2019-07-23T02:40:59.209Z,1563849659.209 [Supervisor](DEBUG): Initializing supervisor.
2019-07-23T02:40:59.212Z,1563849659.212 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2019-07-23T02:40:59.213Z,1563849659.213 [SyncHandler](INFO): Protected caller Thread ID is 1870
2019-07-23T02:40:59.214Z,1563849659.214 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2019-07-23T02:40:59.215Z,1563849659.215 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2019-07-23T02:40:59.215Z,1563849659.215 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 1871
2019-07-23T02:40:59.219Z,1563849659.219 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2019-07-23T02:40:59.231Z,1563849659.231 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2019-07-23T02:40:59.232Z,1563849659.232 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2019-07-23T02:40:59.232Z,1563849659.232 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 1872
2019-07-23T02:40:59.233Z,1563849659.233 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2019-07-23T02:40:59.234Z,1563849659.234 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2019-07-23T02:40:59.235Z,1563849659.235 [logger ThreadHandler](INFO): Protected caller Thread ID is 1873
2019-07-23T02:40:59.237Z,1563849659.237 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2019-07-23T02:40:59.237Z,1563849659.237 [Supervisor](INFO): Looking for Config files in directory: Config/
2019-07-23T02:40:59.239Z,1563849659.239 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2019-07-23T02:40:59.506Z,1563849659.506 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2019-07-23T02:40:59.507Z,1563849659.507 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2019-07-23T02:40:59.587Z,1563849659.587 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2019-07-23T02:41:00.021Z,1563849660.021 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2019-07-23T02:41:00.021Z,1563849660.021 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2019-07-23T02:41:00.355Z,1563849660.355 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2019-07-23T02:41:00.356Z,1563849660.356 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2019-07-23T02:41:00.451Z,1563849660.451 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2019-07-23T02:41:00.452Z,1563849660.452 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2019-07-23T02:41:00.749Z,1563849660.749 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2019-07-23T02:41:00.750Z,1563849660.750 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2019-07-23T02:41:00.944Z,1563849660.944 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2019-07-23T02:41:00.945Z,1563849660.945 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2019-07-23T02:41:01.396Z,1563849661.396 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2019-07-23T02:41:01.397Z,1563849661.397 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2019-07-23T02:41:01.501Z,1563849661.501 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2019-07-23T02:41:01.502Z,1563849661.502 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2019-07-23T02:41:01.601Z,1563849661.601 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2019-07-23T02:41:01.602Z,1563849661.602 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2019-07-23T02:41:02.202Z,1563849662.202 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2019-07-23T02:41:02.203Z,1563849662.203 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2019-07-23T02:41:02.591Z,1563849662.591 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2019-07-23T02:41:02.591Z,1563849662.591 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2019-07-23T02:41:02.786Z,1563849662.786 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2019-07-23T02:41:02.787Z,1563849662.787 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2019-07-23T02:41:02.932Z,1563849662.932 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2019-07-23T02:41:02.933Z,1563849662.933 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2019-07-23T02:41:03.086Z,1563849663.086 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2019-07-23T02:41:03.088Z,1563849663.088 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2019-07-23T02:41:03.089Z,1563849663.089 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Navigation.cfg
2019-07-23T02:41:03.564Z,1563849663.564 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2019-07-23T02:41:03.733Z,1563849663.733 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2019-07-23T02:41:03.839Z,1563849663.839 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/secure.cfg
2019-07-23T02:41:04.037Z,1563849664.037 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2019-07-23T02:41:04.133Z,1563849664.133 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2019-07-23T02:41:04.235Z,1563849664.235 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2019-07-23T02:41:04.453Z,1563849664.453 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/workSite.cfg
2019-07-23T02:41:04.530Z,1563849664.530 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2019-07-23T02:41:04.703Z,1563849664.703 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2019-07-23T02:41:04.842Z,1563849664.842 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2019-07-23T02:41:04.964Z,1563849664.964 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Battery.cfg
2019-07-23T02:41:05.194Z,1563849665.194 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2019-07-23T02:41:05.196Z,1563849665.196 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/root/
2019-07-23T02:41:05.196Z,1563849665.196 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2019-07-23T02:41:05.218Z,1563849665.218 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2019-07-23T02:41:05.286Z,1563849665.286 [VerticalControl](DEBUG): Construct VerticalControl.
2019-07-23T02:41:05.398Z,1563849665.398 [VerticalControl] Loaded
2019-07-23T02:41:05.398Z,1563849665.398 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2019-07-23T02:41:05.399Z,1563849665.399 [HorizontalControl](DEBUG): Construct HorizontalControl.
2019-07-23T02:41:05.468Z,1563849665.468 [HorizontalControl] Loaded
2019-07-23T02:41:05.468Z,1563849665.468 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2019-07-23T02:41:05.468Z,1563849665.468 [SpeedControl](DEBUG): Construct SpeedControl.
2019-07-23T02:41:05.474Z,1563849665.474 [SpeedControl] Loaded
2019-07-23T02:41:05.474Z,1563849665.474 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2019-07-23T02:41:05.475Z,1563849665.475 [LoopControl](DEBUG): Construct LoopControl.
2019-07-23T02:41:05.476Z,1563849665.476 [LoopControl] Loaded
2019-07-23T02:41:05.476Z,1563849665.476 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2019-07-23T02:41:05.476Z,1563849665.476 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2019-07-23T02:41:05.477Z,1563849665.477 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2019-07-23T02:41:05.491Z,1563849665.491 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2019-07-23T02:41:05.491Z,1563849665.491 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2019-07-23T02:41:05.592Z,1563849665.592 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2019-07-23T02:41:05.592Z,1563849665.592 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2019-07-23T02:41:05.719Z,1563849665.719 [BuoyancyServo] Loaded
2019-07-23T02:41:05.719Z,1563849665.719 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2019-07-23T02:41:05.730Z,1563849665.730 [ElevatorServo] Loaded
2019-07-23T02:41:05.730Z,1563849665.730 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2019-07-23T02:41:05.741Z,1563849665.741 [MassServo] Loaded
2019-07-23T02:41:05.742Z,1563849665.742 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2019-07-23T02:41:05.753Z,1563849665.753 [RudderServo] Loaded
2019-07-23T02:41:05.753Z,1563849665.753 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2019-07-23T02:41:05.764Z,1563849665.764 [ThrusterServo] Loaded
2019-07-23T02:41:05.764Z,1563849665.764 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2019-07-23T02:41:05.765Z,1563849665.765 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2019-07-23T02:41:05.765Z,1563849665.765 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2019-07-23T02:41:05.873Z,1563849665.873 [DeadReckonUsingMultipleVelocitySources] Loaded
2019-07-23T02:41:05.874Z,1563849665.874 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2019-07-23T02:41:05.894Z,1563849665.894 [NavChart] Loaded
2019-07-23T02:41:05.895Z,1563849665.895 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2019-07-23T02:41:05.899Z,1563849665.899 [UniversalFixResidualReporter] Loaded
2019-07-23T02:41:05.899Z,1563849665.899 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2019-07-23T02:41:05.899Z,1563849665.899 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2019-07-23T02:41:05.900Z,1563849665.900 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2019-07-23T02:41:05.974Z,1563849665.974 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2019-07-23T02:41:05.975Z,1563849665.975 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2019-07-23T02:41:06.315Z,1563849666.315 [DataOverHttps] Loaded
2019-07-23T02:41:06.315Z,1563849666.315 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2019-07-23T02:41:06.316Z,1563849666.316 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 4087D4E0
2019-07-23T02:41:06.317Z,1563849666.317 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 1955
2019-07-23T02:41:06.330Z,1563849666.330 [Depth_Keller] Loaded
2019-07-23T02:41:06.330Z,1563849666.330 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2019-07-23T02:41:06.426Z,1563849666.426 [NAL9602] Loaded
2019-07-23T02:41:06.427Z,1563849666.427 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2019-07-23T02:41:06.442Z,1563849666.442 [Onboard] Loaded
2019-07-23T02:41:06.443Z,1563849666.443 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2019-07-23T02:41:06.446Z,1563849666.446 [Radio_Surface] Loaded
2019-07-23T02:41:06.446Z,1563849666.446 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2019-07-23T02:41:06.447Z,1563849666.447 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 408AD4E0
2019-07-23T02:41:06.448Z,1563849666.448 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 1956
2019-07-23T02:41:07.939Z,1563849667.939 [BPC1] Loaded
2019-07-23T02:41:07.939Z,1563849667.939 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2019-07-23T02:41:07.939Z,1563849667.939 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2019-07-23T02:41:07.940Z,1563849667.940 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2019-07-23T02:41:07.982Z,1563849667.982 [DepthRateCalculator] Loaded
2019-07-23T02:41:07.982Z,1563849667.982 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2019-07-23T02:41:07.987Z,1563849667.987 [PitchRateCalculator] Loaded
2019-07-23T02:41:07.988Z,1563849667.988 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2019-07-23T02:41:07.000Z,1563849668.000 [SpeedCalculator] Loaded
2019-07-23T02:41:07.000Z,1563849668.000 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2019-07-23T02:41:08.021Z,1563849668.021 [TempGradientCalculator] Loaded
2019-07-23T02:41:08.022Z,1563849668.022 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2019-07-23T02:41:08.027Z,1563849668.027 [YawRateCalculator] Loaded
2019-07-23T02:41:08.027Z,1563849668.027 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2019-07-23T02:41:08.057Z,1563849668.057 [ElevatorOffsetCalculator] Loaded
2019-07-23T02:41:08.057Z,1563849668.057 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2019-07-23T02:41:08.057Z,1563849668.057 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2019-07-23T02:41:08.058Z,1563849668.058 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2019-07-23T02:41:08.259Z,1563849668.259 [ESPComponent] Loaded
2019-07-23T02:41:08.259Z,1563849668.259 [ComponentRegistry](DEBUG): SyncComponent "ESPComponent" handled in the control thread.
2019-07-23T02:41:08.274Z,1563849668.274 [PAR_Licor] Loaded
2019-07-23T02:41:08.274Z,1563849668.274 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2019-07-23T02:41:08.322Z,1563849668.322 [WetLabsBB2FL] Loaded
2019-07-23T02:41:08.322Z,1563849668.322 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2019-07-23T02:41:08.324Z,1563849668.324 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 409AF4E0
2019-07-23T02:41:08.324Z,1563849668.324 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 1957
2019-07-23T02:41:08.325Z,1563849668.325 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2019-07-23T02:41:08.325Z,1563849668.325 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2019-07-23T02:41:08.391Z,1563849668.391 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2019-07-23T02:41:08.391Z,1563849668.391 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2019-07-23T02:41:09.034Z,1563849669.034 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2019-07-23T02:41:09.034Z,1563849669.034 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2019-07-23T02:41:09.169Z,1563849669.169 [SBIT](DEBUG): Construct Startup Built In Test.
2019-07-23T02:41:09.180Z,1563849669.180 [SBIT] Loaded
2019-07-23T02:41:09.181Z,1563849669.181 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2019-07-23T02:41:09.181Z,1563849669.181 [IBIT](DEBUG): Construct Initiated Built In Test.
2019-07-23T02:41:09.193Z,1563849669.193 [IBIT] Loaded
2019-07-23T02:41:09.193Z,1563849669.193 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2019-07-23T02:41:09.196Z,1563849669.196 [CBIT](DEBUG): Construct Continuous Built In Test.
2019-07-23T02:41:09.333Z,1563849669.333 [CBIT] Loaded
2019-07-23T02:41:09.333Z,1563849669.333 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2019-07-23T02:41:09.334Z,1563849669.334 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2019-07-23T02:41:09.337Z,1563849669.337 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2019-07-23T02:41:09.338Z,1563849669.338 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2019-07-23T02:41:09.345Z,1563849669.345 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2019-07-23T02:41:09.346Z,1563849669.346 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40AAE4E0
2019-07-23T02:41:09.347Z,1563849669.347 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 1958
2019-07-23T02:41:09.352Z,1563849669.352 [Supervisor](INFO): Main Thread ID is 802
2019-07-23T02:41:09.352Z,1563849669.352 [Supervisor](DEBUG): Running supervisor.
2019-07-23T02:41:09.353Z,1563849669.353 [CommandLine ThreadHandler](INFO): Handler Thread ID is 1959
2019-07-23T02:41:09.355Z,1563849669.355 [controlThread ThreadHandler](INFO): Handler Thread ID is 1960
2019-07-23T02:41:09.355Z,1563849669.355 [controlThread](DEBUG): Initializing ControlThread
2019-07-23T02:41:09.356Z,1563849669.356 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2019-07-23T02:41:09.358Z,1563849669.358 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2019-07-23T02:41:09.359Z,1563849669.359 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2019-07-23T02:41:09.359Z,1563849669.359 [LoopControl](DEBUG): Initialize LoopControlComponent.
2019-07-23T02:41:09.361Z,1563849669.361 [NavChart](DEBUG): Initialize NavChart Navigation.
2019-07-23T02:41:09.361Z,1563849669.361 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2019-07-23T02:41:09.366Z,1563849669.366 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2019-07-23T02:41:09.366Z,1563849669.366 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2019-07-23T02:41:09.366Z,1563849669.366 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2019-07-23T02:41:09.367Z,1563849669.367 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2019-07-23T02:41:09.367Z,1563849669.367 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2019-07-23T02:41:09.367Z,1563849669.367 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2019-07-23T02:41:09.369Z,1563849669.369 [SBIT](INFO): Initialize SBIT Component.
2019-07-23T02:41:09.370Z,1563849669.370 [SBIT](IMPORTANT): git: 2019-07-16
2019-07-23T02:41:09.370Z,1563849669.370 [SBIT](INFO): git hash: 5dde538a58d6fd4f55501de4ce986b4d4d3b120b
2019-07-23T02:41:09.370Z,1563849669.370 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2019-07-23T02:41:09.371Z,1563849669.371 [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
2019-07-23T02:41:09.372Z,1563849669.372 [SBIT](INFO): Beginning SBIT in 29.000000 seconds.
2019-07-23T02:41:09.373Z,1563849669.373 [IBIT](INFO): Initialize IBIT Component.
2019-07-23T02:41:09.374Z,1563849669.374 [CBIT](DEBUG): Initialize CBIT Component.
2019-07-23T02:41:09.375Z,1563849669.375 [logger ThreadHandler](INFO): Handler Thread ID is 1961
2019-07-23T02:41:09.385Z,1563849669.385 [CBIT](DEBUG): Initialized mux pins.
2019-07-23T02:41:09.385Z,1563849669.385 [CBIT](DEBUG): Initializing the watchdog timer.
2019-07-23T02:41:09.393Z,1563849669.393 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 1962
2019-07-23T02:41:09.398Z,1563849669.398 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2019-07-23T02:41:09.405Z,1563849669.405 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 1963
2019-07-23T02:41:09.409Z,1563849669.409 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2019-07-23T02:41:09.409Z,1563849669.409 [CBIT](DEBUG): Initializing heartbeat.
2019-07-23T02:41:09.417Z,1563849669.417 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 1964
2019-07-23T02:41:09.418Z,1563849669.418 [WetLabsBB2FL](INFO): Powering down
2019-07-23T02:41:09.445Z,1563849669.445 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 1965
2019-07-23T02:41:09.451Z,1563849669.451 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2019-07-23T02:41:09.451Z,1563849669.451 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2019-07-23T02:41:09.451Z,1563849669.451 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2019-07-23T02:41:09.452Z,1563849669.452 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2019-07-23T02:41:09.452Z,1563849669.452 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2019-07-23T02:41:09.452Z,1563849669.452 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2019-07-23T02:41:09.452Z,1563849669.452 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2019-07-23T02:41:09.452Z,1563849669.452 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2019-07-23T02:41:09.453Z,1563849669.453 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2019-07-23T02:41:09.453Z,1563849669.453 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2019-07-23T02:41:09.453Z,1563849669.453 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2019-07-23T02:41:09.454Z,1563849669.454 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2019-07-23T02:41:09.454Z,1563849669.454 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2019-07-23T02:41:09.454Z,1563849669.454 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2019-07-23T02:41:09.454Z,1563849669.454 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2019-07-23T02:41:09.454Z,1563849669.454 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2019-07-23T02:41:09.481Z,1563849669.481 [CBIT](DEBUG): Deactivating GF circuits.
2019-07-23T02:41:09.481Z,1563849669.481 [CBIT](DEBUG): Deactivating emergency mode.
2019-07-23T02:41:09.517Z,1563849669.517 [CBIT](DEBUG): Backplane powered.
2019-07-23T02:41:09.518Z,1563849669.518 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2019-07-23T02:41:09.530Z,1563849669.530 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2019-07-23T02:41:09.577Z,1563849669.577 [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>


