2019-07-16T05:38:46.772Z,1563255526.772 [Supervisor](DEBUG): Initializing supervisor.
2019-07-16T05:38:46.775Z,1563255526.775 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2019-07-16T05:38:46.776Z,1563255526.776 [SyncHandler](INFO): Protected caller Thread ID is 2785
2019-07-16T05:38:46.776Z,1563255526.776 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2019-07-16T05:38:46.777Z,1563255526.777 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2019-07-16T05:38:46.777Z,1563255526.777 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 2786
2019-07-16T05:38:46.780Z,1563255526.780 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2019-07-16T05:38:46.792Z,1563255526.792 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2019-07-16T05:38:46.793Z,1563255526.793 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2019-07-16T05:38:46.793Z,1563255526.793 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 2787
2019-07-16T05:38:46.794Z,1563255526.794 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2019-07-16T05:38:46.795Z,1563255526.795 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2019-07-16T05:38:46.796Z,1563255526.796 [logger ThreadHandler](INFO): Protected caller Thread ID is 2788
2019-07-16T05:38:46.798Z,1563255526.798 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2019-07-16T05:38:46.798Z,1563255526.798 [Supervisor](INFO): Looking for Config files in directory: Config/
2019-07-16T05:38:46.800Z,1563255526.800 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2019-07-16T05:38:46.999Z,1563255526.999 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2019-07-16T05:38:46.000Z,1563255527.000 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2019-07-16T05:38:47.081Z,1563255527.081 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2019-07-16T05:38:47.511Z,1563255527.511 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2019-07-16T05:38:47.512Z,1563255527.512 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2019-07-16T05:38:47.843Z,1563255527.843 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2019-07-16T05:38:47.844Z,1563255527.844 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2019-07-16T05:38:47.940Z,1563255527.940 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2019-07-16T05:38:47.941Z,1563255527.941 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2019-07-16T05:38:48.237Z,1563255528.237 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2019-07-16T05:38:48.238Z,1563255528.238 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2019-07-16T05:38:48.433Z,1563255528.433 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2019-07-16T05:38:48.434Z,1563255528.434 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2019-07-16T05:38:48.880Z,1563255528.880 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2019-07-16T05:38:48.881Z,1563255528.881 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2019-07-16T05:38:48.986Z,1563255528.986 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2019-07-16T05:38:48.986Z,1563255528.986 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2019-07-16T05:38:49.087Z,1563255529.087 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2019-07-16T05:38:49.088Z,1563255529.088 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2019-07-16T05:38:49.683Z,1563255529.683 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2019-07-16T05:38:49.684Z,1563255529.684 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2019-07-16T05:38:50.069Z,1563255530.069 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2019-07-16T05:38:50.069Z,1563255530.069 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2019-07-16T05:38:50.266Z,1563255530.266 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2019-07-16T05:38:50.266Z,1563255530.266 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2019-07-16T05:38:50.412Z,1563255530.412 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2019-07-16T05:38:50.412Z,1563255530.412 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2019-07-16T05:38:50.605Z,1563255530.605 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2019-07-16T05:38:50.607Z,1563255530.607 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2019-07-16T05:38:50.608Z,1563255530.608 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Navigation.cfg
2019-07-16T05:38:50.739Z,1563255530.739 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2019-07-16T05:38:50.826Z,1563255530.826 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2019-07-16T05:38:50.930Z,1563255530.930 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/secure.cfg
2019-07-16T05:38:51.015Z,1563255531.015 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2019-07-16T05:38:51.111Z,1563255531.111 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2019-07-16T05:38:51.214Z,1563255531.214 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2019-07-16T05:38:51.522Z,1563255531.522 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/workSite.cfg
2019-07-16T05:38:51.696Z,1563255531.696 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2019-07-16T05:38:51.964Z,1563255531.964 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2019-07-16T05:38:52.331Z,1563255532.331 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2019-07-16T05:38:52.454Z,1563255532.454 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Battery.cfg
2019-07-16T05:38:52.682Z,1563255532.682 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2019-07-16T05:38:52.683Z,1563255532.683 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2019-07-16T05:38:52.701Z,1563255532.701 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2019-07-16T05:38:52.767Z,1563255532.767 [VerticalControl](DEBUG): Construct VerticalControl.
2019-07-16T05:38:52.876Z,1563255532.876 [VerticalControl] Loaded
2019-07-16T05:38:52.876Z,1563255532.876 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2019-07-16T05:38:52.877Z,1563255532.877 [HorizontalControl](DEBUG): Construct HorizontalControl.
2019-07-16T05:38:52.943Z,1563255532.943 [HorizontalControl] Loaded
2019-07-16T05:38:52.944Z,1563255532.944 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2019-07-16T05:38:52.944Z,1563255532.944 [SpeedControl](DEBUG): Construct SpeedControl.
2019-07-16T05:38:52.950Z,1563255532.950 [SpeedControl] Loaded
2019-07-16T05:38:52.950Z,1563255532.950 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2019-07-16T05:38:52.951Z,1563255532.951 [LoopControl](DEBUG): Construct LoopControl.
2019-07-16T05:38:52.951Z,1563255532.951 [LoopControl] Loaded
2019-07-16T05:38:52.952Z,1563255532.952 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2019-07-16T05:38:52.952Z,1563255532.952 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2019-07-16T05:38:52.953Z,1563255532.953 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2019-07-16T05:38:52.966Z,1563255532.966 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2019-07-16T05:38:52.967Z,1563255532.967 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2019-07-16T05:38:53.062Z,1563255533.062 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2019-07-16T05:38:53.062Z,1563255533.062 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2019-07-16T05:38:53.162Z,1563255533.162 [BuoyancyServo] Loaded
2019-07-16T05:38:53.163Z,1563255533.163 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2019-07-16T05:38:53.174Z,1563255533.174 [ElevatorServo] Loaded
2019-07-16T05:38:53.174Z,1563255533.174 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2019-07-16T05:38:53.185Z,1563255533.185 [MassServo] Loaded
2019-07-16T05:38:53.185Z,1563255533.185 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2019-07-16T05:38:53.196Z,1563255533.196 [RudderServo] Loaded
2019-07-16T05:38:53.196Z,1563255533.196 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2019-07-16T05:38:53.207Z,1563255533.207 [ThrusterServo] Loaded
2019-07-16T05:38:53.207Z,1563255533.207 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2019-07-16T05:38:53.207Z,1563255533.207 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2019-07-16T05:38:53.208Z,1563255533.208 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2019-07-16T05:38:53.313Z,1563255533.313 [DeadReckonUsingMultipleVelocitySources] Loaded
2019-07-16T05:38:53.314Z,1563255533.314 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2019-07-16T05:38:53.334Z,1563255533.334 [NavChart] Loaded
2019-07-16T05:38:53.334Z,1563255533.334 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2019-07-16T05:38:53.338Z,1563255533.338 [UniversalFixResidualReporter] Loaded
2019-07-16T05:38:53.338Z,1563255533.338 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2019-07-16T05:38:53.339Z,1563255533.339 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2019-07-16T05:38:53.339Z,1563255533.339 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2019-07-16T05:38:53.412Z,1563255533.412 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2019-07-16T05:38:53.413Z,1563255533.413 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2019-07-16T05:38:53.744Z,1563255533.744 [DataOverHttps] Loaded
2019-07-16T05:38:53.744Z,1563255533.744 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2019-07-16T05:38:53.745Z,1563255533.745 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 4087D4E0
2019-07-16T05:38:53.745Z,1563255533.745 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 2871
2019-07-16T05:38:53.758Z,1563255533.758 [Depth_Keller] Loaded
2019-07-16T05:38:53.759Z,1563255533.759 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2019-07-16T05:38:53.763Z,1563255533.763 [DropWeight] Loaded
2019-07-16T05:38:53.764Z,1563255533.764 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2019-07-16T05:38:53.857Z,1563255533.857 [NAL9602] Loaded
2019-07-16T05:38:53.857Z,1563255533.857 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2019-07-16T05:38:53.873Z,1563255533.873 [Onboard] Loaded
2019-07-16T05:38:53.873Z,1563255533.873 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2019-07-16T05:38:53.876Z,1563255533.876 [Radio_Surface] Loaded
2019-07-16T05:38:53.876Z,1563255533.876 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2019-07-16T05:38:53.877Z,1563255533.877 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 408AD4E0
2019-07-16T05:38:53.878Z,1563255533.878 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 2872
2019-07-16T05:38:55.325Z,1563255535.325 [BPC1] Loaded
2019-07-16T05:38:55.325Z,1563255535.325 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2019-07-16T05:38:55.325Z,1563255535.325 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2019-07-16T05:38:55.326Z,1563255535.326 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2019-07-16T05:38:55.366Z,1563255535.366 [DepthRateCalculator] Loaded
2019-07-16T05:38:55.367Z,1563255535.367 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2019-07-16T05:38:55.372Z,1563255535.372 [PitchRateCalculator] Loaded
2019-07-16T05:38:55.372Z,1563255535.372 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2019-07-16T05:38:55.384Z,1563255535.384 [SpeedCalculator] Loaded
2019-07-16T05:38:55.384Z,1563255535.384 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2019-07-16T05:38:55.405Z,1563255535.405 [TempGradientCalculator] Loaded
2019-07-16T05:38:55.405Z,1563255535.405 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2019-07-16T05:38:55.410Z,1563255535.410 [YawRateCalculator] Loaded
2019-07-16T05:38:55.410Z,1563255535.410 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2019-07-16T05:38:55.564Z,1563255535.564 [ElevatorOffsetCalculator] Loaded
2019-07-16T05:38:55.565Z,1563255535.565 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2019-07-16T05:38:55.565Z,1563255535.565 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2019-07-16T05:38:55.566Z,1563255535.566 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2019-07-16T05:38:55.818Z,1563255535.818 [CTD_NeilBrown] Loaded
2019-07-16T05:38:55.819Z,1563255535.819 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2019-07-16T05:38:55.820Z,1563255535.820 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 409AF4E0
2019-07-16T05:38:55.820Z,1563255535.820 [CTD_NeilBrown ThreadHandler](INFO): Protected caller Thread ID is 2873
2019-07-16T05:38:55.850Z,1563255535.850 [ESPComponent] Loaded
2019-07-16T05:38:55.850Z,1563255535.850 [ComponentRegistry](DEBUG): SyncComponent "ESPComponent" handled in the control thread.
2019-07-16T05:38:55.864Z,1563255535.864 [PAR_Licor] Loaded
2019-07-16T05:38:55.864Z,1563255535.864 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2019-07-16T05:38:55.910Z,1563255535.910 [WetLabsBB2FL] Loaded
2019-07-16T05:38:55.910Z,1563255535.910 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2019-07-16T05:38:55.911Z,1563255535.911 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 409DF4E0
2019-07-16T05:38:55.912Z,1563255535.912 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 2874
2019-07-16T05:38:55.912Z,1563255535.912 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2019-07-16T05:38:55.913Z,1563255535.913 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2019-07-16T05:38:55.945Z,1563255535.945 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2019-07-16T05:38:55.946Z,1563255535.946 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2019-07-16T05:38:56.229Z,1563255536.229 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2019-07-16T05:38:56.229Z,1563255536.229 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2019-07-16T05:38:56.356Z,1563255536.356 [SBIT](DEBUG): Construct Startup Built In Test.
2019-07-16T05:38:56.367Z,1563255536.367 [SBIT] Loaded
2019-07-16T05:38:56.367Z,1563255536.367 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2019-07-16T05:38:56.368Z,1563255536.368 [IBIT](DEBUG): Construct Initiated Built In Test.
2019-07-16T05:38:56.379Z,1563255536.379 [IBIT] Loaded
2019-07-16T05:38:56.380Z,1563255536.380 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2019-07-16T05:38:56.383Z,1563255536.383 [CBIT](DEBUG): Construct Continuous Built In Test.
2019-07-16T05:38:56.517Z,1563255536.517 [CBIT] Loaded
2019-07-16T05:38:56.518Z,1563255536.518 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2019-07-16T05:38:56.518Z,1563255536.518 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2019-07-16T05:38:56.555Z,1563255536.555 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2019-07-16T05:38:56.556Z,1563255536.556 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2019-07-16T05:38:56.563Z,1563255536.563 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2019-07-16T05:38:56.600Z,1563255536.600 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40ADE4E0
2019-07-16T05:38:56.600Z,1563255536.600 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 2875
2019-07-16T05:38:56.605Z,1563255536.605 [Supervisor](INFO): Main Thread ID is 2784
2019-07-16T05:38:56.605Z,1563255536.605 [Supervisor](DEBUG): Running supervisor.
2019-07-16T05:38:56.606Z,1563255536.606 [CommandLine ThreadHandler](INFO): Handler Thread ID is 2876
2019-07-16T05:38:56.618Z,1563255536.618 [controlThread ThreadHandler](INFO): Handler Thread ID is 2877
2019-07-16T05:38:56.619Z,1563255536.619 [controlThread](DEBUG): Initializing ControlThread
2019-07-16T05:38:56.620Z,1563255536.620 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2019-07-16T05:38:56.621Z,1563255536.621 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2019-07-16T05:38:56.622Z,1563255536.622 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2019-07-16T05:38:56.622Z,1563255536.622 [LoopControl](DEBUG): Initialize LoopControlComponent.
2019-07-16T05:38:56.624Z,1563255536.624 [NavChart](DEBUG): Initialize NavChart Navigation.
2019-07-16T05:38:56.625Z,1563255536.625 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2019-07-16T05:38:56.629Z,1563255536.629 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2019-07-16T05:38:56.630Z,1563255536.630 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2019-07-16T05:38:56.630Z,1563255536.630 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2019-07-16T05:38:56.630Z,1563255536.630 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2019-07-16T05:38:56.632Z,1563255536.632 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2019-07-16T05:38:56.632Z,1563255536.632 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2019-07-16T05:38:56.635Z,1563255536.635 [SBIT](INFO): Initialize SBIT Component.
2019-07-16T05:38:56.636Z,1563255536.636 [SBIT](IMPORTANT): git: 2019-07-01-A-2-g669a6ec
2019-07-16T05:38:56.636Z,1563255536.636 [SBIT](INFO): git hash: 669a6ec6dd2fe7060967026140c6411a7626903d
2019-07-16T05:38:56.636Z,1563255536.636 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2019-07-16T05:38:56.637Z,1563255536.637 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #2 PREEMPT Thu Jan 11 20:13:48 PST 2018
Kernel Reported: #1 PREEMPT Tue Dec 18 21:19:28 PST 2018
2019-07-16T05:38:56.639Z,1563255536.639 [SBIT](INFO): Beginning SBIT in 29.000000 seconds.
2019-07-16T05:38:56.641Z,1563255536.641 [IBIT](INFO): Initialize IBIT Component.
2019-07-16T05:38:56.642Z,1563255536.642 [CBIT](DEBUG): Initialize CBIT Component.
2019-07-16T05:38:56.643Z,1563255536.643 [logger ThreadHandler](INFO): Handler Thread ID is 2878
2019-07-16T05:38:56.655Z,1563255536.655 [CBIT](DEBUG): Initialized mux pins.
2019-07-16T05:38:56.655Z,1563255536.655 [CBIT](DEBUG): Initializing the watchdog timer.
2019-07-16T05:38:56.664Z,1563255536.664 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 2879
2019-07-16T05:38:56.665Z,1563255536.665 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2019-07-16T05:38:56.675Z,1563255536.675 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 2880
2019-07-16T05:38:56.679Z,1563255536.679 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2019-07-16T05:38:56.679Z,1563255536.679 [CBIT](DEBUG): Initializing heartbeat.
2019-07-16T05:38:56.687Z,1563255536.687 [CTD_NeilBrown ThreadHandler](INFO): Handler Thread ID is 2881
2019-07-16T05:38:56.688Z,1563255536.688 [CTD_NeilBrown](INFO): Powering down
2019-07-16T05:38:56.712Z,1563255536.712 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 2882
2019-07-16T05:38:56.713Z,1563255536.713 [WetLabsBB2FL](INFO): Powering down
2019-07-16T05:38:56.744Z,1563255536.744 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 2883
2019-07-16T05:38:56.747Z,1563255536.747 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2019-07-16T05:38:56.747Z,1563255536.747 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2019-07-16T05:38:56.748Z,1563255536.748 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2019-07-16T05:38:56.748Z,1563255536.748 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2019-07-16T05:38:56.748Z,1563255536.748 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2019-07-16T05:38:56.748Z,1563255536.748 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2019-07-16T05:38:56.748Z,1563255536.748 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2019-07-16T05:38:56.748Z,1563255536.748 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2019-07-16T05:38:56.749Z,1563255536.749 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2019-07-16T05:38:56.749Z,1563255536.749 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2019-07-16T05:38:56.749Z,1563255536.749 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2019-07-16T05:38:56.749Z,1563255536.749 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2019-07-16T05:38:56.749Z,1563255536.749 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2019-07-16T05:38:56.750Z,1563255536.750 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2019-07-16T05:38:56.750Z,1563255536.750 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2019-07-16T05:38:56.750Z,1563255536.750 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2019-07-16T05:38:56.751Z,1563255536.751 [CBIT](DEBUG): Deactivating GF circuits.
2019-07-16T05:38:56.751Z,1563255536.751 [CBIT](DEBUG): Deactivating emergency mode.
2019-07-16T05:38:56.787Z,1563255536.787 [CBIT](DEBUG): Backplane powered.
2019-07-16T05:38:56.788Z,1563255536.788 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2019-07-16T05:38:56.799Z,1563255536.799 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2019-07-16T05:38:56.810Z,1563255536.810 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="Startup">

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

    <Aggregate Id="StartupSatComms">

        <Sequence/>

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

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

    </Aggregate>

</Mission>


2019-07-16T05:38:56.810Z,1563255536.810 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2019-07-16T05:38:56.881Z,1563255536.881 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2019-07-16T05:38:56.882Z,1563255536.882 [Default:A.Wait](DEBUG): Construct Wait.
2019-07-16T05:38:56.900Z,1563255536.900 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-07-16T05:38:56.930Z,1563255536.930 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2019-07-16T05:38:56.933Z,1563255536.933 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2019-07-16T05:38:56.947Z,1563255536.947 [Default:E.Execute](DEBUG): Construct Execute.
2019-07-16T05:38:56.950Z,1563255536.950 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
         xmlns="Tethys"
         xmlns:Units="Tethys/Units"
         xmlns:Guidance="Tethys/Guidance"
         xmlns:Universal="Tethys/Universal"
         xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                             Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                             Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                             Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
         Id="Default">

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

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

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

    <Aggregate Id="CheckIn">

        <Sequence Repeat="288"/>

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

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

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

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

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

    </Aggregate>

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

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

</Mission>


2019-07-16T05:38:56.967Z,1563255536.967 [controlThread](DEBUG): Component order: CycleStarter,Depth_Keller,DropWeight,NAL9602,Onboard,BPC1,ESPComponent,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2019-07-16T05:38:57.004Z,1563255537.004 [Depth_Keller](ERROR): Pressure reading out of range: 1831.023193 decibar
2019-07-16T05:38:57.079Z,1563255537.079 [Radio_Surface](INFO): Powering up
2019-07-16T05:38:57.177Z,1563255537.177 [DepthRateCalculator](ERROR): Depth measurement is not active
2019-07-16T05:38:57.216Z,1563255537.216 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2019-07-16T05:38:57.223Z,1563255537.223 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2019-07-16T05:38:57.224Z,1563255537.224 [ElevatorServo](DEBUG): Initializing EZServoServo.
2019-07-16T05:38:57.231Z,1563255537.231 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2019-07-16T05:38:57.232Z,1563255537.232 [MassServo](DEBUG): Initializing EZServoServo.
2019-07-16T05:38:57.239Z,1563255537.239 [MassServo](DEBUG): Initializing MassServo.
2019-07-16T05:38:57.240Z,1563255537.240 [RudderServo](DEBUG): Initializing EZServoServo.
2019-07-16T05:38:57.247Z,1563255537.247 [RudderServo](DEBUG): Initializing RudderServo.
2019-07-16T05:38:57.248Z,1563255537.248 [ThrusterServo](DEBUG): Initializing EZServoServo.
2019-07-16T05:38:57.255Z,1563255537.255 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2019-07-16T05:38:57.501Z,1563255537.501 [DropWeight](CRITICAL): DROP WEIGHT MISSING.

2019-07-16T05:38:57.501Z,1563255537.501 [DropWeight] Hardware Fault, FailCount= 1
2019-07-16T05:38:57.501Z,1563255537.501 [DropWeight](ERROR): Hardware Fault
2019-07-16T05:38:57.644Z,1563255537.644 [CommandLine](FAULT): Scheduling is paused
2019-07-16T05:38:57.644Z,1563255537.644 [CBIT](INFO): Critical error at 20190716T053857
2019-07-16T05:38:57.644Z,1563255537.644 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2019-07-16T05:38:57.647Z,1563255537.647 [CBIT](ERROR): Hardware Fault in component: DropWeight
2019-07-16T05:38:57.648Z,1563255537.648 [CBIT](CRITICAL): Hardware Fault in component: DropWeight
2019-07-16T05:38:58.175Z,1563255538.175 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2019-07-16T05:38:58.175Z,1563255538.175 [RudderServo](FAULT): Rudder failed to initialize
2019-07-16T05:38:58.175Z,1563255538.175 [RudderServo] Communications Fault, FailCount= 1
2019-07-16T05:38:58.175Z,1563255538.175 [RudderServo](ERROR): Communications Fault
2019-07-16T05:38:58.284Z,1563255538.284 [CBIT](INFO): Critical error at 20190716T053857
2019-07-16T05:38:58.287Z,1563255538.287 [CBIT](ERROR): Communications Fault in component: RudderServo
2019-07-16T05:38:58.460Z,1563255538.460 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2019-07-16T05:38:58.460Z,1563255538.460 [RudderServo](INFO): Powering down
2019-07-16T05:38:59.203Z,1563255539.203 [RudderServo](DEBUG): Initializing EZServoServo.
2019-07-16T05:38:59.324Z,1563255539.324 [RudderServo](DEBUG): Initializing RudderServo.
2019-07-16T05:38:59.328Z,1563255539.328 [CBIT](INFO): Clearing failed state for component RudderServo
2019-07-16T05:38:59.328Z,1563255539.328 [RudderServo] No Fault, FailCount= 1
2019-07-16T05:39:06.912Z,1563255546.912 [CBIT](CRITICAL): Environmental Failure. Press:14.704294 PSI. Humidity:33%. Temp:28 C. ABORTING MISSION
2019-07-16T05:39:07.326Z,1563255547.326 [CBIT](INFO): Critical error at 20190716T053906
2019-07-16T05:39:08.309Z,1563255548.309 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004481
2019-07-16T05:39:24.152Z,1563255564.152 [NAL9602](INFO): Powering up NAL9602
2019-07-16T05:39:26.261Z,1563255566.261 [SBIT](IMPORTANT): Beginning Startup BIT
2019-07-16T05:39:26.265Z,1563255566.265 [CBIT](IMPORTANT): Beginning ground fault scan
2019-07-16T05:39:35.188Z,1563255575.188 [NAL9602](INFO): NAL9602 initialized
2019-07-16T05:39:36.007Z,1563255576.007 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:39:37.304Z,1563255577.304 [CBIT](IMPORTANT): Ground fault detected
mA:
CHAN A0 (Batt): 0.007302
CHAN A1 (24V): -0.198967
CHAN A2 (12V): -0.002491
CHAN A3 (5V): -0.000988
CHAN B0 (3.3V): -0.000092
CHAN B1 (3.15aV): -0.000302
CHAN B2 (3.15bV): -0.000176
CHAN B3 (GND): 0.000438
OPEN: -0.000220
Full Scale Calc: 4.765 mA, -1.589 mA
2019-07-16T05:40:20.337Z,1563255620.337 [SBIT](IMPORTANT): SBIT PASSED
2019-07-16T05:40:20.387Z,1563255620.387 [CommandLine](IMPORTANT): got command configSet list
2019-07-16T05:40:20.388Z,1563255620.388 [CommandLine](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2019-07-16T05:40:20.389Z,1563255620.389 [CommandLine](IMPORTANT): AHRS_M2.loadAtStartup=0 bool;

2019-07-16T05:40:20.389Z,1563255620.389 [CommandLine](IMPORTANT): Aanderaa_O2.loadAtStartup=0 bool;

2019-07-16T05:40:20.389Z,1563255620.389 [CommandLine](IMPORTANT): BPC1.batteryMissingStickThreshold=0 count;

2019-07-16T05:40:20.389Z,1563255620.389 [CommandLine](IMPORTANT): BPC1.batterySamplingInterval=6 hour;

2019-07-16T05:40:20.389Z,1563255620.389 [CommandLine](IMPORTANT): CBIT.abortDepth=296 meter;

2019-07-16T05:40:20.389Z,1563255620.389 [CommandLine](IMPORTANT): CBIT.gf24Offset=172 microampere;

2019-07-16T05:40:20.389Z,1563255620.389 [CommandLine](IMPORTANT): CBIT.stopDepth=288 meter;

2019-07-16T05:40:20.389Z,1563255620.389 [CommandLine](IMPORTANT): CTD_Seabird.loadAtStartup=0 bool;

2019-07-16T05:40:20.389Z,1563255620.389 [CommandLine](IMPORTANT): DAT.ignoreElevationAngle=1 bool;

2019-07-16T05:40:20.389Z,1563255620.389 [CommandLine](IMPORTANT): DAT.loadAtStartup=0 bool;

2019-07-16T05:40:20.390Z,1563255620.390 [CommandLine](IMPORTANT): DVL_micro.loadAtStartup=0 bool;

2019-07-16T05:40:20.390Z,1563255620.390 [CommandLine](IMPORTANT): ESPComponent.loadAtStartup=1 bool;

2019-07-16T05:40:20.390Z,1563255620.390 [CommandLine](IMPORTANT): Express linearApproximation DAT.range 5.000000 meter;

2019-07-16T05:40:20.390Z,1563255620.390 [CommandLine](IMPORTANT): Express linearApproximation acoustic_contact_range 10.000000 meter;

2019-07-16T05:40:20.390Z,1563255620.390 [CommandLine](IMPORTANT): Express linearApproximation depth 5.000000 meter;

2019-07-16T05:40:20.390Z,1563255620.390 [CommandLine](IMPORTANT): Express linearApproximation latitude 0.005000 degree;

2019-07-16T05:40:20.390Z,1563255620.390 [CommandLine](IMPORTANT): Express linearApproximation longitude 0.005000 degree;

2019-07-16T05:40:20.390Z,1563255620.390 [CommandLine](IMPORTANT): NAL9602.fastGPSFix=1 bool;

2019-07-16T05:40:20.390Z,1563255620.390 [CommandLine](IMPORTANT): VerticalControl.buoyancyNeutral=274 cubic_centimeter;

2019-07-16T05:40:20.391Z,1563255620.391 [CommandLine](IMPORTANT): VerticalControl.massDefault=-2.3 millimeter;

2019-07-16T05:40:20.391Z,1563255620.391 [CommandLine](IMPORTANT): VerticalControl.massPositionLimitAft=-31 millimeter;

2019-07-16T05:40:20.391Z,1563255620.391 [CommandLine](IMPORTANT): VerticalControl.massPositionLimitFwd=30 millimeter;

2019-07-16T05:40:20.731Z,1563255620.731 [MissionManager](IMPORTANT): Started mission Startup
2019-07-16T05:40:20.732Z,1563255620.732 [Startup] Running Loop=1
2019-07-16T05:40:20.732Z,1563255620.732 [Startup](DEBUG): Aggregate::initialize Startup
2019-07-16T05:40:20.732Z,1563255620.732 [Startup:A.GoToSurface] Running Loop=1
2019-07-16T05:40:20.732Z,1563255620.732 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-07-16T05:40:20.733Z,1563255620.733 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-07-16T05:40:20.733Z,1563255620.733 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-07-16T05:40:20.733Z,1563255620.733 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-07-16T05:40:20.734Z,1563255620.734 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-07-16T05:40:20.734Z,1563255620.734 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-07-16T05:40:20.736Z,1563255620.736 [Startup:StartupSatComms] Running Loop=1
2019-07-16T05:40:20.736Z,1563255620.736 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2019-07-16T05:40:20.736Z,1563255620.736 [Startup:StartupSatComms:A] Running Loop=1
2019-07-16T05:40:21.133Z,1563255621.133 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2019-07-16T05:40:56.699Z,1563255656.699 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-16T05:40:56.699Z,1563255656.699 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2019-07-16T05:40:56.699Z,1563255656.699 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-16T05:40:56.750Z,1563255656.750 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-16T05:40:57.108Z,1563255657.108 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-16T05:40:57.108Z,1563255657.108 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2019-07-16T05:41:20.924Z,1563255680.924 [Startup:StartupSatComms:A](INFO): Timed out from 2019-07-16T05:40:20.7Z
2019-07-16T05:41:20.925Z,1563255680.925 [Startup:StartupSatComms:A] Stopped
2019-07-16T05:41:20.925Z,1563255680.925 [Startup:StartupSatComms:B] Running Loop=1
2019-07-16T05:41:21.333Z,1563255681.333 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-07-16T05:41:31.787Z,1563255691.787 [DataOverHttps](INFO): Sending 186 bytes from file Logs/20190713T190503/Courier0004.lzma
2019-07-16T05:41:32.593Z,1563255692.593 [DataOverHttps](INFO): Moved sent file to Logs/20190713T190503/Courier0004.lzma.bak
2019-07-16T05:41:32.593Z,1563255692.593 [DataOverHttps](INFO): SBD MOMSN=11446633
2019-07-16T05:41:42.963Z,1563255702.963 [DataOverHttps](INFO): Sending 211 bytes from file Logs/20190716T053846/Courier0000.lzma
2019-07-16T05:41:43.768Z,1563255703.768 [DataOverHttps](INFO): Moved sent file to Logs/20190716T053846/Courier0000.lzma.bak
2019-07-16T05:41:43.769Z,1563255703.769 [DataOverHttps](INFO): SBD MOMSN=11446635
2019-07-16T05:41:54.780Z,1563255714.780 [DataOverHttps](INFO): Sending 1258 bytes from file Logs/20190713T190503/Express0005.lzma
2019-07-16T05:41:55.584Z,1563255715.584 [DataOverHttps](INFO): Moved sent file to Logs/20190713T190503/Express0005.lzma.bak
2019-07-16T05:41:55.585Z,1563255715.585 [DataOverHttps](INFO): SBD MOMSN=11446641
2019-07-16T05:42:06.116Z,1563255726.116 [DataOverHttps](INFO): Sending 1135 bytes from file Logs/20190716T053846/Express0001.lzma
2019-07-16T05:42:06.920Z,1563255726.920 [DataOverHttps](INFO): Moved sent file to Logs/20190716T053846/Express0001.lzma.bak
2019-07-16T05:42:06.921Z,1563255726.921 [DataOverHttps](INFO): SBD MOMSN=11446682
2019-07-16T05:42:08.233Z,1563255728.233 [Startup:StartupSatComms:B] Stopped
2019-07-16T05:42:08.233Z,1563255728.233 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2019-07-16T05:42:08.233Z,1563255728.233 [Startup:StartupSatComms] Stopped
2019-07-16T05:42:08.233Z,1563255728.233 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2019-07-16T05:42:08.234Z,1563255728.234 [Startup](INFO): Completed Startup
2019-07-16T05:42:08.234Z,1563255728.234 [MissionManager](INFO): Startup is completed.
2019-07-16T05:42:08.234Z,1563255728.234 [MissionManager](INFO): Uninitializing Mission Startup
2019-07-16T05:42:08.234Z,1563255728.234 [Startup] Stopped
2019-07-16T05:42:08.234Z,1563255728.234 [Startup](DEBUG): Aggregate::uninitialize Startup
2019-07-16T05:42:08.234Z,1563255728.234 [Startup:A.GoToSurface] Stopped
2019-07-16T05:42:08.234Z,1563255728.234 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-07-16T05:42:08.608Z,1563255728.608 [MissionManager](IMPORTANT): Started mission Default
2019-07-16T05:42:08.608Z,1563255728.608 [Default] Running Loop=1
2019-07-16T05:42:08.608Z,1563255728.608 [Default](DEBUG): Aggregate::initialize Default
2019-07-16T05:42:08.608Z,1563255728.608 [Default:B.GoToSurface] Running Loop=1
2019-07-16T05:42:08.608Z,1563255728.608 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-07-16T05:42:08.609Z,1563255728.609 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-07-16T05:42:08.609Z,1563255728.609 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-07-16T05:42:08.609Z,1563255728.609 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-07-16T05:42:08.610Z,1563255728.610 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-07-16T05:42:08.610Z,1563255728.610 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-07-16T05:42:08.610Z,1563255728.610 [Default:A.Wait] Running Loop=1
2019-07-16T05:42:08.610Z,1563255728.610 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-07-16T05:42:21.937Z,1563255741.937 [Default:A.Wait](INFO): Done Waiting.
2019-07-16T05:42:21.937Z,1563255741.937 [Default:A.Wait] Stopped
2019-07-16T05:42:21.937Z,1563255741.937 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-07-16T05:42:22.345Z,1563255742.345 [Default:CheckIn] Running Loop=1
2019-07-16T05:42:22.345Z,1563255742.345 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-07-16T05:42:22.345Z,1563255742.345 [Default:CheckIn:Read_GPS] Running Loop=1
2019-07-16T05:42:22.741Z,1563255742.741 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-07-16T05:42:57.910Z,1563255777.910 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-16T05:42:57.910Z,1563255777.910 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2019-07-16T05:42:57.910Z,1563255777.910 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-16T05:42:57.920Z,1563255777.920 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-16T05:42:58.328Z,1563255778.328 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-16T05:42:58.328Z,1563255778.328 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2019-07-16T05:43:06.504Z,1563255786.504 [CommandLine](IMPORTANT): got command run ./Missions/kiss.xml
2019-07-16T05:43:06.504Z,1563255786.504 [MissionManager](INFO): Loading Mission: ./Missions/kiss.xml
2019-07-16T05:43:06.613Z,1563255786.613 [MissionManager](INFO): DefineArg sample_kiss.MissionTimeout = 4.000000 h
2019-07-16T05:43:06.616Z,1563255786.616 [MissionManager](INFO): DefineArg sample_kiss.NeedCommsTime = 240.000000 min
2019-07-16T05:43:06.653Z,1563255786.653 [MissionManager](INFO): DefineArg sample_kiss.Depth = 2.500000 m
2019-07-16T05:43:06.656Z,1563255786.656 [MissionManager](INFO): DefineArg sample_kiss.ESPCartridgeType_1 = -1.000000 count
2019-07-16T05:43:06.659Z,1563255786.659 [MissionManager](INFO): DefineArg sample_kiss.ESPCartridgeType_2 = -16.000000 count
2019-07-16T05:43:06.662Z,1563255786.662 [MissionManager](INFO): DefineArg sample_kiss.ESPCartridgeType_3 = nan count
2019-07-16T05:43:06.665Z,1563255786.665 [MissionManager](INFO): DefineArg sample_kiss.ESPCartridgeType_4 = nan count
2019-07-16T05:43:06.668Z,1563255786.668 [MissionManager](INFO): DefineArg sample_kiss.WaitBeforeSample = 3.000000 min
2019-07-16T05:43:06.671Z,1563255786.671 [MissionManager](INFO): DefineArg sample_kiss.ApproachDepthTimeout = 20.000000 min
2019-07-16T05:43:06.674Z,1563255786.674 [MissionManager](INFO): DefineArg sample_kiss.DepthDeadband = 0.000000 m
2019-07-16T05:43:06.676Z,1563255786.676 [MissionManager](INFO): DefineArg sample_kiss.Speed = 0.000000 m/s
2019-07-16T05:43:06.679Z,1563255786.679 [MissionManager](INFO): DefineArg sample_kiss.MaxDepth = 5.000000 m
2019-07-16T05:43:06.682Z,1563255786.682 [MissionManager](INFO): DefineArg sample_kiss.PitchLimit = 20.000000 arcdeg
2019-07-16T05:43:06.685Z,1563255786.685 [MissionManager](INFO): DefineArg sample_kiss.MinOffshore = 1.000000 km
2019-07-16T05:43:06.688Z,1563255786.688 [MissionManager](INFO): DefineOutput sample_kiss.StartFromSurface = 1 bool
2019-07-16T05:43:06.689Z,1563255786.689 [sample_kiss:A.AbortSample](DEBUG): Construct.
2019-07-16T05:43:06.690Z,1563255786.690 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2019-07-16T05:43:06.708Z,1563255786.708 [MissionManager](INFO): DefineArg sample_kiss:StandardEnvelopes.MinAltitude = 5.000000 m
2019-07-16T05:43:06.711Z,1563255786.711 [MissionManager](INFO): DefineArg sample_kiss:StandardEnvelopes.MaxDepth = 200.000000 m
2019-07-16T05:43:06.714Z,1563255786.714 [MissionManager](INFO): DefineArg sample_kiss:StandardEnvelopes.MinOffshore = 2000.000000 m
2019-07-16T05:43:06.715Z,1563255786.715 [sample_kiss:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-07-16T05:43:06.722Z,1563255786.722 [sample_kiss:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-07-16T05:43:06.790Z,1563255786.790 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2019-07-16T05:43:06.830Z,1563255786.830 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-07-16T05:43:06.934Z,1563255786.934 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.DiveInterval = 3.000000 h
2019-07-16T05:43:06.937Z,1563255786.937 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.WaitForPitchUp = 10.000000 min
2019-07-16T05:43:06.952Z,1563255786.952 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-07-16T05:43:06.955Z,1563255786.955 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.SurfaceDepthRate = nan m/s
2019-07-16T05:43:06.958Z,1563255786.958 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-07-16T05:43:06.961Z,1563255786.961 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.GPSTimeout = 7.000000 min
2019-07-16T05:43:06.984Z,1563255786.984 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.CommsTimeout = 30.000000 min
2019-07-16T05:43:06.990Z,1563255786.990 [sample_kiss:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-07-16T05:43:07.038Z,1563255787.038 [sample_kiss:I.Mass](DEBUG): Construct.
2019-07-16T05:43:07.043Z,1563255787.043 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2019-07-16T05:43:07.438Z,1563255787.438 [MissionManager](INFO): DefineArg sample_kiss:Science.SampleISUS = 0 bool
2019-07-16T05:43:07.441Z,1563255787.441 [MissionManager](INFO): DefineArg sample_kiss:Science.SampleISUSmaxPitch = 60.000000 arcdeg
2019-07-16T05:43:07.444Z,1563255787.444 [MissionManager](INFO): DefineArg sample_kiss:Science.SampleISUSminPitch = -60.000000 arcdeg
2019-07-16T05:43:07.447Z,1563255787.447 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakDetectChlActive = 0 bool
2019-07-16T05:43:07.449Z,1563255787.449 [MissionManager](INFO): DefineArg sample_kiss:Science.TimeWindowPeakReport = nan min
2019-07-16T05:43:07.452Z,1563255787.452 [MissionManager](INFO): DefineArg sample_kiss:Science.HighestChlPeakReportActive = 0 bool
2019-07-16T05:43:07.455Z,1563255787.455 [MissionManager](INFO): DefineArg sample_kiss:Science.PatchTracking = 0 bool
2019-07-16T05:43:07.498Z,1563255787.498 [MissionManager](INFO): DefineArg sample_kiss:Science.FilterWidthHorizontal = 3.000000 count
2019-07-16T05:43:07.501Z,1563255787.501 [MissionManager](INFO): DefineArg sample_kiss:Science.NumProfilesSlidingwindow = 100.000000 count
2019-07-16T05:43:07.504Z,1563255787.504 [MissionManager](INFO): DefineArg sample_kiss:Science.OffPeakFractionHorizontal = 80.000000 %
2019-07-16T05:43:07.506Z,1563255787.506 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakDetectNO3Active = 0 bool
2019-07-16T05:43:07.523Z,1563255787.523 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakDetectOilActive = 0 bool
2019-07-16T05:43:07.525Z,1563255787.525 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakDetectFDOMActive = 0 bool
2019-07-16T05:43:07.540Z,1563255787.540 [MissionManager](INFO): DefineArg sample_kiss:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2019-07-16T05:43:07.544Z,1563255787.544 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledAanderaaO2 = 0.000000 bool
2019-07-16T05:43:07.547Z,1563255787.547 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledNeilBrown = 1.000000 bool
2019-07-16T05:43:07.550Z,1563255787.550 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledSeabird = 0.000000 bool
2019-07-16T05:43:07.604Z,1563255787.604 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledTurbulence_NPS = 0.000000 bool
2019-07-16T05:43:07.615Z,1563255787.615 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledWetLabsBB2FL = 1.000000 bool
2019-07-16T05:43:07.619Z,1563255787.619 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledWetLabsSeaOWL_UV_A = 0.000000 bool
2019-07-16T05:43:07.643Z,1563255787.643 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledWetLabsUBAT = 0.000000 bool
2019-07-16T05:43:07.647Z,1563255787.647 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledISUS = 0.000000 bool
2019-07-16T05:43:07.662Z,1563255787.662 [MissionManager](INFO): DefineArg sample_kiss:Science.LowPassWindowLength = 20.000000 count
2019-07-16T05:43:07.665Z,1563255787.665 [MissionManager](INFO): DefineArg sample_kiss:Science.MedianFilterLen = 5.000000 count
2019-07-16T05:43:07.676Z,1563255787.676 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakChlShallowBound = nan m
2019-07-16T05:43:07.683Z,1563255787.683 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakChlDeepBound = nan m
2019-07-16T05:43:07.687Z,1563255787.687 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakShallowBound = nan m
2019-07-16T05:43:07.694Z,1563255787.694 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakDeepBound = nan m
2019-07-16T05:43:07.702Z,1563255787.702 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakChl = 0.000000 ug/l
2019-07-16T05:43:07.706Z,1563255787.706 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakChlDepth = 0.000000 m
2019-07-16T05:43:07.718Z,1563255787.718 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakChlTemperature = 0.000000 degC
2019-07-16T05:43:07.721Z,1563255787.721 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakChlLatitude = nan arcdeg
2019-07-16T05:43:07.732Z,1563255787.732 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakChlLongitude = nan arcdeg
2019-07-16T05:43:07.740Z,1563255787.740 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakNO3 = 0.000000 umol/l
2019-07-16T05:43:07.743Z,1563255787.743 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakNO3Depth = 0.000000 m
2019-07-16T05:43:07.750Z,1563255787.750 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakNO3Latitude = nan arcdeg
2019-07-16T05:43:07.758Z,1563255787.758 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakNO3Longitude = nan arcdeg
2019-07-16T05:43:07.763Z,1563255787.763 [MissionManager](INFO): DefineOutput sample_kiss:Science.PatchChl = 0.000000 m
2019-07-16T05:43:07.774Z,1563255787.774 [MissionManager](INFO): DefineOutput sample_kiss:Science.PatchChlDepth = 0.000000 m
2019-07-16T05:43:07.781Z,1563255787.781 [MissionManager](INFO): DefineOutput sample_kiss:Science.PatchChlLatitude = nan arcdeg
2019-07-16T05:43:07.785Z,1563255787.785 [MissionManager](INFO): DefineOutput sample_kiss:Science.PatchChlLongitude = nan arcdeg
2019-07-16T05:43:07.796Z,1563255787.796 [MissionManager](INFO): DefineOutput sample_kiss:Science.PatchChlDistance = nan m
2019-07-16T05:43:07.807Z,1563255787.807 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakOil = 0.000000 kg/m3
2019-07-16T05:43:07.810Z,1563255787.810 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakOilDepth = 0.000000 m
2019-07-16T05:43:07.813Z,1563255787.813 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakOilLatitude = nan arcdeg
2019-07-16T05:43:07.829Z,1563255787.829 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakOilLongitude = nan arcdeg
2019-07-16T05:43:07.832Z,1563255787.832 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakFDOM = 0.000000 ppb
2019-07-16T05:43:07.835Z,1563255787.835 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakFDOMDepth = 0.000000 m
2019-07-16T05:43:07.838Z,1563255787.838 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakFDOMLatitude = nan arcdeg
2019-07-16T05:43:07.841Z,1563255787.841 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakFDOMLongitude = nan arcdeg
2019-07-16T05:43:07.858Z,1563255787.858 [MissionManager](INFO): DefineOutput sample_kiss:Science.PatchFDOMDistance = nan m
2019-07-16T05:43:07.896Z,1563255787.896 [sample_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-16T05:43:07.915Z,1563255787.915 [sample_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2019-07-16T05:43:07.978Z,1563255787.978 [sample_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-16T05:43:08.044Z,1563255788.044 [sample_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-16T05:43:08.065Z,1563255788.065 [sample_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-16T05:43:08.098Z,1563255788.098 [sample_kiss:InitialDive:B.Buoyancy](DEBUG): Construct Buoyancy.
2019-07-16T05:43:08.110Z,1563255788.110 [sample_kiss:InitialDive:C.SetSpeed](DEBUG): Construct.
2019-07-16T05:43:08.113Z,1563255788.113 [sample_kiss:InitialDive:D.Point](DEBUG): Construct.
2019-07-16T05:43:08.145Z,1563255788.145 [sample_kiss:InitialDive:E.Pitch](DEBUG): Construct.
2019-07-16T05:43:08.156Z,1563255788.156 [sample_kiss:InitialDive:E.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-07-16T05:43:08.182Z,1563255788.182 [sample_kiss:TargetDepth:B.SetSpeed](DEBUG): Construct.
2019-07-16T05:43:08.185Z,1563255788.185 [sample_kiss:TargetDepth:C.Pitch](DEBUG): Construct.
2019-07-16T05:43:08.203Z,1563255788.203 [sample_kiss:TargetDepth:Spinout:A.Buoyancy](DEBUG): Construct Buoyancy.
2019-07-16T05:43:08.207Z,1563255788.207 [sample_kiss:TargetDepth:Spinout:B.Point](DEBUG): Construct.
2019-07-16T05:43:08.236Z,1563255788.236 [MissionManager](INFO): Inserting Stack: Missions/Insert/SampleAtDepth.xml
2019-07-16T05:43:08.434Z,1563255788.434 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.TargetDepth = 5.000000 m
2019-07-16T05:43:08.442Z,1563255788.442 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.SettleTime = 10.000000 s
2019-07-16T05:43:08.465Z,1563255788.465 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.MaxWaitNotReachingDepth = 3.000000 h
2019-07-16T05:43:08.468Z,1563255788.468 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.RotateOnly = 0.000000 bool
2019-07-16T05:43:08.475Z,1563255788.475 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.UseCANONSampler = 0.000000 bool
2019-07-16T05:43:08.479Z,1563255788.479 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.UseESP = 1.000000 bool
2019-07-16T05:43:08.482Z,1563255788.482 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.ESPCartridgeType = nan count
2019-07-16T05:43:08.501Z,1563255788.501 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.CANONSamplerTriggerTimeout = 1.000000 min
2019-07-16T05:43:08.504Z,1563255788.504 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.CANONSamplerTimeout = 6.000000 min
2019-07-16T05:43:08.508Z,1563255788.508 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.BuoyancyNeutral = 273.999991 cc
2019-07-16T05:43:08.520Z,1563255788.520 [sample_kiss:TargetDepth:GrabSamples:SampleAtDepth:ApproachDepth:B.Pitch](DEBUG): Construct.
2019-07-16T05:43:08.540Z,1563255788.540 [sample_kiss:TargetDepth:GrabSamples:SampleAtDepth:ApproachDepth:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-07-16T05:43:08.543Z,1563255788.543 [sample_kiss:TargetDepth:GrabSamples:SampleAtDepth:SampleWrapper:A.Pitch](DEBUG): Construct.
2019-07-16T05:43:08.563Z,1563255788.563 [sample_kiss:TargetDepth:GrabSamples:SampleAtDepth:SampleWrapper:C.Wait](DEBUG): Construct Wait.
2019-07-16T05:43:08.572Z,1563255788.572 [sample_kiss:TargetDepth:GrabSamples:SampleAtDepth:SampleWrapper:SampleCANONSampler:TriggerCANONSampler:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-07-16T05:43:08.600Z,1563255788.600 [sample_kiss:TargetDepth:GrabSamples:SampleAtDepth:SampleWrapper:SampleCANONSampler:E:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-07-16T05:43:08.733Z,1563255788.733 [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: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="sample_kiss">

    <Description>
        This mission takes ESP sampls at the designated depth.
    </Description>
    
    <DefineArg Name="MissionTimeout"><Description>
        Maximum duration of mission
    </Description><Units:hour/><Value>4</Value></DefineArg>

    <DefineArg Name="NeedCommsTime"><Description>
        How often to surface for communications
    </Description><Units:minute/><Value>240</Value></DefineArg>

    <DefineArg Name="Depth"><Description>
        Depth held during drift mode
    </Description><Units:meter/><Value>2.5</Value></DefineArg>

    <DefineArg Name="ESPCartridgeType_1"><Description>
        Specifies ESP cartridge type code for sample# 1. Set to NaN to skip this sample.
    </Description><Units:count/><Value>-1</Value></DefineArg>
    
    <DefineArg Name="ESPCartridgeType_2"><Description>
        Specifies ESP cartridge type code for sample# 2. Set to NaN to skip this sample.
    </Description><Units:count/><Value>-16</Value></DefineArg>
    
    <DefineArg Name="ESPCartridgeType_3"><Description>
        Specifies ESP cartridge type code for sample# 3. Set to NaN to skip this sample.
    </Description><Units:count/><Value>NaN</Value></DefineArg>
    
    <DefineArg Name="ESPCartridgeType_4"><Description>
        Specifies ESP cartridge type code for sample# 4. Set to NaN to skip this sample.
    </Description><Units:count/><Value>NaN</Value></DefineArg>
    
    <DefineArg Name="WaitBeforeSample"><Description>
        How long to wait between samples. This starts *before* the first sample
        to exercise the SettleTime setting in the insert aggregate.
    </Description><Units:minute/><Value>3</Value></DefineArg>
    
    <DefineArg Name="ApproachDepthTimeout"><Description>
        Maximum time duration for the vehicle to reach the approach depth
    </Description><Units:minute/><Value>20</Value></DefineArg>

    <DefineArg Name="DepthDeadband"><Description>
        How much vertical drift from the specified depth is allowed while sampling.
    </Description><Units:meter/><Value>0.00</Value></DefineArg>

    <DefineArg Name="Speed"><Description>
        Vehicle transit speed
    </Description><Units:meter_per_second/><Value>0</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum allowable depth during the mission
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="PitchLimit"><Description>
        Max vehicle pitch (+/-) when decending from the surface
    </Description><Units:degree/><Value>20</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Description>
        Minimum distance from the shoreline to maintain
    </Description><Units:kilometer/><Value>1</Value></DefineArg>

    <DefineOutput Name="StartFromSurface"><Description>
        Mission variable (don't change). The mission sets this to true after surface comms are done.
    </Description><True/></DefineOutput>
    

    <!-- Mission timeout -->

    <Timeout Duration="MissionTimeout"/>

    <!-- Safety nets and surfacing behaviors -->
    
    <Trigger:AbortSample>
        <Parallel/>
    </Trigger:AbortSample>

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

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

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


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

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

    <Assign><Sequence/><Arg Name="NeedComms:WaitForPitchUp"/><Units:minute/><Value>0</Value></Assign>

    <Aggregate Id="SurfaceComms">

        <When>
            <Called/>
            <Or><Elapsed><Universal:time_fix/></Elapsed><Gt><Arg Name="NeedCommsTime"/></Gt></Or>
        </When>

        <Call RefId="NeedComms"/>

        <Assign><Sequence/><Arg Name="StartFromSurface"/><True/></Assign>

    </Aggregate>

    <!-- Set default mass position -->

    <Guidance:Mass>
        <Parallel/>
        <Setting><Guidance:Mass.position/><Control:VerticalControl.massDefault/></Setting>
    </Guidance:Mass>

    <!-- Start mission sequence -->

    <Call Id="StartingMission" RefId="SurfaceComms"/>
    
    <Insert Filename="Insert/Science.xml"></Insert>

    <Aggregate Id="InitialDive">

        <Description>
            Descend from the surface to approach depth using the thruster. Limit pitch.
        </Description>

        <When>
            <Arg Name="StartFromSurface"/>
        </When>

        <Assign><Parallel/><Control:VerticalControl.pitchLimit/><Arg Name="PitchLimit"/></Assign>

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

        <Guidance:SetSpeed>
            <Parallel/>
            <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>1.0</Value></Setting>
        </Guidance:SetSpeed>
        
        <Guidance:Point>
            <Setting><Guidance:Point.rudderAngle/><Units:degree/><Value>13</Value></Setting>
        </Guidance:Point>

        <Guidance:Pitch>
            <Sequence/>
            <Timeout Duration="ApproachDepthTimeout">
                <Syslog Severity="Important">Timed out while trying to reach approach depth at current depth of <Universal:depth/><Units:meter/>.</Syslog>
                <Guidance:Execute>
                    <Sequence/>
                    <Setting><Guidance:Execute.command/><String>stop</String></Setting>
                </Guidance:Execute>
            </Timeout>
            <Setting><Guidance:Pitch.depth/><Arg Name="Depth"/></Setting>
        </Guidance:Pitch>

        <Assign><Sequence/><Arg Name="StartFromSurface"/><False/></Assign>

    </Aggregate>

    <Aggregate Id="TargetDepth">

        <Description>
            Maintain target depth and acquire ESP samples.
        </Description>

        <Sequence/>

        <Assign><Parallel/><Control:VerticalControl.depthDeadband/><Arg Name="DepthDeadband"/></Assign>
        
        <Guidance:SetSpeed>
            <Parallel/>
            <Setting><Guidance:SetSpeed.speed/><Arg Name="Speed"/></Setting>
        </Guidance:SetSpeed>
        
        <Guidance:Pitch>
            <Parallel/>
            <Setting><Guidance:Pitch.depth/><Arg Name="Depth"/></Setting>
        </Guidance:Pitch>
        
        <Aggregate Id="Spinout">
            
            <While>
                <Arg Name="Speed"/><Gt><Units:meter_per_second/><Value>0.0</Value></Gt>
            </While>
            
            <Guidance:Buoyancy>
                <Parallel/>
                <Setting><Guidance:Buoyancy.position/><Control:VerticalControl.buoyancyNeutral/></Setting>
            </Guidance:Buoyancy>
            
            <Guidance:Point>
                <Setting><Guidance:Point.rudderAngle/><Units:degree/><Value>13</Value></Setting>
            </Guidance:Point>
            
        </Aggregate>
        
        <Aggregate Id="GrabSamples">
            
            <Sequence/>
            
            <Insert Filename="Insert/SampleAtDepth.xml"/>
            
            <Assign><Sequence/><Arg Name="SampleAtDepth:TargetDepth"/><Arg Name="Depth"/></Assign>
            
            <Assign><Sequence/><Arg Name="SampleAtDepth:SettleTime"/><Arg Name="WaitBeforeSample"/></Assign>
            
            <Aggregate Id="Sample1">
                <Break>
                    <IsNaN><Arg Name="ESPCartridgeType_1"/></IsNaN>
                </Break>
                
                <Assign><Sequence/><Arg Name="SampleAtDepth:ESPCartridgeType"/><Arg Name="ESPCartridgeType_1"/></Assign>
                
                <Call Id="sampling" RefId="SampleAtDepth"/>
            </Aggregate>

            
            <Aggregate Id="Sample2">
                <Break>
                    <IsNaN><Arg Name="ESPCartridgeType_2"/></IsNaN>
                </Break>
                
                <Assign><Sequence/><Arg Name="SampleAtDepth:ESPCartridgeType"/><Arg Name="ESPCartridgeType_2"/></Assign>
                
                <Call Id="sampling" RefId="SampleAtDepth"/>
            </Aggregate>

            
            <Aggregate Id="Sample3">
                <Break>
                    <IsNaN><Arg Name="ESPCartridgeType_3"/></IsNaN>
                </Break>

                <Assign><Sequence/><Arg Name="SampleAtDepth:ESPCartridgeType"/><Arg Name="ESPCartridgeType_3"/></Assign>
                
                <Call Id="sampling" RefId="SampleAtDepth"/>
            </Aggregate>

            
            <Aggregate Id="Sample4">
                <Break>
                    <IsNaN><Arg Name="ESPCartridgeType_4"/></IsNaN>
                </Break>

                <Assign><Sequence/><Arg Name="SampleAtDepth:ESPCartridgeType"/><Arg Name="ESPCartridgeType_4"/></Assign>

