Not Powering down - fast GPS
2021-02-09T19:32:07.478Z,1612899127.478 [DataOverHttps](IMPORTANT): SBD MTMSN=20210209T193207
2021-02-09T19:32:14.925Z,1612899134.925 [DataOverHttps](INFO): Received command:run Maintenance/calibrate_sparton_compass.xml
2021-02-09T19:32:14.978Z,1612899134.978 [CommandLine](IMPORTANT): got command run ./Missions/Maintenance/calibrate_sparton_compass.xml
2021-02-09T19:32:14.978Z,1612899134.978 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/calibrate_sparton_compass.xml
2021-02-09T19:32:15.056Z,1612899135.056 [MissionManager](INFO): DefineArg SpartonCompassCal.MissionTimeout = 60.000000 min
2021-02-09T19:32:15.059Z,1612899135.059 [MissionManager](INFO): DefineArg SpartonCompassCal.NeedCommsTime = 60.000000 min
2021-02-09T19:32:15.062Z,1612899135.062 [MissionManager](INFO): DefineArg SpartonCompassCal.YoYoMinDepth = 5.000000 m
2021-02-09T19:32:15.065Z,1612899135.065 [MissionManager](INFO): DefineArg SpartonCompassCal.YoYoMaxDepth = 40.000000 m
2021-02-09T19:32:15.068Z,1612899135.068 [MissionManager](INFO): DefineArg SpartonCompassCal.YoYoMinAltitude = 7.000000 m
2021-02-09T19:32:15.071Z,1612899135.071 [MissionManager](INFO): DefineArg SpartonCompassCal.YoYoPitch = 20.000000 arcdeg
2021-02-09T19:32:15.075Z,1612899135.075 [MissionManager](INFO): DefineArg SpartonCompassCal.RudderAngle = 13.000000 arcdeg
2021-02-09T19:32:15.078Z,1612899135.078 [MissionManager](INFO): DefineArg SpartonCompassCal.Speed = 1.000000 m/s
2021-02-09T19:32:15.081Z,1612899135.081 [MissionManager](INFO): DefineArg SpartonCompassCal.CalibrationInitTimeout = 2.000000 min
2021-02-09T19:32:15.084Z,1612899135.084 [MissionManager](INFO): DefineArg SpartonCompassCal.MinAltitude = 5.000000 m
2021-02-09T19:32:15.111Z,1612899135.111 [MissionManager](INFO): DefineArg SpartonCompassCal.MaxDepth = 50.000000 m
2021-02-09T19:32:15.147Z,1612899135.147 [MissionManager](INFO): DefineArg SpartonCompassCal.MinOffshore = 2.000000 km
2021-02-09T19:32:15.148Z,1612899135.148 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2021-02-09T19:32:15.432Z,1612899135.432 [MissionManager](INFO): DefineArg SpartonCompassCal:Science.PeakDetectChlActive = 0 bool
2021-02-09T19:32:15.435Z,1612899135.435 [MissionManager](INFO): DefineArg SpartonCompassCal:Science.TimeWindowPeakReport = nan min
2021-02-09T19:32:15.437Z,1612899135.437 [MissionManager](INFO): DefineArg SpartonCompassCal:Science.HighestChlPeakReportActive = 0 bool
2021-02-09T19:32:15.440Z,1612899135.440 [MissionManager](INFO): DefineArg SpartonCompassCal:Science.PatchTracking = 0 bool
2021-02-09T19:32:15.443Z,1612899135.443 [MissionManager](INFO): DefineArg SpartonCompassCal:Science.FilterWidthHorizontal = 3.000000 count
2021-02-09T19:32:15.446Z,1612899135.446 [MissionManager](INFO): DefineArg SpartonCompassCal:Science.NumProfilesSlidingwindow = 100.000000 count
2021-02-09T19:32:15.449Z,1612899135.449 [MissionManager](INFO): DefineArg SpartonCompassCal:Science.OffPeakFractionHorizontal = 80.000000 %
2021-02-09T19:32:15.451Z,1612899135.451 [MissionManager](INFO): DefineArg SpartonCompassCal:Science.PeakDetectNO3Active = 0 bool
2021-02-09T19:32:15.454Z,1612899135.454 [MissionManager](INFO): DefineArg SpartonCompassCal:Science.PeakDetectOilActive = 0 bool
2021-02-09T19:32:15.457Z,1612899135.457 [MissionManager](INFO): DefineArg SpartonCompassCal:Science.PeakDetectFDOMActive = 0 bool
2021-02-09T19:32:15.459Z,1612899135.459 [MissionManager](INFO): DefineArg SpartonCompassCal:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2021-02-09T19:32:15.463Z,1612899135.463 [MissionManager](INFO): DefineArg SpartonCompassCal:Science.EnabledAanderaaO2 = 0.000000 bool
2021-02-09T19:32:15.467Z,1612899135.467 [MissionManager](INFO): DefineArg SpartonCompassCal:Science.EnabledNeilBrown = 0.000000 bool
2021-02-09T19:32:15.470Z,1612899135.470 [MissionManager](INFO): DefineArg SpartonCompassCal:Science.EnabledSeabird = 1.000000 bool
2021-02-09T19:32:15.503Z,1612899135.503 [MissionManager](INFO): DefineArg SpartonCompassCal:Science.EnabledWetLabsBB2FL = 1.000000 bool
2021-02-09T19:32:15.507Z,1612899135.507 [MissionManager](INFO): DefineArg SpartonCompassCal:Science.EnabledWetLabsSeaOWL_UV_A = 0.000000 bool
2021-02-09T19:32:15.510Z,1612899135.510 [MissionManager](INFO): DefineArg SpartonCompassCal:Science.EnabledWetLabsUBAT = 0.000000 bool
2021-02-09T19:32:15.566Z,1612899135.566 [MissionManager](INFO): DefineArg SpartonCompassCal:Science.LowPassWindowLength = 20.000000 count
2021-02-09T19:32:15.569Z,1612899135.569 [MissionManager](INFO): DefineArg SpartonCompassCal:Science.MedianFilterLen = 5.000000 count
2021-02-09T19:32:15.572Z,1612899135.572 [MissionManager](INFO): DefineArg SpartonCompassCal:Science.PeakShallowBound = nan m
2021-02-09T19:32:15.575Z,1612899135.575 [MissionManager](INFO): DefineArg SpartonCompassCal:Science.PeakDeepBound = nan m
2021-02-09T19:32:15.587Z,1612899135.587 [MissionManager](INFO): DefineOutput SpartonCompassCal:Science.PeakChl = 0.000000 ug/l
2021-02-09T19:32:15.590Z,1612899135.590 [MissionManager](INFO): DefineOutput SpartonCompassCal:Science.PeakChlDepth = 0.000000 m
2021-02-09T19:32:15.593Z,1612899135.593 [MissionManager](INFO): DefineOutput SpartonCompassCal:Science.PeakChlTemperature = 0.000000 degC
2021-02-09T19:32:15.623Z,1612899135.623 [MissionManager](INFO): DefineOutput SpartonCompassCal:Science.PeakChlLatitude = nan arcdeg
2021-02-09T19:32:15.626Z,1612899135.626 [MissionManager](INFO): DefineOutput SpartonCompassCal:Science.PeakChlLongitude = nan arcdeg
2021-02-09T19:32:15.629Z,1612899135.629 [MissionManager](INFO): DefineOutput SpartonCompassCal:Science.PeakNO3 = 0.000000 umol/l
2021-02-09T19:32:15.632Z,1612899135.632 [MissionManager](INFO): DefineOutput SpartonCompassCal:Science.PeakNO3Depth = 0.000000 m
2021-02-09T19:32:15.646Z,1612899135.646 [MissionManager](INFO): DefineOutput SpartonCompassCal:Science.PeakNO3Latitude = nan arcdeg
2021-02-09T19:32:15.649Z,1612899135.649 [MissionManager](INFO): DefineOutput SpartonCompassCal:Science.PeakNO3Longitude = nan arcdeg