2019-07-23T02:41:09.578Z,1563849669.578 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2019-07-23T02:41:09.645Z,1563849669.645 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2019-07-23T02:41:09.646Z,1563849669.646 [Default:A.Wait](DEBUG): Construct Wait.
2019-07-23T02:41:09.648Z,1563849669.648 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-07-23T02:41:09.683Z,1563849669.683 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2019-07-23T02:41:09.686Z,1563849669.686 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2019-07-23T02:41:09.711Z,1563849669.711 [Default:E.Execute](DEBUG): Construct Execute.
2019-07-23T02:41:09.715Z,1563849669.715 [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>


2019-07-23T02:41:09.732Z,1563849669.732 [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,
2019-07-23T02:41:09.739Z,1563849669.739 [Depth_Keller](ERROR): Pressure reading out of range: 1831.023193 decibar
2019-07-23T02:41:09.809Z,1563849669.809 [Radio_Surface](INFO): Powering up
2019-07-23T02:41:09.871Z,1563849669.871 [DepthRateCalculator](ERROR): Depth measurement is not active
2019-07-23T02:41:09.900Z,1563849669.900 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2019-07-23T02:41:09.905Z,1563849669.905 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2019-07-23T02:41:09.906Z,1563849669.906 [ElevatorServo](DEBUG): Initializing EZServoServo.
2019-07-23T02:41:09.913Z,1563849669.913 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2019-07-23T02:41:09.914Z,1563849669.914 [MassServo](DEBUG): Initializing EZServoServo.
2019-07-23T02:41:09.925Z,1563849669.925 [MassServo](DEBUG): Initializing MassServo.
2019-07-23T02:41:09.926Z,1563849669.926 [RudderServo](DEBUG): Initializing EZServoServo.
2019-07-23T02:41:09.933Z,1563849669.933 [RudderServo](DEBUG): Initializing RudderServo.
2019-07-23T02:41:09.934Z,1563849669.934 [ThrusterServo](DEBUG): Initializing EZServoServo.
2019-07-23T02:41:09.941Z,1563849669.941 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2019-07-23T02:41:10.933Z,1563849670.933 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2019-07-23T02:41:10.933Z,1563849670.933 [RudderServo](FAULT): Rudder failed to initialize
2019-07-23T02:41:10.933Z,1563849670.933 [RudderServo] Communications Fault, FailCount= 1
2019-07-23T02:41:10.933Z,1563849670.933 [RudderServo](ERROR): Communications Fault
2019-07-23T02:41:11.044Z,1563849671.044 [CBIT](ERROR): Communications Fault in component: RudderServo
2019-07-23T02:41:11.222Z,1563849671.222 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2019-07-23T02:41:11.222Z,1563849671.222 [RudderServo](INFO): Powering down
2019-07-23T02:41:11.903Z,1563849671.903 [RudderServo](DEBUG): Initializing EZServoServo.
2019-07-23T02:41:12.022Z,1563849672.022 [RudderServo](DEBUG): Initializing RudderServo.
2019-07-23T02:41:12.026Z,1563849672.026 [CBIT](INFO): Clearing failed state for component RudderServo
2019-07-23T02:41:12.026Z,1563849672.026 [RudderServo] No Fault, FailCount= 1
2019-07-23T02:41:19.649Z,1563849679.649 [CBIT](CRITICAL): Environmental Failure. Press:14.649817 PSI. Humidity:36%. Temp:26 C. ABORTING MISSION
2019-07-23T02:41:19.650Z,1563849679.650 [Supervisor](INFO): Stop Mission called by CBIT::monitorEnvironmentals
2019-07-23T02:41:20.059Z,1563849680.059 [CommandLine](FAULT): Scheduling is paused
2019-07-23T02:41:20.060Z,1563849680.060 [CBIT](INFO): Critical error at 20190723T024119
2019-07-23T02:41:36.534Z,1563849696.534 [NAL9602](INFO): Powering up NAL9602
2019-07-23T02:41:39.031Z,1563849699.031 [SBIT](IMPORTANT): Beginning Startup BIT
2019-07-23T02:41:39.035Z,1563849699.035 [CBIT](IMPORTANT): Beginning ground fault scan
2019-07-23T02:41:47.526Z,1563849707.526 [NAL9602](INFO): NAL9602 initialized
2019-07-23T02:41:48.345Z,1563849708.345 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:41:50.020Z,1563849710.020 [CBIT](IMPORTANT): Ground fault detected
mA:
CHAN A0 (Batt): -0.014635
CHAN A1 (24V): -0.198730
CHAN A2 (12V): -0.002401
CHAN A3 (5V): -0.001719
CHAN B0 (3.3V): -0.000517
CHAN B1 (3.15aV): -0.000655
CHAN B2 (3.15bV): 0.000030
CHAN B3 (GND): 0.000070
OPEN: -0.000301
Full Scale Calc: 4.765 mA, -1.589 mA
2019-07-23T02:42:32.655Z,1563849752.655 [SBIT](IMPORTANT): SBIT PASSED
2019-07-23T02:42:32.730Z,1563849752.730 [CommandLine](IMPORTANT): got command configSet list
2019-07-23T02:42:32.731Z,1563849752.731 [CommandLine](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2019-07-23T02:42:32.731Z,1563849752.731 [CommandLine](IMPORTANT): AHRS_M2.loadAtStartup=0 bool;

2019-07-23T02:42:32.732Z,1563849752.732 [CommandLine](IMPORTANT): Aanderaa_O2.loadAtStartup=0 bool;

2019-07-23T02:42:32.732Z,1563849752.732 [CommandLine](IMPORTANT): BPC1.batteryMissingStickThreshold=0 count;

2019-07-23T02:42:32.732Z,1563849752.732 [CommandLine](IMPORTANT): BPC1.batterySamplingInterval=6 hour;

2019-07-23T02:42:32.732Z,1563849752.732 [CommandLine](IMPORTANT): CBIT.abortDepth=296 meter;

2019-07-23T02:42:32.732Z,1563849752.732 [CommandLine](IMPORTANT): CBIT.gf24Offset=172 microampere;

2019-07-23T02:42:32.732Z,1563849752.732 [CommandLine](IMPORTANT): CBIT.stopDepth=288 meter;

2019-07-23T02:42:32.732Z,1563849752.732 [CommandLine](IMPORTANT): CTD_NeilBrown.loadAtStartup=0 bool;

2019-07-23T02:42:32.732Z,1563849752.732 [CommandLine](IMPORTANT): CTD_Seabird.loadAtStartup=0 bool;

2019-07-23T02:42:32.732Z,1563849752.732 [CommandLine](IMPORTANT): DAT.ignoreElevationAngle=1 bool;

2019-07-23T02:42:32.733Z,1563849752.733 [CommandLine](IMPORTANT): DAT.loadAtStartup=0 bool;

2019-07-23T02:42:32.733Z,1563849752.733 [CommandLine](IMPORTANT): DVL_micro.loadAtStartup=0 bool;

2019-07-23T02:42:32.733Z,1563849752.733 [CommandLine](IMPORTANT): DropWeight.loadAtStartup=0 bool;

2019-07-23T02:42:32.733Z,1563849752.733 [CommandLine](IMPORTANT): ESPComponent.loadAtStartup=1 bool;

2019-07-23T02:42:32.733Z,1563849752.733 [CommandLine](IMPORTANT): Express linearApproximation DAT.range 5.000000 meter;

2019-07-23T02:42:32.733Z,1563849752.733 [CommandLine](IMPORTANT): Express linearApproximation acoustic_contact_range 10.000000 meter;

2019-07-23T02:42:32.733Z,1563849752.733 [CommandLine](IMPORTANT): Express linearApproximation depth 5.000000 meter;

2019-07-23T02:42:32.733Z,1563849752.733 [CommandLine](IMPORTANT): Express linearApproximation latitude 0.005000 degree;

2019-07-23T02:42:32.734Z,1563849752.734 [CommandLine](IMPORTANT): Express linearApproximation longitude 0.005000 degree;

2019-07-23T02:42:32.734Z,1563849752.734 [CommandLine](IMPORTANT): NAL9602.fastGPSFix=1 bool;

2019-07-23T02:42:32.734Z,1563849752.734 [CommandLine](IMPORTANT): VerticalControl.buoyancyNeutral=274 cubic_centimeter;

2019-07-23T02:42:32.734Z,1563849752.734 [CommandLine](IMPORTANT): VerticalControl.massDefault=-2.3 millimeter;

2019-07-23T02:42:32.734Z,1563849752.734 [CommandLine](IMPORTANT): VerticalControl.massPositionLimitAft=-31 millimeter;

2019-07-23T02:42:32.734Z,1563849752.734 [CommandLine](IMPORTANT): VerticalControl.massPositionLimitFwd=30 millimeter;

