2019-07-19T19:11:15.698Z,1563563475.698 [CommandLine](IMPORTANT): got command restart logs
2019-07-19T19:11:45.547Z,1563563505.547 [VerticalControl](CRITICAL): Failure to ascend, stopping mission after 840.359741 seconds, depthRate=0.077234 m/s, pitch=nan deg.
2019-07-19T19:11:45.580Z,1563563505.580 [CommandLine](FAULT): Scheduling is paused
2019-07-19T19:11:45.580Z,1563563505.580 [CBIT](INFO): Critical error at 20190719T191145
2019-07-19T19:11:52.020Z,1563563512.020 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-19T19:11:52.020Z,1563563512.020 [WetLabsBB2FL] No Fault, FailCount= 5
2019-07-19T19:11:52.138Z,1563563512.138 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-19T19:11:52.138Z,1563563512.138 [WetLabsBB2FL](INFO): Powering up
2019-07-19T19:11:57.429Z,1563563517.429 [WetLabsBB2FL] Communications Fault, FailCount= 1
2019-07-19T19:11:57.429Z,1563563517.429 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-19T19:11:57.674Z,1563563517.674 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-19T19:11:57.929Z,1563563517.929 [WetLabsBB2FL](INFO): Powering down
2019-07-19T19:11:58.889Z,1563563518.889 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-19T19:11:58.889Z,1563563518.889 [WetLabsBB2FL] No Fault, FailCount= 1
2019-07-19T19:11:59.142Z,1563563519.142 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-19T19:11:59.142Z,1563563519.142 [WetLabsBB2FL](INFO): Powering up
2019-07-19T19:12:04.433Z,1563563524.433 [WetLabsBB2FL] Communications Fault, FailCount= 2
2019-07-19T19:12:04.433Z,1563563524.433 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-19T19:12:04.595Z,1563563524.595 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-19T19:12:04.933Z,1563563524.933 [WetLabsBB2FL](INFO): Powering down
2019-07-19T19:12:05.784Z,1563563525.784 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-19T19:12:05.784Z,1563563525.784 [WetLabsBB2FL] No Fault, FailCount= 2
2019-07-19T19:12:06.146Z,1563563526.146 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-19T19:12:06.146Z,1563563526.146 [WetLabsBB2FL](INFO): Powering up
2019-07-19T19:12:11.461Z,1563563531.461 [WetLabsBB2FL] Communications Fault, FailCount= 3
2019-07-19T19:12:11.461Z,1563563531.461 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-19T19:12:11.824Z,1563563531.824 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-19T19:12:11.961Z,1563563531.961 [WetLabsBB2FL](INFO): Powering down
2019-07-19T19:12:13.026Z,1563563533.026 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-19T19:12:13.026Z,1563563533.026 [WetLabsBB2FL] No Fault, FailCount= 3
2019-07-19T19:12:13.174Z,1563563533.174 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-19T19:12:13.174Z,1563563533.174 [WetLabsBB2FL](INFO): Powering up
2019-07-19T19:12:18.473Z,1563563538.473 [WetLabsBB2FL] Communications Fault, FailCount= 4
2019-07-19T19:12:18.473Z,1563563538.473 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-19T19:12:18.678Z,1563563538.678 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-19T19:12:18.678Z,1563563538.678 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 8
2019-07-19T19:12:18.678Z,1563563538.678 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-19T19:12:18.689Z,1563563538.689 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-19T19:12:18.690Z,1563563538.690 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-19T19:12:18.973Z,1563563538.973 [WetLabsBB2FL](INFO): Powering down
2019-07-19T19:12:19.106Z,1563563539.106 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-19T19:12:19.106Z,1563563539.106 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 8
2019-07-19T19:12:19.901Z,1563563539.901 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-19T19:12:19.901Z,1563563539.901 [WetLabsBB2FL] No Fault, FailCount= 4
2019-07-19T19:12:20.186Z,1563563540.186 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-19T19:12:20.186Z,1563563540.186 [WetLabsBB2FL](INFO): Powering up
2019-07-19T19:12:25.477Z,1563563545.477 [WetLabsBB2FL] Communications Fault, FailCount= 5
2019-07-19T19:12:25.477Z,1563563545.477 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-19T19:12:25.568Z,1563563545.568 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-19T19:12:25.568Z,1563563545.568 [CBIT](FAULT): Communications Fault in component: WetLabsBB2FL
2019-07-19T19:12:25.977Z,1563563545.977 [WetLabsBB2FL](INFO): Powering down
2019-07-19T19:13:07.991Z,1563563587.991 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.latitude_fix 36.797001 degree
2019-07-19T19:13:07.992Z,1563563587.992 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.longitude_fix -121.847000 degree
2019-07-19T19:13:21.535Z,1563563601.535 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1563563648.000000 second
2019-07-19T19:13:30.043Z,1563563610.043 [CommandLine](IMPORTANT): got command run ./Missions/esp_kiss.xml
2019-07-19T19:13:30.044Z,1563563610.044 [MissionManager](INFO): Loading Mission: ./Missions/esp_kiss.xml
2019-07-19T19:13:30.189Z,1563563610.189 [MissionManager](INFO): DefineArg esp_kiss.MissionTimeout = 4.000000 h
2019-07-19T19:13:30.191Z,1563563610.191 [MissionManager](INFO): DefineArg esp_kiss.TargetDepth = 2.500000 m
2019-07-19T19:13:30.194Z,1563563610.194 [MissionManager](INFO): DefineArg esp_kiss.ESPCartridgeType_1 = -4.000000 count
2019-07-19T19:13:30.196Z,1563563610.196 [MissionManager](INFO): DefineArg esp_kiss.ESPCartridgeType_2 = -9.000000 count
2019-07-19T19:13:30.202Z,1563563610.202 [MissionManager](INFO): DefineArg esp_kiss.ESPCartridgeType_3 = nan count
2019-07-19T19:13:30.204Z,1563563610.204 [MissionManager](INFO): DefineArg esp_kiss.ESPCartridgeType_4 = nan count
2019-07-19T19:13:30.206Z,1563563610.206 [MissionManager](INFO): DefineArg esp_kiss.SettleTime = 3.000000 min