2021-02-09T19:32:15.673Z,1612899135.673 [MissionManager](INFO): DefineOutput SpartonCompassCal:Science.PatchChl = 0.000000 m
2021-02-09T19:32:15.676Z,1612899135.676 [MissionManager](INFO): DefineOutput SpartonCompassCal:Science.PatchChlDepth = 0.000000 m
2021-02-09T19:32:15.679Z,1612899135.679 [MissionManager](INFO): DefineOutput SpartonCompassCal:Science.PatchChlLatitude = nan arcdeg
2021-02-09T19:32:15.683Z,1612899135.683 [MissionManager](INFO): DefineOutput SpartonCompassCal:Science.PatchChlLongitude = nan arcdeg
2021-02-09T19:32:15.696Z,1612899135.696 [MissionManager](INFO): DefineOutput SpartonCompassCal:Science.PatchChlDistance = nan m
2021-02-09T19:32:15.700Z,1612899135.700 [MissionManager](INFO): DefineOutput SpartonCompassCal:Science.PeakOil = 0.000000 kg/m3
2021-02-09T19:32:15.719Z,1612899135.719 [MissionManager](INFO): DefineOutput SpartonCompassCal:Science.PeakOilDepth = 0.000000 m
2021-02-09T19:32:15.723Z,1612899135.723 [MissionManager](INFO): DefineOutput SpartonCompassCal:Science.PeakOilLatitude = nan arcdeg
2021-02-09T19:32:15.726Z,1612899135.726 [MissionManager](INFO): DefineOutput SpartonCompassCal:Science.PeakOilLongitude = nan arcdeg
2021-02-09T19:32:15.752Z,1612899135.752 [MissionManager](INFO): DefineOutput SpartonCompassCal:Science.PeakFDOM = 0.000000 ppb
2021-02-09T19:32:15.755Z,1612899135.755 [MissionManager](INFO): DefineOutput SpartonCompassCal:Science.PeakFDOMDepth = 0.000000 m
2021-02-09T19:32:15.758Z,1612899135.758 [MissionManager](INFO): DefineOutput SpartonCompassCal:Science.PeakFDOMLatitude = nan arcdeg
2021-02-09T19:32:15.774Z,1612899135.774 [MissionManager](INFO): DefineOutput SpartonCompassCal:Science.PeakFDOMLongitude = nan arcdeg
2021-02-09T19:32:15.777Z,1612899135.777 [MissionManager](INFO): DefineOutput SpartonCompassCal:Science.PatchFDOMDistance = nan m
2021-02-09T19:32:15.828Z,1612899135.828 [SpartonCompassCal:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-02-09T19:32:15.856Z,1612899135.856 [SpartonCompassCal:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-02-09T19:32:15.893Z,1612899135.893 [SpartonCompassCal:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-02-09T19:32:15.908Z,1612899135.908 [SpartonCompassCal:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-02-09T19:32:15.987Z,1612899135.987 [SpartonCompassCal:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-02-09T19:32:16.005Z,1612899136.005 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2021-02-09T19:32:16.181Z,1612899136.181 [MissionManager](INFO): DefineArg SpartonCompassCal:NeedComms.DiveInterval = 3.000000 h
2021-02-09T19:32:16.184Z,1612899136.184 [MissionManager](INFO): DefineArg SpartonCompassCal:NeedComms.WaitForPitchUp = 10.000000 min
2021-02-09T19:32:16.216Z,1612899136.216 [MissionManager](INFO): DefineArg SpartonCompassCal:NeedComms.SurfacePitch = 20.000000 arcdeg
2021-02-09T19:32:16.219Z,1612899136.219 [MissionManager](INFO): DefineArg SpartonCompassCal:NeedComms.SurfaceDepthRate = nan m/s
2021-02-09T19:32:16.234Z,1612899136.234 [MissionManager](INFO): DefineArg SpartonCompassCal:NeedComms.SurfaceSpeed = 1.000000 m/s
2021-02-09T19:32:16.246Z,1612899136.246 [MissionManager](INFO): DefineArg SpartonCompassCal:NeedComms.GPSTimeout = 7.000000 min
2021-02-09T19:32:16.269Z,1612899136.269 [MissionManager](INFO): DefineArg SpartonCompassCal:NeedComms.CommsTimeout = 30.000000 min
2021-02-09T19:32:16.288Z,1612899136.288 [SpartonCompassCal:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-02-09T19:32:16.422Z,1612899136.422 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-02-09T19:32:16.507Z,1612899136.507 [MissionManager](INFO): DefineArg SpartonCompassCal:StandardEnvelopes.MinAltitude = 5.000000 m
2021-02-09T19:32:16.522Z,1612899136.522 [MissionManager](INFO): DefineArg SpartonCompassCal:StandardEnvelopes.MaxDepth = 200.000000 m
2021-02-09T19:32:16.534Z,1612899136.534 [MissionManager](INFO): DefineArg SpartonCompassCal:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-02-09T19:32:16.535Z,1612899136.535 [SpartonCompassCal:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-02-09T19:32:16.579Z,1612899136.579 [SpartonCompassCal:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-02-09T19:32:16.633Z,1612899136.633 [SpartonCompassCal:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-02-09T19:32:16.671Z,1612899136.671 [SpartonCompassCal:I.Pitch](DEBUG): Construct.
2021-02-09T19:32:16.749Z,1612899136.749 [SpartonCompassCal:J.Buoyancy](DEBUG): Construct Buoyancy.
2021-02-09T19:32:16.753Z,1612899136.753 [SpartonCompassCal:K.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-02-09T19:32:16.790Z,1612899136.790 [SpartonCompassCal:L.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-02-09T19:32:16.858Z,1612899136.858 [SpartonCompassCal:M.YoYo](DEBUG): Construct YoYo.
2021-02-09T19:32:16.903Z,1612899136.903 [SpartonCompassCal:AdaptCal:WaitForCalibrationInit:A_Timeout:B.Execute](DEBUG): Construct Execute.
2021-02-09T19:32:16.906Z,1612899136.906 [SpartonCompassCal:AdaptCal:AcquireCalibrationPoints:A.Point](DEBUG): Construct.
2021-02-09T19:32:16.948Z,1612899136.948 [SpartonCompassCal:AdaptCal:AcquireCalibrationPoints:B.SetSpeed](DEBUG): Construct.
2021-02-09T19:32:16.951Z,1612899136.951 [SpartonCompassCal:AdaptCal:C.CalibrateAHRS_M2](DEBUG): Construct CalibrateSparton.
2021-02-09T19:32:17.052Z,1612899137.052 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
    xmlns:Control="Tethys/Control"
    xmlns:Derivation="Tethys/Derivation"
    xmlns:Estimation="Tethys/Estimation"
    xmlns:Guidance="Tethys/Guidance"
    xmlns:Sensor="Tethys/Sensor"
    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/Derivation http://okeanids.mbari.org/tethys/Xml/Derivation.xsd
    Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
    Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
    Tethys/Sensor http://okeanids.mbari.org/tethys/Xml/Sensor.xsd
    Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
    Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
    Id="SpartonCompassCal">