                <Call Id="sampling" RefId="SampleAtDepth"/>
            </Aggregate>

        </Aggregate>

    </Aggregate>

</Mission>


2019-07-16T05:43:08.736Z,1563255788.736 [CommandLine](IMPORTANT): Running ./Missions/kiss.xml
2019-07-16T05:43:08.834Z,1563255788.834 [Default] Stopped
2019-07-16T05:43:08.834Z,1563255788.834 [Default](DEBUG): Aggregate::uninitialize Default
2019-07-16T05:43:08.834Z,1563255788.834 [Default:B.GoToSurface] Stopped
2019-07-16T05:43:08.834Z,1563255788.834 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-07-16T05:43:08.834Z,1563255788.834 [Default:CheckIn] Stopped
2019-07-16T05:43:08.834Z,1563255788.834 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-07-16T05:43:08.835Z,1563255788.835 [Default:CheckIn:Read_GPS] Stopped
2019-07-16T05:43:08.835Z,1563255788.835 [MissionManager](IMPORTANT): Started mission sample_kiss
2019-07-16T05:43:08.839Z,1563255788.839 [sample_kiss] Running Loop=1
2019-07-16T05:43:08.840Z,1563255788.840 [sample_kiss](DEBUG): Aggregate::initialize sample_kiss
2019-07-16T05:43:08.840Z,1563255788.840 [sample_kiss:A.AbortSample] Running Loop=1
2019-07-16T05:43:08.840Z,1563255788.840 [sample_kiss:A.AbortSample](INFO): Initializing AbortSample.
2019-07-16T05:43:08.840Z,1563255788.840 [sample_kiss:StandardEnvelopes] Running Loop=1
2019-07-16T05:43:08.840Z,1563255788.840 [sample_kiss:StandardEnvelopes](DEBUG): Aggregate::initialize sample_kiss:StandardEnvelopes
2019-07-16T05:43:08.840Z,1563255788.840 [sample_kiss:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-07-16T05:43:08.840Z,1563255788.840 [sample_kiss:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-07-16T05:43:08.841Z,1563255788.841 [sample_kiss:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-07-16T05:43:08.841Z,1563255788.841 [sample_kiss:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-07-16T05:43:08.841Z,1563255788.841 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-07-16T05:43:08.841Z,1563255788.841 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2019-07-16T05:43:08.841Z,1563255788.841 [sample_kiss:I.Mass] Running Loop=1
2019-07-16T05:43:08.841Z,1563255788.841 [sample_kiss:I.Mass](DEBUG): Initialize.
2019-07-16T05:43:08.841Z,1563255788.841 [sample_kiss:Science] Running Loop=1
2019-07-16T05:43:08.841Z,1563255788.841 [sample_kiss:Science](DEBUG): Aggregate::initialize sample_kiss:Science
2019-07-16T05:43:08.842Z,1563255788.842 [sample_kiss:Science:A] Running Loop=1
2019-07-16T05:43:08.842Z,1563255788.842 [sample_kiss:Science:B] Running Loop=1
2019-07-16T05:43:08.842Z,1563255788.842 [sample_kiss:Science:C] Running Loop=1
2019-07-16T05:43:08.842Z,1563255788.842 [sample_kiss:Science:D] Running Loop=1
2019-07-16T05:43:08.842Z,1563255788.842 [sample_kiss:Science:E] Running Loop=1
2019-07-16T05:43:08.842Z,1563255788.842 [sample_kiss:Science:F] Running Loop=1
2019-07-16T05:43:08.842Z,1563255788.842 [sample_kiss:Science:G] Running Loop=1
2019-07-16T05:43:08.842Z,1563255788.842 [sample_kiss:Science:H] Running Loop=1
2019-07-16T05:43:08.842Z,1563255788.842 [sample_kiss:Science:Read_Oil] Running Loop=1
2019-07-16T05:43:08.842Z,1563255788.842 [sample_kiss:Science:PeakDetectChl] Running Loop=1
2019-07-16T05:43:08.843Z,1563255788.843 [sample_kiss:Science:PeakDetectChl](DEBUG): Aggregate::initialize sample_kiss:Science:PeakDetectChl
2019-07-16T05:43:08.848Z,1563255788.848 [sample_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2019-07-16T05:43:08.848Z,1563255788.848 [sample_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-16T05:43:08.850Z,1563255788.850 [sample_kiss:Science:HighestChlPeakReport] Running Loop=1
2019-07-16T05:43:08.850Z,1563255788.850 [sample_kiss:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize sample_kiss:Science:HighestChlPeakReport
2019-07-16T05:43:08.859Z,1563255788.859 [sample_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2019-07-16T05:43:08.859Z,1563255788.859 [sample_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2019-07-16T05:43:08.860Z,1563255788.860 [sample_kiss:Science:PeakDetectNO3] Running Loop=1
2019-07-16T05:43:08.860Z,1563255788.860 [sample_kiss:Science:PeakDetectNO3](DEBUG): Aggregate::initialize sample_kiss:Science:PeakDetectNO3
2019-07-16T05:43:08.860Z,1563255788.860 [sample_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2019-07-16T05:43:08.860Z,1563255788.860 [sample_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-16T05:43:08.865Z,1563255788.865 [sample_kiss:Science:PeakDetectOil] Running Loop=1
2019-07-16T05:43:08.865Z,1563255788.865 [sample_kiss:Science:PeakDetectOil](DEBUG): Aggregate::initialize sample_kiss:Science:PeakDetectOil
2019-07-16T05:43:08.865Z,1563255788.865 [sample_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2019-07-16T05:43:08.865Z,1563255788.865 [sample_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-16T05:43:08.867Z,1563255788.867 [sample_kiss:Science:PeakDetectFDOM] Running Loop=1
2019-07-16T05:43:08.867Z,1563255788.867 [sample_kiss:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize sample_kiss:Science:PeakDetectFDOM
2019-07-16T05:43:08.867Z,1563255788.867 [sample_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2019-07-16T05:43:08.868Z,1563255788.868 [sample_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-16T05:43:08.869Z,1563255788.869 [sample_kiss:C] Running Loop=1
2019-07-16T05:43:08.870Z,1563255788.870 [sample_kiss:InitialDive] Running Loop=1
2019-07-16T05:43:08.870Z,1563255788.870 [sample_kiss:InitialDive](DEBUG): Aggregate::initialize sample_kiss:InitialDive
2019-07-16T05:43:08.870Z,1563255788.870 [sample_kiss:InitialDive:A] Running Loop=1
2019-07-16T05:43:08.870Z,1563255788.870 [sample_kiss:InitialDive:B.Buoyancy] Running Loop=1
2019-07-16T05:43:08.870Z,1563255788.870 [sample_kiss:InitialDive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-07-16T05:43:08.871Z,1563255788.871 [sample_kiss:InitialDive:C.SetSpeed] Running Loop=1
2019-07-16T05:43:08.871Z,1563255788.871 [sample_kiss:InitialDive:C.SetSpeed](DEBUG): Initialize.
2019-07-16T05:43:08.871Z,1563255788.871 [sample_kiss:InitialDive:D.Point] Running Loop=1
2019-07-16T05:43:08.875Z,1563255788.875 [sample_kiss:InitialDive:D.Point](DEBUG): Initialize.
2019-07-16T05:43:08.875Z,1563255788.875 [sample_kiss:InitialDive:E.Pitch] Running Loop=1
2019-07-16T05:43:08.875Z,1563255788.875 [sample_kiss:InitialDive:E.Pitch](DEBUG): Initialize.
2019-07-16T05:43:08.876Z,1563255788.876 [sample_kiss:InitialDive:D.Point] Running Loop=1
2019-07-16T05:43:08.877Z,1563255788.877 [sample_kiss:InitialDive:C.SetSpeed] Running Loop=1
2019-07-16T05:43:08.877Z,1563255788.877 [sample_kiss:InitialDive:B.Buoyancy] Running Loop=1
2019-07-16T05:43:08.877Z,1563255788.877 [sample_kiss:InitialDive:A] Running Loop=1
2019-07-16T05:43:08.877Z,1563255788.877 [sample_kiss:Science] Running Loop=1
2019-07-16T05:43:08.878Z,1563255788.878 [sample_kiss:Science:PeakDetectFDOM] Stopped
2019-07-16T05:43:08.878Z,1563255788.878 [sample_kiss:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize sample_kiss:Science:PeakDetectFDOM
2019-07-16T05:43:08.879Z,1563255788.879 [sample_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2019-07-16T05:43:08.879Z,1563255788.879 [sample_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-16T05:43:08.879Z,1563255788.879 [sample_kiss:Science:PeakDetectOil] Stopped
2019-07-16T05:43:08.883Z,1563255788.883 [sample_kiss:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize sample_kiss:Science:PeakDetectOil
2019-07-16T05:43:08.883Z,1563255788.883 [sample_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2019-07-16T05:43:08.883Z,1563255788.883 [sample_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-16T05:43:08.883Z,1563255788.883 [sample_kiss:Science:PeakDetectNO3] Stopped
2019-07-16T05:43:08.883Z,1563255788.883 [sample_kiss:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize sample_kiss:Science:PeakDetectNO3
2019-07-16T05:43:08.883Z,1563255788.883 [sample_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2019-07-16T05:43:08.884Z,1563255788.884 [sample_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-16T05:43:08.884Z,1563255788.884 [sample_kiss:Science:HighestChlPeakReport] Stopped
2019-07-16T05:43:08.884Z,1563255788.884 [sample_kiss:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize sample_kiss:Science:HighestChlPeakReport
2019-07-16T05:43:08.884Z,1563255788.884 [sample_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2019-07-16T05:43:08.884Z,1563255788.884 [sample_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2019-07-16T05:43:08.884Z,1563255788.884 [sample_kiss:Science:PeakDetectChl] Stopped
2019-07-16T05:43:08.884Z,1563255788.884 [sample_kiss:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize sample_kiss:Science:PeakDetectChl
2019-07-16T05:43:08.884Z,1563255788.884 [sample_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2019-07-16T05:43:08.884Z,1563255788.884 [sample_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-16T05:43:08.884Z,1563255788.884 [sample_kiss:Science:Read_Oil] Stopped
2019-07-16T05:43:08.884Z,1563255788.884 [sample_kiss:Science:H] Stopped
2019-07-16T05:43:08.884Z,1563255788.884 [sample_kiss:Science:G] Running Loop=1
2019-07-16T05:43:08.885Z,1563255788.885 [sample_kiss:Science:G](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2019-07-16T05:43:08.885Z,1563255788.885 [sample_kiss:Science:F] Stopped
2019-07-16T05:43:08.885Z,1563255788.885 [sample_kiss:Science:E] Stopped
2019-07-16T05:43:08.885Z,1563255788.885 [sample_kiss:Science:D] Stopped
2019-07-16T05:43:08.885Z,1563255788.885 [sample_kiss:Science:C] Running Loop=1
2019-07-16T05:43:08.886Z,1563255788.886 [sample_kiss:Science:C](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2019-07-16T05:43:08.887Z,1563255788.887 [sample_kiss:Science:C](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2019-07-16T05:43:08.895Z,1563255788.895 [sample_kiss:Science:B] Stopped
2019-07-16T05:43:08.895Z,1563255788.895 [sample_kiss:Science:A] Stopped
2019-07-16T05:43:08.895Z,1563255788.895 [sample_kiss:I.Mass] Running Loop=1
2019-07-16T05:43:08.896Z,1563255788.896 [sample_kiss:SurfaceComms] Running Loop=1
2019-07-16T05:43:08.896Z,1563255788.896 [sample_kiss:SurfaceComms](DEBUG): Aggregate::initialize sample_kiss:SurfaceComms
2019-07-16T05:43:08.896Z,1563255788.896 [sample_kiss:SurfaceComms:A] Running Loop=1
2019-07-16T05:43:08.896Z,1563255788.896 [sample_kiss:SurfaceComms:A](DEBUG): Aggregate::initialize sample_kiss:SurfaceComms:A
2019-07-16T05:43:08.896Z,1563255788.896 [sample_kiss:NeedComms] Running Loop=1
2019-07-16T05:43:08.896Z,1563255788.896 [sample_kiss:NeedComms](DEBUG): Aggregate::initialize sample_kiss:NeedComms
2019-07-16T05:43:08.897Z,1563255788.897 [sample_kiss:NeedComms:B.GoToSurface] Running Loop=1
2019-07-16T05:43:08.897Z,1563255788.897 [sample_kiss:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-07-16T05:43:08.897Z,1563255788.897 [sample_kiss:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2019-07-16T05:43:08.897Z,1563255788.897 [sample_kiss:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2019-07-16T05:43:08.898Z,1563255788.898 [sample_kiss:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2019-07-16T05:43:08.898Z,1563255788.898 [sample_kiss:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-07-16T05:43:08.898Z,1563255788.898 [sample_kiss:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-07-16T05:43:08.903Z,1563255788.903 [sample_kiss:NeedComms:A] Running Loop=1
2019-07-16T05:43:08.904Z,1563255788.904 [sample_kiss:NeedComms:A](ERROR): data element is not active.
2019-07-16T05:43:08.904Z,1563255788.904 [sample_kiss:NeedComms:A](INFO): last time_fix was: nan second since 1970/01/01T00:00:00Z 
2019-07-16T05:43:08.904Z,1563255788.904 [sample_kiss:NeedComms:A] Stopped
2019-07-16T05:43:08.905Z,1563255788.905 [sample_kiss:C] Stopped
2019-07-16T05:43:08.905Z,1563255788.905 [sample_kiss:D] Running Loop=1
2019-07-16T05:43:08.905Z,1563255788.905 [sample_kiss:StandardEnvelopes] Running Loop=1
2019-07-16T05:43:08.905Z,1563255788.905 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-07-16T05:43:08.905Z,1563255788.905 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:08.905Z,1563255788.905 [sample_kiss:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-07-16T05:43:08.906Z,1563255788.906 [sample_kiss:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-07-16T05:43:08.906Z,1563255788.906 [sample_kiss:A.AbortSample] Running Loop=1
2019-07-16T05:43:09.051Z,1563255789.051 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2019-07-16T05:43:09.053Z,1563255789.053 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2019-07-16T05:43:09.222Z,1563255789.222 [sample_kiss:NeedComms:C] Running Loop=1
2019-07-16T05:43:09.222Z,1563255789.222 [sample_kiss:D] Stopped
2019-07-16T05:43:09.222Z,1563255789.222 [sample_kiss:F] Running Loop=1
2019-07-16T05:43:09.223Z,1563255789.223 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:09.259Z,1563255789.259 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-16T05:43:09.260Z,1563255789.260 [WetLabsBB2FL](INFO): Powering up
2019-07-16T05:43:09.652Z,1563255789.652 [sample_kiss:F] Stopped
2019-07-16T05:43:09.653Z,1563255789.653 [sample_kiss:G] Running Loop=1
2019-07-16T05:43:09.653Z,1563255789.653 [sample_kiss:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-07-16T05:43:09.654Z,1563255789.654 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:10.018Z,1563255790.018 [sample_kiss:G] Stopped
2019-07-16T05:43:10.018Z,1563255790.018 [sample_kiss:StartingMission] Running Loop=1
2019-07-16T05:43:10.018Z,1563255790.018 [sample_kiss:StartingMission](DEBUG): Aggregate::initialize sample_kiss:StartingMission
2019-07-16T05:43:10.027Z,1563255790.027 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:10.425Z,1563255790.425 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:10.426Z,1563255790.426 [sample_kiss:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2019-07-16T05:43:10.482Z,1563255790.482 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.118600 psu
2019-07-16T05:43:10.749Z,1563255790.749 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:10.751Z,1563255790.751 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.048800 psu
2019-07-16T05:43:10.755Z,1563255790.755 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:10.885Z,1563255790.885 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:10.953Z,1563255790.953 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.064800 psu
2019-07-16T05:43:10.957Z,1563255790.957 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:11.157Z,1563255791.157 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.014700 psu
2019-07-16T05:43:11.161Z,1563255791.161 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:11.248Z,1563255791.248 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:11.361Z,1563255791.361 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.037900 psu
2019-07-16T05:43:11.365Z,1563255791.365 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:11.565Z,1563255791.565 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.068900 psu
2019-07-16T05:43:11.569Z,1563255791.569 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:11.663Z,1563255791.663 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:11.770Z,1563255791.770 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.049200 psu
2019-07-16T05:43:11.774Z,1563255791.774 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:11.973Z,1563255791.973 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.100500 psu
2019-07-16T05:43:11.977Z,1563255791.977 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:12.142Z,1563255792.142 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:12.178Z,1563255792.178 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.047900 psu
2019-07-16T05:43:12.182Z,1563255792.182 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:12.381Z,1563255792.381 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.078800 psu
2019-07-16T05:43:12.385Z,1563255792.385 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:12.468Z,1563255792.468 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:12.585Z,1563255792.585 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.063000 psu
2019-07-16T05:43:12.589Z,1563255792.589 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:12.789Z,1563255792.789 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.053400 psu
2019-07-16T05:43:12.793Z,1563255792.793 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:12.965Z,1563255792.965 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:12.993Z,1563255792.993 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.067100 psu
2019-07-16T05:43:12.997Z,1563255792.997 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:13.197Z,1563255793.197 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.054100 psu
2019-07-16T05:43:13.201Z,1563255793.201 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:13.312Z,1563255793.312 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:13.401Z,1563255793.401 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.088500 psu
2019-07-16T05:43:13.405Z,1563255793.405 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:13.605Z,1563255793.605 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.092000 psu
2019-07-16T05:43:13.609Z,1563255793.609 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:13.680Z,1563255793.680 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:13.809Z,1563255793.809 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.062000 psu
2019-07-16T05:43:13.814Z,1563255793.814 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:14.013Z,1563255794.013 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.090900 psu
2019-07-16T05:43:14.017Z,1563255794.017 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:14.098Z,1563255794.098 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:14.220Z,1563255794.220 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.088100 psu
2019-07-16T05:43:14.224Z,1563255794.224 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:14.421Z,1563255794.421 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.064600 psu
2019-07-16T05:43:14.429Z,1563255794.429 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:14.457Z,1563255794.457 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:14.543Z,1563255794.543 [WetLabsBB2FL] Communications Fault, FailCount= 1
2019-07-16T05:43:14.543Z,1563255794.543 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-16T05:43:14.625Z,1563255794.625 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.073400 psu
2019-07-16T05:43:14.629Z,1563255794.629 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:14.848Z,1563255794.848 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.075700 psu
2019-07-16T05:43:14.862Z,1563255794.862 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:14.906Z,1563255794.906 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:14.919Z,1563255794.919 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-16T05:43:15.039Z,1563255795.039 [WetLabsBB2FL](INFO): Powering down
2019-07-16T05:43:15.043Z,1563255795.043 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.041900 psu
2019-07-16T05:43:15.047Z,1563255795.047 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:15.246Z,1563255795.246 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.065800 psu
2019-07-16T05:43:15.250Z,1563255795.250 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:15.307Z,1563255795.307 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:15.449Z,1563255795.449 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.065200 psu
2019-07-16T05:43:15.452Z,1563255795.452 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:15.654Z,1563255795.654 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.054100 psu
2019-07-16T05:43:15.657Z,1563255795.657 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:15.691Z,1563255795.691 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:15.857Z,1563255795.857 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.093600 psu
2019-07-16T05:43:15.861Z,1563255795.861 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:16.061Z,1563255796.061 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.064700 psu
2019-07-16T05:43:16.065Z,1563255796.065 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:16.099Z,1563255796.099 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:16.144Z,1563255796.144 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-16T05:43:16.144Z,1563255796.144 [WetLabsBB2FL] No Fault, FailCount= 1
2019-07-16T05:43:16.252Z,1563255796.252 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-16T05:43:16.252Z,1563255796.252 [WetLabsBB2FL](INFO): Powering up
2019-07-16T05:43:16.265Z,1563255796.265 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.068200 psu
2019-07-16T05:43:16.269Z,1563255796.269 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:16.469Z,1563255796.469 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.065000 psu
2019-07-16T05:43:16.472Z,1563255796.472 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:16.487Z,1563255796.487 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:16.673Z,1563255796.673 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.064000 psu
2019-07-16T05:43:16.677Z,1563255796.677 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:16.877Z,1563255796.877 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.056800 psu
2019-07-16T05:43:16.880Z,1563255796.880 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:16.899Z,1563255796.899 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:17.081Z,1563255797.081 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.077900 psu
2019-07-16T05:43:17.084Z,1563255797.084 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:17.328Z,1563255797.328 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:17.489Z,1563255797.489 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.031200 psu
2019-07-16T05:43:17.493Z,1563255797.493 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:17.693Z,1563255797.693 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.041500 psu
2019-07-16T05:43:17.696Z,1563255797.696 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:17.720Z,1563255797.720 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:17.897Z,1563255797.897 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.079900 psu
2019-07-16T05:43:17.900Z,1563255797.900 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:18.101Z,1563255798.101 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.090500 psu
2019-07-16T05:43:18.104Z,1563255798.104 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:18.147Z,1563255798.147 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:18.305Z,1563255798.305 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.065200 psu
2019-07-16T05:43:18.309Z,1563255798.309 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:18.509Z,1563255798.509 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.091400 psu
2019-07-16T05:43:18.512Z,1563255798.512 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:18.565Z,1563255798.565 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:18.713Z,1563255798.713 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.093900 psu
2019-07-16T05:43:18.717Z,1563255798.717 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:18.917Z,1563255798.917 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.091800 psu
2019-07-16T05:43:18.920Z,1563255798.920 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:18.963Z,1563255798.963 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:19.121Z,1563255799.121 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.037700 psu
2019-07-16T05:43:19.125Z,1563255799.125 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:19.320Z,1563255799.320 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:19.325Z,1563255799.325 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.106200 psu
2019-07-16T05:43:19.329Z,1563255799.329 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:19.529Z,1563255799.529 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.085100 psu
2019-07-16T05:43:19.532Z,1563255799.532 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:19.715Z,1563255799.715 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:19.733Z,1563255799.733 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.050000 psu
2019-07-16T05:43:19.736Z,1563255799.736 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:19.937Z,1563255799.937 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.058500 psu
2019-07-16T05:43:19.941Z,1563255799.941 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:20.112Z,1563255800.112 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:20.141Z,1563255800.141 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.029500 psu
2019-07-16T05:43:20.145Z,1563255800.145 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:20.345Z,1563255800.345 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.086100 psu
2019-07-16T05:43:20.348Z,1563255800.348 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:20.549Z,1563255800.549 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.035700 psu
2019-07-16T05:43:20.553Z,1563255800.553 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:20.610Z,1563255800.610 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:20.753Z,1563255800.753 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.097200 psu
2019-07-16T05:43:20.757Z,1563255800.757 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:20.922Z,1563255800.922 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:20.957Z,1563255800.957 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.072800 psu
2019-07-16T05:43:20.961Z,1563255800.961 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:21.161Z,1563255801.161 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.067600 psu
2019-07-16T05:43:21.164Z,1563255801.164 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:21.343Z,1563255801.343 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:21.365Z,1563255801.365 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.078200 psu
2019-07-16T05:43:21.368Z,1563255801.368 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:21.563Z,1563255801.563 [WetLabsBB2FL] Communications Fault, FailCount= 2
2019-07-16T05:43:21.563Z,1563255801.563 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-16T05:43:21.569Z,1563255801.569 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.078900 psu
2019-07-16T05:43:21.573Z,1563255801.573 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:21.737Z,1563255801.737 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:21.754Z,1563255801.754 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-16T05:43:21.773Z,1563255801.773 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.091600 psu
2019-07-16T05:43:21.777Z,1563255801.777 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:21.977Z,1563255801.977 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.056400 psu
2019-07-16T05:43:21.980Z,1563255801.980 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:22.067Z,1563255802.067 [WetLabsBB2FL](INFO): Powering down
2019-07-16T05:43:22.140Z,1563255802.140 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:22.181Z,1563255802.181 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.089700 psu
2019-07-16T05:43:22.185Z,1563255802.185 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:22.385Z,1563255802.385 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.091500 psu
2019-07-16T05:43:22.389Z,1563255802.389 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:22.545Z,1563255802.545 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:22.589Z,1563255802.589 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.051600 psu
2019-07-16T05:43:22.593Z,1563255802.593 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:22.793Z,1563255802.793 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.072400 psu
2019-07-16T05:43:22.796Z,1563255802.796 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:22.949Z,1563255802.949 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:22.959Z,1563255802.959 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-16T05:43:22.959Z,1563255802.959 [WetLabsBB2FL] No Fault, FailCount= 2
2019-07-16T05:43:22.997Z,1563255802.997 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.046300 psu
2019-07-16T05:43:23.001Z,1563255803.001 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:23.201Z,1563255803.201 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.067600 psu
2019-07-16T05:43:23.205Z,1563255803.205 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:23.280Z,1563255803.280 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-16T05:43:23.280Z,1563255803.280 [WetLabsBB2FL](INFO): Powering up
2019-07-16T05:43:23.367Z,1563255803.367 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:23.405Z,1563255803.405 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.093600 psu
2019-07-16T05:43:23.409Z,1563255803.409 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:23.609Z,1563255803.609 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.105200 psu
2019-07-16T05:43:23.612Z,1563255803.612 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:23.763Z,1563255803.763 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:23.813Z,1563255803.813 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.096800 psu
2019-07-16T05:43:23.816Z,1563255803.816 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:24.017Z,1563255804.017 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.056900 psu
2019-07-16T05:43:24.021Z,1563255804.021 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:24.176Z,1563255804.176 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:24.221Z,1563255804.221 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.059200 psu
2019-07-16T05:43:24.224Z,1563255804.224 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:24.425Z,1563255804.425 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.042700 psu
2019-07-16T05:43:24.428Z,1563255804.428 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:24.577Z,1563255804.577 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:24.629Z,1563255804.629 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.065200 psu
2019-07-16T05:43:24.632Z,1563255804.632 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:24.833Z,1563255804.833 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.050900 psu
2019-07-16T05:43:24.837Z,1563255804.837 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:24.976Z,1563255804.976 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:25.037Z,1563255805.037 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.081800 psu
2019-07-16T05:43:25.041Z,1563255805.041 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:25.241Z,1563255805.241 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.049300 psu
2019-07-16T05:43:25.244Z,1563255805.244 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:25.441Z,1563255805.441 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:25.445Z,1563255805.445 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.051200 psu
2019-07-16T05:43:25.448Z,1563255805.448 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:25.649Z,1563255805.649 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.095800 psu
2019-07-16T05:43:25.653Z,1563255805.653 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:25.805Z,1563255805.805 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:25.853Z,1563255805.853 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.062000 psu
2019-07-16T05:43:25.857Z,1563255805.857 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:26.057Z,1563255806.057 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.047600 psu
2019-07-16T05:43:26.060Z,1563255806.060 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:26.261Z,1563255806.261 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.048200 psu
2019-07-16T05:43:26.264Z,1563255806.264 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:26.267Z,1563255806.267 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:26.465Z,1563255806.465 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.051900 psu
2019-07-16T05:43:26.469Z,1563255806.469 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:26.610Z,1563255806.610 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:26.669Z,1563255806.669 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.052300 psu
2019-07-16T05:43:26.673Z,1563255806.673 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:26.873Z,1563255806.873 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.053300 psu
2019-07-16T05:43:26.876Z,1563255806.876 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:26.997Z,1563255806.997 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:27.077Z,1563255807.077 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.063300 psu
2019-07-16T05:43:27.081Z,1563255807.081 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:27.281Z,1563255807.281 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.082900 psu
2019-07-16T05:43:27.285Z,1563255807.285 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:27.413Z,1563255807.413 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:27.485Z,1563255807.485 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.055300 psu
2019-07-16T05:43:27.488Z,1563255807.488 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:27.796Z,1563255807.796 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:27.893Z,1563255807.893 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.052300 psu
2019-07-16T05:43:27.897Z,1563255807.897 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:28.097Z,1563255808.097 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.067600 psu
2019-07-16T05:43:28.101Z,1563255808.101 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:28.227Z,1563255808.227 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:28.301Z,1563255808.301 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.091500 psu
2019-07-16T05:43:28.305Z,1563255808.305 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:28.505Z,1563255808.505 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.057100 psu
2019-07-16T05:43:28.509Z,1563255808.509 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:28.575Z,1563255808.575 [WetLabsBB2FL] Communications Fault, FailCount= 3
2019-07-16T05:43:28.575Z,1563255808.575 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-16T05:43:28.647Z,1563255808.647 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:28.667Z,1563255808.667 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-16T05:43:28.709Z,1563255808.709 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.067700 psu
2019-07-16T05:43:28.712Z,1563255808.712 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:28.913Z,1563255808.913 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.061900 psu
2019-07-16T05:43:28.917Z,1563255808.917 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:29.051Z,1563255809.051 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:29.075Z,1563255809.075 [WetLabsBB2FL](INFO): Powering down
2019-07-16T05:43:29.117Z,1563255809.117 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.035800 psu
2019-07-16T05:43:29.120Z,1563255809.120 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:29.321Z,1563255809.321 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.069300 psu
2019-07-16T05:43:29.324Z,1563255809.324 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:29.421Z,1563255809.421 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:29.525Z,1563255809.525 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.078000 psu
2019-07-16T05:43:29.528Z,1563255809.528 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:29.729Z,1563255809.729 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.044500 psu
2019-07-16T05:43:29.733Z,1563255809.733 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:29.825Z,1563255809.825 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:29.933Z,1563255809.933 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.057200 psu
2019-07-16T05:43:29.936Z,1563255809.936 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:30.137Z,1563255810.137 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.068800 psu
2019-07-16T05:43:30.140Z,1563255810.140 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:30.215Z,1563255810.215 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:30.224Z,1563255810.224 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-16T05:43:30.224Z,1563255810.224 [WetLabsBB2FL] No Fault, FailCount= 3
2019-07-16T05:43:30.288Z,1563255810.288 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-16T05:43:30.288Z,1563255810.288 [WetLabsBB2FL](INFO): Powering up
2019-07-16T05:43:30.341Z,1563255810.341 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.083800 psu
2019-07-16T05:43:30.344Z,1563255810.344 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:30.545Z,1563255810.545 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.071800 psu
2019-07-16T05:43:30.549Z,1563255810.549 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:30.642Z,1563255810.642 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:30.749Z,1563255810.749 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.069100 psu
2019-07-16T05:43:30.752Z,1563255810.752 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:30.953Z,1563255810.953 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.050100 psu
2019-07-16T05:43:30.956Z,1563255810.956 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:31.061Z,1563255811.061 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:31.157Z,1563255811.157 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.044600 psu
2019-07-16T05:43:31.161Z,1563255811.161 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:31.361Z,1563255811.361 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.025400 psu
2019-07-16T05:43:31.365Z,1563255811.365 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:31.445Z,1563255811.445 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:31.565Z,1563255811.565 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.043200 psu
2019-07-16T05:43:31.569Z,1563255811.569 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:31.769Z,1563255811.769 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.041500 psu
2019-07-16T05:43:31.772Z,1563255811.772 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:31.864Z,1563255811.864 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:31.973Z,1563255811.973 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.068300 psu
2019-07-16T05:43:31.976Z,1563255811.976 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:32.177Z,1563255812.177 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.044800 psu
2019-07-16T05:43:32.181Z,1563255812.181 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:32.241Z,1563255812.241 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:32.381Z,1563255812.381 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.075800 psu
2019-07-16T05:43:32.384Z,1563255812.384 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:32.585Z,1563255812.585 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.066600 psu
2019-07-16T05:43:32.588Z,1563255812.588 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:32.645Z,1563255812.645 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:32.789Z,1563255812.789 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.071600 psu
2019-07-16T05:43:32.792Z,1563255812.792 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:32.993Z,1563255812.993 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.086000 psu
2019-07-16T05:43:32.997Z,1563255812.997 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:33.052Z,1563255813.052 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:33.197Z,1563255813.197 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.065800 psu
2019-07-16T05:43:33.200Z,1563255813.200 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:33.401Z,1563255813.401 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.056700 psu
2019-07-16T05:43:33.404Z,1563255813.404 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:33.454Z,1563255813.454 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:33.605Z,1563255813.605 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.061400 psu
2019-07-16T05:43:33.608Z,1563255813.608 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:33.809Z,1563255813.809 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.056100 psu
2019-07-16T05:43:33.813Z,1563255813.813 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:33.864Z,1563255813.864 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:34.013Z,1563255814.013 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.038800 psu
2019-07-16T05:43:34.016Z,1563255814.016 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:34.217Z,1563255814.217 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.065200 psu
2019-07-16T05:43:34.230Z,1563255814.230 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:34.276Z,1563255814.276 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:34.421Z,1563255814.421 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.037500 psu
2019-07-16T05:43:34.424Z,1563255814.424 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:34.635Z,1563255814.635 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.045800 psu
2019-07-16T05:43:34.638Z,1563255814.638 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:34.691Z,1563255814.691 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:34.837Z,1563255814.837 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.062700 psu
2019-07-16T05:43:34.841Z,1563255814.841 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:35.041Z,1563255815.041 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.067700 psu
2019-07-16T05:43:35.045Z,1563255815.045 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:35.109Z,1563255815.109 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:35.245Z,1563255815.245 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.055300 psu
2019-07-16T05:43:35.248Z,1563255815.248 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:35.450Z,1563255815.450 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.059200 psu
2019-07-16T05:43:35.453Z,1563255815.453 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:35.504Z,1563255815.504 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:35.579Z,1563255815.579 [WetLabsBB2FL] Communications Fault, FailCount= 4
2019-07-16T05:43:35.579Z,1563255815.579 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-16T05:43:35.653Z,1563255815.653 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.056000 psu
2019-07-16T05:43:35.656Z,1563255815.656 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:35.858Z,1563255815.858 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.024700 psu
2019-07-16T05:43:35.861Z,1563255815.861 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:35.880Z,1563255815.880 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:35.889Z,1563255815.889 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-16T05:43:36.061Z,1563255816.061 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.084600 psu
2019-07-16T05:43:36.064Z,1563255816.064 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:36.079Z,1563255816.079 [WetLabsBB2FL](INFO): Powering down
2019-07-16T05:43:36.265Z,1563255816.265 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.064300 psu
2019-07-16T05:43:36.269Z,1563255816.269 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:36.284Z,1563255816.284 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:36.469Z,1563255816.469 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.046600 psu
2019-07-16T05:43:36.472Z,1563255816.472 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:36.673Z,1563255816.673 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.072000 psu
2019-07-16T05:43:36.676Z,1563255816.676 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:36.691Z,1563255816.691 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:36.877Z,1563255816.877 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.065800 psu
2019-07-16T05:43:36.880Z,1563255816.880 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:37.081Z,1563255817.081 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.063100 psu
2019-07-16T05:43:37.085Z,1563255817.085 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:37.094Z,1563255817.094 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:37.103Z,1563255817.103 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-16T05:43:37.103Z,1563255817.103 [WetLabsBB2FL] No Fault, FailCount= 4
2019-07-16T05:43:37.285Z,1563255817.285 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.038700 psu
2019-07-16T05:43:37.288Z,1563255817.288 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:37.292Z,1563255817.292 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-16T05:43:37.292Z,1563255817.292 [WetLabsBB2FL](INFO): Powering up
2019-07-16T05:43:37.489Z,1563255817.489 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.083600 psu
2019-07-16T05:43:37.492Z,1563255817.492 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:37.501Z,1563255817.501 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:37.636Z,1563255817.636 [CommandLine](IMPORTANT): got command stop
2019-07-16T05:43:37.636Z,1563255817.636 [CommandLine](IMPORTANT): Scheduling is paused
2019-07-16T05:43:37.637Z,1563255817.637 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-07-16T05:43:37.693Z,1563255817.693 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.084100 psu
2019-07-16T05:43:37.696Z,1563255817.696 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:37.897Z,1563255817.897 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.054400 psu
2019-07-16T05:43:37.901Z,1563255817.901 [CTD_NeilBrown](INFO): some bad data, not updating bins
2019-07-16T05:43:37.902Z,1563255817.902 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:43:37.903Z,1563255817.903 [MissionManager](INFO): MissionManager is completed.
2019-07-16T05:43:37.903Z,1563255817.903 [MissionManager](INFO): Uninitializing Mission sample_kiss
2019-07-16T05:43:37.903Z,1563255817.903 [sample_kiss] Stopped
2019-07-16T05:43:37.903Z,1563255817.903 [sample_kiss](DEBUG): Aggregate::uninitialize sample_kiss
2019-07-16T05:43:37.903Z,1563255817.903 [sample_kiss:A.AbortSample] Stopped
2019-07-16T05:43:37.903Z,1563255817.903 [sample_kiss:A.AbortSample](INFO): Uninitializing AbortSample.
2019-07-16T05:43:37.904Z,1563255817.904 [sample_kiss:StandardEnvelopes] Stopped
2019-07-16T05:43:37.904Z,1563255817.904 [sample_kiss:StandardEnvelopes](DEBUG): Aggregate::uninitialize sample_kiss:StandardEnvelopes
2019-07-16T05:43:37.904Z,1563255817.904 [sample_kiss:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2019-07-16T05:43:37.904Z,1563255817.904 [sample_kiss:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2019-07-16T05:43:37.904Z,1563255817.904 [sample_kiss:StandardEnvelopes:B.DepthEnvelope] Stopped
2019-07-16T05:43:37.904Z,1563255817.904 [sample_kiss:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2019-07-16T05:43:37.904Z,1563255817.904 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2019-07-16T05:43:37.904Z,1563255817.904 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2019-07-16T05:43:37.904Z,1563255817.904 [sample_kiss:NeedComms] Stopped
2019-07-16T05:43:37.904Z,1563255817.904 [sample_kiss:NeedComms](DEBUG): Aggregate::uninitialize sample_kiss:NeedComms
2019-07-16T05:43:37.904Z,1563255817.904 [sample_kiss:NeedComms:B.GoToSurface] Stopped
2019-07-16T05:43:37.904Z,1563255817.904 [sample_kiss:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-07-16T05:43:37.904Z,1563255817.904 [sample_kiss:NeedComms:C] Stopped
2019-07-16T05:43:37.905Z,1563255817.905 [sample_kiss:SurfaceComms] Stopped
2019-07-16T05:43:37.905Z,1563255817.905 [sample_kiss:SurfaceComms](DEBUG): Aggregate::uninitialize sample_kiss:SurfaceComms
2019-07-16T05:43:37.905Z,1563255817.905 [sample_kiss:SurfaceComms:A] Stopped
2019-07-16T05:43:37.905Z,1563255817.905 [sample_kiss:SurfaceComms:A](DEBUG): Aggregate::uninitialize sample_kiss:SurfaceComms:A
2019-07-16T05:43:37.905Z,1563255817.905 [sample_kiss:I.Mass] Stopped
2019-07-16T05:43:37.905Z,1563255817.905 [sample_kiss:I.Mass](DEBUG): Uninitialize.
2019-07-16T05:43:37.905Z,1563255817.905 [sample_kiss:StartingMission] Stopped
2019-07-16T05:43:37.905Z,1563255817.905 [sample_kiss:StartingMission](DEBUG): Aggregate::uninitialize sample_kiss:StartingMission
2019-07-16T05:43:37.905Z,1563255817.905 [sample_kiss:Science] Stopped
2019-07-16T05:43:37.905Z,1563255817.905 [sample_kiss:Science](DEBUG): Aggregate::uninitialize sample_kiss:Science
2019-07-16T05:43:37.905Z,1563255817.905 [sample_kiss:Science:C] Stopped
2019-07-16T05:43:37.906Z,1563255817.906 [sample_kiss:Science:G] Stopped
2019-07-16T05:43:37.906Z,1563255817.906 [sample_kiss:InitialDive] Stopped
2019-07-16T05:43:37.906Z,1563255817.906 [sample_kiss:InitialDive](DEBUG): Aggregate::uninitialize sample_kiss:InitialDive
2019-07-16T05:43:37.906Z,1563255817.906 [sample_kiss:InitialDive:A] Stopped
2019-07-16T05:43:37.906Z,1563255817.906 [sample_kiss:InitialDive:B.Buoyancy] Stopped
2019-07-16T05:43:37.906Z,1563255817.906 [sample_kiss:InitialDive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2019-07-16T05:43:37.906Z,1563255817.906 [sample_kiss:InitialDive:C.SetSpeed] Stopped
2019-07-16T05:43:37.906Z,1563255817.906 [sample_kiss:InitialDive:C.SetSpeed](DEBUG): Uninitialize.
2019-07-16T05:43:37.906Z,1563255817.906 [sample_kiss:InitialDive:D.Point] Stopped
2019-07-16T05:43:37.906Z,1563255817.906 [sample_kiss:InitialDive:E.Pitch] Stopped
2019-07-16T05:43:38.305Z,1563255818.305 [MissionManager](IMPORTANT): Started mission Default
2019-07-16T05:43:38.305Z,1563255818.305 [Default] Running Loop=1
2019-07-16T05:43:38.305Z,1563255818.305 [Default](DEBUG): Aggregate::initialize Default
2019-07-16T05:43:38.305Z,1563255818.305 [Default:B.GoToSurface] Running Loop=1
2019-07-16T05:43:38.305Z,1563255818.305 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-07-16T05:43:38.306Z,1563255818.306 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-07-16T05:43:38.306Z,1563255818.306 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-07-16T05:43:38.306Z,1563255818.306 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-07-16T05:43:38.307Z,1563255818.307 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-07-16T05:43:38.307Z,1563255818.307 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-07-16T05:43:38.307Z,1563255818.307 [Default:A.Wait] Running Loop=1
2019-07-16T05:43:38.308Z,1563255818.308 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-07-16T05:43:42.583Z,1563255822.583 [WetLabsBB2FL] Communications Fault, FailCount= 5
2019-07-16T05:43:42.583Z,1563255822.583 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-16T05:43:42.861Z,1563255822.861 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-16T05:43:42.861Z,1563255822.861 [CBIT](FAULT): Communications Fault in component: WetLabsBB2FL
2019-07-16T05:43:43.084Z,1563255823.084 [WetLabsBB2FL](INFO): Powering down
2019-07-16T05:43:50.685Z,1563255830.685 [CommandLine](IMPORTANT): got command configSet list
2019-07-16T05:43:50.685Z,1563255830.685 [CommandLine](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2019-07-16T05:43:50.686Z,1563255830.686 [CommandLine](IMPORTANT): AHRS_M2.loadAtStartup=0 bool;

2019-07-16T05:43:50.686Z,1563255830.686 [CommandLine](IMPORTANT): Aanderaa_O2.loadAtStartup=0 bool;

2019-07-16T05:43:50.686Z,1563255830.686 [CommandLine](IMPORTANT): BPC1.batteryMissingStickThreshold=0 count;

2019-07-16T05:43:50.687Z,1563255830.687 [CommandLine](IMPORTANT): BPC1.batterySamplingInterval=6 hour;

2019-07-16T05:43:50.687Z,1563255830.687 [CommandLine](IMPORTANT): CBIT.abortDepth=296 meter;

2019-07-16T05:43:50.687Z,1563255830.687 [CommandLine](IMPORTANT): CBIT.gf24Offset=172 microampere;

2019-07-16T05:43:50.687Z,1563255830.687 [CommandLine](IMPORTANT): CBIT.stopDepth=288 meter;

2019-07-16T05:43:50.687Z,1563255830.687 [CommandLine](IMPORTANT): CTD_Seabird.loadAtStartup=0 bool;

2019-07-16T05:43:50.688Z,1563255830.688 [CommandLine](IMPORTANT): DAT.ignoreElevationAngle=1 bool;

2019-07-16T05:43:50.688Z,1563255830.688 [CommandLine](IMPORTANT): DAT.loadAtStartup=0 bool;

2019-07-16T05:43:50.688Z,1563255830.688 [CommandLine](IMPORTANT): DVL_micro.loadAtStartup=0 bool;

2019-07-16T05:43:50.688Z,1563255830.688 [CommandLine](IMPORTANT): ESPComponent.loadAtStartup=1 bool;

2019-07-16T05:43:50.688Z,1563255830.688 [CommandLine](IMPORTANT): Express linearApproximation DAT.range 5.000000 meter;

2019-07-16T05:43:50.688Z,1563255830.688 [CommandLine](IMPORTANT): Express linearApproximation acoustic_contact_range 10.000000 meter;

2019-07-16T05:43:50.688Z,1563255830.688 [CommandLine](IMPORTANT): Express linearApproximation depth 5.000000 meter;

2019-07-16T05:43:50.688Z,1563255830.688 [CommandLine](IMPORTANT): Express linearApproximation latitude 0.005000 degree;

2019-07-16T05:43:50.688Z,1563255830.688 [CommandLine](IMPORTANT): Express linearApproximation longitude 0.005000 degree;

2019-07-16T05:43:50.689Z,1563255830.689 [CommandLine](IMPORTANT): NAL9602.fastGPSFix=1 bool;

2019-07-16T05:43:50.689Z,1563255830.689 [CommandLine](IMPORTANT): VerticalControl.buoyancyNeutral=274 cubic_centimeter;

2019-07-16T05:43:50.689Z,1563255830.689 [CommandLine](IMPORTANT): VerticalControl.massDefault=-2.3 millimeter;

2019-07-16T05:43:50.689Z,1563255830.689 [CommandLine](IMPORTANT): VerticalControl.massPositionLimitAft=-31 millimeter;

2019-07-16T05:43:50.689Z,1563255830.689 [CommandLine](IMPORTANT): VerticalControl.massPositionLimitFwd=30 millimeter;

2019-07-16T05:43:51.633Z,1563255831.633 [Default:A.Wait](INFO): Done Waiting.
2019-07-16T05:43:51.633Z,1563255831.633 [Default:A.Wait] Stopped
2019-07-16T05:43:51.633Z,1563255831.633 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-07-16T05:43:52.035Z,1563255832.035 [Default:CheckIn] Running Loop=1
2019-07-16T05:43:52.036Z,1563255832.036 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-07-16T05:43:52.036Z,1563255832.036 [Default:CheckIn:Read_GPS] Running Loop=1
2019-07-16T05:44:04.357Z,1563255844.357 [CommandLine](IMPORTANT): got command get CTD_NeilBrown.loadAtStartup
2019-07-16T05:44:04.357Z,1563255844.357 [CommandLine](IMPORTANT): CTD_NeilBrown.loadAtStartup 1 bool
2019-07-16T05:44:38.064Z,1563255878.064 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-07-16T05:44:38.879Z,1563255878.879 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:44:41.307Z,1563255881.307 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:44:44.135Z,1563255884.135 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:44:46.959Z,1563255886.959 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:44:50.191Z,1563255890.191 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:44:53.019Z,1563255893.019 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:44:56.255Z,1563255896.255 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:44:59.079Z,1563255899.079 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:44:59.115Z,1563255899.115 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-16T05:44:59.115Z,1563255899.115 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 3
2019-07-16T05:44:59.115Z,1563255899.115 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-16T05:44:59.125Z,1563255899.125 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-16T05:44:59.539Z,1563255899.539 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-16T05:44:59.539Z,1563255899.539 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 3
2019-07-16T05:45:02.311Z,1563255902.311 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:45:05.139Z,1563255905.139 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:45:07.983Z,1563255907.983 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:45:09.987Z,1563255909.987 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:45:13.223Z,1563255913.223 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:45:16.047Z,1563255916.047 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:45:19.283Z,1563255919.283 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:45:22.107Z,1563255922.107 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:45:25.339Z,1563255925.339 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:45:28.167Z,1563255928.167 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:45:30.999Z,1563255930.999 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:45:33.015Z,1563255933.015 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:45:35.039Z,1563255935.039 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:45:38.267Z,1563255938.267 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:45:41.098Z,1563255941.098 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:45:43.517Z,1563255943.517 [CommandLine](IMPORTANT): got command get CTD_NeilBrown.loadAtStartup
2019-07-16T05:45:43.517Z,1563255943.517 [CommandLine](IMPORTANT): CTD_NeilBrown.loadAtStartup 1 bool
2019-07-16T05:45:44.335Z,1563255944.335 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:45:47.155Z,1563255947.155 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:45:50.391Z,1563255950.391 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:45:53.215Z,1563255953.215 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:45:56.043Z,1563255956.043 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:45:58.071Z,1563255958.071 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:46:01.299Z,1563255961.299 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:46:02.321Z,1563255962.321 [CommandLine](IMPORTANT): got command configSet CTD_NeilBrown.loadAtStartup 0.000000 bool persist
2019-07-16T05:46:02.322Z,1563255962.322 [CommandLine](IMPORTANT): configSet CTD_NeilBrown.loadAtStartup requires a restart to take effect.
2019-07-16T05:46:04.131Z,1563255964.131 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:46:07.359Z,1563255967.359 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:46:10.187Z,1563255970.187 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:46:12.622Z,1563255972.622 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-16T05:46:12.623Z,1563255972.623 [WetLabsBB2FL] No Fault, FailCount= 5
2019-07-16T05:46:13.005Z,1563255973.005 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-16T05:46:13.005Z,1563255973.005 [WetLabsBB2FL](INFO): Powering up
2019-07-16T05:46:13.415Z,1563255973.415 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:46:16.243Z,1563255976.243 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:46:18.303Z,1563255978.303 [WetLabsBB2FL] Communications Fault, FailCount= 1
2019-07-16T05:46:18.303Z,1563255978.303 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-16T05:46:18.320Z,1563255978.320 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-16T05:46:18.803Z,1563255978.803 [WetLabsBB2FL](INFO): Powering down
2019-07-16T05:46:19.071Z,1563255979.071 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:46:19.927Z,1563255979.927 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-16T05:46:19.927Z,1563255979.927 [WetLabsBB2FL] No Fault, FailCount= 1
2019-07-16T05:46:20.016Z,1563255980.016 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-16T05:46:20.016Z,1563255980.016 [WetLabsBB2FL](INFO): Powering up
2019-07-16T05:46:21.095Z,1563255981.095 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:46:24.327Z,1563255984.327 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:46:25.311Z,1563255985.311 [WetLabsBB2FL] Communications Fault, FailCount= 2
2019-07-16T05:46:25.311Z,1563255985.311 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-16T05:46:25.561Z,1563255985.561 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-16T05:46:25.811Z,1563255985.811 [WetLabsBB2FL](INFO): Powering down
2019-07-16T05:46:26.769Z,1563255986.769 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-16T05:46:26.769Z,1563255986.769 [WetLabsBB2FL] No Fault, FailCount= 2
2019-07-16T05:46:27.024Z,1563255987.024 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-16T05:46:27.024Z,1563255987.024 [WetLabsBB2FL](INFO): Powering up
2019-07-16T05:46:27.151Z,1563255987.151 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:46:27.580Z,1563255987.580 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2019-07-16T05:46:27.583Z,1563255987.583 [BPC1](INFO): Received data from all battery sticks.
2019-07-16T05:46:30.387Z,1563255990.387 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:46:32.339Z,1563255992.339 [WetLabsBB2FL] Communications Fault, FailCount= 3
2019-07-16T05:46:32.339Z,1563255992.339 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-16T05:46:32.441Z,1563255992.441 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-16T05:46:32.843Z,1563255992.843 [WetLabsBB2FL](INFO): Powering down
2019-07-16T05:46:33.211Z,1563255993.211 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:46:33.671Z,1563255993.671 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-16T05:46:33.671Z,1563255993.671 [WetLabsBB2FL] No Fault, FailCount= 3
2019-07-16T05:46:34.056Z,1563255994.056 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-16T05:46:34.056Z,1563255994.056 [WetLabsBB2FL](INFO): Powering up
2019-07-16T05:46:36.447Z,1563255996.447 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:46:39.271Z,1563255999.271 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:46:39.351Z,1563255999.351 [WetLabsBB2FL] Communications Fault, FailCount= 4
2019-07-16T05:46:39.351Z,1563255999.351 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-16T05:46:39.717Z,1563255999.717 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-16T05:46:39.847Z,1563255999.847 [WetLabsBB2FL](INFO): Powering down
2019-07-16T05:46:40.912Z,1563256000.912 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-16T05:46:40.913Z,1563256000.913 [WetLabsBB2FL] No Fault, FailCount= 4
2019-07-16T05:46:41.060Z,1563256001.060 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-16T05:46:41.060Z,1563256001.060 [WetLabsBB2FL](INFO): Powering up
2019-07-16T05:46:42.099Z,1563256002.099 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:46:44.119Z,1563256004.119 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:46:46.147Z,1563256006.147 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:46:46.355Z,1563256006.355 [WetLabsBB2FL] Communications Fault, FailCount= 5
2019-07-16T05:46:46.355Z,1563256006.355 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-16T05:46:46.596Z,1563256006.596 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-16T05:46:46.597Z,1563256006.597 [CBIT](FAULT): Communications Fault in component: WetLabsBB2FL
2019-07-16T05:46:46.855Z,1563256006.855 [WetLabsBB2FL](INFO): Powering down
2019-07-16T05:46:49.371Z,1563256009.371 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:46:52.203Z,1563256012.203 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:46:55.431Z,1563256015.431 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:46:58.263Z,1563256018.263 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:47:00.296Z,1563256020.296 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-16T05:47:00.296Z,1563256020.296 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 4
2019-07-16T05:47:00.296Z,1563256020.296 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-16T05:47:00.306Z,1563256020.306 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-16T05:47:00.724Z,1563256020.724 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-16T05:47:00.724Z,1563256020.724 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 4
2019-07-16T05:47:01.491Z,1563256021.491 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:47:04.323Z,1563256024.323 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:47:07.151Z,1563256027.151 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:47:09.171Z,1563256029.171 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:47:11.187Z,1563256031.187 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:47:14.423Z,1563256034.423 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:47:17.247Z,1563256037.247 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:47:20.483Z,1563256040.483 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:47:23.307Z,1563256043.307 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:47:26.539Z,1563256046.539 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:47:29.367Z,1563256049.367 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:47:32.199Z,1563256052.199 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:47:34.215Z,1563256054.215 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:47:37.447Z,1563256057.447 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:47:40.275Z,1563256060.275 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:47:43.511Z,1563256063.511 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:47:46.335Z,1563256066.335 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:47:49.567Z,1563256069.567 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:47:52.395Z,1563256072.395 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:47:55.227Z,1563256075.227 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:47:57.243Z,1563256077.243 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:47:58.181Z,1563256078.181 [CommandLine](IMPORTANT): got command run ./Missions/kiss.xml
2019-07-16T05:47:58.182Z,1563256078.182 [MissionManager](INFO): Loading Mission: ./Missions/kiss.xml
2019-07-16T05:47:58.286Z,1563256078.286 [MissionManager](INFO): DefineArg sample_kiss.MissionTimeout = 4.000000 h
2019-07-16T05:47:58.288Z,1563256078.288 [MissionManager](INFO): DefineArg sample_kiss.NeedCommsTime = 240.000000 min
2019-07-16T05:47:58.291Z,1563256078.291 [MissionManager](INFO): DefineArg sample_kiss.Depth = 2.500000 m
2019-07-16T05:47:58.293Z,1563256078.293 [MissionManager](INFO): DefineArg sample_kiss.ESPCartridgeType_1 = -1.000000 count
2019-07-16T05:47:58.296Z,1563256078.296 [MissionManager](INFO): DefineArg sample_kiss.ESPCartridgeType_2 = -16.000000 count
2019-07-16T05:47:58.298Z,1563256078.298 [MissionManager](INFO): DefineArg sample_kiss.ESPCartridgeType_3 = nan count
2019-07-16T05:47:58.301Z,1563256078.301 [MissionManager](INFO): DefineArg sample_kiss.ESPCartridgeType_4 = nan count
2019-07-16T05:47:58.303Z,1563256078.303 [MissionManager](INFO): DefineArg sample_kiss.WaitBeforeSample = 3.000000 min
2019-07-16T05:47:58.306Z,1563256078.306 [MissionManager](INFO): DefineArg sample_kiss.ApproachDepthTimeout = 20.000000 min
2019-07-16T05:47:58.308Z,1563256078.308 [MissionManager](INFO): DefineArg sample_kiss.DepthDeadband = 0.000000 m
2019-07-16T05:47:58.310Z,1563256078.310 [MissionManager](INFO): DefineArg sample_kiss.Speed = 0.000000 m/s
2019-07-16T05:47:58.313Z,1563256078.313 [MissionManager](INFO): DefineArg sample_kiss.MaxDepth = 5.000000 m
2019-07-16T05:47:58.315Z,1563256078.315 [MissionManager](INFO): DefineArg sample_kiss.PitchLimit = 20.000000 arcdeg
2019-07-16T05:47:58.317Z,1563256078.317 [MissionManager](INFO): DefineArg sample_kiss.MinOffshore = 1.000000 km
2019-07-16T05:47:58.319Z,1563256078.319 [MissionManager](INFO): DefineOutput sample_kiss.StartFromSurface = 1 bool
2019-07-16T05:47:58.320Z,1563256078.320 [sample_kiss:A.AbortSample](DEBUG): Construct.
2019-07-16T05:47:58.321Z,1563256078.321 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2019-07-16T05:47:58.337Z,1563256078.337 [MissionManager](INFO): DefineArg sample_kiss:StandardEnvelopes.MinAltitude = 5.000000 m
2019-07-16T05:47:58.339Z,1563256078.339 [MissionManager](INFO): DefineArg sample_kiss:StandardEnvelopes.MaxDepth = 200.000000 m
2019-07-16T05:47:58.341Z,1563256078.341 [MissionManager](INFO): DefineArg sample_kiss:StandardEnvelopes.MinOffshore = 2000.000000 m
2019-07-16T05:47:58.342Z,1563256078.342 [sample_kiss:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-07-16T05:47:58.347Z,1563256078.347 [sample_kiss:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-07-16T05:47:58.353Z,1563256078.353 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2019-07-16T05:47:58.399Z,1563256078.399 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-07-16T05:47:58.519Z,1563256078.519 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.DiveInterval = 3.000000 h
2019-07-16T05:47:58.521Z,1563256078.521 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.WaitForPitchUp = 10.000000 min
2019-07-16T05:47:58.538Z,1563256078.538 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-07-16T05:47:58.540Z,1563256078.540 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.SurfaceDepthRate = nan m/s
2019-07-16T05:47:58.543Z,1563256078.543 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-07-16T05:47:58.545Z,1563256078.545 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.GPSTimeout = 7.000000 min
2019-07-16T05:47:58.567Z,1563256078.567 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.CommsTimeout = 30.000000 min
2019-07-16T05:47:58.572Z,1563256078.572 [sample_kiss:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-07-16T05:47:58.623Z,1563256078.623 [sample_kiss:I.Mass](DEBUG): Construct.
2019-07-16T05:47:58.634Z,1563256078.634 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2019-07-16T05:47:58.931Z,1563256078.931 [MissionManager](INFO): DefineArg sample_kiss:Science.SampleISUS = 0 bool
2019-07-16T05:47:58.933Z,1563256078.933 [MissionManager](INFO): DefineArg sample_kiss:Science.SampleISUSmaxPitch = 60.000000 arcdeg
2019-07-16T05:47:58.936Z,1563256078.936 [MissionManager](INFO): DefineArg sample_kiss:Science.SampleISUSminPitch = -60.000000 arcdeg
2019-07-16T05:47:58.938Z,1563256078.938 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakDetectChlActive = 0 bool
2019-07-16T05:47:58.940Z,1563256078.940 [MissionManager](INFO): DefineArg sample_kiss:Science.TimeWindowPeakReport = nan min
2019-07-16T05:47:58.941Z,1563256078.941 [MissionManager](INFO): DefineArg sample_kiss:Science.HighestChlPeakReportActive = 0 bool
2019-07-16T05:47:58.943Z,1563256078.943 [MissionManager](INFO): DefineArg sample_kiss:Science.PatchTracking = 0 bool
2019-07-16T05:47:58.945Z,1563256078.945 [MissionManager](INFO): DefineArg sample_kiss:Science.FilterWidthHorizontal = 3.000000 count
2019-07-16T05:47:58.947Z,1563256078.947 [MissionManager](INFO): DefineArg sample_kiss:Science.NumProfilesSlidingwindow = 100.000000 count
2019-07-16T05:47:58.950Z,1563256078.950 [MissionManager](INFO): DefineArg sample_kiss:Science.OffPeakFractionHorizontal = 80.000000 %
2019-07-16T05:47:58.952Z,1563256078.952 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakDetectNO3Active = 0 bool
2019-07-16T05:47:58.953Z,1563256078.953 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakDetectOilActive = 0 bool
2019-07-16T05:47:58.955Z,1563256078.955 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakDetectFDOMActive = 0 bool
2019-07-16T05:47:58.957Z,1563256078.957 [MissionManager](INFO): DefineArg sample_kiss:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2019-07-16T05:47:58.959Z,1563256078.959 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledAanderaaO2 = 0.000000 bool
2019-07-16T05:47:58.962Z,1563256078.962 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledNeilBrown = 0.000000 bool
2019-07-16T05:47:58.964Z,1563256078.964 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledSeabird = 0.000000 bool
2019-07-16T05:47:58.966Z,1563256078.966 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledTurbulence_NPS = 0.000000 bool
2019-07-16T05:47:58.969Z,1563256078.969 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledWetLabsBB2FL = 1.000000 bool
2019-07-16T05:47:58.971Z,1563256078.971 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledWetLabsSeaOWL_UV_A = 0.000000 bool
2019-07-16T05:47:58.974Z,1563256078.974 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledWetLabsUBAT = 0.000000 bool
2019-07-16T05:47:58.976Z,1563256078.976 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledISUS = 0.000000 bool
2019-07-16T05:47:58.978Z,1563256078.978 [MissionManager](INFO): DefineArg sample_kiss:Science.LowPassWindowLength = 20.000000 count
2019-07-16T05:47:58.980Z,1563256078.980 [MissionManager](INFO): DefineArg sample_kiss:Science.MedianFilterLen = 5.000000 count
2019-07-16T05:47:58.982Z,1563256078.982 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakChlShallowBound = nan m
2019-07-16T05:47:58.984Z,1563256078.984 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakChlDeepBound = nan m
2019-07-16T05:47:58.986Z,1563256078.986 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakShallowBound = nan m
2019-07-16T05:47:58.988Z,1563256078.988 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakDeepBound = nan m
2019-07-16T05:47:58.991Z,1563256078.991 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakChl = 0.000000 ug/l
2019-07-16T05:47:58.993Z,1563256078.993 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakChlDepth = 0.000000 m
2019-07-16T05:47:58.995Z,1563256078.995 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakChlTemperature = 0.000000 degC
2019-07-16T05:47:58.997Z,1563256078.997 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakChlLatitude = nan arcdeg
2019-07-16T05:47:59.032Z,1563256079.032 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakChlLongitude = nan arcdeg
2019-07-16T05:47:59.034Z,1563256079.034 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakNO3 = 0.000000 umol/l
2019-07-16T05:47:59.036Z,1563256079.036 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakNO3Depth = 0.000000 m
2019-07-16T05:47:59.039Z,1563256079.039 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakNO3Latitude = nan arcdeg
2019-07-16T05:47:59.053Z,1563256079.053 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakNO3Longitude = nan arcdeg
2019-07-16T05:47:59.055Z,1563256079.055 [MissionManager](INFO): DefineOutput sample_kiss:Science.PatchChl = 0.000000 m
2019-07-16T05:47:59.057Z,1563256079.057 [MissionManager](INFO): DefineOutput sample_kiss:Science.PatchChlDepth = 0.000000 m
2019-07-16T05:47:59.060Z,1563256079.060 [MissionManager](INFO): DefineOutput sample_kiss:Science.PatchChlLatitude = nan arcdeg
2019-07-16T05:47:59.062Z,1563256079.062 [MissionManager](INFO): DefineOutput sample_kiss:Science.PatchChlLongitude = nan arcdeg
2019-07-16T05:47:59.076Z,1563256079.076 [MissionManager](INFO): DefineOutput sample_kiss:Science.PatchChlDistance = nan m
2019-07-16T05:47:59.078Z,1563256079.078 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakOil = 0.000000 kg/m3
2019-07-16T05:47:59.081Z,1563256079.081 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakOilDepth = 0.000000 m
2019-07-16T05:47:59.083Z,1563256079.083 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakOilLatitude = nan arcdeg
2019-07-16T05:47:59.085Z,1563256079.085 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakOilLongitude = nan arcdeg
2019-07-16T05:47:59.099Z,1563256079.099 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakFDOM = 0.000000 ppb
2019-07-16T05:47:59.102Z,1563256079.102 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakFDOMDepth = 0.000000 m
2019-07-16T05:47:59.127Z,1563256079.127 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakFDOMLatitude = nan arcdeg
2019-07-16T05:47:59.129Z,1563256079.129 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakFDOMLongitude = nan arcdeg
2019-07-16T05:47:59.144Z,1563256079.144 [MissionManager](INFO): DefineOutput sample_kiss:Science.PatchFDOMDistance = nan m
2019-07-16T05:47:59.172Z,1563256079.172 [sample_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-16T05:47:59.195Z,1563256079.195 [sample_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2019-07-16T05:47:59.217Z,1563256079.217 [sample_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-16T05:47:59.290Z,1563256079.290 [sample_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-16T05:47:59.330Z,1563256079.330 [sample_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-16T05:47:59.370Z,1563256079.370 [sample_kiss:InitialDive:B.Buoyancy](DEBUG): Construct Buoyancy.
2019-07-16T05:47:59.381Z,1563256079.381 [sample_kiss:InitialDive:C.SetSpeed](DEBUG): Construct.
2019-07-16T05:47:59.391Z,1563256079.391 [sample_kiss:InitialDive:D.Point](DEBUG): Construct.
2019-07-16T05:47:59.400Z,1563256079.400 [sample_kiss:InitialDive:E.Pitch](DEBUG): Construct.
2019-07-16T05:47:59.413Z,1563256079.413 [sample_kiss:InitialDive:E.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-07-16T05:47:59.418Z,1563256079.418 [sample_kiss:TargetDepth:B.SetSpeed](DEBUG): Construct.
2019-07-16T05:47:59.424Z,1563256079.424 [sample_kiss:TargetDepth:C.Pitch](DEBUG): Construct.
2019-07-16T05:47:59.441Z,1563256079.441 [sample_kiss:TargetDepth:Spinout:A.Buoyancy](DEBUG): Construct Buoyancy.
2019-07-16T05:47:59.456Z,1563256079.456 [sample_kiss:TargetDepth:Spinout:B.Point](DEBUG): Construct.
2019-07-16T05:47:59.463Z,1563256079.463 [MissionManager](INFO): Inserting Stack: Missions/Insert/SampleAtDepth.xml
2019-07-16T05:47:59.559Z,1563256079.559 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.TargetDepth = 5.000000 m
2019-07-16T05:47:59.562Z,1563256079.562 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.SettleTime = 10.000000 s
2019-07-16T05:47:59.564Z,1563256079.564 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.MaxWaitNotReachingDepth = 3.000000 h
2019-07-16T05:47:59.566Z,1563256079.566 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.RotateOnly = 0.000000 bool
2019-07-16T05:47:59.568Z,1563256079.568 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.UseCANONSampler = 0.000000 bool
2019-07-16T05:47:59.571Z,1563256079.571 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.UseESP = 1.000000 bool
2019-07-16T05:47:59.573Z,1563256079.573 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.ESPCartridgeType = nan count
2019-07-16T05:47:59.576Z,1563256079.576 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.CANONSamplerTriggerTimeout = 1.000000 min
2019-07-16T05:47:59.579Z,1563256079.579 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.CANONSamplerTimeout = 6.000000 min
2019-07-16T05:47:59.581Z,1563256079.581 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.BuoyancyNeutral = 273.999991 cc
2019-07-16T05:47:59.584Z,1563256079.584 [sample_kiss:TargetDepth:GrabSamples:SampleAtDepth:ApproachDepth:B.Pitch](DEBUG): Construct.
2019-07-16T05:47:59.589Z,1563256079.589 [sample_kiss:TargetDepth:GrabSamples:SampleAtDepth:ApproachDepth:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-07-16T05:47:59.592Z,1563256079.592 [sample_kiss:TargetDepth:GrabSamples:SampleAtDepth:SampleWrapper:A.Pitch](DEBUG): Construct.
2019-07-16T05:47:59.597Z,1563256079.597 [sample_kiss:TargetDepth:GrabSamples:SampleAtDepth:SampleWrapper:C.Wait](DEBUG): Construct Wait.
2019-07-16T05:47:59.604Z,1563256079.604 [sample_kiss:TargetDepth:GrabSamples:SampleAtDepth:SampleWrapper:SampleCANONSampler:TriggerCANONSampler:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-07-16T05:47:59.610Z,1563256079.610 [sample_kiss:TargetDepth:GrabSamples:SampleAtDepth:SampleWrapper:SampleCANONSampler:E:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-07-16T05:47:59.700Z,1563256079.700 [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: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="sample_kiss">

    <Description>
        This mission takes ESP sampls at the designated depth.
    </Description>
    
    <DefineArg Name="MissionTimeout"><Description>
        Maximum duration of mission
    </Description><Units:hour/><Value>4</Value></DefineArg>

    <DefineArg Name="NeedCommsTime"><Description>
        How often to surface for communications
    </Description><Units:minute/><Value>240</Value></DefineArg>

    <DefineArg Name="Depth"><Description>
        Depth held during drift mode
    </Description><Units:meter/><Value>2.5</Value></DefineArg>

    <DefineArg Name="ESPCartridgeType_1"><Description>
        Specifies ESP cartridge type code for sample# 1. Set to NaN to skip this sample.
    </Description><Units:count/><Value>-1</Value></DefineArg>
    
    <DefineArg Name="ESPCartridgeType_2"><Description>
        Specifies ESP cartridge type code for sample# 2. Set to NaN to skip this sample.
    </Description><Units:count/><Value>-16</Value></DefineArg>
    
    <DefineArg Name="ESPCartridgeType_3"><Description>
        Specifies ESP cartridge type code for sample# 3. Set to NaN to skip this sample.
    </Description><Units:count/><Value>NaN</Value></DefineArg>
    
    <DefineArg Name="ESPCartridgeType_4"><Description>
        Specifies ESP cartridge type code for sample# 4. Set to NaN to skip this sample.
    </Description><Units:count/><Value>NaN</Value></DefineArg>
    
    <DefineArg Name="WaitBeforeSample"><Description>
        How long to wait between samples. This starts *before* the first sample
        to exercise the SettleTime setting in the insert aggregate.
    </Description><Units:minute/><Value>3</Value></DefineArg>
    
    <DefineArg Name="ApproachDepthTimeout"><Description>
        Maximum time duration for the vehicle to reach the approach depth
    </Description><Units:minute/><Value>20</Value></DefineArg>

    <DefineArg Name="DepthDeadband"><Description>
        How much vertical drift from the specified depth is allowed while sampling.
    </Description><Units:meter/><Value>0.00</Value></DefineArg>

    <DefineArg Name="Speed"><Description>
        Vehicle transit speed
    </Description><Units:meter_per_second/><Value>0</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum allowable depth during the mission
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="PitchLimit"><Description>
        Max vehicle pitch (+/-) when decending from the surface
    </Description><Units:degree/><Value>20</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Description>
        Minimum distance from the shoreline to maintain
    </Description><Units:kilometer/><Value>1</Value></DefineArg>

    <DefineOutput Name="StartFromSurface"><Description>
        Mission variable (don't change). The mission sets this to true after surface comms are done.
    </Description><True/></DefineOutput>
    

    <!-- Mission timeout -->

    <Timeout Duration="MissionTimeout"/>

    <!-- Safety nets and surfacing behaviors -->
    
    <Trigger:AbortSample>
        <Parallel/>
    </Trigger:AbortSample>

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

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

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


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

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

    <Assign><Sequence/><Arg Name="NeedComms:WaitForPitchUp"/><Units:minute/><Value>0</Value></Assign>

    <Aggregate Id="SurfaceComms">

        <When>
            <Called/>
            <Or><Elapsed><Universal:time_fix/></Elapsed><Gt><Arg Name="NeedCommsTime"/></Gt></Or>
        </When>

        <Call RefId="NeedComms"/>

        <Assign><Sequence/><Arg Name="StartFromSurface"/><True/></Assign>

    </Aggregate>

    <!-- Set default mass position -->

    <Guidance:Mass>
        <Parallel/>
        <Setting><Guidance:Mass.position/><Control:VerticalControl.massDefault/></Setting>
    </Guidance:Mass>

    <!-- Start mission sequence -->

    <Call Id="StartingMission" RefId="SurfaceComms"/>
    
    <Insert Filename="Insert/Science.xml"></Insert>

    <Aggregate Id="InitialDive">

        <Description>
            Descend from the surface to approach depth using the thruster. Limit pitch.
        </Description>

        <When>
            <Arg Name="StartFromSurface"/>
        </When>

        <Assign><Parallel/><Control:VerticalControl.pitchLimit/><Arg Name="PitchLimit"/></Assign>

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

        <Guidance:SetSpeed>
            <Parallel/>
            <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>1.0</Value></Setting>
        </Guidance:SetSpeed>
        
        <Guidance:Point>
            <Setting><Guidance:Point.rudderAngle/><Units:degree/><Value>13</Value></Setting>
        </Guidance:Point>

        <Guidance:Pitch>
            <Sequence/>
            <Timeout Duration="ApproachDepthTimeout">
                <Syslog Severity="Important">Timed out while trying to reach approach depth at current depth of <Universal:depth/><Units:meter/>.</Syslog>
                <Guidance:Execute>
                    <Sequence/>
                    <Setting><Guidance:Execute.command/><String>stop</String></Setting>
                </Guidance:Execute>
            </Timeout>
            <Setting><Guidance:Pitch.depth/><Arg Name="Depth"/></Setting>
        </Guidance:Pitch>

        <Assign><Sequence/><Arg Name="StartFromSurface"/><False/></Assign>

    </Aggregate>

    <Aggregate Id="TargetDepth">

        <Description>
            Maintain target depth and acquire ESP samples.
        </Description>

        <Sequence/>

        <Assign><Parallel/><Control:VerticalControl.depthDeadband/><Arg Name="DepthDeadband"/></Assign>
        
        <Guidance:SetSpeed>
            <Parallel/>
            <Setting><Guidance:SetSpeed.speed/><Arg Name="Speed"/></Setting>
        </Guidance:SetSpeed>
        
        <Guidance:Pitch>
            <Parallel/>
            <Setting><Guidance:Pitch.depth/><Arg Name="Depth"/></Setting>
        </Guidance:Pitch>
        
        <Aggregate Id="Spinout">
            
            <While>
                <Arg Name="Speed"/><Gt><Units:meter_per_second/><Value>0.0</Value></Gt>
            </While>
            
            <Guidance:Buoyancy>
                <Parallel/>
                <Setting><Guidance:Buoyancy.position/><Control:VerticalControl.buoyancyNeutral/></Setting>
            </Guidance:Buoyancy>
            
            <Guidance:Point>
                <Setting><Guidance:Point.rudderAngle/><Units:degree/><Value>13</Value></Setting>
            </Guidance:Point>
            
        </Aggregate>
        
        <Aggregate Id="GrabSamples">
            
            <Sequence/>
            
            <Insert Filename="Insert/SampleAtDepth.xml"/>
            
            <Assign><Sequence/><Arg Name="SampleAtDepth:TargetDepth"/><Arg Name="Depth"/></Assign>
            
            <Assign><Sequence/><Arg Name="SampleAtDepth:SettleTime"/><Arg Name="WaitBeforeSample"/></Assign>
            
            <Aggregate Id="Sample1">
                <Break>
                    <IsNaN><Arg Name="ESPCartridgeType_1"/></IsNaN>
                </Break>
                
                <Assign><Sequence/><Arg Name="SampleAtDepth:ESPCartridgeType"/><Arg Name="ESPCartridgeType_1"/></Assign>
                
                <Call Id="sampling" RefId="SampleAtDepth"/>
            </Aggregate>

            
            <Aggregate Id="Sample2">
                <Break>
                    <IsNaN><Arg Name="ESPCartridgeType_2"/></IsNaN>
                </Break>
                
                <Assign><Sequence/><Arg Name="SampleAtDepth:ESPCartridgeType"/><Arg Name="ESPCartridgeType_2"/></Assign>
                
                <Call Id="sampling" RefId="SampleAtDepth"/>
            </Aggregate>

            
            <Aggregate Id="Sample3">
                <Break>
                    <IsNaN><Arg Name="ESPCartridgeType_3"/></IsNaN>
                </Break>

                <Assign><Sequence/><Arg Name="SampleAtDepth:ESPCartridgeType"/><Arg Name="ESPCartridgeType_3"/></Assign>
                
                <Call Id="sampling" RefId="SampleAtDepth"/>
            </Aggregate>

            
            <Aggregate Id="Sample4">
                <Break>
                    <IsNaN><Arg Name="ESPCartridgeType_4"/></IsNaN>
                </Break>

                <Assign><Sequence/><Arg Name="SampleAtDepth:ESPCartridgeType"/><Arg Name="ESPCartridgeType_4"/></Assign>