2019-07-19T19:13:30.208Z,1563563610.208 [MissionManager](INFO): DefineArg esp_kiss.Speed = 0.000000 m/s
2019-07-19T19:13:30.210Z,1563563610.210 [MissionManager](INFO): DefineArg esp_kiss.ApproachSpeed = 1.000000 m/s
2019-07-19T19:13:30.212Z,1563563610.212 [MissionManager](INFO): DefineArg esp_kiss.ApproachDepthTimeout = 20.000000 min
2019-07-19T19:13:30.230Z,1563563610.230 [MissionManager](INFO): DefineArg esp_kiss.DepthDeadband = 0.010000 m
2019-07-19T19:13:30.232Z,1563563610.232 [MissionManager](INFO): DefineArg esp_kiss.MaxDepth = 5.000000 m
2019-07-19T19:13:30.234Z,1563563610.234 [MissionManager](INFO): DefineArg esp_kiss.PitchLimit = 20.000000 arcdeg
2019-07-19T19:13:30.236Z,1563563610.236 [MissionManager](INFO): DefineArg esp_kiss.MinOffshore = 1.000000 km
2019-07-19T19:13:30.239Z,1563563610.239 [MissionManager](INFO): DefineOutput esp_kiss.ESPCartridgeType = nan count
2019-07-19T19:13:30.240Z,1563563610.240 [esp_kiss:A.AbortSample](DEBUG): Construct.
2019-07-19T19:13:30.240Z,1563563610.240 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2019-07-19T19:13:30.257Z,1563563610.257 [MissionManager](INFO): DefineArg esp_kiss:StandardEnvelopes.MinAltitude = 5.000000 m
2019-07-19T19:13:30.259Z,1563563610.259 [MissionManager](INFO): DefineArg esp_kiss:StandardEnvelopes.MaxDepth = 200.000000 m
2019-07-19T19:13:30.261Z,1563563610.261 [MissionManager](INFO): DefineArg esp_kiss:StandardEnvelopes.MinOffshore = 2000.000000 m
2019-07-19T19:13:30.262Z,1563563610.262 [esp_kiss:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-07-19T19:13:30.267Z,1563563610.267 [esp_kiss:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-07-19T19:13:30.273Z,1563563610.273 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2019-07-19T19:13:30.308Z,1563563610.308 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-07-19T19:13:30.432Z,1563563610.432 [MissionManager](INFO): DefineArg esp_kiss:NeedComms.DiveInterval = 3.000000 h
2019-07-19T19:13:30.434Z,1563563610.434 [MissionManager](INFO): DefineArg esp_kiss:NeedComms.WaitForPitchUp = 10.000000 min
2019-07-19T19:13:30.436Z,1563563610.436 [MissionManager](INFO): DefineArg esp_kiss:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-07-19T19:13:30.438Z,1563563610.438 [MissionManager](INFO): DefineArg esp_kiss:NeedComms.SurfaceDepthRate = nan m/s
2019-07-19T19:13:30.440Z,1563563610.440 [MissionManager](INFO): DefineArg esp_kiss:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-07-19T19:13:30.469Z,1563563610.469 [MissionManager](INFO): DefineArg esp_kiss:NeedComms.GPSTimeout = 7.000000 min
2019-07-19T19:13:30.471Z,1563563610.471 [MissionManager](INFO): DefineArg esp_kiss:NeedComms.CommsTimeout = 30.000000 min
2019-07-19T19:13:30.494Z,1563563610.494 [esp_kiss:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-07-19T19:13:30.550Z,1563563610.550 [esp_kiss:SampleESP:sample:B.Wait](DEBUG): Construct Wait.
2019-07-19T19:13:30.587Z,1563563610.587 [MissionManager](ERROR): Slate does not contain CTD_NeilBrown.bin_mean_sea_water_temperature
2019-07-19T19:13:30.587Z,1563563610.587 [MissionManager](ERROR): Slate does not contain celsius
2019-07-19T19:13:30.590Z,1563563610.590 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2019-07-19T19:13:30.647Z,1563563610.647 [Reporter](INFO): ESPComponent.cartridge -4 count
2019-07-19T19:13:30.877Z,1563563610.877 [MissionManager](INFO): DefineArg esp_kiss:Science.SampleISUS = 0 bool
2019-07-19T19:13:30.879Z,1563563610.879 [MissionManager](INFO): DefineArg esp_kiss:Science.SampleISUSmaxPitch = 60.000000 arcdeg
2019-07-19T19:13:30.881Z,1563563610.881 [MissionManager](INFO): DefineArg esp_kiss:Science.SampleISUSminPitch = -60.000000 arcdeg
2019-07-19T19:13:30.883Z,1563563610.883 [MissionManager](INFO): DefineArg esp_kiss:Science.PeakDetectChlActive = 0 bool
2019-07-19T19:13:30.885Z,1563563610.885 [MissionManager](INFO): DefineArg esp_kiss:Science.TimeWindowPeakReport = nan min
2019-07-19T19:13:30.887Z,1563563610.887 [MissionManager](INFO): DefineArg esp_kiss:Science.HighestChlPeakReportActive = 0 bool
2019-07-19T19:13:30.889Z,1563563610.889 [MissionManager](INFO): DefineArg esp_kiss:Science.PatchTracking = 0 bool
2019-07-19T19:13:30.891Z,1563563610.891 [MissionManager](INFO): DefineArg esp_kiss:Science.FilterWidthHorizontal = 3.000000 count
2019-07-19T19:13:30.893Z,1563563610.893 [MissionManager](INFO): DefineArg esp_kiss:Science.NumProfilesSlidingwindow = 100.000000 count
2019-07-19T19:13:30.896Z,1563563610.896 [MissionManager](INFO): DefineArg esp_kiss:Science.OffPeakFractionHorizontal = 80.000000 %
2019-07-19T19:13:30.897Z,1563563610.897 [MissionManager](INFO): DefineArg esp_kiss:Science.PeakDetectNO3Active = 0 bool
2019-07-19T19:13:30.899Z,1563563610.899 [MissionManager](INFO): DefineArg esp_kiss:Science.PeakDetectOilActive = 0 bool
2019-07-19T19:13:30.901Z,1563563610.901 [MissionManager](INFO): DefineArg esp_kiss:Science.PeakDetectFDOMActive = 0 bool
2019-07-19T19:13:30.903Z,1563563610.903 [MissionManager](INFO): DefineArg esp_kiss:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2019-07-19T19:13:30.905Z,1563563610.905 [MissionManager](INFO): DefineArg esp_kiss:Science.EnabledAanderaaO2 = 0.000000 bool
2019-07-19T19:13:30.908Z,1563563610.908 [MissionManager](INFO): DefineArg esp_kiss:Science.EnabledNeilBrown = 0.000000 bool
2019-07-19T19:13:30.910Z,1563563610.910 [MissionManager](INFO): DefineArg esp_kiss:Science.EnabledSeabird = 0.000000 bool
2019-07-19T19:13:30.912Z,1563563610.912 [MissionManager](INFO): DefineArg esp_kiss:Science.EnabledTurbulence_NPS = 0.000000 bool
2019-07-19T19:13:30.915Z,1563563610.915 [MissionManager](INFO): DefineArg esp_kiss:Science.EnabledWetLabsBB2FL = 1.000000 bool