2019-07-23T02:42:33.070Z,1563849753.070 [MissionManager](IMPORTANT): Started mission Startup
2019-07-23T02:42:33.070Z,1563849753.070 [Startup] Running Loop=1
2019-07-23T02:42:33.070Z,1563849753.070 [Startup](DEBUG): Aggregate::initialize Startup
2019-07-23T02:42:33.070Z,1563849753.070 [Startup:A.GoToSurface] Running Loop=1
2019-07-23T02:42:33.070Z,1563849753.070 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-07-23T02:42:33.071Z,1563849753.071 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-07-23T02:42:33.071Z,1563849753.071 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-07-23T02:42:33.072Z,1563849753.072 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-07-23T02:42:33.072Z,1563849753.072 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-07-23T02:42:33.072Z,1563849753.072 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-07-23T02:42:33.078Z,1563849753.078 [Startup:StartupSatComms] Running Loop=1
2019-07-23T02:42:33.078Z,1563849753.078 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2019-07-23T02:42:33.078Z,1563849753.078 [Startup:StartupSatComms:A] Running Loop=1
2019-07-23T02:42:33.478Z,1563849753.478 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2019-07-23T02:43:09.418Z,1563849789.418 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-23T02:43:09.418Z,1563849789.418 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2019-07-23T02:43:09.418Z,1563849789.418 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-23T02:43:09.429Z,1563849789.429 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-23T02:43:09.879Z,1563849789.879 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-23T02:43:09.879Z,1563849789.879 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2019-07-23T02:43:33.236Z,1563849813.236 [Startup:StartupSatComms:A](INFO): Timed out from 2019-07-23T02:42:33.1Z
2019-07-23T02:43:33.236Z,1563849813.236 [Startup:StartupSatComms:A] Stopped
2019-07-23T02:43:33.236Z,1563849813.236 [Startup:StartupSatComms:B] Running Loop=1
2019-07-23T02:43:33.647Z,1563849813.647 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-07-23T02:43:48.075Z,1563849828.075 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004859
2019-07-23T02:43:53.084Z,1563849833.084 [DataOverHttps](INFO): Sending 25 bytes from file Logs/20190722T042957/Courier0373.lzma
2019-07-23T02:43:53.892Z,1563849833.892 [DataOverHttps](INFO): Moved sent file to Logs/20190722T042957/Courier0373.lzma.bak
2019-07-23T02:43:53.892Z,1563849833.892 [DataOverHttps](INFO): SBD MOMSN=11464411
2019-07-23T02:44:04.260Z,1563849844.260 [DataOverHttps](INFO): Sending 143 bytes from file Logs/20190723T024059/Courier0000.lzma
2019-07-23T02:44:05.066Z,1563849845.066 [DataOverHttps](INFO): Moved sent file to Logs/20190723T024059/Courier0000.lzma.bak
2019-07-23T02:44:05.066Z,1563849845.066 [DataOverHttps](INFO): SBD MOMSN=11464413
2019-07-23T02:44:17.089Z,1563849857.089 [DataOverHttps](INFO): Sending 255 bytes from file Logs/20190722T042957/Express0374.lzma
2019-07-23T02:44:17.895Z,1563849857.895 [DataOverHttps](INFO): Moved sent file to Logs/20190722T042957/Express0374.lzma.bak
2019-07-23T02:44:17.895Z,1563849857.895 [DataOverHttps](INFO): SBD MOMSN=11464417
2019-07-23T02:44:28.943Z,1563849868.943 [DataOverHttps](INFO): Sending 1151 bytes from file Logs/20190723T024059/Express0001.lzma
2019-07-23T02:44:29.746Z,1563849869.746 [DataOverHttps](INFO): Moved sent file to Logs/20190723T024059/Express0001.lzma.bak
2019-07-23T02:44:29.746Z,1563849869.746 [DataOverHttps](INFO): SBD MOMSN=11464424
2019-07-23T02:44:31.453Z,1563849871.453 [Startup:StartupSatComms:B] Stopped
2019-07-23T02:44:31.453Z,1563849871.453 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2019-07-23T02:44:31.453Z,1563849871.453 [Startup:StartupSatComms] Stopped
2019-07-23T02:44:31.453Z,1563849871.453 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2019-07-23T02:44:31.454Z,1563849871.454 [Startup](INFO): Completed Startup
2019-07-23T02:44:31.454Z,1563849871.454 [MissionManager](INFO): Startup is completed.
2019-07-23T02:44:31.454Z,1563849871.454 [MissionManager](INFO): Uninitializing Mission Startup
2019-07-23T02:44:31.454Z,1563849871.454 [Startup] Stopped
2019-07-23T02:44:31.454Z,1563849871.454 [Startup](DEBUG): Aggregate::uninitialize Startup
2019-07-23T02:44:31.454Z,1563849871.454 [Startup:A.GoToSurface] Stopped
2019-07-23T02:44:31.454Z,1563849871.454 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-07-23T02:44:31.849Z,1563849871.849 [MissionManager](IMPORTANT): Started mission Default
2019-07-23T02:44:31.850Z,1563849871.850 [Default] Running Loop=1
2019-07-23T02:44:31.850Z,1563849871.850 [Default](DEBUG): Aggregate::initialize Default
2019-07-23T02:44:31.850Z,1563849871.850 [Default:B.GoToSurface] Running Loop=1
2019-07-23T02:44:31.850Z,1563849871.850 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-07-23T02:44:31.850Z,1563849871.850 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-07-23T02:44:31.850Z,1563849871.850 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-07-23T02:44:31.851Z,1563849871.851 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-07-23T02:44:31.851Z,1563849871.851 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-07-23T02:44:31.851Z,1563849871.851 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-07-23T02:44:31.852Z,1563849871.852 [Default:A.Wait] Running Loop=1
2019-07-23T02:44:31.852Z,1563849871.852 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-07-23T02:44:45.179Z,1563849885.179 [Default:A.Wait](INFO): Done Waiting.
2019-07-23T02:44:45.179Z,1563849885.179 [Default:A.Wait] Stopped
2019-07-23T02:44:45.179Z,1563849885.179 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-07-23T02:44:45.554Z,1563849885.554 [Default:CheckIn] Running Loop=1
2019-07-23T02:44:45.554Z,1563849885.554 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-07-23T02:44:45.554Z,1563849885.554 [Default:CheckIn:Read_GPS] Running Loop=1
2019-07-23T02:44:45.960Z,1563849885.960 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-07-23T02:45:10.846Z,1563849910.846 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-23T02:45:10.846Z,1563849910.846 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2019-07-23T02:45:10.846Z,1563849910.846 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-23T02:45:10.864Z,1563849910.864 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-23T02:45:11.059Z,1563849911.059 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-23T02:45:11.059Z,1563849911.059 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2019-07-23T02:46:50.770Z,1563850010.770 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-07-23T02:46:51.589Z,1563850011.589 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:46:54.417Z,1563850014.417 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:46:57.645Z,1563850017.645 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:47:00.477Z,1563850020.477 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:47:03.705Z,1563850023.705 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:47:06.537Z,1563850026.537 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:47:08.834Z,1563850028.834 [CommandLine](IMPORTANT): got command show stack
2019-07-23T02:47:08.834Z,1563850028.834 [CommandLine](IMPORTANT): Behavior Stack:

2019-07-23T02:47:08.834Z,1563850028.834 [Default](IMPORTANT): Priority 0: Default:B.GoToSurface
2019-07-23T02:47:08.834Z,1563850028.834 [Default:CheckIn](IMPORTANT): Priority 1: Default:CheckIn:Read_GPS
2019-07-23T02:47:09.361Z,1563850029.361 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:47:11.381Z,1563850031.381 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:47:11.536Z,1563850031.536 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-23T02:47:11.536Z,1563850031.536 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 3
2019-07-23T02:47:11.536Z,1563850031.536 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-23T02:47:11.559Z,1563850031.559 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-23T02:47:11.887Z,1563850031.887 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-23T02:47:11.887Z,1563850031.887 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 3
2019-07-23T02:47:14.613Z,1563850034.613 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:47:17.441Z,1563850037.441 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:47:20.673Z,1563850040.673 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:47:23.507Z,1563850043.507 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:47:26.737Z,1563850046.737 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:47:29.565Z,1563850049.565 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:47:32.389Z,1563850052.389 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:47:34.409Z,1563850054.409 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:47:36.263Z,1563850056.263 [CommandLine](IMPORTANT): got command run ./Missions/Science/profile_station.xml
2019-07-23T02:47:36.263Z,1563850056.263 [MissionManager](INFO): Loading Mission: ./Missions/Science/profile_station.xml
2019-07-23T02:47:36.357Z,1563850056.357 [MissionManager](INFO): DefineArg profile_station.MissionTimeout = 4.000000 h
2019-07-23T02:47:36.360Z,1563850056.360 [MissionManager](INFO): DefineArg profile_station.NeedCommsTime = 60.000000 min
2019-07-23T02:47:36.363Z,1563850056.363 [MissionManager](INFO): DefineArg profile_station.Lat = 36.806966 arcdeg
2019-07-23T02:47:36.366Z,1563850056.366 [MissionManager](INFO): DefineArg profile_station.Lon = -121.824326 arcdeg
2019-07-23T02:47:36.369Z,1563850056.369 [MissionManager](INFO): DefineArg profile_station.Radius = 300.000000 m
2019-07-23T02:47:36.372Z,1563850056.372 [MissionManager](INFO): DefineArg profile_station.YoYoMinDepth = 2.000000 m
2019-07-23T02:47:36.376Z,1563850056.376 [MissionManager](INFO): DefineArg profile_station.YoYoMaxDepth = 200.000000 m
2019-07-23T02:47:36.379Z,1563850056.379 [MissionManager](INFO): DefineArg profile_station.YoYoMinAltitude = 7.000000 m
2019-07-23T02:47:36.382Z,1563850056.382 [MissionManager](INFO): DefineArg profile_station.YoYoPitch = 20.000000 arcdeg
2019-07-23T02:47:36.385Z,1563850056.385 [MissionManager](INFO): DefineArg profile_station.Speed = 1.000000 m/s
2019-07-23T02:47:36.388Z,1563850056.388 [MissionManager](INFO): DefineArg profile_station.CircleMaxError = 100.000000 m
2019-07-23T02:47:36.391Z,1563850056.391 [MissionManager](INFO): DefineArg profile_station.CircleTurnToPort = 0 bool
2019-07-23T02:47:36.395Z,1563850056.395 [MissionManager](INFO): DefineArg profile_station.KwpHeading = 0.010000 rad/m
2019-07-23T02:47:36.398Z,1563850056.398 [MissionManager](INFO): DefineArg profile_station.MinAltitude = 5.000000 m
2019-07-23T02:47:36.401Z,1563850056.401 [MissionManager](INFO): DefineArg profile_station.MaxDepth = 205.000000 m
2019-07-23T02:47:36.404Z,1563850056.404 [MissionManager](INFO): DefineArg profile_station.MinOffshore = 2.000000 km
2019-07-23T02:47:36.404Z,1563850056.404 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2019-07-23T02:47:36.917Z,1563850056.917 [MissionManager](INFO): DefineArg profile_station:Science.SampleISUS = 0 bool
2019-07-23T02:47:36.920Z,1563850056.920 [MissionManager](INFO): DefineArg profile_station:Science.SampleISUSmaxPitch = 60.000000 arcdeg
2019-07-23T02:47:36.923Z,1563850056.923 [MissionManager](INFO): DefineArg profile_station:Science.SampleISUSminPitch = -60.000000 arcdeg
2019-07-23T02:47:36.930Z,1563850056.930 [MissionManager](INFO): DefineArg profile_station:Science.PeakDetectChlActive = 0 bool
2019-07-23T02:47:36.941Z,1563850056.941 [MissionManager](INFO): DefineArg profile_station:Science.TimeWindowPeakReport = nan min
2019-07-23T02:47:36.947Z,1563850056.947 [MissionManager](INFO): DefineArg profile_station:Science.HighestChlPeakReportActive = 0 bool
2019-07-23T02:47:36.950Z,1563850056.950 [MissionManager](INFO): DefineArg profile_station:Science.PatchTracking = 0 bool
2019-07-23T02:47:36.957Z,1563850056.957 [MissionManager](INFO): DefineArg profile_station:Science.FilterWidthHorizontal = 3.000000 count
2019-07-23T02:47:36.960Z,1563850056.960 [MissionManager](INFO): DefineArg profile_station:Science.NumProfilesSlidingwindow = 100.000000 count
2019-07-23T02:47:36.967Z,1563850056.967 [MissionManager](INFO): DefineArg profile_station:Science.OffPeakFractionHorizontal = 80.000000 %
2019-07-23T02:47:36.978Z,1563850056.978 [MissionManager](INFO): DefineArg profile_station:Science.PeakDetectNO3Active = 0 bool
2019-07-23T02:47:36.981Z,1563850056.981 [MissionManager](INFO): DefineArg profile_station:Science.PeakDetectOilActive = 0 bool
2019-07-23T02:47:36.984Z,1563850056.984 [MissionManager](INFO): DefineArg profile_station:Science.PeakDetectFDOMActive = 0 bool
2019-07-23T02:47:36.986Z,1563850056.986 [MissionManager](INFO): DefineArg profile_station:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2019-07-23T02:47:37.016Z,1563850057.016 [MissionManager](INFO): DefineArg profile_station:Science.EnabledAanderaaO2 = 0.000000 bool
2019-07-23T02:47:37.019Z,1563850057.019 [MissionManager](INFO): DefineArg profile_station:Science.EnabledNeilBrown = 0.000000 bool
2019-07-23T02:47:37.023Z,1563850057.023 [MissionManager](INFO): DefineArg profile_station:Science.EnabledSeabird = 0.000000 bool
2019-07-23T02:47:37.034Z,1563850057.034 [MissionManager](INFO): DefineArg profile_station:Science.EnabledTurbulence_NPS = 0.000000 bool
2019-07-23T02:47:37.040Z,1563850057.040 [MissionManager](INFO): DefineArg profile_station:Science.EnabledWetLabsBB2FL = 1.000000 bool
2019-07-23T02:47:37.052Z,1563850057.052 [MissionManager](INFO): DefineArg profile_station:Science.EnabledWetLabsSeaOWL_UV_A = 0.000000 bool
2019-07-23T02:47:37.055Z,1563850057.055 [MissionManager](INFO): DefineArg profile_station:Science.EnabledWetLabsUBAT = 0.000000 bool
2019-07-23T02:47:37.067Z,1563850057.067 [MissionManager](INFO): DefineArg profile_station:Science.EnabledISUS = 0.000000 bool
2019-07-23T02:47:37.079Z,1563850057.079 [MissionManager](INFO): DefineArg profile_station:Science.LowPassWindowLength = 20.000000 count
2019-07-23T02:47:37.092Z,1563850057.092 [MissionManager](INFO): DefineArg profile_station:Science.MedianFilterLen = 5.000000 count
2019-07-23T02:47:37.095Z,1563850057.095 [MissionManager](INFO): DefineArg profile_station:Science.PeakChlShallowBound = nan m
2019-07-23T02:47:37.108Z,1563850057.108 [MissionManager](INFO): DefineArg profile_station:Science.PeakChlDeepBound = nan m
2019-07-23T02:47:37.111Z,1563850057.111 [MissionManager](INFO): DefineArg profile_station:Science.PeakShallowBound = nan m
2019-07-23T02:47:37.114Z,1563850057.114 [MissionManager](INFO): DefineArg profile_station:Science.PeakDeepBound = nan m
2019-07-23T02:47:37.131Z,1563850057.131 [MissionManager](INFO): DefineOutput profile_station:Science.PeakChl = 0.000000 ug/l
2019-07-23T02:47:37.134Z,1563850057.134 [MissionManager](INFO): DefineOutput profile_station:Science.PeakChlDepth = 0.000000 m
2019-07-23T02:47:37.146Z,1563850057.146 [MissionManager](INFO): DefineOutput profile_station:Science.PeakChlTemperature = 0.000000 degC
2019-07-23T02:47:37.153Z,1563850057.153 [MissionManager](INFO): DefineOutput profile_station:Science.PeakChlLatitude = nan arcdeg
2019-07-23T02:47:37.156Z,1563850057.156 [MissionManager](INFO): DefineOutput profile_station:Science.PeakChlLongitude = nan arcdeg
2019-07-23T02:47:37.168Z,1563850057.168 [MissionManager](INFO): DefineOutput profile_station:Science.PeakNO3 = 0.000000 umol/l
2019-07-23T02:47:37.179Z,1563850057.179 [MissionManager](INFO): DefineOutput profile_station:Science.PeakNO3Depth = 0.000000 m
2019-07-23T02:47:37.183Z,1563850057.183 [MissionManager](INFO): DefineOutput profile_station:Science.PeakNO3Latitude = nan arcdeg
2019-07-23T02:47:37.186Z,1563850057.186 [MissionManager](INFO): DefineOutput profile_station:Science.PeakNO3Longitude = nan arcdeg
2019-07-23T02:47:37.201Z,1563850057.201 [MissionManager](INFO): DefineOutput profile_station:Science.PatchChl = 0.000000 m
2019-07-23T02:47:37.204Z,1563850057.204 [MissionManager](INFO): DefineOutput profile_station:Science.PatchChlDepth = 0.000000 m
2019-07-23T02:47:37.207Z,1563850057.207 [MissionManager](INFO): DefineOutput profile_station:Science.PatchChlLatitude = nan arcdeg
2019-07-23T02:47:37.254Z,1563850057.254 [MissionManager](INFO): DefineOutput profile_station:Science.PatchChlLongitude = nan arcdeg
2019-07-23T02:47:37.268Z,1563850057.268 [MissionManager](INFO): DefineOutput profile_station:Science.PatchChlDistance = nan m
2019-07-23T02:47:37.272Z,1563850057.272 [MissionManager](INFO): DefineOutput profile_station:Science.PeakOil = 0.000000 kg/m3
2019-07-23T02:47:37.279Z,1563850057.279 [MissionManager](INFO): DefineOutput profile_station:Science.PeakOilDepth = 0.000000 m
2019-07-23T02:47:37.291Z,1563850057.291 [MissionManager](INFO): DefineOutput profile_station:Science.PeakOilLatitude = nan arcdeg
2019-07-23T02:47:37.298Z,1563850057.298 [MissionManager](INFO): DefineOutput profile_station:Science.PeakOilLongitude = nan arcdeg
2019-07-23T02:47:37.322Z,1563850057.322 [MissionManager](INFO): DefineOutput profile_station:Science.PeakFDOM = 0.000000 ppb
2019-07-23T02:47:37.330Z,1563850057.330 [MissionManager](INFO): DefineOutput profile_station:Science.PeakFDOMDepth = 0.000000 m
2019-07-23T02:47:37.337Z,1563850057.337 [MissionManager](INFO): DefineOutput profile_station:Science.PeakFDOMLatitude = nan arcdeg
2019-07-23T02:47:37.347Z,1563850057.347 [MissionManager](INFO): DefineOutput profile_station:Science.PeakFDOMLongitude = nan arcdeg
2019-07-23T02:47:37.350Z,1563850057.350 [MissionManager](INFO): DefineOutput profile_station:Science.PatchFDOMDistance = nan m
2019-07-23T02:47:37.393Z,1563850057.393 [profile_station:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-23T02:47:37.423Z,1563850057.423 [profile_station:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2019-07-23T02:47:37.454Z,1563850057.454 [profile_station:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-23T02:47:37.477Z,1563850057.477 [profile_station:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-23T02:47:37.508Z,1563850057.508 [profile_station:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-23T02:47:37.532Z,1563850057.532 [MissionManager](INFO): RedefineArg profile_station:Science.SampleISUS = value:1 bool
2019-07-23T02:47:37.550Z,1563850057.550 [MissionManager](INFO): RedefineArg profile_station:Science.PeakDetectChlActive = value:1 bool
2019-07-23T02:47:37.550Z,1563850057.550 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-07-23T02:47:37.637Z,1563850057.637 [MissionManager](INFO): DefineArg profile_station:NeedComms.DiveInterval = 3.000000 h
2019-07-23T02:47:37.640Z,1563850057.640 [MissionManager](INFO): DefineArg profile_station:NeedComms.WaitForPitchUp = 10.000000 min
2019-07-23T02:47:37.641Z,1563850057.641 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:47:37.684Z,1563850057.684 [MissionManager](INFO): DefineArg profile_station:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-07-23T02:47:37.698Z,1563850057.698 [MissionManager](INFO): DefineArg profile_station:NeedComms.SurfaceDepthRate = nan m/s
2019-07-23T02:47:37.716Z,1563850057.716 [MissionManager](INFO): DefineArg profile_station:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-07-23T02:47:37.719Z,1563850057.719 [MissionManager](INFO): DefineArg profile_station:NeedComms.GPSTimeout = 7.000000 min
2019-07-23T02:47:37.723Z,1563850057.723 [MissionManager](INFO): DefineArg profile_station:NeedComms.CommsTimeout = 30.000000 min
2019-07-23T02:47:37.729Z,1563850057.729 [profile_station:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-07-23T02:47:37.775Z,1563850057.775 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2019-07-23T02:47:37.807Z,1563850057.807 [MissionManager](INFO): DefineArg profile_station:StandardEnvelopes.MinAltitude = 5.000000 m
2019-07-23T02:47:37.810Z,1563850057.810 [MissionManager](INFO): DefineArg profile_station:StandardEnvelopes.MaxDepth = 200.000000 m
2019-07-23T02:47:37.813Z,1563850057.813 [MissionManager](INFO): DefineArg profile_station:StandardEnvelopes.MinOffshore = 2000.000000 m
2019-07-23T02:47:37.815Z,1563850057.815 [profile_station:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-07-23T02:47:37.834Z,1563850057.834 [profile_station:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-07-23T02:47:37.844Z,1563850057.844 [profile_station:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2019-07-23T02:47:37.881Z,1563850057.881 [profile_station:I.Pitch](DEBUG): Construct.
2019-07-23T02:47:37.888Z,1563850057.888 [profile_station:J.Buoyancy](DEBUG): Construct Buoyancy.
2019-07-23T02:47:37.914Z,1563850057.914 [profile_station:K.SetSpeed](DEBUG): Construct.
2019-07-23T02:47:37.934Z,1563850057.934 [profile_station:L.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-07-23T02:47:37.944Z,1563850057.944 [profile_station:M.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-07-23T02:47:37.953Z,1563850057.953 [profile_station:N.YoYo](DEBUG): Construct YoYo.
2019-07-23T02:47:37.979Z,1563850057.979 [profile_station:CircleWrapper:B.Circle](DEBUG): Construct.
2019-07-23T02:47:38.101Z,1563850058.101 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Derivation="Tethys/Derivation"
       xmlns:Estimation="Tethys/Estimation"
       xmlns:Guidance="Tethys/Guidance"
       xmlns:Sensor="Tethys/Sensor"
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Derivation http://okeanids.mbari.org/tethys/Xml/Derivation.xsd
                           Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
                           Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Sensor http://okeanids.mbari.org/tethys/Xml/Sensor.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="profile_station">