                <Call Id="sampling" RefId="SampleAtDepth"/>
            </Aggregate>

        </Aggregate>

    </Aggregate>

</Mission>


2019-07-16T05:47:59.748Z,1563256079.748 [CommandLine](IMPORTANT): Running ./Missions/kiss.xml
2019-07-16T05:47:59.755Z,1563256079.755 [Default] Stopped
2019-07-16T05:47:59.755Z,1563256079.755 [Default](DEBUG): Aggregate::uninitialize Default
2019-07-16T05:47:59.755Z,1563256079.755 [Default:B.GoToSurface] Stopped
2019-07-16T05:47:59.756Z,1563256079.756 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-07-16T05:47:59.756Z,1563256079.756 [Default:CheckIn] Stopped
2019-07-16T05:47:59.756Z,1563256079.756 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-07-16T05:47:59.756Z,1563256079.756 [Default:CheckIn:Read_GPS] Stopped
2019-07-16T05:47:59.756Z,1563256079.756 [MissionManager](IMPORTANT): Started mission sample_kiss
2019-07-16T05:47:59.756Z,1563256079.756 [sample_kiss] Running Loop=1
2019-07-16T05:47:59.756Z,1563256079.756 [sample_kiss](DEBUG): Aggregate::initialize sample_kiss
2019-07-16T05:47:59.756Z,1563256079.756 [sample_kiss:A.AbortSample] Running Loop=1
2019-07-16T05:47:59.757Z,1563256079.757 [sample_kiss:A.AbortSample](INFO): Initializing AbortSample.
2019-07-16T05:47:59.757Z,1563256079.757 [sample_kiss:StandardEnvelopes] Running Loop=1
2019-07-16T05:47:59.757Z,1563256079.757 [sample_kiss:StandardEnvelopes](DEBUG): Aggregate::initialize sample_kiss:StandardEnvelopes
2019-07-16T05:47:59.757Z,1563256079.757 [sample_kiss:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-07-16T05:47:59.757Z,1563256079.757 [sample_kiss:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-07-16T05:47:59.757Z,1563256079.757 [sample_kiss:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-07-16T05:47:59.757Z,1563256079.757 [sample_kiss:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-07-16T05:47:59.757Z,1563256079.757 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-07-16T05:47:59.757Z,1563256079.757 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2019-07-16T05:47:59.758Z,1563256079.758 [sample_kiss:I.Mass] Running Loop=1
2019-07-16T05:47:59.758Z,1563256079.758 [sample_kiss:I.Mass](DEBUG): Initialize.
2019-07-16T05:47:59.758Z,1563256079.758 [sample_kiss:Science] Running Loop=1
2019-07-16T05:47:59.758Z,1563256079.758 [sample_kiss:Science](DEBUG): Aggregate::initialize sample_kiss:Science
2019-07-16T05:47:59.758Z,1563256079.758 [sample_kiss:Science:A] Running Loop=1
2019-07-16T05:47:59.758Z,1563256079.758 [sample_kiss:Science:B] Running Loop=1
2019-07-16T05:47:59.758Z,1563256079.758 [sample_kiss:Science:C] Running Loop=1
2019-07-16T05:47:59.758Z,1563256079.758 [sample_kiss:Science:D] Running Loop=1
2019-07-16T05:47:59.758Z,1563256079.758 [sample_kiss:Science:E] Running Loop=1
2019-07-16T05:47:59.758Z,1563256079.758 [sample_kiss:Science:F] Running Loop=1
2019-07-16T05:47:59.758Z,1563256079.758 [sample_kiss:Science:G] Running Loop=1
2019-07-16T05:47:59.758Z,1563256079.758 [sample_kiss:Science:H] Running Loop=1
2019-07-16T05:47:59.758Z,1563256079.758 [sample_kiss:Science:Read_Oil] Running Loop=1
2019-07-16T05:47:59.759Z,1563256079.759 [sample_kiss:Science:PeakDetectChl] Running Loop=1
2019-07-16T05:47:59.759Z,1563256079.759 [sample_kiss:Science:PeakDetectChl](DEBUG): Aggregate::initialize sample_kiss:Science:PeakDetectChl
2019-07-16T05:47:59.759Z,1563256079.759 [sample_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2019-07-16T05:47:59.759Z,1563256079.759 [sample_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-16T05:47:59.760Z,1563256079.760 [sample_kiss:Science:HighestChlPeakReport] Running Loop=1
2019-07-16T05:47:59.760Z,1563256079.760 [sample_kiss:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize sample_kiss:Science:HighestChlPeakReport
2019-07-16T05:47:59.760Z,1563256079.760 [sample_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2019-07-16T05:47:59.760Z,1563256079.760 [sample_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2019-07-16T05:47:59.761Z,1563256079.761 [sample_kiss:Science:PeakDetectNO3] Running Loop=1
2019-07-16T05:47:59.761Z,1563256079.761 [sample_kiss:Science:PeakDetectNO3](DEBUG): Aggregate::initialize sample_kiss:Science:PeakDetectNO3
2019-07-16T05:47:59.761Z,1563256079.761 [sample_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2019-07-16T05:47:59.761Z,1563256079.761 [sample_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-16T05:47:59.762Z,1563256079.762 [sample_kiss:Science:PeakDetectOil] Running Loop=1
2019-07-16T05:47:59.762Z,1563256079.762 [sample_kiss:Science:PeakDetectOil](DEBUG): Aggregate::initialize sample_kiss:Science:PeakDetectOil
2019-07-16T05:47:59.762Z,1563256079.762 [sample_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2019-07-16T05:47:59.763Z,1563256079.763 [sample_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-16T05:47:59.780Z,1563256079.780 [sample_kiss:Science:PeakDetectFDOM] Running Loop=1
2019-07-16T05:47:59.780Z,1563256079.780 [sample_kiss:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize sample_kiss:Science:PeakDetectFDOM
2019-07-16T05:47:59.780Z,1563256079.780 [sample_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2019-07-16T05:47:59.780Z,1563256079.780 [sample_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-16T05:47:59.781Z,1563256079.781 [sample_kiss:C] Running Loop=1
2019-07-16T05:47:59.782Z,1563256079.782 [sample_kiss:InitialDive] Running Loop=1
2019-07-16T05:47:59.782Z,1563256079.782 [sample_kiss:InitialDive](DEBUG): Aggregate::initialize sample_kiss:InitialDive
2019-07-16T05:47:59.782Z,1563256079.782 [sample_kiss:InitialDive:A] Running Loop=1
2019-07-16T05:47:59.782Z,1563256079.782 [sample_kiss:InitialDive:B.Buoyancy] Running Loop=1
2019-07-16T05:47:59.782Z,1563256079.782 [sample_kiss:InitialDive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-07-16T05:47:59.782Z,1563256079.782 [sample_kiss:InitialDive:C.SetSpeed] Running Loop=1
2019-07-16T05:47:59.782Z,1563256079.782 [sample_kiss:InitialDive:C.SetSpeed](DEBUG): Initialize.
2019-07-16T05:47:59.783Z,1563256079.783 [sample_kiss:InitialDive:D.Point] Running Loop=1
2019-07-16T05:47:59.783Z,1563256079.783 [sample_kiss:InitialDive:D.Point](DEBUG): Initialize.
2019-07-16T05:47:59.783Z,1563256079.783 [sample_kiss:InitialDive:E.Pitch] Running Loop=1
2019-07-16T05:47:59.783Z,1563256079.783 [sample_kiss:InitialDive:E.Pitch](DEBUG): Initialize.
2019-07-16T05:47:59.784Z,1563256079.784 [sample_kiss:InitialDive:D.Point] Running Loop=1
2019-07-16T05:47:59.784Z,1563256079.784 [sample_kiss:InitialDive:C.SetSpeed] Running Loop=1
2019-07-16T05:47:59.784Z,1563256079.784 [sample_kiss:InitialDive:B.Buoyancy] Running Loop=1
2019-07-16T05:47:59.784Z,1563256079.784 [sample_kiss:InitialDive:A] Running Loop=1
2019-07-16T05:47:59.785Z,1563256079.785 [sample_kiss:Science] Running Loop=1
2019-07-16T05:47:59.785Z,1563256079.785 [sample_kiss:Science:PeakDetectFDOM] Stopped
2019-07-16T05:47:59.786Z,1563256079.786 [sample_kiss:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize sample_kiss:Science:PeakDetectFDOM
2019-07-16T05:47:59.786Z,1563256079.786 [sample_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2019-07-16T05:47:59.786Z,1563256079.786 [sample_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-16T05:47:59.786Z,1563256079.786 [sample_kiss:Science:PeakDetectOil] Stopped
2019-07-16T05:47:59.786Z,1563256079.786 [sample_kiss:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize sample_kiss:Science:PeakDetectOil
2019-07-16T05:47:59.786Z,1563256079.786 [sample_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2019-07-16T05:47:59.786Z,1563256079.786 [sample_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-16T05:47:59.786Z,1563256079.786 [sample_kiss:Science:PeakDetectNO3] Stopped
2019-07-16T05:47:59.786Z,1563256079.786 [sample_kiss:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize sample_kiss:Science:PeakDetectNO3
2019-07-16T05:47:59.786Z,1563256079.786 [sample_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2019-07-16T05:47:59.786Z,1563256079.786 [sample_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-16T05:47:59.786Z,1563256079.786 [sample_kiss:Science:HighestChlPeakReport] Stopped
2019-07-16T05:47:59.786Z,1563256079.786 [sample_kiss:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize sample_kiss:Science:HighestChlPeakReport
2019-07-16T05:47:59.787Z,1563256079.787 [sample_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2019-07-16T05:47:59.787Z,1563256079.787 [sample_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2019-07-16T05:47:59.787Z,1563256079.787 [sample_kiss:Science:PeakDetectChl] Stopped
2019-07-16T05:47:59.816Z,1563256079.816 [sample_kiss:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize sample_kiss:Science:PeakDetectChl
2019-07-16T05:47:59.816Z,1563256079.816 [sample_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2019-07-16T05:47:59.816Z,1563256079.816 [sample_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-16T05:47:59.816Z,1563256079.816 [sample_kiss:Science:Read_Oil] Stopped
2019-07-16T05:47:59.816Z,1563256079.816 [sample_kiss:Science:H] Stopped
2019-07-16T05:47:59.816Z,1563256079.816 [sample_kiss:Science:G] Running Loop=1
2019-07-16T05:47:59.817Z,1563256079.817 [sample_kiss:Science:G](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2019-07-16T05:47:59.817Z,1563256079.817 [sample_kiss:Science:F] Stopped
2019-07-16T05:47:59.817Z,1563256079.817 [sample_kiss:Science:E] Stopped
2019-07-16T05:47:59.817Z,1563256079.817 [sample_kiss:Science:D] Stopped
2019-07-16T05:47:59.817Z,1563256079.817 [sample_kiss:Science:C] Stopped
2019-07-16T05:47:59.817Z,1563256079.817 [sample_kiss:Science:B] Stopped
2019-07-16T05:47:59.817Z,1563256079.817 [sample_kiss:Science:A] Stopped
2019-07-16T05:47:59.817Z,1563256079.817 [sample_kiss:I.Mass] Running Loop=1
2019-07-16T05:47:59.817Z,1563256079.817 [sample_kiss:SurfaceComms] Running Loop=1
2019-07-16T05:47:59.817Z,1563256079.817 [sample_kiss:SurfaceComms](DEBUG): Aggregate::initialize sample_kiss:SurfaceComms
2019-07-16T05:47:59.818Z,1563256079.818 [sample_kiss:SurfaceComms:A] Running Loop=1
2019-07-16T05:47:59.818Z,1563256079.818 [sample_kiss:SurfaceComms:A](DEBUG): Aggregate::initialize sample_kiss:SurfaceComms:A
2019-07-16T05:47:59.818Z,1563256079.818 [sample_kiss:NeedComms] Running Loop=1
2019-07-16T05:47:59.818Z,1563256079.818 [sample_kiss:NeedComms](DEBUG): Aggregate::initialize sample_kiss:NeedComms
2019-07-16T05:47:59.818Z,1563256079.818 [sample_kiss:NeedComms:B.GoToSurface] Running Loop=1
2019-07-16T05:47:59.818Z,1563256079.818 [sample_kiss:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-07-16T05:47:59.819Z,1563256079.819 [sample_kiss:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2019-07-16T05:47:59.819Z,1563256079.819 [sample_kiss:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2019-07-16T05:47:59.820Z,1563256079.820 [sample_kiss:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2019-07-16T05:47:59.820Z,1563256079.820 [sample_kiss:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-07-16T05:47:59.820Z,1563256079.820 [sample_kiss:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-07-16T05:47:59.821Z,1563256079.821 [sample_kiss:NeedComms:A] Running Loop=1
2019-07-16T05:47:59.821Z,1563256079.821 [sample_kiss:NeedComms:A](ERROR): data element is not active.
2019-07-16T05:47:59.822Z,1563256079.822 [sample_kiss:NeedComms:A](INFO): last time_fix was: nan second since 1970/01/01T00:00:00Z 
2019-07-16T05:47:59.822Z,1563256079.822 [sample_kiss:NeedComms:A] Stopped
2019-07-16T05:47:59.822Z,1563256079.822 [sample_kiss:C] Stopped
2019-07-16T05:47:59.822Z,1563256079.822 [sample_kiss:D] Running Loop=1
2019-07-16T05:47:59.822Z,1563256079.822 [sample_kiss:StandardEnvelopes] Running Loop=1
2019-07-16T05:47:59.822Z,1563256079.822 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-07-16T05:47:59.822Z,1563256079.822 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:47:59.823Z,1563256079.823 [sample_kiss:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-07-16T05:47:59.827Z,1563256079.827 [sample_kiss:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-07-16T05:47:59.827Z,1563256079.827 [sample_kiss:A.AbortSample] Running Loop=1
2019-07-16T05:48:00.091Z,1563256080.091 [sample_kiss:NeedComms:C] Running Loop=1
2019-07-16T05:48:00.091Z,1563256080.091 [sample_kiss:D] Stopped
2019-07-16T05:48:00.091Z,1563256080.091 [sample_kiss:F] Running Loop=1
2019-07-16T05:48:00.092Z,1563256080.092 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:48:00.475Z,1563256080.475 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:48:00.503Z,1563256080.503 [sample_kiss:F] Stopped
2019-07-16T05:48:00.503Z,1563256080.503 [sample_kiss:G] Running Loop=1
2019-07-16T05:48:00.504Z,1563256080.504 [sample_kiss:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-07-16T05:48:00.505Z,1563256080.505 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:48:00.907Z,1563256080.907 [sample_kiss:G] Stopped
2019-07-16T05:48:00.907Z,1563256080.907 [sample_kiss:StartingMission] Running Loop=1
2019-07-16T05:48:00.907Z,1563256080.907 [sample_kiss:StartingMission](DEBUG): Aggregate::initialize sample_kiss:StartingMission
2019-07-16T05:48:00.908Z,1563256080.908 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:48:01.312Z,1563256081.312 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:48:01.312Z,1563256081.312 [sample_kiss:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2019-07-16T05:48:01.713Z,1563256081.713 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:48:02.111Z,1563256082.111 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:48:02.513Z,1563256082.513 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:48:02.923Z,1563256082.923 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:48:03.303Z,1563256083.303 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:48:03.331Z,1563256083.331 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:48:03.739Z,1563256083.739 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:48:04.141Z,1563256084.141 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:48:04.530Z,1563256084.530 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:48:04.944Z,1563256084.944 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:48:05.340Z,1563256085.340 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:48:05.747Z,1563256085.747 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:48:06.151Z,1563256086.151 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:48:06.535Z,1563256086.535 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:48:06.564Z,1563256086.564 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:48:06.971Z,1563256086.971 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:48:07.370Z,1563256087.370 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:48:07.766Z,1563256087.766 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:48:08.179Z,1563256088.179 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:48:08.568Z,1563256088.568 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:48:08.969Z,1563256088.969 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:48:09.363Z,1563256089.363 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:48:09.392Z,1563256089.392 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:48:09.794Z,1563256089.794 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:48:10.200Z,1563256090.200 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:48:10.595Z,1563256090.595 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:48:10.995Z,1563256090.995 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:48:11.405Z,1563256091.405 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:48:11.811Z,1563256091.811 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:48:12.204Z,1563256092.204 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:48:12.595Z,1563256092.595 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:48:12.624Z,1563256092.624 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:48:13.031Z,1563256093.031 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:48:13.426Z,1563256093.426 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:48:13.828Z,1563256093.828 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:48:14.228Z,1563256094.228 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:48:14.634Z,1563256094.634 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:48:15.036Z,1563256095.036 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:48:15.080Z,1563256095.080 [CommandLine](IMPORTANT): got command stop
2019-07-16T05:48:15.080Z,1563256095.080 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-07-16T05:48:15.423Z,1563256095.423 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:48:15.458Z,1563256095.458 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:48:15.459Z,1563256095.459 [MissionManager](INFO): MissionManager is completed.
2019-07-16T05:48:15.459Z,1563256095.459 [MissionManager](INFO): Uninitializing Mission sample_kiss
2019-07-16T05:48:15.459Z,1563256095.459 [sample_kiss] Stopped
2019-07-16T05:48:15.459Z,1563256095.459 [sample_kiss](DEBUG): Aggregate::uninitialize sample_kiss
2019-07-16T05:48:15.459Z,1563256095.459 [sample_kiss:A.AbortSample] Stopped
2019-07-16T05:48:15.459Z,1563256095.459 [sample_kiss:A.AbortSample](INFO): Uninitializing AbortSample.
2019-07-16T05:48:15.459Z,1563256095.459 [sample_kiss:StandardEnvelopes] Stopped
2019-07-16T05:48:15.460Z,1563256095.460 [sample_kiss:StandardEnvelopes](DEBUG): Aggregate::uninitialize sample_kiss:StandardEnvelopes
2019-07-16T05:48:15.460Z,1563256095.460 [sample_kiss:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2019-07-16T05:48:15.460Z,1563256095.460 [sample_kiss:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2019-07-16T05:48:15.460Z,1563256095.460 [sample_kiss:StandardEnvelopes:B.DepthEnvelope] Stopped
2019-07-16T05:48:15.460Z,1563256095.460 [sample_kiss:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2019-07-16T05:48:15.460Z,1563256095.460 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2019-07-16T05:48:15.460Z,1563256095.460 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2019-07-16T05:48:15.460Z,1563256095.460 [sample_kiss:NeedComms] Stopped
2019-07-16T05:48:15.460Z,1563256095.460 [sample_kiss:NeedComms](DEBUG): Aggregate::uninitialize sample_kiss:NeedComms
2019-07-16T05:48:15.460Z,1563256095.460 [sample_kiss:NeedComms:B.GoToSurface] Stopped
2019-07-16T05:48:15.460Z,1563256095.460 [sample_kiss:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-07-16T05:48:15.460Z,1563256095.460 [sample_kiss:NeedComms:C] Stopped
2019-07-16T05:48:15.460Z,1563256095.460 [sample_kiss:SurfaceComms] Stopped
2019-07-16T05:48:15.461Z,1563256095.461 [sample_kiss:SurfaceComms](DEBUG): Aggregate::uninitialize sample_kiss:SurfaceComms
2019-07-16T05:48:15.461Z,1563256095.461 [sample_kiss:SurfaceComms:A] Stopped
2019-07-16T05:48:15.461Z,1563256095.461 [sample_kiss:SurfaceComms:A](DEBUG): Aggregate::uninitialize sample_kiss:SurfaceComms:A
2019-07-16T05:48:15.461Z,1563256095.461 [sample_kiss:I.Mass] Stopped
2019-07-16T05:48:15.461Z,1563256095.461 [sample_kiss:I.Mass](DEBUG): Uninitialize.
2019-07-16T05:48:15.461Z,1563256095.461 [sample_kiss:StartingMission] Stopped
2019-07-16T05:48:15.461Z,1563256095.461 [sample_kiss:StartingMission](DEBUG): Aggregate::uninitialize sample_kiss:StartingMission
2019-07-16T05:48:15.461Z,1563256095.461 [sample_kiss:Science] Stopped
2019-07-16T05:48:15.461Z,1563256095.461 [sample_kiss:Science](DEBUG): Aggregate::uninitialize sample_kiss:Science
2019-07-16T05:48:15.461Z,1563256095.461 [sample_kiss:Science:G] Stopped
2019-07-16T05:48:15.461Z,1563256095.461 [sample_kiss:InitialDive] Stopped
2019-07-16T05:48:15.462Z,1563256095.462 [sample_kiss:InitialDive](DEBUG): Aggregate::uninitialize sample_kiss:InitialDive
2019-07-16T05:48:15.462Z,1563256095.462 [sample_kiss:InitialDive:A] Stopped
2019-07-16T05:48:15.462Z,1563256095.462 [sample_kiss:InitialDive:B.Buoyancy] Stopped
2019-07-16T05:48:15.462Z,1563256095.462 [sample_kiss:InitialDive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2019-07-16T05:48:15.462Z,1563256095.462 [sample_kiss:InitialDive:C.SetSpeed] Stopped
2019-07-16T05:48:15.462Z,1563256095.462 [sample_kiss:InitialDive:C.SetSpeed](DEBUG): Uninitialize.
2019-07-16T05:48:15.462Z,1563256095.462 [sample_kiss:InitialDive:D.Point] Stopped
2019-07-16T05:48:15.462Z,1563256095.462 [sample_kiss:InitialDive:E.Pitch] Stopped
2019-07-16T05:48:15.866Z,1563256095.866 [MissionManager](IMPORTANT): Started mission Default
2019-07-16T05:48:15.866Z,1563256095.866 [Default] Running Loop=1
2019-07-16T05:48:15.866Z,1563256095.866 [Default](DEBUG): Aggregate::initialize Default
2019-07-16T05:48:15.866Z,1563256095.866 [Default:B.GoToSurface] Running Loop=1
2019-07-16T05:48:15.866Z,1563256095.866 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-07-16T05:48:15.867Z,1563256095.867 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-07-16T05:48:15.867Z,1563256095.867 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-07-16T05:48:15.867Z,1563256095.867 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-07-16T05:48:15.868Z,1563256095.868 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-07-16T05:48:15.868Z,1563256095.868 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-07-16T05:48:15.868Z,1563256095.868 [Default:A.Wait] Running Loop=1
2019-07-16T05:48:15.868Z,1563256095.868 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-07-16T05:48:18.251Z,1563256098.251 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:48:20.275Z,1563256100.275 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:48:22.295Z,1563256102.295 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:48:25.527Z,1563256105.527 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:48:28.359Z,1563256108.359 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:48:29.189Z,1563256109.189 [Default:A.Wait](INFO): Done Waiting.
2019-07-16T05:48:29.189Z,1563256109.189 [Default:A.Wait] Stopped
2019-07-16T05:48:29.189Z,1563256109.189 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-07-16T05:48:29.581Z,1563256109.581 [Default:CheckIn] Running Loop=1
2019-07-16T05:48:29.581Z,1563256109.581 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-07-16T05:48:29.581Z,1563256109.581 [Default:CheckIn:Read_GPS] Running Loop=1
2019-07-16T05:48:31.587Z,1563256111.587 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:48:34.415Z,1563256114.415 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:48:37.643Z,1563256117.643 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:48:40.471Z,1563256120.471 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:48:43.299Z,1563256123.299 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:48:45.323Z,1563256125.323 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:48:48.555Z,1563256128.555 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:48:51.379Z,1563256131.379 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:48:54.615Z,1563256134.615 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:48:55.337Z,1563256135.337 [CommandLine](IMPORTANT): got command set NAL9602.latitude_fix 36.797001 degree
2019-07-16T05:48:57.443Z,1563256137.443 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:49:00.675Z,1563256140.675 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:49:01.103Z,1563256141.103 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-16T05:49:01.103Z,1563256141.103 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 5
2019-07-16T05:49:01.103Z,1563256141.103 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-16T05:49:01.114Z,1563256141.114 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-16T05:49:01.538Z,1563256141.538 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-16T05:49:01.539Z,1563256141.539 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 5
2019-07-16T05:49:03.499Z,1563256143.499 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:49:06.339Z,1563256146.339 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:49:08.351Z,1563256148.351 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:49:10.367Z,1563256150.367 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:49:13.599Z,1563256153.599 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:49:16.431Z,1563256156.431 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:49:16.466Z,1563256156.466 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-16T05:49:16.466Z,1563256156.466 [WetLabsBB2FL] No Fault, FailCount= 5
2019-07-16T05:49:16.744Z,1563256156.744 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-16T05:49:16.744Z,1563256156.744 [WetLabsBB2FL](INFO): Powering up
2019-07-16T05:49:19.659Z,1563256159.659 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:49:21.537Z,1563256161.537 [CommandLine](IMPORTANT): got command set NAL9602.longitude_fix -121.823997 degree
2019-07-16T05:49:21.689Z,1563256161.689 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2019-07-16T05:49:21.689Z,1563256161.689 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 6
2019-07-16T05:49:21.689Z,1563256161.689 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-16T05:49:21.700Z,1563256161.700 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-16T05:49:22.035Z,1563256162.035 [WetLabsBB2FL] Communications Fault, FailCount= 1
2019-07-16T05:49:22.035Z,1563256162.035 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-16T05:49:22.112Z,1563256162.112 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-16T05:49:22.112Z,1563256162.112 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 6
2019-07-16T05:49:22.113Z,1563256162.113 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-16T05:49:22.495Z,1563256162.495 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:49:22.535Z,1563256162.535 [WetLabsBB2FL](INFO): Powering down
2019-07-16T05:49:23.721Z,1563256163.721 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-16T05:49:23.721Z,1563256163.721 [WetLabsBB2FL] No Fault, FailCount= 1
2019-07-16T05:49:23.748Z,1563256163.748 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-16T05:49:23.748Z,1563256163.748 [WetLabsBB2FL](INFO): Powering up
2019-07-16T05:49:25.723Z,1563256165.723 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:49:28.559Z,1563256168.559 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:49:29.055Z,1563256169.055 [WetLabsBB2FL] Communications Fault, FailCount= 2
2019-07-16T05:49:29.055Z,1563256169.055 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-16T05:49:29.388Z,1563256169.388 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-16T05:49:29.555Z,1563256169.555 [WetLabsBB2FL](INFO): Powering down
2019-07-16T05:49:30.592Z,1563256170.592 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-16T05:49:30.592Z,1563256170.592 [WetLabsBB2FL] No Fault, FailCount= 2
2019-07-16T05:49:30.768Z,1563256170.768 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-16T05:49:30.768Z,1563256170.768 [WetLabsBB2FL](INFO): Powering up
2019-07-16T05:49:31.379Z,1563256171.379 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:49:33.399Z,1563256173.399 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:49:36.059Z,1563256176.059 [WetLabsBB2FL] Communications Fault, FailCount= 3
2019-07-16T05:49:36.059Z,1563256176.059 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-16T05:49:36.261Z,1563256176.261 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-16T05:49:36.559Z,1563256176.559 [WetLabsBB2FL](INFO): Powering down
2019-07-16T05:49:36.616Z,1563256176.616 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-07-16T05:49:36.616Z,1563256176.616 [NAL9602] Data Fault, FailCount= 1
2019-07-16T05:49:36.616Z,1563256176.616 [NAL9602](ERROR): Data Fault
2019-07-16T05:49:36.703Z,1563256176.703 [CBIT](ERROR): Data Fault in component: NAL9602
2019-07-16T05:49:37.021Z,1563256177.021 [NAL9602](INFO): Powering down
2019-07-16T05:49:37.453Z,1563256177.453 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-16T05:49:37.453Z,1563256177.453 [WetLabsBB2FL] No Fault, FailCount= 3
2019-07-16T05:49:37.772Z,1563256177.772 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-16T05:49:37.772Z,1563256177.772 [WetLabsBB2FL](INFO): Powering up
2019-07-16T05:49:37.867Z,1563256177.867 [CBIT](INFO): Clearing failed state for component NAL9602
2019-07-16T05:49:37.867Z,1563256177.867 [NAL9602] No Fault, FailCount= 1
2019-07-16T05:49:43.063Z,1563256183.063 [WetLabsBB2FL] Communications Fault, FailCount= 4
2019-07-16T05:49:43.063Z,1563256183.063 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-16T05:49:43.132Z,1563256183.132 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-16T05:49:43.563Z,1563256183.563 [WetLabsBB2FL](INFO): Powering down
2019-07-16T05:49:44.724Z,1563256184.724 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-16T05:49:44.725Z,1563256184.725 [WetLabsBB2FL] No Fault, FailCount= 4
2019-07-16T05:49:44.787Z,1563256184.787 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-16T05:49:44.787Z,1563256184.787 [WetLabsBB2FL](INFO): Powering up
2019-07-16T05:49:44.800Z,1563256184.800 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1563256192.000000 second
2019-07-16T05:49:50.091Z,1563256190.091 [WetLabsBB2FL] Communications Fault, FailCount= 5
2019-07-16T05:49:50.091Z,1563256190.091 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-16T05:49:50.405Z,1563256190.405 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-16T05:49:50.405Z,1563256190.405 [CBIT](FAULT): Communications Fault in component: WetLabsBB2FL
2019-07-16T05:49:50.591Z,1563256190.591 [WetLabsBB2FL](INFO): Powering down
2019-07-16T05:50:02.557Z,1563256202.557 [CommandLine](IMPORTANT): got command set NAL9602.latitude_fix 36.797001 degree
2019-07-16T05:50:07.320Z,1563256207.320 [NAL9602](INFO): Powering up NAL9602
2019-07-16T05:50:10.033Z,1563256210.033 [CommandLine](IMPORTANT): got command set NAL9602.longitude_fix -121.823997 degree
2019-07-16T05:50:18.240Z,1563256218.240 [NAL9602](INFO): NAL9602 initialized
2019-07-16T05:50:19.059Z,1563256219.059 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:50:21.887Z,1563256221.887 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:50:24.715Z,1563256224.715 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:50:27.947Z,1563256227.947 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:50:30.775Z,1563256230.775 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:50:34.007Z,1563256234.007 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:50:35.504Z,1563256235.504 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1563256192.000000 second
2019-07-16T05:50:35.632Z,1563256235.632 [Default:CheckIn:Read_GPS] Stopped
2019-07-16T05:50:35.632Z,1563256235.632 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-07-16T05:50:36.042Z,1563256236.042 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-07-16T05:50:36.855Z,1563256236.855 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:50:39.683Z,1563256239.683 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:50:40.591Z,1563256240.591 [DataOverHttps](INFO): Sending 308 bytes from file Logs/20190716T053846/Courier0004.lzma
2019-07-16T05:50:41.397Z,1563256241.397 [DataOverHttps](INFO): Moved sent file to Logs/20190716T053846/Courier0004.lzma.bak
2019-07-16T05:50:41.397Z,1563256241.397 [DataOverHttps](INFO): SBD MOMSN=11446733
2019-07-16T05:50:42.915Z,1563256242.915 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:50:45.743Z,1563256245.743 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:50:48.975Z,1563256248.975 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:50:51.803Z,1563256251.803 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:50:54.760Z,1563256254.760 [DataOverHttps](INFO): Sending 1119 bytes from file Logs/20190716T053846/Express0005.lzma
2019-07-16T05:50:55.035Z,1563256255.035 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:50:55.564Z,1563256255.564 [DataOverHttps](INFO): Moved sent file to Logs/20190716T053846/Express0005.lzma.bak
2019-07-16T05:50:55.565Z,1563256255.565 [DataOverHttps](INFO): SBD MOMSN=11446737
2019-07-16T05:50:56.687Z,1563256256.687 [Default:CheckIn:Read_Iridium] Stopped
2019-07-16T05:50:56.687Z,1563256256.687 [Default:CheckIn:C.Wait] Running Loop=1
2019-07-16T05:50:56.687Z,1563256256.687 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-07-16T05:50:57.863Z,1563256257.863 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:50:58.144Z,1563256258.144 [CommandLine](IMPORTANT): got command run ./Missions/kiss.xml
2019-07-16T05:50:58.144Z,1563256258.144 [MissionManager](INFO): Loading Mission: ./Missions/kiss.xml
2019-07-16T05:50:58.374Z,1563256258.374 [MissionManager](INFO): DefineArg sample_kiss.MissionTimeout = 4.000000 h
2019-07-16T05:50:58.381Z,1563256258.381 [MissionManager](INFO): DefineArg sample_kiss.NeedCommsTime = 240.000000 min
2019-07-16T05:50:58.383Z,1563256258.383 [MissionManager](INFO): DefineArg sample_kiss.Depth = 2.500000 m
2019-07-16T05:50:58.389Z,1563256258.389 [MissionManager](INFO): DefineArg sample_kiss.ESPCartridgeType_1 = -1.000000 count
2019-07-16T05:50:58.395Z,1563256258.395 [MissionManager](INFO): DefineArg sample_kiss.ESPCartridgeType_2 = -16.000000 count
2019-07-16T05:50:58.398Z,1563256258.398 [MissionManager](INFO): DefineArg sample_kiss.ESPCartridgeType_3 = nan count
2019-07-16T05:50:58.404Z,1563256258.404 [MissionManager](INFO): DefineArg sample_kiss.ESPCartridgeType_4 = nan count
2019-07-16T05:50:58.406Z,1563256258.406 [MissionManager](INFO): DefineArg sample_kiss.WaitBeforeSample = 3.000000 min
2019-07-16T05:50:58.412Z,1563256258.412 [MissionManager](INFO): DefineArg sample_kiss.ApproachDepthTimeout = 20.000000 min
2019-07-16T05:50:58.415Z,1563256258.415 [MissionManager](INFO): DefineArg sample_kiss.DepthDeadband = 0.000000 m
2019-07-16T05:50:58.421Z,1563256258.421 [MissionManager](INFO): DefineArg sample_kiss.Speed = 0.000000 m/s
2019-07-16T05:50:58.429Z,1563256258.429 [MissionManager](INFO): DefineArg sample_kiss.MaxDepth = 5.000000 m
2019-07-16T05:50:58.436Z,1563256258.436 [MissionManager](INFO): DefineArg sample_kiss.PitchLimit = 20.000000 arcdeg
2019-07-16T05:50:58.487Z,1563256258.487 [MissionManager](INFO): DefineArg sample_kiss.MinOffshore = 1.000000 km
2019-07-16T05:50:58.489Z,1563256258.489 [MissionManager](INFO): DefineOutput sample_kiss.StartFromSurface = 1 bool
2019-07-16T05:50:58.490Z,1563256258.490 [sample_kiss:A.AbortSample](DEBUG): Construct.
2019-07-16T05:50:58.491Z,1563256258.491 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2019-07-16T05:50:58.543Z,1563256258.543 [MissionManager](INFO): DefineArg sample_kiss:StandardEnvelopes.MinAltitude = 5.000000 m
2019-07-16T05:50:58.545Z,1563256258.545 [MissionManager](INFO): DefineArg sample_kiss:StandardEnvelopes.MaxDepth = 200.000000 m
2019-07-16T05:50:58.563Z,1563256258.563 [MissionManager](INFO): DefineArg sample_kiss:StandardEnvelopes.MinOffshore = 2000.000000 m
2019-07-16T05:50:58.564Z,1563256258.564 [sample_kiss:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-07-16T05:50:58.569Z,1563256258.569 [sample_kiss:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-07-16T05:50:58.591Z,1563256258.591 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2019-07-16T05:50:58.614Z,1563256258.614 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-07-16T05:50:58.812Z,1563256258.812 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.DiveInterval = 3.000000 h
2019-07-16T05:50:58.814Z,1563256258.814 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.WaitForPitchUp = 10.000000 min
2019-07-16T05:50:58.816Z,1563256258.816 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-07-16T05:50:58.818Z,1563256258.818 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.SurfaceDepthRate = nan m/s
2019-07-16T05:50:58.833Z,1563256258.833 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-07-16T05:50:58.835Z,1563256258.835 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.GPSTimeout = 7.000000 min
2019-07-16T05:50:58.837Z,1563256258.837 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.CommsTimeout = 30.000000 min
2019-07-16T05:50:58.854Z,1563256258.854 [sample_kiss:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-07-16T05:50:58.920Z,1563256258.920 [sample_kiss:I.Mass](DEBUG): Construct.
2019-07-16T05:50:58.923Z,1563256258.923 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2019-07-16T05:50:59.331Z,1563256259.331 [MissionManager](INFO): DefineArg sample_kiss:Science.SampleISUS = 0 bool
2019-07-16T05:50:59.334Z,1563256259.334 [MissionManager](INFO): DefineArg sample_kiss:Science.SampleISUSmaxPitch = 60.000000 arcdeg
2019-07-16T05:50:59.340Z,1563256259.340 [MissionManager](INFO): DefineArg sample_kiss:Science.SampleISUSminPitch = -60.000000 arcdeg
2019-07-16T05:50:59.342Z,1563256259.342 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakDetectChlActive = 0 bool
2019-07-16T05:50:59.348Z,1563256259.348 [MissionManager](INFO): DefineArg sample_kiss:Science.TimeWindowPeakReport = nan min
2019-07-16T05:50:59.350Z,1563256259.350 [MissionManager](INFO): DefineArg sample_kiss:Science.HighestChlPeakReportActive = 0 bool
2019-07-16T05:50:59.356Z,1563256259.356 [MissionManager](INFO): DefineArg sample_kiss:Science.PatchTracking = 0 bool
2019-07-16T05:50:59.359Z,1563256259.359 [MissionManager](INFO): DefineArg sample_kiss:Science.FilterWidthHorizontal = 3.000000 count
2019-07-16T05:50:59.365Z,1563256259.365 [MissionManager](INFO): DefineArg sample_kiss:Science.NumProfilesSlidingwindow = 100.000000 count
2019-07-16T05:50:59.371Z,1563256259.371 [MissionManager](INFO): DefineArg sample_kiss:Science.OffPeakFractionHorizontal = 80.000000 %
2019-07-16T05:50:59.373Z,1563256259.373 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakDetectNO3Active = 0 bool
2019-07-16T05:50:59.379Z,1563256259.379 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakDetectOilActive = 0 bool
2019-07-16T05:50:59.381Z,1563256259.381 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakDetectFDOMActive = 0 bool
2019-07-16T05:50:59.404Z,1563256259.404 [MissionManager](INFO): DefineArg sample_kiss:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2019-07-16T05:50:59.406Z,1563256259.406 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledAanderaaO2 = 0.000000 bool
2019-07-16T05:50:59.417Z,1563256259.417 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledNeilBrown = 0.000000 bool
2019-07-16T05:50:59.431Z,1563256259.431 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledSeabird = 0.000000 bool
2019-07-16T05:50:59.434Z,1563256259.434 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledTurbulence_NPS = 0.000000 bool
2019-07-16T05:50:59.480Z,1563256259.480 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledWetLabsBB2FL = 1.000000 bool
2019-07-16T05:50:59.501Z,1563256259.501 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledWetLabsSeaOWL_UV_A = 0.000000 bool
2019-07-16T05:50:59.520Z,1563256259.520 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledWetLabsUBAT = 0.000000 bool
2019-07-16T05:50:59.522Z,1563256259.522 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledISUS = 0.000000 bool
2019-07-16T05:50:59.541Z,1563256259.541 [MissionManager](INFO): DefineArg sample_kiss:Science.LowPassWindowLength = 20.000000 count
2019-07-16T05:50:59.558Z,1563256259.558 [MissionManager](INFO): DefineArg sample_kiss:Science.MedianFilterLen = 5.000000 count
2019-07-16T05:50:59.573Z,1563256259.573 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakChlShallowBound = nan m
2019-07-16T05:50:59.583Z,1563256259.583 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakChlDeepBound = nan m
2019-07-16T05:50:59.585Z,1563256259.585 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakShallowBound = nan m
2019-07-16T05:50:59.594Z,1563256259.594 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakDeepBound = nan m
2019-07-16T05:50:59.609Z,1563256259.609 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakChl = 0.000000 ug/l
2019-07-16T05:50:59.619Z,1563256259.619 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakChlDepth = 0.000000 m
2019-07-16T05:50:59.621Z,1563256259.621 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakChlTemperature = 0.000000 degC
2019-07-16T05:50:59.632Z,1563256259.632 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakChlLatitude = nan arcdeg
2019-07-16T05:50:59.634Z,1563256259.634 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakChlLongitude = nan arcdeg
2019-07-16T05:50:59.661Z,1563256259.661 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakNO3 = 0.000000 umol/l
2019-07-16T05:50:59.679Z,1563256259.679 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakNO3Depth = 0.000000 m
2019-07-16T05:50:59.682Z,1563256259.682 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakNO3Latitude = nan arcdeg
2019-07-16T05:50:59.684Z,1563256259.684 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakNO3Longitude = nan arcdeg
2019-07-16T05:50:59.686Z,1563256259.686 [MissionManager](INFO): DefineOutput sample_kiss:Science.PatchChl = 0.000000 m
2019-07-16T05:50:59.704Z,1563256259.704 [MissionManager](INFO): DefineOutput sample_kiss:Science.PatchChlDepth = 0.000000 m
2019-07-16T05:50:59.707Z,1563256259.707 [MissionManager](INFO): DefineOutput sample_kiss:Science.PatchChlLatitude = nan arcdeg
2019-07-16T05:50:59.709Z,1563256259.709 [MissionManager](INFO): DefineOutput sample_kiss:Science.PatchChlLongitude = nan arcdeg
2019-07-16T05:50:59.712Z,1563256259.712 [MissionManager](INFO): DefineOutput sample_kiss:Science.PatchChlDistance = nan m
2019-07-16T05:50:59.714Z,1563256259.714 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakOil = 0.000000 kg/m3
2019-07-16T05:50:59.733Z,1563256259.733 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakOilDepth = 0.000000 m
2019-07-16T05:50:59.735Z,1563256259.735 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakOilLatitude = nan arcdeg
2019-07-16T05:50:59.738Z,1563256259.738 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakOilLongitude = nan arcdeg
2019-07-16T05:50:59.776Z,1563256259.776 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakFDOM = 0.000000 ppb
2019-07-16T05:50:59.778Z,1563256259.778 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakFDOMDepth = 0.000000 m
2019-07-16T05:50:59.781Z,1563256259.781 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakFDOMLatitude = nan arcdeg
2019-07-16T05:50:59.798Z,1563256259.798 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakFDOMLongitude = nan arcdeg
2019-07-16T05:50:59.801Z,1563256259.801 [MissionManager](INFO): DefineOutput sample_kiss:Science.PatchFDOMDistance = nan m
2019-07-16T05:50:59.912Z,1563256259.912 [sample_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-16T05:50:59.974Z,1563256259.974 [sample_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2019-07-16T05:51:00.023Z,1563256260.023 [sample_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-16T05:51:00.066Z,1563256260.066 [sample_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-16T05:51:00.100Z,1563256260.100 [sample_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-16T05:51:00.157Z,1563256260.157 [sample_kiss:InitialDive:B.Buoyancy](DEBUG): Construct Buoyancy.
2019-07-16T05:51:00.160Z,1563256260.160 [sample_kiss:InitialDive:C.SetSpeed](DEBUG): Construct.
2019-07-16T05:51:00.162Z,1563256260.162 [sample_kiss:InitialDive:D.Point](DEBUG): Construct.
2019-07-16T05:51:00.215Z,1563256260.215 [sample_kiss:InitialDive:E.Pitch](DEBUG): Construct.
2019-07-16T05:51:00.221Z,1563256260.221 [sample_kiss:InitialDive:E.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-07-16T05:51:00.238Z,1563256260.238 [sample_kiss:TargetDepth:B.SetSpeed](DEBUG): Construct.
2019-07-16T05:51:00.260Z,1563256260.260 [sample_kiss:TargetDepth:C.Pitch](DEBUG): Construct.
2019-07-16T05:51:00.317Z,1563256260.317 [sample_kiss:TargetDepth:Spinout:A.Buoyancy](DEBUG): Construct Buoyancy.
2019-07-16T05:51:00.320Z,1563256260.320 [sample_kiss:TargetDepth:Spinout:B.Point](DEBUG): Construct.
2019-07-16T05:51:00.352Z,1563256260.352 [MissionManager](INFO): Inserting Stack: Missions/Insert/SampleAtDepth.xml
2019-07-16T05:51:00.534Z,1563256260.534 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.TargetDepth = 5.000000 m
2019-07-16T05:51:00.545Z,1563256260.545 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.SettleTime = 10.000000 s
2019-07-16T05:51:00.555Z,1563256260.555 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.MaxWaitNotReachingDepth = 3.000000 h
2019-07-16T05:51:00.557Z,1563256260.557 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.RotateOnly = 0.000000 bool
2019-07-16T05:51:00.576Z,1563256260.576 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.UseCANONSampler = 0.000000 bool
2019-07-16T05:51:00.578Z,1563256260.578 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.UseESP = 1.000000 bool
2019-07-16T05:51:00.593Z,1563256260.593 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.ESPCartridgeType = nan count
2019-07-16T05:51:00.595Z,1563256260.595 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.CANONSamplerTriggerTimeout = 1.000000 min
2019-07-16T05:51:00.624Z,1563256260.624 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.CANONSamplerTimeout = 6.000000 min
2019-07-16T05:51:00.627Z,1563256260.627 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.BuoyancyNeutral = 273.999991 cc
2019-07-16T05:51:00.641Z,1563256260.641 [sample_kiss:TargetDepth:GrabSamples:SampleAtDepth:ApproachDepth:B.Pitch](DEBUG): Construct.
2019-07-16T05:51:00.655Z,1563256260.655 [sample_kiss:TargetDepth:GrabSamples:SampleAtDepth:ApproachDepth:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-07-16T05:51:00.657Z,1563256260.657 [sample_kiss:TargetDepth:GrabSamples:SampleAtDepth:SampleWrapper:A.Pitch](DEBUG): Construct.
2019-07-16T05:51:00.663Z,1563256260.663 [sample_kiss:TargetDepth:GrabSamples:SampleAtDepth:SampleWrapper:C.Wait](DEBUG): Construct Wait.
2019-07-16T05:51:00.691Z,1563256260.691 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:51:00.750Z,1563256260.750 [sample_kiss:TargetDepth:GrabSamples:SampleAtDepth:SampleWrapper:SampleCANONSampler:TriggerCANONSampler:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-07-16T05:51:00.780Z,1563256260.780 [sample_kiss:TargetDepth:GrabSamples:SampleAtDepth:SampleWrapper:SampleCANONSampler:E:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-07-16T05:51:00.921Z,1563256260.921 [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: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="sample_kiss">

    <Description>
        This mission takes ESP sampls at the designated depth.
    </Description>
    
    <DefineArg Name="MissionTimeout"><Description>
        Maximum duration of mission
    </Description><Units:hour/><Value>4</Value></DefineArg>

    <DefineArg Name="NeedCommsTime"><Description>
        How often to surface for communications
    </Description><Units:minute/><Value>240</Value></DefineArg>

    <DefineArg Name="Depth"><Description>
        Depth held during drift mode
    </Description><Units:meter/><Value>2.5</Value></DefineArg>

    <DefineArg Name="ESPCartridgeType_1"><Description>
        Specifies ESP cartridge type code for sample# 1. Set to NaN to skip this sample.
    </Description><Units:count/><Value>-1</Value></DefineArg>
    
    <DefineArg Name="ESPCartridgeType_2"><Description>
        Specifies ESP cartridge type code for sample# 2. Set to NaN to skip this sample.
    </Description><Units:count/><Value>-16</Value></DefineArg>
    
    <DefineArg Name="ESPCartridgeType_3"><Description>
        Specifies ESP cartridge type code for sample# 3. Set to NaN to skip this sample.
    </Description><Units:count/><Value>NaN</Value></DefineArg>
    
    <DefineArg Name="ESPCartridgeType_4"><Description>
        Specifies ESP cartridge type code for sample# 4. Set to NaN to skip this sample.
    </Description><Units:count/><Value>NaN</Value></DefineArg>
    
    <DefineArg Name="WaitBeforeSample"><Description>
        How long to wait between samples. This starts *before* the first sample
        to exercise the SettleTime setting in the insert aggregate.
    </Description><Units:minute/><Value>3</Value></DefineArg>
    
    <DefineArg Name="ApproachDepthTimeout"><Description>
        Maximum time duration for the vehicle to reach the approach depth
    </Description><Units:minute/><Value>20</Value></DefineArg>

    <DefineArg Name="DepthDeadband"><Description>
        How much vertical drift from the specified depth is allowed while sampling.
    </Description><Units:meter/><Value>0.00</Value></DefineArg>

    <DefineArg Name="Speed"><Description>
        Vehicle transit speed
    </Description><Units:meter_per_second/><Value>0</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum allowable depth during the mission
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="PitchLimit"><Description>
        Max vehicle pitch (+/-) when decending from the surface
    </Description><Units:degree/><Value>20</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Description>
        Minimum distance from the shoreline to maintain
    </Description><Units:kilometer/><Value>1</Value></DefineArg>

    <DefineOutput Name="StartFromSurface"><Description>
        Mission variable (don't change). The mission sets this to true after surface comms are done.
    </Description><True/></DefineOutput>
    

    <!-- Mission timeout -->

    <Timeout Duration="MissionTimeout"/>

    <!-- Safety nets and surfacing behaviors -->
    
    <Trigger:AbortSample>
        <Parallel/>
    </Trigger:AbortSample>

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

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

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


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

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

    <Assign><Sequence/><Arg Name="NeedComms:WaitForPitchUp"/><Units:minute/><Value>0</Value></Assign>

    <Aggregate Id="SurfaceComms">

        <When>
            <Called/>
            <Or><Elapsed><Universal:time_fix/></Elapsed><Gt><Arg Name="NeedCommsTime"/></Gt></Or>
        </When>

        <Call RefId="NeedComms"/>

        <Assign><Sequence/><Arg Name="StartFromSurface"/><True/></Assign>

    </Aggregate>

    <!-- Set default mass position -->

    <Guidance:Mass>
        <Parallel/>
        <Setting><Guidance:Mass.position/><Control:VerticalControl.massDefault/></Setting>
    </Guidance:Mass>

    <!-- Start mission sequence -->

    <Call Id="StartingMission" RefId="SurfaceComms"/>
    
    <Insert Filename="Insert/Science.xml"></Insert>

    <Aggregate Id="InitialDive">

        <Description>
            Descend from the surface to approach depth using the thruster. Limit pitch.
        </Description>

        <When>
            <Arg Name="StartFromSurface"/>
        </When>

        <Assign><Parallel/><Control:VerticalControl.pitchLimit/><Arg Name="PitchLimit"/></Assign>

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

        <Guidance:SetSpeed>
            <Parallel/>
            <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>1.0</Value></Setting>
        </Guidance:SetSpeed>
        
        <Guidance:Point>
            <Setting><Guidance:Point.rudderAngle/><Units:degree/><Value>13</Value></Setting>
        </Guidance:Point>

        <Guidance:Pitch>
            <Sequence/>
            <Timeout Duration="ApproachDepthTimeout">
                <Syslog Severity="Important">Timed out while trying to reach approach depth at current depth of <Universal:depth/><Units:meter/>.</Syslog>
                <Guidance:Execute>
                    <Sequence/>
                    <Setting><Guidance:Execute.command/><String>stop</String></Setting>
                </Guidance:Execute>
            </Timeout>
            <Setting><Guidance:Pitch.depth/><Arg Name="Depth"/></Setting>
        </Guidance:Pitch>

        <Assign><Sequence/><Arg Name="StartFromSurface"/><False/></Assign>

    </Aggregate>

    <Aggregate Id="TargetDepth">

        <Description>
            Maintain target depth and acquire ESP samples.
        </Description>

        <Sequence/>

        <Assign><Parallel/><Control:VerticalControl.depthDeadband/><Arg Name="DepthDeadband"/></Assign>
        
        <Guidance:SetSpeed>
            <Parallel/>
            <Setting><Guidance:SetSpeed.speed/><Arg Name="Speed"/></Setting>
        </Guidance:SetSpeed>
        
        <Guidance:Pitch>
            <Parallel/>
            <Setting><Guidance:Pitch.depth/><Arg Name="Depth"/></Setting>
        </Guidance:Pitch>
        
        <Aggregate Id="Spinout">
            
            <While>
                <Arg Name="Speed"/><Gt><Units:meter_per_second/><Value>0.0</Value></Gt>
            </While>
            
            <Guidance:Buoyancy>
                <Parallel/>
                <Setting><Guidance:Buoyancy.position/><Control:VerticalControl.buoyancyNeutral/></Setting>
            </Guidance:Buoyancy>
            
            <Guidance:Point>
                <Setting><Guidance:Point.rudderAngle/><Units:degree/><Value>13</Value></Setting>
            </Guidance:Point>
            
        </Aggregate>
        
        <Aggregate Id="GrabSamples">
            
            <Sequence/>
            
            <Insert Filename="Insert/SampleAtDepth.xml"/>
            
            <Assign><Sequence/><Arg Name="SampleAtDepth:TargetDepth"/><Arg Name="Depth"/></Assign>
            
            <Assign><Sequence/><Arg Name="SampleAtDepth:SettleTime"/><Arg Name="WaitBeforeSample"/></Assign>
            
            <Aggregate Id="Sample1">
                <Break>
                    <IsNaN><Arg Name="ESPCartridgeType_1"/></IsNaN>
                </Break>
                
                <Assign><Sequence/><Arg Name="SampleAtDepth:ESPCartridgeType"/><Arg Name="ESPCartridgeType_1"/></Assign>
                
                <Call Id="sampling" RefId="SampleAtDepth"/>
            </Aggregate>

            
            <Aggregate Id="Sample2">
                <Break>
                    <IsNaN><Arg Name="ESPCartridgeType_2"/></IsNaN>
                </Break>
                
                <Assign><Sequence/><Arg Name="SampleAtDepth:ESPCartridgeType"/><Arg Name="ESPCartridgeType_2"/></Assign>
                
                <Call Id="sampling" RefId="SampleAtDepth"/>
            </Aggregate>

            
            <Aggregate Id="Sample3">
                <Break>
                    <IsNaN><Arg Name="ESPCartridgeType_3"/></IsNaN>
                </Break>

                <Assign><Sequence/><Arg Name="SampleAtDepth:ESPCartridgeType"/><Arg Name="ESPCartridgeType_3"/></Assign>
                
                <Call Id="sampling" RefId="SampleAtDepth"/>
            </Aggregate>

            
            <Aggregate Id="Sample4">
                <Break>
                    <IsNaN><Arg Name="ESPCartridgeType_4"/></IsNaN>
                </Break>

                <Assign><Sequence/><Arg Name="SampleAtDepth:ESPCartridgeType"/><Arg Name="ESPCartridgeType_4"/></Assign>