2019-07-19T19:13:30.917Z,1563563610.917 [MissionManager](INFO): DefineArg esp_kiss:Science.EnabledWetLabsSeaOWL_UV_A = 0.000000 bool
2019-07-19T19:13:30.920Z,1563563610.920 [MissionManager](INFO): DefineArg esp_kiss:Science.EnabledWetLabsUBAT = 0.000000 bool
2019-07-19T19:13:30.922Z,1563563610.922 [MissionManager](INFO): DefineArg esp_kiss:Science.EnabledISUS = 0.000000 bool
2019-07-19T19:13:30.924Z,1563563610.924 [MissionManager](INFO): DefineArg esp_kiss:Science.LowPassWindowLength = 20.000000 count
2019-07-19T19:13:30.926Z,1563563610.926 [MissionManager](INFO): DefineArg esp_kiss:Science.MedianFilterLen = 5.000000 count
2019-07-19T19:13:30.928Z,1563563610.928 [MissionManager](INFO): DefineArg esp_kiss:Science.PeakChlShallowBound = nan m
2019-07-19T19:13:30.991Z,1563563610.991 [MissionManager](INFO): DefineArg esp_kiss:Science.PeakChlDeepBound = nan m
2019-07-19T19:13:30.993Z,1563563610.993 [MissionManager](INFO): DefineArg esp_kiss:Science.PeakShallowBound = nan m
2019-07-19T19:13:30.995Z,1563563610.995 [MissionManager](INFO): DefineArg esp_kiss:Science.PeakDeepBound = nan m
2019-07-19T19:13:31.022Z,1563563611.022 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakChl = 0.000000 ug/l
2019-07-19T19:13:31.024Z,1563563611.024 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakChlDepth = 0.000000 m
2019-07-19T19:13:31.026Z,1563563611.026 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakChlTemperature = 0.000000 degC
2019-07-19T19:13:31.038Z,1563563611.038 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakChlLatitude = nan arcdeg
2019-07-19T19:13:31.040Z,1563563611.040 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakChlLongitude = nan arcdeg
2019-07-19T19:13:31.042Z,1563563611.042 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakNO3 = 0.000000 umol/l
2019-07-19T19:13:31.044Z,1563563611.044 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakNO3Depth = 0.000000 m
2019-07-19T19:13:31.047Z,1563563611.047 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakNO3Latitude = nan arcdeg
2019-07-19T19:13:31.061Z,1563563611.061 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakNO3Longitude = nan arcdeg
2019-07-19T19:13:31.063Z,1563563611.063 [MissionManager](INFO): DefineOutput esp_kiss:Science.PatchChl = 0.000000 m
2019-07-19T19:13:31.066Z,1563563611.066 [MissionManager](INFO): DefineOutput esp_kiss:Science.PatchChlDepth = 0.000000 m
2019-07-19T19:13:31.068Z,1563563611.068 [MissionManager](INFO): DefineOutput esp_kiss:Science.PatchChlLatitude = nan arcdeg
2019-07-19T19:13:31.070Z,1563563611.070 [MissionManager](INFO): DefineOutput esp_kiss:Science.PatchChlLongitude = nan arcdeg
2019-07-19T19:13:31.072Z,1563563611.072 [MissionManager](INFO): DefineOutput esp_kiss:Science.PatchChlDistance = nan m
2019-07-19T19:13:31.086Z,1563563611.086 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakOil = 0.000000 kg/m3
2019-07-19T19:13:31.089Z,1563563611.089 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakOilDepth = 0.000000 m
2019-07-19T19:13:31.091Z,1563563611.091 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakOilLatitude = nan arcdeg
2019-07-19T19:13:31.130Z,1563563611.130 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakOilLongitude = nan arcdeg
2019-07-19T19:13:31.132Z,1563563611.132 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakFDOM = 0.000000 ppb
2019-07-19T19:13:31.140Z,1563563611.140 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakFDOMDepth = 0.000000 m
2019-07-19T19:13:31.142Z,1563563611.142 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakFDOMLatitude = nan arcdeg
2019-07-19T19:13:31.144Z,1563563611.144 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakFDOMLongitude = nan arcdeg
2019-07-19T19:13:31.151Z,1563563611.151 [MissionManager](INFO): DefineOutput esp_kiss:Science.PatchFDOMDistance = nan m
2019-07-19T19:13:31.183Z,1563563611.183 [esp_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-19T19:13:31.212Z,1563563611.212 [esp_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2019-07-19T19:13:31.234Z,1563563611.234 [esp_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-19T19:13:31.251Z,1563563611.251 [esp_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-19T19:13:31.270Z,1563563611.270 [esp_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-19T19:13:31.293Z,1563563611.293 [esp_kiss:InitialDive:C.Mass](DEBUG): Construct.
2019-07-19T19:13:31.296Z,1563563611.296 [esp_kiss:InitialDive:D.Buoyancy](DEBUG): Construct Buoyancy.
2019-07-19T19:13:31.303Z,1563563611.303 [esp_kiss:InitialDive:E.Point](DEBUG): Construct.
2019-07-19T19:13:31.312Z,1563563611.312 [esp_kiss:InitialDive:F.SetSpeed](DEBUG): Construct.
2019-07-19T19:13:31.315Z,1563563611.315 [esp_kiss:InitialDive:G.Pitch](DEBUG): Construct.
2019-07-19T19:13:31.320Z,1563563611.320 [esp_kiss:InitialDive:G.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-07-19T19:13:31.335Z,1563563611.335 [esp_kiss:SampleAtTargetDepth:A.SetSpeed](DEBUG): Construct.
2019-07-19T19:13:31.338Z,1563563611.338 [esp_kiss:SampleAtTargetDepth:B.Pitch](DEBUG): Construct.
2019-07-19T19:13:31.342Z,1563563611.342 [esp_kiss:SampleAtTargetDepth:Spinout:A.Mass](DEBUG): Construct.
2019-07-19T19:13:31.373Z,1563563611.373 [esp_kiss:SampleAtTargetDepth:Spinout:B.Buoyancy](DEBUG): Construct Buoyancy.
2019-07-19T19:13:31.395Z,1563563611.395 [esp_kiss:SampleAtTargetDepth:Spinout:C.Point](DEBUG): Construct.
2019-07-19T19:13:31.494Z,1563563611.494 [Reporter](INFO): VerticalControl.depthCmd 2.500000 m
2019-07-19T19:13:31.566Z,1563563611.566 [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
                             Tethys/Science http://okeanids.mbari.org/tethys/Xml/Science.xsd"
       Id="esp_kiss">