    <Description>
        This mission yoyos in a spiral while calibrating the Sparton AHRS-M2
        Micro AHRS/IMU with AdaptCal.
    </Description>

<!-- Mission-wide settings -->

    <DefineArg Name="MissionTimeout"><Description>
        Maximum duration of mission
    </Description><Units:minute/><Value>60</Value></DefineArg>

    <DefineArg Name="NeedCommsTime"><Description>
        Elapsed time after previous surface communications when vehicle will
        begin to ascend for additional surface communications
    </Description><Units:minute/><Value>60</Value></DefineArg>

<!-- You probably need to change these. -->

<!-- You probably do not need to change these. -->

    <DefineArg Name="YoYoMinDepth"><Description>
        Minimum depth while performing the YoYo behavior.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="YoYoMaxDepth"><Description>
        Maximum depth while performing the YoYo behavior.
    </Description><Units:meter/><Value>40</Value></DefineArg>

    <DefineArg Name="YoYoMinAltitude"><Description>
        Minimum altitude while performing the YoYo behavior (for
        bottom-terminated YoYos).
    </Description><Units:meter/><Value>7</Value></DefineArg>

    <DefineArg Name="YoYoPitch"><Description>
        Pitch (plus and minus) for yo-yo behavior.
    </Description><Units:degree/><Value>20</Value></DefineArg>

    <DefineArg Name="RudderAngle"><Description>
        Rudder angle to use while performing the spiral cast.
    </Description><Units:degree/><Value>13</Value></DefineArg>

    <DefineArg Name="Speed"><Description>
        Vehicle speed.
    </Description><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="CalibrationInitTimeout"><Description>
        Elapsed time allowed for calibration to initialize
    </Description><Units:minute/><Value>2</Value></DefineArg>