                <Call Id="sampling" RefId="SampleAtDepth"/>
            </Aggregate>

        </Aggregate>

    </Aggregate>

</Mission>


2019-07-16T05:51:00.935Z,1563256260.935 [CommandLine](IMPORTANT): Running ./Missions/kiss.xml
2019-07-16T05:51:01.143Z,1563256261.143 [Default] Stopped
2019-07-16T05:51:01.143Z,1563256261.143 [Default](DEBUG): Aggregate::uninitialize Default
2019-07-16T05:51:01.143Z,1563256261.143 [Default:B.GoToSurface] Stopped
2019-07-16T05:51:01.143Z,1563256261.143 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-07-16T05:51:01.143Z,1563256261.143 [Default:CheckIn] Stopped
2019-07-16T05:51:01.143Z,1563256261.143 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-07-16T05:51:01.143Z,1563256261.143 [Default:CheckIn:C.Wait] Stopped
2019-07-16T05:51:01.144Z,1563256261.144 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-07-16T05:51:01.144Z,1563256261.144 [MissionManager](IMPORTANT): Started mission sample_kiss
2019-07-16T05:51:01.144Z,1563256261.144 [sample_kiss] Running Loop=1
2019-07-16T05:51:01.144Z,1563256261.144 [sample_kiss](DEBUG): Aggregate::initialize sample_kiss
2019-07-16T05:51:01.144Z,1563256261.144 [sample_kiss:A.AbortSample] Running Loop=1
2019-07-16T05:51:01.144Z,1563256261.144 [sample_kiss:A.AbortSample](INFO): Initializing AbortSample.
2019-07-16T05:51:01.144Z,1563256261.144 [sample_kiss:StandardEnvelopes] Running Loop=1
2019-07-16T05:51:01.145Z,1563256261.145 [sample_kiss:StandardEnvelopes](DEBUG): Aggregate::initialize sample_kiss:StandardEnvelopes
2019-07-16T05:51:01.145Z,1563256261.145 [sample_kiss:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-07-16T05:51:01.145Z,1563256261.145 [sample_kiss:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-07-16T05:51:01.145Z,1563256261.145 [sample_kiss:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-07-16T05:51:01.145Z,1563256261.145 [sample_kiss:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-07-16T05:51:01.145Z,1563256261.145 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-07-16T05:51:01.145Z,1563256261.145 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2019-07-16T05:51:01.145Z,1563256261.145 [sample_kiss:I.Mass] Running Loop=1
2019-07-16T05:51:01.145Z,1563256261.145 [sample_kiss:I.Mass](DEBUG): Initialize.
2019-07-16T05:51:01.145Z,1563256261.145 [sample_kiss:Science] Running Loop=1
2019-07-16T05:51:01.146Z,1563256261.146 [sample_kiss:Science](DEBUG): Aggregate::initialize sample_kiss:Science
2019-07-16T05:51:01.146Z,1563256261.146 [sample_kiss:Science:A] Running Loop=1
2019-07-16T05:51:01.146Z,1563256261.146 [sample_kiss:Science:B] Running Loop=1
2019-07-16T05:51:01.146Z,1563256261.146 [sample_kiss:Science:C] Running Loop=1
2019-07-16T05:51:01.146Z,1563256261.146 [sample_kiss:Science:D] Running Loop=1
2019-07-16T05:51:01.146Z,1563256261.146 [sample_kiss:Science:E] Running Loop=1
2019-07-16T05:51:01.146Z,1563256261.146 [sample_kiss:Science:F] Running Loop=1
2019-07-16T05:51:01.146Z,1563256261.146 [sample_kiss:Science:G] Running Loop=1
2019-07-16T05:51:01.146Z,1563256261.146 [sample_kiss:Science:H] Running Loop=1
2019-07-16T05:51:01.146Z,1563256261.146 [sample_kiss:Science:Read_Oil] Running Loop=1
2019-07-16T05:51:01.146Z,1563256261.146 [sample_kiss:Science:PeakDetectChl] Running Loop=1
2019-07-16T05:51:01.146Z,1563256261.146 [sample_kiss:Science:PeakDetectChl](DEBUG): Aggregate::initialize sample_kiss:Science:PeakDetectChl
2019-07-16T05:51:01.147Z,1563256261.147 [sample_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2019-07-16T05:51:01.147Z,1563256261.147 [sample_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-16T05:51:01.148Z,1563256261.148 [sample_kiss:Science:HighestChlPeakReport] Running Loop=1
2019-07-16T05:51:01.148Z,1563256261.148 [sample_kiss:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize sample_kiss:Science:HighestChlPeakReport
2019-07-16T05:51:01.148Z,1563256261.148 [sample_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2019-07-16T05:51:01.148Z,1563256261.148 [sample_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2019-07-16T05:51:01.149Z,1563256261.149 [sample_kiss:Science:PeakDetectNO3] Running Loop=1
2019-07-16T05:51:01.149Z,1563256261.149 [sample_kiss:Science:PeakDetectNO3](DEBUG): Aggregate::initialize sample_kiss:Science:PeakDetectNO3
2019-07-16T05:51:01.149Z,1563256261.149 [sample_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2019-07-16T05:51:01.149Z,1563256261.149 [sample_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-16T05:51:01.150Z,1563256261.150 [sample_kiss:Science:PeakDetectOil] Running Loop=1
2019-07-16T05:51:01.150Z,1563256261.150 [sample_kiss:Science:PeakDetectOil](DEBUG): Aggregate::initialize sample_kiss:Science:PeakDetectOil
2019-07-16T05:51:01.150Z,1563256261.150 [sample_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2019-07-16T05:51:01.150Z,1563256261.150 [sample_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-16T05:51:01.163Z,1563256261.163 [sample_kiss:Science:PeakDetectFDOM] Running Loop=1
2019-07-16T05:51:01.163Z,1563256261.163 [sample_kiss:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize sample_kiss:Science:PeakDetectFDOM
2019-07-16T05:51:01.164Z,1563256261.164 [sample_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2019-07-16T05:51:01.164Z,1563256261.164 [sample_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-16T05:51:01.165Z,1563256261.165 [sample_kiss:C] Running Loop=1
2019-07-16T05:51:01.166Z,1563256261.166 [sample_kiss:InitialDive] Running Loop=1
2019-07-16T05:51:01.166Z,1563256261.166 [sample_kiss:InitialDive](DEBUG): Aggregate::initialize sample_kiss:InitialDive
2019-07-16T05:51:01.166Z,1563256261.166 [sample_kiss:InitialDive:A] Running Loop=1
2019-07-16T05:51:01.166Z,1563256261.166 [sample_kiss:InitialDive:B.Buoyancy] Running Loop=1
2019-07-16T05:51:01.166Z,1563256261.166 [sample_kiss:InitialDive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-07-16T05:51:01.166Z,1563256261.166 [sample_kiss:InitialDive:C.SetSpeed] Running Loop=1
2019-07-16T05:51:01.166Z,1563256261.166 [sample_kiss:InitialDive:C.SetSpeed](DEBUG): Initialize.
2019-07-16T05:51:01.166Z,1563256261.166 [sample_kiss:InitialDive:D.Point] Running Loop=1
2019-07-16T05:51:01.166Z,1563256261.166 [sample_kiss:InitialDive:D.Point](DEBUG): Initialize.
2019-07-16T05:51:01.167Z,1563256261.167 [sample_kiss:InitialDive:E.Pitch] Running Loop=1
2019-07-16T05:51:01.167Z,1563256261.167 [sample_kiss:InitialDive:E.Pitch](DEBUG): Initialize.
2019-07-16T05:51:01.167Z,1563256261.167 [sample_kiss:InitialDive:D.Point] Running Loop=1
2019-07-16T05:51:01.168Z,1563256261.168 [sample_kiss:InitialDive:C.SetSpeed] Running Loop=1
2019-07-16T05:51:01.168Z,1563256261.168 [sample_kiss:InitialDive:B.Buoyancy] Running Loop=1
2019-07-16T05:51:01.168Z,1563256261.168 [sample_kiss:InitialDive:A] Running Loop=1
2019-07-16T05:51:01.168Z,1563256261.168 [sample_kiss:Science] Running Loop=1
2019-07-16T05:51:01.169Z,1563256261.169 [sample_kiss:Science:PeakDetectFDOM] Stopped
2019-07-16T05:51:01.169Z,1563256261.169 [sample_kiss:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize sample_kiss:Science:PeakDetectFDOM
2019-07-16T05:51:01.169Z,1563256261.169 [sample_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2019-07-16T05:51:01.169Z,1563256261.169 [sample_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-16T05:51:01.169Z,1563256261.169 [sample_kiss:Science:PeakDetectOil] Stopped
2019-07-16T05:51:01.170Z,1563256261.170 [sample_kiss:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize sample_kiss:Science:PeakDetectOil
2019-07-16T05:51:01.170Z,1563256261.170 [sample_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2019-07-16T05:51:01.170Z,1563256261.170 [sample_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-16T05:51:01.170Z,1563256261.170 [sample_kiss:Science:PeakDetectNO3] Stopped
2019-07-16T05:51:01.170Z,1563256261.170 [sample_kiss:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize sample_kiss:Science:PeakDetectNO3
2019-07-16T05:51:01.170Z,1563256261.170 [sample_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2019-07-16T05:51:01.170Z,1563256261.170 [sample_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-16T05:51:01.170Z,1563256261.170 [sample_kiss:Science:HighestChlPeakReport] Stopped
2019-07-16T05:51:01.170Z,1563256261.170 [sample_kiss:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize sample_kiss:Science:HighestChlPeakReport
2019-07-16T05:51:01.170Z,1563256261.170 [sample_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2019-07-16T05:51:01.170Z,1563256261.170 [sample_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2019-07-16T05:51:01.170Z,1563256261.170 [sample_kiss:Science:PeakDetectChl] Stopped
2019-07-16T05:51:01.170Z,1563256261.170 [sample_kiss:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize sample_kiss:Science:PeakDetectChl
2019-07-16T05:51:01.171Z,1563256261.171 [sample_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2019-07-16T05:51:01.171Z,1563256261.171 [sample_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-16T05:51:01.171Z,1563256261.171 [sample_kiss:Science:Read_Oil] Stopped
2019-07-16T05:51:01.187Z,1563256261.187 [sample_kiss:Science:H] Stopped
2019-07-16T05:51:01.187Z,1563256261.187 [sample_kiss:Science:G] Running Loop=1
2019-07-16T05:51:01.187Z,1563256261.187 [sample_kiss:Science:G](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2019-07-16T05:51:01.188Z,1563256261.188 [sample_kiss:Science:F] Stopped
2019-07-16T05:51:01.188Z,1563256261.188 [sample_kiss:Science:E] Stopped
2019-07-16T05:51:01.188Z,1563256261.188 [sample_kiss:Science:D] Stopped
2019-07-16T05:51:01.188Z,1563256261.188 [sample_kiss:Science:C] Stopped
2019-07-16T05:51:01.188Z,1563256261.188 [sample_kiss:Science:B] Stopped
2019-07-16T05:51:01.188Z,1563256261.188 [sample_kiss:Science:A] Stopped
2019-07-16T05:51:01.188Z,1563256261.188 [sample_kiss:I.Mass] Running Loop=1
2019-07-16T05:51:01.188Z,1563256261.188 [sample_kiss:C] Stopped
2019-07-16T05:51:01.188Z,1563256261.188 [sample_kiss:D] Running Loop=1
2019-07-16T05:51:01.189Z,1563256261.189 [sample_kiss:StandardEnvelopes] Running Loop=1
2019-07-16T05:51:01.189Z,1563256261.189 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-07-16T05:51:01.189Z,1563256261.189 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:01.189Z,1563256261.189 [sample_kiss:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-07-16T05:51:01.189Z,1563256261.189 [sample_kiss:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-07-16T05:51:01.189Z,1563256261.189 [sample_kiss:A.AbortSample] Running Loop=1
2019-07-16T05:51:01.539Z,1563256261.539 [sample_kiss:D] Stopped
2019-07-16T05:51:01.539Z,1563256261.539 [sample_kiss:F] Running Loop=1
2019-07-16T05:51:01.539Z,1563256261.539 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:01.927Z,1563256261.927 [sample_kiss:F] Stopped
2019-07-16T05:51:01.931Z,1563256261.931 [sample_kiss:G] Running Loop=1
2019-07-16T05:51:01.931Z,1563256261.931 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:02.363Z,1563256262.363 [sample_kiss:G] Stopped
2019-07-16T05:51:02.363Z,1563256262.363 [sample_kiss:StartingMission] Running Loop=1
2019-07-16T05:51:02.364Z,1563256262.364 [sample_kiss:StartingMission](DEBUG): Aggregate::initialize sample_kiss:StartingMission
2019-07-16T05:51:02.364Z,1563256262.364 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:02.711Z,1563256262.711 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:51:02.742Z,1563256262.742 [sample_kiss:SurfaceComms] Running Loop=1
2019-07-16T05:51:02.742Z,1563256262.742 [sample_kiss:SurfaceComms](DEBUG): Aggregate::initialize sample_kiss:SurfaceComms
2019-07-16T05:51:02.743Z,1563256262.743 [sample_kiss:SurfaceComms:A] Running Loop=1
2019-07-16T05:51:02.743Z,1563256262.743 [sample_kiss:SurfaceComms:A](DEBUG): Aggregate::initialize sample_kiss:SurfaceComms:A
2019-07-16T05:51:02.743Z,1563256262.743 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:02.744Z,1563256262.744 [sample_kiss:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2019-07-16T05:51:03.147Z,1563256263.147 [sample_kiss:NeedComms] Running Loop=1
2019-07-16T05:51:03.147Z,1563256263.147 [sample_kiss:NeedComms](DEBUG): Aggregate::initialize sample_kiss:NeedComms
2019-07-16T05:51:03.147Z,1563256263.147 [sample_kiss:NeedComms:B.GoToSurface] Running Loop=1
2019-07-16T05:51:03.147Z,1563256263.147 [sample_kiss:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-07-16T05:51:03.148Z,1563256263.148 [sample_kiss:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2019-07-16T05:51:03.148Z,1563256263.148 [sample_kiss:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2019-07-16T05:51:03.149Z,1563256263.149 [sample_kiss:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2019-07-16T05:51:03.149Z,1563256263.149 [sample_kiss:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-07-16T05:51:03.149Z,1563256263.149 [sample_kiss:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-07-16T05:51:03.149Z,1563256263.149 [sample_kiss:NeedComms:A] Running Loop=1
2019-07-16T05:51:03.151Z,1563256263.151 [sample_kiss:NeedComms:A](INFO): last time_fix was: 1563256192.000000 second since 1970/01/01T00:00:00Z 
2019-07-16T05:51:03.151Z,1563256263.151 [sample_kiss:NeedComms:A] Stopped
2019-07-16T05:51:03.151Z,1563256263.151 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:03.551Z,1563256263.551 [sample_kiss:NeedComms:C] Running Loop=1
2019-07-16T05:51:03.551Z,1563256263.551 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:03.933Z,1563256263.933 [sample_kiss:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-07-16T05:51:03.934Z,1563256263.934 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:04.359Z,1563256264.359 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:04.751Z,1563256264.751 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:05.149Z,1563256265.149 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:05.575Z,1563256265.575 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:05.943Z,1563256265.943 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:51:05.987Z,1563256265.987 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:06.394Z,1563256266.394 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:06.791Z,1563256266.791 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:07.190Z,1563256267.190 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:07.591Z,1563256267.591 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:07.999Z,1563256267.999 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:08.414Z,1563256268.414 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:08.771Z,1563256268.771 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:51:08.794Z,1563256268.794 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:09.208Z,1563256269.208 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:09.607Z,1563256269.607 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:09.996Z,1563256269.996 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:10.401Z,1563256270.401 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:10.815Z,1563256270.815 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:11.216Z,1563256271.216 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:11.621Z,1563256271.621 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:12.007Z,1563256272.007 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:51:12.030Z,1563256272.030 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:12.438Z,1563256272.438 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:12.840Z,1563256272.840 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:13.235Z,1563256273.235 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:13.634Z,1563256273.634 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:14.045Z,1563256274.045 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:14.452Z,1563256274.452 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:14.831Z,1563256274.831 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:51:14.873Z,1563256274.873 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:15.268Z,1563256275.268 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:15.668Z,1563256275.668 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:16.052Z,1563256276.052 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:16.468Z,1563256276.468 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:16.867Z,1563256276.867 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:17.279Z,1563256277.279 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:17.676Z,1563256277.676 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:18.063Z,1563256278.063 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:51:18.098Z,1563256278.098 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:18.498Z,1563256278.498 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:18.904Z,1563256278.904 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:19.291Z,1563256279.291 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:19.692Z,1563256279.692 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:20.104Z,1563256280.104 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:20.536Z,1563256280.536 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:20.895Z,1563256280.895 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:51:20.925Z,1563256280.925 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:21.449Z,1563256281.449 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:21.722Z,1563256281.722 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:22.123Z,1563256282.123 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:22.519Z,1563256282.519 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-16T05:51:22.519Z,1563256282.519 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 7
2019-07-16T05:51:22.519Z,1563256282.519 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-16T05:51:22.524Z,1563256282.524 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:22.533Z,1563256282.533 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-16T05:51:22.931Z,1563256282.931 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:22.939Z,1563256282.939 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-16T05:51:22.939Z,1563256282.939 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 7
2019-07-16T05:51:23.327Z,1563256283.327 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:23.719Z,1563256283.719 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:51:23.748Z,1563256283.748 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:24.155Z,1563256284.155 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:24.556Z,1563256284.556 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:24.960Z,1563256284.960 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:25.348Z,1563256285.348 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:25.739Z,1563256285.739 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:51:25.762Z,1563256285.762 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:26.176Z,1563256286.176 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:26.590Z,1563256286.590 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:26.964Z,1563256286.964 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:27.368Z,1563256287.368 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:27.783Z,1563256287.783 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:28.190Z,1563256288.190 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:28.580Z,1563256288.580 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:28.975Z,1563256288.975 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:51:29.003Z,1563256289.003 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:29.402Z,1563256289.402 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:29.780Z,1563256289.780 [CommandLine](IMPORTANT): got command maintain sensor Depth_Keller.depth 2.500000 meter
2019-07-16T05:51:29.782Z,1563256289.782 [ComponentRegistry](DEBUG): SyncComponent "Maintain_Depth_Keller.depth" handled in the control thread.
2019-07-16T05:51:29.816Z,1563256289.816 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:29.829Z,1563256289.829 [controlThread](DEBUG): Component order: CycleStarter,Depth_Keller,DropWeight,NAL9602,Onboard,BPC1,ESPComponent,PAR_Licor,Depth_Keller,PAR_Licor,Maintain_Depth_Keller.depth,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2019-07-16T05:51:30.201Z,1563256290.201 [sample_kiss:InitialDive:E.Pitch] Stopped
2019-07-16T05:51:30.201Z,1563256290.201 [sample_kiss:InitialDive:F] Running Loop=1
2019-07-16T05:51:30.204Z,1563256290.204 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:30.597Z,1563256290.597 [sample_kiss:InitialDive:F] Stopped
2019-07-16T05:51:30.598Z,1563256290.598 [sample_kiss:InitialDive](INFO): Completed sample_kiss:InitialDive
2019-07-16T05:51:30.598Z,1563256290.598 [sample_kiss:InitialDive] Stopped
2019-07-16T05:51:30.598Z,1563256290.598 [sample_kiss:InitialDive](DEBUG): Aggregate::uninitialize sample_kiss:InitialDive
2019-07-16T05:51:30.598Z,1563256290.598 [sample_kiss:InitialDive:A] Stopped
2019-07-16T05:51:30.598Z,1563256290.598 [sample_kiss:InitialDive:B.Buoyancy] Stopped
2019-07-16T05:51:30.598Z,1563256290.598 [sample_kiss:InitialDive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2019-07-16T05:51:30.599Z,1563256290.599 [sample_kiss:InitialDive:C.SetSpeed] Stopped
2019-07-16T05:51:30.599Z,1563256290.599 [sample_kiss:InitialDive:C.SetSpeed](DEBUG): Uninitialize.
2019-07-16T05:51:30.599Z,1563256290.599 [sample_kiss:InitialDive:D.Point] Stopped
2019-07-16T05:51:30.601Z,1563256290.601 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:31.015Z,1563256291.015 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:31.418Z,1563256291.418 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:31.799Z,1563256291.799 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:51:31.834Z,1563256291.834 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:32.235Z,1563256292.235 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:32.638Z,1563256292.638 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:33.028Z,1563256293.028 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:33.432Z,1563256293.432 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:33.834Z,1563256293.834 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:34.242Z,1563256294.242 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:34.647Z,1563256294.647 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:35.031Z,1563256295.031 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:51:35.067Z,1563256295.067 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:35.513Z,1563256295.513 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:35.874Z,1563256295.874 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:36.290Z,1563256296.290 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:36.694Z,1563256296.694 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:37.075Z,1563256297.075 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:37.489Z,1563256297.489 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:37.863Z,1563256297.863 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:51:37.894Z,1563256297.894 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:38.302Z,1563256298.302 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:38.718Z,1563256298.718 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:39.090Z,1563256299.090 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:39.491Z,1563256299.491 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:39.895Z,1563256299.895 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:40.302Z,1563256300.302 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:40.710Z,1563256300.710 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:41.091Z,1563256301.091 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:51:41.122Z,1563256301.122 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:41.534Z,1563256301.534 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:41.934Z,1563256301.934 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:42.322Z,1563256302.322 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:42.730Z,1563256302.730 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:43.128Z,1563256303.128 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:43.534Z,1563256303.534 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:43.923Z,1563256303.923 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:51:43.951Z,1563256303.951 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:44.359Z,1563256304.359 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:44.762Z,1563256304.762 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:45.154Z,1563256305.154 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:45.551Z,1563256305.551 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:45.955Z,1563256305.955 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:46.359Z,1563256306.359 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:46.751Z,1563256306.751 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:51:46.779Z,1563256306.779 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:47.181Z,1563256307.181 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:47.582Z,1563256307.582 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:47.980Z,1563256307.980 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:48.378Z,1563256308.378 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:48.767Z,1563256308.767 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:51:48.795Z,1563256308.795 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:49.207Z,1563256309.207 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:49.601Z,1563256309.601 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:49.995Z,1563256309.995 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:50.403Z,1563256310.403 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:50.791Z,1563256310.791 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:51:50.819Z,1563256310.819 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:51.223Z,1563256311.223 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:51.631Z,1563256311.631 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:52.018Z,1563256312.018 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:52.419Z,1563256312.419 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:52.824Z,1563256312.824 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:53.231Z,1563256313.231 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:53.631Z,1563256313.631 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:54.019Z,1563256314.019 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:51:54.048Z,1563256314.048 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:54.455Z,1563256314.455 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:54.863Z,1563256314.863 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:55.260Z,1563256315.260 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:55.654Z,1563256315.654 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:56.058Z,1563256316.058 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:56.459Z,1563256316.459 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:56.847Z,1563256316.847 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:51:56.875Z,1563256316.875 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:57.282Z,1563256317.282 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:57.687Z,1563256317.687 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:58.078Z,1563256318.078 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:58.489Z,1563256318.489 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:58.883Z,1563256318.883 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:59.287Z,1563256319.287 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:51:59.690Z,1563256319.690 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:00.083Z,1563256320.083 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:52:00.111Z,1563256320.111 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:00.513Z,1563256320.513 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:00.914Z,1563256320.914 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:01.311Z,1563256321.311 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:01.718Z,1563256321.718 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:02.128Z,1563256322.128 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:02.523Z,1563256322.523 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:02.907Z,1563256322.907 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:52:02.935Z,1563256322.935 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:03.342Z,1563256323.342 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:03.747Z,1563256323.747 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:04.139Z,1563256324.139 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:04.542Z,1563256324.542 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:04.948Z,1563256324.948 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:05.354Z,1563256325.354 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:05.785Z,1563256325.785 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:06.139Z,1563256326.139 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:52:06.170Z,1563256326.170 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:06.589Z,1563256326.589 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:06.989Z,1563256326.989 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:07.378Z,1563256327.378 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:07.785Z,1563256327.785 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:08.197Z,1563256328.197 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:08.583Z,1563256328.583 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:08.967Z,1563256328.967 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:52:09.001Z,1563256329.001 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:09.402Z,1563256329.402 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:09.811Z,1563256329.811 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:10.206Z,1563256330.206 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:10.600Z,1563256330.600 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:11.007Z,1563256331.007 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:11.411Z,1563256331.411 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:11.795Z,1563256331.795 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:52:11.830Z,1563256331.830 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:12.238Z,1563256332.238 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:12.639Z,1563256332.639 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:13.022Z,1563256333.022 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:13.431Z,1563256333.431 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:13.819Z,1563256333.819 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:52:13.842Z,1563256333.842 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:14.249Z,1563256334.249 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:14.662Z,1563256334.662 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:15.047Z,1563256335.047 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:15.454Z,1563256335.454 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:15.848Z,1563256335.848 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:16.256Z,1563256336.256 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:16.659Z,1563256336.659 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:17.055Z,1563256337.055 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:52:17.083Z,1563256337.083 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:17.481Z,1563256337.481 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:17.890Z,1563256337.890 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:18.279Z,1563256338.279 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:18.686Z,1563256338.686 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:19.091Z,1563256339.091 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:19.484Z,1563256339.484 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:19.875Z,1563256339.875 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:52:19.903Z,1563256339.903 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:20.309Z,1563256340.309 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:20.396Z,1563256340.396 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-16T05:52:20.396Z,1563256340.396 [WetLabsBB2FL] No Fault, FailCount= 5
2019-07-16T05:52:20.484Z,1563256340.484 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-16T05:52:20.484Z,1563256340.484 [WetLabsBB2FL](INFO): Powering up
2019-07-16T05:52:20.711Z,1563256340.711 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:21.106Z,1563256341.106 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:21.510Z,1563256341.510 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:21.919Z,1563256341.919 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:22.322Z,1563256342.322 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:22.720Z,1563256342.720 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:23.107Z,1563256343.107 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:52:23.138Z,1563256343.138 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:23.542Z,1563256343.542 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:23.945Z,1563256343.945 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:24.332Z,1563256344.332 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:24.742Z,1563256344.742 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:25.150Z,1563256345.150 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:25.555Z,1563256345.555 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:25.779Z,1563256345.779 [WetLabsBB2FL] Communications Fault, FailCount= 1
2019-07-16T05:52:25.779Z,1563256345.779 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-16T05:52:25.935Z,1563256345.935 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:52:25.974Z,1563256345.974 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:26.043Z,1563256346.043 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-16T05:52:26.279Z,1563256346.279 [WetLabsBB2FL](INFO): Powering down
2019-07-16T05:52:26.370Z,1563256346.370 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:26.779Z,1563256346.779 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:27.163Z,1563256347.163 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:27.240Z,1563256347.240 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-16T05:52:27.240Z,1563256347.240 [WetLabsBB2FL] No Fault, FailCount= 1
2019-07-16T05:52:27.492Z,1563256347.492 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-16T05:52:27.492Z,1563256347.492 [WetLabsBB2FL](INFO): Powering up
2019-07-16T05:52:27.617Z,1563256347.617 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:27.998Z,1563256347.998 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:28.377Z,1563256348.377 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:28.801Z,1563256348.801 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:29.167Z,1563256349.167 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:52:29.214Z,1563256349.214 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:29.597Z,1563256349.597 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:30.002Z,1563256350.002 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:30.371Z,1563256350.371 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2019-07-16T05:52:30.396Z,1563256350.396 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:30.547Z,1563256350.547 [Radio_Surface](INFO): Powering down
2019-07-16T05:52:30.803Z,1563256350.803 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:31.206Z,1563256351.206 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:31.613Z,1563256351.613 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:31.995Z,1563256351.995 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:52:32.029Z,1563256352.029 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:32.324Z,1563256352.324 [CommandLine](IMPORTANT): got command stop
2019-07-16T05:52:32.324Z,1563256352.324 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-07-16T05:52:32.446Z,1563256352.446 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:52:32.447Z,1563256352.447 [MissionManager](INFO): MissionManager is completed.
2019-07-16T05:52:32.447Z,1563256352.447 [MissionManager](INFO): Uninitializing Mission sample_kiss
2019-07-16T05:52:32.447Z,1563256352.447 [sample_kiss] Stopped
2019-07-16T05:52:32.447Z,1563256352.447 [sample_kiss](DEBUG): Aggregate::uninitialize sample_kiss
2019-07-16T05:52:32.447Z,1563256352.447 [sample_kiss:A.AbortSample] Stopped
2019-07-16T05:52:32.447Z,1563256352.447 [sample_kiss:A.AbortSample](INFO): Uninitializing AbortSample.
2019-07-16T05:52:32.448Z,1563256352.448 [sample_kiss:StandardEnvelopes] Stopped
2019-07-16T05:52:32.448Z,1563256352.448 [sample_kiss:StandardEnvelopes](DEBUG): Aggregate::uninitialize sample_kiss:StandardEnvelopes
2019-07-16T05:52:32.448Z,1563256352.448 [sample_kiss:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2019-07-16T05:52:32.448Z,1563256352.448 [sample_kiss:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2019-07-16T05:52:32.448Z,1563256352.448 [sample_kiss:StandardEnvelopes:B.DepthEnvelope] Stopped
2019-07-16T05:52:32.448Z,1563256352.448 [sample_kiss:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2019-07-16T05:52:32.448Z,1563256352.448 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2019-07-16T05:52:32.448Z,1563256352.448 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2019-07-16T05:52:32.448Z,1563256352.448 [sample_kiss:NeedComms] Stopped
2019-07-16T05:52:32.448Z,1563256352.448 [sample_kiss:NeedComms](DEBUG): Aggregate::uninitialize sample_kiss:NeedComms
2019-07-16T05:52:32.448Z,1563256352.448 [sample_kiss:NeedComms:B.GoToSurface] Stopped
2019-07-16T05:52:32.448Z,1563256352.448 [sample_kiss:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-07-16T05:52:32.449Z,1563256352.449 [sample_kiss:NeedComms:C] Stopped
2019-07-16T05:52:32.449Z,1563256352.449 [sample_kiss:SurfaceComms] Stopped
2019-07-16T05:52:32.449Z,1563256352.449 [sample_kiss:SurfaceComms](DEBUG): Aggregate::uninitialize sample_kiss:SurfaceComms
2019-07-16T05:52:32.449Z,1563256352.449 [sample_kiss:SurfaceComms:A] Stopped
2019-07-16T05:52:32.449Z,1563256352.449 [sample_kiss:SurfaceComms:A](DEBUG): Aggregate::uninitialize sample_kiss:SurfaceComms:A
2019-07-16T05:52:32.449Z,1563256352.449 [sample_kiss:I.Mass] Stopped
2019-07-16T05:52:32.449Z,1563256352.449 [sample_kiss:I.Mass](DEBUG): Uninitialize.
2019-07-16T05:52:32.449Z,1563256352.449 [sample_kiss:StartingMission] Stopped
2019-07-16T05:52:32.449Z,1563256352.449 [sample_kiss:StartingMission](DEBUG): Aggregate::uninitialize sample_kiss:StartingMission
2019-07-16T05:52:32.449Z,1563256352.449 [sample_kiss:Science] Stopped
2019-07-16T05:52:32.449Z,1563256352.449 [sample_kiss:Science](DEBUG): Aggregate::uninitialize sample_kiss:Science
2019-07-16T05:52:32.450Z,1563256352.450 [sample_kiss:Science:G] Stopped
2019-07-16T05:52:32.787Z,1563256352.787 [WetLabsBB2FL] Communications Fault, FailCount= 2
2019-07-16T05:52:32.787Z,1563256352.787 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-16T05:52:32.829Z,1563256352.829 [MissionManager](IMPORTANT): Started mission Default
2019-07-16T05:52:32.829Z,1563256352.829 [Default] Running Loop=1
2019-07-16T05:52:32.829Z,1563256352.829 [Default](DEBUG): Aggregate::initialize Default
2019-07-16T05:52:32.829Z,1563256352.829 [Default:B.GoToSurface] Running Loop=1
2019-07-16T05:52:32.829Z,1563256352.829 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-07-16T05:52:32.829Z,1563256352.829 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-07-16T05:52:32.830Z,1563256352.830 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-07-16T05:52:32.830Z,1563256352.830 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-07-16T05:52:32.830Z,1563256352.830 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-07-16T05:52:32.831Z,1563256352.831 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-07-16T05:52:32.831Z,1563256352.831 [Default:A.Wait] Running Loop=1
2019-07-16T05:52:32.832Z,1563256352.832 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-07-16T05:52:32.884Z,1563256352.884 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-16T05:52:33.295Z,1563256353.295 [WetLabsBB2FL](INFO): Powering down
2019-07-16T05:52:34.155Z,1563256354.155 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-16T05:52:34.155Z,1563256354.155 [WetLabsBB2FL] No Fault, FailCount= 2
2019-07-16T05:52:34.508Z,1563256354.508 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-16T05:52:34.508Z,1563256354.508 [WetLabsBB2FL](INFO): Powering up
2019-07-16T05:52:34.851Z,1563256354.851 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:52:36.607Z,1563256356.607 [Radio_Surface](INFO): Powering up
2019-07-16T05:52:36.867Z,1563256356.867 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:52:39.113Z,1563256359.113 [CommandLine](IMPORTANT): got command maintain clear
2019-07-16T05:52:39.384Z,1563256359.384 [controlThread](DEBUG): Component order: CycleStarter,Depth_Keller,DropWeight,NAL9602,Onboard,BPC1,ESPComponent,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2019-07-16T05:52:39.799Z,1563256359.799 [WetLabsBB2FL] Communications Fault, FailCount= 3
2019-07-16T05:52:39.799Z,1563256359.799 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-16T05:52:39.811Z,1563256359.811 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-16T05:52:40.095Z,1563256360.095 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:52:40.299Z,1563256360.299 [WetLabsBB2FL](INFO): Powering down
2019-07-16T05:52:41.396Z,1563256361.396 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-16T05:52:41.396Z,1563256361.396 [WetLabsBB2FL] No Fault, FailCount= 3
2019-07-16T05:52:41.512Z,1563256361.512 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-16T05:52:41.512Z,1563256361.512 [WetLabsBB2FL](INFO): Powering up
2019-07-16T05:52:42.087Z,1563256362.087 [DataOverHttps](INFO): Radio surface powered ON.
2019-07-16T05:52:42.923Z,1563256362.923 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:52:46.159Z,1563256366.159 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:52:46.193Z,1563256366.193 [Default:A.Wait](INFO): Done Waiting.
2019-07-16T05:52:46.193Z,1563256366.193 [Default:A.Wait] Stopped
2019-07-16T05:52:46.193Z,1563256366.193 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-07-16T05:52:46.593Z,1563256366.593 [Default:CheckIn] Running Loop=1
2019-07-16T05:52:46.593Z,1563256366.593 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-07-16T05:52:46.593Z,1563256366.593 [Default:CheckIn:Read_GPS] Running Loop=1
2019-07-16T05:52:46.843Z,1563256366.843 [WetLabsBB2FL] Communications Fault, FailCount= 4
2019-07-16T05:52:46.843Z,1563256366.843 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-16T05:52:47.024Z,1563256367.024 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-16T05:52:47.343Z,1563256367.343 [WetLabsBB2FL](INFO): Powering down
2019-07-16T05:52:48.228Z,1563256368.228 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-16T05:52:48.228Z,1563256368.228 [WetLabsBB2FL] No Fault, FailCount= 4
2019-07-16T05:52:48.556Z,1563256368.556 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-16T05:52:48.556Z,1563256368.556 [WetLabsBB2FL](INFO): Powering up
2019-07-16T05:52:48.986Z,1563256368.986 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:52:52.215Z,1563256372.215 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:52:53.847Z,1563256373.847 [WetLabsBB2FL] Communications Fault, FailCount= 5
2019-07-16T05:52:53.847Z,1563256373.847 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-16T05:52:53.895Z,1563256373.895 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-16T05:52:53.896Z,1563256373.896 [CBIT](FAULT): Communications Fault in component: WetLabsBB2FL
2019-07-16T05:52:54.343Z,1563256374.343 [WetLabsBB2FL](INFO): Powering down
2019-07-16T05:52:55.047Z,1563256375.047 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:52:57.871Z,1563256377.871 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:52:59.895Z,1563256379.895 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:53:03.123Z,1563256383.123 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:53:03.465Z,1563256383.465 [CommandLine](IMPORTANT): got command run ./Missions/kiss.xml
2019-07-16T05:53:03.465Z,1563256383.465 [MissionManager](INFO): Loading Mission: ./Missions/kiss.xml
2019-07-16T05:53:03.615Z,1563256383.615 [MissionManager](INFO): DefineArg sample_kiss.MissionTimeout = 4.000000 h
2019-07-16T05:53:03.617Z,1563256383.617 [MissionManager](INFO): DefineArg sample_kiss.NeedCommsTime = 240.000000 min
2019-07-16T05:53:03.622Z,1563256383.622 [MissionManager](INFO): DefineArg sample_kiss.Depth = 2.500000 m
2019-07-16T05:53:03.625Z,1563256383.625 [MissionManager](INFO): DefineArg sample_kiss.ESPCartridgeType_1 = -1.000000 count
2019-07-16T05:53:03.627Z,1563256383.627 [MissionManager](INFO): DefineArg sample_kiss.ESPCartridgeType_2 = -16.000000 count
2019-07-16T05:53:03.629Z,1563256383.629 [MissionManager](INFO): DefineArg sample_kiss.ESPCartridgeType_3 = nan count
2019-07-16T05:53:03.632Z,1563256383.632 [MissionManager](INFO): DefineArg sample_kiss.ESPCartridgeType_4 = nan count
2019-07-16T05:53:03.635Z,1563256383.635 [MissionManager](INFO): DefineArg sample_kiss.WaitBeforeSample = 3.000000 min
2019-07-16T05:53:03.637Z,1563256383.637 [MissionManager](INFO): DefineArg sample_kiss.ApproachDepthTimeout = 20.000000 min
2019-07-16T05:53:03.640Z,1563256383.640 [MissionManager](INFO): DefineArg sample_kiss.DepthDeadband = 0.000000 m
2019-07-16T05:53:03.642Z,1563256383.642 [MissionManager](INFO): DefineArg sample_kiss.Speed = 0.000000 m/s
2019-07-16T05:53:03.651Z,1563256383.651 [MissionManager](INFO): DefineArg sample_kiss.MaxDepth = 5.000000 m
2019-07-16T05:53:03.653Z,1563256383.653 [MissionManager](INFO): DefineArg sample_kiss.PitchLimit = 20.000000 arcdeg
2019-07-16T05:53:03.656Z,1563256383.656 [MissionManager](INFO): DefineArg sample_kiss.MinOffshore = 1.000000 km
2019-07-16T05:53:03.658Z,1563256383.658 [MissionManager](INFO): DefineOutput sample_kiss.StartFromSurface = 1 bool
2019-07-16T05:53:03.659Z,1563256383.659 [sample_kiss:A.AbortSample](DEBUG): Construct.
2019-07-16T05:53:03.685Z,1563256383.685 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2019-07-16T05:53:03.727Z,1563256383.727 [MissionManager](INFO): DefineArg sample_kiss:StandardEnvelopes.MinAltitude = 5.000000 m
2019-07-16T05:53:03.729Z,1563256383.729 [MissionManager](INFO): DefineArg sample_kiss:StandardEnvelopes.MaxDepth = 200.000000 m
2019-07-16T05:53:03.748Z,1563256383.748 [MissionManager](INFO): DefineArg sample_kiss:StandardEnvelopes.MinOffshore = 2000.000000 m
2019-07-16T05:53:03.749Z,1563256383.749 [sample_kiss:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-07-16T05:53:03.754Z,1563256383.754 [sample_kiss:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-07-16T05:53:03.778Z,1563256383.778 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2019-07-16T05:53:03.811Z,1563256383.811 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-07-16T05:53:03.888Z,1563256383.888 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.DiveInterval = 3.000000 h
2019-07-16T05:53:03.890Z,1563256383.890 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.WaitForPitchUp = 10.000000 min
2019-07-16T05:53:03.892Z,1563256383.892 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-07-16T05:53:03.905Z,1563256383.905 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.SurfaceDepthRate = nan m/s
2019-07-16T05:53:03.907Z,1563256383.907 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-07-16T05:53:03.909Z,1563256383.909 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.GPSTimeout = 7.000000 min
2019-07-16T05:53:03.945Z,1563256383.945 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.CommsTimeout = 30.000000 min
2019-07-16T05:53:03.964Z,1563256383.964 [sample_kiss:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-07-16T05:53:04.025Z,1563256384.025 [sample_kiss:I.Mass](DEBUG): Construct.
2019-07-16T05:53:04.040Z,1563256384.040 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2019-07-16T05:53:04.260Z,1563256384.260 [MissionManager](INFO): DefineArg sample_kiss:Science.SampleISUS = 0 bool
2019-07-16T05:53:04.262Z,1563256384.262 [MissionManager](INFO): DefineArg sample_kiss:Science.SampleISUSmaxPitch = 60.000000 arcdeg
2019-07-16T05:53:04.264Z,1563256384.264 [MissionManager](INFO): DefineArg sample_kiss:Science.SampleISUSminPitch = -60.000000 arcdeg
2019-07-16T05:53:04.266Z,1563256384.266 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakDetectChlActive = 0 bool
2019-07-16T05:53:04.269Z,1563256384.269 [MissionManager](INFO): DefineArg sample_kiss:Science.TimeWindowPeakReport = nan min
2019-07-16T05:53:04.270Z,1563256384.270 [MissionManager](INFO): DefineArg sample_kiss:Science.HighestChlPeakReportActive = 0 bool
2019-07-16T05:53:04.272Z,1563256384.272 [MissionManager](INFO): DefineArg sample_kiss:Science.PatchTracking = 0 bool
2019-07-16T05:53:04.274Z,1563256384.274 [MissionManager](INFO): DefineArg sample_kiss:Science.FilterWidthHorizontal = 3.000000 count
2019-07-16T05:53:04.276Z,1563256384.276 [MissionManager](INFO): DefineArg sample_kiss:Science.NumProfilesSlidingwindow = 100.000000 count
2019-07-16T05:53:04.278Z,1563256384.278 [MissionManager](INFO): DefineArg sample_kiss:Science.OffPeakFractionHorizontal = 80.000000 %
2019-07-16T05:53:04.281Z,1563256384.281 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakDetectNO3Active = 0 bool
2019-07-16T05:53:04.283Z,1563256384.283 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakDetectOilActive = 0 bool
2019-07-16T05:53:04.285Z,1563256384.285 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakDetectFDOMActive = 0 bool
2019-07-16T05:53:04.311Z,1563256384.311 [MissionManager](INFO): DefineArg sample_kiss:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2019-07-16T05:53:04.314Z,1563256384.314 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledAanderaaO2 = 0.000000 bool
2019-07-16T05:53:04.349Z,1563256384.349 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledNeilBrown = 0.000000 bool
2019-07-16T05:53:04.372Z,1563256384.372 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledSeabird = 0.000000 bool
2019-07-16T05:53:04.374Z,1563256384.374 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledTurbulence_NPS = 0.000000 bool
2019-07-16T05:53:04.381Z,1563256384.381 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledWetLabsBB2FL = 1.000000 bool
2019-07-16T05:53:04.388Z,1563256384.388 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledWetLabsSeaOWL_UV_A = 0.000000 bool
2019-07-16T05:53:04.390Z,1563256384.390 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledWetLabsUBAT = 0.000000 bool
2019-07-16T05:53:04.401Z,1563256384.401 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledISUS = 0.000000 bool
2019-07-16T05:53:04.403Z,1563256384.403 [MissionManager](INFO): DefineArg sample_kiss:Science.LowPassWindowLength = 20.000000 count
2019-07-16T05:53:04.405Z,1563256384.405 [MissionManager](INFO): DefineArg sample_kiss:Science.MedianFilterLen = 5.000000 count
2019-07-16T05:53:04.412Z,1563256384.412 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakChlShallowBound = nan m
2019-07-16T05:53:04.414Z,1563256384.414 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakChlDeepBound = nan m
2019-07-16T05:53:04.420Z,1563256384.420 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakShallowBound = nan m
2019-07-16T05:53:04.422Z,1563256384.422 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakDeepBound = nan m
2019-07-16T05:53:04.429Z,1563256384.429 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakChl = 0.000000 ug/l
2019-07-16T05:53:04.435Z,1563256384.435 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakChlDepth = 0.000000 m
2019-07-16T05:53:04.437Z,1563256384.437 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakChlTemperature = 0.000000 degC
2019-07-16T05:53:04.444Z,1563256384.444 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakChlLatitude = nan arcdeg
2019-07-16T05:53:04.446Z,1563256384.446 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakChlLongitude = nan arcdeg
2019-07-16T05:53:04.449Z,1563256384.449 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakNO3 = 0.000000 umol/l
2019-07-16T05:53:04.459Z,1563256384.459 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakNO3Depth = 0.000000 m
2019-07-16T05:53:04.462Z,1563256384.462 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakNO3Latitude = nan arcdeg
2019-07-16T05:53:04.468Z,1563256384.468 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakNO3Longitude = nan arcdeg
2019-07-16T05:53:04.470Z,1563256384.470 [MissionManager](INFO): DefineOutput sample_kiss:Science.PatchChl = 0.000000 m
2019-07-16T05:53:04.477Z,1563256384.477 [MissionManager](INFO): DefineOutput sample_kiss:Science.PatchChlDepth = 0.000000 m
2019-07-16T05:53:04.515Z,1563256384.515 [MissionManager](INFO): DefineOutput sample_kiss:Science.PatchChlLatitude = nan arcdeg
2019-07-16T05:53:04.518Z,1563256384.518 [MissionManager](INFO): DefineOutput sample_kiss:Science.PatchChlLongitude = nan arcdeg
2019-07-16T05:53:04.524Z,1563256384.524 [MissionManager](INFO): DefineOutput sample_kiss:Science.PatchChlDistance = nan m
2019-07-16T05:53:04.527Z,1563256384.527 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakOil = 0.000000 kg/m3
2019-07-16T05:53:04.544Z,1563256384.544 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakOilDepth = 0.000000 m
2019-07-16T05:53:04.547Z,1563256384.547 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakOilLatitude = nan arcdeg
2019-07-16T05:53:04.549Z,1563256384.549 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakOilLongitude = nan arcdeg
2019-07-16T05:53:04.555Z,1563256384.555 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakFDOM = 0.000000 ppb
2019-07-16T05:53:04.558Z,1563256384.558 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakFDOMDepth = 0.000000 m
2019-07-16T05:53:04.560Z,1563256384.560 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakFDOMLatitude = nan arcdeg
2019-07-16T05:53:04.562Z,1563256384.562 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakFDOMLongitude = nan arcdeg
2019-07-16T05:53:04.573Z,1563256384.573 [MissionManager](INFO): DefineOutput sample_kiss:Science.PatchFDOMDistance = nan m
2019-07-16T05:53:04.605Z,1563256384.605 [sample_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-16T05:53:04.628Z,1563256384.628 [sample_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2019-07-16T05:53:04.653Z,1563256384.653 [sample_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-16T05:53:04.676Z,1563256384.676 [sample_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-16T05:53:04.693Z,1563256384.693 [sample_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-16T05:53:04.718Z,1563256384.718 [sample_kiss:InitialDive:B.Buoyancy](DEBUG): Construct Buoyancy.
2019-07-16T05:53:04.752Z,1563256384.752 [sample_kiss:InitialDive:C.SetSpeed](DEBUG): Construct.
2019-07-16T05:53:04.755Z,1563256384.755 [sample_kiss:InitialDive:D.Point](DEBUG): Construct.
2019-07-16T05:53:04.768Z,1563256384.768 [sample_kiss:InitialDive:E.Pitch](DEBUG): Construct.
2019-07-16T05:53:04.773Z,1563256384.773 [sample_kiss:InitialDive:E.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-07-16T05:53:04.786Z,1563256384.786 [sample_kiss:TargetDepth:B.SetSpeed](DEBUG): Construct.
2019-07-16T05:53:04.788Z,1563256384.788 [sample_kiss:TargetDepth:C.Pitch](DEBUG): Construct.
2019-07-16T05:53:04.793Z,1563256384.793 [sample_kiss:TargetDepth:Spinout:A.Buoyancy](DEBUG): Construct Buoyancy.
2019-07-16T05:53:04.802Z,1563256384.802 [sample_kiss:TargetDepth:Spinout:B.Point](DEBUG): Construct.
2019-07-16T05:53:04.807Z,1563256384.807 [MissionManager](INFO): Inserting Stack: Missions/Insert/SampleAtDepth.xml
2019-07-16T05:53:04.948Z,1563256384.948 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.TargetDepth = 5.000000 m
2019-07-16T05:53:04.950Z,1563256384.950 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.SettleTime = 10.000000 s
2019-07-16T05:53:04.966Z,1563256384.966 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.MaxWaitNotReachingDepth = 3.000000 h
2019-07-16T05:53:04.969Z,1563256384.969 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.RotateOnly = 0.000000 bool
2019-07-16T05:53:04.987Z,1563256384.987 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.UseCANONSampler = 0.000000 bool
2019-07-16T05:53:04.990Z,1563256384.990 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.UseESP = 1.000000 bool
2019-07-16T05:53:04.992Z,1563256384.992 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.ESPCartridgeType = nan count
2019-07-16T05:53:04.994Z,1563256384.994 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.CANONSamplerTriggerTimeout = 1.000000 min
2019-07-16T05:53:05.013Z,1563256385.013 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.CANONSamplerTimeout = 6.000000 min
2019-07-16T05:53:05.015Z,1563256385.015 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.BuoyancyNeutral = 273.999991 cc
2019-07-16T05:53:05.018Z,1563256385.018 [sample_kiss:TargetDepth:GrabSamples:SampleAtDepth:ApproachDepth:B.Pitch](DEBUG): Construct.
2019-07-16T05:53:05.034Z,1563256385.034 [sample_kiss:TargetDepth:GrabSamples:SampleAtDepth:ApproachDepth:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-07-16T05:53:05.037Z,1563256385.037 [sample_kiss:TargetDepth:GrabSamples:SampleAtDepth:SampleWrapper:A.Pitch](DEBUG): Construct.
2019-07-16T05:53:05.042Z,1563256385.042 [sample_kiss:TargetDepth:GrabSamples:SampleAtDepth:SampleWrapper:C.Wait](DEBUG): Construct Wait.
2019-07-16T05:53:05.061Z,1563256385.061 [sample_kiss:TargetDepth:GrabSamples:SampleAtDepth:SampleWrapper:SampleCANONSampler:TriggerCANONSampler:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-07-16T05:53:05.081Z,1563256385.081 [sample_kiss:TargetDepth:GrabSamples:SampleAtDepth:SampleWrapper:SampleCANONSampler:E:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-07-16T05:53:05.256Z,1563256385.256 [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: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="sample_kiss">

    <Description>
        This mission takes ESP sampls at the designated depth.
    </Description>
    
    <DefineArg Name="MissionTimeout"><Description>
        Maximum duration of mission
    </Description><Units:hour/><Value>4</Value></DefineArg>

    <DefineArg Name="NeedCommsTime"><Description>
        How often to surface for communications
    </Description><Units:minute/><Value>240</Value></DefineArg>

    <DefineArg Name="Depth"><Description>
        Depth held during drift mode
    </Description><Units:meter/><Value>2.5</Value></DefineArg>

    <DefineArg Name="ESPCartridgeType_1"><Description>
        Specifies ESP cartridge type code for sample# 1. Set to NaN to skip this sample.
    </Description><Units:count/><Value>-1</Value></DefineArg>
    
    <DefineArg Name="ESPCartridgeType_2"><Description>
        Specifies ESP cartridge type code for sample# 2. Set to NaN to skip this sample.
    </Description><Units:count/><Value>-16</Value></DefineArg>
    
    <DefineArg Name="ESPCartridgeType_3"><Description>
        Specifies ESP cartridge type code for sample# 3. Set to NaN to skip this sample.
    </Description><Units:count/><Value>NaN</Value></DefineArg>
    
    <DefineArg Name="ESPCartridgeType_4"><Description>
        Specifies ESP cartridge type code for sample# 4. Set to NaN to skip this sample.
    </Description><Units:count/><Value>NaN</Value></DefineArg>
    
    <DefineArg Name="WaitBeforeSample"><Description>
        How long to wait between samples. This starts *before* the first sample
        to exercise the SettleTime setting in the insert aggregate.
    </Description><Units:minute/><Value>3</Value></DefineArg>
    
    <DefineArg Name="ApproachDepthTimeout"><Description>
        Maximum time duration for the vehicle to reach the approach depth
    </Description><Units:minute/><Value>20</Value></DefineArg>

    <DefineArg Name="DepthDeadband"><Description>
        How much vertical drift from the specified depth is allowed while sampling.
    </Description><Units:meter/><Value>0.00</Value></DefineArg>

    <DefineArg Name="Speed"><Description>
        Vehicle transit speed
    </Description><Units:meter_per_second/><Value>0</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum allowable depth during the mission
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="PitchLimit"><Description>
        Max vehicle pitch (+/-) when decending from the surface
    </Description><Units:degree/><Value>20</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Description>
        Minimum distance from the shoreline to maintain
    </Description><Units:kilometer/><Value>1</Value></DefineArg>

    <DefineOutput Name="StartFromSurface"><Description>
        Mission variable (don't change). The mission sets this to true after surface comms are done.
    </Description><True/></DefineOutput>
    

    <!-- Mission timeout -->

    <Timeout Duration="MissionTimeout"/>

    <!-- Safety nets and surfacing behaviors -->
    
    <Trigger:AbortSample>
        <Parallel/>
    </Trigger:AbortSample>

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

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

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


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

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

    <Assign><Sequence/><Arg Name="NeedComms:WaitForPitchUp"/><Units:minute/><Value>0</Value></Assign>

    <Aggregate Id="SurfaceComms">

        <When>
            <Called/>
            <Or><Elapsed><Universal:time_fix/></Elapsed><Gt><Arg Name="NeedCommsTime"/></Gt></Or>
        </When>

        <Call RefId="NeedComms"/>

        <Assign><Sequence/><Arg Name="StartFromSurface"/><True/></Assign>

    </Aggregate>

    <!-- Set default mass position -->

    <Guidance:Mass>
        <Parallel/>
        <Setting><Guidance:Mass.position/><Control:VerticalControl.massDefault/></Setting>
    </Guidance:Mass>

    <!-- Start mission sequence -->

    <Call Id="StartingMission" RefId="SurfaceComms"/>
    
    <Insert Filename="Insert/Science.xml"></Insert>

    <Aggregate Id="InitialDive">

        <Description>
            Descend from the surface to approach depth using the thruster. Limit pitch.
        </Description>

        <When>
            <Arg Name="StartFromSurface"/>
        </When>

        <Assign><Parallel/><Control:VerticalControl.pitchLimit/><Arg Name="PitchLimit"/></Assign>

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

        <Guidance:SetSpeed>
            <Parallel/>
            <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>1.0</Value></Setting>
        </Guidance:SetSpeed>
        
        <Guidance:Point>
            <Setting><Guidance:Point.rudderAngle/><Units:degree/><Value>13</Value></Setting>
        </Guidance:Point>

        <Guidance:Pitch>
            <Sequence/>
            <Timeout Duration="ApproachDepthTimeout">
                <Syslog Severity="Important">Timed out while trying to reach approach depth at current depth of <Universal:depth/><Units:meter/>.</Syslog>
                <Guidance:Execute>
                    <Sequence/>
                    <Setting><Guidance:Execute.command/><String>stop</String></Setting>
                </Guidance:Execute>
            </Timeout>
            <Setting><Guidance:Pitch.depth/><Arg Name="Depth"/></Setting>
        </Guidance:Pitch>

        <Assign><Sequence/><Arg Name="StartFromSurface"/><False/></Assign>

    </Aggregate>

    <Aggregate Id="TargetDepth">

        <Description>
            Maintain target depth and acquire ESP samples.
        </Description>

        <Sequence/>

        <Assign><Parallel/><Control:VerticalControl.depthDeadband/><Arg Name="DepthDeadband"/></Assign>
        
        <Guidance:SetSpeed>
            <Parallel/>
            <Setting><Guidance:SetSpeed.speed/><Arg Name="Speed"/></Setting>
        </Guidance:SetSpeed>
        
        <Guidance:Pitch>
            <Parallel/>
            <Setting><Guidance:Pitch.depth/><Arg Name="Depth"/></Setting>
        </Guidance:Pitch>
        
        <Aggregate Id="Spinout">
            
            <While>
                <Arg Name="Speed"/><Gt><Units:meter_per_second/><Value>0.0</Value></Gt>
            </While>
            
            <Guidance:Buoyancy>
                <Parallel/>
                <Setting><Guidance:Buoyancy.position/><Control:VerticalControl.buoyancyNeutral/></Setting>
            </Guidance:Buoyancy>
            
            <Guidance:Point>
                <Setting><Guidance:Point.rudderAngle/><Units:degree/><Value>13</Value></Setting>
            </Guidance:Point>
            
        </Aggregate>
        
        <Aggregate Id="GrabSamples">
            
            <Sequence/>
            
            <Insert Filename="Insert/SampleAtDepth.xml"/>
            
            <Assign><Sequence/><Arg Name="SampleAtDepth:TargetDepth"/><Arg Name="Depth"/></Assign>
            
            <Assign><Sequence/><Arg Name="SampleAtDepth:SettleTime"/><Arg Name="WaitBeforeSample"/></Assign>
            
            <Aggregate Id="Sample1">
                <Break>
                    <IsNaN><Arg Name="ESPCartridgeType_1"/></IsNaN>
                </Break>
                
                <Assign><Sequence/><Arg Name="SampleAtDepth:ESPCartridgeType"/><Arg Name="ESPCartridgeType_1"/></Assign>
                
                <Call Id="sampling" RefId="SampleAtDepth"/>
            </Aggregate>

            
            <Aggregate Id="Sample2">
                <Break>
                    <IsNaN><Arg Name="ESPCartridgeType_2"/></IsNaN>
                </Break>
                
                <Assign><Sequence/><Arg Name="SampleAtDepth:ESPCartridgeType"/><Arg Name="ESPCartridgeType_2"/></Assign>
                
                <Call Id="sampling" RefId="SampleAtDepth"/>
            </Aggregate>

            
            <Aggregate Id="Sample3">
                <Break>
                    <IsNaN><Arg Name="ESPCartridgeType_3"/></IsNaN>
                </Break>

                <Assign><Sequence/><Arg Name="SampleAtDepth:ESPCartridgeType"/><Arg Name="ESPCartridgeType_3"/></Assign>
                
                <Call Id="sampling" RefId="SampleAtDepth"/>
            </Aggregate>

            
            <Aggregate Id="Sample4">
                <Break>
                    <IsNaN><Arg Name="ESPCartridgeType_4"/></IsNaN>
                </Break>

                <Assign><Sequence/><Arg Name="SampleAtDepth:ESPCartridgeType"/><Arg Name="ESPCartridgeType_4"/></Assign>

                <Call Id="sampling" RefId="SampleAtDepth"/>
            </Aggregate>

        </Aggregate>

    </Aggregate>

</Mission>


2019-07-16T05:53:05.258Z,1563256385.258 [CommandLine](IMPORTANT): Running ./Missions/kiss.xml
2019-07-16T05:53:05.580Z,1563256385.580 [Default] Stopped
2019-07-16T05:53:05.581Z,1563256385.581 [Default](DEBUG): Aggregate::uninitialize Default
2019-07-16T05:53:05.581Z,1563256385.581 [Default:B.GoToSurface] Stopped
2019-07-16T05:53:05.581Z,1563256385.581 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-07-16T05:53:05.581Z,1563256385.581 [Default:CheckIn] Stopped
2019-07-16T05:53:05.581Z,1563256385.581 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-07-16T05:53:05.581Z,1563256385.581 [Default:CheckIn:Read_GPS] Stopped
2019-07-16T05:53:05.581Z,1563256385.581 [MissionManager](IMPORTANT): Started mission sample_kiss
2019-07-16T05:53:05.581Z,1563256385.581 [sample_kiss] Running Loop=1
2019-07-16T05:53:05.582Z,1563256385.582 [sample_kiss](DEBUG): Aggregate::initialize sample_kiss
2019-07-16T05:53:05.582Z,1563256385.582 [sample_kiss:A.AbortSample] Running Loop=1
2019-07-16T05:53:05.582Z,1563256385.582 [sample_kiss:A.AbortSample](INFO): Initializing AbortSample.
2019-07-16T05:53:05.582Z,1563256385.582 [sample_kiss:StandardEnvelopes] Running Loop=1
2019-07-16T05:53:05.582Z,1563256385.582 [sample_kiss:StandardEnvelopes](DEBUG): Aggregate::initialize sample_kiss:StandardEnvelopes
2019-07-16T05:53:05.582Z,1563256385.582 [sample_kiss:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-07-16T05:53:05.582Z,1563256385.582 [sample_kiss:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-07-16T05:53:05.582Z,1563256385.582 [sample_kiss:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-07-16T05:53:05.582Z,1563256385.582 [sample_kiss:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-07-16T05:53:05.583Z,1563256385.583 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-07-16T05:53:05.583Z,1563256385.583 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2019-07-16T05:53:05.591Z,1563256385.591 [sample_kiss:I.Mass] Running Loop=1
2019-07-16T05:53:05.591Z,1563256385.591 [sample_kiss:I.Mass](DEBUG): Initialize.
2019-07-16T05:53:05.591Z,1563256385.591 [sample_kiss:Science] Running Loop=1
2019-07-16T05:53:05.591Z,1563256385.591 [sample_kiss:Science](DEBUG): Aggregate::initialize sample_kiss:Science
2019-07-16T05:53:05.592Z,1563256385.592 [sample_kiss:Science:A] Running Loop=1
2019-07-16T05:53:05.592Z,1563256385.592 [sample_kiss:Science:B] Running Loop=1
2019-07-16T05:53:05.592Z,1563256385.592 [sample_kiss:Science:C] Running Loop=1
2019-07-16T05:53:05.592Z,1563256385.592 [sample_kiss:Science:D] Running Loop=1
2019-07-16T05:53:05.592Z,1563256385.592 [sample_kiss:Science:E] Running Loop=1
2019-07-16T05:53:05.592Z,1563256385.592 [sample_kiss:Science:F] Running Loop=1
2019-07-16T05:53:05.592Z,1563256385.592 [sample_kiss:Science:G] Running Loop=1
2019-07-16T05:53:05.592Z,1563256385.592 [sample_kiss:Science:H] Running Loop=1
2019-07-16T05:53:05.592Z,1563256385.592 [sample_kiss:Science:Read_Oil] Running Loop=1
2019-07-16T05:53:05.592Z,1563256385.592 [sample_kiss:Science:PeakDetectChl] Running Loop=1
2019-07-16T05:53:05.592Z,1563256385.592 [sample_kiss:Science:PeakDetectChl](DEBUG): Aggregate::initialize sample_kiss:Science:PeakDetectChl
2019-07-16T05:53:05.592Z,1563256385.592 [sample_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2019-07-16T05:53:05.593Z,1563256385.593 [sample_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-16T05:53:05.594Z,1563256385.594 [sample_kiss:Science:HighestChlPeakReport] Running Loop=1
2019-07-16T05:53:05.594Z,1563256385.594 [sample_kiss:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize sample_kiss:Science:HighestChlPeakReport
2019-07-16T05:53:05.594Z,1563256385.594 [sample_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2019-07-16T05:53:05.594Z,1563256385.594 [sample_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2019-07-16T05:53:05.594Z,1563256385.594 [sample_kiss:Science:PeakDetectNO3] Running Loop=1
2019-07-16T05:53:05.595Z,1563256385.595 [sample_kiss:Science:PeakDetectNO3](DEBUG): Aggregate::initialize sample_kiss:Science:PeakDetectNO3
2019-07-16T05:53:05.603Z,1563256385.603 [sample_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2019-07-16T05:53:05.603Z,1563256385.603 [sample_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-16T05:53:05.604Z,1563256385.604 [sample_kiss:Science:PeakDetectOil] Running Loop=1
2019-07-16T05:53:05.604Z,1563256385.604 [sample_kiss:Science:PeakDetectOil](DEBUG): Aggregate::initialize sample_kiss:Science:PeakDetectOil
2019-07-16T05:53:05.604Z,1563256385.604 [sample_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2019-07-16T05:53:05.605Z,1563256385.605 [sample_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-16T05:53:05.606Z,1563256385.606 [sample_kiss:Science:PeakDetectFDOM] Running Loop=1
2019-07-16T05:53:05.606Z,1563256385.606 [sample_kiss:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize sample_kiss:Science:PeakDetectFDOM
2019-07-16T05:53:05.606Z,1563256385.606 [sample_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2019-07-16T05:53:05.606Z,1563256385.606 [sample_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-16T05:53:05.615Z,1563256385.615 [sample_kiss:C] Running Loop=1
2019-07-16T05:53:05.616Z,1563256385.616 [sample_kiss:InitialDive] Running Loop=1
2019-07-16T05:53:05.616Z,1563256385.616 [sample_kiss:InitialDive](DEBUG): Aggregate::initialize sample_kiss:InitialDive
2019-07-16T05:53:05.616Z,1563256385.616 [sample_kiss:InitialDive:A] Running Loop=1
2019-07-16T05:53:05.616Z,1563256385.616 [sample_kiss:InitialDive:B.Buoyancy] Running Loop=1
2019-07-16T05:53:05.616Z,1563256385.616 [sample_kiss:InitialDive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-07-16T05:53:05.617Z,1563256385.617 [sample_kiss:InitialDive:C.SetSpeed] Running Loop=1
2019-07-16T05:53:05.617Z,1563256385.617 [sample_kiss:InitialDive:C.SetSpeed](DEBUG): Initialize.
2019-07-16T05:53:05.617Z,1563256385.617 [sample_kiss:InitialDive:D.Point] Running Loop=1
2019-07-16T05:53:05.617Z,1563256385.617 [sample_kiss:InitialDive:D.Point](DEBUG): Initialize.
2019-07-16T05:53:05.617Z,1563256385.617 [sample_kiss:InitialDive:E.Pitch] Running Loop=1
2019-07-16T05:53:05.617Z,1563256385.617 [sample_kiss:InitialDive:E.Pitch](DEBUG): Initialize.
2019-07-16T05:53:05.618Z,1563256385.618 [sample_kiss:InitialDive:D.Point] Running Loop=1
2019-07-16T05:53:05.618Z,1563256385.618 [sample_kiss:InitialDive:C.SetSpeed] Running Loop=1
2019-07-16T05:53:05.618Z,1563256385.618 [sample_kiss:InitialDive:B.Buoyancy] Running Loop=1
2019-07-16T05:53:05.618Z,1563256385.618 [sample_kiss:InitialDive:A] Running Loop=1
2019-07-16T05:53:05.619Z,1563256385.619 [sample_kiss:Science] Running Loop=1
2019-07-16T05:53:05.628Z,1563256385.628 [sample_kiss:Science:PeakDetectFDOM] Stopped
2019-07-16T05:53:05.628Z,1563256385.628 [sample_kiss:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize sample_kiss:Science:PeakDetectFDOM
2019-07-16T05:53:05.628Z,1563256385.628 [sample_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2019-07-16T05:53:05.628Z,1563256385.628 [sample_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-16T05:53:05.628Z,1563256385.628 [sample_kiss:Science:PeakDetectOil] Stopped
2019-07-16T05:53:05.628Z,1563256385.628 [sample_kiss:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize sample_kiss:Science:PeakDetectOil
2019-07-16T05:53:05.628Z,1563256385.628 [sample_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2019-07-16T05:53:05.628Z,1563256385.628 [sample_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-16T05:53:05.629Z,1563256385.629 [sample_kiss:Science:PeakDetectNO3] Stopped
2019-07-16T05:53:05.629Z,1563256385.629 [sample_kiss:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize sample_kiss:Science:PeakDetectNO3
2019-07-16T05:53:05.629Z,1563256385.629 [sample_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2019-07-16T05:53:05.629Z,1563256385.629 [sample_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-16T05:53:05.629Z,1563256385.629 [sample_kiss:Science:HighestChlPeakReport] Stopped
2019-07-16T05:53:05.629Z,1563256385.629 [sample_kiss:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize sample_kiss:Science:HighestChlPeakReport
2019-07-16T05:53:05.629Z,1563256385.629 [sample_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2019-07-16T05:53:05.629Z,1563256385.629 [sample_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2019-07-16T05:53:05.629Z,1563256385.629 [sample_kiss:Science:PeakDetectChl] Stopped
2019-07-16T05:53:05.629Z,1563256385.629 [sample_kiss:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize sample_kiss:Science:PeakDetectChl
2019-07-16T05:53:05.629Z,1563256385.629 [sample_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2019-07-16T05:53:05.629Z,1563256385.629 [sample_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-16T05:53:05.630Z,1563256385.630 [sample_kiss:Science:Read_Oil] Stopped
2019-07-16T05:53:05.630Z,1563256385.630 [sample_kiss:Science:H] Stopped
2019-07-16T05:53:05.630Z,1563256385.630 [sample_kiss:Science:G] Running Loop=1
2019-07-16T05:53:05.630Z,1563256385.630 [sample_kiss:Science:G](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2019-07-16T05:53:05.630Z,1563256385.630 [sample_kiss:Science:F] Stopped
2019-07-16T05:53:05.630Z,1563256385.630 [sample_kiss:Science:E] Stopped
2019-07-16T05:53:05.630Z,1563256385.630 [sample_kiss:Science:D] Stopped
2019-07-16T05:53:05.630Z,1563256385.630 [sample_kiss:Science:C] Stopped
2019-07-16T05:53:05.630Z,1563256385.630 [sample_kiss:Science:B] Stopped
2019-07-16T05:53:05.630Z,1563256385.630 [sample_kiss:Science:A] Stopped
2019-07-16T05:53:05.631Z,1563256385.631 [sample_kiss:I.Mass] Running Loop=1
2019-07-16T05:53:05.639Z,1563256385.639 [sample_kiss:C] Stopped
2019-07-16T05:53:05.639Z,1563256385.639 [sample_kiss:D] Running Loop=1
2019-07-16T05:53:05.639Z,1563256385.639 [sample_kiss:StandardEnvelopes] Running Loop=1
2019-07-16T05:53:05.639Z,1563256385.639 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-07-16T05:53:05.640Z,1563256385.640 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:53:05.640Z,1563256385.640 [sample_kiss:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-07-16T05:53:05.640Z,1563256385.640 [sample_kiss:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-07-16T05:53:05.640Z,1563256385.640 [sample_kiss:A.AbortSample] Running Loop=1
2019-07-16T05:53:05.951Z,1563256385.951 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:53:05.980Z,1563256385.980 [sample_kiss:D] Stopped
2019-07-16T05:53:05.980Z,1563256385.980 [sample_kiss:F] Running Loop=1
2019-07-16T05:53:05.980Z,1563256385.980 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:53:06.387Z,1563256386.387 [sample_kiss:F] Stopped
2019-07-16T05:53:06.387Z,1563256386.387 [sample_kiss:G] Running Loop=1
2019-07-16T05:53:06.387Z,1563256386.387 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:53:06.791Z,1563256386.791 [sample_kiss:G] Stopped
2019-07-16T05:53:06.792Z,1563256386.792 [sample_kiss:StartingMission] Running Loop=1
2019-07-16T05:53:06.792Z,1563256386.792 [sample_kiss:StartingMission](DEBUG): Aggregate::initialize sample_kiss:StartingMission
2019-07-16T05:53:06.792Z,1563256386.792 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:53:07.184Z,1563256387.184 [sample_kiss:SurfaceComms] Running Loop=1
2019-07-16T05:53:07.184Z,1563256387.184 [sample_kiss:SurfaceComms](DEBUG): Aggregate::initialize sample_kiss:SurfaceComms
2019-07-16T05:53:07.184Z,1563256387.184 [sample_kiss:SurfaceComms:A] Running Loop=1
2019-07-16T05:53:07.185Z,1563256387.185 [sample_kiss:SurfaceComms:A](DEBUG): Aggregate::initialize sample_kiss:SurfaceComms:A
2019-07-16T05:53:07.185Z,1563256387.185 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:53:07.185Z,1563256387.185 [sample_kiss:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2019-07-16T05:53:07.595Z,1563256387.595 [sample_kiss:NeedComms] Running Loop=1
2019-07-16T05:53:07.595Z,1563256387.595 [sample_kiss:NeedComms](DEBUG): Aggregate::initialize sample_kiss:NeedComms
2019-07-16T05:53:07.595Z,1563256387.595 [sample_kiss:NeedComms:B.GoToSurface] Running Loop=1
2019-07-16T05:53:07.595Z,1563256387.595 [sample_kiss:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-07-16T05:53:07.596Z,1563256387.596 [sample_kiss:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2019-07-16T05:53:07.596Z,1563256387.596 [sample_kiss:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2019-07-16T05:53:07.596Z,1563256387.596 [sample_kiss:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2019-07-16T05:53:07.597Z,1563256387.597 [sample_kiss:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-07-16T05:53:07.597Z,1563256387.597 [sample_kiss:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-07-16T05:53:07.597Z,1563256387.597 [sample_kiss:NeedComms:A] Running Loop=1
2019-07-16T05:53:07.598Z,1563256387.598 [sample_kiss:NeedComms:A](INFO): last time_fix was: 1563256192.000000 second since 1970/01/01T00:00:00Z 
2019-07-16T05:53:07.599Z,1563256387.599 [sample_kiss:NeedComms:A] Stopped
2019-07-16T05:53:07.599Z,1563256387.599 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:53:08.002Z,1563256388.002 [sample_kiss:NeedComms:C] Running Loop=1
2019-07-16T05:53:08.002Z,1563256388.002 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:53:08.400Z,1563256388.400 [sample_kiss:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-07-16T05:53:08.400Z,1563256388.400 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:53:08.796Z,1563256388.796 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:53:09.187Z,1563256389.187 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:53:09.216Z,1563256389.216 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:53:09.624Z,1563256389.624 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:53:10.014Z,1563256390.014 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:53:10.416Z,1563256390.416 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:53:10.819Z,1563256390.819 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:53:11.230Z,1563256391.230 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:53:11.628Z,1563256391.628 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:53:12.015Z,1563256392.015 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:53:12.039Z,1563256392.039 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:53:12.387Z,1563256392.387 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-07-16T05:53:12.447Z,1563256392.447 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:53:12.848Z,1563256392.848 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:53:13.240Z,1563256393.240 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:53:13.637Z,1563256393.637 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:53:14.046Z,1563256394.046 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:53:14.459Z,1563256394.459 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:53:14.851Z,1563256394.851 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:53:15.247Z,1563256395.247 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:53:15.288Z,1563256395.288 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:53:15.679Z,1563256395.679 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:53:16.074Z,1563256396.074 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:53:16.479Z,1563256396.479 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:53:16.879Z,1563256396.879 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:53:17.278Z,1563256397.278 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:53:17.691Z,1563256397.691 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:53:18.071Z,1563256398.071 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:53:18.103Z,1563256398.103 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:53:18.513Z,1563256398.513 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:53:18.908Z,1563256398.908 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:53:19.303Z,1563256399.303 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:53:19.699Z,1563256399.699 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:53:20.112Z,1563256400.112 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:53:20.513Z,1563256400.513 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:53:20.899Z,1563256400.899 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:53:20.928Z,1563256400.928 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:53:21.144Z,1563256401.144 [CommandLine](IMPORTANT): got command stop
2019-07-16T05:53:21.144Z,1563256401.144 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-07-16T05:53:21.340Z,1563256401.340 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-16T05:53:21.340Z,1563256401.340 [MissionManager](INFO): MissionManager is completed.
2019-07-16T05:53:21.341Z,1563256401.341 [MissionManager](INFO): Uninitializing Mission sample_kiss
2019-07-16T05:53:21.341Z,1563256401.341 [sample_kiss] Stopped
2019-07-16T05:53:21.341Z,1563256401.341 [sample_kiss](DEBUG): Aggregate::uninitialize sample_kiss
2019-07-16T05:53:21.341Z,1563256401.341 [sample_kiss:A.AbortSample] Stopped
2019-07-16T05:53:21.341Z,1563256401.341 [sample_kiss:A.AbortSample](INFO): Uninitializing AbortSample.
2019-07-16T05:53:21.341Z,1563256401.341 [sample_kiss:StandardEnvelopes] Stopped
2019-07-16T05:53:21.341Z,1563256401.341 [sample_kiss:StandardEnvelopes](DEBUG): Aggregate::uninitialize sample_kiss:StandardEnvelopes
2019-07-16T05:53:21.341Z,1563256401.341 [sample_kiss:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2019-07-16T05:53:21.341Z,1563256401.341 [sample_kiss:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2019-07-16T05:53:21.341Z,1563256401.341 [sample_kiss:StandardEnvelopes:B.DepthEnvelope] Stopped
2019-07-16T05:53:21.341Z,1563256401.341 [sample_kiss:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2019-07-16T05:53:21.342Z,1563256401.342 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2019-07-16T05:53:21.342Z,1563256401.342 [sample_kiss:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2019-07-16T05:53:21.342Z,1563256401.342 [sample_kiss:NeedComms] Stopped
2019-07-16T05:53:21.342Z,1563256401.342 [sample_kiss:NeedComms](DEBUG): Aggregate::uninitialize sample_kiss:NeedComms
2019-07-16T05:53:21.342Z,1563256401.342 [sample_kiss:NeedComms:B.GoToSurface] Stopped
2019-07-16T05:53:21.342Z,1563256401.342 [sample_kiss:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-07-16T05:53:21.342Z,1563256401.342 [sample_kiss:NeedComms:C] Stopped
2019-07-16T05:53:21.342Z,1563256401.342 [sample_kiss:SurfaceComms] Stopped
2019-07-16T05:53:21.342Z,1563256401.342 [sample_kiss:SurfaceComms](DEBUG): Aggregate::uninitialize sample_kiss:SurfaceComms
2019-07-16T05:53:21.342Z,1563256401.342 [sample_kiss:SurfaceComms:A] Stopped
2019-07-16T05:53:21.342Z,1563256401.342 [sample_kiss:SurfaceComms:A](DEBUG): Aggregate::uninitialize sample_kiss:SurfaceComms:A
2019-07-16T05:53:21.342Z,1563256401.342 [sample_kiss:I.Mass] Stopped
2019-07-16T05:53:21.342Z,1563256401.342 [sample_kiss:I.Mass](DEBUG): Uninitialize.
2019-07-16T05:53:21.343Z,1563256401.343 [sample_kiss:StartingMission] Stopped
2019-07-16T05:53:21.343Z,1563256401.343 [sample_kiss:StartingMission](DEBUG): Aggregate::uninitialize sample_kiss:StartingMission
2019-07-16T05:53:21.343Z,1563256401.343 [sample_kiss:Science] Stopped
2019-07-16T05:53:21.343Z,1563256401.343 [sample_kiss:Science](DEBUG): Aggregate::uninitialize sample_kiss:Science
2019-07-16T05:53:21.343Z,1563256401.343 [sample_kiss:Science:G] Stopped
2019-07-16T05:53:21.343Z,1563256401.343 [sample_kiss:InitialDive] Stopped
2019-07-16T05:53:21.344Z,1563256401.344 [sample_kiss:InitialDive](DEBUG): Aggregate::uninitialize sample_kiss:InitialDive
2019-07-16T05:53:21.344Z,1563256401.344 [sample_kiss:InitialDive:A] Stopped
2019-07-16T05:53:21.344Z,1563256401.344 [sample_kiss:InitialDive:B.Buoyancy] Stopped
2019-07-16T05:53:21.344Z,1563256401.344 [sample_kiss:InitialDive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2019-07-16T05:53:21.344Z,1563256401.344 [sample_kiss:InitialDive:C.SetSpeed] Stopped
2019-07-16T05:53:21.344Z,1563256401.344 [sample_kiss:InitialDive:C.SetSpeed](DEBUG): Uninitialize.
2019-07-16T05:53:21.344Z,1563256401.344 [sample_kiss:InitialDive:D.Point] Stopped
2019-07-16T05:53:21.344Z,1563256401.344 [sample_kiss:InitialDive:E.Pitch] Stopped
2019-07-16T05:53:21.739Z,1563256401.739 [MissionManager](IMPORTANT): Started mission Default
2019-07-16T05:53:21.739Z,1563256401.739 [Default] Running Loop=1
2019-07-16T05:53:21.740Z,1563256401.740 [Default](DEBUG): Aggregate::initialize Default
2019-07-16T05:53:21.740Z,1563256401.740 [Default:B.GoToSurface] Running Loop=1
2019-07-16T05:53:21.740Z,1563256401.740 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-07-16T05:53:21.740Z,1563256401.740 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-07-16T05:53:21.740Z,1563256401.740 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-07-16T05:53:21.741Z,1563256401.741 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-07-16T05:53:21.741Z,1563256401.741 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-07-16T05:53:21.741Z,1563256401.741 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-07-16T05:53:21.742Z,1563256401.742 [Default:A.Wait] Running Loop=1
2019-07-16T05:53:21.742Z,1563256401.742 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-07-16T05:53:22.919Z,1563256402.919 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:53:23.350Z,1563256403.350 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-16T05:53:23.350Z,1563256403.350 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 8
2019-07-16T05:53:23.350Z,1563256403.350 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-16T05:53:23.431Z,1563256403.431 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-16T05:53:23.819Z,1563256403.819 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-16T05:53:23.819Z,1563256403.819 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 8
2019-07-16T05:53:24.946Z,1563256404.946 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:53:28.175Z,1563256408.175 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:53:30.999Z,1563256410.999 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:53:34.235Z,1563256414.235 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:53:35.069Z,1563256415.069 [Default:A.Wait](INFO): Done Waiting.
2019-07-16T05:53:35.069Z,1563256415.069 [Default:A.Wait] Stopped
2019-07-16T05:53:35.069Z,1563256415.069 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-07-16T05:53:35.461Z,1563256415.461 [Default:CheckIn] Running Loop=1
2019-07-16T05:53:35.461Z,1563256415.461 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-07-16T05:53:35.461Z,1563256415.461 [Default:CheckIn:Read_GPS] Running Loop=1
2019-07-16T05:53:37.059Z,1563256417.059 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:53:40.295Z,1563256420.295 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:53:43.091Z,1563256423.091 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-07-16T05:53:43.119Z,1563256423.119 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:53:45.947Z,1563256425.947 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:53:47.967Z,1563256427.967 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:53:51.199Z,1563256431.199 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:53:54.027Z,1563256434.027 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:53:57.259Z,1563256437.259 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:53:57.705Z,1563256437.705 [CBIT](INFO): Clearing failed state for component DropWeight
2019-07-16T05:53:57.705Z,1563256437.705 [DropWeight] No Fault, FailCount= 1
2019-07-16T05:54:00.087Z,1563256440.087 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:54:03.323Z,1563256443.323 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:54:06.147Z,1563256446.147 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:54:08.979Z,1563256448.979 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:54:11.003Z,1563256451.003 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:54:13.795Z,1563256453.795 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-07-16T05:54:14.227Z,1563256454.227 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:54:17.059Z,1563256457.059 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:54:20.291Z,1563256460.291 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:54:23.115Z,1563256463.115 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:54:26.351Z,1563256466.351 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:54:29.175Z,1563256469.175 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:54:32.003Z,1563256472.003 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:54:33.185Z,1563256473.185 [CommandLine](IMPORTANT): got command run ./Missions/kiss.xml
2019-07-16T05:54:33.185Z,1563256473.185 [MissionManager](INFO): Loading Mission: ./Missions/kiss.xml
2019-07-16T05:54:33.330Z,1563256473.330 [MissionManager](INFO): DefineArg sample_kiss.MissionTimeout = 4.000000 h
2019-07-16T05:54:33.332Z,1563256473.332 [MissionManager](INFO): DefineArg sample_kiss.NeedCommsTime = 240.000000 min
2019-07-16T05:54:33.334Z,1563256473.334 [MissionManager](INFO): DefineArg sample_kiss.Depth = 2.500000 m
2019-07-16T05:54:33.372Z,1563256473.372 [MissionManager](INFO): DefineArg sample_kiss.ESPCartridgeType_1 = -1.000000 count
2019-07-16T05:54:33.374Z,1563256473.374 [MissionManager](INFO): DefineArg sample_kiss.ESPCartridgeType_2 = -16.000000 count
2019-07-16T05:54:33.376Z,1563256473.376 [MissionManager](INFO): DefineArg sample_kiss.ESPCartridgeType_3 = nan count
2019-07-16T05:54:33.378Z,1563256473.378 [MissionManager](INFO): DefineArg sample_kiss.ESPCartridgeType_4 = nan count
2019-07-16T05:54:33.401Z,1563256473.401 [MissionManager](INFO): DefineArg sample_kiss.WaitBeforeSample = 3.000000 min
2019-07-16T05:54:33.403Z,1563256473.403 [MissionManager](INFO): DefineArg sample_kiss.ApproachDepthTimeout = 20.000000 min
2019-07-16T05:54:33.405Z,1563256473.405 [MissionManager](INFO): DefineArg sample_kiss.DepthDeadband = 0.000000 m
2019-07-16T05:54:33.407Z,1563256473.407 [MissionManager](INFO): DefineArg sample_kiss.Speed = 0.000000 m/s
2019-07-16T05:54:33.409Z,1563256473.409 [MissionManager](INFO): DefineArg sample_kiss.MaxDepth = 5.000000 m
2019-07-16T05:54:33.424Z,1563256473.424 [MissionManager](INFO): DefineArg sample_kiss.PitchLimit = 20.000000 arcdeg
2019-07-16T05:54:33.426Z,1563256473.426 [MissionManager](INFO): DefineArg sample_kiss.MinOffshore = 1.000000 km
2019-07-16T05:54:33.428Z,1563256473.428 [MissionManager](INFO): DefineOutput sample_kiss.StartFromSurface = 1 bool
2019-07-16T05:54:33.429Z,1563256473.429 [sample_kiss:A.AbortSample](DEBUG): Construct.
2019-07-16T05:54:33.430Z,1563256473.430 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-07-16T05:54:33.512Z,1563256473.512 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.DiveInterval = 3.000000 h
2019-07-16T05:54:33.514Z,1563256473.514 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.WaitForPitchUp = 10.000000 min
2019-07-16T05:54:33.516Z,1563256473.516 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-07-16T05:54:33.518Z,1563256473.518 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.SurfaceDepthRate = nan m/s
2019-07-16T05:54:33.521Z,1563256473.521 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-07-16T05:54:33.540Z,1563256473.540 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.GPSTimeout = 7.000000 min
2019-07-16T05:54:33.543Z,1563256473.543 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.CommsTimeout = 30.000000 min
2019-07-16T05:54:33.548Z,1563256473.548 [sample_kiss:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-07-16T05:54:33.567Z,1563256473.567 [sample_kiss:F.Mass](DEBUG): Construct.
2019-07-16T05:54:33.595Z,1563256473.595 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2019-07-16T05:54:33.874Z,1563256473.874 [MissionManager](INFO): DefineArg sample_kiss:Science.SampleISUS = 0 bool
2019-07-16T05:54:33.885Z,1563256473.885 [MissionManager](INFO): DefineArg sample_kiss:Science.SampleISUSmaxPitch = 60.000000 arcdeg
2019-07-16T05:54:33.888Z,1563256473.888 [MissionManager](INFO): DefineArg sample_kiss:Science.SampleISUSminPitch = -60.000000 arcdeg
2019-07-16T05:54:33.889Z,1563256473.889 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakDetectChlActive = 0 bool
2019-07-16T05:54:33.891Z,1563256473.891 [MissionManager](INFO): DefineArg sample_kiss:Science.TimeWindowPeakReport = nan min
2019-07-16T05:54:33.893Z,1563256473.893 [MissionManager](INFO): DefineArg sample_kiss:Science.HighestChlPeakReportActive = 0 bool
2019-07-16T05:54:33.895Z,1563256473.895 [MissionManager](INFO): DefineArg sample_kiss:Science.PatchTracking = 0 bool
2019-07-16T05:54:33.897Z,1563256473.897 [MissionManager](INFO): DefineArg sample_kiss:Science.FilterWidthHorizontal = 3.000000 count
2019-07-16T05:54:33.899Z,1563256473.899 [MissionManager](INFO): DefineArg sample_kiss:Science.NumProfilesSlidingwindow = 100.000000 count
2019-07-16T05:54:33.901Z,1563256473.901 [MissionManager](INFO): DefineArg sample_kiss:Science.OffPeakFractionHorizontal = 80.000000 %
2019-07-16T05:54:33.903Z,1563256473.903 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakDetectNO3Active = 0 bool
2019-07-16T05:54:33.905Z,1563256473.905 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakDetectOilActive = 0 bool
2019-07-16T05:54:33.907Z,1563256473.907 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakDetectFDOMActive = 0 bool
2019-07-16T05:54:33.909Z,1563256473.909 [MissionManager](INFO): DefineArg sample_kiss:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2019-07-16T05:54:33.912Z,1563256473.912 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledAanderaaO2 = 0.000000 bool
2019-07-16T05:54:33.914Z,1563256473.914 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledNeilBrown = 0.000000 bool
2019-07-16T05:54:33.917Z,1563256473.917 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledSeabird = 0.000000 bool
2019-07-16T05:54:33.919Z,1563256473.919 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledTurbulence_NPS = 0.000000 bool
2019-07-16T05:54:33.921Z,1563256473.921 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledWetLabsBB2FL = 1.000000 bool
2019-07-16T05:54:33.924Z,1563256473.924 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledWetLabsSeaOWL_UV_A = 0.000000 bool
2019-07-16T05:54:33.926Z,1563256473.926 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledWetLabsUBAT = 0.000000 bool
2019-07-16T05:54:33.929Z,1563256473.929 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledISUS = 0.000000 bool
2019-07-16T05:54:33.931Z,1563256473.931 [MissionManager](INFO): DefineArg sample_kiss:Science.LowPassWindowLength = 20.000000 count
2019-07-16T05:54:33.933Z,1563256473.933 [MissionManager](INFO): DefineArg sample_kiss:Science.MedianFilterLen = 5.000000 count
2019-07-16T05:54:33.935Z,1563256473.935 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakChlShallowBound = nan m
2019-07-16T05:54:33.937Z,1563256473.937 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakChlDeepBound = nan m
2019-07-16T05:54:33.939Z,1563256473.939 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakShallowBound = nan m
2019-07-16T05:54:33.941Z,1563256473.941 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakDeepBound = nan m
2019-07-16T05:54:33.943Z,1563256473.943 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakChl = 0.000000 ug/l
2019-07-16T05:54:33.946Z,1563256473.946 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakChlDepth = 0.000000 m
2019-07-16T05:54:33.948Z,1563256473.948 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakChlTemperature = 0.000000 degC
2019-07-16T05:54:33.950Z,1563256473.950 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakChlLatitude = nan arcdeg
2019-07-16T05:54:33.952Z,1563256473.952 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakChlLongitude = nan arcdeg
2019-07-16T05:54:33.954Z,1563256473.954 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakNO3 = 0.000000 umol/l
2019-07-16T05:54:33.957Z,1563256473.957 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakNO3Depth = 0.000000 m
2019-07-16T05:54:33.959Z,1563256473.959 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakNO3Latitude = nan arcdeg
2019-07-16T05:54:33.961Z,1563256473.961 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakNO3Longitude = nan arcdeg
2019-07-16T05:54:33.963Z,1563256473.963 [MissionManager](INFO): DefineOutput sample_kiss:Science.PatchChl = 0.000000 m
2019-07-16T05:54:33.965Z,1563256473.965 [MissionManager](INFO): DefineOutput sample_kiss:Science.PatchChlDepth = 0.000000 m
2019-07-16T05:54:33.968Z,1563256473.968 [MissionManager](INFO): DefineOutput sample_kiss:Science.PatchChlLatitude = nan arcdeg
2019-07-16T05:54:33.970Z,1563256473.970 [MissionManager](INFO): DefineOutput sample_kiss:Science.PatchChlLongitude = nan arcdeg
2019-07-16T05:54:33.972Z,1563256473.972 [MissionManager](INFO): DefineOutput sample_kiss:Science.PatchChlDistance = nan m
2019-07-16T05:54:33.974Z,1563256473.974 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakOil = 0.000000 kg/m3
2019-07-16T05:54:33.976Z,1563256473.976 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakOilDepth = 0.000000 m
2019-07-16T05:54:33.979Z,1563256473.979 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakOilLatitude = nan arcdeg
2019-07-16T05:54:34.021Z,1563256474.021 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakOilLongitude = nan arcdeg
2019-07-16T05:54:34.023Z,1563256474.023 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:54:34.025Z,1563256474.025 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakFDOM = 0.000000 ppb
2019-07-16T05:54:34.065Z,1563256474.065 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakFDOMDepth = 0.000000 m
2019-07-16T05:54:34.080Z,1563256474.080 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakFDOMLatitude = nan arcdeg
2019-07-16T05:54:34.082Z,1563256474.082 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakFDOMLongitude = nan arcdeg
2019-07-16T05:54:34.088Z,1563256474.088 [MissionManager](INFO): DefineOutput sample_kiss:Science.PatchFDOMDistance = nan m
2019-07-16T05:54:34.124Z,1563256474.124 [sample_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-16T05:54:34.153Z,1563256474.153 [sample_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2019-07-16T05:54:34.181Z,1563256474.181 [sample_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-16T05:54:34.223Z,1563256474.223 [sample_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-16T05:54:34.245Z,1563256474.245 [sample_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-16T05:54:34.269Z,1563256474.269 [sample_kiss:InitialDive:B.Buoyancy](DEBUG): Construct Buoyancy.
2019-07-16T05:54:34.292Z,1563256474.292 [sample_kiss:InitialDive:C.SetSpeed](DEBUG): Construct.
2019-07-16T05:54:34.295Z,1563256474.295 [sample_kiss:InitialDive:D.Point](DEBUG): Construct.
2019-07-16T05:54:34.312Z,1563256474.312 [sample_kiss:InitialDive:E.Pitch](DEBUG): Construct.
2019-07-16T05:54:34.325Z,1563256474.325 [sample_kiss:InitialDive:E.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-07-16T05:54:34.339Z,1563256474.339 [sample_kiss:TargetDepth:B.SetSpeed](DEBUG): Construct.
2019-07-16T05:54:34.345Z,1563256474.345 [sample_kiss:TargetDepth:C.Pitch](DEBUG): Construct.
2019-07-16T05:54:34.354Z,1563256474.354 [sample_kiss:TargetDepth:Spinout:A.Buoyancy](DEBUG): Construct Buoyancy.
2019-07-16T05:54:34.361Z,1563256474.361 [sample_kiss:TargetDepth:Spinout:B.Point](DEBUG): Construct.
2019-07-16T05:54:34.366Z,1563256474.366 [MissionManager](INFO): Inserting Stack: Missions/Insert/SampleAtDepth.xml
2019-07-16T05:54:34.534Z,1563256474.534 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.TargetDepth = 5.000000 m
2019-07-16T05:54:34.568Z,1563256474.568 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.SettleTime = 10.000000 s
2019-07-16T05:54:34.570Z,1563256474.570 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.MaxWaitNotReachingDepth = 3.000000 h
2019-07-16T05:54:34.572Z,1563256474.572 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.RotateOnly = 0.000000 bool
2019-07-16T05:54:34.591Z,1563256474.591 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.UseCANONSampler = 0.000000 bool
2019-07-16T05:54:34.593Z,1563256474.593 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.UseESP = 1.000000 bool
2019-07-16T05:54:34.600Z,1563256474.600 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.ESPCartridgeType = nan count
2019-07-16T05:54:34.602Z,1563256474.602 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.CANONSamplerTriggerTimeout = 1.000000 min
2019-07-16T05:54:34.605Z,1563256474.605 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.CANONSamplerTimeout = 6.000000 min
2019-07-16T05:54:34.623Z,1563256474.623 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.BuoyancyNeutral = 273.999991 cc
2019-07-16T05:54:34.626Z,1563256474.626 [sample_kiss:TargetDepth:GrabSamples:SampleAtDepth:ApproachDepth:B.Pitch](DEBUG): Construct.
2019-07-16T05:54:34.631Z,1563256474.631 [sample_kiss:TargetDepth:GrabSamples:SampleAtDepth:ApproachDepth:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-07-16T05:54:34.649Z,1563256474.649 [sample_kiss:TargetDepth:GrabSamples:SampleAtDepth:SampleWrapper:A.Pitch](DEBUG): Construct.
2019-07-16T05:54:34.655Z,1563256474.655 [sample_kiss:TargetDepth:GrabSamples:SampleAtDepth:SampleWrapper:C.Wait](DEBUG): Construct Wait.
2019-07-16T05:54:34.681Z,1563256474.681 [sample_kiss:TargetDepth:GrabSamples:SampleAtDepth:SampleWrapper:SampleCANONSampler:TriggerCANONSampler:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-07-16T05:54:34.700Z,1563256474.700 [sample_kiss:TargetDepth:GrabSamples:SampleAtDepth:SampleWrapper:SampleCANONSampler:E:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-07-16T05:54:34.806Z,1563256474.806 [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: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="sample_kiss">