    <Description>
        This mission takes ESP samples at the designated depth.
    </Description>

    <DefineArg Name="MissionTimeout"><Description>
        Maximum duration of mission.
    </Description><Units:hour/><Value>4</Value></DefineArg>

    <DefineArg Name="TargetDepth"><Description>
        Depth held during the missoin.
    </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>-4</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>-9</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="SettleTime"><Description>
        How long to wait between samples. This starts *before* the first sample.
    </Description><Units:minute/><Value>3</Value></DefineArg>

    <DefineArg Name="Speed"><Description>
        Vehicle speed while sampling. Set to zero to maintain depth using VBS (drift).
    </Description><Units:meter_per_second/><Value>0</Value></DefineArg>

    <DefineArg Name="ApproachSpeed"><Description>
        Vehicle speed for initial descent form the surface to target depth. Set to zero to descend using VBS (drift).
    </Description><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="ApproachDepthTimeout"><Description>
        Maximum time duration for the vehicle to reach the target 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>0.01</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="ESPCartridgeType"><Description>
        Mission parameter (don't change). Specifies ESP cartridge type code.
    </Description><Units:count/><Value>NaN</Value></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>


    <Assign><Parallel/><Control:VerticalControl.depthDeadband/><Arg Name="DepthDeadband"/></Assign>


    <!-- Callable aggregate -->

    <Aggregate Id="SampleESP">
        
        <When>
            <Called/>
        </When>

        <Aggregate Id="sample">
            <Sequence/>

            <Syslog Severity="Important">At <Universal:depth/><Units:meter/>, settling for <Arg Name="SettleTime"/><Units:minute/></Syslog>

            <Guidance:Wait>
                <Sequence/>
                <Setting><Guidance:Wait.duration/><Arg Name="SettleTime"/></Setting>
            </Guidance:Wait>

            <Syslog Severity="Important">Requesting ESP cartridge type:<Arg Name="ESPCartridgeType"/><Units:count/></Syslog>

            <Assign><Sequence/><Science:ESPComponent.cartridge/><Arg Name="ESPCartridgeType"/></Assign>

            <ReadDatum Id="TriggerESP">
                <Science:ESPComponent.sampling/>
            </ReadDatum>

            <Syslog Severity="Important">ESP sampling at <Universal:depth/><Units:meter/> in <Science:CTD_NeilBrown.bin_mean_sea_water_temperature/><Units:celsius/> water with <Science:WetLabsBB2FL.bin_mean_mass_concentration_of_chlorophyll_in_sea_water/><Units:microgram_per_liter/>chlorophyll fluorescence.</Syslog>

            <ReadDatum Id="WaitForESP">
                <Science:ESPComponent.sample_number/>
            </ReadDatum>
        </Aggregate>

    </Aggregate>


    <!-- Start mission sequence -->

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

    <Aggregate Id="InitialDive">

        <Description>
            Descend from the surface to approach depth at ApproachSpeed, limit pitch
            and hold the rudder.
        </Description>

        <Sequence/>

        <Syslog>Moving to <Arg Name="TargetDepth"/><Units:meter/></Syslog>

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

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

        <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>

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

        <Guidance:Pitch>
            <Sequence/>

            <Timeout Duration="ApproachDepthTimeout">
                <Syslog Severity="Important">Timed out while trying to reach target 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="TargetDepth"/></Setting>
        </Guidance:Pitch>

    </Aggregate>


    <Aggregate Id="SampleAtTargetDepth">

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

        <Sequence/>

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

        <Guidance:Pitch>
            <Parallel/>
            <Setting><Guidance:Pitch.depth/><Arg Name="TargetDepth"/></Setting>
        </Guidance:Pitch>

        <Aggregate Id="Spinout">

            <Description>
                Spin in circels while sampling if a speed is specified.
            </Description>
            
            <While>
                <Arg Name="Speed"/><Gt><Units:meter_per_second/><Value>0.0</Value></Gt>
            </While>

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

            <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/>

            <Aggregate Id="Sample1">
                <Break>
                    <IsNaN><Arg Name="ESPCartridgeType_1"/></IsNaN>
                </Break>

                <Assign><Sequence/><Arg Name="ESPCartridgeType"/><Arg Name="ESPCartridgeType_1"/></Assign>

                <Call RefId="SampleESP"/>
            </Aggregate>


            <Aggregate Id="Sample2">
                <Break>
                    <IsNaN><Arg Name="ESPCartridgeType_2"/></IsNaN>
                </Break>

                <Assign><Sequence/><Arg Name="ESPCartridgeType"/><Arg Name="ESPCartridgeType_2"/></Assign>

                <Call RefId="SampleESP"/>
            </Aggregate>


            <Aggregate Id="Sample3">
                <Break>
                    <IsNaN><Arg Name="ESPCartridgeType_3"/></IsNaN>
                </Break>
                
                <Assign><Sequence/><Arg Name="ESPCartridgeType"/><Arg Name="ESPCartridgeType_3"/></Assign>
                