<!-- You are even less likely to need to change these. -->

    <DefineArg Name="MinAltitude"><Description>
        Minimum height above the sea floor for the entire mission.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>50</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Description>
        Minimum offshore distance for the entire mission.
    </Description><Units:kilometer/><Value>2</Value></DefineArg>

<!-- Missions should almost always start with a timeout -->

    <Timeout Duration="MissionTimeout"/>

    <Insert Filename="Insert/Science.xml">
        <Description>
            Most missions will run the science sensors. If you don't place this
            aggregate above NeedComms, science instruments get turned off on the
            last upcast and while floating on the surface.
        </Description>
    </Insert>

<!-- Most missions should use the NeedComms aggregate. -->

    <Insert Filename="Insert/NeedComms.xml" Id="NeedComms"/>

    <Assign><Sequence/><Arg Name="NeedComms:DiveInterval"/><Arg Name="NeedCommsTime"/></Assign>

<!-- Missions should almost always start with standard safety envelopes; most missions should not expose the parameters of these envelopes. -->

    <Insert Filename="Insert/StandardEnvelopes.xml"/>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MinAltitude"/><Arg Name="MinAltitude"/></Assign>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MaxDepth"/><Arg Name="MaxDepth"/></Assign>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MinOffshore"/><Arg Name="MinOffshore"/></Assign>

<!-- Check for additional instructions first. -->

    <Call Id="StartingMission" RefId="NeedComms"/>

<!-- Many missions will keep mass position and buoyancy volume fixed at defaults. -->

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

    <Guidance:Buoyancy>
        <Parallel/>
        <Setting><Guidance:Buoyancy.position/><Control:VerticalControl.buoyancyNeutral/></Setting>
    </Guidance:Buoyancy>

    <Guidance:DepthEnvelope>
        <Description>
            Another depth envelope for the YoYo behavior. This envelope should
            fall within the limits of the standard safety envelopes in
            Insert/StandardEnvelopes.xml in order to avoid commanding high pitch
            angles for depth-terminated YoYos.
        </Description>
        <Parallel/>
        <Setting><Guidance:DepthEnvelope.minDepth/><Arg Name="YoYoMinDepth"/></Setting>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="YoYoMaxDepth"/></Setting>
        <Setting><Guidance:DepthEnvelope.pitch/><Arg Name="YoYoPitch"/></Setting>
    </Guidance:DepthEnvelope>

    <Guidance:AltitudeEnvelope>
        <Description>
            Another altitude envelope for the YoYo behavior. This envelope
            should fall within the limits of the standard safety envelopes in
            Insert/StandardEnvelopes.xml in order to avoid commanding high pitch
            angles for bottom-terminated YoYos.
        </Description>
        <Parallel/>
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Arg Name="YoYoMinAltitude"/></Setting>
        <Setting><Guidance:AltitudeEnvelope.pitch/><Arg Name="YoYoPitch"/></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:YoYo>
        <Parallel/>
        <Setting><Guidance:YoYo.pitch/><Arg Name="YoYoPitch"/></Setting>
    </Guidance:YoYo>

    <Aggregate Id="AdaptCal">

        <Sequence/>

        <ReadDatum Id="WaitForCalibrationInit">
            <Timeout Duration="CalibrationInitTimeout">
                <Syslog Severity="Important">Failed to initialize calibration within timeout. Stopping mission.</Syslog>
                <Guidance:Execute>
                    <Sequence/>
                    <Setting><Guidance:Execute.command/><String>stop</String></Setting>
                </Guidance:Execute>
            </Timeout>
            <Sensor:AHRS_M2.number_of_calbration_points/>
        </ReadDatum>



        <Aggregate Id="AcquireCalibrationPoints">

            <Sequence/>

            <Guidance:Point>
                <Parallel/>
                <Setting><Guidance:Point.rudderAngle/><Arg Name="RudderAngle"/></Setting>
            </Guidance:Point>

            <Guidance:SetSpeed>
                <Parallel/>
                <Setting><Guidance:SetSpeed.speed/><Arg Name="Speed"/></Setting>
            </Guidance:SetSpeed>

        </Aggregate>

        <Sensor:CalibrateAHRS_M2>
            <Parallel/>
        </Sensor:CalibrateAHRS_M2>