    <Description>
        This mission takes ESP sampls at the designated depth.
    </Description>
    
    <DefineArg Name="MissionTimeout"><Description>
        Maximum duration of mission
    </Description><Units:hour/><Value>4</Value></DefineArg>

    <DefineArg Name="NeedCommsTime"><Description>
        How often to surface for communications
    </Description><Units:minute/><Value>240</Value></DefineArg>

    <DefineArg Name="Depth"><Description>
        Depth held during drift mode
    </Description><Units:meter/><Value>2.5</Value></DefineArg>

    <DefineArg Name="ESPCartridgeType_1"><Description>
        Specifies ESP cartridge type code for sample# 1. Set to NaN to skip this sample.
    </Description><Units:count/><Value>-1</Value></DefineArg>
    
    <DefineArg Name="ESPCartridgeType_2"><Description>
        Specifies ESP cartridge type code for sample# 2. Set to NaN to skip this sample.
    </Description><Units:count/><Value>-16</Value></DefineArg>
    
    <DefineArg Name="ESPCartridgeType_3"><Description>
        Specifies ESP cartridge type code for sample# 3. Set to NaN to skip this sample.
    </Description><Units:count/><Value>NaN</Value></DefineArg>
    
    <DefineArg Name="ESPCartridgeType_4"><Description>
        Specifies ESP cartridge type code for sample# 4. Set to NaN to skip this sample.
    </Description><Units:count/><Value>NaN</Value></DefineArg>
    
    <DefineArg Name="WaitBeforeSample"><Description>
        How long to wait between samples. This starts *before* the first sample
        to exercise the SettleTime setting in the insert aggregate.
    </Description><Units:minute/><Value>3</Value></DefineArg>
    
    <DefineArg Name="ApproachDepthTimeout"><Description>
        Maximum time duration for the vehicle to reach the approach depth
    </Description><Units:minute/><Value>20</Value></DefineArg>

    <DefineArg Name="DepthDeadband"><Description>
        How much vertical drift from the specified depth is allowed while sampling.
    </Description><Units:meter/><Value>0.00</Value></DefineArg>

    <DefineArg Name="Speed"><Description>
        Vehicle transit speed
    </Description><Units:meter_per_second/><Value>0</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum allowable depth during the mission
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="PitchLimit"><Description>
        Max vehicle pitch (+/-) when decending from the surface
    </Description><Units:degree/><Value>20</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Description>
        Minimum distance from the shoreline to maintain
    </Description><Units:kilometer/><Value>1</Value></DefineArg>

    <DefineOutput Name="StartFromSurface"><Description>
        Mission variable (don't change). The mission sets this to true after surface comms are done.
    </Description><True/></DefineOutput>
    

    <!-- Mission timeout -->

    <Timeout Duration="MissionTimeout"/>

    <!-- Safety nets and surfacing behaviors -->
    
    <Trigger:AbortSample>
        <Parallel/>
    </Trigger:AbortSample>


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

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

    <Assign><Sequence/><Arg Name="NeedComms:WaitForPitchUp"/><Units:minute/><Value>0</Value></Assign>

    <Aggregate Id="SurfaceComms">

        <When>
            <Called/>
            <Or><Elapsed><Universal:time_fix/></Elapsed><Gt><Arg Name="NeedCommsTime"/></Gt></Or>
        </When>

        <Call RefId="NeedComms"/>

        <Assign><Sequence/><Arg Name="StartFromSurface"/><True/></Assign>

    </Aggregate>

    <!-- Set default mass position -->

    <Guidance:Mass>
        <Parallel/>
        <Setting><Guidance:Mass.position/><Control:VerticalControl.massDefault/></Setting>
    </Guidance:Mass>

    <!-- Start mission sequence -->

    <Call Id="StartingMission" RefId="SurfaceComms"/>
    
    <Insert Filename="Insert/Science.xml"></Insert>

    <Aggregate Id="InitialDive">

        <Description>
            Descend from the surface to approach depth using the thruster. Limit pitch.
        </Description>

        <When>
            <Arg Name="StartFromSurface"/>
        </When>

        <Assign><Parallel/><Control:VerticalControl.pitchLimit/><Arg Name="PitchLimit"/></Assign>

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

        <Guidance:SetSpeed>
            <Parallel/>
            <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>1.0</Value></Setting>
        </Guidance:SetSpeed>
        
        <Guidance:Point>
            <Setting><Guidance:Point.rudderAngle/><Units:degree/><Value>13</Value></Setting>
        </Guidance:Point>

        <Guidance:Pitch>
            <Sequence/>
            <Timeout Duration="ApproachDepthTimeout">
                <Syslog Severity="Important">Timed out while trying to reach approach depth at current depth of <Universal:depth/><Units:meter/>.</Syslog>
                <Guidance:Execute>
                    <Sequence/>
                    <Setting><Guidance:Execute.command/><String>stop</String></Setting>
                </Guidance:Execute>
            </Timeout>
            <Setting><Guidance:Pitch.depth/><Arg Name="Depth"/></Setting>
        </Guidance:Pitch>

        <Assign><Sequence/><Arg Name="StartFromSurface"/><False/></Assign>

    </Aggregate>

    <Aggregate Id="TargetDepth">

        <Description>
            Maintain target depth and acquire ESP samples.
        </Description>

        <Sequence/>

        <Assign><Parallel/><Control:VerticalControl.depthDeadband/><Arg Name="DepthDeadband"/></Assign>
        
        <Guidance:SetSpeed>
            <Parallel/>
            <Setting><Guidance:SetSpeed.speed/><Arg Name="Speed"/></Setting>
        </Guidance:SetSpeed>
        
        <Guidance:Pitch>
            <Parallel/>
            <Setting><Guidance:Pitch.depth/><Arg Name="Depth"/></Setting>
        </Guidance:Pitch>
        
        <Aggregate Id="Spinout">
            
            <While>
                <Arg Name="Speed"/><Gt><Units:meter_per_second/><Value>0.0</Value></Gt>
            </While>
            
            <Guidance:Buoyancy>
                <Parallel/>
                <Setting><Guidance:Buoyancy.position/><Control:VerticalControl.buoyancyNeutral/></Setting>
            </Guidance:Buoyancy>
            
            <Guidance:Point>
                <Setting><Guidance:Point.rudderAngle/><Units:degree/><Value>13</Value></Setting>
            </Guidance:Point>
            
        </Aggregate>
        
        <Aggregate Id="GrabSamples">
            
            <Sequence/>
            
            <Insert Filename="Insert/SampleAtDepth.xml"/>
            
            <Assign><Sequence/><Arg Name="SampleAtDepth:TargetDepth"/><Arg Name="Depth"/></Assign>
            
            <Assign><Sequence/><Arg Name="SampleAtDepth:SettleTime"/><Arg Name="WaitBeforeSample"/></Assign>
            
            <Aggregate Id="Sample1">
                <Break>
                    <IsNaN><Arg Name="ESPCartridgeType_1"/></IsNaN>
                </Break>
                
                <Assign><Sequence/><Arg Name="SampleAtDepth:ESPCartridgeType"/><Arg Name="ESPCartridgeType_1"/></Assign>
                
                <Call Id="sampling" RefId="SampleAtDepth"/>
            </Aggregate>

            
            <Aggregate Id="Sample2">
                <Break>
                    <IsNaN><Arg Name="ESPCartridgeType_2"/></IsNaN>
                </Break>
                
                <Assign><Sequence/><Arg Name="SampleAtDepth:ESPCartridgeType"/><Arg Name="ESPCartridgeType_2"/></Assign>
                
                <Call Id="sampling" RefId="SampleAtDepth"/>
            </Aggregate>

            
            <Aggregate Id="Sample3">
                <Break>
                    <IsNaN><Arg Name="ESPCartridgeType_3"/></IsNaN>
                </Break>

                <Assign><Sequence/><Arg Name="SampleAtDepth:ESPCartridgeType"/><Arg Name="ESPCartridgeType_3"/></Assign>
                
                <Call Id="sampling" RefId="SampleAtDepth"/>
            </Aggregate>

            
            <Aggregate Id="Sample4">
                <Break>
                    <IsNaN><Arg Name="ESPCartridgeType_4"/></IsNaN>
                </Break>

                <Assign><Sequence/><Arg Name="SampleAtDepth:ESPCartridgeType"/><Arg Name="ESPCartridgeType_4"/></Assign>

                <Call Id="sampling" RefId="SampleAtDepth"/>
            </Aggregate>

        </Aggregate>

    </Aggregate>

</Mission>


2019-07-16T05:54:34.808Z,1563256474.808 [CommandLine](IMPORTANT): Running ./Missions/kiss.xml
2019-07-16T05:54:34.865Z,1563256474.865 [Default] Stopped
2019-07-16T05:54:34.865Z,1563256474.865 [Default](DEBUG): Aggregate::uninitialize Default
2019-07-16T05:54:34.866Z,1563256474.866 [Default:B.GoToSurface] Stopped
2019-07-16T05:54:34.866Z,1563256474.866 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-07-16T05:54:34.866Z,1563256474.866 [Default:CheckIn] Stopped
2019-07-16T05:54:34.866Z,1563256474.866 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-07-16T05:54:34.866Z,1563256474.866 [Default:CheckIn:Read_GPS] Stopped
2019-07-16T05:54:34.866Z,1563256474.866 [MissionManager](IMPORTANT): Started mission sample_kiss
2019-07-16T05:54:34.866Z,1563256474.866 [sample_kiss] Running Loop=1
2019-07-16T05:54:34.866Z,1563256474.866 [sample_kiss](DEBUG): Aggregate::initialize sample_kiss
2019-07-16T05:54:34.867Z,1563256474.867 [sample_kiss:A.AbortSample] Running Loop=1
2019-07-16T05:54:34.867Z,1563256474.867 [sample_kiss:A.AbortSample](INFO): Initializing AbortSample.
2019-07-16T05:54:34.867Z,1563256474.867 [sample_kiss:F.Mass] Running Loop=1
2019-07-16T05:54:34.867Z,1563256474.867 [sample_kiss:F.Mass](DEBUG): Initialize.
2019-07-16T05:54:34.867Z,1563256474.867 [sample_kiss:Science] Running Loop=1
2019-07-16T05:54:34.867Z,1563256474.867 [sample_kiss:Science](DEBUG): Aggregate::initialize sample_kiss:Science
2019-07-16T05:54:34.867Z,1563256474.867 [sample_kiss:Science:A] Running Loop=1
2019-07-16T05:54:34.867Z,1563256474.867 [sample_kiss:Science:B] Running Loop=1
2019-07-16T05:54:34.868Z,1563256474.868 [sample_kiss:Science:C] Running Loop=1
2019-07-16T05:54:34.868Z,1563256474.868 [sample_kiss:Science:D] Running Loop=1
2019-07-16T05:54:34.868Z,1563256474.868 [sample_kiss:Science:E] Running Loop=1
2019-07-16T05:54:34.868Z,1563256474.868 [sample_kiss:Science:F] Running Loop=1
2019-07-16T05:54:34.868Z,1563256474.868 [sample_kiss:Science:G] Running Loop=1
2019-07-16T05:54:34.868Z,1563256474.868 [sample_kiss:Science:H] Running Loop=1
2019-07-16T05:54:34.868Z,1563256474.868 [sample_kiss:Science:Read_Oil] Running Loop=1
2019-07-16T05:54:34.868Z,1563256474.868 [sample_kiss:Science:PeakDetectChl] Running Loop=1
2019-07-16T05:54:34.868Z,1563256474.868 [sample_kiss:Science:PeakDetectChl](DEBUG): Aggregate::initialize sample_kiss:Science:PeakDetectChl
2019-07-16T05:54:34.868Z,1563256474.868 [sample_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2019-07-16T05:54:34.868Z,1563256474.868 [sample_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-16T05:54:34.870Z,1563256474.870 [sample_kiss:Science:HighestChlPeakReport] Running Loop=1
2019-07-16T05:54:34.870Z,1563256474.870 [sample_kiss:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize sample_kiss:Science:HighestChlPeakReport
2019-07-16T05:54:34.870Z,1563256474.870 [sample_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2019-07-16T05:54:34.870Z,1563256474.870 [sample_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2019-07-16T05:54:34.870Z,1563256474.870 [sample_kiss:Science:PeakDetectNO3] Running Loop=1
2019-07-16T05:54:34.870Z,1563256474.870 [sample_kiss:Science:PeakDetectNO3](DEBUG): Aggregate::initialize sample_kiss:Science:PeakDetectNO3
2019-07-16T05:54:34.871Z,1563256474.871 [sample_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2019-07-16T05:54:34.871Z,1563256474.871 [sample_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-16T05:54:34.888Z,1563256474.888 [sample_kiss:Science:PeakDetectOil] Running Loop=1
2019-07-16T05:54:34.888Z,1563256474.888 [sample_kiss:Science:PeakDetectOil](DEBUG): Aggregate::initialize sample_kiss:Science:PeakDetectOil
2019-07-16T05:54:34.888Z,1563256474.888 [sample_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2019-07-16T05:54:34.888Z,1563256474.888 [sample_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-16T05:54:34.889Z,1563256474.889 [sample_kiss:Science:PeakDetectFDOM] Running Loop=1
2019-07-16T05:54:34.889Z,1563256474.889 [sample_kiss:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize sample_kiss:Science:PeakDetectFDOM
2019-07-16T05:54:34.889Z,1563256474.889 [sample_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2019-07-16T05:54:34.890Z,1563256474.890 [sample_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-16T05:54:34.891Z,1563256474.891 [sample_kiss:C] Running Loop=1
2019-07-16T05:54:34.892Z,1563256474.892 [sample_kiss:InitialDive] Running Loop=1
2019-07-16T05:54:34.892Z,1563256474.892 [sample_kiss:InitialDive](DEBUG): Aggregate::initialize sample_kiss:InitialDive
2019-07-16T05:54:34.892Z,1563256474.892 [sample_kiss:InitialDive:A] Running Loop=1
2019-07-16T05:54:34.892Z,1563256474.892 [sample_kiss:InitialDive:B.Buoyancy] Running Loop=1
2019-07-16T05:54:34.892Z,1563256474.892 [sample_kiss:InitialDive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-07-16T05:54:34.892Z,1563256474.892 [sample_kiss:InitialDive:C.SetSpeed] Running Loop=1
2019-07-16T05:54:34.892Z,1563256474.892 [sample_kiss:InitialDive:C.SetSpeed](DEBUG): Initialize.
2019-07-16T05:54:34.892Z,1563256474.892 [sample_kiss:InitialDive:D.Point] Running Loop=1
2019-07-16T05:54:34.892Z,1563256474.892 [sample_kiss:InitialDive:D.Point](DEBUG): Initialize.
2019-07-16T05:54:34.892Z,1563256474.892 [sample_kiss:InitialDive:E.Pitch] Running Loop=1
2019-07-16T05:54:34.893Z,1563256474.893 [sample_kiss:InitialDive:E.Pitch](DEBUG): Initialize.
2019-07-16T05:54:34.893Z,1563256474.893 [sample_kiss:InitialDive:D.Point] Running Loop=1
2019-07-16T05:54:34.893Z,1563256474.893 [sample_kiss:InitialDive:C.SetSpeed] Running Loop=1
2019-07-16T05:54:34.894Z,1563256474.894 [sample_kiss:InitialDive:B.Buoyancy] Running Loop=1
2019-07-16T05:54:34.894Z,1563256474.894 [sample_kiss:InitialDive:A] Running Loop=1
2019-07-16T05:54:34.894Z,1563256474.894 [sample_kiss:Science] Running Loop=1
2019-07-16T05:54:34.895Z,1563256474.895 [sample_kiss:Science:PeakDetectFDOM] Stopped
2019-07-16T05:54:34.895Z,1563256474.895 [sample_kiss:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize sample_kiss:Science:PeakDetectFDOM
2019-07-16T05:54:34.895Z,1563256474.895 [sample_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2019-07-16T05:54:34.895Z,1563256474.895 [sample_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-16T05:54:34.895Z,1563256474.895 [sample_kiss:Science:PeakDetectOil] Stopped
2019-07-16T05:54:34.896Z,1563256474.896 [sample_kiss:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize sample_kiss:Science:PeakDetectOil
2019-07-16T05:54:34.896Z,1563256474.896 [sample_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2019-07-16T05:54:34.896Z,1563256474.896 [sample_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-16T05:54:34.896Z,1563256474.896 [sample_kiss:Science:PeakDetectNO3] Stopped
2019-07-16T05:54:34.896Z,1563256474.896 [sample_kiss:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize sample_kiss:Science:PeakDetectNO3
2019-07-16T05:54:34.896Z,1563256474.896 [sample_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2019-07-16T05:54:34.896Z,1563256474.896 [sample_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-16T05:54:34.896Z,1563256474.896 [sample_kiss:Science:HighestChlPeakReport] Stopped
2019-07-16T05:54:34.896Z,1563256474.896 [sample_kiss:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize sample_kiss:Science:HighestChlPeakReport
2019-07-16T05:54:34.896Z,1563256474.896 [sample_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2019-07-16T05:54:34.896Z,1563256474.896 [sample_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2019-07-16T05:54:34.896Z,1563256474.896 [sample_kiss:Science:PeakDetectChl] Stopped
2019-07-16T05:54:34.897Z,1563256474.897 [sample_kiss:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize sample_kiss:Science:PeakDetectChl
2019-07-16T05:54:34.897Z,1563256474.897 [sample_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2019-07-16T05:54:34.897Z,1563256474.897 [sample_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-16T05:54:34.897Z,1563256474.897 [sample_kiss:Science:Read_Oil] Stopped
2019-07-16T05:54:34.897Z,1563256474.897 [sample_kiss:Science:H] Stopped
2019-07-16T05:54:34.897Z,1563256474.897 [sample_kiss:Science:G] Running Loop=1
2019-07-16T05:54:34.897Z,1563256474.897 [sample_kiss:Science:G](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2019-07-16T05:54:34.898Z,1563256474.898 [sample_kiss:Science:F] Stopped
2019-07-16T05:54:34.898Z,1563256474.898 [sample_kiss:Science:E] Stopped
2019-07-16T05:54:34.898Z,1563256474.898 [sample_kiss:Science:D] Stopped
2019-07-16T05:54:34.898Z,1563256474.898 [sample_kiss:Science:C] Stopped
2019-07-16T05:54:34.898Z,1563256474.898 [sample_kiss:Science:B] Stopped
2019-07-16T05:54:34.898Z,1563256474.898 [sample_kiss:Science:A] Stopped
2019-07-16T05:54:34.898Z,1563256474.898 [sample_kiss:F.Mass] Running Loop=1
2019-07-16T05:54:34.898Z,1563256474.898 [sample_kiss:C] Stopped
2019-07-16T05:54:34.898Z,1563256474.898 [sample_kiss:D] Running Loop=1
2019-07-16T05:54:34.898Z,1563256474.898 [sample_kiss:A.AbortSample] Running Loop=1
2019-07-16T05:54:35.267Z,1563256475.267 [sample_kiss:D] Stopped
2019-07-16T05:54:35.268Z,1563256475.268 [sample_kiss:StartingMission] Running Loop=1
2019-07-16T05:54:35.268Z,1563256475.268 [sample_kiss:StartingMission](DEBUG): Aggregate::initialize sample_kiss:StartingMission
2019-07-16T05:54:35.658Z,1563256475.658 [sample_kiss:SurfaceComms] Running Loop=1
2019-07-16T05:54:35.659Z,1563256475.659 [sample_kiss:SurfaceComms](DEBUG): Aggregate::initialize sample_kiss:SurfaceComms
2019-07-16T05:54:35.659Z,1563256475.659 [sample_kiss:SurfaceComms:A] Running Loop=1
2019-07-16T05:54:35.659Z,1563256475.659 [sample_kiss:SurfaceComms:A](DEBUG): Aggregate::initialize sample_kiss:SurfaceComms:A
2019-07-16T05:54:36.047Z,1563256476.047 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:54:36.079Z,1563256476.079 [sample_kiss:NeedComms] Running Loop=1
2019-07-16T05:54:36.079Z,1563256476.079 [sample_kiss:NeedComms](DEBUG): Aggregate::initialize sample_kiss:NeedComms
2019-07-16T05:54:36.079Z,1563256476.079 [sample_kiss:NeedComms:B.GoToSurface] Running Loop=1
2019-07-16T05:54:36.079Z,1563256476.079 [sample_kiss:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-07-16T05:54:36.080Z,1563256476.080 [sample_kiss:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2019-07-16T05:54:36.080Z,1563256476.080 [sample_kiss:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2019-07-16T05:54:36.080Z,1563256476.080 [sample_kiss:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2019-07-16T05:54:36.081Z,1563256476.081 [sample_kiss:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-07-16T05:54:36.081Z,1563256476.081 [sample_kiss:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-07-16T05:54:36.081Z,1563256476.081 [sample_kiss:NeedComms:A] Running Loop=1
2019-07-16T05:54:36.083Z,1563256476.083 [sample_kiss:NeedComms:A](INFO): last time_fix was: 1563256192.000000 second since 1970/01/01T00:00:00Z 
2019-07-16T05:54:36.083Z,1563256476.083 [sample_kiss:NeedComms:A] Stopped
2019-07-16T05:54:36.492Z,1563256476.492 [sample_kiss:NeedComms:C] Running Loop=1
2019-07-16T05:54:36.883Z,1563256476.883 [sample_kiss:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-07-16T05:54:39.275Z,1563256479.275 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:54:42.107Z,1563256482.107 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:54:44.499Z,1563256484.499 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-07-16T05:54:45.335Z,1563256485.335 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:54:48.163Z,1563256488.163 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:54:51.395Z,1563256491.395 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:54:54.223Z,1563256494.223 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:54:57.051Z,1563256497.051 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:54:59.071Z,1563256499.071 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:55:02.311Z,1563256502.311 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:55:05.131Z,1563256505.131 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:55:08.371Z,1563256508.371 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:55:10.356Z,1563256510.356 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.183350
2019-07-16T05:55:11.199Z,1563256511.199 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:55:14.423Z,1563256514.423 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:55:17.251Z,1563256517.251 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:55:20.079Z,1563256520.079 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:55:20.123Z,1563256520.123 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003100
2019-07-16T05:55:22.103Z,1563256522.103 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:55:24.119Z,1563256524.119 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:55:24.156Z,1563256524.156 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-16T05:55:24.156Z,1563256524.156 [WetLabsBB2FL] No Fault, FailCount= 5
2019-07-16T05:55:24.264Z,1563256524.264 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-16T05:55:24.264Z,1563256524.264 [WetLabsBB2FL](INFO): Powering up
2019-07-16T05:55:24.552Z,1563256524.552 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-16T05:55:24.552Z,1563256524.552 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 9
2019-07-16T05:55:24.552Z,1563256524.552 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-16T05:55:24.565Z,1563256524.565 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-16T05:55:24.964Z,1563256524.964 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-16T05:55:24.964Z,1563256524.964 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 9
2019-07-16T05:55:27.355Z,1563256527.355 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:55:29.555Z,1563256529.555 [WetLabsBB2FL] Communications Fault, FailCount= 1
2019-07-16T05:55:29.555Z,1563256529.555 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-16T05:55:29.801Z,1563256529.801 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-16T05:55:30.055Z,1563256530.055 [WetLabsBB2FL](INFO): Powering down
2019-07-16T05:55:30.179Z,1563256530.179 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:55:31.024Z,1563256531.024 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-16T05:55:31.024Z,1563256531.024 [WetLabsBB2FL] No Fault, FailCount= 1
2019-07-16T05:55:31.268Z,1563256531.268 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-16T05:55:31.268Z,1563256531.268 [WetLabsBB2FL](INFO): Powering up
2019-07-16T05:55:33.411Z,1563256533.411 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:55:36.239Z,1563256536.239 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:55:36.567Z,1563256536.567 [WetLabsBB2FL] Communications Fault, FailCount= 2
2019-07-16T05:55:36.567Z,1563256536.567 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-16T05:55:36.703Z,1563256536.703 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-16T05:55:37.075Z,1563256537.075 [WetLabsBB2FL](INFO): Powering down
2019-07-16T05:55:38.288Z,1563256538.288 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-16T05:55:38.288Z,1563256538.288 [WetLabsBB2FL] No Fault, FailCount= 2
2019-07-16T05:55:38.692Z,1563256538.692 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-16T05:55:38.692Z,1563256538.692 [WetLabsBB2FL](INFO): Powering up
2019-07-16T05:55:39.471Z,1563256539.471 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:55:42.299Z,1563256542.299 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:55:43.987Z,1563256543.987 [WetLabsBB2FL] Communications Fault, FailCount= 3
2019-07-16T05:55:43.987Z,1563256543.987 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-16T05:55:44.348Z,1563256544.348 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-16T05:55:44.487Z,1563256544.487 [WetLabsBB2FL](INFO): Powering down
2019-07-16T05:55:45.127Z,1563256545.127 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:55:45.574Z,1563256545.574 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-16T05:55:45.574Z,1563256545.574 [WetLabsBB2FL] No Fault, FailCount= 3
2019-07-16T05:55:45.700Z,1563256545.700 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-16T05:55:45.700Z,1563256545.700 [WetLabsBB2FL](INFO): Powering up
2019-07-16T05:55:47.147Z,1563256547.147 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:55:48.700Z,1563256548.700 [CommandLine](IMPORTANT): got command show stack
2019-07-16T05:55:48.700Z,1563256548.700 [CommandLine](IMPORTANT): Behavior Stack:

2019-07-16T05:55:48.700Z,1563256548.700 [sample_kiss](IMPORTANT): Priority 0: sample_kiss:A.AbortSample
2019-07-16T05:55:48.701Z,1563256548.701 [sample_kiss:NeedComms](IMPORTANT): Priority 1: sample_kiss:NeedComms:B.GoToSurface
2019-07-16T05:55:48.701Z,1563256548.701 [sample_kiss:NeedComms](IMPORTANT): Priority 2: sample_kiss:NeedComms:C
2019-07-16T05:55:48.701Z,1563256548.701 [sample_kiss](IMPORTANT): Priority 3: sample_kiss:F.Mass
2019-07-16T05:55:48.702Z,1563256548.702 [sample_kiss:Science](IMPORTANT): Priority 4: sample_kiss:Science:G
2019-07-16T05:55:48.703Z,1563256548.703 [sample_kiss:InitialDive](IMPORTANT): Priority 5: sample_kiss:InitialDive:A
2019-07-16T05:55:48.704Z,1563256548.704 [sample_kiss:InitialDive](IMPORTANT): Priority 6: sample_kiss:InitialDive:B.Buoyancy
2019-07-16T05:55:48.704Z,1563256548.704 [sample_kiss:InitialDive](IMPORTANT): Priority 7: sample_kiss:InitialDive:C.SetSpeed
2019-07-16T05:55:48.704Z,1563256548.704 [sample_kiss:InitialDive](IMPORTANT): Priority 8: sample_kiss:InitialDive:D.Point
2019-07-16T05:55:48.705Z,1563256548.705 [sample_kiss:InitialDive](IMPORTANT): Priority 9: sample_kiss:InitialDive:E.Pitch
2019-07-16T05:55:50.383Z,1563256550.383 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:55:50.995Z,1563256550.995 [WetLabsBB2FL] Communications Fault, FailCount= 4
2019-07-16T05:55:50.995Z,1563256550.995 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-16T05:55:51.218Z,1563256551.218 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-16T05:55:51.495Z,1563256551.495 [WetLabsBB2FL](INFO): Powering down
2019-07-16T05:55:52.424Z,1563256552.424 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-16T05:55:52.424Z,1563256552.424 [WetLabsBB2FL] No Fault, FailCount= 4
2019-07-16T05:55:52.708Z,1563256552.708 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-16T05:55:52.708Z,1563256552.708 [WetLabsBB2FL](INFO): Powering up
2019-07-16T05:55:53.210Z,1563256553.210 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:55:56.451Z,1563256556.451 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:55:57.999Z,1563256557.999 [WetLabsBB2FL] Communications Fault, FailCount= 5
2019-07-16T05:55:57.999Z,1563256557.999 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-16T05:55:58.079Z,1563256558.079 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-16T05:55:58.079Z,1563256558.079 [CBIT](FAULT): Communications Fault in component: WetLabsBB2FL
2019-07-16T05:55:58.495Z,1563256558.495 [WetLabsBB2FL](INFO): Powering down
2019-07-16T05:55:59.267Z,1563256559.267 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:56:02.499Z,1563256562.499 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:56:05.327Z,1563256565.327 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:56:07.529Z,1563256567.529 [CommandLine](IMPORTANT): got command maintain sensor Depth_Keller.depth 2.500000 
2019-07-16T05:56:07.529Z,1563256567.529 [CommandLine](FAULT): Incomplete syntax. Try: help maintain
2019-07-16T05:56:08.159Z,1563256568.159 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:56:10.175Z,1563256570.175 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:56:10.557Z,1563256570.557 [CommandLine](IMPORTANT): got command maintain sensor Depth_Keller.depth 2.500000 meter
2019-07-16T05:56:10.558Z,1563256570.558 [ComponentRegistry](DEBUG): SyncComponent "Maintain_Depth_Keller.depth" handled in the control thread.
2019-07-16T05:56:10.639Z,1563256570.639 [controlThread](DEBUG): Component order: CycleStarter,Depth_Keller,DropWeight,NAL9602,Onboard,BPC1,ESPComponent,PAR_Licor,Depth_Keller,PAR_Licor,Maintain_Depth_Keller.depth,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2019-07-16T05:56:11.009Z,1563256571.009 [sample_kiss:InitialDive:E.Pitch] Stopped
2019-07-16T05:56:11.010Z,1563256571.010 [sample_kiss:InitialDive:F] Running Loop=1
2019-07-16T05:56:11.404Z,1563256571.404 [sample_kiss:InitialDive:F] Stopped
2019-07-16T05:56:11.405Z,1563256571.405 [sample_kiss:InitialDive](INFO): Completed sample_kiss:InitialDive
2019-07-16T05:56:11.405Z,1563256571.405 [sample_kiss:InitialDive] Stopped
2019-07-16T05:56:11.406Z,1563256571.406 [sample_kiss:InitialDive](DEBUG): Aggregate::uninitialize sample_kiss:InitialDive
2019-07-16T05:56:11.406Z,1563256571.406 [sample_kiss:InitialDive:A] Stopped
2019-07-16T05:56:11.406Z,1563256571.406 [sample_kiss:InitialDive:B.Buoyancy] Stopped
2019-07-16T05:56:11.406Z,1563256571.406 [sample_kiss:InitialDive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2019-07-16T05:56:11.406Z,1563256571.406 [sample_kiss:InitialDive:C.SetSpeed] Stopped
2019-07-16T05:56:11.406Z,1563256571.406 [sample_kiss:InitialDive:C.SetSpeed](DEBUG): Uninitialize.
2019-07-16T05:56:11.406Z,1563256571.406 [sample_kiss:InitialDive:D.Point] Stopped
2019-07-16T05:56:12.195Z,1563256572.195 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:56:15.431Z,1563256575.431 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:56:18.255Z,1563256578.255 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:56:21.491Z,1563256581.491 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:56:24.319Z,1563256584.319 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:56:26.697Z,1563256586.697 [CommandLine](IMPORTANT): got command show stack
2019-07-16T05:56:26.697Z,1563256586.697 [CommandLine](IMPORTANT): Behavior Stack:

2019-07-16T05:56:26.697Z,1563256586.697 [sample_kiss](IMPORTANT): Priority 0: sample_kiss:A.AbortSample
2019-07-16T05:56:26.698Z,1563256586.698 [sample_kiss:NeedComms](IMPORTANT): Priority 1: sample_kiss:NeedComms:B.GoToSurface
2019-07-16T05:56:26.698Z,1563256586.698 [sample_kiss:NeedComms](IMPORTANT): Priority 2: sample_kiss:NeedComms:C
2019-07-16T05:56:26.698Z,1563256586.698 [sample_kiss](IMPORTANT): Priority 3: sample_kiss:F.Mass
2019-07-16T05:56:26.699Z,1563256586.699 [sample_kiss:Science](IMPORTANT): Priority 4: sample_kiss:Science:G
2019-07-16T05:56:27.551Z,1563256587.551 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:56:30.375Z,1563256590.375 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:56:33.207Z,1563256593.207 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:56:35.223Z,1563256595.223 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:56:38.459Z,1563256598.459 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:56:41.283Z,1563256601.283 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:56:44.515Z,1563256604.515 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:56:47.346Z,1563256607.346 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:56:50.583Z,1563256610.583 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:56:53.403Z,1563256613.403 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:56:56.231Z,1563256616.231 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:56:58.255Z,1563256618.255 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:57:00.275Z,1563256620.275 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:57:01.197Z,1563256621.197 [CommandLine](IMPORTANT): got command show stack
2019-07-16T05:57:01.197Z,1563256621.197 [CommandLine](IMPORTANT): Behavior Stack:

2019-07-16T05:57:01.197Z,1563256621.197 [sample_kiss](IMPORTANT): Priority 0: sample_kiss:A.AbortSample
2019-07-16T05:57:01.198Z,1563256621.198 [sample_kiss:NeedComms](IMPORTANT): Priority 1: sample_kiss:NeedComms:B.GoToSurface
2019-07-16T05:57:01.198Z,1563256621.198 [sample_kiss:NeedComms](IMPORTANT): Priority 2: sample_kiss:NeedComms:C
2019-07-16T05:57:01.198Z,1563256621.198 [sample_kiss](IMPORTANT): Priority 3: sample_kiss:F.Mass
2019-07-16T05:57:01.200Z,1563256621.200 [sample_kiss:Science](IMPORTANT): Priority 4: sample_kiss:Science:G
2019-07-16T05:57:03.507Z,1563256623.507 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:57:06.335Z,1563256626.335 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:57:09.571Z,1563256629.571 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:57:12.391Z,1563256632.391 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:57:15.623Z,1563256635.623 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:57:18.451Z,1563256638.451 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:57:21.279Z,1563256641.279 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:57:23.303Z,1563256643.303 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:57:25.737Z,1563256645.737 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-16T05:57:25.737Z,1563256645.737 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 10
2019-07-16T05:57:25.737Z,1563256645.737 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-16T05:57:25.749Z,1563256645.749 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-16T05:57:26.148Z,1563256646.148 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-16T05:57:26.148Z,1563256646.148 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 10
2019-07-16T05:57:26.531Z,1563256646.531 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:57:29.359Z,1563256649.359 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:57:32.591Z,1563256652.591 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:57:35.423Z,1563256655.423 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:57:38.651Z,1563256658.651 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:57:41.487Z,1563256661.487 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:57:43.176Z,1563256663.176 [CommandLine](IMPORTANT): got command report touch VerticalControl.depthCmd
2019-07-16T05:57:44.311Z,1563256664.311 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:57:46.331Z,1563256666.331 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:57:49.559Z,1563256669.559 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:57:52.387Z,1563256672.387 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:57:55.619Z,1563256675.619 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:57:58.483Z,1563256678.483 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:57:58.870Z,1563256678.870 [CommandLine](IMPORTANT): got command get VerticalControl.depthCmd
2019-07-16T05:57:58.873Z,1563256678.873 [CommandLine](IMPORTANT): VerticalControl.depthCmd 2.500000 m
2019-07-16T05:58:01.679Z,1563256681.679 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:58:04.511Z,1563256684.511 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:58:07.335Z,1563256687.335 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:58:09.359Z,1563256689.359 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:58:11.375Z,1563256691.375 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:58:14.611Z,1563256694.611 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:58:16.009Z,1563256696.009 [CommandLine](IMPORTANT): got command show stack
2019-07-16T05:58:16.009Z,1563256696.009 [CommandLine](IMPORTANT): Behavior Stack:

2019-07-16T05:58:16.009Z,1563256696.009 [sample_kiss](IMPORTANT): Priority 0: sample_kiss:A.AbortSample
2019-07-16T05:58:16.010Z,1563256696.010 [sample_kiss:NeedComms](IMPORTANT): Priority 1: sample_kiss:NeedComms:B.GoToSurface
2019-07-16T05:58:16.010Z,1563256696.010 [sample_kiss:NeedComms](IMPORTANT): Priority 2: sample_kiss:NeedComms:C
2019-07-16T05:58:16.010Z,1563256696.010 [sample_kiss](IMPORTANT): Priority 3: sample_kiss:F.Mass
2019-07-16T05:58:16.011Z,1563256696.011 [sample_kiss:Science](IMPORTANT): Priority 4: sample_kiss:Science:G
2019-07-16T05:58:17.435Z,1563256697.435 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:58:20.667Z,1563256700.667 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:58:23.495Z,1563256703.495 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:58:26.727Z,1563256706.727 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:58:28.371Z,1563256708.371 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-16T05:58:28.371Z,1563256708.371 [WetLabsBB2FL] No Fault, FailCount= 5
2019-07-16T05:58:28.416Z,1563256708.416 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-16T05:58:28.416Z,1563256708.416 [WetLabsBB2FL](INFO): Powering up
2019-07-16T05:58:29.555Z,1563256709.555 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:58:32.383Z,1563256712.383 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:58:33.707Z,1563256713.707 [WetLabsBB2FL] Communications Fault, FailCount= 1
2019-07-16T05:58:33.707Z,1563256713.707 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-16T05:58:34.017Z,1563256714.017 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-16T05:58:34.207Z,1563256714.207 [WetLabsBB2FL](INFO): Powering down
2019-07-16T05:58:34.403Z,1563256714.403 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:58:35.248Z,1563256715.248 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-16T05:58:35.248Z,1563256715.248 [WetLabsBB2FL] No Fault, FailCount= 1
2019-07-16T05:58:35.420Z,1563256715.420 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-16T05:58:35.420Z,1563256715.420 [WetLabsBB2FL](INFO): Powering up
2019-07-16T05:58:37.635Z,1563256717.635 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:58:40.463Z,1563256720.463 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:58:40.715Z,1563256720.715 [WetLabsBB2FL] Communications Fault, FailCount= 2
2019-07-16T05:58:40.715Z,1563256720.715 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-16T05:58:40.900Z,1563256720.900 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-16T05:58:41.215Z,1563256721.215 [WetLabsBB2FL](INFO): Powering down
2019-07-16T05:58:42.096Z,1563256722.096 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-16T05:58:42.096Z,1563256722.096 [WetLabsBB2FL] No Fault, FailCount= 2
2019-07-16T05:58:42.428Z,1563256722.428 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-16T05:58:42.428Z,1563256722.428 [WetLabsBB2FL](INFO): Powering up
2019-07-16T05:58:43.695Z,1563256723.695 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:58:46.523Z,1563256726.523 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:58:47.719Z,1563256727.719 [WetLabsBB2FL] Communications Fault, FailCount= 3
2019-07-16T05:58:47.719Z,1563256727.719 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-16T05:58:47.813Z,1563256727.813 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-16T05:58:48.227Z,1563256728.227 [WetLabsBB2FL](INFO): Powering down
2019-07-16T05:58:49.406Z,1563256729.406 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-16T05:58:49.406Z,1563256729.406 [WetLabsBB2FL] No Fault, FailCount= 3
2019-07-16T05:58:49.478Z,1563256729.478 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-16T05:58:49.479Z,1563256729.479 [WetLabsBB2FL](INFO): Powering up
2019-07-16T05:58:49.758Z,1563256729.758 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:58:52.583Z,1563256732.583 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:58:54.739Z,1563256734.739 [WetLabsBB2FL] Communications Fault, FailCount= 4
2019-07-16T05:58:54.739Z,1563256734.739 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-16T05:58:55.031Z,1563256735.031 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-16T05:58:55.239Z,1563256735.239 [WetLabsBB2FL](INFO): Powering down
2019-07-16T05:58:55.411Z,1563256735.411 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:58:56.259Z,1563256736.259 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-16T05:58:56.259Z,1563256736.259 [WetLabsBB2FL] No Fault, FailCount= 4
2019-07-16T05:58:56.452Z,1563256736.452 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-16T05:58:56.452Z,1563256736.452 [WetLabsBB2FL](INFO): Powering up
2019-07-16T05:58:57.431Z,1563256737.431 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:58:59.451Z,1563256739.451 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:59:01.747Z,1563256741.747 [WetLabsBB2FL] Communications Fault, FailCount= 5
2019-07-16T05:59:01.747Z,1563256741.747 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-16T05:59:01.924Z,1563256741.924 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-16T05:59:01.924Z,1563256741.924 [CBIT](FAULT): Communications Fault in component: WetLabsBB2FL
2019-07-16T05:59:02.247Z,1563256742.247 [WetLabsBB2FL](INFO): Powering down
2019-07-16T05:59:02.683Z,1563256742.683 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:59:03.161Z,1563256743.161 [CommandLine](IMPORTANT): got command get VerticalControl.depthDeadband
2019-07-16T05:59:03.161Z,1563256743.161 [CommandLine](IMPORTANT): VerticalControl.depthDeadband 0.010000 m
2019-07-16T05:59:05.515Z,1563256745.515 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:59:08.743Z,1563256748.743 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:59:11.575Z,1563256751.575 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:59:14.803Z,1563256754.803 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:59:15.445Z,1563256755.445 [CommandLine](IMPORTANT): got command show stack
2019-07-16T05:59:15.445Z,1563256755.445 [CommandLine](IMPORTANT): Behavior Stack:

2019-07-16T05:59:15.445Z,1563256755.445 [sample_kiss](IMPORTANT): Priority 0: sample_kiss:A.AbortSample
2019-07-16T05:59:15.446Z,1563256755.446 [sample_kiss:NeedComms](IMPORTANT): Priority 1: sample_kiss:NeedComms:B.GoToSurface
2019-07-16T05:59:15.446Z,1563256755.446 [sample_kiss:NeedComms](IMPORTANT): Priority 2: sample_kiss:NeedComms:C
2019-07-16T05:59:15.446Z,1563256755.446 [sample_kiss](IMPORTANT): Priority 3: sample_kiss:F.Mass
2019-07-16T05:59:15.447Z,1563256755.447 [sample_kiss:Science](IMPORTANT): Priority 4: sample_kiss:Science:G
2019-07-16T05:59:17.631Z,1563256757.631 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:59:20.463Z,1563256760.463 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:59:22.483Z,1563256762.483 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:59:25.711Z,1563256765.711 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:59:26.928Z,1563256766.928 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-16T05:59:26.929Z,1563256766.929 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 11
2019-07-16T05:59:26.929Z,1563256766.929 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-16T05:59:26.941Z,1563256766.941 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-16T05:59:27.355Z,1563256767.355 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-16T05:59:27.355Z,1563256767.355 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 11
2019-07-16T05:59:28.539Z,1563256768.539 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:59:31.688Z,1563256771.688 [CommandLine](IMPORTANT): got command stop
2019-07-16T05:59:31.688Z,1563256771.688 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-07-16T05:59:31.779Z,1563256771.779 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:59:31.811Z,1563256771.811 [MissionManager](INFO): MissionManager is completed.
2019-07-16T05:59:31.812Z,1563256771.812 [MissionManager](INFO): Uninitializing Mission sample_kiss
2019-07-16T05:59:31.812Z,1563256771.812 [sample_kiss] Stopped
2019-07-16T05:59:31.812Z,1563256771.812 [sample_kiss](DEBUG): Aggregate::uninitialize sample_kiss
2019-07-16T05:59:31.812Z,1563256771.812 [sample_kiss:A.AbortSample] Stopped
2019-07-16T05:59:31.812Z,1563256771.812 [sample_kiss:A.AbortSample](INFO): Uninitializing AbortSample.
2019-07-16T05:59:31.812Z,1563256771.812 [sample_kiss:NeedComms] Stopped
2019-07-16T05:59:31.812Z,1563256771.812 [sample_kiss:NeedComms](DEBUG): Aggregate::uninitialize sample_kiss:NeedComms
2019-07-16T05:59:31.812Z,1563256771.812 [sample_kiss:NeedComms:B.GoToSurface] Stopped
2019-07-16T05:59:31.812Z,1563256771.812 [sample_kiss:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-07-16T05:59:31.812Z,1563256771.812 [sample_kiss:NeedComms:C] Stopped
2019-07-16T05:59:31.813Z,1563256771.813 [sample_kiss:SurfaceComms] Stopped
2019-07-16T05:59:31.813Z,1563256771.813 [sample_kiss:SurfaceComms](DEBUG): Aggregate::uninitialize sample_kiss:SurfaceComms
2019-07-16T05:59:31.813Z,1563256771.813 [sample_kiss:SurfaceComms:A] Stopped
2019-07-16T05:59:31.813Z,1563256771.813 [sample_kiss:SurfaceComms:A](DEBUG): Aggregate::uninitialize sample_kiss:SurfaceComms:A
2019-07-16T05:59:31.813Z,1563256771.813 [sample_kiss:F.Mass] Stopped
2019-07-16T05:59:31.813Z,1563256771.813 [sample_kiss:F.Mass](DEBUG): Uninitialize.
2019-07-16T05:59:31.813Z,1563256771.813 [sample_kiss:StartingMission] Stopped
2019-07-16T05:59:31.813Z,1563256771.813 [sample_kiss:StartingMission](DEBUG): Aggregate::uninitialize sample_kiss:StartingMission
2019-07-16T05:59:31.813Z,1563256771.813 [sample_kiss:Science] Stopped
2019-07-16T05:59:31.813Z,1563256771.813 [sample_kiss:Science](DEBUG): Aggregate::uninitialize sample_kiss:Science
2019-07-16T05:59:31.813Z,1563256771.813 [sample_kiss:Science:G] Stopped
2019-07-16T05:59:32.204Z,1563256772.204 [MissionManager](IMPORTANT): Started mission Default
2019-07-16T05:59:32.204Z,1563256772.204 [Default] Running Loop=1
2019-07-16T05:59:32.205Z,1563256772.205 [Default](DEBUG): Aggregate::initialize Default
2019-07-16T05:59:32.205Z,1563256772.205 [Default:B.GoToSurface] Running Loop=1
2019-07-16T05:59:32.205Z,1563256772.205 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-07-16T05:59:32.205Z,1563256772.205 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-07-16T05:59:32.205Z,1563256772.205 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-07-16T05:59:32.206Z,1563256772.206 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-07-16T05:59:32.206Z,1563256772.206 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-07-16T05:59:32.206Z,1563256772.206 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-07-16T05:59:32.231Z,1563256772.231 [Default:A.Wait] Running Loop=1
2019-07-16T05:59:32.231Z,1563256772.231 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-07-16T05:59:34.623Z,1563256774.623 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:59:37.451Z,1563256777.451 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:59:39.475Z,1563256779.475 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:59:39.837Z,1563256779.837 [CommandLine](IMPORTANT): got command maintain clear
2019-07-16T05:59:39.968Z,1563256779.968 [controlThread](DEBUG): Component order: CycleStarter,Depth_Keller,DropWeight,NAL9602,Onboard,BPC1,ESPComponent,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2019-07-16T05:59:41.491Z,1563256781.491 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:59:43.515Z,1563256783.515 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:59:45.547Z,1563256785.547 [Default:A.Wait](INFO): Done Waiting.
2019-07-16T05:59:45.548Z,1563256785.548 [Default:A.Wait] Stopped
2019-07-16T05:59:45.548Z,1563256785.548 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-07-16T05:59:45.961Z,1563256785.961 [Default:CheckIn] Running Loop=1
2019-07-16T05:59:45.961Z,1563256785.961 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-07-16T05:59:45.961Z,1563256785.961 [Default:CheckIn:Read_GPS] Running Loop=1
2019-07-16T05:59:46.743Z,1563256786.743 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:59:49.149Z,1563256789.149 [CommandLine](IMPORTANT): got command report clear
2019-07-16T05:59:49.575Z,1563256789.575 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:59:52.807Z,1563256792.807 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:59:53.656Z,1563256793.656 [CommandLine](IMPORTANT): got command get depth
2019-07-16T05:59:53.656Z,1563256793.656 [CommandLine](IMPORTANT): depth 0.185920 m
2019-07-16T05:59:55.635Z,1563256795.635 [NAL9602](DEBUG): Fix Requested
2019-07-16T05:59:58.867Z,1563256798.867 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:00:01.695Z,1563256801.695 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:00:04.527Z,1563256804.527 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:00:06.543Z,1563256806.543 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:00:09.775Z,1563256809.775 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:00:12.611Z,1563256812.611 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:00:15.839Z,1563256815.839 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:00:18.213Z,1563256818.213 [CommandLine](IMPORTANT): got command run ./Missions/sample_kiss.xml
2019-07-16T06:00:18.213Z,1563256818.213 [MissionManager](INFO): Loading Mission: ./Missions/sample_kiss.xml
2019-07-16T06:00:18.430Z,1563256818.430 [MissionManager](INFO): DefineArg sample_kiss.MissionTimeout = 4.000000 h
2019-07-16T06:00:18.437Z,1563256818.437 [MissionManager](INFO): DefineArg sample_kiss.NeedCommsTime = 240.000000 min
2019-07-16T06:00:18.439Z,1563256818.439 [MissionManager](INFO): DefineArg sample_kiss.Depth = 2.500000 m
2019-07-16T06:00:18.445Z,1563256818.445 [MissionManager](INFO): DefineArg sample_kiss.ESPCartridgeType_1 = -1.000000 count
2019-07-16T06:00:18.451Z,1563256818.451 [MissionManager](INFO): DefineArg sample_kiss.ESPCartridgeType_2 = -16.000000 count
2019-07-16T06:00:18.453Z,1563256818.453 [MissionManager](INFO): DefineArg sample_kiss.ESPCartridgeType_3 = nan count
2019-07-16T06:00:18.460Z,1563256818.460 [MissionManager](INFO): DefineArg sample_kiss.ESPCartridgeType_4 = nan count
2019-07-16T06:00:18.462Z,1563256818.462 [MissionManager](INFO): DefineArg sample_kiss.WaitBeforeSample = 3.000000 min
2019-07-16T06:00:18.468Z,1563256818.468 [MissionManager](INFO): DefineArg sample_kiss.ApproachDepthTimeout = 20.000000 min
2019-07-16T06:00:18.470Z,1563256818.470 [MissionManager](INFO): DefineArg sample_kiss.DepthDeadband = 0.000000 m
2019-07-16T06:00:18.476Z,1563256818.476 [MissionManager](INFO): DefineArg sample_kiss.Speed = 0.000000 m/s
2019-07-16T06:00:18.479Z,1563256818.479 [MissionManager](INFO): DefineArg sample_kiss.MaxDepth = 5.000000 m
2019-07-16T06:00:18.485Z,1563256818.485 [MissionManager](INFO): DefineArg sample_kiss.PitchLimit = 20.000000 arcdeg
2019-07-16T06:00:18.491Z,1563256818.491 [MissionManager](INFO): DefineArg sample_kiss.MinOffshore = 1.000000 km
2019-07-16T06:00:18.493Z,1563256818.493 [MissionManager](INFO): DefineOutput sample_kiss.StartFromSurface = 1 bool
2019-07-16T06:00:18.494Z,1563256818.494 [sample_kiss:A.AbortSample](DEBUG): Construct.
2019-07-16T06:00:18.499Z,1563256818.499 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-07-16T06:00:18.662Z,1563256818.662 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.DiveInterval = 3.000000 h
2019-07-16T06:00:18.663Z,1563256818.663 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:00:18.708Z,1563256818.708 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.WaitForPitchUp = 10.000000 min
2019-07-16T06:00:18.710Z,1563256818.710 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-07-16T06:00:18.721Z,1563256818.721 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.SurfaceDepthRate = nan m/s
2019-07-16T06:00:18.724Z,1563256818.724 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-07-16T06:00:18.726Z,1563256818.726 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.GPSTimeout = 7.000000 min
2019-07-16T06:00:18.757Z,1563256818.757 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.CommsTimeout = 30.000000 min
2019-07-16T06:00:18.762Z,1563256818.762 [sample_kiss:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-07-16T06:00:18.826Z,1563256818.826 [sample_kiss:F.Mass](DEBUG): Construct.
2019-07-16T06:00:18.845Z,1563256818.845 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2019-07-16T06:00:19.057Z,1563256819.057 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-07-16T06:00:19.057Z,1563256819.057 [NAL9602] Data Fault, FailCount= 2
2019-07-16T06:00:19.057Z,1563256819.057 [NAL9602](ERROR): Data Fault
2019-07-16T06:00:19.122Z,1563256819.122 [CBIT](ERROR): Data Fault in component: NAL9602
2019-07-16T06:00:19.294Z,1563256819.294 [MissionManager](INFO): DefineArg sample_kiss:Science.SampleISUS = 0 bool
2019-07-16T06:00:19.308Z,1563256819.308 [MissionManager](INFO): DefineArg sample_kiss:Science.SampleISUSmaxPitch = 60.000000 arcdeg
2019-07-16T06:00:19.310Z,1563256819.310 [MissionManager](INFO): DefineArg sample_kiss:Science.SampleISUSminPitch = -60.000000 arcdeg
2019-07-16T06:00:19.316Z,1563256819.316 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakDetectChlActive = 0 bool
2019-07-16T06:00:19.318Z,1563256819.318 [MissionManager](INFO): DefineArg sample_kiss:Science.TimeWindowPeakReport = nan min
2019-07-16T06:00:19.320Z,1563256819.320 [MissionManager](INFO): DefineArg sample_kiss:Science.HighestChlPeakReportActive = 0 bool
2019-07-16T06:00:19.322Z,1563256819.322 [MissionManager](INFO): DefineArg sample_kiss:Science.PatchTracking = 0 bool
2019-07-16T06:00:19.324Z,1563256819.324 [MissionManager](INFO): DefineArg sample_kiss:Science.FilterWidthHorizontal = 3.000000 count
2019-07-16T06:00:19.326Z,1563256819.326 [MissionManager](INFO): DefineArg sample_kiss:Science.NumProfilesSlidingwindow = 100.000000 count
2019-07-16T06:00:19.344Z,1563256819.344 [MissionManager](INFO): DefineArg sample_kiss:Science.OffPeakFractionHorizontal = 80.000000 %
2019-07-16T06:00:19.346Z,1563256819.346 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakDetectNO3Active = 0 bool
2019-07-16T06:00:19.348Z,1563256819.348 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakDetectOilActive = 0 bool
2019-07-16T06:00:19.350Z,1563256819.350 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakDetectFDOMActive = 0 bool
2019-07-16T06:00:19.352Z,1563256819.352 [MissionManager](INFO): DefineArg sample_kiss:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2019-07-16T06:00:19.354Z,1563256819.354 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledAanderaaO2 = 0.000000 bool
2019-07-16T06:00:19.368Z,1563256819.368 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledNeilBrown = 0.000000 bool
2019-07-16T06:00:19.371Z,1563256819.371 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledSeabird = 0.000000 bool
2019-07-16T06:00:19.373Z,1563256819.373 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledTurbulence_NPS = 0.000000 bool
2019-07-16T06:00:19.376Z,1563256819.376 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledWetLabsBB2FL = 1.000000 bool
2019-07-16T06:00:19.378Z,1563256819.378 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledWetLabsSeaOWL_UV_A = 0.000000 bool
2019-07-16T06:00:19.436Z,1563256819.436 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledWetLabsUBAT = 0.000000 bool
2019-07-16T06:00:19.439Z,1563256819.439 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledISUS = 0.000000 bool
2019-07-16T06:00:19.441Z,1563256819.441 [MissionManager](INFO): DefineArg sample_kiss:Science.LowPassWindowLength = 20.000000 count
2019-07-16T06:00:19.460Z,1563256819.460 [NAL9602](INFO): Powering down
2019-07-16T06:00:19.501Z,1563256819.501 [MissionManager](INFO): DefineArg sample_kiss:Science.MedianFilterLen = 5.000000 count
2019-07-16T06:00:19.519Z,1563256819.519 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakChlShallowBound = nan m
2019-07-16T06:00:19.521Z,1563256819.521 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakChlDeepBound = nan m
2019-07-16T06:00:19.536Z,1563256819.536 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakShallowBound = nan m
2019-07-16T06:00:19.539Z,1563256819.539 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakDeepBound = nan m
2019-07-16T06:00:19.550Z,1563256819.550 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakChl = 0.000000 ug/l
2019-07-16T06:00:19.569Z,1563256819.569 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakChlDepth = 0.000000 m
2019-07-16T06:00:19.591Z,1563256819.591 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakChlTemperature = 0.000000 degC
2019-07-16T06:00:19.594Z,1563256819.594 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakChlLatitude = nan arcdeg
2019-07-16T06:00:19.596Z,1563256819.596 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakChlLongitude = nan arcdeg
2019-07-16T06:00:19.598Z,1563256819.598 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakNO3 = 0.000000 umol/l
2019-07-16T06:00:19.625Z,1563256819.625 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakNO3Depth = 0.000000 m
2019-07-16T06:00:19.631Z,1563256819.631 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakNO3Latitude = nan arcdeg
2019-07-16T06:00:19.634Z,1563256819.634 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakNO3Longitude = nan arcdeg
2019-07-16T06:00:19.644Z,1563256819.644 [MissionManager](INFO): DefineOutput sample_kiss:Science.PatchChl = 0.000000 m
2019-07-16T06:00:19.664Z,1563256819.664 [MissionManager](INFO): DefineOutput sample_kiss:Science.PatchChlDepth = 0.000000 m
2019-07-16T06:00:19.666Z,1563256819.666 [MissionManager](INFO): DefineOutput sample_kiss:Science.PatchChlLatitude = nan arcdeg
2019-07-16T06:00:19.685Z,1563256819.685 [MissionManager](INFO): DefineOutput sample_kiss:Science.PatchChlLongitude = nan arcdeg
2019-07-16T06:00:19.699Z,1563256819.699 [MissionManager](INFO): DefineOutput sample_kiss:Science.PatchChlDistance = nan m
2019-07-16T06:00:19.702Z,1563256819.702 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakOil = 0.000000 kg/m3
2019-07-16T06:00:19.716Z,1563256819.716 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakOilDepth = 0.000000 m
2019-07-16T06:00:19.718Z,1563256819.718 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakOilLatitude = nan arcdeg
2019-07-16T06:00:19.737Z,1563256819.737 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakOilLongitude = nan arcdeg
2019-07-16T06:00:19.747Z,1563256819.747 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakFDOM = 0.000000 ppb
2019-07-16T06:00:19.750Z,1563256819.750 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakFDOMDepth = 0.000000 m
2019-07-16T06:00:19.761Z,1563256819.761 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakFDOMLatitude = nan arcdeg
2019-07-16T06:00:19.767Z,1563256819.767 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakFDOMLongitude = nan arcdeg
2019-07-16T06:00:19.769Z,1563256819.769 [MissionManager](INFO): DefineOutput sample_kiss:Science.PatchFDOMDistance = nan m
2019-07-16T06:00:19.837Z,1563256819.837 [sample_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-16T06:00:19.907Z,1563256819.907 [sample_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2019-07-16T06:00:19.959Z,1563256819.959 [sample_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-16T06:00:19.985Z,1563256819.985 [sample_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-16T06:00:20.010Z,1563256820.010 [sample_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-16T06:00:20.050Z,1563256820.050 [sample_kiss:InitialDive:B.Buoyancy](DEBUG): Construct Buoyancy.
2019-07-16T06:00:20.052Z,1563256820.052 [sample_kiss:InitialDive:C.SetSpeed](DEBUG): Construct.
2019-07-16T06:00:20.055Z,1563256820.055 [sample_kiss:InitialDive:D.Point](DEBUG): Construct.
2019-07-16T06:00:20.096Z,1563256820.096 [sample_kiss:InitialDive:E.Pitch](DEBUG): Construct.
2019-07-16T06:00:20.129Z,1563256820.129 [sample_kiss:InitialDive:E.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-07-16T06:00:20.150Z,1563256820.150 [sample_kiss:TargetDepth:B.SetSpeed](DEBUG): Construct.
2019-07-16T06:00:20.152Z,1563256820.152 [sample_kiss:TargetDepth:C.Pitch](DEBUG): Construct.
2019-07-16T06:00:20.173Z,1563256820.173 [sample_kiss:TargetDepth:Spinout:A.Buoyancy](DEBUG): Construct Buoyancy.
2019-07-16T06:00:20.176Z,1563256820.176 [sample_kiss:TargetDepth:Spinout:B.Point](DEBUG): Construct.
2019-07-16T06:00:20.205Z,1563256820.205 [MissionManager](INFO): Inserting Stack: Missions/Insert/SampleAtDepth.xml
2019-07-16T06:00:20.361Z,1563256820.361 [CBIT](INFO): Clearing failed state for component NAL9602
2019-07-16T06:00:20.361Z,1563256820.361 [NAL9602] No Fault, FailCount= 2
2019-07-16T06:00:20.501Z,1563256820.501 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.TargetDepth = 5.000000 m
2019-07-16T06:00:20.519Z,1563256820.519 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.SettleTime = 10.000000 s
2019-07-16T06:00:20.521Z,1563256820.521 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.MaxWaitNotReachingDepth = 3.000000 h
2019-07-16T06:00:20.523Z,1563256820.523 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.RotateOnly = 0.000000 bool
2019-07-16T06:00:20.525Z,1563256820.525 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.UseCANONSampler = 0.000000 bool
2019-07-16T06:00:20.540Z,1563256820.540 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.UseESP = 1.000000 bool
2019-07-16T06:00:20.542Z,1563256820.542 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.ESPCartridgeType = nan count
2019-07-16T06:00:20.544Z,1563256820.544 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.CANONSamplerTriggerTimeout = 1.000000 min
2019-07-16T06:00:20.571Z,1563256820.571 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.CANONSamplerTimeout = 6.000000 min
2019-07-16T06:00:20.573Z,1563256820.573 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.BuoyancyNeutral = 273.999991 cc
2019-07-16T06:00:20.576Z,1563256820.576 [sample_kiss:TargetDepth:GrabSamples:SampleAtDepth:ApproachDepth:B.Pitch](DEBUG): Construct.
2019-07-16T06:00:20.599Z,1563256820.599 [sample_kiss:TargetDepth:GrabSamples:SampleAtDepth:ApproachDepth:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-07-16T06:00:20.602Z,1563256820.602 [sample_kiss:TargetDepth:GrabSamples:SampleAtDepth:SampleWrapper:A.Pitch](DEBUG): Construct.
2019-07-16T06:00:20.641Z,1563256820.641 [sample_kiss:TargetDepth:GrabSamples:SampleAtDepth:SampleWrapper:C.Wait](DEBUG): Construct Wait.
2019-07-16T06:00:20.705Z,1563256820.705 [sample_kiss:TargetDepth:GrabSamples:SampleAtDepth:SampleWrapper:SampleCANONSampler:TriggerCANONSampler:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-07-16T06:00:20.725Z,1563256820.725 [sample_kiss:TargetDepth:GrabSamples:SampleAtDepth:SampleWrapper:SampleCANONSampler:E:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-07-16T06:00:20.920Z,1563256820.920 [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: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="sample_kiss">