                <Call RefId="SampleESP"/>
            </Aggregate>


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

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

                <Call RefId="SampleESP"/>
            </Aggregate>

        </Aggregate>

    </Aggregate>

</Mission>


2019-07-19T19:13:31.568Z,1563563611.568 [CommandLine](IMPORTANT): Running ./Missions/esp_kiss.xml
2019-07-19T19:13:31.800Z,1563563611.800 [Default] Stopped
2019-07-19T19:13:31.800Z,1563563611.800 [Default](DEBUG): Aggregate::uninitialize Default
2019-07-19T19:13:31.800Z,1563563611.800 [Default:B.GoToSurface] Stopped
2019-07-19T19:13:31.800Z,1563563611.800 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-07-19T19:13:31.800Z,1563563611.800 [MissionManager](IMPORTANT): Started mission esp_kiss
2019-07-19T19:13:31.800Z,1563563611.800 [esp_kiss] Running Loop=1
2019-07-19T19:13:31.801Z,1563563611.801 [esp_kiss](DEBUG): Aggregate::initialize esp_kiss
2019-07-19T19:13:31.801Z,1563563611.801 [esp_kiss:A.AbortSample] Running Loop=1
2019-07-19T19:13:31.801Z,1563563611.801 [esp_kiss:A.AbortSample](INFO): Initializing AbortSample.
2019-07-19T19:13:31.801Z,1563563611.801 [esp_kiss:StandardEnvelopes] Running Loop=1
2019-07-19T19:13:31.801Z,1563563611.801 [esp_kiss:StandardEnvelopes](DEBUG): Aggregate::initialize esp_kiss:StandardEnvelopes
2019-07-19T19:13:31.801Z,1563563611.801 [esp_kiss:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-07-19T19:13:31.801Z,1563563611.801 [esp_kiss:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-07-19T19:13:31.801Z,1563563611.801 [esp_kiss:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-07-19T19:13:31.802Z,1563563611.802 [esp_kiss:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-07-19T19:13:31.802Z,1563563611.802 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-07-19T19:13:31.802Z,1563563611.802 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2019-07-19T19:13:31.802Z,1563563611.802 [esp_kiss:H] Running Loop=1
2019-07-19T19:13:31.802Z,1563563611.802 [esp_kiss:Science] Running Loop=1
2019-07-19T19:13:31.802Z,1563563611.802 [esp_kiss:Science](DEBUG): Aggregate::initialize esp_kiss:Science
2019-07-19T19:13:31.802Z,1563563611.802 [esp_kiss:Science:A] Running Loop=1
2019-07-19T19:13:31.802Z,1563563611.802 [esp_kiss:Science:B] Running Loop=1
2019-07-19T19:13:31.802Z,1563563611.802 [esp_kiss:Science:C] Running Loop=1
2019-07-19T19:13:31.802Z,1563563611.802 [esp_kiss:Science:D] Running Loop=1
2019-07-19T19:13:31.802Z,1563563611.802 [esp_kiss:Science:E] Running Loop=1
2019-07-19T19:13:31.802Z,1563563611.802 [esp_kiss:Science:F] Running Loop=1
2019-07-19T19:13:31.802Z,1563563611.802 [esp_kiss:Science:G] Running Loop=1
2019-07-19T19:13:31.803Z,1563563611.803 [esp_kiss:Science:H] Running Loop=1
2019-07-19T19:13:31.803Z,1563563611.803 [esp_kiss:Science:Read_Oil] Running Loop=1
2019-07-19T19:13:31.803Z,1563563611.803 [esp_kiss:Science:PeakDetectChl] Running Loop=1
2019-07-19T19:13:31.803Z,1563563611.803 [esp_kiss:Science:PeakDetectChl](DEBUG): Aggregate::initialize esp_kiss:Science:PeakDetectChl
2019-07-19T19:13:31.803Z,1563563611.803 [esp_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2019-07-19T19:13:31.803Z,1563563611.803 [esp_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-19T19:13:31.804Z,1563563611.804 [esp_kiss:Science:HighestChlPeakReport] Running Loop=1
2019-07-19T19:13:31.804Z,1563563611.804 [esp_kiss:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize esp_kiss:Science:HighestChlPeakReport
2019-07-19T19:13:31.805Z,1563563611.805 [esp_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2019-07-19T19:13:31.805Z,1563563611.805 [esp_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2019-07-19T19:13:31.805Z,1563563611.805 [esp_kiss:Science:PeakDetectNO3] Running Loop=1
2019-07-19T19:13:31.805Z,1563563611.805 [esp_kiss:Science:PeakDetectNO3](DEBUG): Aggregate::initialize esp_kiss:Science:PeakDetectNO3
2019-07-19T19:13:31.805Z,1563563611.805 [esp_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2019-07-19T19:13:31.805Z,1563563611.805 [esp_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-19T19:13:31.806Z,1563563611.806 [esp_kiss:Science:PeakDetectOil] Running Loop=1
2019-07-19T19:13:31.807Z,1563563611.807 [esp_kiss:Science:PeakDetectOil](DEBUG): Aggregate::initialize esp_kiss:Science:PeakDetectOil
2019-07-19T19:13:31.807Z,1563563611.807 [esp_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2019-07-19T19:13:31.807Z,1563563611.807 [esp_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-19T19:13:31.808Z,1563563611.808 [esp_kiss:Science:PeakDetectFDOM] Running Loop=1
2019-07-19T19:13:31.809Z,1563563611.809 [esp_kiss:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize esp_kiss:Science:PeakDetectFDOM
2019-07-19T19:13:31.809Z,1563563611.809 [esp_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2019-07-19T19:13:31.809Z,1563563611.809 [esp_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-19T19:13:31.810Z,1563563611.810 [esp_kiss:C] Running Loop=1
2019-07-19T19:13:31.811Z,1563563611.811 [esp_kiss:Science] Running Loop=1
2019-07-19T19:13:31.811Z,1563563611.811 [esp_kiss:Science:PeakDetectFDOM] Stopped
2019-07-19T19:13:31.812Z,1563563611.812 [esp_kiss:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize esp_kiss:Science:PeakDetectFDOM