    </Aggregate>

</Mission>


2021-02-09T19:32:17.079Z,1612899137.079 [CommandLine](IMPORTANT): Running ./Missions/Maintenance/calibrate_sparton_compass.xml
2021-02-09T19:32:17.177Z,1612899137.177 [Default] Stopped
2021-02-09T19:32:17.177Z,1612899137.177 [Default](DEBUG): Aggregate::uninitialize Default
2021-02-09T19:32:17.177Z,1612899137.177 [Default:B.GoToSurface] Stopped
2021-02-09T19:32:17.177Z,1612899137.177 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-02-09T19:32:17.177Z,1612899137.177 [Default:CheckIn] Stopped
2021-02-09T19:32:17.178Z,1612899137.178 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2021-02-09T19:32:17.178Z,1612899137.178 [Default:CheckIn:C.Wait] Stopped
2021-02-09T19:32:17.178Z,1612899137.178 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-02-09T19:32:17.178Z,1612899137.178 [MissionManager](IMPORTANT): Started mission SpartonCompassCal
2021-02-09T19:32:17.178Z,1612899137.178 [SpartonCompassCal] Running Loop=1
2021-02-09T19:32:17.178Z,1612899137.178 [SpartonCompassCal](DEBUG): Aggregate::initialize SpartonCompassCal
2021-02-09T19:32:17.178Z,1612899137.178 [SpartonCompassCal:Science] Running Loop=1
2021-02-09T19:32:17.178Z,1612899137.178 [SpartonCompassCal:Science](DEBUG): Aggregate::initialize SpartonCompassCal:Science
2021-02-09T19:32:17.178Z,1612899137.178 [SpartonCompassCal:Science:A] Running Loop=1
2021-02-09T19:32:17.179Z,1612899137.179 [SpartonCompassCal:Science:B] Running Loop=1
2021-02-09T19:32:17.179Z,1612899137.179 [SpartonCompassCal:Science:C] Running Loop=1
2021-02-09T19:32:17.179Z,1612899137.179 [SpartonCompassCal:Science:D] Running Loop=1
2021-02-09T19:32:17.179Z,1612899137.179 [SpartonCompassCal:Science:E] Running Loop=1
2021-02-09T19:32:17.179Z,1612899137.179 [SpartonCompassCal:Science:F] Running Loop=1
2021-02-09T19:32:17.179Z,1612899137.179 [SpartonCompassCal:Science:Read_Oil] Running Loop=1
2021-02-09T19:32:17.179Z,1612899137.179 [SpartonCompassCal:Science:PeakDetectChl] Running Loop=1
2021-02-09T19:32:17.179Z,1612899137.179 [SpartonCompassCal:Science:PeakDetectChl](DEBUG): Aggregate::initialize SpartonCompassCal:Science:PeakDetectChl
2021-02-09T19:32:17.179Z,1612899137.179 [SpartonCompassCal:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2021-02-09T19:32:17.179Z,1612899137.179 [SpartonCompassCal:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-02-09T19:32:17.181Z,1612899137.181 [SpartonCompassCal:Science:HighestChlPeakReport] Running Loop=1
2021-02-09T19:32:17.181Z,1612899137.181 [SpartonCompassCal:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize SpartonCompassCal:Science:HighestChlPeakReport
2021-02-09T19:32:17.182Z,1612899137.182 [SpartonCompassCal:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-02-09T19:32:17.182Z,1612899137.182 [SpartonCompassCal:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-02-09T19:32:17.182Z,1612899137.182 [SpartonCompassCal:Science:PeakDetectNO3] Running Loop=1
2021-02-09T19:32:17.182Z,1612899137.182 [SpartonCompassCal:Science:PeakDetectNO3](DEBUG): Aggregate::initialize SpartonCompassCal:Science:PeakDetectNO3
2021-02-09T19:32:17.182Z,1612899137.182 [SpartonCompassCal:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2021-02-09T19:32:17.182Z,1612899137.182 [SpartonCompassCal:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-02-09T19:32:17.184Z,1612899137.184 [SpartonCompassCal:Science:PeakDetectOil] Running Loop=1
2021-02-09T19:32:17.184Z,1612899137.184 [SpartonCompassCal:Science:PeakDetectOil](DEBUG): Aggregate::initialize SpartonCompassCal:Science:PeakDetectOil
2021-02-09T19:32:17.233Z,1612899137.233 [SpartonCompassCal:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2021-02-09T19:32:17.233Z,1612899137.233 [SpartonCompassCal:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-02-09T19:32:17.235Z,1612899137.235 [SpartonCompassCal:Science:PeakDetectFDOM] Running Loop=1
2021-02-09T19:32:17.235Z,1612899137.235 [SpartonCompassCal:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize SpartonCompassCal:Science:PeakDetectFDOM
2021-02-09T19:32:17.235Z,1612899137.235 [SpartonCompassCal:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2021-02-09T19:32:17.235Z,1612899137.235 [SpartonCompassCal:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-02-09T19:32:17.237Z,1612899137.237 [SpartonCompassCal:Science:OceanCurrent] Running Loop=1
2021-02-09T19:32:17.237Z,1612899137.237 [SpartonCompassCal:Science:OceanCurrent](DEBUG): Aggregate::initialize SpartonCompassCal:Science:OceanCurrent
2021-02-09T19:32:17.237Z,1612899137.237 [SpartonCompassCal:Science:OceanCurrent:A.] Running Loop=1
2021-02-09T19:32:17.237Z,1612899137.237 [SpartonCompassCal:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2021-02-09T19:32:17.238Z,1612899137.238 [SpartonCompassCal:StandardEnvelopes] Running Loop=1
2021-02-09T19:32:17.238Z,1612899137.238 [SpartonCompassCal:StandardEnvelopes](DEBUG): Aggregate::initialize SpartonCompassCal:StandardEnvelopes