    <Description>
        This mission yoyos in a circle around a specified location.
    </Description>

<!-- Mission-wide settings -->

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

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

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

    <DefineArg Name="Lat"><Description>
        The latitude of the center of the circle.
    </Description><Units:degree/><Value>36.806966</Value></DefineArg>

    <DefineArg Name="Lon"><Description>
        The longitude of the center of the circle.
    </Description><Units:degree/><Value>-121.824326</Value></DefineArg>

    <DefineArg Name="Radius"><Description>
        Radius to circle at
    </Description><Units:meter/><Value>300</Value></DefineArg>

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

    <DefineArg Name="YoYoMinDepth"><Description>
        Minimum depth while performing the YoYo behavior.
    </Description><Units:meter/><Value>2</Value></DefineArg>

    <DefineArg Name="YoYoMaxDepth"><Description>
        Maximum depth while performing the YoYo behavior.
    </Description><Units:meter/><Value>200</Value></DefineArg>

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

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

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

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

    <DefineArg Name="CircleMaxError"><Description>
        If this distance away from the circle, drive straight towards (or away
        from the center). Otherwise, try to reduce distance from the ideal
        circle.
    </Description><Units:meter/><Value>100</Value></DefineArg>

    <DefineArg Name="CircleTurnToPort"><Description>
        If true, vehicle turns to the left around the center point. If false,
        vehicle turns to the right.
    </Description><False/></DefineArg>

    <DefineArg Name="KwpHeading"><Description>
        Used to relax waypoint cross-track error constant that is adjusted for
        docking. (You can override this setting by passing an argument.)
    </Description><Units:radian_per_meter/><Value>0.010</Value></DefineArg>

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

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>205</Value></DefineArg>

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

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

    <Timeout Duration="MissionTimeout"/>

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

    <Aggregate Id="CircleWrapper">

        <Sequence Repeat="4096"/>

        <Assign><Parallel/><Control:HorizontalControl.kwpHeading/><Arg Name="KwpHeading"/></Assign>

        <Guidance:Circle>
            <Sequence/>
            <Setting><Guidance:Circle.latitude/><Arg Name="Lat"/></Setting>
            <Setting><Guidance:Circle.longitude/><Arg Name="Lon"/></Setting>
            <Setting><Guidance:Circle.radius/><Arg Name="Radius"/></Setting>
            <Setting><Guidance:Circle.maxError/><Arg Name="CircleMaxError"/></Setting>
            <Setting><Guidance:Circle.turnToPort/><Arg Name="CircleTurnToPort"/></Setting>
        </Guidance:Circle>