    <Description>
        This mission takes ESP sampls at the designated depth.
    </Description>
    
    <DefineArg Name="MissionTimeout"><Description>
        Maximum duration of mission
    </Description><Units:hour/><Value>4</Value></DefineArg>

    <DefineArg Name="NeedCommsTime"><Description>
        How often to surface for communications
    </Description><Units:minute/><Value>240</Value></DefineArg>

    <DefineArg Name="Depth"><Description>
        Depth held during drift mode
    </Description><Units:meter/><Value>2.5</Value></DefineArg>

    <DefineArg Name="ESPCartridgeType_1"><Description>
        Specifies ESP cartridge type code for sample# 1. Set to NaN to skip this sample.
    </Description><Units:count/><Value>-1</Value></DefineArg>
    
    <DefineArg Name="ESPCartridgeType_2"><Description>
        Specifies ESP cartridge type code for sample# 2. Set to NaN to skip this sample.
    </Description><Units:count/><Value>-16</Value></DefineArg>
    
    <DefineArg Name="ESPCartridgeType_3"><Description>
        Specifies ESP cartridge type code for sample# 3. Set to NaN to skip this sample.
    </Description><Units:count/><Value>NaN</Value></DefineArg>
    
    <DefineArg Name="ESPCartridgeType_4"><Description>
        Specifies ESP cartridge type code for sample# 4. Set to NaN to skip this sample.
    </Description><Units:count/><Value>NaN</Value></DefineArg>
    
    <DefineArg Name="WaitBeforeSample"><Description>
        How long to wait between samples. This starts *before* the first sample
        to exercise the SettleTime setting in the insert aggregate.
    </Description><Units:minute/><Value>3</Value></DefineArg>
    
    <DefineArg Name="ApproachDepthTimeout"><Description>
        Maximum time duration for the vehicle to reach the approach depth
    </Description><Units:minute/><Value>20</Value></DefineArg>

    <DefineArg Name="DepthDeadband"><Description>
        How much vertical drift from the specified depth is allowed while sampling.
    </Description><Units:meter/><Value>0.00</Value></DefineArg>

    <DefineArg Name="Speed"><Description>
        Vehicle transit speed
    </Description><Units:meter_per_second/><Value>0</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum allowable depth during the mission
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="PitchLimit"><Description>
        Max vehicle pitch (+/-) when decending from the surface
    </Description><Units:degree/><Value>20</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Description>
        Minimum distance from the shoreline to maintain
    </Description><Units:kilometer/><Value>1</Value></DefineArg>

    <DefineOutput Name="StartFromSurface"><Description>
        Mission variable (don't change). The mission sets this to true after surface comms are done.
    </Description><True/></DefineOutput>
    

    <!-- Mission timeout -->

    <Timeout Duration="MissionTimeout"/>

    <!-- Safety nets and surfacing behaviors -->
    
    <Trigger:AbortSample>
        <Parallel/>
    </Trigger:AbortSample>

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

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

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


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

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

    <Assign><Sequence/><Arg Name="NeedComms:WaitForPitchUp"/><Units:minute/><Value>0</Value></Assign>

    <Aggregate Id="SurfaceComms">

        <When>
            <Called/>
            <Or><Elapsed><Universal:time_fix/></Elapsed><Gt><Arg Name="NeedCommsTime"/></Gt></Or>
        </When>

        <Call RefId="NeedComms"/>

        <Assign><Sequence/><Arg Name="StartFromSurface"/><True/></Assign>

    </Aggregate>

    <!-- Set default mass position -->

    <Guidance:Mass>
        <Parallel/>
        <Setting><Guidance:Mass.position/><Control:VerticalControl.massDefault/></Setting>
    </Guidance:Mass>

    <!-- Start mission sequence -->

    <Call Id="StartingMission" RefId="SurfaceComms"/>
    
    <Insert Filename="Insert/Science.xml"></Insert>

    <Aggregate Id="InitialDive">

        <Description>
            Descend from the surface to approach depth using the thruster. Limit pitch.
        </Description>

        <When>
            <Arg Name="StartFromSurface"/>
        </When>

        <Assign><Parallel/><Control:VerticalControl.pitchLimit/><Arg Name="PitchLimit"/></Assign>

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

        <Guidance:SetSpeed>
            <Parallel/>
            <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>1.0</Value></Setting>
        </Guidance:SetSpeed>
        
        <Guidance:Point>
            <Setting><Guidance:Point.rudderAngle/><Units:degree/><Value>13</Value></Setting>
        </Guidance:Point>

        <Guidance:Pitch>
            <Sequence/>
            <Timeout Duration="ApproachDepthTimeout">
                <Syslog Severity="Important">Timed out while trying to reach approach depth at current depth of <Universal:depth/><Units:meter/>.</Syslog>
                <Guidance:Execute>
                    <Sequence/>
                    <Setting><Guidance:Execute.command/><String>stop</String></Setting>
                </Guidance:Execute>
            </Timeout>
            <Setting><Guidance:Pitch.depth/><Arg Name="Depth"/></Setting>
        </Guidance:Pitch>

        <Assign><Sequence/><Arg Name="StartFromSurface"/><False/></Assign>

    </Aggregate>

    <Aggregate Id="TargetDepth">

        <Description>
            Maintain target depth and acquire ESP samples.
        </Description>

        <Sequence/>

        <Assign><Parallel/><Control:VerticalControl.depthDeadband/><Arg Name="DepthDeadband"/></Assign>
        
        <Guidance:SetSpeed>
            <Parallel/>
            <Setting><Guidance:SetSpeed.speed/><Arg Name="Speed"/></Setting>
        </Guidance:SetSpeed>
        
        <Guidance:Pitch>
            <Parallel/>
            <Setting><Guidance:Pitch.depth/><Arg Name="Depth"/></Setting>
        </Guidance:Pitch>
        
        <Aggregate Id="Spinout">
            
            <While>
                <Arg Name="Speed"/><Gt><Units:meter_per_second/><Value>0.0</Value></Gt>
            </While>
            
            <Guidance:Buoyancy>
                <Parallel/>
                <Setting><Guidance:Buoyancy.position/><Control:VerticalControl.buoyancyNeutral/></Setting>
            </Guidance:Buoyancy>
            
            <Guidance:Point>
                <Setting><Guidance:Point.rudderAngle/><Units:degree/><Value>13</Value></Setting>
            </Guidance:Point>
            
        </Aggregate>
        
        <Aggregate Id="GrabSamples">
            
            <Sequence/>
            
            <Insert Filename="Insert/SampleAtDepth.xml"/>
            
            <Assign><Sequence/><Arg Name="SampleAtDepth:TargetDepth"/><Arg Name="Depth"/></Assign>
            
            <Assign><Sequence/><Arg Name="SampleAtDepth:SettleTime"/><Arg Name="WaitBeforeSample"/></Assign>
            
            <Aggregate Id="Sample1">
                <Break>
                    <IsNaN><Arg Name="ESPCartridgeType_1"/></IsNaN>
                </Break>
                
                <Assign><Sequence/><Arg Name="SampleAtDepth:ESPCartridgeType"/><Arg Name="ESPCartridgeType_1"/></Assign>
                
                <Call Id="sampling" RefId="SampleAtDepth"/>
            </Aggregate>

            
            <Aggregate Id="Sample2">
                <Break>
                    <IsNaN><Arg Name="ESPCartridgeType_2"/></IsNaN>
                </Break>
                
                <Assign><Sequence/><Arg Name="SampleAtDepth:ESPCartridgeType"/><Arg Name="ESPCartridgeType_2"/></Assign>
                
                <Call Id="sampling" RefId="SampleAtDepth"/>
            </Aggregate>

            
            <Aggregate Id="Sample3">
                <Break>
                    <IsNaN><Arg Name="ESPCartridgeType_3"/></IsNaN>
                </Break>

                <Assign><Sequence/><Arg Name="SampleAtDepth:ESPCartridgeType"/><Arg Name="ESPCartridgeType_3"/></Assign>
                
                <Call Id="sampling" RefId="SampleAtDepth"/>
            </Aggregate>

            
            <Aggregate Id="Sample4">
                <Break>
                    <IsNaN><Arg Name="ESPCartridgeType_4"/></IsNaN>
                </Break>

                <Assign><Sequence/><Arg Name="SampleAtDepth:ESPCartridgeType"/><Arg Name="ESPCartridgeType_4"/></Assign>

                <Call Id="sampling" RefId="SampleAtDepth"/>
            </Aggregate>

        </Aggregate>

    </Aggregate>

</Mission>


2019-07-16T06:00:20.922Z,1563256820.922 [CommandLine](IMPORTANT): Running ./Missions/sample_kiss.xml
2019-07-16T06:00:21.112Z,1563256821.112 [Default] Stopped
2019-07-16T06:00:21.112Z,1563256821.112 [Default](DEBUG): Aggregate::uninitialize Default
2019-07-16T06:00:21.112Z,1563256821.112 [Default:B.GoToSurface] Stopped
2019-07-16T06:00:21.112Z,1563256821.112 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-07-16T06:00:21.112Z,1563256821.112 [Default:CheckIn] Stopped
2019-07-16T06:00:21.112Z,1563256821.112 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-07-16T06:00:21.112Z,1563256821.112 [Default:CheckIn:Read_GPS] Stopped
2019-07-16T06:00:21.112Z,1563256821.112 [MissionManager](IMPORTANT): Started mission sample_kiss
2019-07-16T06:00:21.113Z,1563256821.113 [sample_kiss] Running Loop=1
2019-07-16T06:00:21.113Z,1563256821.113 [sample_kiss](DEBUG): Aggregate::initialize sample_kiss
2019-07-16T06:00:21.113Z,1563256821.113 [sample_kiss:A.AbortSample] Running Loop=1
2019-07-16T06:00:21.113Z,1563256821.113 [sample_kiss:A.AbortSample](INFO): Initializing AbortSample.
2019-07-16T06:00:21.113Z,1563256821.113 [sample_kiss:F.Mass] Running Loop=1
2019-07-16T06:00:21.113Z,1563256821.113 [sample_kiss:F.Mass](DEBUG): Initialize.
2019-07-16T06:00:21.113Z,1563256821.113 [sample_kiss:Science] Running Loop=1
2019-07-16T06:00:21.113Z,1563256821.113 [sample_kiss:Science](DEBUG): Aggregate::initialize sample_kiss:Science
2019-07-16T06:00:21.113Z,1563256821.113 [sample_kiss:Science:A] Running Loop=1
2019-07-16T06:00:21.114Z,1563256821.114 [sample_kiss:Science:B] Running Loop=1
2019-07-16T06:00:21.114Z,1563256821.114 [sample_kiss:Science:C] Running Loop=1
2019-07-16T06:00:21.114Z,1563256821.114 [sample_kiss:Science:D] Running Loop=1
2019-07-16T06:00:21.114Z,1563256821.114 [sample_kiss:Science:E] Running Loop=1
2019-07-16T06:00:21.114Z,1563256821.114 [sample_kiss:Science:F] Running Loop=1
2019-07-16T06:00:21.114Z,1563256821.114 [sample_kiss:Science:G] Running Loop=1
2019-07-16T06:00:21.114Z,1563256821.114 [sample_kiss:Science:H] Running Loop=1
2019-07-16T06:00:21.114Z,1563256821.114 [sample_kiss:Science:Read_Oil] Running Loop=1
2019-07-16T06:00:21.114Z,1563256821.114 [sample_kiss:Science:PeakDetectChl] Running Loop=1
2019-07-16T06:00:21.114Z,1563256821.114 [sample_kiss:Science:PeakDetectChl](DEBUG): Aggregate::initialize sample_kiss:Science:PeakDetectChl
2019-07-16T06:00:21.114Z,1563256821.114 [sample_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2019-07-16T06:00:21.114Z,1563256821.114 [sample_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-16T06:00:21.116Z,1563256821.116 [sample_kiss:Science:HighestChlPeakReport] Running Loop=1
2019-07-16T06:00:21.116Z,1563256821.116 [sample_kiss:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize sample_kiss:Science:HighestChlPeakReport
2019-07-16T06:00:21.116Z,1563256821.116 [sample_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2019-07-16T06:00:21.116Z,1563256821.116 [sample_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2019-07-16T06:00:21.116Z,1563256821.116 [sample_kiss:Science:PeakDetectNO3] Running Loop=1
2019-07-16T06:00:21.116Z,1563256821.116 [sample_kiss:Science:PeakDetectNO3](DEBUG): Aggregate::initialize sample_kiss:Science:PeakDetectNO3
2019-07-16T06:00:21.117Z,1563256821.117 [sample_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2019-07-16T06:00:21.117Z,1563256821.117 [sample_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-16T06:00:21.118Z,1563256821.118 [sample_kiss:Science:PeakDetectOil] Running Loop=1
2019-07-16T06:00:21.118Z,1563256821.118 [sample_kiss:Science:PeakDetectOil](DEBUG): Aggregate::initialize sample_kiss:Science:PeakDetectOil
2019-07-16T06:00:21.118Z,1563256821.118 [sample_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2019-07-16T06:00:21.118Z,1563256821.118 [sample_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-16T06:00:21.119Z,1563256821.119 [sample_kiss:Science:PeakDetectFDOM] Running Loop=1
2019-07-16T06:00:21.119Z,1563256821.119 [sample_kiss:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize sample_kiss:Science:PeakDetectFDOM
2019-07-16T06:00:21.119Z,1563256821.119 [sample_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2019-07-16T06:00:21.119Z,1563256821.119 [sample_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-16T06:00:21.120Z,1563256821.120 [sample_kiss:C] Running Loop=1
2019-07-16T06:00:21.121Z,1563256821.121 [sample_kiss:InitialDive] Running Loop=1
2019-07-16T06:00:21.121Z,1563256821.121 [sample_kiss:InitialDive](DEBUG): Aggregate::initialize sample_kiss:InitialDive
2019-07-16T06:00:21.121Z,1563256821.121 [sample_kiss:InitialDive:A] Running Loop=1
2019-07-16T06:00:21.121Z,1563256821.121 [sample_kiss:InitialDive:B.Buoyancy] Running Loop=1
2019-07-16T06:00:21.122Z,1563256821.122 [sample_kiss:InitialDive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-07-16T06:00:21.122Z,1563256821.122 [sample_kiss:InitialDive:C.SetSpeed] Running Loop=1
2019-07-16T06:00:21.122Z,1563256821.122 [sample_kiss:InitialDive:C.SetSpeed](DEBUG): Initialize.
2019-07-16T06:00:21.122Z,1563256821.122 [sample_kiss:InitialDive:D.Point] Running Loop=1
2019-07-16T06:00:21.122Z,1563256821.122 [sample_kiss:InitialDive:D.Point](DEBUG): Initialize.
2019-07-16T06:00:21.122Z,1563256821.122 [sample_kiss:InitialDive:E.Pitch] Running Loop=1
2019-07-16T06:00:21.122Z,1563256821.122 [sample_kiss:InitialDive:E.Pitch](DEBUG): Initialize.
2019-07-16T06:00:21.123Z,1563256821.123 [sample_kiss:InitialDive:D.Point] Running Loop=1
2019-07-16T06:00:21.135Z,1563256821.135 [sample_kiss:InitialDive:C.SetSpeed] Running Loop=1
2019-07-16T06:00:21.135Z,1563256821.135 [sample_kiss:InitialDive:B.Buoyancy] Running Loop=1
2019-07-16T06:00:21.136Z,1563256821.136 [sample_kiss:InitialDive:A] Running Loop=1
2019-07-16T06:00:21.136Z,1563256821.136 [sample_kiss:Science] Running Loop=1
2019-07-16T06:00:21.137Z,1563256821.137 [sample_kiss:Science:PeakDetectFDOM] Stopped
2019-07-16T06:00:21.137Z,1563256821.137 [sample_kiss:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize sample_kiss:Science:PeakDetectFDOM
2019-07-16T06:00:21.137Z,1563256821.137 [sample_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2019-07-16T06:00:21.137Z,1563256821.137 [sample_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-16T06:00:21.137Z,1563256821.137 [sample_kiss:Science:PeakDetectOil] Stopped
2019-07-16T06:00:21.137Z,1563256821.137 [sample_kiss:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize sample_kiss:Science:PeakDetectOil
2019-07-16T06:00:21.137Z,1563256821.137 [sample_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2019-07-16T06:00:21.137Z,1563256821.137 [sample_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-16T06:00:21.137Z,1563256821.137 [sample_kiss:Science:PeakDetectNO3] Stopped
2019-07-16T06:00:21.137Z,1563256821.137 [sample_kiss:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize sample_kiss:Science:PeakDetectNO3
2019-07-16T06:00:21.138Z,1563256821.138 [sample_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2019-07-16T06:00:21.138Z,1563256821.138 [sample_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-16T06:00:21.138Z,1563256821.138 [sample_kiss:Science:HighestChlPeakReport] Stopped
2019-07-16T06:00:21.138Z,1563256821.138 [sample_kiss:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize sample_kiss:Science:HighestChlPeakReport
2019-07-16T06:00:21.138Z,1563256821.138 [sample_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2019-07-16T06:00:21.138Z,1563256821.138 [sample_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2019-07-16T06:00:21.138Z,1563256821.138 [sample_kiss:Science:PeakDetectChl] Stopped
2019-07-16T06:00:21.138Z,1563256821.138 [sample_kiss:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize sample_kiss:Science:PeakDetectChl
2019-07-16T06:00:21.138Z,1563256821.138 [sample_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2019-07-16T06:00:21.138Z,1563256821.138 [sample_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-16T06:00:21.138Z,1563256821.138 [sample_kiss:Science:Read_Oil] Stopped
2019-07-16T06:00:21.138Z,1563256821.138 [sample_kiss:Science:H] Stopped
2019-07-16T06:00:21.138Z,1563256821.138 [sample_kiss:Science:G] Running Loop=1
2019-07-16T06:00:21.139Z,1563256821.139 [sample_kiss:Science:G](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2019-07-16T06:00:21.139Z,1563256821.139 [sample_kiss:Science:F] Stopped
2019-07-16T06:00:21.139Z,1563256821.139 [sample_kiss:Science:E] Stopped
2019-07-16T06:00:21.139Z,1563256821.139 [sample_kiss:Science:D] Stopped
2019-07-16T06:00:21.139Z,1563256821.139 [sample_kiss:Science:C] Stopped
2019-07-16T06:00:21.139Z,1563256821.139 [sample_kiss:Science:B] Stopped
2019-07-16T06:00:21.139Z,1563256821.139 [sample_kiss:Science:A] Stopped
2019-07-16T06:00:21.139Z,1563256821.139 [sample_kiss:F.Mass] Running Loop=1
2019-07-16T06:00:21.140Z,1563256821.140 [sample_kiss:SurfaceComms] Running Loop=1
2019-07-16T06:00:21.140Z,1563256821.140 [sample_kiss:SurfaceComms](DEBUG): Aggregate::initialize sample_kiss:SurfaceComms
2019-07-16T06:00:21.140Z,1563256821.140 [sample_kiss:SurfaceComms:A] Running Loop=1
2019-07-16T06:00:21.140Z,1563256821.140 [sample_kiss:SurfaceComms:A](DEBUG): Aggregate::initialize sample_kiss:SurfaceComms:A
2019-07-16T06:00:21.140Z,1563256821.140 [sample_kiss:C] Stopped
2019-07-16T06:00:21.141Z,1563256821.141 [sample_kiss:D] Running Loop=1
2019-07-16T06:00:21.141Z,1563256821.141 [sample_kiss:NeedComms] Running Loop=1
2019-07-16T06:00:21.141Z,1563256821.141 [sample_kiss:NeedComms](DEBUG): Aggregate::initialize sample_kiss:NeedComms
2019-07-16T06:00:21.141Z,1563256821.141 [sample_kiss:NeedComms:B.GoToSurface] Running Loop=1
2019-07-16T06:00:21.141Z,1563256821.141 [sample_kiss:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-07-16T06:00:21.141Z,1563256821.141 [sample_kiss:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2019-07-16T06:00:21.142Z,1563256821.142 [sample_kiss:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2019-07-16T06:00:21.142Z,1563256821.142 [sample_kiss:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2019-07-16T06:00:21.142Z,1563256821.142 [sample_kiss:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-07-16T06:00:21.143Z,1563256821.143 [sample_kiss:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-07-16T06:00:21.143Z,1563256821.143 [sample_kiss:NeedComms:A] Running Loop=1
2019-07-16T06:00:21.145Z,1563256821.145 [sample_kiss:NeedComms:A](ERROR): caught uninitialized data element exception.
2019-07-16T06:00:21.145Z,1563256821.145 [sample_kiss:NeedComms:A](INFO): last time_fix was: nan second since 1970/01/01T00:00:00Z 
2019-07-16T06:00:21.146Z,1563256821.146 [sample_kiss:NeedComms:A] Stopped
2019-07-16T06:00:21.146Z,1563256821.146 [sample_kiss:A.AbortSample] Running Loop=1
2019-07-16T06:00:21.546Z,1563256821.546 [sample_kiss:D] Stopped
2019-07-16T06:00:21.546Z,1563256821.546 [sample_kiss:StartingMission] Running Loop=1
2019-07-16T06:00:21.546Z,1563256821.546 [sample_kiss:StartingMission](DEBUG): Aggregate::initialize sample_kiss:StartingMission
2019-07-16T06:00:21.547Z,1563256821.547 [sample_kiss:NeedComms:C] Running Loop=1
2019-07-16T06:00:21.942Z,1563256821.942 [sample_kiss:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-07-16T06:00:49.761Z,1563256849.761 [NAL9602](INFO): Powering up NAL9602
2019-07-16T06:00:51.480Z,1563256851.480 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1563256832.000000 second
2019-07-16T06:01:00.668Z,1563256860.668 [NAL9602](INFO): NAL9602 initialized
2019-07-16T06:01:04.315Z,1563256864.315 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:01:07.147Z,1563256867.147 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:01:10.375Z,1563256870.375 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:01:10.589Z,1563256870.589 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1563256832.000000 second
2019-07-16T06:01:10.815Z,1563256870.815 [sample_kiss:NeedComms:C] Stopped
2019-07-16T06:01:10.815Z,1563256870.815 [sample_kiss:NeedComms:D] Running Loop=1
2019-07-16T06:01:11.221Z,1563256871.221 [sample_kiss:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-07-16T06:01:13.207Z,1563256873.207 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:01:16.435Z,1563256876.435 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:01:17.070Z,1563256877.070 [DataOverHttps](INFO): Sending 42 bytes from file Logs/20190716T053846/Courier0007.lzma
2019-07-16T06:01:17.876Z,1563256877.876 [DataOverHttps](INFO): Moved sent file to Logs/20190716T053846/Courier0007.lzma.bak
2019-07-16T06:01:17.877Z,1563256877.877 [DataOverHttps](INFO): SBD MOMSN=11446815
2019-07-16T06:01:19.267Z,1563256879.267 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:01:22.091Z,1563256882.091 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:01:24.115Z,1563256884.115 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:01:26.131Z,1563256886.131 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:01:27.794Z,1563256887.794 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-16T06:01:27.794Z,1563256887.794 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 12
2019-07-16T06:01:27.794Z,1563256887.794 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-16T06:01:27.819Z,1563256887.819 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-16T06:01:28.211Z,1563256888.211 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-16T06:01:28.211Z,1563256888.211 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 12
2019-07-16T06:01:28.876Z,1563256888.876 [DataOverHttps](INFO): Sending 1061 bytes from file Logs/20190716T053846/Express0008.lzma
2019-07-16T06:01:29.363Z,1563256889.363 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:01:29.680Z,1563256889.680 [DataOverHttps](INFO): Moved sent file to Logs/20190716T053846/Express0008.lzma.bak
2019-07-16T06:01:29.681Z,1563256889.681 [DataOverHttps](INFO): SBD MOMSN=11446818
2019-07-16T06:01:31.018Z,1563256891.018 [sample_kiss:NeedComms:D] Stopped
2019-07-16T06:01:31.019Z,1563256891.019 [sample_kiss:NeedComms:E] Running Loop=1
2019-07-16T06:01:31.421Z,1563256891.421 [sample_kiss:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-07-16T06:01:31.851Z,1563256891.851 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-16T06:01:31.852Z,1563256891.852 [WetLabsBB2FL] No Fault, FailCount= 5
2019-07-16T06:01:32.132Z,1563256892.132 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-16T06:01:32.133Z,1563256892.133 [WetLabsBB2FL](INFO): Powering up
2019-07-16T06:01:32.191Z,1563256892.191 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:01:35.427Z,1563256895.427 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:01:37.427Z,1563256897.427 [WetLabsBB2FL] Communications Fault, FailCount= 1
2019-07-16T06:01:37.427Z,1563256897.427 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-16T06:01:37.518Z,1563256897.518 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-16T06:01:37.923Z,1563256897.923 [WetLabsBB2FL](INFO): Powering down
2019-07-16T06:01:38.251Z,1563256898.251 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:01:39.123Z,1563256899.123 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-16T06:01:39.123Z,1563256899.123 [WetLabsBB2FL] No Fault, FailCount= 1
2019-07-16T06:01:39.136Z,1563256899.136 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-16T06:01:39.136Z,1563256899.136 [WetLabsBB2FL](INFO): Powering up
2019-07-16T06:01:41.487Z,1563256901.487 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:01:44.311Z,1563256904.311 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:01:44.431Z,1563256904.431 [WetLabsBB2FL] Communications Fault, FailCount= 2
2019-07-16T06:01:44.431Z,1563256904.431 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-16T06:01:44.759Z,1563256904.759 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-16T06:01:44.931Z,1563256904.931 [WetLabsBB2FL](INFO): Powering down
2019-07-16T06:01:45.952Z,1563256905.952 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-16T06:01:45.952Z,1563256905.952 [WetLabsBB2FL] No Fault, FailCount= 2
2019-07-16T06:01:46.144Z,1563256906.144 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-16T06:01:46.144Z,1563256906.144 [WetLabsBB2FL](INFO): Powering up
2019-07-16T06:01:47.143Z,1563256907.143 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:01:49.159Z,1563256909.159 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:01:51.439Z,1563256911.439 [WetLabsBB2FL] Communications Fault, FailCount= 3
2019-07-16T06:01:51.439Z,1563256911.439 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-16T06:01:51.612Z,1563256911.612 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-16T06:01:51.939Z,1563256911.939 [WetLabsBB2FL](INFO): Powering down
2019-07-16T06:01:52.391Z,1563256912.391 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:01:52.857Z,1563256912.857 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-16T06:01:52.857Z,1563256912.857 [WetLabsBB2FL] No Fault, FailCount= 3
2019-07-16T06:01:53.152Z,1563256913.152 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-16T06:01:53.152Z,1563256913.152 [WetLabsBB2FL](INFO): Powering up
2019-07-16T06:01:54.133Z,1563256914.133 [CommandLine](IMPORTANT): got command show stack
2019-07-16T06:01:54.133Z,1563256914.133 [CommandLine](IMPORTANT): Behavior Stack:

2019-07-16T06:01:54.134Z,1563256914.134 [sample_kiss](IMPORTANT): Priority 0: sample_kiss:A.AbortSample
2019-07-16T06:01:54.134Z,1563256914.134 [sample_kiss:NeedComms](IMPORTANT): Priority 1: sample_kiss:NeedComms:B.GoToSurface
2019-07-16T06:01:54.134Z,1563256914.134 [sample_kiss:NeedComms](IMPORTANT): Priority 2: sample_kiss:NeedComms:E
2019-07-16T06:01:54.134Z,1563256914.134 [sample_kiss](IMPORTANT): Priority 3: sample_kiss:F.Mass
2019-07-16T06:01:54.136Z,1563256914.136 [sample_kiss:Science](IMPORTANT): Priority 4: sample_kiss:Science:G
2019-07-16T06:01:54.136Z,1563256914.136 [sample_kiss:InitialDive](IMPORTANT): Priority 5: sample_kiss:InitialDive:A
2019-07-16T06:01:54.136Z,1563256914.136 [sample_kiss:InitialDive](IMPORTANT): Priority 6: sample_kiss:InitialDive:B.Buoyancy
2019-07-16T06:01:54.136Z,1563256914.136 [sample_kiss:InitialDive](IMPORTANT): Priority 7: sample_kiss:InitialDive:C.SetSpeed
2019-07-16T06:01:54.137Z,1563256914.137 [sample_kiss:InitialDive](IMPORTANT): Priority 8: sample_kiss:InitialDive:D.Point
2019-07-16T06:01:54.137Z,1563256914.137 [sample_kiss:InitialDive](IMPORTANT): Priority 9: sample_kiss:InitialDive:E.Pitch
2019-07-16T06:01:55.219Z,1563256915.219 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:01:58.443Z,1563256918.443 [WetLabsBB2FL] Communications Fault, FailCount= 4
2019-07-16T06:01:58.443Z,1563256918.443 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-16T06:01:58.459Z,1563256918.459 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:01:58.512Z,1563256918.512 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-16T06:01:58.943Z,1563256918.943 [WetLabsBB2FL](INFO): Powering down
2019-07-16T06:02:00.095Z,1563256920.095 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-16T06:02:00.095Z,1563256920.095 [WetLabsBB2FL] No Fault, FailCount= 4
2019-07-16T06:02:00.156Z,1563256920.156 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-16T06:02:00.156Z,1563256920.156 [WetLabsBB2FL](INFO): Powering up
2019-07-16T06:02:01.279Z,1563256921.279 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:02:04.511Z,1563256924.511 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:02:05.463Z,1563256925.463 [WetLabsBB2FL] Communications Fault, FailCount= 5
2019-07-16T06:02:05.463Z,1563256925.463 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-16T06:02:05.742Z,1563256925.742 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-16T06:02:05.742Z,1563256925.742 [CBIT](FAULT): Communications Fault in component: WetLabsBB2FL
2019-07-16T06:02:05.963Z,1563256925.963 [WetLabsBB2FL](INFO): Powering down
2019-07-16T06:02:07.343Z,1563256927.343 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:02:10.172Z,1563256930.172 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:02:12.187Z,1563256932.187 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:02:15.422Z,1563256935.422 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:02:18.247Z,1563256938.247 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:02:21.483Z,1563256941.483 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:02:23.168Z,1563256943.168 [CommandLine](IMPORTANT): got command maintain sensor Depth_Keller.depth 2.500000 meter
2019-07-16T06:02:23.169Z,1563256943.169 [ComponentRegistry](DEBUG): SyncComponent "Maintain_Depth_Keller.depth" handled in the control thread.
2019-07-16T06:02:23.525Z,1563256943.525 [controlThread](DEBUG): Component order: CycleStarter,Depth_Keller,DropWeight,NAL9602,Onboard,BPC1,ESPComponent,PAR_Licor,Depth_Keller,PAR_Licor,Maintain_Depth_Keller.depth,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2019-07-16T06:02:23.911Z,1563256943.911 [sample_kiss:InitialDive:E.Pitch] Stopped
2019-07-16T06:02:23.912Z,1563256943.912 [sample_kiss:InitialDive:F] Running Loop=1
2019-07-16T06:02:24.307Z,1563256944.307 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:02:24.333Z,1563256944.333 [sample_kiss:InitialDive:F] Stopped
2019-07-16T06:02:24.334Z,1563256944.334 [sample_kiss:InitialDive](INFO): Completed sample_kiss:InitialDive
2019-07-16T06:02:24.334Z,1563256944.334 [sample_kiss:InitialDive] Stopped
2019-07-16T06:02:24.334Z,1563256944.334 [sample_kiss:InitialDive](DEBUG): Aggregate::uninitialize sample_kiss:InitialDive
2019-07-16T06:02:24.334Z,1563256944.334 [sample_kiss:InitialDive:A] Stopped
2019-07-16T06:02:24.334Z,1563256944.334 [sample_kiss:InitialDive:B.Buoyancy] Stopped
2019-07-16T06:02:24.334Z,1563256944.334 [sample_kiss:InitialDive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2019-07-16T06:02:24.334Z,1563256944.334 [sample_kiss:InitialDive:C.SetSpeed] Stopped
2019-07-16T06:02:24.334Z,1563256944.334 [sample_kiss:InitialDive:C.SetSpeed](DEBUG): Uninitialize.
2019-07-16T06:02:24.334Z,1563256944.334 [sample_kiss:InitialDive:D.Point] Stopped
2019-07-16T06:02:27.543Z,1563256947.543 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:02:30.367Z,1563256950.367 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:02:33.199Z,1563256953.199 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:02:35.215Z,1563256955.215 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:02:37.235Z,1563256957.235 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:02:40.467Z,1563256960.467 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:02:43.295Z,1563256963.295 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:02:46.531Z,1563256966.531 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:02:49.355Z,1563256969.355 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:02:52.595Z,1563256972.595 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:02:55.419Z,1563256975.419 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:02:58.243Z,1563256978.243 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:03:00.267Z,1563256980.267 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:03:03.507Z,1563256983.507 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:03:06.331Z,1563256986.331 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:03:09.555Z,1563256989.555 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:03:12.387Z,1563256992.387 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:03:15.619Z,1563256995.619 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:03:18.447Z,1563256998.447 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:03:21.275Z,1563257001.275 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:03:23.295Z,1563257003.295 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:03:24.060Z,1563257004.060 [CommandLine](IMPORTANT): got command show stack
2019-07-16T06:03:24.060Z,1563257004.060 [CommandLine](IMPORTANT): Behavior Stack:

2019-07-16T06:03:24.060Z,1563257004.060 [sample_kiss](IMPORTANT): Priority 0: sample_kiss:A.AbortSample
2019-07-16T06:03:24.061Z,1563257004.061 [sample_kiss:NeedComms](IMPORTANT): Priority 1: sample_kiss:NeedComms:B.GoToSurface
2019-07-16T06:03:24.061Z,1563257004.061 [sample_kiss:NeedComms](IMPORTANT): Priority 2: sample_kiss:NeedComms:E
2019-07-16T06:03:24.061Z,1563257004.061 [sample_kiss](IMPORTANT): Priority 3: sample_kiss:F.Mass
2019-07-16T06:03:24.062Z,1563257004.062 [sample_kiss:Science](IMPORTANT): Priority 4: sample_kiss:Science:G
2019-07-16T06:03:25.315Z,1563257005.315 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:03:28.543Z,1563257008.543 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:03:28.568Z,1563257008.568 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-16T06:03:28.568Z,1563257008.568 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 13
2019-07-16T06:03:28.568Z,1563257008.568 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-16T06:03:28.620Z,1563257008.620 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-16T06:03:28.986Z,1563257008.986 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-16T06:03:28.986Z,1563257008.986 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 13
2019-07-16T06:03:31.375Z,1563257011.375 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:03:34.607Z,1563257014.607 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:03:37.439Z,1563257017.439 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:03:40.663Z,1563257020.663 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:03:43.495Z,1563257023.495 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:03:46.323Z,1563257026.323 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:03:48.343Z,1563257028.343 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:03:51.571Z,1563257031.571 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:03:54.399Z,1563257034.399 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:03:57.631Z,1563257037.631 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:04:00.471Z,1563257040.471 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:04:03.695Z,1563257043.695 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:04:06.531Z,1563257046.531 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:04:07.897Z,1563257047.897 [CommandLine](IMPORTANT): got command report touch platform_buoyancy_position
2019-07-16T06:04:09.347Z,1563257049.347 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:04:11.367Z,1563257051.367 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:04:13.387Z,1563257053.387 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:04:16.623Z,1563257056.623 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:04:19.447Z,1563257059.447 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:04:22.691Z,1563257062.691 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:04:25.005Z,1563257065.005 [CommandLine](IMPORTANT): got command report clear
2019-07-16T06:04:25.515Z,1563257065.515 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:04:28.747Z,1563257068.747 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:04:31.575Z,1563257071.575 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:04:34.365Z,1563257074.365 [CommandLine](IMPORTANT): got command stop
2019-07-16T06:04:34.365Z,1563257074.365 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-07-16T06:04:34.407Z,1563257074.407 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:04:34.430Z,1563257074.430 [MissionManager](INFO): MissionManager is completed.
2019-07-16T06:04:34.430Z,1563257074.430 [MissionManager](INFO): Uninitializing Mission sample_kiss
2019-07-16T06:04:34.431Z,1563257074.431 [sample_kiss] Stopped
2019-07-16T06:04:34.431Z,1563257074.431 [sample_kiss](DEBUG): Aggregate::uninitialize sample_kiss
2019-07-16T06:04:34.431Z,1563257074.431 [sample_kiss:A.AbortSample] Stopped
2019-07-16T06:04:34.431Z,1563257074.431 [sample_kiss:A.AbortSample](INFO): Uninitializing AbortSample.
2019-07-16T06:04:34.431Z,1563257074.431 [sample_kiss:NeedComms] Stopped
2019-07-16T06:04:34.431Z,1563257074.431 [sample_kiss:NeedComms](DEBUG): Aggregate::uninitialize sample_kiss:NeedComms
2019-07-16T06:04:34.431Z,1563257074.431 [sample_kiss:NeedComms:B.GoToSurface] Stopped
2019-07-16T06:04:34.431Z,1563257074.431 [sample_kiss:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-07-16T06:04:34.431Z,1563257074.431 [sample_kiss:NeedComms:E] Stopped
2019-07-16T06:04:34.432Z,1563257074.432 [sample_kiss:SurfaceComms] Stopped
2019-07-16T06:04:34.432Z,1563257074.432 [sample_kiss:SurfaceComms](DEBUG): Aggregate::uninitialize sample_kiss:SurfaceComms
2019-07-16T06:04:34.432Z,1563257074.432 [sample_kiss:SurfaceComms:A] Stopped
2019-07-16T06:04:34.432Z,1563257074.432 [sample_kiss:SurfaceComms:A](DEBUG): Aggregate::uninitialize sample_kiss:SurfaceComms:A
2019-07-16T06:04:34.432Z,1563257074.432 [sample_kiss:F.Mass] Stopped
2019-07-16T06:04:34.432Z,1563257074.432 [sample_kiss:F.Mass](DEBUG): Uninitialize.
2019-07-16T06:04:34.432Z,1563257074.432 [sample_kiss:StartingMission] Stopped
2019-07-16T06:04:34.432Z,1563257074.432 [sample_kiss:StartingMission](DEBUG): Aggregate::uninitialize sample_kiss:StartingMission
2019-07-16T06:04:34.432Z,1563257074.432 [sample_kiss:Science] Stopped
2019-07-16T06:04:34.432Z,1563257074.432 [sample_kiss:Science](DEBUG): Aggregate::uninitialize sample_kiss:Science
2019-07-16T06:04:34.432Z,1563257074.432 [sample_kiss:Science:G] Stopped
2019-07-16T06:04:34.836Z,1563257074.836 [MissionManager](IMPORTANT): Started mission Default
2019-07-16T06:04:34.837Z,1563257074.837 [Default] Running Loop=1
2019-07-16T06:04:34.837Z,1563257074.837 [Default](DEBUG): Aggregate::initialize Default
2019-07-16T06:04:34.837Z,1563257074.837 [Default:B.GoToSurface] Running Loop=1
2019-07-16T06:04:34.837Z,1563257074.837 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-07-16T06:04:34.837Z,1563257074.837 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-07-16T06:04:34.837Z,1563257074.837 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-07-16T06:04:34.838Z,1563257074.838 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-07-16T06:04:34.838Z,1563257074.838 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-07-16T06:04:34.838Z,1563257074.838 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-07-16T06:04:34.839Z,1563257074.839 [Default:A.Wait] Running Loop=1
2019-07-16T06:04:34.839Z,1563257074.839 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-07-16T06:04:35.639Z,1563257075.639 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-16T06:04:35.639Z,1563257075.639 [WetLabsBB2FL] No Fault, FailCount= 5
2019-07-16T06:04:35.848Z,1563257075.848 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-16T06:04:35.848Z,1563257075.848 [WetLabsBB2FL](INFO): Powering up
2019-07-16T06:04:36.426Z,1563257076.426 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:04:39.687Z,1563257079.687 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:04:41.139Z,1563257081.139 [WetLabsBB2FL] Communications Fault, FailCount= 1
2019-07-16T06:04:41.139Z,1563257081.139 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-16T06:04:41.387Z,1563257081.387 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-16T06:04:41.639Z,1563257081.639 [WetLabsBB2FL](INFO): Powering down
2019-07-16T06:04:42.523Z,1563257082.523 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:04:42.614Z,1563257082.614 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-16T06:04:42.614Z,1563257082.614 [WetLabsBB2FL] No Fault, FailCount= 1
2019-07-16T06:04:42.852Z,1563257082.852 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-16T06:04:42.852Z,1563257082.852 [WetLabsBB2FL](INFO): Powering up
2019-07-16T06:04:43.601Z,1563257083.601 [CommandLine](IMPORTANT): got command maintain clear
2019-07-16T06:04:43.800Z,1563257083.800 [controlThread](DEBUG): Component order: CycleStarter,Depth_Keller,DropWeight,NAL9602,Onboard,BPC1,ESPComponent,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2019-07-16T06:04:45.743Z,1563257085.743 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:04:48.143Z,1563257088.143 [WetLabsBB2FL] Communications Fault, FailCount= 2
2019-07-16T06:04:48.143Z,1563257088.143 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-16T06:04:48.181Z,1563257088.181 [Default:A.Wait](INFO): Done Waiting.
2019-07-16T06:04:48.181Z,1563257088.181 [Default:A.Wait] Stopped
2019-07-16T06:04:48.182Z,1563257088.182 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-07-16T06:04:48.242Z,1563257088.242 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-16T06:04:48.571Z,1563257088.571 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:04:48.597Z,1563257088.597 [Default:CheckIn] Running Loop=1
2019-07-16T06:04:48.597Z,1563257088.597 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-07-16T06:04:48.597Z,1563257088.597 [Default:CheckIn:Read_GPS] Running Loop=1
2019-07-16T06:04:48.640Z,1563257088.640 [WetLabsBB2FL](INFO): Powering down
2019-07-16T06:04:49.452Z,1563257089.452 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-16T06:04:49.453Z,1563257089.453 [WetLabsBB2FL] No Fault, FailCount= 2
2019-07-16T06:04:49.852Z,1563257089.852 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-16T06:04:49.852Z,1563257089.852 [WetLabsBB2FL](INFO): Powering up
2019-07-16T06:04:50.433Z,1563257090.433 [CommandLine](IMPORTANT): got command get depth
2019-07-16T06:04:50.433Z,1563257090.433 [CommandLine](IMPORTANT): depth 0.182887 m
2019-07-16T06:04:51.403Z,1563257091.403 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:04:53.423Z,1563257093.423 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:04:55.147Z,1563257095.147 [WetLabsBB2FL] Communications Fault, FailCount= 3
2019-07-16T06:04:55.147Z,1563257095.147 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-16T06:04:55.439Z,1563257095.439 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:04:55.473Z,1563257095.473 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-16T06:04:55.647Z,1563257095.647 [WetLabsBB2FL](INFO): Powering down
2019-07-16T06:04:56.677Z,1563257096.677 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-16T06:04:56.677Z,1563257096.677 [WetLabsBB2FL] No Fault, FailCount= 3
2019-07-16T06:04:56.860Z,1563257096.860 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-16T06:04:56.860Z,1563257096.860 [WetLabsBB2FL](INFO): Powering up
2019-07-16T06:04:58.675Z,1563257098.675 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:05:01.503Z,1563257101.503 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:05:02.151Z,1563257102.151 [WetLabsBB2FL] Communications Fault, FailCount= 4
2019-07-16T06:05:02.151Z,1563257102.151 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-16T06:05:02.340Z,1563257102.340 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-16T06:05:02.651Z,1563257102.651 [WetLabsBB2FL](INFO): Powering down
2019-07-16T06:05:03.541Z,1563257103.541 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-16T06:05:03.541Z,1563257103.541 [WetLabsBB2FL] No Fault, FailCount= 4
2019-07-16T06:05:03.864Z,1563257103.864 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-16T06:05:03.864Z,1563257103.864 [WetLabsBB2FL](INFO): Powering up
2019-07-16T06:05:04.731Z,1563257104.731 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:05:07.559Z,1563257107.559 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:05:09.163Z,1563257109.163 [WetLabsBB2FL] Communications Fault, FailCount= 5
2019-07-16T06:05:09.163Z,1563257109.163 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-16T06:05:09.244Z,1563257109.244 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-16T06:05:09.244Z,1563257109.244 [CBIT](FAULT): Communications Fault in component: WetLabsBB2FL
2019-07-16T06:05:09.667Z,1563257109.667 [WetLabsBB2FL](INFO): Powering down
2019-07-16T06:05:10.791Z,1563257110.791 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:05:13.619Z,1563257113.619 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:05:16.447Z,1563257116.447 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:05:18.471Z,1563257118.471 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:05:20.491Z,1563257120.491 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:05:23.719Z,1563257123.719 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:05:26.551Z,1563257126.551 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:05:29.381Z,1563257129.381 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-16T06:05:29.381Z,1563257129.381 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 14
2019-07-16T06:05:29.381Z,1563257129.381 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-16T06:05:29.391Z,1563257129.391 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-16T06:05:29.779Z,1563257129.779 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:05:29.855Z,1563257129.855 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-16T06:05:29.855Z,1563257129.855 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 14
2019-07-16T06:05:32.611Z,1563257132.611 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:05:35.843Z,1563257135.843 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:05:38.671Z,1563257138.671 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:05:41.495Z,1563257141.495 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:05:43.519Z,1563257143.519 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:05:46.751Z,1563257146.751 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:05:49.465Z,1563257149.465 [CommandLine](IMPORTANT): got command load ./Missions/sample_kiss.xml
2019-07-16T06:05:49.465Z,1563257149.465 [MissionManager](INFO): Loading Mission: ./Missions/sample_kiss.xml
2019-07-16T06:05:49.573Z,1563257149.573 [MissionManager](INFO): DefineArg sample_kiss.MissionTimeout = 4.000000 h
2019-07-16T06:05:49.575Z,1563257149.575 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:05:49.577Z,1563257149.577 [MissionManager](INFO): DefineArg sample_kiss.NeedCommsTime = 240.000000 min
2019-07-16T06:05:49.596Z,1563257149.596 [MissionManager](INFO): DefineArg sample_kiss.Depth = 0.180000 m
2019-07-16T06:05:49.598Z,1563257149.598 [MissionManager](INFO): DefineArg sample_kiss.ESPCartridgeType_1 = -1.000000 count
2019-07-16T06:05:49.608Z,1563257149.608 [MissionManager](INFO): DefineArg sample_kiss.ESPCartridgeType_2 = -16.000000 count
2019-07-16T06:05:49.610Z,1563257149.610 [MissionManager](INFO): DefineArg sample_kiss.ESPCartridgeType_3 = nan count
2019-07-16T06:05:49.613Z,1563257149.613 [MissionManager](INFO): DefineArg sample_kiss.ESPCartridgeType_4 = nan count
2019-07-16T06:05:49.615Z,1563257149.615 [MissionManager](INFO): DefineArg sample_kiss.WaitBeforeSample = 3.000000 min
2019-07-16T06:05:49.617Z,1563257149.617 [MissionManager](INFO): DefineArg sample_kiss.ApproachDepthTimeout = 20.000000 min
2019-07-16T06:05:49.660Z,1563257149.660 [MissionManager](INFO): DefineArg sample_kiss.DepthDeadband = 0.100000 m
2019-07-16T06:05:49.662Z,1563257149.662 [MissionManager](INFO): DefineArg sample_kiss.Speed = 0.000000 m/s
2019-07-16T06:05:49.665Z,1563257149.665 [MissionManager](INFO): DefineArg sample_kiss.MaxDepth = 5.000000 m
2019-07-16T06:05:49.667Z,1563257149.667 [MissionManager](INFO): DefineArg sample_kiss.PitchLimit = 20.000000 arcdeg
2019-07-16T06:05:49.669Z,1563257149.669 [MissionManager](INFO): DefineArg sample_kiss.MinOffshore = 1.000000 km
2019-07-16T06:05:49.683Z,1563257149.683 [MissionManager](INFO): DefineOutput sample_kiss.StartFromSurface = 1 bool
2019-07-16T06:05:49.684Z,1563257149.684 [sample_kiss:A.AbortSample](DEBUG): Construct.
2019-07-16T06:05:49.685Z,1563257149.685 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-07-16T06:05:49.798Z,1563257149.798 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.DiveInterval = 3.000000 h
2019-07-16T06:05:49.800Z,1563257149.800 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.WaitForPitchUp = 10.000000 min
2019-07-16T06:05:49.802Z,1563257149.802 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-07-16T06:05:49.810Z,1563257149.810 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.SurfaceDepthRate = nan m/s
2019-07-16T06:05:49.812Z,1563257149.812 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-07-16T06:05:49.814Z,1563257149.814 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.GPSTimeout = 7.000000 min
2019-07-16T06:05:49.829Z,1563257149.829 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.CommsTimeout = 30.000000 min
2019-07-16T06:05:49.834Z,1563257149.834 [sample_kiss:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-07-16T06:05:49.870Z,1563257149.870 [sample_kiss:F.Mass](DEBUG): Construct.
2019-07-16T06:05:49.897Z,1563257149.897 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2019-07-16T06:05:50.138Z,1563257150.138 [MissionManager](INFO): DefineArg sample_kiss:Science.SampleISUS = 0 bool
2019-07-16T06:05:50.140Z,1563257150.140 [MissionManager](INFO): DefineArg sample_kiss:Science.SampleISUSmaxPitch = 60.000000 arcdeg
2019-07-16T06:05:50.142Z,1563257150.142 [MissionManager](INFO): DefineArg sample_kiss:Science.SampleISUSminPitch = -60.000000 arcdeg
2019-07-16T06:05:50.144Z,1563257150.144 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakDetectChlActive = 0 bool
2019-07-16T06:05:50.146Z,1563257150.146 [MissionManager](INFO): DefineArg sample_kiss:Science.TimeWindowPeakReport = nan min
2019-07-16T06:05:50.148Z,1563257150.148 [MissionManager](INFO): DefineArg sample_kiss:Science.HighestChlPeakReportActive = 0 bool
2019-07-16T06:05:50.150Z,1563257150.150 [MissionManager](INFO): DefineArg sample_kiss:Science.PatchTracking = 0 bool
2019-07-16T06:05:50.196Z,1563257150.196 [MissionManager](INFO): DefineArg sample_kiss:Science.FilterWidthHorizontal = 3.000000 count
2019-07-16T06:05:50.199Z,1563257150.199 [MissionManager](INFO): DefineArg sample_kiss:Science.NumProfilesSlidingwindow = 100.000000 count
2019-07-16T06:05:50.201Z,1563257150.201 [MissionManager](INFO): DefineArg sample_kiss:Science.OffPeakFractionHorizontal = 80.000000 %
2019-07-16T06:05:50.203Z,1563257150.203 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakDetectNO3Active = 0 bool
2019-07-16T06:05:50.204Z,1563257150.204 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakDetectOilActive = 0 bool
2019-07-16T06:05:50.206Z,1563257150.206 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakDetectFDOMActive = 0 bool
2019-07-16T06:05:50.221Z,1563257150.221 [MissionManager](INFO): DefineArg sample_kiss:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2019-07-16T06:05:50.223Z,1563257150.223 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledAanderaaO2 = 0.000000 bool
2019-07-16T06:05:50.226Z,1563257150.226 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledNeilBrown = 0.000000 bool
2019-07-16T06:05:50.228Z,1563257150.228 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledSeabird = 0.000000 bool
2019-07-16T06:05:50.230Z,1563257150.230 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledTurbulence_NPS = 0.000000 bool
2019-07-16T06:05:50.245Z,1563257150.245 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledWetLabsBB2FL = 1.000000 bool
2019-07-16T06:05:50.248Z,1563257150.248 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledWetLabsSeaOWL_UV_A = 0.000000 bool
2019-07-16T06:05:50.250Z,1563257150.250 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledWetLabsUBAT = 0.000000 bool
2019-07-16T06:05:50.252Z,1563257150.252 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledISUS = 0.000000 bool
2019-07-16T06:05:50.254Z,1563257150.254 [MissionManager](INFO): DefineArg sample_kiss:Science.LowPassWindowLength = 20.000000 count
2019-07-16T06:05:50.269Z,1563257150.269 [MissionManager](INFO): DefineArg sample_kiss:Science.MedianFilterLen = 5.000000 count
2019-07-16T06:05:50.271Z,1563257150.271 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakChlShallowBound = nan m
2019-07-16T06:05:50.273Z,1563257150.273 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakChlDeepBound = nan m
2019-07-16T06:05:50.275Z,1563257150.275 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakShallowBound = nan m
2019-07-16T06:05:50.277Z,1563257150.277 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakDeepBound = nan m
2019-07-16T06:05:50.291Z,1563257150.291 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakChl = 0.000000 ug/l
2019-07-16T06:05:50.293Z,1563257150.293 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakChlDepth = 0.000000 m
2019-07-16T06:05:50.296Z,1563257150.296 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakChlTemperature = 0.000000 degC
2019-07-16T06:05:50.298Z,1563257150.298 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakChlLatitude = nan arcdeg
2019-07-16T06:05:50.300Z,1563257150.300 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakChlLongitude = nan arcdeg
2019-07-16T06:05:50.302Z,1563257150.302 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakNO3 = 0.000000 umol/l
2019-07-16T06:05:50.337Z,1563257150.337 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakNO3Depth = 0.000000 m
2019-07-16T06:05:50.339Z,1563257150.339 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakNO3Latitude = nan arcdeg
2019-07-16T06:05:50.341Z,1563257150.341 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakNO3Longitude = nan arcdeg
2019-07-16T06:05:50.356Z,1563257150.356 [MissionManager](INFO): DefineOutput sample_kiss:Science.PatchChl = 0.000000 m
2019-07-16T06:05:50.358Z,1563257150.358 [MissionManager](INFO): DefineOutput sample_kiss:Science.PatchChlDepth = 0.000000 m
2019-07-16T06:05:50.360Z,1563257150.360 [MissionManager](INFO): DefineOutput sample_kiss:Science.PatchChlLatitude = nan arcdeg
2019-07-16T06:05:50.362Z,1563257150.362 [MissionManager](INFO): DefineOutput sample_kiss:Science.PatchChlLongitude = nan arcdeg
2019-07-16T06:05:50.416Z,1563257150.416 [MissionManager](INFO): DefineOutput sample_kiss:Science.PatchChlDistance = nan m
2019-07-16T06:05:50.419Z,1563257150.419 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakOil = 0.000000 kg/m3
2019-07-16T06:05:50.421Z,1563257150.421 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakOilDepth = 0.000000 m
2019-07-16T06:05:50.451Z,1563257150.451 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakOilLatitude = nan arcdeg
2019-07-16T06:05:50.454Z,1563257150.454 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakOilLongitude = nan arcdeg
2019-07-16T06:05:50.456Z,1563257150.456 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakFDOM = 0.000000 ppb
2019-07-16T06:05:50.458Z,1563257150.458 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakFDOMDepth = 0.000000 m
2019-07-16T06:05:50.472Z,1563257150.472 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakFDOMLatitude = nan arcdeg
2019-07-16T06:05:50.475Z,1563257150.475 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakFDOMLongitude = nan arcdeg
2019-07-16T06:05:50.477Z,1563257150.477 [MissionManager](INFO): DefineOutput sample_kiss:Science.PatchFDOMDistance = nan m
2019-07-16T06:05:50.516Z,1563257150.516 [sample_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-16T06:05:50.533Z,1563257150.533 [sample_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2019-07-16T06:05:50.553Z,1563257150.553 [sample_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-16T06:05:50.573Z,1563257150.573 [sample_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-16T06:05:50.591Z,1563257150.591 [sample_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-16T06:05:50.611Z,1563257150.611 [sample_kiss:InitialDive:B.Buoyancy](DEBUG): Construct Buoyancy.
2019-07-16T06:05:50.614Z,1563257150.614 [sample_kiss:InitialDive:C.SetSpeed](DEBUG): Construct.
2019-07-16T06:05:50.617Z,1563257150.617 [sample_kiss:InitialDive:D.Point](DEBUG): Construct.
2019-07-16T06:05:50.622Z,1563257150.622 [sample_kiss:InitialDive:E.Pitch](DEBUG): Construct.
2019-07-16T06:05:50.628Z,1563257150.628 [sample_kiss:InitialDive:E.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-07-16T06:05:50.633Z,1563257150.633 [sample_kiss:TargetDepth:B.SetSpeed](DEBUG): Construct.
2019-07-16T06:05:50.636Z,1563257150.636 [sample_kiss:TargetDepth:C.Pitch](DEBUG): Construct.
2019-07-16T06:05:50.641Z,1563257150.641 [sample_kiss:TargetDepth:Spinout:A.Buoyancy](DEBUG): Construct Buoyancy.
2019-07-16T06:05:50.644Z,1563257150.644 [sample_kiss:TargetDepth:Spinout:B.Point](DEBUG): Construct.
2019-07-16T06:05:50.649Z,1563257150.649 [MissionManager](INFO): Inserting Stack: Missions/Insert/SampleAtDepth.xml
2019-07-16T06:05:50.751Z,1563257150.751 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.TargetDepth = 5.000000 m
2019-07-16T06:05:50.753Z,1563257150.753 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.SettleTime = 10.000000 s
2019-07-16T06:05:50.756Z,1563257150.756 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.MaxWaitNotReachingDepth = 3.000000 h
2019-07-16T06:05:50.758Z,1563257150.758 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.RotateOnly = 0.000000 bool
2019-07-16T06:05:50.765Z,1563257150.765 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.UseCANONSampler = 0.000000 bool
2019-07-16T06:05:50.803Z,1563257150.803 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.UseESP = 1.000000 bool
2019-07-16T06:05:50.805Z,1563257150.805 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.ESPCartridgeType = nan count
2019-07-16T06:05:50.808Z,1563257150.808 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.CANONSamplerTriggerTimeout = 1.000000 min
2019-07-16T06:05:50.810Z,1563257150.810 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.CANONSamplerTimeout = 6.000000 min
2019-07-16T06:05:50.833Z,1563257150.833 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.BuoyancyNeutral = 273.999991 cc
2019-07-16T06:05:50.835Z,1563257150.835 [sample_kiss:TargetDepth:GrabSamples:SampleAtDepth:ApproachDepth:B.Pitch](DEBUG): Construct.
2019-07-16T06:05:50.861Z,1563257150.861 [sample_kiss:TargetDepth:GrabSamples:SampleAtDepth:ApproachDepth:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-07-16T06:05:50.864Z,1563257150.864 [sample_kiss:TargetDepth:GrabSamples:SampleAtDepth:SampleWrapper:A.Pitch](DEBUG): Construct.
2019-07-16T06:05:50.892Z,1563257150.892 [sample_kiss:TargetDepth:GrabSamples:SampleAtDepth:SampleWrapper:C.Wait](DEBUG): Construct Wait.
2019-07-16T06:05:50.908Z,1563257150.908 [sample_kiss:TargetDepth:GrabSamples:SampleAtDepth:SampleWrapper:SampleCANONSampler:TriggerCANONSampler:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-07-16T06:05:50.914Z,1563257150.914 [sample_kiss:TargetDepth:GrabSamples:SampleAtDepth:SampleWrapper:SampleCANONSampler:E:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-07-16T06:05:51.035Z,1563257151.035 [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: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="sample_kiss">

    <Description>
        This mission takes ESP sampls at the designated depth.
    </Description>
    
    <DefineArg Name="MissionTimeout"><Description>
        Maximum duration of mission
    </Description><Units:hour/><Value>4</Value></DefineArg>

    <DefineArg Name="NeedCommsTime"><Description>
        How often to surface for communications
    </Description><Units:minute/><Value>240</Value></DefineArg>

    <DefineArg Name="Depth"><Description>
        Depth held during drift mode
    </Description><Units:meter/><Value>0.18</Value></DefineArg>

    <DefineArg Name="ESPCartridgeType_1"><Description>
        Specifies ESP cartridge type code for sample# 1. Set to NaN to skip this sample.
    </Description><Units:count/><Value>-1</Value></DefineArg>
    
    <DefineArg Name="ESPCartridgeType_2"><Description>
        Specifies ESP cartridge type code for sample# 2. Set to NaN to skip this sample.
    </Description><Units:count/><Value>-16</Value></DefineArg>
    
    <DefineArg Name="ESPCartridgeType_3"><Description>
        Specifies ESP cartridge type code for sample# 3. Set to NaN to skip this sample.
    </Description><Units:count/><Value>NaN</Value></DefineArg>
    
    <DefineArg Name="ESPCartridgeType_4"><Description>
        Specifies ESP cartridge type code for sample# 4. Set to NaN to skip this sample.
    </Description><Units:count/><Value>NaN</Value></DefineArg>
    
    <DefineArg Name="WaitBeforeSample"><Description>
        How long to wait between samples. This starts *before* the first sample
        to exercise the SettleTime setting in the insert aggregate.
    </Description><Units:minute/><Value>3</Value></DefineArg>
    
    <DefineArg Name="ApproachDepthTimeout"><Description>
        Maximum time duration for the vehicle to reach the approach depth
    </Description><Units:minute/><Value>20</Value></DefineArg>

    <DefineArg Name="DepthDeadband"><Description>
        How much vertical drift from the specified depth is allowed while sampling.
    </Description><Units:meter/><Value>0.1</Value></DefineArg>

    <DefineArg Name="Speed"><Description>
        Vehicle transit speed
    </Description><Units:meter_per_second/><Value>0</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum allowable depth during the mission
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="PitchLimit"><Description>
        Max vehicle pitch (+/-) when decending from the surface
    </Description><Units:degree/><Value>20</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Description>
        Minimum distance from the shoreline to maintain
    </Description><Units:kilometer/><Value>1</Value></DefineArg>

    <DefineOutput Name="StartFromSurface"><Description>
        Mission variable (don't change). The mission sets this to true after surface comms are done.
    </Description><True/></DefineOutput>
    

    <!-- Mission timeout -->

    <Timeout Duration="MissionTimeout"/>

    <!-- Safety nets and surfacing behaviors -->
    
    <Trigger:AbortSample>
        <Parallel/>
    </Trigger:AbortSample>

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

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

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


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

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

    <Assign><Sequence/><Arg Name="NeedComms:WaitForPitchUp"/><Units:minute/><Value>0</Value></Assign>

    <Aggregate Id="SurfaceComms">

        <When>
            <Called/>
            <Or><Elapsed><Universal:time_fix/></Elapsed><Gt><Arg Name="NeedCommsTime"/></Gt></Or>
        </When>

        <Call RefId="NeedComms"/>

        <Assign><Sequence/><Arg Name="StartFromSurface"/><True/></Assign>

    </Aggregate>

    <!-- Set default mass position -->

    <Guidance:Mass>
        <Parallel/>
        <Setting><Guidance:Mass.position/><Control:VerticalControl.massDefault/></Setting>
    </Guidance:Mass>

    <!-- Start mission sequence -->

    <Call Id="StartingMission" RefId="SurfaceComms"/>
    
    <Insert Filename="Insert/Science.xml"></Insert>

    <Aggregate Id="InitialDive">

        <Description>
            Descend from the surface to approach depth using the thruster. Limit pitch.
        </Description>

        <When>
            <Arg Name="StartFromSurface"/>
        </When>

        <Assign><Parallel/><Control:VerticalControl.pitchLimit/><Arg Name="PitchLimit"/></Assign>

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

        <Guidance:SetSpeed>
            <Parallel/>
            <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>1.0</Value></Setting>
        </Guidance:SetSpeed>
        
        <Guidance:Point>
            <Setting><Guidance:Point.rudderAngle/><Units:degree/><Value>13</Value></Setting>
        </Guidance:Point>

        <Guidance:Pitch>
            <Sequence/>
            <Timeout Duration="ApproachDepthTimeout">
                <Syslog Severity="Important">Timed out while trying to reach approach depth at current depth of <Universal:depth/><Units:meter/>.</Syslog>
                <Guidance:Execute>
                    <Sequence/>
                    <Setting><Guidance:Execute.command/><String>stop</String></Setting>
                </Guidance:Execute>
            </Timeout>
            <Setting><Guidance:Pitch.depth/><Arg Name="Depth"/></Setting>
        </Guidance:Pitch>

        <Assign><Sequence/><Arg Name="StartFromSurface"/><False/></Assign>

    </Aggregate>

    <Aggregate Id="TargetDepth">

        <Description>
            Maintain target depth and acquire ESP samples.
        </Description>

        <Sequence/>

        <Assign><Parallel/><Control:VerticalControl.depthDeadband/><Arg Name="DepthDeadband"/></Assign>
        
        <Guidance:SetSpeed>
            <Parallel/>
            <Setting><Guidance:SetSpeed.speed/><Arg Name="Speed"/></Setting>
        </Guidance:SetSpeed>
        
        <Guidance:Pitch>
            <Parallel/>
            <Setting><Guidance:Pitch.depth/><Arg Name="Depth"/></Setting>
        </Guidance:Pitch>
        
        <Aggregate Id="Spinout">
            
            <While>
                <Arg Name="Speed"/><Gt><Units:meter_per_second/><Value>0.0</Value></Gt>
            </While>
            