2021-02-09T19:32:17.238Z,1612899137.238 [SpartonCompassCal:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-02-09T19:32:17.238Z,1612899137.238 [SpartonCompassCal:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-02-09T19:32:17.238Z,1612899137.238 [SpartonCompassCal:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-02-09T19:32:17.238Z,1612899137.238 [SpartonCompassCal:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-02-09T19:32:17.238Z,1612899137.238 [SpartonCompassCal:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-02-09T19:32:17.238Z,1612899137.238 [SpartonCompassCal:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-02-09T19:32:17.239Z,1612899137.239 [SpartonCompassCal:I.Pitch] Running Loop=1
2021-02-09T19:32:17.239Z,1612899137.239 [SpartonCompassCal:I.Pitch](DEBUG): Initialize.
2021-02-09T19:32:17.239Z,1612899137.239 [SpartonCompassCal:J.Buoyancy] Running Loop=1
2021-02-09T19:32:17.239Z,1612899137.239 [SpartonCompassCal:J.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-02-09T19:32:17.239Z,1612899137.239 [SpartonCompassCal:K.DepthEnvelope] Running Loop=1
2021-02-09T19:32:17.239Z,1612899137.239 [SpartonCompassCal:K.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-02-09T19:32:17.239Z,1612899137.239 [SpartonCompassCal:L.AltitudeEnvelope] Running Loop=1
2021-02-09T19:32:17.239Z,1612899137.239 [SpartonCompassCal:L.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-02-09T19:32:17.240Z,1612899137.240 [SpartonCompassCal:M.YoYo] Running Loop=1
2021-02-09T19:32:17.240Z,1612899137.240 [SpartonCompassCal:M.YoYo](DEBUG): Initialize YoYoComponent.
2021-02-09T19:32:17.240Z,1612899137.240 [SpartonCompassCal:C] Running Loop=1
2021-02-09T19:32:17.273Z,1612899137.273 [SpartonCompassCal:M.YoYo] Running Loop=1
2021-02-09T19:32:17.274Z,1612899137.274 [SpartonCompassCal:L.AltitudeEnvelope] Running Loop=1
2021-02-09T19:32:17.274Z,1612899137.274 [SpartonCompassCal:K.DepthEnvelope] Running Loop=1
2021-02-09T19:32:17.275Z,1612899137.275 [SpartonCompassCal:J.Buoyancy] Running Loop=1
2021-02-09T19:32:17.276Z,1612899137.276 [SpartonCompassCal:I.Pitch] Running Loop=1
2021-02-09T19:32:17.276Z,1612899137.276 [SpartonCompassCal:StandardEnvelopes] Running Loop=1
2021-02-09T19:32:17.276Z,1612899137.276 [SpartonCompassCal:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-02-09T19:32:17.285Z,1612899137.285 [SpartonCompassCal:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-02-09T19:32:17.285Z,1612899137.285 [SpartonCompassCal:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-02-09T19:32:17.286Z,1612899137.286 [SpartonCompassCal:C] Stopped
2021-02-09T19:32:17.288Z,1612899137.288 [SpartonCompassCal:E] Running Loop=1
2021-02-09T19:32:17.288Z,1612899137.288 [SpartonCompassCal:Science] Running Loop=1
2021-02-09T19:32:17.289Z,1612899137.289 [SpartonCompassCal:Science:PeakDetectFDOM] Stopped
2021-02-09T19:32:17.289Z,1612899137.289 [SpartonCompassCal:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize SpartonCompassCal:Science:PeakDetectFDOM
2021-02-09T19:32:17.289Z,1612899137.289 [SpartonCompassCal:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2021-02-09T19:32:17.289Z,1612899137.289 [SpartonCompassCal:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-02-09T19:32:17.289Z,1612899137.289 [SpartonCompassCal:Science:PeakDetectOil] Stopped
2021-02-09T19:32:17.289Z,1612899137.289 [SpartonCompassCal:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize SpartonCompassCal:Science:PeakDetectOil
2021-02-09T19:32:17.289Z,1612899137.289 [SpartonCompassCal:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2021-02-09T19:32:17.289Z,1612899137.289 [SpartonCompassCal:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-02-09T19:32:17.289Z,1612899137.289 [SpartonCompassCal:Science:PeakDetectNO3] Stopped
2021-02-09T19:32:17.290Z,1612899137.290 [SpartonCompassCal:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize SpartonCompassCal:Science:PeakDetectNO3
2021-02-09T19:32:17.290Z,1612899137.290 [SpartonCompassCal:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2021-02-09T19:32:17.290Z,1612899137.290 [SpartonCompassCal:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-02-09T19:32:17.290Z,1612899137.290 [SpartonCompassCal:Science:HighestChlPeakReport] Stopped
2021-02-09T19:32:17.290Z,1612899137.290 [SpartonCompassCal:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize SpartonCompassCal:Science:HighestChlPeakReport
2021-02-09T19:32:17.290Z,1612899137.290 [SpartonCompassCal:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2021-02-09T19:32:17.290Z,1612899137.290 [SpartonCompassCal:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-02-09T19:32:17.290Z,1612899137.290 [SpartonCompassCal:Science:PeakDetectChl] Stopped
2021-02-09T19:32:17.290Z,1612899137.290 [SpartonCompassCal:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize SpartonCompassCal:Science:PeakDetectChl
2021-02-09T19:32:17.290Z,1612899137.290 [SpartonCompassCal:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2021-02-09T19:32:17.290Z,1612899137.290 [SpartonCompassCal:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-02-09T19:32:17.290Z,1612899137.290 [SpartonCompassCal:Science:OceanCurrent:A.] Running Loop=1