    </Aggregate>

</Mission>


2019-07-23T02:47:38.104Z,1563850058.104 [CommandLine](IMPORTANT): Running ./Missions/Science/profile_station.xml
2019-07-23T02:47:38.244Z,1563850058.244 [Default] Stopped
2019-07-23T02:47:38.244Z,1563850058.244 [Default](DEBUG): Aggregate::uninitialize Default
2019-07-23T02:47:38.245Z,1563850058.245 [Default:B.GoToSurface] Stopped
2019-07-23T02:47:38.245Z,1563850058.245 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-07-23T02:47:38.245Z,1563850058.245 [Default:CheckIn] Stopped
2019-07-23T02:47:38.245Z,1563850058.245 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-07-23T02:47:38.245Z,1563850058.245 [Default:CheckIn:Read_GPS] Stopped
2019-07-23T02:47:38.245Z,1563850058.245 [MissionManager](IMPORTANT): Started mission profile_station
2019-07-23T02:47:38.245Z,1563850058.245 [profile_station] Running Loop=1
2019-07-23T02:47:38.245Z,1563850058.245 [profile_station](DEBUG): Aggregate::initialize profile_station
2019-07-23T02:47:38.246Z,1563850058.246 [profile_station:Science] Running Loop=1
2019-07-23T02:47:38.246Z,1563850058.246 [profile_station:Science](DEBUG): Aggregate::initialize profile_station:Science
2019-07-23T02:47:38.246Z,1563850058.246 [profile_station:Science:A] Running Loop=1
2019-07-23T02:47:38.246Z,1563850058.246 [profile_station:Science:B] Running Loop=1
2019-07-23T02:47:38.246Z,1563850058.246 [profile_station:Science:C] Running Loop=1
2019-07-23T02:47:38.246Z,1563850058.246 [profile_station:Science:D] Running Loop=1
2019-07-23T02:47:38.246Z,1563850058.246 [profile_station:Science:E] Running Loop=1
2019-07-23T02:47:38.246Z,1563850058.246 [profile_station:Science:F] Running Loop=1
2019-07-23T02:47:38.246Z,1563850058.246 [profile_station:Science:G] Running Loop=1
2019-07-23T02:47:38.246Z,1563850058.246 [profile_station:Science:H] Running Loop=1
2019-07-23T02:47:38.246Z,1563850058.246 [profile_station:Science:Read_Oil] Running Loop=1
2019-07-23T02:47:38.246Z,1563850058.246 [profile_station:Science:PeakDetectChl] Running Loop=1
2019-07-23T02:47:38.246Z,1563850058.246 [profile_station:Science:PeakDetectChl](DEBUG): Aggregate::initialize profile_station:Science:PeakDetectChl
2019-07-23T02:47:38.247Z,1563850058.247 [profile_station:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2019-07-23T02:47:38.247Z,1563850058.247 [profile_station:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-23T02:47:38.249Z,1563850058.249 [profile_station:Science:HighestChlPeakReport] Running Loop=1
2019-07-23T02:47:38.249Z,1563850058.249 [profile_station:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize profile_station:Science:HighestChlPeakReport
2019-07-23T02:47:38.249Z,1563850058.249 [profile_station:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2019-07-23T02:47:38.249Z,1563850058.249 [profile_station:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2019-07-23T02:47:38.249Z,1563850058.249 [profile_station:Science:PeakDetectNO3] Running Loop=1
2019-07-23T02:47:38.250Z,1563850058.250 [profile_station:Science:PeakDetectNO3](DEBUG): Aggregate::initialize profile_station:Science:PeakDetectNO3
2019-07-23T02:47:38.250Z,1563850058.250 [profile_station:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2019-07-23T02:47:38.250Z,1563850058.250 [profile_station:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-23T02:47:38.252Z,1563850058.252 [profile_station:Science:PeakDetectOil] Running Loop=1
2019-07-23T02:47:38.252Z,1563850058.252 [profile_station:Science:PeakDetectOil](DEBUG): Aggregate::initialize profile_station:Science:PeakDetectOil
2019-07-23T02:47:38.252Z,1563850058.252 [profile_station:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2019-07-23T02:47:38.252Z,1563850058.252 [profile_station:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-23T02:47:38.262Z,1563850058.262 [profile_station:Science:PeakDetectFDOM] Running Loop=1
2019-07-23T02:47:38.262Z,1563850058.262 [profile_station:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize profile_station:Science:PeakDetectFDOM
2019-07-23T02:47:38.263Z,1563850058.263 [profile_station:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2019-07-23T02:47:38.263Z,1563850058.263 [profile_station:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-23T02:47:38.265Z,1563850058.265 [profile_station:StandardEnvelopes] Running Loop=1
2019-07-23T02:47:38.265Z,1563850058.265 [profile_station:StandardEnvelopes](DEBUG): Aggregate::initialize profile_station:StandardEnvelopes
2019-07-23T02:47:38.265Z,1563850058.265 [profile_station:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-07-23T02:47:38.265Z,1563850058.265 [profile_station:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-07-23T02:47:38.266Z,1563850058.266 [profile_station:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-07-23T02:47:38.266Z,1563850058.266 [profile_station:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-07-23T02:47:38.266Z,1563850058.266 [profile_station:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-07-23T02:47:38.266Z,1563850058.266 [profile_station:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2019-07-23T02:47:38.266Z,1563850058.266 [profile_station:I.Pitch] Running Loop=1
2019-07-23T02:47:38.266Z,1563850058.266 [profile_station:I.Pitch](DEBUG): Initialize.
2019-07-23T02:47:38.266Z,1563850058.266 [profile_station:J.Buoyancy] Running Loop=1
2019-07-23T02:47:38.266Z,1563850058.266 [profile_station:J.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-07-23T02:47:38.266Z,1563850058.266 [profile_station:K.SetSpeed] Running Loop=1
2019-07-23T02:47:38.267Z,1563850058.267 [profile_station:K.SetSpeed](DEBUG): Initialize.
2019-07-23T02:47:38.267Z,1563850058.267 [profile_station:L.DepthEnvelope] Running Loop=1
2019-07-23T02:47:38.267Z,1563850058.267 [profile_station:L.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-07-23T02:47:38.267Z,1563850058.267 [profile_station:M.AltitudeEnvelope] Running Loop=1
2019-07-23T02:47:38.267Z,1563850058.267 [profile_station:M.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-07-23T02:47:38.267Z,1563850058.267 [profile_station:N.YoYo] Running Loop=1
2019-07-23T02:47:38.267Z,1563850058.267 [profile_station:N.YoYo](DEBUG): Initialize YoYoComponent.
2019-07-23T02:47:38.268Z,1563850058.268 [profile_station:C] Running Loop=1
2019-07-23T02:47:38.268Z,1563850058.268 [profile_station:N.YoYo] Running Loop=1
2019-07-23T02:47:38.277Z,1563850058.277 [profile_station:M.AltitudeEnvelope] Running Loop=1
2019-07-23T02:47:38.277Z,1563850058.277 [profile_station:L.DepthEnvelope] Running Loop=1
2019-07-23T02:47:38.279Z,1563850058.279 [profile_station:K.SetSpeed] Running Loop=1
2019-07-23T02:47:38.279Z,1563850058.279 [profile_station:J.Buoyancy] Running Loop=1
2019-07-23T02:47:38.279Z,1563850058.279 [profile_station:I.Pitch] Running Loop=1
2019-07-23T02:47:38.279Z,1563850058.279 [profile_station:StandardEnvelopes] Running Loop=1
2019-07-23T02:47:38.280Z,1563850058.280 [profile_station:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-07-23T02:47:38.280Z,1563850058.280 [profile_station:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:47:38.280Z,1563850058.280 [profile_station:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-07-23T02:47:38.280Z,1563850058.280 [profile_station:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-07-23T02:47:38.281Z,1563850058.281 [profile_station:C] Stopped
2019-07-23T02:47:38.281Z,1563850058.281 [profile_station:E] Running Loop=1
2019-07-23T02:47:38.281Z,1563850058.281 [profile_station:NeedComms] Running Loop=1
2019-07-23T02:47:38.281Z,1563850058.281 [profile_station:NeedComms](DEBUG): Aggregate::initialize profile_station:NeedComms
2019-07-23T02:47:38.281Z,1563850058.281 [profile_station:NeedComms:B.GoToSurface] Running Loop=1
2019-07-23T02:47:38.281Z,1563850058.281 [profile_station:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-07-23T02:47:38.282Z,1563850058.282 [profile_station:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2019-07-23T02:47:38.282Z,1563850058.282 [profile_station:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2019-07-23T02:47:38.282Z,1563850058.282 [profile_station:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2019-07-23T02:47:38.283Z,1563850058.283 [profile_station:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-07-23T02:47:38.283Z,1563850058.283 [profile_station:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-07-23T02:47:38.283Z,1563850058.283 [profile_station:NeedComms:A] Running Loop=1
2019-07-23T02:47:38.284Z,1563850058.284 [profile_station:NeedComms:A](ERROR): data element is not active.
2019-07-23T02:47:38.284Z,1563850058.284 [profile_station:NeedComms:A](INFO): last time_fix was: nan second since 1970/01/01T00:00:00Z 
2019-07-23T02:47:38.284Z,1563850058.284 [profile_station:NeedComms:A] Stopped
2019-07-23T02:47:38.285Z,1563850058.285 [profile_station:Science] Running Loop=1
2019-07-23T02:47:38.286Z,1563850058.286 [profile_station:Science:PeakDetectFDOM] Stopped
2019-07-23T02:47:38.286Z,1563850058.286 [profile_station:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize profile_station:Science:PeakDetectFDOM
2019-07-23T02:47:38.286Z,1563850058.286 [profile_station:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2019-07-23T02:47:38.286Z,1563850058.286 [profile_station:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-23T02:47:38.286Z,1563850058.286 [profile_station:Science:PeakDetectOil] Stopped
2019-07-23T02:47:38.286Z,1563850058.286 [profile_station:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize profile_station:Science:PeakDetectOil
2019-07-23T02:47:38.286Z,1563850058.286 [profile_station:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2019-07-23T02:47:38.286Z,1563850058.286 [profile_station:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-23T02:47:38.287Z,1563850058.287 [profile_station:Science:PeakDetectNO3] Stopped
2019-07-23T02:47:38.287Z,1563850058.287 [profile_station:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize profile_station:Science:PeakDetectNO3
2019-07-23T02:47:38.287Z,1563850058.287 [profile_station:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2019-07-23T02:47:38.287Z,1563850058.287 [profile_station:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-23T02:47:38.287Z,1563850058.287 [profile_station:Science:HighestChlPeakReport] Stopped
2019-07-23T02:47:38.287Z,1563850058.287 [profile_station:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize profile_station:Science:HighestChlPeakReport
2019-07-23T02:47:38.287Z,1563850058.287 [profile_station:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2019-07-23T02:47:38.287Z,1563850058.287 [profile_station:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2019-07-23T02:47:38.287Z,1563850058.287 [profile_station:Science:PeakDetectChl] Running Loop=1
2019-07-23T02:47:38.287Z,1563850058.287 [profile_station:Science:Read_Oil] Stopped
2019-07-23T02:47:38.288Z,1563850058.288 [profile_station:Science:H] Stopped
2019-07-23T02:47:38.288Z,1563850058.288 [profile_station:Science:G] Running Loop=1
2019-07-23T02:47:38.288Z,1563850058.288 [profile_station:Science:G](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2019-07-23T02:47:38.288Z,1563850058.288 [profile_station:Science:F] Stopped
2019-07-23T02:47:38.288Z,1563850058.288 [profile_station:Science:E] Stopped
2019-07-23T02:47:38.311Z,1563850058.311 [profile_station:Science:D] Stopped
2019-07-23T02:47:38.312Z,1563850058.312 [profile_station:Science:C] Stopped
2019-07-23T02:47:38.312Z,1563850058.312 [profile_station:Science:B] Stopped
2019-07-23T02:47:38.312Z,1563850058.312 [profile_station:Science:A] Stopped
2019-07-23T02:47:38.495Z,1563850058.495 [profile_station:E] Stopped
2019-07-23T02:47:38.495Z,1563850058.495 [profile_station:F] Running Loop=1
2019-07-23T02:47:38.495Z,1563850058.495 [profile_station:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:47:38.509Z,1563850058.509 [profile_station:NeedComms:C] Running Loop=1
2019-07-23T02:47:38.658Z,1563850058.658 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-23T02:47:38.658Z,1563850058.658 [WetLabsBB2FL](INFO): Powering up
2019-07-23T02:47:39.101Z,1563850059.101 [profile_station:F] Stopped
2019-07-23T02:47:39.101Z,1563850059.101 [profile_station:G] Running Loop=1
2019-07-23T02:47:39.102Z,1563850059.102 [profile_station:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:47:39.103Z,1563850059.103 [profile_station:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-07-23T02:47:39.288Z,1563850059.288 [profile_station:G] Stopped
2019-07-23T02:47:39.288Z,1563850059.288 [profile_station:StartingMission] Running Loop=1
2019-07-23T02:47:39.288Z,1563850059.288 [profile_station:StartingMission](DEBUG): Aggregate::initialize profile_station:StartingMission
2019-07-23T02:47:39.288Z,1563850059.288 [profile_station:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:47:39.718Z,1563850059.718 [profile_station:M.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2019-07-23T02:47:39.719Z,1563850059.719 [profile_station:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:47:39.720Z,1563850059.720 [profile_station:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2019-07-23T02:47:40.119Z,1563850060.119 [profile_station:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:47:40.469Z,1563850060.469 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:47:40.547Z,1563850060.547 [profile_station:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:47:40.912Z,1563850060.912 [profile_station:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:47:41.316Z,1563850061.316 [profile_station:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:47:41.723Z,1563850061.723 [profile_station:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:47:42.119Z,1563850062.119 [profile_station:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:47:42.543Z,1563850062.543 [profile_station:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:47:42.921Z,1563850062.921 [profile_station:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:47:43.309Z,1563850063.309 [profile_station:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:47:43.701Z,1563850063.701 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:47:43.724Z,1563850063.724 [profile_station:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:47:43.949Z,1563850063.949 [WetLabsBB2FL] Communications Fault, FailCount= 1