            <Guidance:Buoyancy>
                <Parallel/>
                <Setting><Guidance:Buoyancy.position/><Control:VerticalControl.buoyancyNeutral/></Setting>
            </Guidance:Buoyancy>
            
            <Guidance:Point>
                <Setting><Guidance:Point.rudderAngle/><Units:degree/><Value>13</Value></Setting>
            </Guidance:Point>
            
        </Aggregate>
        
        <Aggregate Id="GrabSamples">
            
            <Sequence/>
            
            <Insert Filename="Insert/SampleAtDepth.xml"/>
            
            <Assign><Sequence/><Arg Name="SampleAtDepth:TargetDepth"/><Arg Name="Depth"/></Assign>
            
            <Assign><Sequence/><Arg Name="SampleAtDepth:SettleTime"/><Arg Name="WaitBeforeSample"/></Assign>
            
            <Aggregate Id="Sample1">
                <Break>
                    <IsNaN><Arg Name="ESPCartridgeType_1"/></IsNaN>
                </Break>
                
                <Assign><Sequence/><Arg Name="SampleAtDepth:ESPCartridgeType"/><Arg Name="ESPCartridgeType_1"/></Assign>
                
                <Call Id="sampling" RefId="SampleAtDepth"/>
            </Aggregate>

            
            <Aggregate Id="Sample2">
                <Break>
                    <IsNaN><Arg Name="ESPCartridgeType_2"/></IsNaN>
                </Break>
                
                <Assign><Sequence/><Arg Name="SampleAtDepth:ESPCartridgeType"/><Arg Name="ESPCartridgeType_2"/></Assign>
                
                <Call Id="sampling" RefId="SampleAtDepth"/>
            </Aggregate>

            
            <Aggregate Id="Sample3">
                <Break>
                    <IsNaN><Arg Name="ESPCartridgeType_3"/></IsNaN>
                </Break>

                <Assign><Sequence/><Arg Name="SampleAtDepth:ESPCartridgeType"/><Arg Name="ESPCartridgeType_3"/></Assign>
                
                <Call Id="sampling" RefId="SampleAtDepth"/>
            </Aggregate>

            
            <Aggregate Id="Sample4">
                <Break>
                    <IsNaN><Arg Name="ESPCartridgeType_4"/></IsNaN>
                </Break>

                <Assign><Sequence/><Arg Name="SampleAtDepth:ESPCartridgeType"/><Arg Name="ESPCartridgeType_4"/></Assign>

                <Call Id="sampling" RefId="SampleAtDepth"/>
            </Aggregate>

        </Aggregate>

    </Aggregate>

</Mission>


2019-07-16T06:05:51.035Z,1563257151.035 [CommandLine](IMPORTANT): Loaded ./Missions/sample_kiss.xml
2019-07-16T06:05:52.811Z,1563257152.811 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:05:55.639Z,1563257155.639 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:05:58.871Z,1563257158.871 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:06:01.699Z,1563257161.699 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:06:01.861Z,1563257161.861 [CommandLine](IMPORTANT): got command run
2019-07-16T06:06:01.862Z,1563257161.862 [CommandLine](IMPORTANT): Running 
2019-07-16T06:06:02.128Z,1563257162.128 [Default] Stopped
2019-07-16T06:06:02.128Z,1563257162.128 [Default](DEBUG): Aggregate::uninitialize Default
2019-07-16T06:06:02.128Z,1563257162.128 [Default:B.GoToSurface] Stopped
2019-07-16T06:06:02.128Z,1563257162.128 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-07-16T06:06:02.129Z,1563257162.129 [Default:CheckIn] Stopped
2019-07-16T06:06:02.129Z,1563257162.129 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-07-16T06:06:02.129Z,1563257162.129 [Default:CheckIn:Read_GPS] Stopped
2019-07-16T06:06:02.129Z,1563257162.129 [MissionManager](IMPORTANT): Started mission sample_kiss
2019-07-16T06:06:02.129Z,1563257162.129 [sample_kiss] Running Loop=1
2019-07-16T06:06:02.129Z,1563257162.129 [sample_kiss](DEBUG): Aggregate::initialize sample_kiss
2019-07-16T06:06:02.129Z,1563257162.129 [sample_kiss:A.AbortSample] Running Loop=1
2019-07-16T06:06:02.129Z,1563257162.129 [sample_kiss:A.AbortSample](INFO): Initializing AbortSample.
2019-07-16T06:06:02.130Z,1563257162.130 [sample_kiss:F.Mass] Running Loop=1
2019-07-16T06:06:02.130Z,1563257162.130 [sample_kiss:F.Mass](DEBUG): Initialize.
2019-07-16T06:06:02.130Z,1563257162.130 [sample_kiss:Science] Running Loop=1
2019-07-16T06:06:02.130Z,1563257162.130 [sample_kiss:Science](DEBUG): Aggregate::initialize sample_kiss:Science
2019-07-16T06:06:02.130Z,1563257162.130 [sample_kiss:Science:A] Running Loop=1
2019-07-16T06:06:02.130Z,1563257162.130 [sample_kiss:Science:B] Running Loop=1
2019-07-16T06:06:02.130Z,1563257162.130 [sample_kiss:Science:C] Running Loop=1
2019-07-16T06:06:02.130Z,1563257162.130 [sample_kiss:Science:D] Running Loop=1
2019-07-16T06:06:02.130Z,1563257162.130 [sample_kiss:Science:E] Running Loop=1
2019-07-16T06:06:02.130Z,1563257162.130 [sample_kiss:Science:F] Running Loop=1
2019-07-16T06:06:02.130Z,1563257162.130 [sample_kiss:Science:G] Running Loop=1
2019-07-16T06:06:02.131Z,1563257162.131 [sample_kiss:Science:H] Running Loop=1
2019-07-16T06:06:02.131Z,1563257162.131 [sample_kiss:Science:Read_Oil] Running Loop=1
2019-07-16T06:06:02.131Z,1563257162.131 [sample_kiss:Science:PeakDetectChl] Running Loop=1
2019-07-16T06:06:02.132Z,1563257162.132 [sample_kiss:Science:PeakDetectChl](DEBUG): Aggregate::initialize sample_kiss:Science:PeakDetectChl
2019-07-16T06:06:02.132Z,1563257162.132 [sample_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2019-07-16T06:06:02.132Z,1563257162.132 [sample_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-16T06:06:02.133Z,1563257162.133 [sample_kiss:Science:HighestChlPeakReport] Running Loop=1
2019-07-16T06:06:02.133Z,1563257162.133 [sample_kiss:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize sample_kiss:Science:HighestChlPeakReport
2019-07-16T06:06:02.133Z,1563257162.133 [sample_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2019-07-16T06:06:02.133Z,1563257162.133 [sample_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2019-07-16T06:06:02.134Z,1563257162.134 [sample_kiss:Science:PeakDetectNO3] Running Loop=1
2019-07-16T06:06:02.134Z,1563257162.134 [sample_kiss:Science:PeakDetectNO3](DEBUG): Aggregate::initialize sample_kiss:Science:PeakDetectNO3
2019-07-16T06:06:02.135Z,1563257162.135 [sample_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2019-07-16T06:06:02.135Z,1563257162.135 [sample_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-16T06:06:02.136Z,1563257162.136 [sample_kiss:Science:PeakDetectOil] Running Loop=1
2019-07-16T06:06:02.136Z,1563257162.136 [sample_kiss:Science:PeakDetectOil](DEBUG): Aggregate::initialize sample_kiss:Science:PeakDetectOil
2019-07-16T06:06:02.136Z,1563257162.136 [sample_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2019-07-16T06:06:02.137Z,1563257162.137 [sample_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-16T06:06:02.138Z,1563257162.138 [sample_kiss:Science:PeakDetectFDOM] Running Loop=1
2019-07-16T06:06:02.138Z,1563257162.138 [sample_kiss:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize sample_kiss:Science:PeakDetectFDOM
2019-07-16T06:06:02.138Z,1563257162.138 [sample_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2019-07-16T06:06:02.138Z,1563257162.138 [sample_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-16T06:06:02.140Z,1563257162.140 [sample_kiss:C] Running Loop=1
2019-07-16T06:06:02.141Z,1563257162.141 [sample_kiss:InitialDive] Running Loop=1
2019-07-16T06:06:02.141Z,1563257162.141 [sample_kiss:InitialDive](DEBUG): Aggregate::initialize sample_kiss:InitialDive
2019-07-16T06:06:02.141Z,1563257162.141 [sample_kiss:InitialDive:A] Running Loop=1
2019-07-16T06:06:02.141Z,1563257162.141 [sample_kiss:InitialDive:B.Buoyancy] Running Loop=1
2019-07-16T06:06:02.141Z,1563257162.141 [sample_kiss:InitialDive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-07-16T06:06:02.141Z,1563257162.141 [sample_kiss:InitialDive:C.SetSpeed] Running Loop=1
2019-07-16T06:06:02.141Z,1563257162.141 [sample_kiss:InitialDive:C.SetSpeed](DEBUG): Initialize.
2019-07-16T06:06:02.141Z,1563257162.141 [sample_kiss:InitialDive:D.Point] Running Loop=1
2019-07-16T06:06:02.141Z,1563257162.141 [sample_kiss:InitialDive:D.Point](DEBUG): Initialize.
2019-07-16T06:06:02.142Z,1563257162.142 [sample_kiss:InitialDive:E.Pitch] Running Loop=1
2019-07-16T06:06:02.142Z,1563257162.142 [sample_kiss:InitialDive:E.Pitch](DEBUG): Initialize.
2019-07-16T06:06:02.143Z,1563257162.143 [sample_kiss:InitialDive:D.Point] Running Loop=1
2019-07-16T06:06:02.143Z,1563257162.143 [sample_kiss:InitialDive:C.SetSpeed] Running Loop=1
2019-07-16T06:06:02.143Z,1563257162.143 [sample_kiss:InitialDive:B.Buoyancy] Running Loop=1
2019-07-16T06:06:02.144Z,1563257162.144 [sample_kiss:InitialDive:A] Running Loop=1
2019-07-16T06:06:02.144Z,1563257162.144 [sample_kiss:Science] Running Loop=1
2019-07-16T06:06:02.145Z,1563257162.145 [sample_kiss:Science:PeakDetectFDOM] Stopped
2019-07-16T06:06:02.145Z,1563257162.145 [sample_kiss:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize sample_kiss:Science:PeakDetectFDOM
2019-07-16T06:06:02.145Z,1563257162.145 [sample_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2019-07-16T06:06:02.145Z,1563257162.145 [sample_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-16T06:06:02.145Z,1563257162.145 [sample_kiss:Science:PeakDetectOil] Stopped
2019-07-16T06:06:02.146Z,1563257162.146 [sample_kiss:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize sample_kiss:Science:PeakDetectOil
2019-07-16T06:06:02.146Z,1563257162.146 [sample_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2019-07-16T06:06:02.146Z,1563257162.146 [sample_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-16T06:06:02.146Z,1563257162.146 [sample_kiss:Science:PeakDetectNO3] Stopped
2019-07-16T06:06:02.146Z,1563257162.146 [sample_kiss:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize sample_kiss:Science:PeakDetectNO3
2019-07-16T06:06:02.146Z,1563257162.146 [sample_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2019-07-16T06:06:02.146Z,1563257162.146 [sample_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-16T06:06:02.146Z,1563257162.146 [sample_kiss:Science:HighestChlPeakReport] Stopped
2019-07-16T06:06:02.146Z,1563257162.146 [sample_kiss:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize sample_kiss:Science:HighestChlPeakReport
2019-07-16T06:06:02.146Z,1563257162.146 [sample_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2019-07-16T06:06:02.146Z,1563257162.146 [sample_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2019-07-16T06:06:02.146Z,1563257162.146 [sample_kiss:Science:PeakDetectChl] Stopped
2019-07-16T06:06:02.147Z,1563257162.147 [sample_kiss:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize sample_kiss:Science:PeakDetectChl
2019-07-16T06:06:02.147Z,1563257162.147 [sample_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2019-07-16T06:06:02.147Z,1563257162.147 [sample_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-16T06:06:02.147Z,1563257162.147 [sample_kiss:Science:Read_Oil] Stopped
2019-07-16T06:06:02.147Z,1563257162.147 [sample_kiss:Science:H] Stopped
2019-07-16T06:06:02.147Z,1563257162.147 [sample_kiss:Science:G] Running Loop=1
2019-07-16T06:06:02.148Z,1563257162.148 [sample_kiss:Science:G](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2019-07-16T06:06:02.148Z,1563257162.148 [sample_kiss:Science:F] Stopped
2019-07-16T06:06:02.148Z,1563257162.148 [sample_kiss:Science:E] Stopped
2019-07-16T06:06:02.148Z,1563257162.148 [sample_kiss:Science:D] Stopped
2019-07-16T06:06:02.148Z,1563257162.148 [sample_kiss:Science:C] Stopped
2019-07-16T06:06:02.148Z,1563257162.148 [sample_kiss:Science:B] Stopped
2019-07-16T06:06:02.148Z,1563257162.148 [sample_kiss:Science:A] Stopped
2019-07-16T06:06:02.148Z,1563257162.148 [sample_kiss:F.Mass] Running Loop=1
2019-07-16T06:06:02.149Z,1563257162.149 [sample_kiss:C] Stopped
2019-07-16T06:06:02.149Z,1563257162.149 [sample_kiss:D] Running Loop=1
2019-07-16T06:06:02.149Z,1563257162.149 [sample_kiss:A.AbortSample] Running Loop=1
2019-07-16T06:06:02.526Z,1563257162.526 [sample_kiss:D] Stopped
2019-07-16T06:06:02.526Z,1563257162.526 [sample_kiss:StartingMission] Running Loop=1
2019-07-16T06:06:02.526Z,1563257162.526 [sample_kiss:StartingMission](DEBUG): Aggregate::initialize sample_kiss:StartingMission
2019-07-16T06:06:02.927Z,1563257162.927 [sample_kiss:SurfaceComms] Running Loop=1
2019-07-16T06:06:02.927Z,1563257162.927 [sample_kiss:SurfaceComms](DEBUG): Aggregate::initialize sample_kiss:SurfaceComms
2019-07-16T06:06:02.927Z,1563257162.927 [sample_kiss:SurfaceComms:A] Running Loop=1
2019-07-16T06:06:02.927Z,1563257162.927 [sample_kiss:SurfaceComms:A](DEBUG): Aggregate::initialize sample_kiss:SurfaceComms:A
2019-07-16T06:06:03.321Z,1563257163.321 [sample_kiss:NeedComms] Running Loop=1
2019-07-16T06:06:03.322Z,1563257163.322 [sample_kiss:NeedComms](DEBUG): Aggregate::initialize sample_kiss:NeedComms
2019-07-16T06:06:03.322Z,1563257163.322 [sample_kiss:NeedComms:B.GoToSurface] Running Loop=1
2019-07-16T06:06:03.322Z,1563257163.322 [sample_kiss:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-07-16T06:06:03.322Z,1563257163.322 [sample_kiss:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2019-07-16T06:06:03.323Z,1563257163.323 [sample_kiss:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2019-07-16T06:06:03.323Z,1563257163.323 [sample_kiss:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2019-07-16T06:06:03.324Z,1563257163.323 [sample_kiss:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-07-16T06:06:03.324Z,1563257163.324 [sample_kiss:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-07-16T06:06:03.324Z,1563257163.324 [sample_kiss:NeedComms:A] Running Loop=1
2019-07-16T06:06:03.325Z,1563257163.325 [sample_kiss:NeedComms:A](INFO): last time_fix was: 1563256832.000000 second since 1970/01/01T00:00:00Z 
2019-07-16T06:06:03.325Z,1563257163.325 [sample_kiss:NeedComms:A] Stopped
2019-07-16T06:06:03.744Z,1563257163.744 [sample_kiss:NeedComms:C] Running Loop=1
2019-07-16T06:06:04.142Z,1563257164.142 [sample_kiss:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-07-16T06:06:04.527Z,1563257164.527 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:06:04.560Z,1563257164.560 [sample_kiss:InitialDive:E.Pitch] Stopped
2019-07-16T06:06:04.560Z,1563257164.560 [sample_kiss:InitialDive:F] Running Loop=1
2019-07-16T06:06:04.955Z,1563257164.955 [sample_kiss:InitialDive:F] Stopped
2019-07-16T06:06:04.956Z,1563257164.956 [sample_kiss:InitialDive](INFO): Completed sample_kiss:InitialDive
2019-07-16T06:06:04.956Z,1563257164.956 [sample_kiss:InitialDive] Stopped
2019-07-16T06:06:04.956Z,1563257164.956 [sample_kiss:InitialDive](DEBUG): Aggregate::uninitialize sample_kiss:InitialDive
2019-07-16T06:06:04.956Z,1563257164.956 [sample_kiss:InitialDive:A] Stopped
2019-07-16T06:06:04.956Z,1563257164.956 [sample_kiss:InitialDive:B.Buoyancy] Stopped
2019-07-16T06:06:04.956Z,1563257164.956 [sample_kiss:InitialDive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2019-07-16T06:06:04.957Z,1563257164.957 [sample_kiss:InitialDive:C.SetSpeed] Stopped
2019-07-16T06:06:04.957Z,1563257164.957 [sample_kiss:InitialDive:C.SetSpeed](DEBUG): Uninitialize.
2019-07-16T06:06:04.957Z,1563257164.957 [sample_kiss:InitialDive:D.Point] Stopped
2019-07-16T06:06:06.547Z,1563257166.547 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:06:08.567Z,1563257168.567 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:06:11.799Z,1563257171.799 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:06:14.627Z,1563257174.627 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:06:17.857Z,1563257177.857 [CommandLine](IMPORTANT): got command show stack
2019-07-16T06:06:17.857Z,1563257177.857 [CommandLine](IMPORTANT): Behavior Stack:

2019-07-16T06:06:17.857Z,1563257177.857 [sample_kiss](IMPORTANT): Priority 0: sample_kiss:A.AbortSample
2019-07-16T06:06:17.858Z,1563257177.858 [sample_kiss:NeedComms](IMPORTANT): Priority 1: sample_kiss:NeedComms:B.GoToSurface
2019-07-16T06:06:17.858Z,1563257177.858 [sample_kiss:NeedComms](IMPORTANT): Priority 2: sample_kiss:NeedComms:C
2019-07-16T06:06:17.858Z,1563257177.858 [sample_kiss](IMPORTANT): Priority 3: sample_kiss:F.Mass
2019-07-16T06:06:17.859Z,1563257177.859 [sample_kiss:Science](IMPORTANT): Priority 4: sample_kiss:Science:G
2019-07-16T06:06:17.863Z,1563257177.863 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:06:20.687Z,1563257180.687 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:06:23.915Z,1563257183.915 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:06:26.743Z,1563257186.743 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:06:29.575Z,1563257189.575 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:06:31.591Z,1563257191.591 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:06:34.823Z,1563257194.823 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:06:37.655Z,1563257197.655 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:06:40.883Z,1563257200.883 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:06:43.711Z,1563257203.711 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:06:46.943Z,1563257206.943 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:06:49.775Z,1563257209.775 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:06:52.603Z,1563257212.603 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:06:54.619Z,1563257214.619 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:06:57.851Z,1563257217.851 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:07:00.679Z,1563257220.679 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:07:03.911Z,1563257223.911 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:07:06.739Z,1563257226.739 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:07:09.971Z,1563257229.971 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:07:12.799Z,1563257232.799 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:07:15.635Z,1563257235.635 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:07:17.651Z,1563257237.651 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:07:19.671Z,1563257239.671 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:07:22.903Z,1563257242.903 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:07:25.731Z,1563257245.731 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:07:28.967Z,1563257248.967 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:07:30.580Z,1563257250.580 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-16T06:07:30.581Z,1563257250.581 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 15
2019-07-16T06:07:30.581Z,1563257250.581 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-16T06:07:30.624Z,1563257250.624 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-16T06:07:31.034Z,1563257251.034 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-16T06:07:31.034Z,1563257251.034 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 15
2019-07-16T06:07:31.787Z,1563257251.787 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:07:35.023Z,1563257255.023 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:07:37.847Z,1563257257.847 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:07:39.516Z,1563257259.516 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-16T06:07:39.516Z,1563257259.516 [WetLabsBB2FL] No Fault, FailCount= 5
2019-07-16T06:07:39.604Z,1563257259.604 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-16T06:07:39.604Z,1563257259.604 [WetLabsBB2FL](INFO): Powering up
2019-07-16T06:07:40.675Z,1563257260.675 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:07:42.695Z,1563257262.695 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:07:44.719Z,1563257264.719 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:07:44.895Z,1563257264.895 [WetLabsBB2FL] Communications Fault, FailCount= 1
2019-07-16T06:07:44.895Z,1563257264.895 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-16T06:07:45.188Z,1563257265.188 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-16T06:07:45.395Z,1563257265.395 [WetLabsBB2FL](INFO): Powering down
2019-07-16T06:07:46.362Z,1563257266.362 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-16T06:07:46.362Z,1563257266.362 [WetLabsBB2FL] No Fault, FailCount= 1
2019-07-16T06:07:46.608Z,1563257266.608 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-16T06:07:46.608Z,1563257266.608 [WetLabsBB2FL](INFO): Powering up
2019-07-16T06:07:47.951Z,1563257267.951 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:07:50.788Z,1563257270.788 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:07:51.899Z,1563257271.899 [WetLabsBB2FL] Communications Fault, FailCount= 2
2019-07-16T06:07:51.899Z,1563257271.899 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-16T06:07:52.007Z,1563257272.007 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-16T06:07:52.399Z,1563257272.399 [WetLabsBB2FL](INFO): Powering down
2019-07-16T06:07:53.224Z,1563257273.224 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-16T06:07:53.224Z,1563257273.224 [WetLabsBB2FL] No Fault, FailCount= 2
2019-07-16T06:07:53.612Z,1563257273.612 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-16T06:07:53.612Z,1563257273.612 [WetLabsBB2FL](INFO): Powering up
2019-07-16T06:07:54.007Z,1563257274.007 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:07:56.835Z,1563257276.835 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:07:58.913Z,1563257278.913 [WetLabsBB2FL] Communications Fault, FailCount= 3
2019-07-16T06:07:58.913Z,1563257278.913 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-16T06:07:59.284Z,1563257279.284 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-16T06:07:59.411Z,1563257279.411 [WetLabsBB2FL](INFO): Powering down
2019-07-16T06:08:00.067Z,1563257280.067 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:08:00.509Z,1563257280.509 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-16T06:08:00.509Z,1563257280.509 [WetLabsBB2FL] No Fault, FailCount= 3
2019-07-16T06:08:00.624Z,1563257280.624 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-16T06:08:00.624Z,1563257280.624 [WetLabsBB2FL](INFO): Powering up
2019-07-16T06:08:02.903Z,1563257282.903 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:08:05.727Z,1563257285.727 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:08:05.923Z,1563257285.923 [WetLabsBB2FL] Communications Fault, FailCount= 4
2019-07-16T06:08:05.923Z,1563257285.923 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-16T06:08:06.171Z,1563257286.171 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-16T06:08:06.423Z,1563257286.423 [WetLabsBB2FL](INFO): Powering down
2019-07-16T06:08:07.359Z,1563257287.359 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-16T06:08:07.359Z,1563257287.359 [WetLabsBB2FL] No Fault, FailCount= 4
2019-07-16T06:08:07.636Z,1563257287.636 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-16T06:08:07.636Z,1563257287.636 [WetLabsBB2FL](INFO): Powering up
2019-07-16T06:08:07.747Z,1563257287.747 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:08:10.975Z,1563257290.975 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:08:12.943Z,1563257292.943 [WetLabsBB2FL] Communications Fault, FailCount= 5
2019-07-16T06:08:12.943Z,1563257292.943 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-16T06:08:13.030Z,1563257293.030 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-16T06:08:13.030Z,1563257293.030 [CBIT](FAULT): Communications Fault in component: WetLabsBB2FL
2019-07-16T06:08:13.443Z,1563257293.443 [WetLabsBB2FL](INFO): Powering down
2019-07-16T06:08:13.803Z,1563257293.803 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:08:17.039Z,1563257297.039 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:08:19.867Z,1563257299.867 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:08:23.095Z,1563257303.095 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:08:24.529Z,1563257304.529 [CommandLine](IMPORTANT): got command show stack
2019-07-16T06:08:24.529Z,1563257304.529 [CommandLine](IMPORTANT): Behavior Stack:

2019-07-16T06:08:24.529Z,1563257304.529 [sample_kiss](IMPORTANT): Priority 0: sample_kiss:A.AbortSample
2019-07-16T06:08:24.530Z,1563257304.530 [sample_kiss:NeedComms](IMPORTANT): Priority 1: sample_kiss:NeedComms:B.GoToSurface
2019-07-16T06:08:24.530Z,1563257304.530 [sample_kiss:NeedComms](IMPORTANT): Priority 2: sample_kiss:NeedComms:C
2019-07-16T06:08:24.530Z,1563257304.530 [sample_kiss](IMPORTANT): Priority 3: sample_kiss:F.Mass
2019-07-16T06:08:24.531Z,1563257304.531 [sample_kiss:Science](IMPORTANT): Priority 4: sample_kiss:Science:G
2019-07-16T06:08:25.927Z,1563257305.927 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:08:28.751Z,1563257308.751 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:08:30.775Z,1563257310.775 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:08:34.003Z,1563257314.003 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:08:36.835Z,1563257316.835 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:08:37.429Z,1563257317.429 [CommandLine](IMPORTANT): got command stop
2019-07-16T06:08:37.429Z,1563257317.429 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-07-16T06:08:37.666Z,1563257317.666 [MissionManager](INFO): MissionManager is completed.
2019-07-16T06:08:37.666Z,1563257317.666 [MissionManager](INFO): Uninitializing Mission sample_kiss
2019-07-16T06:08:37.666Z,1563257317.666 [sample_kiss] Stopped
2019-07-16T06:08:37.666Z,1563257317.666 [sample_kiss](DEBUG): Aggregate::uninitialize sample_kiss
2019-07-16T06:08:37.666Z,1563257317.666 [sample_kiss:A.AbortSample] Stopped
2019-07-16T06:08:37.667Z,1563257317.667 [sample_kiss:A.AbortSample](INFO): Uninitializing AbortSample.
2019-07-16T06:08:37.667Z,1563257317.667 [sample_kiss:NeedComms] Stopped
2019-07-16T06:08:37.667Z,1563257317.667 [sample_kiss:NeedComms](DEBUG): Aggregate::uninitialize sample_kiss:NeedComms
2019-07-16T06:08:37.667Z,1563257317.667 [sample_kiss:NeedComms:B.GoToSurface] Stopped
2019-07-16T06:08:37.667Z,1563257317.667 [sample_kiss:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-07-16T06:08:37.667Z,1563257317.667 [sample_kiss:NeedComms:C] Stopped
2019-07-16T06:08:37.667Z,1563257317.667 [sample_kiss:SurfaceComms] Stopped
2019-07-16T06:08:37.667Z,1563257317.667 [sample_kiss:SurfaceComms](DEBUG): Aggregate::uninitialize sample_kiss:SurfaceComms
2019-07-16T06:08:37.667Z,1563257317.667 [sample_kiss:SurfaceComms:A] Stopped
2019-07-16T06:08:37.668Z,1563257317.668 [sample_kiss:SurfaceComms:A](DEBUG): Aggregate::uninitialize sample_kiss:SurfaceComms:A
2019-07-16T06:08:37.668Z,1563257317.668 [sample_kiss:F.Mass] Stopped
2019-07-16T06:08:37.668Z,1563257317.668 [sample_kiss:F.Mass](DEBUG): Uninitialize.
2019-07-16T06:08:37.668Z,1563257317.668 [sample_kiss:StartingMission] Stopped
2019-07-16T06:08:37.668Z,1563257317.668 [sample_kiss:StartingMission](DEBUG): Aggregate::uninitialize sample_kiss:StartingMission
2019-07-16T06:08:37.668Z,1563257317.668 [sample_kiss:Science] Stopped
2019-07-16T06:08:37.668Z,1563257317.668 [sample_kiss:Science](DEBUG): Aggregate::uninitialize sample_kiss:Science
2019-07-16T06:08:37.668Z,1563257317.668 [sample_kiss:Science:G] Stopped
2019-07-16T06:08:38.072Z,1563257318.072 [MissionManager](IMPORTANT): Started mission Default
2019-07-16T06:08:38.072Z,1563257318.072 [Default] Running Loop=1
2019-07-16T06:08:38.072Z,1563257318.072 [Default](DEBUG): Aggregate::initialize Default
2019-07-16T06:08:38.072Z,1563257318.072 [Default:B.GoToSurface] Running Loop=1
2019-07-16T06:08:38.072Z,1563257318.072 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-07-16T06:08:38.073Z,1563257318.073 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-07-16T06:08:38.073Z,1563257318.073 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-07-16T06:08:38.073Z,1563257318.073 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-07-16T06:08:38.074Z,1563257318.074 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-07-16T06:08:38.074Z,1563257318.074 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-07-16T06:08:38.075Z,1563257318.075 [Default:A.Wait] Running Loop=1
2019-07-16T06:08:38.075Z,1563257318.075 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-07-16T06:08:40.063Z,1563257320.063 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:08:42.895Z,1563257322.895 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:08:46.123Z,1563257326.123 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:08:48.955Z,1563257328.955 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:08:51.389Z,1563257331.389 [Default:A.Wait](INFO): Done Waiting.
2019-07-16T06:08:51.389Z,1563257331.389 [Default:A.Wait] Stopped
2019-07-16T06:08:51.389Z,1563257331.389 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-07-16T06:08:51.779Z,1563257331.779 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:08:51.805Z,1563257331.805 [Default:CheckIn] Running Loop=1
2019-07-16T06:08:51.805Z,1563257331.805 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-07-16T06:08:51.805Z,1563257331.805 [Default:CheckIn:Read_GPS] Running Loop=1
2019-07-16T06:08:53.807Z,1563257333.807 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:08:55.823Z,1563257335.823 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:08:59.051Z,1563257339.051 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:09:01.879Z,1563257341.879 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:09:05.119Z,1563257345.119 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:09:07.951Z,1563257347.951 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:09:08.529Z,1563257348.529 [CommandLine](IMPORTANT): got command load ./Missions/sample_kiss.xml
2019-07-16T06:09:08.529Z,1563257348.529 [MissionManager](INFO): Loading Mission: ./Missions/sample_kiss.xml
2019-07-16T06:09:08.636Z,1563257348.636 [MissionManager](INFO): DefineArg sample_kiss.MissionTimeout = 4.000000 h
2019-07-16T06:09:08.638Z,1563257348.638 [MissionManager](INFO): DefineArg sample_kiss.NeedCommsTime = 240.000000 min
2019-07-16T06:09:08.655Z,1563257348.655 [MissionManager](INFO): DefineArg sample_kiss.Depth = 0.180000 m
2019-07-16T06:09:08.657Z,1563257348.657 [MissionManager](INFO): DefineArg sample_kiss.ESPCartridgeType_1 = -1.000000 count
2019-07-16T06:09:08.660Z,1563257348.660 [MissionManager](INFO): DefineArg sample_kiss.ESPCartridgeType_2 = -16.000000 count
2019-07-16T06:09:08.662Z,1563257348.662 [MissionManager](INFO): DefineArg sample_kiss.ESPCartridgeType_3 = nan count
2019-07-16T06:09:08.664Z,1563257348.664 [MissionManager](INFO): DefineArg sample_kiss.ESPCartridgeType_4 = nan count
2019-07-16T06:09:08.666Z,1563257348.666 [MissionManager](INFO): DefineArg sample_kiss.WaitBeforeSample = 3.000000 min
2019-07-16T06:09:08.668Z,1563257348.668 [MissionManager](INFO): DefineArg sample_kiss.ApproachDepthTimeout = 20.000000 min
2019-07-16T06:09:08.670Z,1563257348.670 [MissionManager](INFO): DefineArg sample_kiss.DepthDeadband = 0.100000 m
2019-07-16T06:09:08.672Z,1563257348.672 [MissionManager](INFO): DefineArg sample_kiss.Speed = 0.000000 m/s
2019-07-16T06:09:08.674Z,1563257348.674 [MissionManager](INFO): DefineArg sample_kiss.MaxDepth = 5.000000 m
2019-07-16T06:09:08.677Z,1563257348.677 [MissionManager](INFO): DefineArg sample_kiss.PitchLimit = 20.000000 arcdeg
2019-07-16T06:09:08.679Z,1563257348.679 [MissionManager](INFO): DefineArg sample_kiss.MinOffshore = 1.000000 km
2019-07-16T06:09:08.681Z,1563257348.681 [MissionManager](INFO): DefineOutput sample_kiss.StartFromSurface = 1 bool
2019-07-16T06:09:08.682Z,1563257348.682 [sample_kiss:A.AbortSample](DEBUG): Construct.
2019-07-16T06:09:08.682Z,1563257348.682 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-07-16T06:09:08.718Z,1563257348.718 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.DiveInterval = 3.000000 h
2019-07-16T06:09:08.720Z,1563257348.720 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.WaitForPitchUp = 10.000000 min
2019-07-16T06:09:08.723Z,1563257348.723 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-07-16T06:09:08.725Z,1563257348.725 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.SurfaceDepthRate = nan m/s
2019-07-16T06:09:08.737Z,1563257348.737 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-07-16T06:09:08.739Z,1563257348.739 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.GPSTimeout = 7.000000 min
2019-07-16T06:09:08.741Z,1563257348.741 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.CommsTimeout = 30.000000 min
2019-07-16T06:09:08.813Z,1563257348.813 [sample_kiss:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-07-16T06:09:08.867Z,1563257348.867 [sample_kiss:F.Mass](DEBUG): Construct.
2019-07-16T06:09:08.870Z,1563257348.870 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2019-07-16T06:09:09.189Z,1563257349.189 [MissionManager](INFO): DefineArg sample_kiss:Science.SampleISUS = 0 bool
2019-07-16T06:09:09.192Z,1563257349.192 [MissionManager](INFO): DefineArg sample_kiss:Science.SampleISUSmaxPitch = 60.000000 arcdeg
2019-07-16T06:09:09.194Z,1563257349.194 [MissionManager](INFO): DefineArg sample_kiss:Science.SampleISUSminPitch = -60.000000 arcdeg
2019-07-16T06:09:09.209Z,1563257349.209 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakDetectChlActive = 0 bool
2019-07-16T06:09:09.211Z,1563257349.211 [MissionManager](INFO): DefineArg sample_kiss:Science.TimeWindowPeakReport = nan min
2019-07-16T06:09:09.213Z,1563257349.213 [MissionManager](INFO): DefineArg sample_kiss:Science.HighestChlPeakReportActive = 0 bool
2019-07-16T06:09:09.214Z,1563257349.214 [MissionManager](INFO): DefineArg sample_kiss:Science.PatchTracking = 0 bool
2019-07-16T06:09:09.217Z,1563257349.217 [MissionManager](INFO): DefineArg sample_kiss:Science.FilterWidthHorizontal = 3.000000 count
2019-07-16T06:09:09.219Z,1563257349.219 [MissionManager](INFO): DefineArg sample_kiss:Science.NumProfilesSlidingwindow = 100.000000 count
2019-07-16T06:09:09.221Z,1563257349.221 [MissionManager](INFO): DefineArg sample_kiss:Science.OffPeakFractionHorizontal = 80.000000 %
2019-07-16T06:09:09.223Z,1563257349.223 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakDetectNO3Active = 0 bool
2019-07-16T06:09:09.225Z,1563257349.225 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakDetectOilActive = 0 bool
2019-07-16T06:09:09.226Z,1563257349.226 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakDetectFDOMActive = 0 bool
2019-07-16T06:09:09.228Z,1563257349.228 [MissionManager](INFO): DefineArg sample_kiss:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2019-07-16T06:09:09.230Z,1563257349.230 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledAanderaaO2 = 0.000000 bool
2019-07-16T06:09:09.233Z,1563257349.233 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledNeilBrown = 0.000000 bool
2019-07-16T06:09:09.235Z,1563257349.235 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledSeabird = 0.000000 bool
2019-07-16T06:09:09.238Z,1563257349.238 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledTurbulence_NPS = 0.000000 bool
2019-07-16T06:09:09.240Z,1563257349.240 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledWetLabsBB2FL = 1.000000 bool
2019-07-16T06:09:09.242Z,1563257349.242 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledWetLabsSeaOWL_UV_A = 0.000000 bool
2019-07-16T06:09:09.245Z,1563257349.245 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledWetLabsUBAT = 0.000000 bool
2019-07-16T06:09:09.247Z,1563257349.247 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledISUS = 0.000000 bool
2019-07-16T06:09:09.249Z,1563257349.249 [MissionManager](INFO): DefineArg sample_kiss:Science.LowPassWindowLength = 20.000000 count
2019-07-16T06:09:09.251Z,1563257349.251 [MissionManager](INFO): DefineArg sample_kiss:Science.MedianFilterLen = 5.000000 count
2019-07-16T06:09:09.253Z,1563257349.253 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakChlShallowBound = nan m
2019-07-16T06:09:09.255Z,1563257349.255 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakChlDeepBound = nan m
2019-07-16T06:09:09.257Z,1563257349.257 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakShallowBound = nan m
2019-07-16T06:09:09.259Z,1563257349.260 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakDeepBound = nan m
2019-07-16T06:09:09.262Z,1563257349.262 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakChl = 0.000000 ug/l
2019-07-16T06:09:09.264Z,1563257349.264 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakChlDepth = 0.000000 m
2019-07-16T06:09:09.266Z,1563257349.266 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakChlTemperature = 0.000000 degC
2019-07-16T06:09:09.268Z,1563257349.268 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakChlLatitude = nan arcdeg
2019-07-16T06:09:09.270Z,1563257349.270 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakChlLongitude = nan arcdeg
2019-07-16T06:09:09.273Z,1563257349.273 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakNO3 = 0.000000 umol/l
2019-07-16T06:09:09.275Z,1563257349.275 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakNO3Depth = 0.000000 m
2019-07-16T06:09:09.277Z,1563257349.277 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakNO3Latitude = nan arcdeg
2019-07-16T06:09:09.279Z,1563257349.279 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakNO3Longitude = nan arcdeg
2019-07-16T06:09:09.281Z,1563257349.281 [MissionManager](INFO): DefineOutput sample_kiss:Science.PatchChl = 0.000000 m
2019-07-16T06:09:09.316Z,1563257349.316 [MissionManager](INFO): DefineOutput sample_kiss:Science.PatchChlDepth = 0.000000 m
2019-07-16T06:09:09.318Z,1563257349.318 [MissionManager](INFO): DefineOutput sample_kiss:Science.PatchChlLatitude = nan arcdeg
2019-07-16T06:09:09.320Z,1563257349.320 [MissionManager](INFO): DefineOutput sample_kiss:Science.PatchChlLongitude = nan arcdeg
2019-07-16T06:09:09.323Z,1563257349.323 [MissionManager](INFO): DefineOutput sample_kiss:Science.PatchChlDistance = nan m
2019-07-16T06:09:09.329Z,1563257349.329 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakOil = 0.000000 kg/m3
2019-07-16T06:09:09.335Z,1563257349.335 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakOilDepth = 0.000000 m
2019-07-16T06:09:09.338Z,1563257349.338 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakOilLatitude = nan arcdeg
2019-07-16T06:09:09.344Z,1563257349.344 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakOilLongitude = nan arcdeg
2019-07-16T06:09:09.346Z,1563257349.346 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakFDOM = 0.000000 ppb
2019-07-16T06:09:09.353Z,1563257349.353 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakFDOMDepth = 0.000000 m
2019-07-16T06:09:09.359Z,1563257349.359 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakFDOMLatitude = nan arcdeg
2019-07-16T06:09:09.364Z,1563257349.364 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakFDOMLongitude = nan arcdeg
2019-07-16T06:09:09.366Z,1563257349.366 [MissionManager](INFO): DefineOutput sample_kiss:Science.PatchFDOMDistance = nan m
2019-07-16T06:09:09.394Z,1563257349.394 [sample_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-16T06:09:09.441Z,1563257349.441 [sample_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2019-07-16T06:09:09.462Z,1563257349.462 [sample_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-16T06:09:09.488Z,1563257349.488 [sample_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-16T06:09:09.505Z,1563257349.505 [sample_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-16T06:09:09.582Z,1563257349.582 [sample_kiss:InitialDive:B.Buoyancy](DEBUG): Construct Buoyancy.
2019-07-16T06:09:09.585Z,1563257349.585 [sample_kiss:InitialDive:C.SetSpeed](DEBUG): Construct.
2019-07-16T06:09:09.604Z,1563257349.604 [sample_kiss:InitialDive:D.Point](DEBUG): Construct.
2019-07-16T06:09:09.608Z,1563257349.608 [sample_kiss:InitialDive:E.Pitch](DEBUG): Construct.
2019-07-16T06:09:09.642Z,1563257349.642 [sample_kiss:InitialDive:E.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-07-16T06:09:09.665Z,1563257349.665 [sample_kiss:TargetDepth:C.SetSpeed](DEBUG): Construct.
2019-07-16T06:09:09.668Z,1563257349.668 [sample_kiss:TargetDepth:D.Pitch](DEBUG): Construct.
2019-07-16T06:09:09.690Z,1563257349.690 [sample_kiss:TargetDepth:Spinout:A.Buoyancy](DEBUG): Construct Buoyancy.
2019-07-16T06:09:09.693Z,1563257349.693 [sample_kiss:TargetDepth:Spinout:B.Point](DEBUG): Construct.
2019-07-16T06:09:09.698Z,1563257349.698 [MissionManager](INFO): Inserting Stack: Missions/Insert/SampleAtDepth.xml
2019-07-16T06:09:09.826Z,1563257349.826 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.TargetDepth = 5.000000 m
2019-07-16T06:09:09.828Z,1563257349.828 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.SettleTime = 10.000000 s
2019-07-16T06:09:09.830Z,1563257349.830 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.MaxWaitNotReachingDepth = 3.000000 h
2019-07-16T06:09:09.832Z,1563257349.832 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.RotateOnly = 0.000000 bool
2019-07-16T06:09:09.835Z,1563257349.835 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.UseCANONSampler = 0.000000 bool
2019-07-16T06:09:09.838Z,1563257349.838 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.UseESP = 1.000000 bool
2019-07-16T06:09:09.840Z,1563257349.840 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.ESPCartridgeType = nan count
2019-07-16T06:09:09.842Z,1563257349.842 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.CANONSamplerTriggerTimeout = 1.000000 min
2019-07-16T06:09:09.845Z,1563257349.845 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.CANONSamplerTimeout = 6.000000 min
2019-07-16T06:09:09.847Z,1563257349.847 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.BuoyancyNeutral = 273.999991 cc
2019-07-16T06:09:09.850Z,1563257349.850 [sample_kiss:TargetDepth:GrabSamples:SampleAtDepth:ApproachDepth:B.Pitch](DEBUG): Construct.
2019-07-16T06:09:09.854Z,1563257349.854 [sample_kiss:TargetDepth:GrabSamples:SampleAtDepth:ApproachDepth:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-07-16T06:09:09.857Z,1563257349.857 [sample_kiss:TargetDepth:GrabSamples:SampleAtDepth:SampleWrapper:A.Pitch](DEBUG): Construct.
2019-07-16T06:09:09.863Z,1563257349.863 [sample_kiss:TargetDepth:GrabSamples:SampleAtDepth:SampleWrapper:C.Wait](DEBUG): Construct Wait.
2019-07-16T06:09:09.870Z,1563257349.870 [sample_kiss:TargetDepth:GrabSamples:SampleAtDepth:SampleWrapper:SampleCANONSampler:TriggerCANONSampler:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-07-16T06:09:09.876Z,1563257349.876 [sample_kiss:TargetDepth:GrabSamples:SampleAtDepth:SampleWrapper:SampleCANONSampler:E:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-07-16T06:09:09.935Z,1563257349.935 [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: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="sample_kiss">

    <Description>
        This mission takes ESP sampls at the designated depth.
    </Description>
    
    <DefineArg Name="MissionTimeout"><Description>
        Maximum duration of mission
    </Description><Units:hour/><Value>4</Value></DefineArg>

    <DefineArg Name="NeedCommsTime"><Description>
        How often to surface for communications
    </Description><Units:minute/><Value>240</Value></DefineArg>

    <DefineArg Name="Depth"><Description>
        Depth held during drift mode
    </Description><Units:meter/><Value>0.18</Value></DefineArg>

    <DefineArg Name="ESPCartridgeType_1"><Description>
        Specifies ESP cartridge type code for sample# 1. Set to NaN to skip this sample.
    </Description><Units:count/><Value>-1</Value></DefineArg>
    
    <DefineArg Name="ESPCartridgeType_2"><Description>
        Specifies ESP cartridge type code for sample# 2. Set to NaN to skip this sample.
    </Description><Units:count/><Value>-16</Value></DefineArg>
    
    <DefineArg Name="ESPCartridgeType_3"><Description>
        Specifies ESP cartridge type code for sample# 3. Set to NaN to skip this sample.
    </Description><Units:count/><Value>NaN</Value></DefineArg>
    
    <DefineArg Name="ESPCartridgeType_4"><Description>
        Specifies ESP cartridge type code for sample# 4. Set to NaN to skip this sample.
    </Description><Units:count/><Value>NaN</Value></DefineArg>
    
    <DefineArg Name="WaitBeforeSample"><Description>
        How long to wait between samples. This starts *before* the first sample
        to exercise the SettleTime setting in the insert aggregate.
    </Description><Units:minute/><Value>3</Value></DefineArg>
    
    <DefineArg Name="ApproachDepthTimeout"><Description>
        Maximum time duration for the vehicle to reach the approach depth
    </Description><Units:minute/><Value>20</Value></DefineArg>

    <DefineArg Name="DepthDeadband"><Description>
        How much vertical drift from the specified depth is allowed while sampling.
    </Description><Units:meter/><Value>0.1</Value></DefineArg>

    <DefineArg Name="Speed"><Description>
        Vehicle transit speed
    </Description><Units:meter_per_second/><Value>0</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum allowable depth during the mission
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="PitchLimit"><Description>
        Max vehicle pitch (+/-) when decending from the surface
    </Description><Units:degree/><Value>20</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Description>
        Minimum distance from the shoreline to maintain
    </Description><Units:kilometer/><Value>1</Value></DefineArg>

    <DefineOutput Name="StartFromSurface"><Description>
        Mission variable (don't change). The mission sets this to true after surface comms are done.
    </Description><True/></DefineOutput>
    

    <!-- Mission timeout -->

    <Timeout Duration="MissionTimeout"/>

    <!-- Safety nets and surfacing behaviors -->
    
    <Trigger:AbortSample>
        <Parallel/>
    </Trigger:AbortSample>

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

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

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


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

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

    <Assign><Sequence/><Arg Name="NeedComms:WaitForPitchUp"/><Units:minute/><Value>0</Value></Assign>

    <Aggregate Id="SurfaceComms">

        <When>
            <Called/>
            <Or><Elapsed><Universal:time_fix/></Elapsed><Gt><Arg Name="NeedCommsTime"/></Gt></Or>
        </When>

        <Call RefId="NeedComms"/>

        <Assign><Sequence/><Arg Name="StartFromSurface"/><True/></Assign>

    </Aggregate>

    <!-- Set default mass position -->

    <Guidance:Mass>
        <Parallel/>
        <Setting><Guidance:Mass.position/><Control:VerticalControl.massDefault/></Setting>
    </Guidance:Mass>

    <!-- Start mission sequence -->

    <Call Id="StartingMission" RefId="SurfaceComms"/>
    
    <Insert Filename="Insert/Science.xml"></Insert>

    <Aggregate Id="InitialDive">

        <Description>
            Descend from the surface to approach depth using the thruster. Limit pitch.
        </Description>

        <When>
            <Arg Name="StartFromSurface"/>
        </When>

        <Assign><Parallel/><Control:VerticalControl.pitchLimit/><Arg Name="PitchLimit"/></Assign>

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

        <Guidance:SetSpeed>
            <Parallel/>
            <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>1.0</Value></Setting>
        </Guidance:SetSpeed>
        
        <Guidance:Point>
            <Setting><Guidance:Point.rudderAngle/><Units:degree/><Value>13</Value></Setting>
        </Guidance:Point>

        <Guidance:Pitch>
            <Sequence/>
            <Timeout Duration="ApproachDepthTimeout">
                <Syslog Severity="Important">Timed out while trying to reach approach depth at current depth of <Universal:depth/><Units:meter/>.</Syslog>
                <Guidance:Execute>
                    <Sequence/>
                    <Setting><Guidance:Execute.command/><String>stop</String></Setting>
                </Guidance:Execute>
            </Timeout>
            <Setting><Guidance:Pitch.depth/><Arg Name="Depth"/></Setting>
        </Guidance:Pitch>

        <Assign><Sequence/><Arg Name="StartFromSurface"/><False/></Assign>

    </Aggregate>

    <Aggregate Id="TargetDepth">

        <Description>
            Maintain target depth and acquire ESP samples.
        </Description>

        <Sequence/>

        <Syslog Severity="Important">Target Depth.</Syslog>
        
        <Assign><Parallel/><Control:VerticalControl.depthDeadband/><Arg Name="DepthDeadband"/></Assign>
        
        <Guidance:SetSpeed>
            <Parallel/>
            <Setting><Guidance:SetSpeed.speed/><Arg Name="Speed"/></Setting>
        </Guidance:SetSpeed>
        
        <Guidance:Pitch>
            <Parallel/>
            <Setting><Guidance:Pitch.depth/><Arg Name="Depth"/></Setting>
        </Guidance:Pitch>
        
        <Aggregate Id="Spinout">
            
            <While>
                <Arg Name="Speed"/><Gt><Units:meter_per_second/><Value>0.0</Value></Gt>
            </While>
            
            <Guidance:Buoyancy>
                <Parallel/>
                <Setting><Guidance:Buoyancy.position/><Control:VerticalControl.buoyancyNeutral/></Setting>
            </Guidance:Buoyancy>
            
            <Guidance:Point>
                <Setting><Guidance:Point.rudderAngle/><Units:degree/><Value>13</Value></Setting>
            </Guidance:Point>
            
        </Aggregate>
        
        <Aggregate Id="GrabSamples">
            
            <Sequence/>
            
            <Syslog Severity="Important">Grab Samples.</Syslog>
            
            <Insert Filename="Insert/SampleAtDepth.xml"/>
            
            <Assign><Sequence/><Arg Name="SampleAtDepth:TargetDepth"/><Arg Name="Depth"/></Assign>
            
            <Assign><Sequence/><Arg Name="SampleAtDepth:SettleTime"/><Arg Name="WaitBeforeSample"/></Assign>
            
            <Aggregate Id="Sample1">
                <Break>
                    <IsNaN><Arg Name="ESPCartridgeType_1"/></IsNaN>
                </Break>
                
                <Syslog Severity="Important">Sample 1.</Syslog>
                
                <Assign><Sequence/><Arg Name="SampleAtDepth:ESPCartridgeType"/><Arg Name="ESPCartridgeType_1"/></Assign>
                
                <Call Id="sampling" RefId="SampleAtDepth"/>
            </Aggregate>

            
            <Aggregate Id="Sample2">
                <Break>
                    <IsNaN><Arg Name="ESPCartridgeType_2"/></IsNaN>
                </Break>
                
                <Syslog Severity="Important">Sample 2.</Syslog>
                
                <Assign><Sequence/><Arg Name="SampleAtDepth:ESPCartridgeType"/><Arg Name="ESPCartridgeType_2"/></Assign>
                
                <Call Id="sampling" RefId="SampleAtDepth"/>
            </Aggregate>

            
            <Aggregate Id="Sample3">
                <Break>
                    <IsNaN><Arg Name="ESPCartridgeType_3"/></IsNaN>
                </Break>

                <Syslog Severity="Important">Sample 3.</Syslog>
                
                <Assign><Sequence/><Arg Name="SampleAtDepth:ESPCartridgeType"/><Arg Name="ESPCartridgeType_3"/></Assign>
                
                <Call Id="sampling" RefId="SampleAtDepth"/>
            </Aggregate>

            
            <Aggregate Id="Sample4">
                <Break>
                    <IsNaN><Arg Name="ESPCartridgeType_4"/></IsNaN>
                </Break>

                
                <Syslog Severity="Important">Sample 4.</Syslog>
                
                <Assign><Sequence/><Arg Name="SampleAtDepth:ESPCartridgeType"/><Arg Name="ESPCartridgeType_4"/></Assign>

                <Call Id="sampling" RefId="SampleAtDepth"/>
            </Aggregate>

        </Aggregate>

    </Aggregate>

</Mission>


2019-07-16T06:09:09.936Z,1563257349.936 [CommandLine](IMPORTANT): Loaded ./Missions/sample_kiss.xml
2019-07-16T06:09:11.171Z,1563257351.171 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:09:13.999Z,1563257353.999 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:09:16.831Z,1563257356.831 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:09:18.851Z,1563257358.851 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:09:21.081Z,1563257361.081 [CommandLine](IMPORTANT): got command run
2019-07-16T06:09:21.082Z,1563257361.082 [CommandLine](IMPORTANT): Running 
2019-07-16T06:09:21.288Z,1563257361.288 [Default] Stopped
2019-07-16T06:09:21.288Z,1563257361.288 [Default](DEBUG): Aggregate::uninitialize Default
2019-07-16T06:09:21.288Z,1563257361.288 [Default:B.GoToSurface] Stopped
2019-07-16T06:09:21.288Z,1563257361.288 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-07-16T06:09:21.288Z,1563257361.288 [Default:CheckIn] Stopped
2019-07-16T06:09:21.289Z,1563257361.289 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-07-16T06:09:21.289Z,1563257361.289 [Default:CheckIn:Read_GPS] Stopped
2019-07-16T06:09:21.289Z,1563257361.289 [MissionManager](IMPORTANT): Started mission sample_kiss
2019-07-16T06:09:21.289Z,1563257361.289 [sample_kiss] Running Loop=1
2019-07-16T06:09:21.289Z,1563257361.289 [sample_kiss](DEBUG): Aggregate::initialize sample_kiss
2019-07-16T06:09:21.289Z,1563257361.289 [sample_kiss:A.AbortSample] Running Loop=1
2019-07-16T06:09:21.289Z,1563257361.289 [sample_kiss:A.AbortSample](INFO): Initializing AbortSample.
2019-07-16T06:09:21.290Z,1563257361.290 [sample_kiss:F.Mass] Running Loop=1
2019-07-16T06:09:21.290Z,1563257361.290 [sample_kiss:F.Mass](DEBUG): Initialize.
2019-07-16T06:09:21.290Z,1563257361.290 [sample_kiss:Science] Running Loop=1
2019-07-16T06:09:21.290Z,1563257361.290 [sample_kiss:Science](DEBUG): Aggregate::initialize sample_kiss:Science
2019-07-16T06:09:21.290Z,1563257361.290 [sample_kiss:Science:A] Running Loop=1
2019-07-16T06:09:21.290Z,1563257361.290 [sample_kiss:Science:B] Running Loop=1
2019-07-16T06:09:21.290Z,1563257361.290 [sample_kiss:Science:C] Running Loop=1
2019-07-16T06:09:21.290Z,1563257361.290 [sample_kiss:Science:D] Running Loop=1
2019-07-16T06:09:21.290Z,1563257361.290 [sample_kiss:Science:E] Running Loop=1
2019-07-16T06:09:21.290Z,1563257361.290 [sample_kiss:Science:F] Running Loop=1
2019-07-16T06:09:21.290Z,1563257361.290 [sample_kiss:Science:G] Running Loop=1
2019-07-16T06:09:21.290Z,1563257361.290 [sample_kiss:Science:H] Running Loop=1
2019-07-16T06:09:21.290Z,1563257361.290 [sample_kiss:Science:Read_Oil] Running Loop=1
2019-07-16T06:09:21.291Z,1563257361.291 [sample_kiss:Science:PeakDetectChl] Running Loop=1
2019-07-16T06:09:21.291Z,1563257361.291 [sample_kiss:Science:PeakDetectChl](DEBUG): Aggregate::initialize sample_kiss:Science:PeakDetectChl
2019-07-16T06:09:21.291Z,1563257361.291 [sample_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2019-07-16T06:09:21.291Z,1563257361.291 [sample_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-16T06:09:21.292Z,1563257361.292 [sample_kiss:Science:HighestChlPeakReport] Running Loop=1
2019-07-16T06:09:21.292Z,1563257361.292 [sample_kiss:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize sample_kiss:Science:HighestChlPeakReport
2019-07-16T06:09:21.292Z,1563257361.292 [sample_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2019-07-16T06:09:21.292Z,1563257361.292 [sample_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2019-07-16T06:09:21.293Z,1563257361.293 [sample_kiss:Science:PeakDetectNO3] Running Loop=1
2019-07-16T06:09:21.293Z,1563257361.293 [sample_kiss:Science:PeakDetectNO3](DEBUG): Aggregate::initialize sample_kiss:Science:PeakDetectNO3
2019-07-16T06:09:21.293Z,1563257361.293 [sample_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2019-07-16T06:09:21.293Z,1563257361.293 [sample_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-16T06:09:21.294Z,1563257361.294 [sample_kiss:Science:PeakDetectOil] Running Loop=1
2019-07-16T06:09:21.294Z,1563257361.294 [sample_kiss:Science:PeakDetectOil](DEBUG): Aggregate::initialize sample_kiss:Science:PeakDetectOil
2019-07-16T06:09:21.294Z,1563257361.294 [sample_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2019-07-16T06:09:21.295Z,1563257361.295 [sample_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-16T06:09:21.296Z,1563257361.296 [sample_kiss:Science:PeakDetectFDOM] Running Loop=1
2019-07-16T06:09:21.296Z,1563257361.296 [sample_kiss:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize sample_kiss:Science:PeakDetectFDOM
2019-07-16T06:09:21.296Z,1563257361.296 [sample_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2019-07-16T06:09:21.296Z,1563257361.296 [sample_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-16T06:09:21.297Z,1563257361.297 [sample_kiss:C] Running Loop=1
2019-07-16T06:09:21.298Z,1563257361.298 [sample_kiss:InitialDive] Running Loop=1
2019-07-16T06:09:21.298Z,1563257361.298 [sample_kiss:InitialDive](DEBUG): Aggregate::initialize sample_kiss:InitialDive
2019-07-16T06:09:21.298Z,1563257361.298 [sample_kiss:InitialDive:A] Running Loop=1
2019-07-16T06:09:21.298Z,1563257361.298 [sample_kiss:InitialDive:B.Buoyancy] Running Loop=1
2019-07-16T06:09:21.298Z,1563257361.298 [sample_kiss:InitialDive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-07-16T06:09:21.298Z,1563257361.298 [sample_kiss:InitialDive:C.SetSpeed] Running Loop=1
2019-07-16T06:09:21.298Z,1563257361.298 [sample_kiss:InitialDive:C.SetSpeed](DEBUG): Initialize.
2019-07-16T06:09:21.298Z,1563257361.298 [sample_kiss:InitialDive:D.Point] Running Loop=1
2019-07-16T06:09:21.298Z,1563257361.298 [sample_kiss:InitialDive:D.Point](DEBUG): Initialize.
2019-07-16T06:09:21.299Z,1563257361.299 [sample_kiss:InitialDive:E.Pitch] Running Loop=1
2019-07-16T06:09:21.299Z,1563257361.299 [sample_kiss:InitialDive:E.Pitch](DEBUG): Initialize.
2019-07-16T06:09:21.299Z,1563257361.299 [sample_kiss:InitialDive:D.Point] Running Loop=1
2019-07-16T06:09:21.300Z,1563257361.300 [sample_kiss:InitialDive:C.SetSpeed] Running Loop=1
2019-07-16T06:09:21.300Z,1563257361.300 [sample_kiss:InitialDive:B.Buoyancy] Running Loop=1
2019-07-16T06:09:21.300Z,1563257361.300 [sample_kiss:InitialDive:A] Running Loop=1
2019-07-16T06:09:21.300Z,1563257361.300 [sample_kiss:Science] Running Loop=1
2019-07-16T06:09:21.301Z,1563257361.301 [sample_kiss:Science:PeakDetectFDOM] Stopped
2019-07-16T06:09:21.301Z,1563257361.301 [sample_kiss:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize sample_kiss:Science:PeakDetectFDOM
2019-07-16T06:09:21.301Z,1563257361.301 [sample_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2019-07-16T06:09:21.302Z,1563257361.302 [sample_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-16T06:09:21.302Z,1563257361.302 [sample_kiss:Science:PeakDetectOil] Stopped
2019-07-16T06:09:21.302Z,1563257361.302 [sample_kiss:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize sample_kiss:Science:PeakDetectOil
2019-07-16T06:09:21.302Z,1563257361.302 [sample_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2019-07-16T06:09:21.302Z,1563257361.302 [sample_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-16T06:09:21.302Z,1563257361.302 [sample_kiss:Science:PeakDetectNO3] Stopped
2019-07-16T06:09:21.302Z,1563257361.302 [sample_kiss:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize sample_kiss:Science:PeakDetectNO3
2019-07-16T06:09:21.302Z,1563257361.302 [sample_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2019-07-16T06:09:21.302Z,1563257361.302 [sample_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-16T06:09:21.302Z,1563257361.302 [sample_kiss:Science:HighestChlPeakReport] Stopped
2019-07-16T06:09:21.302Z,1563257361.302 [sample_kiss:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize sample_kiss:Science:HighestChlPeakReport
2019-07-16T06:09:21.302Z,1563257361.302 [sample_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2019-07-16T06:09:21.302Z,1563257361.302 [sample_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2019-07-16T06:09:21.303Z,1563257361.303 [sample_kiss:Science:PeakDetectChl] Stopped
2019-07-16T06:09:21.303Z,1563257361.303 [sample_kiss:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize sample_kiss:Science:PeakDetectChl
2019-07-16T06:09:21.303Z,1563257361.303 [sample_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2019-07-16T06:09:21.303Z,1563257361.303 [sample_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-16T06:09:21.303Z,1563257361.303 [sample_kiss:Science:Read_Oil] Stopped
2019-07-16T06:09:21.303Z,1563257361.303 [sample_kiss:Science:H] Stopped
2019-07-16T06:09:21.303Z,1563257361.303 [sample_kiss:Science:G] Running Loop=1
2019-07-16T06:09:21.304Z,1563257361.304 [sample_kiss:Science:G](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2019-07-16T06:09:21.304Z,1563257361.304 [sample_kiss:Science:F] Stopped
2019-07-16T06:09:21.304Z,1563257361.304 [sample_kiss:Science:E] Stopped
2019-07-16T06:09:21.304Z,1563257361.304 [sample_kiss:Science:D] Stopped
2019-07-16T06:09:21.304Z,1563257361.304 [sample_kiss:Science:C] Stopped
2019-07-16T06:09:21.304Z,1563257361.304 [sample_kiss:Science:B] Stopped
2019-07-16T06:09:21.304Z,1563257361.304 [sample_kiss:Science:A] Stopped
2019-07-16T06:09:21.304Z,1563257361.304 [sample_kiss:F.Mass] Running Loop=1
2019-07-16T06:09:21.304Z,1563257361.304 [sample_kiss:C] Stopped
2019-07-16T06:09:21.305Z,1563257361.305 [sample_kiss:D] Running Loop=1
2019-07-16T06:09:21.305Z,1563257361.305 [sample_kiss:A.AbortSample] Running Loop=1
2019-07-16T06:09:21.693Z,1563257361.693 [sample_kiss:InitialDive:E.Pitch] Stopped
2019-07-16T06:09:21.693Z,1563257361.693 [sample_kiss:InitialDive:F] Running Loop=1
2019-07-16T06:09:21.695Z,1563257361.695 [sample_kiss:D] Stopped
2019-07-16T06:09:21.696Z,1563257361.696 [sample_kiss:StartingMission] Running Loop=1
2019-07-16T06:09:21.696Z,1563257361.696 [sample_kiss:StartingMission](DEBUG): Aggregate::initialize sample_kiss:StartingMission
2019-07-16T06:09:22.079Z,1563257362.079 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:09:22.105Z,1563257362.105 [sample_kiss:InitialDive:F] Stopped
2019-07-16T06:09:22.106Z,1563257362.106 [sample_kiss:InitialDive](INFO): Completed sample_kiss:InitialDive
2019-07-16T06:09:22.106Z,1563257362.106 [sample_kiss:InitialDive] Stopped
2019-07-16T06:09:22.106Z,1563257362.106 [sample_kiss:InitialDive](DEBUG): Aggregate::uninitialize sample_kiss:InitialDive
2019-07-16T06:09:22.106Z,1563257362.106 [sample_kiss:InitialDive:A] Stopped
2019-07-16T06:09:22.106Z,1563257362.106 [sample_kiss:InitialDive:B.Buoyancy] Stopped
2019-07-16T06:09:22.106Z,1563257362.106 [sample_kiss:InitialDive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2019-07-16T06:09:22.107Z,1563257362.107 [sample_kiss:InitialDive:C.SetSpeed] Stopped
2019-07-16T06:09:22.107Z,1563257362.107 [sample_kiss:InitialDive:C.SetSpeed](DEBUG): Uninitialize.
2019-07-16T06:09:22.107Z,1563257362.107 [sample_kiss:InitialDive:D.Point] Stopped
2019-07-16T06:09:22.108Z,1563257362.108 [sample_kiss:SurfaceComms] Running Loop=1
2019-07-16T06:09:22.108Z,1563257362.108 [sample_kiss:SurfaceComms](DEBUG): Aggregate::initialize sample_kiss:SurfaceComms
2019-07-16T06:09:22.108Z,1563257362.108 [sample_kiss:SurfaceComms:A] Running Loop=1
2019-07-16T06:09:22.108Z,1563257362.108 [sample_kiss:SurfaceComms:A](DEBUG): Aggregate::initialize sample_kiss:SurfaceComms:A
2019-07-16T06:09:22.513Z,1563257362.513 [sample_kiss:NeedComms] Running Loop=1
2019-07-16T06:09:22.513Z,1563257362.513 [sample_kiss:NeedComms](DEBUG): Aggregate::initialize sample_kiss:NeedComms
2019-07-16T06:09:22.514Z,1563257362.514 [sample_kiss:NeedComms:B.GoToSurface] Running Loop=1
2019-07-16T06:09:22.514Z,1563257362.514 [sample_kiss:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-07-16T06:09:22.514Z,1563257362.514 [sample_kiss:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2019-07-16T06:09:22.514Z,1563257362.514 [sample_kiss:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2019-07-16T06:09:22.515Z,1563257362.515 [sample_kiss:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2019-07-16T06:09:22.515Z,1563257362.515 [sample_kiss:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-07-16T06:09:22.516Z,1563257362.516 [sample_kiss:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-07-16T06:09:22.516Z,1563257362.516 [sample_kiss:NeedComms:A] Running Loop=1
2019-07-16T06:09:22.517Z,1563257362.517 [sample_kiss:NeedComms:A](INFO): last time_fix was: 1563256832.000000 second since 1970/01/01T00:00:00Z 
2019-07-16T06:09:22.517Z,1563257362.517 [sample_kiss:NeedComms:A] Stopped
2019-07-16T06:09:22.913Z,1563257362.913 [sample_kiss:NeedComms:C] Running Loop=1
2019-07-16T06:09:23.318Z,1563257363.318 [sample_kiss:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-07-16T06:09:24.911Z,1563257364.911 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:09:28.139Z,1563257368.139 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:09:30.971Z,1563257370.971 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:09:31.403Z,1563257371.403 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-16T06:09:31.403Z,1563257371.403 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 16
2019-07-16T06:09:31.403Z,1563257371.403 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-16T06:09:31.415Z,1563257371.415 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-16T06:09:31.810Z,1563257371.810 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-16T06:09:31.810Z,1563257371.810 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 16
2019-07-16T06:09:34.203Z,1563257374.203 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:09:37.027Z,1563257377.027 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:09:39.855Z,1563257379.855 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:09:41.875Z,1563257381.875 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:09:43.895Z,1563257383.895 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:09:47.131Z,1563257387.131 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:09:49.955Z,1563257389.955 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:09:52.732Z,1563257392.732 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1563257344.000000 second
2019-07-16T06:09:52.809Z,1563257392.809 [sample_kiss:NeedComms:C] Stopped
2019-07-16T06:09:52.810Z,1563257392.810 [sample_kiss:NeedComms:D] Running Loop=1
2019-07-16T06:09:53.191Z,1563257393.191 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:09:53.221Z,1563257393.221 [sample_kiss:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-07-16T06:09:56.015Z,1563257396.015 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:09:57.866Z,1563257397.866 [DataOverHttps](INFO): Sending 43 bytes from file Logs/20190716T053846/Courier0010.lzma
2019-07-16T06:09:58.673Z,1563257398.673 [DataOverHttps](INFO): Moved sent file to Logs/20190716T053846/Courier0010.lzma.bak
2019-07-16T06:09:58.673Z,1563257398.673 [DataOverHttps](INFO): SBD MOMSN=11446917
2019-07-16T06:09:59.251Z,1563257399.251 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:10:02.075Z,1563257402.075 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:10:04.903Z,1563257404.903 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:10:06.923Z,1563257406.923 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:10:09.528Z,1563257409.528 [DataOverHttps](INFO): Sending 826 bytes from file Logs/20190716T053846/Express0011.lzma
2019-07-16T06:10:10.159Z,1563257410.159 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:10:10.332Z,1563257410.332 [DataOverHttps](INFO): Moved sent file to Logs/20190716T053846/Express0011.lzma.bak
2019-07-16T06:10:10.333Z,1563257410.333 [DataOverHttps](INFO): SBD MOMSN=11446920
2019-07-16T06:10:11.393Z,1563257411.393 [sample_kiss:NeedComms:D] Stopped
2019-07-16T06:10:11.394Z,1563257411.394 [sample_kiss:NeedComms:E] Running Loop=1
2019-07-16T06:10:11.793Z,1563257411.793 [sample_kiss:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-07-16T06:10:12.983Z,1563257412.983 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:10:16.219Z,1563257416.219 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:10:19.043Z,1563257419.043 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:10:22.279Z,1563257422.279 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:10:25.107Z,1563257425.107 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:10:27.947Z,1563257427.947 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:10:29.955Z,1563257429.955 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:10:33.191Z,1563257433.191 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:10:34.365Z,1563257434.365 [CommandLine](IMPORTANT): got command show stack
2019-07-16T06:10:34.365Z,1563257434.365 [CommandLine](IMPORTANT): Behavior Stack:

2019-07-16T06:10:34.365Z,1563257434.365 [sample_kiss](IMPORTANT): Priority 0: sample_kiss:A.AbortSample
2019-07-16T06:10:34.366Z,1563257434.366 [sample_kiss:NeedComms](IMPORTANT): Priority 1: sample_kiss:NeedComms:B.GoToSurface
2019-07-16T06:10:34.366Z,1563257434.366 [sample_kiss:NeedComms](IMPORTANT): Priority 2: sample_kiss:NeedComms:E
2019-07-16T06:10:34.366Z,1563257434.366 [sample_kiss](IMPORTANT): Priority 3: sample_kiss:F.Mass
2019-07-16T06:10:34.367Z,1563257434.367 [sample_kiss:Science](IMPORTANT): Priority 4: sample_kiss:Science:G
2019-07-16T06:10:36.015Z,1563257436.015 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:10:39.251Z,1563257439.251 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:10:42.075Z,1563257442.075 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:10:43.304Z,1563257443.304 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-16T06:10:43.304Z,1563257443.304 [WetLabsBB2FL] No Fault, FailCount= 5
2019-07-16T06:10:43.344Z,1563257443.344 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-16T06:10:43.344Z,1563257443.344 [WetLabsBB2FL](INFO): Powering up
2019-07-16T06:10:45.311Z,1563257445.311 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:10:48.135Z,1563257448.135 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:10:48.635Z,1563257448.635 [WetLabsBB2FL] Communications Fault, FailCount= 1
2019-07-16T06:10:48.635Z,1563257448.635 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-16T06:10:49.005Z,1563257449.005 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-16T06:10:49.135Z,1563257449.135 [WetLabsBB2FL](INFO): Powering down
2019-07-16T06:10:50.209Z,1563257450.209 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-16T06:10:50.209Z,1563257450.209 [WetLabsBB2FL] No Fault, FailCount= 1
2019-07-16T06:10:50.355Z,1563257450.355 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-16T06:10:50.355Z,1563257450.355 [WetLabsBB2FL](INFO): Powering up
2019-07-16T06:10:50.963Z,1563257450.963 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:10:52.983Z,1563257452.983 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:10:55.643Z,1563257455.643 [WetLabsBB2FL] Communications Fault, FailCount= 2
2019-07-16T06:10:55.643Z,1563257455.643 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-16T06:10:55.838Z,1563257455.838 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-16T06:10:56.143Z,1563257456.143 [WetLabsBB2FL](INFO): Powering down
2019-07-16T06:10:56.219Z,1563257456.219 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:10:57.058Z,1563257457.058 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-16T06:10:57.058Z,1563257457.058 [WetLabsBB2FL] No Fault, FailCount= 2
2019-07-16T06:10:57.356Z,1563257457.356 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-16T06:10:57.356Z,1563257457.356 [WetLabsBB2FL](INFO): Powering up
2019-07-16T06:10:59.043Z,1563257459.043 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:11:02.269Z,1563257462.269 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-07-16T06:11:02.269Z,1563257462.269 [NAL9602] Data Fault, FailCount= 3
2019-07-16T06:11:02.269Z,1563257462.269 [NAL9602](ERROR): Data Fault
2019-07-16T06:11:02.330Z,1563257462.330 [CBIT](ERROR): Data Fault in component: NAL9602
2019-07-16T06:11:02.655Z,1563257462.655 [WetLabsBB2FL] Communications Fault, FailCount= 3
2019-07-16T06:11:02.655Z,1563257462.655 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-16T06:11:02.665Z,1563257462.665 [NAL9602](INFO): Powering down
2019-07-16T06:11:02.696Z,1563257462.696 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-16T06:11:03.159Z,1563257463.159 [WetLabsBB2FL](INFO): Powering down
2019-07-16T06:11:03.514Z,1563257463.514 [CBIT](INFO): Clearing failed state for component NAL9602
2019-07-16T06:11:03.514Z,1563257463.514 [NAL9602] No Fault, FailCount= 3
2019-07-16T06:11:04.322Z,1563257464.322 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-16T06:11:04.322Z,1563257464.322 [WetLabsBB2FL] No Fault, FailCount= 3
2019-07-16T06:11:04.372Z,1563257464.372 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-16T06:11:04.372Z,1563257464.372 [WetLabsBB2FL](INFO): Powering up
2019-07-16T06:11:09.404Z,1563257469.404 [CommandLine](IMPORTANT): got command get depth
2019-07-16T06:11:09.404Z,1563257469.404 [CommandLine](IMPORTANT): depth 0.177255 m
2019-07-16T06:11:09.667Z,1563257469.667 [WetLabsBB2FL] Communications Fault, FailCount= 4
2019-07-16T06:11:09.667Z,1563257469.667 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-16T06:11:09.970Z,1563257469.970 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-16T06:11:10.167Z,1563257470.167 [WetLabsBB2FL](INFO): Powering down
2019-07-16T06:11:11.178Z,1563257471.178 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-16T06:11:11.178Z,1563257471.178 [WetLabsBB2FL] No Fault, FailCount= 4
2019-07-16T06:11:11.380Z,1563257471.380 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-16T06:11:11.380Z,1563257471.380 [WetLabsBB2FL](INFO): Powering up
2019-07-16T06:11:16.679Z,1563257476.679 [WetLabsBB2FL] Communications Fault, FailCount= 5
2019-07-16T06:11:16.679Z,1563257476.679 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-16T06:11:16.838Z,1563257476.838 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-16T06:11:16.838Z,1563257476.838 [CBIT](FAULT): Communications Fault in component: WetLabsBB2FL
2019-07-16T06:11:17.179Z,1563257477.179 [WetLabsBB2FL](INFO): Powering down
2019-07-16T06:11:32.593Z,1563257492.593 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-16T06:11:32.593Z,1563257492.593 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 17
2019-07-16T06:11:32.593Z,1563257492.593 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-16T06:11:32.604Z,1563257492.604 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-16T06:11:32.968Z,1563257492.968 [NAL9602](INFO): Powering up NAL9602
2019-07-16T06:11:33.010Z,1563257493.010 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-16T06:11:33.010Z,1563257493.010 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 17
2019-07-16T06:11:43.880Z,1563257503.880 [NAL9602](INFO): NAL9602 initialized
2019-07-16T06:11:44.699Z,1563257504.699 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:11:47.523Z,1563257507.523 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:11:50.351Z,1563257510.351 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:11:53.587Z,1563257513.587 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:11:56.415Z,1563257516.415 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:11:59.647Z,1563257519.647 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:12:02.475Z,1563257522.475 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:12:05.299Z,1563257525.299 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:12:07.319Z,1563257527.319 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:12:09.339Z,1563257529.339 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:12:12.575Z,1563257532.575 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:12:15.403Z,1563257535.403 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:12:18.635Z,1563257538.635 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:12:21.459Z,1563257541.459 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:12:24.695Z,1563257544.695 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:12:27.523Z,1563257547.523 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:12:30.355Z,1563257550.355 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:12:32.367Z,1563257552.367 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:12:35.603Z,1563257555.603 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:12:38.431Z,1563257558.431 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:12:41.663Z,1563257561.663 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:12:44.487Z,1563257564.487 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:12:47.723Z,1563257567.723 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:12:50.547Z,1563257570.547 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:12:53.375Z,1563257573.375 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:12:55.399Z,1563257575.399 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:12:58.631Z,1563257578.631 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:13:01.455Z,1563257581.455 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:13:04.691Z,1563257584.691 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:13:07.515Z,1563257587.515 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:13:10.747Z,1563257590.747 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:13:13.575Z,1563257593.575 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:13:16.411Z,1563257596.411 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:13:18.431Z,1563257598.431 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:13:20.443Z,1563257600.443 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:13:23.679Z,1563257603.679 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:13:26.507Z,1563257606.507 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:13:29.739Z,1563257609.739 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:13:32.567Z,1563257612.567 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:13:33.784Z,1563257613.784 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-16T06:13:33.785Z,1563257613.785 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 18
2019-07-16T06:13:33.785Z,1563257613.785 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-16T06:13:33.796Z,1563257613.796 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-16T06:13:34.209Z,1563257614.209 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-16T06:13:34.209Z,1563257614.209 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 18
2019-07-16T06:13:35.795Z,1563257615.795 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:13:38.627Z,1563257618.627 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:13:41.451Z,1563257621.451 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:13:44.707Z,1563257624.707 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:13:46.753Z,1563257626.753 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-16T06:13:46.753Z,1563257626.753 [WetLabsBB2FL] No Fault, FailCount= 5
2019-07-16T06:13:46.757Z,1563257626.757 [CommandLine](IMPORTANT): got command stop
2019-07-16T06:13:46.757Z,1563257626.757 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-07-16T06:13:47.064Z,1563257627.064 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-16T06:13:47.064Z,1563257627.064 [WetLabsBB2FL](INFO): Powering up
2019-07-16T06:13:47.164Z,1563257627.164 [MissionManager](INFO): MissionManager is completed.
2019-07-16T06:13:47.164Z,1563257627.164 [MissionManager](INFO): Uninitializing Mission sample_kiss
2019-07-16T06:13:47.164Z,1563257627.164 [sample_kiss] Stopped
2019-07-16T06:13:47.165Z,1563257627.165 [sample_kiss](DEBUG): Aggregate::uninitialize sample_kiss
2019-07-16T06:13:47.165Z,1563257627.165 [sample_kiss:A.AbortSample] Stopped
2019-07-16T06:13:47.165Z,1563257627.165 [sample_kiss:A.AbortSample](INFO): Uninitializing AbortSample.
2019-07-16T06:13:47.165Z,1563257627.165 [sample_kiss:NeedComms] Stopped
2019-07-16T06:13:47.165Z,1563257627.165 [sample_kiss:NeedComms](DEBUG): Aggregate::uninitialize sample_kiss:NeedComms
2019-07-16T06:13:47.165Z,1563257627.165 [sample_kiss:NeedComms:B.GoToSurface] Stopped
2019-07-16T06:13:47.165Z,1563257627.165 [sample_kiss:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-07-16T06:13:47.165Z,1563257627.165 [sample_kiss:NeedComms:E] Stopped
2019-07-16T06:13:47.165Z,1563257627.165 [sample_kiss:SurfaceComms] Stopped
2019-07-16T06:13:47.165Z,1563257627.165 [sample_kiss:SurfaceComms](DEBUG): Aggregate::uninitialize sample_kiss:SurfaceComms
2019-07-16T06:13:47.165Z,1563257627.165 [sample_kiss:SurfaceComms:A] Stopped
2019-07-16T06:13:47.166Z,1563257627.166 [sample_kiss:SurfaceComms:A](DEBUG): Aggregate::uninitialize sample_kiss:SurfaceComms:A
2019-07-16T06:13:47.166Z,1563257627.166 [sample_kiss:F.Mass] Stopped
2019-07-16T06:13:47.166Z,1563257627.166 [sample_kiss:F.Mass](DEBUG): Uninitialize.
2019-07-16T06:13:47.166Z,1563257627.166 [sample_kiss:StartingMission] Stopped
2019-07-16T06:13:47.166Z,1563257627.166 [sample_kiss:StartingMission](DEBUG): Aggregate::uninitialize sample_kiss:StartingMission
2019-07-16T06:13:47.166Z,1563257627.166 [sample_kiss:Science] Stopped
2019-07-16T06:13:47.166Z,1563257627.166 [sample_kiss:Science](DEBUG): Aggregate::uninitialize sample_kiss:Science
2019-07-16T06:13:47.166Z,1563257627.166 [sample_kiss:Science:G] Stopped
2019-07-16T06:13:47.531Z,1563257627.531 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:13:47.563Z,1563257627.563 [MissionManager](IMPORTANT): Started mission Default
2019-07-16T06:13:47.563Z,1563257627.563 [Default] Running Loop=1
2019-07-16T06:13:47.563Z,1563257627.563 [Default](DEBUG): Aggregate::initialize Default
2019-07-16T06:13:47.563Z,1563257627.563 [Default:B.GoToSurface] Running Loop=1
2019-07-16T06:13:47.564Z,1563257627.564 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-07-16T06:13:47.564Z,1563257627.564 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-07-16T06:13:47.564Z,1563257627.564 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-07-16T06:13:47.564Z,1563257627.564 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-07-16T06:13:47.565Z,1563257627.565 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-07-16T06:13:47.565Z,1563257627.565 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-07-16T06:13:47.566Z,1563257627.566 [Default:A.Wait] Running Loop=1
2019-07-16T06:13:47.566Z,1563257627.566 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-07-16T06:13:50.763Z,1563257630.763 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:13:52.355Z,1563257632.355 [WetLabsBB2FL] Communications Fault, FailCount= 1
2019-07-16T06:13:52.355Z,1563257632.355 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-16T06:13:52.428Z,1563257632.428 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-16T06:13:52.851Z,1563257632.851 [WetLabsBB2FL](INFO): Powering down
2019-07-16T06:13:53.591Z,1563257633.591 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:13:54.031Z,1563257634.031 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-16T06:13:54.031Z,1563257634.031 [WetLabsBB2FL] No Fault, FailCount= 1
2019-07-16T06:13:54.064Z,1563257634.064 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-16T06:13:54.064Z,1563257634.064 [WetLabsBB2FL](INFO): Powering up
2019-07-16T06:13:56.827Z,1563257636.827 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:13:59.363Z,1563257639.363 [WetLabsBB2FL] Communications Fault, FailCount= 2
2019-07-16T06:13:59.363Z,1563257639.363 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-16T06:13:59.651Z,1563257639.651 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:13:59.685Z,1563257639.685 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-16T06:13:59.863Z,1563257639.863 [WetLabsBB2FL](INFO): Powering down
2019-07-16T06:14:00.881Z,1563257640.881 [Default:A.Wait](INFO): Done Waiting.
2019-07-16T06:14:00.881Z,1563257640.881 [Default:A.Wait] Stopped
2019-07-16T06:14:00.881Z,1563257640.881 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-07-16T06:14:00.889Z,1563257640.889 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-16T06:14:00.889Z,1563257640.889 [WetLabsBB2FL] No Fault, FailCount= 2
2019-07-16T06:14:01.076Z,1563257641.076 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-16T06:14:01.076Z,1563257641.076 [WetLabsBB2FL](INFO): Powering up
2019-07-16T06:14:01.291Z,1563257641.291 [Default:CheckIn] Running Loop=1
2019-07-16T06:14:01.291Z,1563257641.291 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-07-16T06:14:01.291Z,1563257641.291 [Default:CheckIn:Read_GPS] Running Loop=1
2019-07-16T06:14:02.483Z,1563257642.483 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:14:04.503Z,1563257644.503 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:14:06.367Z,1563257646.367 [WetLabsBB2FL] Communications Fault, FailCount= 3
2019-07-16T06:14:06.367Z,1563257646.367 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-16T06:14:06.545Z,1563257646.545 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-16T06:14:06.867Z,1563257646.867 [WetLabsBB2FL](INFO): Powering down
2019-07-16T06:14:07.735Z,1563257647.735 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:14:07.769Z,1563257647.769 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-16T06:14:07.769Z,1563257647.769 [WetLabsBB2FL] No Fault, FailCount= 3
2019-07-16T06:14:08.080Z,1563257648.080 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-16T06:14:08.080Z,1563257648.080 [WetLabsBB2FL](INFO): Powering up
2019-07-16T06:14:10.559Z,1563257650.559 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:14:13.371Z,1563257653.371 [WetLabsBB2FL] Communications Fault, FailCount= 4
2019-07-16T06:14:13.371Z,1563257653.371 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-16T06:14:13.402Z,1563257653.402 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-16T06:14:13.791Z,1563257653.791 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:14:13.867Z,1563257653.867 [WetLabsBB2FL](INFO): Powering down
2019-07-16T06:14:15.038Z,1563257655.038 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-16T06:14:15.038Z,1563257655.038 [WetLabsBB2FL] No Fault, FailCount= 4
2019-07-16T06:14:15.080Z,1563257655.080 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-16T06:14:15.080Z,1563257655.080 [WetLabsBB2FL](INFO): Powering up
2019-07-16T06:14:16.619Z,1563257656.619 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:14:19.851Z,1563257659.851 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:14:20.371Z,1563257660.371 [WetLabsBB2FL] Communications Fault, FailCount= 5
2019-07-16T06:14:20.371Z,1563257660.371 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-16T06:14:20.723Z,1563257660.723 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-16T06:14:20.723Z,1563257660.723 [CBIT](FAULT): Communications Fault in component: WetLabsBB2FL
2019-07-16T06:14:20.871Z,1563257660.871 [WetLabsBB2FL](INFO): Powering down
2019-07-16T06:14:22.679Z,1563257662.679 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:14:25.515Z,1563257665.515 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:14:27.531Z,1563257667.531 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:14:29.551Z,1563257669.551 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:14:32.783Z,1563257672.783 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:14:35.611Z,1563257675.611 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:14:38.839Z,1563257678.839 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:14:41.675Z,1563257681.675 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:14:44.899Z,1563257684.899 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:14:47.731Z,1563257687.731 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:14:50.555Z,1563257690.555 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:14:52.575Z,1563257692.575 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:14:55.807Z,1563257695.807 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:14:58.639Z,1563257698.639 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:15:01.867Z,1563257701.867 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:15:04.699Z,1563257704.699 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:15:07.927Z,1563257707.927 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:15:10.689Z,1563257710.689 [CommandLine](IMPORTANT): got command load ./Missions/sample_kiss.xml
2019-07-16T06:15:10.689Z,1563257710.689 [MissionManager](INFO): Loading Mission: ./Missions/sample_kiss.xml
2019-07-16T06:15:10.755Z,1563257710.755 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:15:10.874Z,1563257710.874 [MissionManager](INFO): DefineArg sample_kiss.MissionTimeout = 4.000000 h
2019-07-16T06:15:10.876Z,1563257710.876 [MissionManager](INFO): DefineArg sample_kiss.NeedCommsTime = 240.000000 min
2019-07-16T06:15:10.878Z,1563257710.878 [MissionManager](INFO): DefineArg sample_kiss.Depth = 0.180000 m
2019-07-16T06:15:10.880Z,1563257710.880 [MissionManager](INFO): DefineArg sample_kiss.ESPCartridgeType_1 = -1.000000 count
2019-07-16T06:15:10.883Z,1563257710.883 [MissionManager](INFO): DefineArg sample_kiss.ESPCartridgeType_2 = -16.000000 count
2019-07-16T06:15:10.885Z,1563257710.885 [MissionManager](INFO): DefineArg sample_kiss.ESPCartridgeType_3 = nan count
2019-07-16T06:15:10.887Z,1563257710.887 [MissionManager](INFO): DefineArg sample_kiss.ESPCartridgeType_4 = nan count
2019-07-16T06:15:10.889Z,1563257710.889 [MissionManager](INFO): DefineArg sample_kiss.WaitBeforeSample = 3.000000 min
2019-07-16T06:15:10.892Z,1563257710.892 [MissionManager](INFO): DefineArg sample_kiss.ApproachDepthTimeout = 20.000000 min
2019-07-16T06:15:10.894Z,1563257710.894 [MissionManager](INFO): DefineArg sample_kiss.DepthDeadband = 0.100000 m
2019-07-16T06:15:10.897Z,1563257710.897 [MissionManager](INFO): DefineArg sample_kiss.Speed = 0.000000 m/s
2019-07-16T06:15:10.900Z,1563257710.900 [MissionManager](INFO): DefineArg sample_kiss.MaxDepth = 5.000000 m
2019-07-16T06:15:10.903Z,1563257710.903 [MissionManager](INFO): DefineArg sample_kiss.PitchLimit = 20.000000 arcdeg
2019-07-16T06:15:10.905Z,1563257710.905 [MissionManager](INFO): DefineArg sample_kiss.MinOffshore = 1.000000 km
2019-07-16T06:15:10.908Z,1563257710.908 [MissionManager](INFO): DefineOutput sample_kiss.StartFromSurface = 1 bool
2019-07-16T06:15:10.909Z,1563257710.909 [sample_kiss:A.AbortSample](DEBUG): Construct.
2019-07-16T06:15:10.910Z,1563257710.910 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-07-16T06:15:11.026Z,1563257711.026 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.DiveInterval = 3.000000 h
2019-07-16T06:15:11.029Z,1563257711.029 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.WaitForPitchUp = 10.000000 min
2019-07-16T06:15:11.032Z,1563257711.032 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-07-16T06:15:11.034Z,1563257711.034 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.SurfaceDepthRate = nan m/s
2019-07-16T06:15:11.036Z,1563257711.036 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-07-16T06:15:11.038Z,1563257711.038 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.GPSTimeout = 7.000000 min
2019-07-16T06:15:11.064Z,1563257711.064 [MissionManager](INFO): DefineArg sample_kiss:NeedComms.CommsTimeout = 30.000000 min
2019-07-16T06:15:11.069Z,1563257711.069 [sample_kiss:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-07-16T06:15:11.098Z,1563257711.098 [sample_kiss:F.Mass](DEBUG): Construct.
2019-07-16T06:15:11.133Z,1563257711.133 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2019-07-16T06:15:11.431Z,1563257711.431 [MissionManager](INFO): DefineArg sample_kiss:Science.SampleISUS = 0 bool
2019-07-16T06:15:11.434Z,1563257711.434 [MissionManager](INFO): DefineArg sample_kiss:Science.SampleISUSmaxPitch = 60.000000 arcdeg
2019-07-16T06:15:11.436Z,1563257711.436 [MissionManager](INFO): DefineArg sample_kiss:Science.SampleISUSminPitch = -60.000000 arcdeg
2019-07-16T06:15:11.438Z,1563257711.438 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakDetectChlActive = 0 bool
2019-07-16T06:15:11.440Z,1563257711.440 [MissionManager](INFO): DefineArg sample_kiss:Science.TimeWindowPeakReport = nan min
2019-07-16T06:15:11.442Z,1563257711.442 [MissionManager](INFO): DefineArg sample_kiss:Science.HighestChlPeakReportActive = 0 bool
2019-07-16T06:15:11.444Z,1563257711.444 [MissionManager](INFO): DefineArg sample_kiss:Science.PatchTracking = 0 bool
2019-07-16T06:15:11.446Z,1563257711.446 [MissionManager](INFO): DefineArg sample_kiss:Science.FilterWidthHorizontal = 3.000000 count
2019-07-16T06:15:11.448Z,1563257711.448 [MissionManager](INFO): DefineArg sample_kiss:Science.NumProfilesSlidingwindow = 100.000000 count
2019-07-16T06:15:11.450Z,1563257711.450 [MissionManager](INFO): DefineArg sample_kiss:Science.OffPeakFractionHorizontal = 80.000000 %
2019-07-16T06:15:11.452Z,1563257711.452 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakDetectNO3Active = 0 bool
2019-07-16T06:15:11.454Z,1563257711.454 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakDetectOilActive = 0 bool
2019-07-16T06:15:11.457Z,1563257711.457 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakDetectFDOMActive = 0 bool
2019-07-16T06:15:11.458Z,1563257711.458 [MissionManager](INFO): DefineArg sample_kiss:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2019-07-16T06:15:11.461Z,1563257711.461 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledAanderaaO2 = 0.000000 bool
2019-07-16T06:15:11.463Z,1563257711.463 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledNeilBrown = 0.000000 bool
2019-07-16T06:15:11.466Z,1563257711.466 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledSeabird = 0.000000 bool
2019-07-16T06:15:11.468Z,1563257711.468 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledTurbulence_NPS = 0.000000 bool
2019-07-16T06:15:11.471Z,1563257711.471 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledWetLabsBB2FL = 1.000000 bool
2019-07-16T06:15:11.473Z,1563257711.473 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledWetLabsSeaOWL_UV_A = 0.000000 bool
2019-07-16T06:15:11.535Z,1563257711.535 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledWetLabsUBAT = 0.000000 bool
2019-07-16T06:15:11.537Z,1563257711.537 [MissionManager](INFO): DefineArg sample_kiss:Science.EnabledISUS = 0.000000 bool
2019-07-16T06:15:11.540Z,1563257711.540 [MissionManager](INFO): DefineArg sample_kiss:Science.LowPassWindowLength = 20.000000 count
2019-07-16T06:15:11.553Z,1563257711.553 [MissionManager](INFO): DefineArg sample_kiss:Science.MedianFilterLen = 5.000000 count
2019-07-16T06:15:11.555Z,1563257711.555 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakChlShallowBound = nan m
2019-07-16T06:15:11.557Z,1563257711.557 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakChlDeepBound = nan m
2019-07-16T06:15:11.560Z,1563257711.560 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakShallowBound = nan m
2019-07-16T06:15:11.562Z,1563257711.562 [MissionManager](INFO): DefineArg sample_kiss:Science.PeakDeepBound = nan m
2019-07-16T06:15:11.628Z,1563257711.628 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakChl = 0.000000 ug/l
2019-07-16T06:15:11.630Z,1563257711.630 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakChlDepth = 0.000000 m
2019-07-16T06:15:11.633Z,1563257711.633 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakChlTemperature = 0.000000 degC
2019-07-16T06:15:11.659Z,1563257711.659 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakChlLatitude = nan arcdeg
2019-07-16T06:15:11.661Z,1563257711.661 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakChlLongitude = nan arcdeg
2019-07-16T06:15:11.664Z,1563257711.664 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakNO3 = 0.000000 umol/l
2019-07-16T06:15:11.666Z,1563257711.666 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakNO3Depth = 0.000000 m
2019-07-16T06:15:11.688Z,1563257711.688 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakNO3Latitude = nan arcdeg
2019-07-16T06:15:11.690Z,1563257711.690 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakNO3Longitude = nan arcdeg
2019-07-16T06:15:11.693Z,1563257711.693 [MissionManager](INFO): DefineOutput sample_kiss:Science.PatchChl = 0.000000 m
2019-07-16T06:15:11.709Z,1563257711.709 [MissionManager](INFO): DefineOutput sample_kiss:Science.PatchChlDepth = 0.000000 m
2019-07-16T06:15:11.715Z,1563257711.715 [MissionManager](INFO): DefineOutput sample_kiss:Science.PatchChlLatitude = nan arcdeg
2019-07-16T06:15:11.718Z,1563257711.718 [MissionManager](INFO): DefineOutput sample_kiss:Science.PatchChlLongitude = nan arcdeg
2019-07-16T06:15:11.720Z,1563257711.720 [MissionManager](INFO): DefineOutput sample_kiss:Science.PatchChlDistance = nan m
2019-07-16T06:15:11.723Z,1563257711.723 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakOil = 0.000000 kg/m3
2019-07-16T06:15:11.733Z,1563257711.733 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakOilDepth = 0.000000 m
2019-07-16T06:15:11.736Z,1563257711.736 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakOilLatitude = nan arcdeg
2019-07-16T06:15:11.738Z,1563257711.738 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakOilLongitude = nan arcdeg
2019-07-16T06:15:11.744Z,1563257711.744 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakFDOM = 0.000000 ppb
2019-07-16T06:15:11.747Z,1563257711.747 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakFDOMDepth = 0.000000 m
2019-07-16T06:15:11.753Z,1563257711.753 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakFDOMLatitude = nan arcdeg
2019-07-16T06:15:11.759Z,1563257711.759 [MissionManager](INFO): DefineOutput sample_kiss:Science.PeakFDOMLongitude = nan arcdeg
2019-07-16T06:15:11.764Z,1563257711.764 [MissionManager](INFO): DefineOutput sample_kiss:Science.PatchFDOMDistance = nan m
2019-07-16T06:15:11.805Z,1563257711.805 [sample_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-16T06:15:11.845Z,1563257711.845 [sample_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2019-07-16T06:15:11.868Z,1563257711.868 [sample_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-16T06:15:11.884Z,1563257711.884 [sample_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-16T06:15:11.901Z,1563257711.901 [sample_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-16T06:15:11.926Z,1563257711.926 [sample_kiss:InitialDive:B.Buoyancy](DEBUG): Construct Buoyancy.
2019-07-16T06:15:11.929Z,1563257711.929 [sample_kiss:InitialDive:C.SetSpeed](DEBUG): Construct.
2019-07-16T06:15:11.931Z,1563257711.931 [sample_kiss:InitialDive:D.Point](DEBUG): Construct.
2019-07-16T06:15:11.941Z,1563257711.941 [sample_kiss:InitialDive:E.Pitch](DEBUG): Construct.
2019-07-16T06:15:11.979Z,1563257711.979 [sample_kiss:InitialDive:E.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-07-16T06:15:12.024Z,1563257712.024 [sample_kiss:TargetDepth:C.SetSpeed](DEBUG): Construct.
2019-07-16T06:15:12.086Z,1563257712.086 [sample_kiss:TargetDepth:D.Pitch](DEBUG): Construct.
2019-07-16T06:15:12.155Z,1563257712.155 [sample_kiss:TargetDepth:Spinout:A.Buoyancy](DEBUG): Construct Buoyancy.
2019-07-16T06:15:12.158Z,1563257712.158 [sample_kiss:TargetDepth:Spinout:B.Point](DEBUG): Construct.
2019-07-16T06:15:12.198Z,1563257712.198 [MissionManager](INFO): Inserting Stack: Missions/Insert/SampleAtDepth.xml
2019-07-16T06:15:12.452Z,1563257712.452 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.TargetDepth = 5.000000 m
2019-07-16T06:15:12.454Z,1563257712.454 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.SettleTime = 10.000000 s
2019-07-16T06:15:12.456Z,1563257712.456 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.MaxWaitNotReachingDepth = 3.000000 h
2019-07-16T06:15:12.458Z,1563257712.458 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.RotateOnly = 0.000000 bool
2019-07-16T06:15:12.477Z,1563257712.477 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.UseCANONSampler = 0.000000 bool
2019-07-16T06:15:12.479Z,1563257712.479 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.UseESP = 1.000000 bool
2019-07-16T06:15:12.481Z,1563257712.481 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.ESPCartridgeType = nan count
2019-07-16T06:15:12.500Z,1563257712.500 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.CANONSamplerTriggerTimeout = 1.000000 min
2019-07-16T06:15:12.502Z,1563257712.502 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.CANONSamplerTimeout = 6.000000 min
2019-07-16T06:15:12.505Z,1563257712.505 [MissionManager](INFO): DefineArg sample_kiss:TargetDepth:GrabSamples:SampleAtDepth.BuoyancyNeutral = 273.999991 cc
2019-07-16T06:15:12.524Z,1563257712.524 [sample_kiss:TargetDepth:GrabSamples:SampleAtDepth:ApproachDepth:B.Pitch](DEBUG): Construct.
2019-07-16T06:15:12.528Z,1563257712.528 [sample_kiss:TargetDepth:GrabSamples:SampleAtDepth:ApproachDepth:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-07-16T06:15:12.546Z,1563257712.546 [sample_kiss:TargetDepth:GrabSamples:SampleAtDepth:SampleWrapper:A.Pitch](DEBUG): Construct.
2019-07-16T06:15:12.568Z,1563257712.568 [sample_kiss:TargetDepth:GrabSamples:SampleAtDepth:SampleWrapper:C.Wait](DEBUG): Construct Wait.
2019-07-16T06:15:12.595Z,1563257712.595 [sample_kiss:TargetDepth:GrabSamples:SampleAtDepth:SampleWrapper:SampleCANONSampler:TriggerCANONSampler:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-07-16T06:15:12.602Z,1563257712.602 [sample_kiss:TargetDepth:GrabSamples:SampleAtDepth:SampleWrapper:SampleCANONSampler:E:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-07-16T06:15:12.746Z,1563257712.746 [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: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="sample_kiss">

    <Description>
        This mission takes ESP sampls at the designated depth.
    </Description>
    
    <DefineArg Name="MissionTimeout"><Description>
        Maximum duration of mission
    </Description><Units:hour/><Value>4</Value></DefineArg>

    <DefineArg Name="NeedCommsTime"><Description>
        How often to surface for communications
    </Description><Units:minute/><Value>240</Value></DefineArg>

    <DefineArg Name="Depth"><Description>
        Depth held during drift mode
    </Description><Units:meter/><Value>0.18</Value></DefineArg>

    <DefineArg Name="ESPCartridgeType_1"><Description>
        Specifies ESP cartridge type code for sample# 1. Set to NaN to skip this sample.
    </Description><Units:count/><Value>-1</Value></DefineArg>
    
    <DefineArg Name="ESPCartridgeType_2"><Description>
        Specifies ESP cartridge type code for sample# 2. Set to NaN to skip this sample.
    </Description><Units:count/><Value>-16</Value></DefineArg>
    
    <DefineArg Name="ESPCartridgeType_3"><Description>
        Specifies ESP cartridge type code for sample# 3. Set to NaN to skip this sample.
    </Description><Units:count/><Value>NaN</Value></DefineArg>
    
    <DefineArg Name="ESPCartridgeType_4"><Description>
        Specifies ESP cartridge type code for sample# 4. Set to NaN to skip this sample.
    </Description><Units:count/><Value>NaN</Value></DefineArg>
    
    <DefineArg Name="WaitBeforeSample"><Description>
        How long to wait between samples. This starts *before* the first sample
        to exercise the SettleTime setting in the insert aggregate.
    </Description><Units:minute/><Value>3</Value></DefineArg>
    
    <DefineArg Name="ApproachDepthTimeout"><Description>
        Maximum time duration for the vehicle to reach the approach depth
    </Description><Units:minute/><Value>20</Value></DefineArg>

    <DefineArg Name="DepthDeadband"><Description>
        How much vertical drift from the specified depth is allowed while sampling.
    </Description><Units:meter/><Value>0.1</Value></DefineArg>

    <DefineArg Name="Speed"><Description>
        Vehicle transit speed
    </Description><Units:meter_per_second/><Value>0</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum allowable depth during the mission
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="PitchLimit"><Description>
        Max vehicle pitch (+/-) when decending from the surface
    </Description><Units:degree/><Value>20</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Description>
        Minimum distance from the shoreline to maintain
    </Description><Units:kilometer/><Value>1</Value></DefineArg>

    <DefineOutput Name="StartFromSurface"><Description>
        Mission variable (don't change). The mission sets this to true after surface comms are done.
    </Description><True/></DefineOutput>
    

    <!-- Mission timeout -->

    <Timeout Duration="MissionTimeout"/>

    <!-- Safety nets and surfacing behaviors -->
    
    <Trigger:AbortSample>
        <Parallel/>
    </Trigger:AbortSample>

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

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

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


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

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

    <Assign><Sequence/><Arg Name="NeedComms:WaitForPitchUp"/><Units:minute/><Value>0</Value></Assign>

    <Aggregate Id="SurfaceComms">

        <When>
            <Called/>
            <Or><Elapsed><Universal:time_fix/></Elapsed><Gt><Arg Name="NeedCommsTime"/></Gt></Or>
        </When>

        <Call RefId="NeedComms"/>

        <Assign><Sequence/><Arg Name="StartFromSurface"/><True/></Assign>

    </Aggregate>

    <!-- Set default mass position -->

    <Guidance:Mass>
        <Parallel/>
        <Setting><Guidance:Mass.position/><Control:VerticalControl.massDefault/></Setting>
    </Guidance:Mass>

    <!-- Start mission sequence -->

    <Call Id="StartingMission" RefId="SurfaceComms"/>
    
    <Insert Filename="Insert/Science.xml"></Insert>

    <Aggregate Id="InitialDive">

        <Description>
            Descend from the surface to approach depth using the thruster. Limit pitch.
        </Description>

        <When>
            <Arg Name="StartFromSurface"/>
        </When>

        <Assign><Parallel/><Control:VerticalControl.pitchLimit/><Arg Name="PitchLimit"/></Assign>

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

        <Guidance:SetSpeed>
            <Parallel/>
            <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>1.0</Value></Setting>
        </Guidance:SetSpeed>
        
        <Guidance:Point>
            <Setting><Guidance:Point.rudderAngle/><Units:degree/><Value>13</Value></Setting>
        </Guidance:Point>

        <Guidance:Pitch>
            <Sequence/>
            <Timeout Duration="ApproachDepthTimeout">
                <Syslog Severity="Important">Timed out while trying to reach approach depth at current depth of <Universal:depth/><Units:meter/>.</Syslog>
                <Guidance:Execute>
                    <Sequence/>
                    <Setting><Guidance:Execute.command/><String>stop</String></Setting>
                </Guidance:Execute>
            </Timeout>
            <Setting><Guidance:Pitch.depth/><Arg Name="Depth"/></Setting>
        </Guidance:Pitch>

        <Assign><Sequence/><Arg Name="StartFromSurface"/><False/></Assign>

    </Aggregate>

    <Syslog Severity="Important">Reached target depth.</Syslog>
    
    <Aggregate Id="TargetDepth">

        <Description>
            Maintain target depth and acquire ESP samples.
        </Description>

        <Sequence/>

        <Syslog Severity="Important">Target Depth.</Syslog>
        
        <Assign><Parallel/><Control:VerticalControl.depthDeadband/><Arg Name="DepthDeadband"/></Assign>
        
        <Guidance:SetSpeed>
            <Parallel/>
            <Setting><Guidance:SetSpeed.speed/><Arg Name="Speed"/></Setting>
        </Guidance:SetSpeed>
        
        <Guidance:Pitch>
            <Parallel/>
            <Setting><Guidance:Pitch.depth/><Arg Name="Depth"/></Setting>
        </Guidance:Pitch>
        
        <Aggregate Id="Spinout">
            
            <While>
                <Arg Name="Speed"/><Gt><Units:meter_per_second/><Value>0.0</Value></Gt>
            </While>
            
            <Guidance:Buoyancy>
                <Parallel/>
                <Setting><Guidance:Buoyancy.position/><Control:VerticalControl.buoyancyNeutral/></Setting>
            </Guidance:Buoyancy>
            
            <Guidance:Point>
                <Setting><Guidance:Point.rudderAngle/><Units:degree/><Value>13</Value></Setting>
            </Guidance:Point>
            
        </Aggregate>
        
        <Aggregate Id="GrabSamples">
            
            <Sequence/>
            
            <Syslog Severity="Important">Grab Samples.</Syslog>
            
            <Insert Filename="Insert/SampleAtDepth.xml"/>
            
            <Assign><Sequence/><Arg Name="SampleAtDepth:TargetDepth"/><Arg Name="Depth"/></Assign>
            
            <Assign><Sequence/><Arg Name="SampleAtDepth:SettleTime"/><Arg Name="WaitBeforeSample"/></Assign>
            
            <Aggregate Id="Sample1">
                <Break>
                    <IsNaN><Arg Name="ESPCartridgeType_1"/></IsNaN>
                </Break>
                
                <Syslog Severity="Important">Sample 1.</Syslog>
                
                <Assign><Sequence/><Arg Name="SampleAtDepth:ESPCartridgeType"/><Arg Name="ESPCartridgeType_1"/></Assign>
                
                <Call Id="sampling" RefId="SampleAtDepth"/>
            </Aggregate>

            
            <Aggregate Id="Sample2">
                <Break>
                    <IsNaN><Arg Name="ESPCartridgeType_2"/></IsNaN>
                </Break>
                
                <Syslog Severity="Important">Sample 2.</Syslog>
                
                <Assign><Sequence/><Arg Name="SampleAtDepth:ESPCartridgeType"/><Arg Name="ESPCartridgeType_2"/></Assign>
                
                <Call Id="sampling" RefId="SampleAtDepth"/>
            </Aggregate>

            
            <Aggregate Id="Sample3">
                <Break>
                    <IsNaN><Arg Name="ESPCartridgeType_3"/></IsNaN>
                </Break>

                <Syslog Severity="Important">Sample 3.</Syslog>
                
                <Assign><Sequence/><Arg Name="SampleAtDepth:ESPCartridgeType"/><Arg Name="ESPCartridgeType_3"/></Assign>
                
                <Call Id="sampling" RefId="SampleAtDepth"/>
            </Aggregate>

            
            <Aggregate Id="Sample4">
                <Break>
                    <IsNaN><Arg Name="ESPCartridgeType_4"/></IsNaN>
                </Break>

                
                <Syslog Severity="Important">Sample 4.</Syslog>
                
                <Assign><Sequence/><Arg Name="SampleAtDepth:ESPCartridgeType"/><Arg Name="ESPCartridgeType_4"/></Assign>

                <Call Id="sampling" RefId="SampleAtDepth"/>
            </Aggregate>

        </Aggregate>

    </Aggregate>

</Mission>


2019-07-16T06:15:12.747Z,1563257712.747 [CommandLine](IMPORTANT): Loaded ./Missions/sample_kiss.xml
2019-07-16T06:15:13.583Z,1563257713.583 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:15:15.607Z,1563257715.607 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:15:17.627Z,1563257717.627 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:15:20.855Z,1563257720.855 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:15:23.687Z,1563257723.687 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:15:26.919Z,1563257726.919 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:15:29.747Z,1563257729.747 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:15:32.975Z,1563257732.975 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:15:34.604Z,1563257734.604 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-16T06:15:34.604Z,1563257734.604 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 19
2019-07-16T06:15:34.604Z,1563257734.604 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-16T06:15:34.654Z,1563257734.654 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-16T06:15:35.018Z,1563257735.018 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-16T06:15:35.018Z,1563257735.018 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 19
2019-07-16T06:15:35.803Z,1563257735.803 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:15:38.631Z,1563257738.631 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:15:40.651Z,1563257740.651 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:15:43.887Z,1563257743.887 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:15:45.253Z,1563257745.253 [CommandLine](IMPORTANT): got command get sample_kiss.DepthDeadband
2019-07-16T06:15:45.253Z,1563257745.253 [CommandLine](IMPORTANT): sample_kiss.DepthDeadband 0.100000 m
2019-07-16T06:15:46.711Z,1563257746.711 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:15:49.943Z,1563257749.943 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:15:50.988Z,1563257750.988 [CommandLine](IMPORTANT): got command run
2019-07-16T06:15:50.989Z,1563257750.989 [CommandLine](IMPORTANT): Running 
2019-07-16T06:15:51.203Z,1563257751.203 [Default] Stopped
2019-07-16T06:15:51.203Z,1563257751.203 [Default](DEBUG): Aggregate::uninitialize Default
2019-07-16T06:15:51.203Z,1563257751.203 [Default:B.GoToSurface] Stopped
2019-07-16T06:15:51.203Z,1563257751.203 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-07-16T06:15:51.203Z,1563257751.203 [Default:CheckIn] Stopped
2019-07-16T06:15:51.203Z,1563257751.203 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-07-16T06:15:51.203Z,1563257751.203 [Default:CheckIn:Read_GPS] Stopped
2019-07-16T06:15:51.204Z,1563257751.204 [MissionManager](IMPORTANT): Started mission sample_kiss
2019-07-16T06:15:51.204Z,1563257751.204 [sample_kiss] Running Loop=1
2019-07-16T06:15:51.204Z,1563257751.204 [sample_kiss](DEBUG): Aggregate::initialize sample_kiss
2019-07-16T06:15:51.204Z,1563257751.204 [sample_kiss:A.AbortSample] Running Loop=1
2019-07-16T06:15:51.204Z,1563257751.204 [sample_kiss:A.AbortSample](INFO): Initializing AbortSample.
2019-07-16T06:15:51.204Z,1563257751.204 [sample_kiss:F.Mass] Running Loop=1
2019-07-16T06:15:51.204Z,1563257751.204 [sample_kiss:F.Mass](DEBUG): Initialize.
2019-07-16T06:15:51.205Z,1563257751.205 [sample_kiss:Science] Running Loop=1
2019-07-16T06:15:51.205Z,1563257751.205 [sample_kiss:Science](DEBUG): Aggregate::initialize sample_kiss:Science
2019-07-16T06:15:51.205Z,1563257751.205 [sample_kiss:Science:A] Running Loop=1
2019-07-16T06:15:51.205Z,1563257751.205 [sample_kiss:Science:B] Running Loop=1
2019-07-16T06:15:51.205Z,1563257751.205 [sample_kiss:Science:C] Running Loop=1
2019-07-16T06:15:51.205Z,1563257751.205 [sample_kiss:Science:D] Running Loop=1
2019-07-16T06:15:51.205Z,1563257751.205 [sample_kiss:Science:E] Running Loop=1
2019-07-16T06:15:51.205Z,1563257751.205 [sample_kiss:Science:F] Running Loop=1
2019-07-16T06:15:51.205Z,1563257751.205 [sample_kiss:Science:G] Running Loop=1
2019-07-16T06:15:51.205Z,1563257751.205 [sample_kiss:Science:H] Running Loop=1
2019-07-16T06:15:51.205Z,1563257751.205 [sample_kiss:Science:Read_Oil] Running Loop=1
2019-07-16T06:15:51.205Z,1563257751.205 [sample_kiss:Science:PeakDetectChl] Running Loop=1
2019-07-16T06:15:51.205Z,1563257751.205 [sample_kiss:Science:PeakDetectChl](DEBUG): Aggregate::initialize sample_kiss:Science:PeakDetectChl
2019-07-16T06:15:51.206Z,1563257751.206 [sample_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2019-07-16T06:15:51.206Z,1563257751.206 [sample_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-16T06:15:51.207Z,1563257751.207 [sample_kiss:Science:HighestChlPeakReport] Running Loop=1
2019-07-16T06:15:51.207Z,1563257751.207 [sample_kiss:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize sample_kiss:Science:HighestChlPeakReport
2019-07-16T06:15:51.207Z,1563257751.207 [sample_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2019-07-16T06:15:51.207Z,1563257751.207 [sample_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2019-07-16T06:15:51.208Z,1563257751.208 [sample_kiss:Science:PeakDetectNO3] Running Loop=1
2019-07-16T06:15:51.208Z,1563257751.208 [sample_kiss:Science:PeakDetectNO3](DEBUG): Aggregate::initialize sample_kiss:Science:PeakDetectNO3
2019-07-16T06:15:51.208Z,1563257751.208 [sample_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2019-07-16T06:15:51.208Z,1563257751.208 [sample_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-16T06:15:51.209Z,1563257751.209 [sample_kiss:Science:PeakDetectOil] Running Loop=1
2019-07-16T06:15:51.209Z,1563257751.209 [sample_kiss:Science:PeakDetectOil](DEBUG): Aggregate::initialize sample_kiss:Science:PeakDetectOil
2019-07-16T06:15:51.209Z,1563257751.209 [sample_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2019-07-16T06:15:51.209Z,1563257751.209 [sample_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-16T06:15:51.210Z,1563257751.210 [sample_kiss:Science:PeakDetectFDOM] Running Loop=1
2019-07-16T06:15:51.210Z,1563257751.210 [sample_kiss:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize sample_kiss:Science:PeakDetectFDOM
2019-07-16T06:15:51.211Z,1563257751.211 [sample_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2019-07-16T06:15:51.211Z,1563257751.211 [sample_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-16T06:15:51.220Z,1563257751.220 [sample_kiss:C] Running Loop=1
2019-07-16T06:15:51.221Z,1563257751.221 [sample_kiss:InitialDive] Running Loop=1
2019-07-16T06:15:51.221Z,1563257751.221 [sample_kiss:InitialDive](DEBUG): Aggregate::initialize sample_kiss:InitialDive
2019-07-16T06:15:51.221Z,1563257751.221 [sample_kiss:InitialDive:A] Running Loop=1
2019-07-16T06:15:51.221Z,1563257751.221 [sample_kiss:InitialDive:B.Buoyancy] Running Loop=1
2019-07-16T06:15:51.222Z,1563257751.222 [sample_kiss:InitialDive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-07-16T06:15:51.222Z,1563257751.222 [sample_kiss:InitialDive:C.SetSpeed] Running Loop=1
2019-07-16T06:15:51.222Z,1563257751.222 [sample_kiss:InitialDive:C.SetSpeed](DEBUG): Initialize.
2019-07-16T06:15:51.222Z,1563257751.222 [sample_kiss:InitialDive:D.Point] Running Loop=1
2019-07-16T06:15:51.222Z,1563257751.222 [sample_kiss:InitialDive:D.Point](DEBUG): Initialize.
2019-07-16T06:15:51.222Z,1563257751.222 [sample_kiss:InitialDive:E.Pitch] Running Loop=1
2019-07-16T06:15:51.222Z,1563257751.222 [sample_kiss:InitialDive:E.Pitch](DEBUG): Initialize.
2019-07-16T06:15:51.223Z,1563257751.223 [sample_kiss:InitialDive:D.Point] Running Loop=1
2019-07-16T06:15:51.223Z,1563257751.223 [sample_kiss:InitialDive:C.SetSpeed] Running Loop=1
2019-07-16T06:15:51.223Z,1563257751.223 [sample_kiss:InitialDive:B.Buoyancy] Running Loop=1
2019-07-16T06:15:51.224Z,1563257751.224 [sample_kiss:InitialDive:A] Running Loop=1
2019-07-16T06:15:51.224Z,1563257751.224 [sample_kiss:Science] Running Loop=1
2019-07-16T06:15:51.225Z,1563257751.225 [sample_kiss:Science:PeakDetectFDOM] Stopped
2019-07-16T06:15:51.225Z,1563257751.225 [sample_kiss:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize sample_kiss:Science:PeakDetectFDOM
2019-07-16T06:15:51.225Z,1563257751.225 [sample_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2019-07-16T06:15:51.225Z,1563257751.225 [sample_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-16T06:15:51.225Z,1563257751.225 [sample_kiss:Science:PeakDetectOil] Stopped
2019-07-16T06:15:51.225Z,1563257751.225 [sample_kiss:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize sample_kiss:Science:PeakDetectOil
2019-07-16T06:15:51.225Z,1563257751.225 [sample_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2019-07-16T06:15:51.225Z,1563257751.225 [sample_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-16T06:15:51.225Z,1563257751.225 [sample_kiss:Science:PeakDetectNO3] Stopped
2019-07-16T06:15:51.225Z,1563257751.225 [sample_kiss:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize sample_kiss:Science:PeakDetectNO3
2019-07-16T06:15:51.226Z,1563257751.226 [sample_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2019-07-16T06:15:51.226Z,1563257751.226 [sample_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-16T06:15:51.226Z,1563257751.226 [sample_kiss:Science:HighestChlPeakReport] Stopped
2019-07-16T06:15:51.226Z,1563257751.226 [sample_kiss:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize sample_kiss:Science:HighestChlPeakReport
2019-07-16T06:15:51.226Z,1563257751.226 [sample_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2019-07-16T06:15:51.226Z,1563257751.226 [sample_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2019-07-16T06:15:51.226Z,1563257751.226 [sample_kiss:Science:PeakDetectChl] Stopped
2019-07-16T06:15:51.226Z,1563257751.226 [sample_kiss:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize sample_kiss:Science:PeakDetectChl
2019-07-16T06:15:51.226Z,1563257751.226 [sample_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2019-07-16T06:15:51.226Z,1563257751.226 [sample_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-16T06:15:51.226Z,1563257751.226 [sample_kiss:Science:Read_Oil] Stopped
2019-07-16T06:15:51.226Z,1563257751.226 [sample_kiss:Science:H] Stopped
2019-07-16T06:15:51.226Z,1563257751.226 [sample_kiss:Science:G] Running Loop=1
2019-07-16T06:15:51.227Z,1563257751.227 [sample_kiss:Science:G](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2019-07-16T06:15:51.227Z,1563257751.227 [sample_kiss:Science:F] Stopped
2019-07-16T06:15:51.227Z,1563257751.227 [sample_kiss:Science:E] Stopped
2019-07-16T06:15:51.227Z,1563257751.227 [sample_kiss:Science:D] Stopped
2019-07-16T06:15:51.227Z,1563257751.227 [sample_kiss:Science:C] Stopped
2019-07-16T06:15:51.227Z,1563257751.227 [sample_kiss:Science:B] Stopped
2019-07-16T06:15:51.227Z,1563257751.227 [sample_kiss:Science:A] Stopped
2019-07-16T06:15:51.227Z,1563257751.227 [sample_kiss:F.Mass] Running Loop=1
2019-07-16T06:15:51.228Z,1563257751.228 [sample_kiss:C] Stopped
2019-07-16T06:15:51.228Z,1563257751.228 [sample_kiss:D] Running Loop=1
2019-07-16T06:15:51.228Z,1563257751.228 [sample_kiss:A.AbortSample] Running Loop=1
2019-07-16T06:15:51.590Z,1563257751.590 [sample_kiss:D] Stopped
2019-07-16T06:15:51.591Z,1563257751.591 [sample_kiss:StartingMission] Running Loop=1
2019-07-16T06:15:51.591Z,1563257751.591 [sample_kiss:StartingMission](DEBUG): Aggregate::initialize sample_kiss:StartingMission
2019-07-16T06:15:51.986Z,1563257751.986 [sample_kiss:SurfaceComms] Running Loop=1
2019-07-16T06:15:51.986Z,1563257751.986 [sample_kiss:SurfaceComms](DEBUG): Aggregate::initialize sample_kiss:SurfaceComms
2019-07-16T06:15:51.987Z,1563257751.987 [sample_kiss:SurfaceComms:A] Running Loop=1
2019-07-16T06:15:51.987Z,1563257751.987 [sample_kiss:SurfaceComms:A](DEBUG): Aggregate::initialize sample_kiss:SurfaceComms:A
2019-07-16T06:15:52.394Z,1563257752.394 [sample_kiss:NeedComms] Running Loop=1
2019-07-16T06:15:52.394Z,1563257752.394 [sample_kiss:NeedComms](DEBUG): Aggregate::initialize sample_kiss:NeedComms
2019-07-16T06:15:52.394Z,1563257752.394 [sample_kiss:NeedComms:B.GoToSurface] Running Loop=1
2019-07-16T06:15:52.394Z,1563257752.394 [sample_kiss:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-07-16T06:15:52.395Z,1563257752.395 [sample_kiss:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2019-07-16T06:15:52.395Z,1563257752.395 [sample_kiss:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2019-07-16T06:15:52.395Z,1563257752.395 [sample_kiss:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2019-07-16T06:15:52.396Z,1563257752.396 [sample_kiss:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-07-16T06:15:52.396Z,1563257752.396 [sample_kiss:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-07-16T06:15:52.396Z,1563257752.396 [sample_kiss:NeedComms:A] Running Loop=1
2019-07-16T06:15:52.397Z,1563257752.397 [sample_kiss:NeedComms:A](INFO): last time_fix was: 1563257344.000000 second since 1970/01/01T00:00:00Z 
2019-07-16T06:15:52.398Z,1563257752.398 [sample_kiss:NeedComms:A] Stopped
2019-07-16T06:15:52.771Z,1563257752.771 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:15:52.808Z,1563257752.808 [sample_kiss:InitialDive:E.Pitch] Stopped
2019-07-16T06:15:52.808Z,1563257752.808 [sample_kiss:InitialDive:F] Running Loop=1
2019-07-16T06:15:52.815Z,1563257752.815 [sample_kiss:NeedComms:C] Running Loop=1
2019-07-16T06:15:53.212Z,1563257753.212 [sample_kiss:InitialDive:F] Stopped
2019-07-16T06:15:53.213Z,1563257753.213 [sample_kiss:InitialDive](INFO): Completed sample_kiss:InitialDive
2019-07-16T06:15:53.213Z,1563257753.213 [sample_kiss:InitialDive] Stopped
2019-07-16T06:15:53.213Z,1563257753.213 [sample_kiss:InitialDive](DEBUG): Aggregate::uninitialize sample_kiss:InitialDive
2019-07-16T06:15:53.213Z,1563257753.213 [sample_kiss:InitialDive:A] Stopped
2019-07-16T06:15:53.213Z,1563257753.213 [sample_kiss:InitialDive:B.Buoyancy] Stopped
2019-07-16T06:15:53.213Z,1563257753.213 [sample_kiss:InitialDive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2019-07-16T06:15:53.213Z,1563257753.213 [sample_kiss:InitialDive:C.SetSpeed] Stopped
2019-07-16T06:15:53.213Z,1563257753.213 [sample_kiss:InitialDive:C.SetSpeed](DEBUG): Uninitialize.
2019-07-16T06:15:53.213Z,1563257753.213 [sample_kiss:InitialDive:D.Point] Stopped
2019-07-16T06:15:53.219Z,1563257753.219 [sample_kiss:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-07-16T06:15:56.003Z,1563257756.003 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:15:58.831Z,1563257758.831 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:16:01.663Z,1563257761.663 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:16:03.687Z,1563257763.687 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:16:05.699Z,1563257765.699 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:16:08.935Z,1563257768.935 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:16:11.763Z,1563257771.763 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:16:14.991Z,1563257774.991 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:16:17.819Z,1563257777.819 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:16:21.054Z,1563257781.054 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:16:23.883Z,1563257783.883 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:16:26.711Z,1563257786.711 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:16:28.731Z,1563257788.731 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:16:31.963Z,1563257791.963 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:16:34.787Z,1563257794.787 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:16:38.023Z,1563257798.023 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:16:40.847Z,1563257800.847 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:16:44.083Z,1563257804.083 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:16:46.907Z,1563257806.907 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:16:49.743Z,1563257809.743 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:16:50.599Z,1563257810.599 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-16T06:16:50.599Z,1563257810.599 [WetLabsBB2FL] No Fault, FailCount= 5
2019-07-16T06:16:50.763Z,1563257810.763 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-16T06:16:50.763Z,1563257810.763 [WetLabsBB2FL](INFO): Powering up
2019-07-16T06:16:51.755Z,1563257811.755 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:16:53.775Z,1563257813.775 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:16:56.055Z,1563257816.055 [WetLabsBB2FL] Communications Fault, FailCount= 1
2019-07-16T06:16:56.055Z,1563257816.055 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-16T06:16:56.220Z,1563257816.220 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-16T06:16:56.556Z,1563257816.556 [WetLabsBB2FL](INFO): Powering down
2019-07-16T06:16:57.007Z,1563257817.007 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:16:57.454Z,1563257817.454 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-16T06:16:57.454Z,1563257817.454 [WetLabsBB2FL] No Fault, FailCount= 1
2019-07-16T06:16:57.768Z,1563257817.768 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-16T06:16:57.768Z,1563257817.768 [WetLabsBB2FL](INFO): Powering up
2019-07-16T06:16:59.839Z,1563257819.839 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:17:03.059Z,1563257823.059 [WetLabsBB2FL] Communications Fault, FailCount= 2
2019-07-16T06:17:03.059Z,1563257823.059 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-16T06:17:03.067Z,1563257823.067 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:17:03.115Z,1563257823.115 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-16T06:17:03.555Z,1563257823.555 [WetLabsBB2FL](INFO): Powering down
2019-07-16T06:17:04.714Z,1563257824.714 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-16T06:17:04.714Z,1563257824.714 [WetLabsBB2FL] No Fault, FailCount= 2
2019-07-16T06:17:04.768Z,1563257824.768 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-16T06:17:04.768Z,1563257824.768 [WetLabsBB2FL](INFO): Powering up
2019-07-16T06:17:05.899Z,1563257825.899 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:17:09.131Z,1563257829.131 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:17:10.063Z,1563257830.063 [WetLabsBB2FL] Communications Fault, FailCount= 3
2019-07-16T06:17:10.063Z,1563257830.063 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-16T06:17:10.363Z,1563257830.363 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-16T06:17:10.571Z,1563257830.571 [WetLabsBB2FL](INFO): Powering down
2019-07-16T06:17:11.574Z,1563257831.574 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-16T06:17:11.575Z,1563257831.575 [WetLabsBB2FL] No Fault, FailCount= 3
2019-07-16T06:17:11.784Z,1563257831.784 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-16T06:17:11.784Z,1563257831.784 [WetLabsBB2FL](INFO): Powering up
2019-07-16T06:17:11.955Z,1563257831.955 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:17:14.783Z,1563257834.783 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:17:16.807Z,1563257836.807 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:17:17.075Z,1563257837.075 [WetLabsBB2FL] Communications Fault, FailCount= 4
2019-07-16T06:17:17.075Z,1563257837.075 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-16T06:17:17.258Z,1563257837.258 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-16T06:17:17.575Z,1563257837.575 [WetLabsBB2FL](INFO): Powering down
2019-07-16T06:17:18.473Z,1563257838.473 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-16T06:17:18.473Z,1563257838.473 [WetLabsBB2FL] No Fault, FailCount= 4
2019-07-16T06:17:18.795Z,1563257838.795 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-16T06:17:18.795Z,1563257838.795 [WetLabsBB2FL](INFO): Powering up
2019-07-16T06:17:19.377Z,1563257839.377 [CommandLine](IMPORTANT): got command get sample_kiss.StartFromSurface
2019-07-16T06:17:19.377Z,1563257839.377 [CommandLine](IMPORTANT): sample_kiss.StartFromSurface 0 bool
2019-07-16T06:17:20.035Z,1563257840.035 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:17:22.863Z,1563257842.863 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:17:24.079Z,1563257844.079 [WetLabsBB2FL] Communications Fault, FailCount= 5
2019-07-16T06:17:24.079Z,1563257844.079 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-16T06:17:24.106Z,1563257844.106 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-16T06:17:24.106Z,1563257844.106 [CBIT](FAULT): Communications Fault in component: WetLabsBB2FL
2019-07-16T06:17:24.575Z,1563257844.575 [WetLabsBB2FL](INFO): Powering down
2019-07-16T06:17:26.095Z,1563257846.095 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:17:28.927Z,1563257848.927 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:17:32.159Z,1563257852.159 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:17:34.987Z,1563257854.987 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:17:35.415Z,1563257855.415 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-16T06:17:35.415Z,1563257855.415 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 20
2019-07-16T06:17:35.415Z,1563257855.415 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-16T06:17:35.427Z,1563257855.427 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-16T06:17:35.427Z,1563257855.427 [CBIT](FAULT): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-16T06:17:37.811Z,1563257857.811 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:17:39.839Z,1563257859.839 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:17:43.063Z,1563257863.063 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:17:45.895Z,1563257865.895 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:17:49.123Z,1563257869.123 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:17:51.951Z,1563257871.951 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:17:55.183Z,1563257875.183 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:17:58.015Z,1563257878.015 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:18:00.839Z,1563257880.839 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:18:02.863Z,1563257882.863 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:18:04.879Z,1563257884.879 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:18:08.115Z,1563257888.115 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:18:10.939Z,1563257890.939 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:18:14.171Z,1563257894.171 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:18:15.748Z,1563257895.748 [CommandLine](IMPORTANT): got command stop
2019-07-16T06:18:15.748Z,1563257895.748 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-07-16T06:18:15.798Z,1563257895.798 [MissionManager](INFO): MissionManager is completed.
2019-07-16T06:18:15.798Z,1563257895.798 [MissionManager](INFO): Uninitializing Mission sample_kiss
2019-07-16T06:18:15.798Z,1563257895.798 [sample_kiss] Stopped
2019-07-16T06:18:15.799Z,1563257895.799 [sample_kiss](DEBUG): Aggregate::uninitialize sample_kiss
2019-07-16T06:18:15.799Z,1563257895.799 [sample_kiss:A.AbortSample] Stopped
2019-07-16T06:18:15.799Z,1563257895.799 [sample_kiss:A.AbortSample](INFO): Uninitializing AbortSample.
2019-07-16T06:18:15.799Z,1563257895.799 [sample_kiss:NeedComms] Stopped
2019-07-16T06:18:15.799Z,1563257895.799 [sample_kiss:NeedComms](DEBUG): Aggregate::uninitialize sample_kiss:NeedComms
2019-07-16T06:18:15.799Z,1563257895.799 [sample_kiss:NeedComms:B.GoToSurface] Stopped
2019-07-16T06:18:15.799Z,1563257895.799 [sample_kiss:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-07-16T06:18:15.799Z,1563257895.799 [sample_kiss:NeedComms:C] Stopped
2019-07-16T06:18:15.799Z,1563257895.799 [sample_kiss:SurfaceComms] Stopped
2019-07-16T06:18:15.799Z,1563257895.799 [sample_kiss:SurfaceComms](DEBUG): Aggregate::uninitialize sample_kiss:SurfaceComms
2019-07-16T06:18:15.800Z,1563257895.800 [sample_kiss:SurfaceComms:A] Stopped
2019-07-16T06:18:15.800Z,1563257895.800 [sample_kiss:SurfaceComms:A](DEBUG): Aggregate::uninitialize sample_kiss:SurfaceComms:A
2019-07-16T06:18:15.800Z,1563257895.800 [sample_kiss:F.Mass] Stopped
2019-07-16T06:18:15.800Z,1563257895.800 [sample_kiss:F.Mass](DEBUG): Uninitialize.
2019-07-16T06:18:15.800Z,1563257895.800 [sample_kiss:StartingMission] Stopped
2019-07-16T06:18:15.800Z,1563257895.800 [sample_kiss:StartingMission](DEBUG): Aggregate::uninitialize sample_kiss:StartingMission
2019-07-16T06:18:15.800Z,1563257895.800 [sample_kiss:Science] Stopped
2019-07-16T06:18:15.800Z,1563257895.800 [sample_kiss:Science](DEBUG): Aggregate::uninitialize sample_kiss:Science
2019-07-16T06:18:15.800Z,1563257895.800 [sample_kiss:Science:G] Stopped
2019-07-16T06:18:16.208Z,1563257896.208 [MissionManager](IMPORTANT): Started mission Default
2019-07-16T06:18:16.208Z,1563257896.208 [Default] Running Loop=1
2019-07-16T06:18:16.208Z,1563257896.208 [Default](DEBUG): Aggregate::initialize Default
2019-07-16T06:18:16.208Z,1563257896.208 [Default:B.GoToSurface] Running Loop=1
2019-07-16T06:18:16.208Z,1563257896.208 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-07-16T06:18:16.208Z,1563257896.208 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-07-16T06:18:16.209Z,1563257896.209 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-07-16T06:18:16.209Z,1563257896.209 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-07-16T06:18:16.209Z,1563257896.209 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-07-16T06:18:16.210Z,1563257896.210 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-07-16T06:18:16.210Z,1563257896.210 [Default:A.Wait] Running Loop=1
2019-07-16T06:18:16.210Z,1563257896.210 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-07-16T06:18:16.999Z,1563257896.999 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:18:20.235Z,1563257900.235 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:18:23.063Z,1563257903.063 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:18:25.887Z,1563257905.887 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:18:27.907Z,1563257907.907 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:18:29.544Z,1563257909.544 [Default:A.Wait](INFO): Done Waiting.
2019-07-16T06:18:29.544Z,1563257909.544 [Default:A.Wait] Stopped
2019-07-16T06:18:29.544Z,1563257909.544 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-07-16T06:18:29.940Z,1563257909.940 [Default:CheckIn] Running Loop=1
2019-07-16T06:18:29.940Z,1563257909.940 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-07-16T06:18:29.940Z,1563257909.940 [Default:CheckIn:Read_GPS] Running Loop=1
2019-07-16T06:18:31.144Z,1563257911.144 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:18:33.971Z,1563257913.971 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:18:34.548Z,1563257914.548 [CommandLine](IMPORTANT): got command maintain clear
2019-07-16T06:18:37.199Z,1563257917.199 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:18:40.027Z,1563257920.027 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:18:43.259Z,1563257923.259 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:18:46.087Z,1563257926.087 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:18:48.919Z,1563257928.919 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:18:50.935Z,1563257930.935 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:18:52.959Z,1563257932.959 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:18:56.195Z,1563257936.195 [NAL9602](DEBUG): Fix Requested
2019-07-16T06:18:59.023Z,1563257939.023 [NAL9602](DEBUG): Fix Requested