2021-02-09T19:32:17.291Z,1612899137.291 [SpartonCompassCal:Science:Read_Oil] Stopped
2021-02-09T19:32:17.291Z,1612899137.291 [SpartonCompassCal:Science:F] Stopped
2021-02-09T19:32:17.291Z,1612899137.291 [SpartonCompassCal:Science:E] Running Loop=1
2021-02-09T19:32:17.291Z,1612899137.291 [SpartonCompassCal:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2021-02-09T19:32:17.292Z,1612899137.292 [SpartonCompassCal:Science:D] Stopped
2021-02-09T19:32:17.292Z,1612899137.292 [SpartonCompassCal:Science:C] Running Loop=1
2021-02-09T19:32:17.292Z,1612899137.292 [SpartonCompassCal:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2021-02-09T19:32:17.310Z,1612899137.310 [SpartonCompassCal:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2021-02-09T19:32:17.310Z,1612899137.310 [SpartonCompassCal:Science:B] Running Loop=1
2021-02-09T19:32:17.310Z,1612899137.310 [SpartonCompassCal:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2021-02-09T19:32:17.311Z,1612899137.311 [SpartonCompassCal:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2021-02-09T19:32:17.311Z,1612899137.311 [SpartonCompassCal:Science:A] Stopped
2021-02-09T19:32:17.510Z,1612899137.510 [WetLabsBB2FL](INFO): Powering up
2021-02-09T19:32:17.610Z,1612899137.610 [SpartonCompassCal:E] Stopped
2021-02-09T19:32:17.610Z,1612899137.610 [SpartonCompassCal:F] Running Loop=1
2021-02-09T19:32:18.039Z,1612899138.039 [SpartonCompassCal:F] Stopped
2021-02-09T19:32:18.039Z,1612899138.039 [SpartonCompassCal:G] Running Loop=1
2021-02-09T19:32:18.412Z,1612899138.412 [SpartonCompassCal:G] Stopped
2021-02-09T19:32:18.412Z,1612899138.412 [SpartonCompassCal:StartingMission] Running Loop=1
2021-02-09T19:32:18.412Z,1612899138.412 [SpartonCompassCal:StartingMission](DEBUG): Aggregate::initialize SpartonCompassCal:StartingMission
2021-02-09T19:32:18.823Z,1612899138.823 [SpartonCompassCal:L.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2021-02-09T19:32:18.833Z,1612899138.833 [SpartonCompassCal:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2021-02-09T19:32:18.834Z,1612899138.834 [SpartonCompassCal:NeedComms] Running Loop=1
2021-02-09T19:32:18.834Z,1612899138.834 [SpartonCompassCal:NeedComms](DEBUG): Aggregate::initialize SpartonCompassCal:NeedComms
2021-02-09T19:32:18.834Z,1612899138.834 [SpartonCompassCal:NeedComms:B.GoToSurface] Running Loop=1
2021-02-09T19:32:18.834Z,1612899138.834 [SpartonCompassCal:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-02-09T19:32:18.834Z,1612899138.834 [SpartonCompassCal:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2021-02-09T19:32:18.835Z,1612899138.835 [SpartonCompassCal:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2021-02-09T19:32:18.835Z,1612899138.835 [SpartonCompassCal:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2021-02-09T19:32:18.835Z,1612899138.835 [SpartonCompassCal:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-02-09T19:32:18.836Z,1612899138.836 [SpartonCompassCal:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-02-09T19:32:18.836Z,1612899138.836 [SpartonCompassCal:NeedComms:A] Running Loop=1
2021-02-09T19:32:18.845Z,1612899138.845 [SpartonCompassCal:NeedComms:A](INFO): last time_fix was: 1612898959.000000 second since 1970/01/01T00:00:00Z 
2021-02-09T19:32:18.845Z,1612899138.845 [SpartonCompassCal:NeedComms:A] Stopped
2021-02-09T19:32:19.223Z,1612899139.223 [SpartonCompassCal:NeedComms:C] Running Loop=1
2021-02-09T19:32:19.644Z,1612899139.644 [SpartonCompassCal:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2021-02-09T19:32:20.890Z,1612899140.890 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2021-02-09T19:32:21.200Z,1612899141.200 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,193220.00,A,3648.80744,N,12149.94396,W,0.330,292.22,090221,,,D*7B
2021-02-09T19:32:21.202Z,1612899141.202 [NAL9602](INFO): GPS fix at 20210209T193220: (36.813457, -121.832399)
2021-02-09T19:32:21.227Z,1612899141.227 [SpartonCompassCal:NeedComms:C] Stopped
2021-02-09T19:32:21.227Z,1612899141.227 [SpartonCompassCal:NeedComms:D] Running Loop=1
2021-02-09T19:32:21.649Z,1612899141.649 [SpartonCompassCal:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2021-02-09T19:32:32.860Z,1612899152.860 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20210209T192544/Courier0007.lzma
2021-02-09T19:32:33.863Z,1612899153.863 [DataOverHttps](INFO): Moved sent file to Logs/20210209T192544/Courier0007.lzma.bak
2021-02-09T19:32:33.863Z,1612899153.863 [DataOverHttps](INFO): SBD MOMSN=15203592
2021-02-09T19:32:53.909Z,1612899173.909 [DataOverHttps](INFO): Sending 851 bytes from file Logs/20210209T192544/Express0001.lzma
2021-02-09T19:32:54.910Z,1612899174.910 [DataOverHttps](INFO): Moved sent file to Logs/20210209T192544/Express0001.lzma.bak
2021-02-09T19:32:54.911Z,1612899174.911 [DataOverHttps](INFO): SBD MOMSN=15203596
2021-02-09T19:33:04.903Z,1612899184.903 [NAL9602](INFO): SBD MO Status=2, MOMSN=24413, MT Status=2, MTMSN=0