2019-07-23T02:47:43.949Z,1563850063.949 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-23T02:47:44.127Z,1563850064.127 [profile_station:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:47:44.137Z,1563850064.137 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-23T02:47:44.449Z,1563850064.449 [WetLabsBB2FL](INFO): Powering down
2019-07-23T02:47:44.536Z,1563850064.536 [profile_station:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:47:44.932Z,1563850064.932 [profile_station:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:47:45.328Z,1563850065.328 [profile_station:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:47:45.338Z,1563850065.338 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-23T02:47:45.339Z,1563850065.339 [WetLabsBB2FL] No Fault, FailCount= 1
2019-07-23T02:47:45.662Z,1563850065.662 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-23T02:47:45.662Z,1563850065.662 [WetLabsBB2FL](INFO): Powering up
2019-07-23T02:47:45.760Z,1563850065.760 [profile_station:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:47:46.143Z,1563850066.143 [profile_station:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:47:46.529Z,1563850066.529 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:47:46.564Z,1563850066.564 [profile_station:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:47:46.964Z,1563850066.964 [profile_station:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:47:47.364Z,1563850067.364 [profile_station:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:47:47.529Z,1563850067.529 [CommandLine](IMPORTANT): got command stop
2019-07-23T02:47:47.530Z,1563850067.530 [CommandLine](IMPORTANT): Scheduling is paused
2019-07-23T02:47:47.530Z,1563850067.530 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-07-23T02:47:47.757Z,1563850067.757 [profile_station:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:47:47.760Z,1563850067.760 [MissionManager](INFO): MissionManager is completed.
2019-07-23T02:47:47.760Z,1563850067.760 [MissionManager](INFO): Uninitializing Mission profile_station
2019-07-23T02:47:47.760Z,1563850067.760 [profile_station] Stopped
2019-07-23T02:47:47.760Z,1563850067.760 [profile_station](DEBUG): Aggregate::uninitialize profile_station
2019-07-23T02:47:47.760Z,1563850067.760 [profile_station:Science] Stopped
2019-07-23T02:47:47.760Z,1563850067.760 [profile_station:Science](DEBUG): Aggregate::uninitialize profile_station:Science
2019-07-23T02:47:47.760Z,1563850067.760 [profile_station:Science:G] Stopped
2019-07-23T02:47:47.760Z,1563850067.760 [profile_station:Science:PeakDetectChl] Stopped
2019-07-23T02:47:47.760Z,1563850067.760 [profile_station:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize profile_station:Science:PeakDetectChl
2019-07-23T02:47:47.761Z,1563850067.761 [profile_station:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2019-07-23T02:47:47.761Z,1563850067.761 [profile_station:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-23T02:47:47.761Z,1563850067.761 [profile_station:NeedComms] Stopped
2019-07-23T02:47:47.761Z,1563850067.761 [profile_station:NeedComms](DEBUG): Aggregate::uninitialize profile_station:NeedComms
2019-07-23T02:47:47.761Z,1563850067.761 [profile_station:NeedComms:B.GoToSurface] Stopped
2019-07-23T02:47:47.761Z,1563850067.761 [profile_station:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-07-23T02:47:47.761Z,1563850067.761 [profile_station:NeedComms:C] Stopped
2019-07-23T02:47:47.761Z,1563850067.761 [profile_station:StandardEnvelopes] Stopped
2019-07-23T02:47:47.761Z,1563850067.761 [profile_station:StandardEnvelopes](DEBUG): Aggregate::uninitialize profile_station:StandardEnvelopes
2019-07-23T02:47:47.761Z,1563850067.761 [profile_station:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2019-07-23T02:47:47.761Z,1563850067.761 [profile_station:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2019-07-23T02:47:47.761Z,1563850067.761 [profile_station:StandardEnvelopes:B.DepthEnvelope] Stopped
2019-07-23T02:47:47.762Z,1563850067.762 [profile_station:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2019-07-23T02:47:47.762Z,1563850067.762 [profile_station:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2019-07-23T02:47:47.762Z,1563850067.762 [profile_station:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2019-07-23T02:47:47.762Z,1563850067.762 [profile_station:StartingMission] Stopped
2019-07-23T02:47:47.762Z,1563850067.762 [profile_station:StartingMission](DEBUG): Aggregate::uninitialize profile_station:StartingMission
2019-07-23T02:47:47.762Z,1563850067.762 [profile_station:I.Pitch] Stopped
2019-07-23T02:47:47.762Z,1563850067.762 [profile_station:J.Buoyancy] Stopped
2019-07-23T02:47:47.762Z,1563850067.762 [profile_station:J.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2019-07-23T02:47:47.762Z,1563850067.762 [profile_station:K.SetSpeed] Stopped
2019-07-23T02:47:47.762Z,1563850067.762 [profile_station:K.SetSpeed](DEBUG): Uninitialize.
2019-07-23T02:47:47.762Z,1563850067.762 [profile_station:L.DepthEnvelope] Stopped
2019-07-23T02:47:47.762Z,1563850067.762 [profile_station:L.DepthEnvelope](DEBUG): Uninitialize.
2019-07-23T02:47:47.762Z,1563850067.762 [profile_station:M.AltitudeEnvelope] Stopped
2019-07-23T02:47:47.762Z,1563850067.762 [profile_station:M.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2019-07-23T02:47:47.763Z,1563850067.763 [profile_station:N.YoYo] Stopped
2019-07-23T02:47:47.763Z,1563850067.763 [profile_station:N.YoYo](DEBUG): Uninitialize YoYoComponent.
2019-07-23T02:47:48.170Z,1563850068.170 [MissionManager](IMPORTANT): Started mission Default
2019-07-23T02:47:48.170Z,1563850068.170 [Default] Running Loop=1
2019-07-23T02:47:48.170Z,1563850068.170 [Default](DEBUG): Aggregate::initialize Default
2019-07-23T02:47:48.170Z,1563850068.170 [Default:B.GoToSurface] Running Loop=1
2019-07-23T02:47:48.171Z,1563850068.171 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-07-23T02:47:48.171Z,1563850068.171 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-07-23T02:47:48.171Z,1563850068.171 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-07-23T02:47:48.171Z,1563850068.171 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-07-23T02:47:48.172Z,1563850068.172 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-07-23T02:47:48.172Z,1563850068.172 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-07-23T02:47:48.172Z,1563850068.172 [Default:A.Wait] Running Loop=1
2019-07-23T02:47:48.172Z,1563850068.172 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-07-23T02:47:49.765Z,1563850069.765 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:47:50.953Z,1563850070.953 [WetLabsBB2FL] Communications Fault, FailCount= 2
2019-07-23T02:47:50.953Z,1563850070.953 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-23T02:47:51.065Z,1563850071.065 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-23T02:47:51.457Z,1563850071.457 [WetLabsBB2FL](INFO): Powering down
2019-07-23T02:47:52.597Z,1563850072.597 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:47:52.683Z,1563850072.683 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-23T02:47:52.683Z,1563850072.683 [WetLabsBB2FL] No Fault, FailCount= 2
2019-07-23T02:47:53.074Z,1563850073.074 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-23T02:47:53.074Z,1563850073.074 [WetLabsBB2FL](INFO): Powering up
2019-07-23T02:47:55.421Z,1563850075.421 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:47:57.437Z,1563850077.437 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:47:58.369Z,1563850078.369 [WetLabsBB2FL] Communications Fault, FailCount= 3
2019-07-23T02:47:58.369Z,1563850078.369 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-23T02:47:58.674Z,1563850078.674 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-23T02:47:58.869Z,1563850078.869 [WetLabsBB2FL](INFO): Powering down
2019-07-23T02:47:59.887Z,1563850079.887 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-23T02:47:59.888Z,1563850079.888 [WetLabsBB2FL] No Fault, FailCount= 3
2019-07-23T02:48:00.082Z,1563850080.082 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-23T02:48:00.082Z,1563850080.082 [WetLabsBB2FL](INFO): Powering up
2019-07-23T02:48:00.669Z,1563850080.669 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:48:01.507Z,1563850081.507 [Default:A.Wait](INFO): Done Waiting.
2019-07-23T02:48:01.507Z,1563850081.507 [Default:A.Wait] Stopped
2019-07-23T02:48:01.507Z,1563850081.507 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-07-23T02:48:01.898Z,1563850081.898 [Default:CheckIn] Running Loop=1
2019-07-23T02:48:01.899Z,1563850081.899 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-07-23T02:48:01.899Z,1563850081.899 [Default:CheckIn:Read_GPS] Running Loop=1
2019-07-23T02:48:03.501Z,1563850083.501 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:48:05.377Z,1563850085.377 [WetLabsBB2FL] Communications Fault, FailCount= 4
2019-07-23T02:48:05.377Z,1563850085.377 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-23T02:48:05.555Z,1563850085.555 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-23T02:48:05.877Z,1563850085.877 [WetLabsBB2FL](INFO): Powering down
2019-07-23T02:48:06.733Z,1563850086.733 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:48:06.786Z,1563850086.786 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-23T02:48:06.786Z,1563850086.786 [WetLabsBB2FL] No Fault, FailCount= 4
2019-07-23T02:48:07.090Z,1563850087.090 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-23T02:48:07.090Z,1563850087.090 [WetLabsBB2FL](INFO): Powering up
2019-07-23T02:48:09.561Z,1563850089.561 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:48:12.397Z,1563850092.397 [WetLabsBB2FL] Communications Fault, FailCount= 5
2019-07-23T02:48:12.397Z,1563850092.397 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-23T02:48:12.419Z,1563850092.419 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-23T02:48:12.419Z,1563850092.419 [CBIT](FAULT): Communications Fault in component: WetLabsBB2FL
2019-07-23T02:48:12.789Z,1563850092.789 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:48:12.897Z,1563850092.897 [WetLabsBB2FL](INFO): Powering down
2019-07-23T02:48:15.617Z,1563850095.617 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:48:18.449Z,1563850098.449 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:48:20.330Z,1563850100.330 [CommandLine](IMPORTANT): got command stop
2019-07-23T02:48:20.469Z,1563850100.469 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:48:22.485Z,1563850102.485 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:48:25.721Z,1563850105.721 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:48:28.549Z,1563850108.549 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:48:31.777Z,1563850111.777 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:48:32.667Z,1563850112.667 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-07-23T02:48:34.609Z,1563850114.609 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:48:37.841Z,1563850117.841 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:48:39.064Z,1563850119.064 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2019-07-23T02:48:39.099Z,1563850119.099 [BPC1](INFO): Received data from all battery sticks.
2019-07-23T02:48:40.665Z,1563850120.665 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:48:43.493Z,1563850123.493 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:48:45.517Z,1563850125.517 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:48:47.529Z,1563850127.529 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:48:50.769Z,1563850130.769 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:48:53.593Z,1563850133.593 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:48:56.829Z,1563850136.829 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:48:59.653Z,1563850139.653 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:49:02.889Z,1563850142.889 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:49:05.717Z,1563850145.717 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:49:08.545Z,1563850148.545 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:49:10.561Z,1563850150.561 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:49:12.232Z,1563850152.232 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-23T02:49:12.232Z,1563850152.232 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 4
2019-07-23T02:49:12.232Z,1563850152.232 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-23T02:49:12.242Z,1563850152.242 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-23T02:49:12.597Z,1563850152.597 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-23T02:49:12.597Z,1563850152.597 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 4
2019-07-23T02:49:13.801Z,1563850153.801 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:49:16.617Z,1563850156.617 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:49:19.857Z,1563850159.857 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:49:22.685Z,1563850162.685 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:49:25.913Z,1563850165.913 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:49:28.745Z,1563850168.745 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:49:31.573Z,1563850171.573 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:49:33.585Z,1563850173.585 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:49:35.609Z,1563850175.609 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:49:38.845Z,1563850178.845 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:49:41.673Z,1563850181.673 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:49:44.901Z,1563850184.901 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:49:47.733Z,1563850187.733 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:49:50.961Z,1563850190.961 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:49:53.789Z,1563850193.789 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:49:56.613Z,1563850196.613 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:49:58.637Z,1563850198.637 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:50:01.869Z,1563850201.869 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:50:04.183Z,1563850204.183 [CommandLine](IMPORTANT): got command run ./Missions/Maintenance/depth_test.xml
2019-07-23T02:50:04.183Z,1563850204.183 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/depth_test.xml
2019-07-23T02:50:04.322Z,1563850204.322 [MissionManager](INFO): DefineArg esp_kiss.MissionTimeout = 4.000000 h
2019-07-23T02:50:04.325Z,1563850204.325 [MissionManager](INFO): DefineArg esp_kiss.NeedCommsTime = 240.000000 min