2019-07-19T19:13:31.812Z,1563563611.812 [esp_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2019-07-19T19:13:31.812Z,1563563611.812 [esp_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-19T19:13:31.812Z,1563563611.812 [esp_kiss:Science:PeakDetectOil] Stopped
2019-07-19T19:13:31.812Z,1563563611.812 [esp_kiss:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize esp_kiss:Science:PeakDetectOil
2019-07-19T19:13:31.812Z,1563563611.812 [esp_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2019-07-19T19:13:31.812Z,1563563611.812 [esp_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-19T19:13:31.812Z,1563563611.812 [esp_kiss:Science:PeakDetectNO3] Stopped
2019-07-19T19:13:31.812Z,1563563611.812 [esp_kiss:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize esp_kiss:Science:PeakDetectNO3
2019-07-19T19:13:31.812Z,1563563611.812 [esp_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2019-07-19T19:13:31.812Z,1563563611.812 [esp_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-19T19:13:31.813Z,1563563611.813 [esp_kiss:Science:HighestChlPeakReport] Stopped
2019-07-19T19:13:31.813Z,1563563611.813 [esp_kiss:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize esp_kiss:Science:HighestChlPeakReport
2019-07-19T19:13:31.813Z,1563563611.813 [esp_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2019-07-19T19:13:31.813Z,1563563611.813 [esp_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2019-07-19T19:13:31.813Z,1563563611.813 [esp_kiss:Science:PeakDetectChl] Stopped
2019-07-19T19:13:31.813Z,1563563611.813 [esp_kiss:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize esp_kiss:Science:PeakDetectChl
2019-07-19T19:13:31.813Z,1563563611.813 [esp_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2019-07-19T19:13:31.813Z,1563563611.813 [esp_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-19T19:13:31.813Z,1563563611.813 [esp_kiss:Science:Read_Oil] Stopped
2019-07-19T19:13:31.813Z,1563563611.813 [esp_kiss:Science:H] Stopped
2019-07-19T19:13:31.813Z,1563563611.813 [esp_kiss:Science:G] Running Loop=1
2019-07-19T19:13:31.814Z,1563563611.814 [esp_kiss:Science:G](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2019-07-19T19:13:31.814Z,1563563611.814 [esp_kiss:Science:F] Stopped
2019-07-19T19:13:31.814Z,1563563611.814 [esp_kiss:Science:E] Stopped
2019-07-19T19:13:31.814Z,1563563611.814 [esp_kiss:Science:D] Stopped
2019-07-19T19:13:31.814Z,1563563611.814 [esp_kiss:Science:C] Stopped
2019-07-19T19:13:31.814Z,1563563611.814 [esp_kiss:Science:B] Stopped
2019-07-19T19:13:31.814Z,1563563611.814 [esp_kiss:Science:A] Stopped
2019-07-19T19:13:31.814Z,1563563611.814 [esp_kiss:H] Running Loop=1
2019-07-19T19:13:31.815Z,1563563611.815 [esp_kiss:C] Stopped
2019-07-19T19:13:31.815Z,1563563611.815 [esp_kiss:D] Running Loop=1
2019-07-19T19:13:31.815Z,1563563611.815 [esp_kiss:StandardEnvelopes] Running Loop=1
2019-07-19T19:13:31.815Z,1563563611.815 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-07-19T19:13:31.815Z,1563563611.815 [esp_kiss:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-07-19T19:13:31.816Z,1563563611.816 [esp_kiss:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-07-19T19:13:31.816Z,1563563611.816 [esp_kiss:A.AbortSample] Running Loop=1
2019-07-19T19:13:32.243Z,1563563612.243 [esp_kiss:D] Stopped
2019-07-19T19:13:32.243Z,1563563612.243 [esp_kiss:F] Running Loop=1
2019-07-19T19:13:32.653Z,1563563612.653 [esp_kiss:F] Stopped
2019-07-19T19:13:32.653Z,1563563612.653 [esp_kiss:G] Running Loop=1
2019-07-19T19:13:33.059Z,1563563613.059 [esp_kiss:G] Stopped
2019-07-19T19:13:33.059Z,1563563613.059 [esp_kiss:StartingMission] Running Loop=1
2019-07-19T19:13:33.059Z,1563563613.059 [esp_kiss:StartingMission](DEBUG): Aggregate::initialize esp_kiss:StartingMission
2019-07-19T19:13:33.466Z,1563563613.466 [esp_kiss:NeedComms] Running Loop=1
2019-07-19T19:13:33.466Z,1563563613.466 [esp_kiss:NeedComms](DEBUG): Aggregate::initialize esp_kiss:NeedComms
2019-07-19T19:13:33.466Z,1563563613.466 [esp_kiss:NeedComms:B.GoToSurface] Running Loop=1
2019-07-19T19:13:33.466Z,1563563613.466 [esp_kiss:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-07-19T19:13:33.466Z,1563563613.466 [esp_kiss:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2019-07-19T19:13:33.467Z,1563563613.467 [esp_kiss:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2019-07-19T19:13:33.467Z,1563563613.467 [esp_kiss:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2019-07-19T19:13:33.467Z,1563563613.467 [esp_kiss:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-07-19T19:13:33.468Z,1563563613.468 [esp_kiss:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-07-19T19:13:33.468Z,1563563613.468 [esp_kiss:NeedComms:A] Running Loop=1
2019-07-19T19:13:33.469Z,1563563613.469 [esp_kiss:NeedComms:A](INFO): last time_fix was: 1563563648.000000 second since 1970/01/01T00:00:00Z 
2019-07-19T19:13:33.469Z,1563563613.469 [esp_kiss:NeedComms:A] Stopped
2019-07-19T19:13:33.471Z,1563563613.471 [esp_kiss:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2019-07-19T19:13:43.451Z,1563563623.451 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1563563648.000000 second
2019-07-19T19:14:00.475Z,1563563640.475 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1563563648.000000 second