2021-02-09T19:33:04.904Z,1612899184.904 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2021-02-09T19:33:11.476Z,1612899191.476 [DataOverHttps](INFO): Sending 103 bytes from file Logs/20210209T192544/Express0005.lzma
2021-02-09T19:33:12.479Z,1612899192.479 [DataOverHttps](INFO): Moved sent file to Logs/20210209T192544/Express0005.lzma.bak
2021-02-09T19:33:12.479Z,1612899192.479 [DataOverHttps](INFO): SBD MOMSN=15203615
2021-02-09T19:33:15.008Z,1612899195.008 [NAL9602](INFO): SBD MO Status=0, MOMSN=24413, MT Status=0, MTMSN=0
2021-02-09T19:33:15.008Z,1612899195.008 [NAL9602](INFO): No messages in MT queue
2021-02-09T19:33:19.853Z,1612899199.853 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-02-09T19:33:19.857Z,1612899199.857 [BPC1](INFO): Received data from all battery sticks.
2021-02-09T19:33:28.852Z,1612899208.852 [DataOverHttps](INFO): Sending 249 bytes from file Logs/20210209T192544/Express0008.lzma
2021-02-09T19:33:29.854Z,1612899209.854 [DataOverHttps](INFO): Moved sent file to Logs/20210209T192544/Express0008.lzma.bak
2021-02-09T19:33:29.855Z,1612899209.855 [DataOverHttps](INFO): SBD MOMSN=15203620
2021-02-09T19:33:31.179Z,1612899211.179 [SpartonCompassCal:NeedComms:D] Stopped
2021-02-09T19:33:31.179Z,1612899211.179 [SpartonCompassCal:NeedComms:E] Running Loop=1
2021-02-09T19:33:31.583Z,1612899211.583 [SpartonCompassCal:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2021-02-09T19:33:33.192Z,1612899213.192 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,193332.00,A,3648.80747,N,12149.94684,W,0.330,292.22,090221,,,D*7C
2021-02-09T19:33:33.194Z,1612899213.194 [NAL9602](INFO): GPS fix at 20210209T193332: (36.813458, -121.832447)
2021-02-09T19:33:33.256Z,1612899213.256 [SpartonCompassCal:NeedComms:E] Stopped
2021-02-09T19:33:33.261Z,1612899213.261 [SpartonCompassCal:NeedComms](INFO): Completed SpartonCompassCal:NeedComms
2021-02-09T19:33:33.261Z,1612899213.261 [SpartonCompassCal:NeedComms] Stopped
2021-02-09T19:33:33.261Z,1612899213.261 [SpartonCompassCal:NeedComms](DEBUG): Aggregate::uninitialize SpartonCompassCal:NeedComms
2021-02-09T19:33:33.261Z,1612899213.261 [SpartonCompassCal:NeedComms:B.GoToSurface] Stopped
2021-02-09T19:33:33.261Z,1612899213.261 [SpartonCompassCal:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-02-09T19:33:33.618Z,1612899213.618 [SpartonCompassCal:StartingMission](INFO): Completed SpartonCompassCal:StartingMission
2021-02-09T19:33:33.619Z,1612899213.619 [SpartonCompassCal:StartingMission] Stopped
2021-02-09T19:33:33.619Z,1612899213.619 [SpartonCompassCal:StartingMission](DEBUG): Aggregate::uninitialize SpartonCompassCal:StartingMission
2021-02-09T19:33:33.619Z,1612899213.619 [SpartonCompassCal:AdaptCal] Running Loop=1
2021-02-09T19:33:33.619Z,1612899213.619 [SpartonCompassCal:AdaptCal](DEBUG): Aggregate::initialize SpartonCompassCal:AdaptCal
2021-02-09T19:33:33.619Z,1612899213.619 [SpartonCompassCal:AdaptCal:C.CalibrateAHRS_M2] Running Loop=1
2021-02-09T19:33:33.619Z,1612899213.619 [SpartonCompassCal:AdaptCal:C.CalibrateAHRS_M2](INFO): Initialize CalibrateSpartonComponent.
2021-02-09T19:33:33.620Z,1612899213.620 [SpartonCompassCal:AdaptCal:WaitForCalibrationInit] Running Loop=1
2021-02-09T19:33:34.049Z,1612899214.049 [SpartonCompassCal:AdaptCal:C.CalibrateAHRS_M2] Running Loop=1
2021-02-09T19:33:34.049Z,1612899214.049 [SpartonCompassCal:AdaptCal:C.CalibrateAHRS_M2](INFO): Initialize CalibrateSpartonComponent.
2021-02-09T19:33:34.050Z,1612899214.050 [SpartonCompassCal:AdaptCal:WaitForCalibrationInit](DEBUG): Initialize ReadDataComponent to sense AHRS_M2.number_of_calbration_points
2021-02-09T19:33:34.450Z,1612899214.450 [SpartonCompassCal:AdaptCal:C.CalibrateAHRS_M2](INFO): Initialize CalibrateSpartonComponent.
2021-02-09T19:33:34.871Z,1612899214.871 [SpartonCompassCal:AdaptCal:C.CalibrateAHRS_M2](INFO): Initialize CalibrateSpartonComponent.
2021-02-09T19:33:35.282Z,1612899215.282 [SpartonCompassCal:AdaptCal:C.CalibrateAHRS_M2](INFO): Initialize CalibrateSpartonComponent.
2021-02-09T19:33:35.644Z,1612899215.644 [SpartonCompassCal:AdaptCal:WaitForCalibrationInit] Stopped
2021-02-09T19:33:35.653Z,1612899215.653 [SpartonCompassCal:AdaptCal:AcquireCalibrationPoints] Running Loop=1
2021-02-09T19:33:35.653Z,1612899215.653 [SpartonCompassCal:AdaptCal:AcquireCalibrationPoints](DEBUG): Aggregate::initialize SpartonCompassCal:AdaptCal:AcquireCalibrationPoints
2021-02-09T19:33:35.653Z,1612899215.653 [SpartonCompassCal:AdaptCal:AcquireCalibrationPoints:A.Point] Running Loop=1
2021-02-09T19:33:35.653Z,1612899215.653 [SpartonCompassCal:AdaptCal:AcquireCalibrationPoints:A.Point](DEBUG): Initialize.
2021-02-09T19:33:35.653Z,1612899215.653 [SpartonCompassCal:AdaptCal:AcquireCalibrationPoints:B.SetSpeed] Running Loop=1
2021-02-09T19:33:35.653Z,1612899215.653 [SpartonCompassCal:AdaptCal:AcquireCalibrationPoints:B.SetSpeed](DEBUG): Initialize.
2021-02-09T19:33:36.034Z,1612899216.034 [SpartonCompassCal:AdaptCal:AcquireCalibrationPoints:B.SetSpeed] Running Loop=1
2021-02-09T19:33:36.034Z,1612899216.034 [SpartonCompassCal:AdaptCal:Ac