2019-07-23T02:50:04.328Z,1563850204.328 [MissionManager](INFO): DefineArg esp_kiss.Depth = 2.500000 m
2019-07-23T02:50:04.331Z,1563850204.331 [MissionManager](INFO): DefineArg esp_kiss.ESPCartridgeType_1 = -1.000000 count
2019-07-23T02:50:04.380Z,1563850204.380 [MissionManager](INFO): DefineArg esp_kiss.ESPCartridgeType_2 = -16.000000 count
2019-07-23T02:50:04.383Z,1563850204.383 [MissionManager](INFO): DefineArg esp_kiss.ESPCartridgeType_3 = nan count
2019-07-23T02:50:04.387Z,1563850204.387 [MissionManager](INFO): DefineArg esp_kiss.ESPCartridgeType_4 = nan count
2019-07-23T02:50:04.391Z,1563850204.391 [MissionManager](INFO): DefineArg esp_kiss.WaitBeforeSample = 3.000000 min
2019-07-23T02:50:04.394Z,1563850204.394 [MissionManager](INFO): DefineArg esp_kiss.ApproachDepthTimeout = 20.000000 min
2019-07-23T02:50:04.419Z,1563850204.419 [MissionManager](INFO): DefineArg esp_kiss.DepthDeadband = 0.200000 m
2019-07-23T02:50:04.432Z,1563850204.432 [MissionManager](INFO): DefineArg esp_kiss.Speed = 0.000000 m/s
2019-07-23T02:50:04.445Z,1563850204.445 [MissionManager](INFO): DefineArg esp_kiss.MaxDepth = 5.000000 m
2019-07-23T02:50:04.461Z,1563850204.461 [MissionManager](INFO): DefineArg esp_kiss.PitchLimit = 20.000000 arcdeg
2019-07-23T02:50:04.464Z,1563850204.464 [MissionManager](INFO): DefineArg esp_kiss.MinOffshore = 1.000000 km
2019-07-23T02:50:04.467Z,1563850204.467 [MissionManager](INFO): DefineOutput esp_kiss.StartFromSurface = 1 bool
2019-07-23T02:50:04.468Z,1563850204.468 [esp_kiss:A.AbortSample](DEBUG): Construct.
2019-07-23T02:50:04.469Z,1563850204.469 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2019-07-23T02:50:04.523Z,1563850204.523 [MissionManager](INFO): DefineArg esp_kiss:StandardEnvelopes.MinAltitude = 5.000000 m
2019-07-23T02:50:04.526Z,1563850204.526 [MissionManager](INFO): DefineArg esp_kiss:StandardEnvelopes.MaxDepth = 200.000000 m
2019-07-23T02:50:04.538Z,1563850204.538 [MissionManager](INFO): DefineArg esp_kiss:StandardEnvelopes.MinOffshore = 2000.000000 m
2019-07-23T02:50:04.539Z,1563850204.539 [esp_kiss:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-07-23T02:50:04.547Z,1563850204.547 [esp_kiss:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-07-23T02:50:04.585Z,1563850204.585 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2019-07-23T02:50:04.608Z,1563850204.608 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-07-23T02:50:04.709Z,1563850204.709 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:50:04.738Z,1563850204.738 [MissionManager](INFO): DefineArg esp_kiss:NeedComms.DiveInterval = 3.000000 h
2019-07-23T02:50:04.757Z,1563850204.757 [MissionManager](INFO): DefineArg esp_kiss:NeedComms.WaitForPitchUp = 10.000000 min
2019-07-23T02:50:04.760Z,1563850204.760 [MissionManager](INFO): DefineArg esp_kiss:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-07-23T02:50:04.764Z,1563850204.764 [MissionManager](INFO): DefineArg esp_kiss:NeedComms.SurfaceDepthRate = nan m/s
2019-07-23T02:50:04.779Z,1563850204.779 [MissionManager](INFO): DefineArg esp_kiss:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-07-23T02:50:04.786Z,1563850204.786 [MissionManager](INFO): DefineArg esp_kiss:NeedComms.GPSTimeout = 7.000000 min
2019-07-23T02:50:04.789Z,1563850204.789 [MissionManager](INFO): DefineArg esp_kiss:NeedComms.CommsTimeout = 30.000000 min
2019-07-23T02:50:04.799Z,1563850204.799 [esp_kiss:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-07-23T02:50:04.871Z,1563850204.871 [esp_kiss:I.Mass](DEBUG): Construct.
2019-07-23T02:50:04.887Z,1563850204.887 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2019-07-23T02:50:05.259Z,1563850205.259 [MissionManager](INFO): DefineArg esp_kiss:Science.SampleISUS = 0 bool
2019-07-23T02:50:05.277Z,1563850205.277 [MissionManager](INFO): DefineArg esp_kiss:Science.SampleISUSmaxPitch = 60.000000 arcdeg
2019-07-23T02:50:05.280Z,1563850205.280 [MissionManager](INFO): DefineArg esp_kiss:Science.SampleISUSminPitch = -60.000000 arcdeg
2019-07-23T02:50:05.287Z,1563850205.287 [MissionManager](INFO): DefineArg esp_kiss:Science.PeakDetectChlActive = 0 bool
2019-07-23T02:50:05.294Z,1563850205.294 [MissionManager](INFO): DefineArg esp_kiss:Science.TimeWindowPeakReport = nan min
2019-07-23T02:50:05.301Z,1563850205.301 [MissionManager](INFO): DefineArg esp_kiss:Science.HighestChlPeakReportActive = 0 bool
2019-07-23T02:50:05.304Z,1563850205.304 [MissionManager](INFO): DefineArg esp_kiss:Science.PatchTracking = 0 bool
2019-07-23T02:50:05.312Z,1563850205.312 [MissionManager](INFO): DefineArg esp_kiss:Science.FilterWidthHorizontal = 3.000000 count
2019-07-23T02:50:05.316Z,1563850205.316 [MissionManager](INFO): DefineArg esp_kiss:Science.NumProfilesSlidingwindow = 100.000000 count
2019-07-23T02:50:05.327Z,1563850205.327 [MissionManager](INFO): DefineArg esp_kiss:Science.OffPeakFractionHorizontal = 80.000000 %
2019-07-23T02:50:05.331Z,1563850205.331 [MissionManager](INFO): DefineArg esp_kiss:Science.PeakDetectNO3Active = 0 bool
2019-07-23T02:50:05.342Z,1563850205.342 [MissionManager](INFO): DefineArg esp_kiss:Science.PeakDetectOilActive = 0 bool
2019-07-23T02:50:05.349Z,1563850205.349 [MissionManager](INFO): DefineArg esp_kiss:Science.PeakDetectFDOMActive = 0 bool
2019-07-23T02:50:05.352Z,1563850205.352 [MissionManager](INFO): DefineArg esp_kiss:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2019-07-23T02:50:05.360Z,1563850205.360 [MissionManager](INFO): DefineArg esp_kiss:Science.EnabledAanderaaO2 = 0.000000 bool
2019-07-23T02:50:05.368Z,1563850205.368 [MissionManager](INFO): DefineArg esp_kiss:Science.EnabledNeilBrown = 0.000000 bool
2019-07-23T02:50:05.372Z,1563850205.372 [MissionManager](INFO): DefineArg esp_kiss:Science.EnabledSeabird = 0.000000 bool
2019-07-23T02:50:05.384Z,1563850205.384 [MissionManager](INFO): DefineArg esp_kiss:Science.EnabledTurbulence_NPS = 0.000000 bool
2019-07-23T02:50:05.400Z,1563850205.400 [MissionManager](INFO): DefineArg esp_kiss:Science.EnabledWetLabsBB2FL = 1.000000 bool
2019-07-23T02:50:05.412Z,1563850205.412 [MissionManager](INFO): DefineArg esp_kiss:Science.EnabledWetLabsSeaOWL_UV_A = 0.000000 bool
2019-07-23T02:50:05.416Z,1563850205.416 [MissionManager](INFO): DefineArg esp_kiss:Science.EnabledWetLabsUBAT = 0.000000 bool
2019-07-23T02:50:05.427Z,1563850205.427 [MissionManager](INFO): DefineArg esp_kiss:Science.EnabledISUS = 0.000000 bool
2019-07-23T02:50:05.435Z,1563850205.435 [MissionManager](INFO): DefineArg esp_kiss:Science.LowPassWindowLength = 20.000000 count
2019-07-23T02:50:05.439Z,1563850205.439 [MissionManager](INFO): DefineArg esp_kiss:Science.MedianFilterLen = 5.000000 count
2019-07-23T02:50:05.450Z,1563850205.450 [MissionManager](INFO): DefineArg esp_kiss:Science.PeakChlShallowBound = nan m
2019-07-23T02:50:05.454Z,1563850205.454 [MissionManager](INFO): DefineArg esp_kiss:Science.PeakChlDeepBound = nan m
2019-07-23T02:50:05.459Z,1563850205.459 [MissionManager](INFO): DefineArg esp_kiss:Science.PeakShallowBound = nan m
2019-07-23T02:50:05.468Z,1563850205.468 [MissionManager](INFO): DefineArg esp_kiss:Science.PeakDeepBound = nan m
2019-07-23T02:50:05.476Z,1563850205.476 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakChl = 0.000000 ug/l
2019-07-23T02:50:05.505Z,1563850205.505 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakChlDepth = 0.000000 m
2019-07-23T02:50:05.513Z,1563850205.513 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakChlTemperature = 0.000000 degC
2019-07-23T02:50:05.539Z,1563850205.539 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakChlLatitude = nan arcdeg
2019-07-23T02:50:05.542Z,1563850205.542 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakChlLongitude = nan arcdeg
2019-07-23T02:50:05.561Z,1563850205.561 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakNO3 = 0.000000 umol/l
2019-07-23T02:50:05.570Z,1563850205.570 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakNO3Depth = 0.000000 m
2019-07-23T02:50:05.574Z,1563850205.574 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakNO3Latitude = nan arcdeg
2019-07-23T02:50:05.582Z,1563850205.582 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakNO3Longitude = nan arcdeg
2019-07-23T02:50:05.586Z,1563850205.586 [MissionManager](INFO): DefineOutput esp_kiss:Science.PatchChl = 0.000000 m
2019-07-23T02:50:05.589Z,1563850205.589 [MissionManager](INFO): DefineOutput esp_kiss:Science.PatchChlDepth = 0.000000 m
2019-07-23T02:50:05.592Z,1563850205.592 [MissionManager](INFO): DefineOutput esp_kiss:Science.PatchChlLatitude = nan arcdeg
2019-07-23T02:50:05.611Z,1563850205.611 [MissionManager](INFO): DefineOutput esp_kiss:Science.PatchChlLongitude = nan arcdeg
2019-07-23T02:50:05.614Z,1563850205.614 [MissionManager](INFO): DefineOutput esp_kiss:Science.PatchChlDistance = nan m
2019-07-23T02:50:05.634Z,1563850205.634 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakOil = 0.000000 kg/m3
2019-07-23T02:50:05.637Z,1563850205.637 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakOilDepth = 0.000000 m
2019-07-23T02:50:05.640Z,1563850205.640 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakOilLatitude = nan arcdeg
2019-07-23T02:50:05.644Z,1563850205.644 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakOilLongitude = nan arcdeg
2019-07-23T02:50:05.663Z,1563850205.663 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakFDOM = 0.000000 ppb
2019-07-23T02:50:05.667Z,1563850205.667 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakFDOMDepth = 0.000000 m
2019-07-23T02:50:05.670Z,1563850205.670 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakFDOMLatitude = nan arcdeg
2019-07-23T02:50:05.698Z,1563850205.698 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakFDOMLongitude = nan arcdeg
2019-07-23T02:50:05.702Z,1563850205.702 [MissionManager](INFO): DefineOutput esp_kiss:Science.PatchFDOMDistance = nan m
2019-07-23T02:50:05.743Z,1563850205.743 [esp_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-23T02:50:05.767Z,1563850205.767 [esp_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2019-07-23T02:50:05.781Z,1563850205.781 [esp_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-23T02:50:05.827Z,1563850205.827 [esp_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-23T02:50:05.838Z,1563850205.838 [esp_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-23T02:50:05.870Z,1563850205.870 [esp_kiss:InitialDive:B.Buoyancy](DEBUG): Construct Buoyancy.
2019-07-23T02:50:05.874Z,1563850205.874 [esp_kiss:InitialDive:C.SetSpeed](DEBUG): Construct.
2019-07-23T02:50:05.877Z,1563850205.877 [esp_kiss:InitialDive:D.Point](DEBUG): Construct.
2019-07-23T02:50:05.926Z,1563850205.926 [esp_kiss:InitialDive:E.Pitch](DEBUG): Construct.
2019-07-23T02:50:05.947Z,1563850205.947 [esp_kiss:InitialDive:E.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-07-23T02:50:05.965Z,1563850205.965 [esp_kiss:TargetDepth:B.SetSpeed](DEBUG): Construct.
2019-07-23T02:50:05.968Z,1563850205.968 [esp_kiss:TargetDepth:C.Pitch](DEBUG): Construct.
2019-07-23T02:50:06.006Z,1563850206.006 [esp_kiss:TargetDepth:Spinout:A.Buoyancy](DEBUG): Construct Buoyancy.
2019-07-23T02:50:06.015Z,1563850206.015 [esp_kiss:TargetDepth:Spinout:B.Point](DEBUG): Construct.
2019-07-23T02:50:06.021Z,1563850206.021 [MissionManager](INFO): Inserting Stack: Missions/Insert/SampleAtDepth.xml
2019-07-23T02:50:06.159Z,1563850206.159 [MissionManager](INFO): DefineArg esp_kiss:TargetDepth:GrabSamples:SampleAtDepth.TargetDepth = 5.000000 m
2019-07-23T02:50:06.163Z,1563850206.163 [MissionManager](INFO): DefineArg esp_kiss:TargetDepth:GrabSamples:SampleAtDepth.SettleTime = 10.000000 s
2019-07-23T02:50:06.166Z,1563850206.166 [MissionManager](INFO): DefineArg esp_kiss:TargetDepth:GrabSamples:SampleAtDepth.MaxWaitNotReachingDepth = 3.000000 h
2019-07-23T02:50:06.181Z,1563850206.181 [MissionManager](INFO): DefineArg esp_kiss:TargetDepth:GrabSamples:SampleAtDepth.RotateOnly = 0.000000 bool
2019-07-23T02:50:06.184Z,1563850206.184 [MissionManager](INFO): DefineArg esp_kiss:TargetDepth:GrabSamples:SampleAtDepth.UseCANONSampler = 0.000000 bool
2019-07-23T02:50:06.188Z,1563850206.188 [MissionManager](INFO): DefineArg esp_kiss:TargetDepth:GrabSamples:SampleAtDepth.UseESP = 1.000000 bool
2019-07-23T02:50:06.191Z,1563850206.191 [MissionManager](INFO): DefineArg esp_kiss:TargetDepth:GrabSamples:SampleAtDepth.ESPCartridgeType = nan count
2019-07-23T02:50:06.218Z,1563850206.218 [MissionManager](INFO): DefineArg esp_kiss:TargetDepth:GrabSamples:SampleAtDepth.CANONSamplerTriggerTimeout = 1.000000 min
2019-07-23T02:50:06.222Z,1563850206.222 [MissionManager](INFO): DefineArg esp_kiss:TargetDepth:GrabSamples:SampleAtDepth.CANONSamplerTimeout = 6.000000 min
2019-07-23T02:50:06.225Z,1563850206.225 [MissionManager](INFO): DefineArg esp_kiss:TargetDepth:GrabSamples:SampleAtDepth.BuoyancyNeutral = 273.999991 cc
2019-07-23T02:50:06.239Z,1563850206.239 [esp_kiss:TargetDepth:GrabSamples:SampleAtDepth:ApproachDepth:B.Pitch](DEBUG): Construct.
2019-07-23T02:50:06.246Z,1563850206.246 [esp_kiss:TargetDepth:GrabSamples:SampleAtDepth:ApproachDepth:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-07-23T02:50:06.261Z,1563850206.261 [esp_kiss:TargetDepth:GrabSamples:SampleAtDepth:SampleWrapper:A.Pitch](DEBUG): Construct.
2019-07-23T02:50:06.268Z,1563850206.268 [esp_kiss:TargetDepth:GrabSamples:SampleAtDepth:SampleWrapper:C.Wait](DEBUG): Construct Wait.
2019-07-23T02:50:06.285Z,1563850206.285 [esp_kiss:TargetDepth:GrabSamples:SampleAtDepth:SampleWrapper:SampleCANONSampler:TriggerCANONSampler:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-07-23T02:50:06.287Z,1563850206.287 [MissionManager](ERROR): Slate does not contain CTD_NeilBrown.bin_mean_sea_water_temperature
2019-07-23T02:50:06.288Z,1563850206.288 [MissionManager](ERROR): Slate does not contain celsius
2019-07-23T02:50:06.328Z,1563850206.328 [esp_kiss:TargetDepth:GrabSamples:SampleAtDepth:SampleWrapper:SampleCANONSampler:E:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-07-23T02:50:06.366Z,1563850206.366 [MissionManager](ERROR): Slate does not contain CTD_NeilBrown.bin_mean_sea_water_temperature
2019-07-23T02:50:06.366Z,1563850206.366 [MissionManager](ERROR): Slate does not contain celsius
2019-07-23T02:50:06.505Z,1563850206.505 [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="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="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>0.2</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
            and hold the rudder.
        </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>