2019-07-19T19:14:19.506Z,1563563659.506 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-19T19:14:19.506Z,1563563659.506 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2019-07-19T19:14:19.506Z,1563563659.506 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-19T19:14:19.545Z,1563563659.545 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-19T19:14:20.005Z,1563563660.005 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-19T19:14:20.005Z,1563563660.005 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2019-07-19T19:14:23.519Z,1563563663.519 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1563563648.000000 second
2019-07-19T19:14:31.981Z,1563563671.981 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2019-07-19T19:14:32.165Z,1563563672.165 [Radio_Surface](INFO): Powering down
2019-07-19T19:14:39.699Z,1563563679.699 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1563563648.000000 second
2019-07-19T19:14:55.601Z,1563563695.601 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-19T19:14:55.601Z,1563563695.601 [WetLabsBB2FL] No Fault, FailCount= 5
2019-07-19T19:14:55.862Z,1563563695.862 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-19T19:14:55.862Z,1563563695.862 [WetLabsBB2FL](INFO): Powering up
2019-07-19T19:15:00.691Z,1563563700.691 [CommandLine](IMPORTANT): got command report mod VerticalControl.depthCmd
2019-07-19T19:15:00.691Z,1563563700.691 [CommandLine](IMPORTANT): got command report mod ESPComponent.cartridge
2019-07-19T19:15:00.692Z,1563563700.692 [CommandLine](IMPORTANT): got command report mod HorizontalControl.rudderAngleAction
2019-07-19T19:15:00.692Z,1563563700.692 [CommandLine](IMPORTANT): got command report mod platform_propeller_rotation_rate
2019-07-19T19:15:01.153Z,1563563701.153 [WetLabsBB2FL] Communications Fault, FailCount= 1
2019-07-19T19:15:01.153Z,1563563701.153 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-19T19:15:01.609Z,1563563701.609 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-19T19:15:01.653Z,1563563701.653 [WetLabsBB2FL](INFO): Powering down
2019-07-19T19:15:02.746Z,1563563702.746 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-19T19:15:02.746Z,1563563702.746 [WetLabsBB2FL] No Fault, FailCount= 1
2019-07-19T19:15:02.866Z,1563563702.866 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-19T19:15:02.866Z,1563563702.866 [WetLabsBB2FL](INFO): Powering up
2019-07-19T19:15:08.161Z,1563563708.161 [WetLabsBB2FL] Communications Fault, FailCount= 2
2019-07-19T19:15:08.161Z,1563563708.161 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-19T19:15:08.469Z,1563563708.469 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-19T19:15:08.665Z,1563563708.665 [WetLabsBB2FL](INFO): Powering down
2019-07-19T19:15:09.673Z,1563563709.673 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-19T19:15:09.673Z,1563563709.673 [WetLabsBB2FL] No Fault, FailCount= 2
2019-07-19T19:15:09.885Z,1563563709.885 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-19T19:15:09.885Z,1563563709.885 [WetLabsBB2FL](INFO): Powering up
2019-07-19T19:15:14.514Z,1563563714.514 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1563563648.000000 second
2019-07-19T19:15:15.169Z,1563563715.169 [WetLabsBB2FL] Communications Fault, FailCount= 3
2019-07-19T19:15:15.169Z,1563563715.169 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-19T19:15:15.334Z,1563563715.334 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-19T19:15:15.669Z,1563563715.669 [WetLabsBB2FL](INFO): Powering down
2019-07-19T19:15:16.517Z,1563563716.517 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-19T19:15:16.517Z,1563563716.517 [WetLabsBB2FL] No Fault, FailCount= 3
2019-07-19T19:15:16.882Z,1563563716.882 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-19T19:15:16.882Z,1563563716.882 [WetLabsBB2FL](INFO): Powering up
2019-07-19T19:15:22.201Z,1563563722.201 [WetLabsBB2FL] Communications Fault, FailCount= 4
2019-07-19T19:15:22.201Z,1563563722.201 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-19T19:15:22.213Z,1563563722.213 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-19T19:15:22.701Z,1563563722.701 [WetLabsBB2FL](INFO): Powering down
2019-07-19T19:15:23.857Z,1563563723.857 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-19T19:15:23.857Z,1563563723.857 [WetLabsBB2FL] No Fault, FailCount= 4
2019-07-19T19:15:23.914Z,1563563723.914 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-19T19:15:23.914Z,1563563723.914 [WetLabsBB2FL](INFO): Powering up
2019-07-19T19:15:29.213Z,1563563729.213 [WetLabsBB2FL] Communications Fault, FailCount= 5
2019-07-19T19:15:29.213Z,1563563729.213 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-19T19:15:29.477Z,1563563729.477 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-19T19:15:29.478Z,1563563729.478 [CBIT](FAULT): Communications Fault in component: WetLabsBB2FL
2019-07-19T19:15:29.713Z,1563563729.713 [WetLabsBB2FL](INFO): Powering down
2019-07-19T19:15:34.526Z,1563563734.526 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1563563776.000000 second
2019-07-19T19:15:39.542Z,1563563739.542 [CommandLine](IMPORTANT): got command show stack
2019-07-19T19:15:39.542Z,1563563739.542 [CommandLine](IMPORTANT): Behavior Stack:

2019-07-19T19:15:39.542Z,1563563739.542 [esp_kiss](IMPORTANT): Priority 0: esp_kiss:A.AbortSample
2019-07-19T19:15:39.542Z,1563563739.542 [esp_kiss:StandardEnvelopes](IMPORTANT): Priority 1: esp_kiss:StandardEnvelopes:A.AltitudeEnvelope
2019-07-19T19:15:39.543Z,1563563739.543 [esp_kiss:StandardEnvelopes](IMPORTANT): Priority 2: esp_kiss:StandardEnvelopes:B.DepthEnvelope
2019-07-19T19:15:39.543Z,1563563739.543 [esp_kiss:StandardEnvelopes](IMPORTANT): Priority 3: esp_kiss:StandardEnvelopes:C.OffshoreEnvelope
2019-07-19T19:15:39.543Z,1563563739.543 [esp_kiss:NeedComms](IMPORTANT): Priority 4: esp_kiss:NeedComms:B.GoToSurface
2019-07-19T19:15:39.544Z,1563563739.544 [esp_kiss](IMPORTANT): Priority 5: esp_kiss:H
2019-07-19T19:15:39.545Z,1563563739.545 [esp_kiss:Science](IMPORTANT): Priority 6: esp_kiss:Science:G
2019-07-19T19:15:55.282Z,1563563755.282 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1563563776.000000 second
2019-07-19T19:16:09.206Z,1563563769.206 [CommandLine](IMPORTANT): got command maintain list
2019-07-19T19:16:09.206Z,1563563769.206 [Maintain_NAL9602.latitude_fix](INFO): NAL9602.latitude_fix maintaining 36.797001 arcdeg
2019-07-19T19:16:09.207Z,1563563769.207 [Maintain_NAL9602.longitude_fix](INFO): NAL9602.longitude_fix maintaining -121.847000 arcdeg
2019-07-19T19:16:09.207Z,1563563769.207 [Maintain_Depth_Keller.depth](INFO): Depth_Keller.depth maintaining 2.500000 m
2019-07-19T19:16:20.709Z,1563563780.709 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-19T19:16:20.709Z,1563563780.709 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2019-07-19T19:16:20.710Z,1563563780.710 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-19T19:16:20.723Z,1563563780.723 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-19T19:16:21.129Z,1563563781.129 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-19T19:16:21.129Z,1563563781.129 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2019-07-19T19:16:25.467Z,1563563785.467 [CommandLine](IMPORTANT): got command maintain clear
2019-07-19T19:16:25.585Z,1563563785.585 [controlThread](DEBUG): Component order: CycleStarter,Depth_Keller,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,
2019-07-19T19:16:25.972Z,1563563785.972 [esp_kiss:NeedComms:C] Running Loop=1
2019-07-19T19:16:26.364Z,1563563786.364 [esp_kiss:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-07-19T19:16:26.517Z,1563563786.517 [Radio_Surface](INFO): Powering up
2019-07-19T19:16:27.558Z,1563563787.558 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-07-19T19:16:27.558Z,1563563787.558 [NAL9602] Data Fault, FailCount= 1
2019-07-19T19:16:27.558Z,1563563787.558 [NAL9602](ERROR): Data Fault
2019-07-19T19:16:27.629Z,1563563787.629 [CBIT](ERROR): Data Fault in component: NAL9602
2019-07-19T19:16:27.961Z,1563563787.961 [NAL9602](INFO): Powering down
2019-07-19T19:16:28.885Z,1563563788.885 [CBIT](INFO): Clearing failed state for component NAL9602
2019-07-19T19:16:28.885Z,1563563788.885 [NAL9602] No Fault, FailCount= 1
2019-07-19T19:16:31.973Z,1563563791.973 [DataOverHttps](INFO): Radio surface powered ON.
2019-07-19T19:16:38.099Z,1563563798.099 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.latitude_fix 36.797001 degree
2019-07-19T19:16:38.100Z,1563563798.100 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.latitude_fix" handled in the control thread.
2019-07-19T19:16:38.113Z,1563563798.113 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.longitude_fix -121.847000 degree
2019-07-19T19:16:38.114Z,1563563798.114 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.longitude_fix" handled in the control thread.
2019-07-19T19:16:38.144Z,1563563798.144 [controlThread](DEBUG): Component order: CycleStarter,Depth_Keller,NAL9602,Onboard,BPC1,ESPComponent,PAR_Licor,Depth_Keller,PAR_Licor,Maintain_NAL9602.latitude_fix,Maintain_NAL9602.longitude_fix,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2019-07-19T19:16:42.942Z,1563563802.942 [CommandLine](IMPORTANT): got command stop
2019-07-19T19:16:42.943Z,1563563802.943 [CommandLine](IMPORTANT): Scheduling is paused
2019-07-19T19:16:42.943Z,1563563802.943 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-07-19T19:16:42.948Z,1563563802.948 [MissionManager](INFO): MissionManager is completed.
2019-07-19T19:16:42.948Z,1563563802.948 [MissionManager](INFO): Uninitializing Mission esp_kiss
2019-07-19T19:16:42.955Z,1563563802.955 [esp_kiss] Stopped
2019-07-19T19:16:42.955Z,1563563802.955 [esp_kiss](DEBUG): Aggregate::uninitialize esp_kiss
2019-07-19T19:16:42.955Z,1563563802.955 [esp_kiss:A.AbortSample] Stopped
2019-07-19T19:16:42.955Z,1563563802.955 [esp_kiss:A.AbortSample](INFO): Uninitializing AbortSample.
2019-07-19T19:16:42.955Z,1563563802.955 [esp_kiss:StandardEnvelopes] Stopped
2019-07-19T19:16:42.956Z,1563563802.956 [esp_kiss:StandardEnvelopes](DEBUG): Aggregate::uninitialize esp_kiss:StandardEnvelopes
2019-07-19T19:16:42.956Z,1563563802.956 [esp_kiss:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2019-07-19T19:16:42.956Z,1563563802.956 [esp_kiss:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2019-07-19T19:16:42.956Z,1563563802.956 [esp_kiss:StandardEnvelopes:B.DepthEnvelope] Stopped
2019-07-19T19:16:42.956Z,1563563802.956 [esp_kiss:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2019-07-19T19:16:42.956Z,1563563802.956 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2019-07-19T19:16:42.956Z,1563563802.956 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2019-07-19T19:16:42.956Z,1563563802.956 [esp_kiss:NeedComms] Stopped
2019-07-19T19:16:42.956Z,1563563802.956 [esp_kiss:NeedComms](DEBUG): Aggregate::uninitialize esp_kiss:NeedComms
2019-07-19T19:16:42.956Z,1563563802.956 [esp_kiss:NeedComms:B.GoToSurface] Stopped
2019-07-19T19:16:42.956Z,1563563802.956 [esp_kiss:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-07-19T19:16:42.956Z,1563563802.956 [esp_kiss:NeedComms:C] Stopped
2019-07-19T19:16:42.956Z,1563563802.956 [esp_kiss:H] Stopped
2019-07-19T19:16:42.956Z,1563563802.956 [esp_kiss:StartingMission] Stopped
2019-07-19T19:16:42.957Z,1563563802.957 [esp_kiss:StartingMission](DEBUG): Aggregate::uninitialize esp_kiss:StartingMission
2019-07-19T19:16:42.957Z,1563563802.957 [esp_kiss:Science] Stopped
2019-07-19T19:16:42.957Z,1563563802.957 [esp_kiss:Science](DEBUG): Aggregate::uninitialize esp_kiss:Science
2019-07-19T19:16:42.957Z,1563563802.957 [esp_kiss:Science:G] Stopped
2019-07-19T19:16:43.059Z,1563563803.059 [Reporter](INFO): VerticalControl.depthCmd no_value
2019-07-19T19:16:43.059Z,1563563803.059 [Reporter](INFO): ESPComponent.cartridge no_value
2019-07-19T19:16:43.340Z,1563563803.340 [MissionManager](IMPORTANT): Started mission Default
2019-07-19T19:16:43.340Z,1563563803.340 [Default] Running Loop=1
2019-07-19T19:16:43.340Z,1563563803.340 [Default](DEBUG): Aggregate::initialize Default
2019-07-19T19:16:43.340Z,1563563803.340 [Default:B.GoToSurface] Running Loop=1
2019-07-19T19:16:43.340Z,1563563803.340 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-07-19T19:16:43.340Z,1563563803.340 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-07-19T19:16:43.341Z,1563563803.341 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-07-19T19:16:43.341Z,1563563803.341 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-07-19T19:16:43.341Z,1563563803.341 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-07-19T19:16:43.342Z,1563563803.342 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-07-19T19:16:43.342Z,1563563803.342 [Default:A.Wait] Running Loop=1
2019-07-19T19:16:43.342Z,1563563803.342 [Default:A.Wait](DEBUG): Initialize Wait Component.