2019-07-23T02:50:06.508Z,1563850206.508 [CommandLine](IMPORTANT): Running ./Missions/Maintenance/depth_test.xml
2019-07-23T02:50:06.730Z,1563850206.730 [Default] Stopped
2019-07-23T02:50:06.730Z,1563850206.730 [Default](DEBUG): Aggregate::uninitialize Default
2019-07-23T02:50:06.730Z,1563850206.730 [Default:B.GoToSurface] Stopped
2019-07-23T02:50:06.730Z,1563850206.730 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-07-23T02:50:06.730Z,1563850206.730 [Default:CheckIn] Stopped
2019-07-23T02:50:06.730Z,1563850206.730 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-07-23T02:50:06.730Z,1563850206.730 [Default:CheckIn:Read_GPS] Stopped
2019-07-23T02:50:06.731Z,1563850206.731 [MissionManager](IMPORTANT): Started mission esp_kiss
2019-07-23T02:50:06.731Z,1563850206.731 [esp_kiss] Running Loop=1
2019-07-23T02:50:06.731Z,1563850206.731 [esp_kiss](DEBUG): Aggregate::initialize esp_kiss
2019-07-23T02:50:06.731Z,1563850206.731 [esp_kiss:A.AbortSample] Running Loop=1
2019-07-23T02:50:06.731Z,1563850206.731 [esp_kiss:A.AbortSample](INFO): Initializing AbortSample.
2019-07-23T02:50:06.731Z,1563850206.731 [esp_kiss:StandardEnvelopes] Running Loop=1
2019-07-23T02:50:06.731Z,1563850206.731 [esp_kiss:StandardEnvelopes](DEBUG): Aggregate::initialize esp_kiss:StandardEnvelopes
2019-07-23T02:50:06.732Z,1563850206.732 [esp_kiss:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-07-23T02:50:06.732Z,1563850206.732 [esp_kiss:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-07-23T02:50:06.732Z,1563850206.732 [esp_kiss:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-07-23T02:50:06.732Z,1563850206.732 [esp_kiss:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-07-23T02:50:06.732Z,1563850206.732 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-07-23T02:50:06.732Z,1563850206.732 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2019-07-23T02:50:06.732Z,1563850206.732 [esp_kiss:I.Mass] Running Loop=1
2019-07-23T02:50:06.732Z,1563850206.732 [esp_kiss:I.Mass](DEBUG): Initialize.
2019-07-23T02:50:06.733Z,1563850206.733 [esp_kiss:Science] Running Loop=1
2019-07-23T02:50:06.733Z,1563850206.733 [esp_kiss:Science](DEBUG): Aggregate::initialize esp_kiss:Science
2019-07-23T02:50:06.733Z,1563850206.733 [esp_kiss:Science:A] Running Loop=1
2019-07-23T02:50:06.733Z,1563850206.733 [esp_kiss:Science:B] Running Loop=1
2019-07-23T02:50:06.733Z,1563850206.733 [esp_kiss:Science:C] Running Loop=1
2019-07-23T02:50:06.733Z,1563850206.733 [esp_kiss:Science:D] Running Loop=1
2019-07-23T02:50:06.733Z,1563850206.733 [esp_kiss:Science:E] Running Loop=1
2019-07-23T02:50:06.733Z,1563850206.733 [esp_kiss:Science:F] Running Loop=1
2019-07-23T02:50:06.733Z,1563850206.733 [esp_kiss:Science:G] Running Loop=1
2019-07-23T02:50:06.733Z,1563850206.733 [esp_kiss:Science:H] Running Loop=1
2019-07-23T02:50:06.733Z,1563850206.733 [esp_kiss:Science:Read_Oil] Running Loop=1
2019-07-23T02:50:06.733Z,1563850206.733 [esp_kiss:Science:PeakDetectChl] Running Loop=1
2019-07-23T02:50:06.733Z,1563850206.733 [esp_kiss:Science:PeakDetectChl](DEBUG): Aggregate::initialize esp_kiss:Science:PeakDetectChl
2019-07-23T02:50:06.734Z,1563850206.734 [esp_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2019-07-23T02:50:06.734Z,1563850206.734 [esp_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-23T02:50:06.735Z,1563850206.735 [esp_kiss:Science:HighestChlPeakReport] Running Loop=1
2019-07-23T02:50:06.735Z,1563850206.735 [esp_kiss:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize esp_kiss:Science:HighestChlPeakReport
2019-07-23T02:50:06.736Z,1563850206.736 [esp_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2019-07-23T02:50:06.736Z,1563850206.736 [esp_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2019-07-23T02:50:06.736Z,1563850206.736 [esp_kiss:Science:PeakDetectNO3] Running Loop=1
2019-07-23T02:50:06.736Z,1563850206.736 [esp_kiss:Science:PeakDetectNO3](DEBUG): Aggregate::initialize esp_kiss:Science:PeakDetectNO3
2019-07-23T02:50:06.736Z,1563850206.736 [esp_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2019-07-23T02:50:06.736Z,1563850206.736 [esp_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-23T02:50:06.738Z,1563850206.738 [esp_kiss:Science:PeakDetectOil] Running Loop=1
2019-07-23T02:50:06.738Z,1563850206.738 [esp_kiss:Science:PeakDetectOil](DEBUG): Aggregate::initialize esp_kiss:Science:PeakDetectOil
2019-07-23T02:50:06.738Z,1563850206.738 [esp_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2019-07-23T02:50:06.738Z,1563850206.738 [esp_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-23T02:50:06.740Z,1563850206.740 [esp_kiss:Science:PeakDetectFDOM] Running Loop=1
2019-07-23T02:50:06.740Z,1563850206.740 [esp_kiss:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize esp_kiss:Science:PeakDetectFDOM
2019-07-23T02:50:06.740Z,1563850206.740 [esp_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2019-07-23T02:50:06.776Z,1563850206.776 [esp_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-23T02:50:06.778Z,1563850206.778 [esp_kiss:C] Running Loop=1
2019-07-23T02:50:06.778Z,1563850206.778 [esp_kiss:InitialDive] Running Loop=1
2019-07-23T02:50:06.778Z,1563850206.778 [esp_kiss:InitialDive](DEBUG): Aggregate::initialize esp_kiss:InitialDive
2019-07-23T02:50:06.779Z,1563850206.779 [esp_kiss:InitialDive:A] Running Loop=1
2019-07-23T02:50:06.779Z,1563850206.779 [esp_kiss:InitialDive:B.Buoyancy] Running Loop=1
2019-07-23T02:50:06.779Z,1563850206.779 [esp_kiss:InitialDive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-07-23T02:50:06.779Z,1563850206.779 [esp_kiss:InitialDive:C.SetSpeed] Running Loop=1
2019-07-23T02:50:06.779Z,1563850206.779 [esp_kiss:InitialDive:C.SetSpeed](DEBUG): Initialize.
2019-07-23T02:50:06.779Z,1563850206.779 [esp_kiss:InitialDive:D.Point] Running Loop=1
2019-07-23T02:50:06.779Z,1563850206.779 [esp_kiss:InitialDive:D.Point](DEBUG): Initialize.
2019-07-23T02:50:06.779Z,1563850206.779 [esp_kiss:InitialDive:E.Pitch] Running Loop=1
2019-07-23T02:50:06.779Z,1563850206.779 [esp_kiss:InitialDive:E.Pitch](DEBUG): Initialize.
2019-07-23T02:50:06.780Z,1563850206.780 [esp_kiss:InitialDive:D.Point] Running Loop=1
2019-07-23T02:50:06.780Z,1563850206.780 [esp_kiss:InitialDive:C.SetSpeed] Running Loop=1
2019-07-23T02:50:06.793Z,1563850206.793 [esp_kiss:InitialDive:B.Buoyancy] Running Loop=1
2019-07-23T02:50:06.793Z,1563850206.793 [esp_kiss:InitialDive:A] Running Loop=1
2019-07-23T02:50:06.793Z,1563850206.793 [esp_kiss:Science] Running Loop=1
2019-07-23T02:50:06.794Z,1563850206.794 [esp_kiss:Science:PeakDetectFDOM] Stopped
2019-07-23T02:50:06.794Z,1563850206.794 [esp_kiss:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize esp_kiss:Science:PeakDetectFDOM
2019-07-23T02:50:06.794Z,1563850206.794 [esp_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2019-07-23T02:50:06.794Z,1563850206.794 [esp_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-23T02:50:06.794Z,1563850206.794 [esp_kiss:Science:PeakDetectOil] Stopped
2019-07-23T02:50:06.795Z,1563850206.795 [esp_kiss:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize esp_kiss:Science:PeakDetectOil
2019-07-23T02:50:06.795Z,1563850206.795 [esp_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2019-07-23T02:50:06.795Z,1563850206.795 [esp_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-23T02:50:06.795Z,1563850206.795 [esp_kiss:Science:PeakDetectNO3] Stopped
2019-07-23T02:50:06.795Z,1563850206.795 [esp_kiss:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize esp_kiss:Science:PeakDetectNO3
2019-07-23T02:50:06.795Z,1563850206.795 [esp_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2019-07-23T02:50:06.795Z,1563850206.795 [esp_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-23T02:50:06.795Z,1563850206.795 [esp_kiss:Science:HighestChlPeakReport] Stopped
2019-07-23T02:50:06.795Z,1563850206.795 [esp_kiss:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize esp_kiss:Science:HighestChlPeakReport
2019-07-23T02:50:06.795Z,1563850206.795 [esp_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2019-07-23T02:50:06.795Z,1563850206.795 [esp_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2019-07-23T02:50:06.795Z,1563850206.795 [esp_kiss:Science:PeakDetectChl] Stopped
2019-07-23T02:50:06.795Z,1563850206.795 [esp_kiss:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize esp_kiss:Science:PeakDetectChl
2019-07-23T02:50:06.796Z,1563850206.796 [esp_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2019-07-23T02:50:06.796Z,1563850206.796 [esp_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-23T02:50:06.796Z,1563850206.796 [esp_kiss:Science:Read_Oil] Stopped
2019-07-23T02:50:06.796Z,1563850206.796 [esp_kiss:Science:H] Stopped
2019-07-23T02:50:06.796Z,1563850206.796 [esp_kiss:Science:G] Running Loop=1
2019-07-23T02:50:06.797Z,1563850206.797 [esp_kiss:Science:G](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2019-07-23T02:50:06.797Z,1563850206.797 [esp_kiss:Science:F] Stopped
2019-07-23T02:50:06.797Z,1563850206.797 [esp_kiss:Science:E] Stopped
2019-07-23T02:50:06.797Z,1563850206.797 [esp_kiss:Science:D] Stopped
2019-07-23T02:50:06.797Z,1563850206.797 [esp_kiss:Science:C] Stopped
2019-07-23T02:50:06.797Z,1563850206.797 [esp_kiss:Science:B] Stopped
2019-07-23T02:50:06.797Z,1563850206.797 [esp_kiss:Science:A] Stopped
2019-07-23T02:50:06.797Z,1563850206.797 [esp_kiss:I.Mass] Running Loop=1
2019-07-23T02:50:06.798Z,1563850206.798 [esp_kiss:SurfaceComms] Running Loop=1
2019-07-23T02:50:06.798Z,1563850206.798 [esp_kiss:SurfaceComms](DEBUG): Aggregate::initialize esp_kiss:SurfaceComms
2019-07-23T02:50:06.798Z,1563850206.798 [esp_kiss:SurfaceComms:A] Running Loop=1
2019-07-23T02:50:06.798Z,1563850206.798 [esp_kiss:SurfaceComms:A](DEBUG): Aggregate::initialize esp_kiss:SurfaceComms:A
2019-07-23T02:50:06.798Z,1563850206.798 [esp_kiss:NeedComms] Running Loop=1
2019-07-23T02:50:06.798Z,1563850206.798 [esp_kiss:NeedComms](DEBUG): Aggregate::initialize esp_kiss:NeedComms
2019-07-23T02:50:06.798Z,1563850206.798 [esp_kiss:NeedComms:B.GoToSurface] Running Loop=1
2019-07-23T02:50:06.798Z,1563850206.798 [esp_kiss:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-07-23T02:50:06.799Z,1563850206.799 [esp_kiss:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2019-07-23T02:50:06.799Z,1563850206.799 [esp_kiss:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2019-07-23T02:50:06.800Z,1563850206.800 [esp_kiss:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2019-07-23T02:50:06.800Z,1563850206.800 [esp_kiss:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-07-23T02:50:06.800Z,1563850206.800 [esp_kiss:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-07-23T02:50:06.800Z,1563850206.800 [esp_kiss:NeedComms:A] Running Loop=1
2019-07-23T02:50:06.821Z,1563850206.821 [esp_kiss:NeedComms:A](ERROR): data element is not active.
2019-07-23T02:50:06.821Z,1563850206.821 [esp_kiss:NeedComms:A](INFO): last time_fix was: nan second since 1970/01/01T00:00:00Z 
2019-07-23T02:50:06.821Z,1563850206.821 [esp_kiss:NeedComms:A] Stopped
2019-07-23T02:50:06.822Z,1563850206.822 [esp_kiss:C] Stopped
2019-07-23T02:50:06.822Z,1563850206.822 [esp_kiss:D] Running Loop=1
2019-07-23T02:50:06.822Z,1563850206.822 [esp_kiss:StandardEnvelopes] Running Loop=1
2019-07-23T02:50:06.822Z,1563850206.822 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-07-23T02:50:06.822Z,1563850206.822 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:50:06.822Z,1563850206.822 [esp_kiss:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-07-23T02:50:06.822Z,1563850206.822 [esp_kiss:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-07-23T02:50:06.823Z,1563850206.823 [esp_kiss:A.AbortSample] Running Loop=1
2019-07-23T02:50:07.140Z,1563850207.140 [esp_kiss:NeedComms:C] Running Loop=1
2019-07-23T02:50:07.140Z,1563850207.140 [esp_kiss:D] Stopped
2019-07-23T02:50:07.140Z,1563850207.140 [esp_kiss:F] Running Loop=1
2019-07-23T02:50:07.141Z,1563850207.141 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:50:07.548Z,1563850207.548 [esp_kiss:F] Stopped
2019-07-23T02:50:07.548Z,1563850207.548 [esp_kiss:G] Running Loop=1
2019-07-23T02:50:07.550Z,1563850207.550 [esp_kiss:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-07-23T02:50:07.551Z,1563850207.551 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:50:07.929Z,1563850207.929 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:50:07.953Z,1563850207.953 [esp_kiss:G] Stopped
2019-07-23T02:50:07.953Z,1563850207.953 [esp_kiss:StartingMission] Running Loop=1
2019-07-23T02:50:07.953Z,1563850207.953 [esp_kiss:StartingMission](DEBUG): Aggregate::initialize esp_kiss:StartingMission
2019-07-23T02:50:07.954Z,1563850207.954 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:50:08.359Z,1563850208.359 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:50:08.360Z,1563850208.360 [esp_kiss:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2019-07-23T02:50:08.777Z,1563850208.777 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:50:09.161Z,1563850209.161 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:50:09.554Z,1563850209.554 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:50:09.968Z,1563850209.968 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:50:10.396Z,1563850210.396 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:50:10.757Z,1563850210.757 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:50:10.800Z,1563850210.800 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:50:11.200Z,1563850211.200 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:50:11.608Z,1563850211.608 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:50:12.004Z,1563850212.004 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:50:12.400Z,1563850212.400 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:50:12.813Z,1563850212.813 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:50:13.194Z,1563850213.194 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:50:13.595Z,1563850213.595 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:50:13.989Z,1563850213.989 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:50:14.017Z,1563850214.017 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:50:14.416Z,1563850214.416 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:50:14.825Z,1563850214.825 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:50:15.225Z,1563850215.225 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:50:15.622Z,1563850215.622 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:50:16.031Z,1563850216.031 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:50:16.445Z,1563850216.445 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:50:16.821Z,1563850216.821 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:50:16.844Z,1563850216.844 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:50:17.249Z,1563850217.249 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:50:17.653Z,1563850217.653 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:50:18.037Z,1563850218.037 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:50:18.446Z,1563850218.446 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:50:18.857Z,1563850218.857 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:50:19.259Z,1563850219.259 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:50:19.645Z,1563850219.645 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:50:19.680Z,1563850219.680 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:50:20.092Z,1563850220.092 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:50:20.476Z,1563850220.476 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:50:20.877Z,1563850220.877 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:50:21.277Z,1563850221.277 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:50:21.665Z,1563850221.665 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:50:21.693Z,1563850221.693 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:50:22.097Z,1563850222.097 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:50:22.433Z,1563850222.433 [CommandLine](IMPORTANT): got command stop
2019-07-23T02:50:22.434Z,1563850222.434 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-07-23T02:50:22.504Z,1563850222.504 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-07-23T02:50:22.505Z,1563850222.505 [MissionManager](INFO): MissionManager is completed.
2019-07-23T02:50:22.505Z,1563850222.505 [MissionManager](INFO): Uninitializing Mission esp_kiss
2019-07-23T02:50:22.505Z,1563850222.505 [esp_kiss] Stopped
2019-07-23T02:50:22.505Z,1563850222.505 [esp_kiss](DEBUG): Aggregate::uninitialize esp_kiss
2019-07-23T02:50:22.505Z,1563850222.505 [esp_kiss:A.AbortSample] Stopped
2019-07-23T02:50:22.505Z,1563850222.505 [esp_kiss:A.AbortSample](INFO): Uninitializing AbortSample.
2019-07-23T02:50:22.505Z,1563850222.505 [esp_kiss:StandardEnvelopes] Stopped
2019-07-23T02:50:22.506Z,1563850222.506 [esp_kiss:StandardEnvelopes](DEBUG): Aggregate::uninitialize esp_kiss:StandardEnvelopes
2019-07-23T02:50:22.506Z,1563850222.506 [esp_kiss:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2019-07-23T02:50:22.506Z,1563850222.506 [esp_kiss:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2019-07-23T02:50:22.506Z,1563850222.506 [esp_kiss:StandardEnvelopes:B.DepthEnvelope] Stopped
2019-07-23T02:50:22.506Z,1563850222.506 [esp_kiss:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2019-07-23T02:50:22.506Z,1563850222.506 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2019-07-23T02:50:22.506Z,1563850222.506 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2019-07-23T02:50:22.506Z,1563850222.506 [esp_kiss:NeedComms] Stopped
2019-07-23T02:50:22.506Z,1563850222.506 [esp_kiss:NeedComms](DEBUG): Aggregate::uninitialize esp_kiss:NeedComms
2019-07-23T02:50:22.506Z,1563850222.506 [esp_kiss:NeedComms:B.GoToSurface] Stopped
2019-07-23T02:50:22.506Z,1563850222.506 [esp_kiss:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-07-23T02:50:22.506Z,1563850222.506 [esp_kiss:NeedComms:C] Stopped
2019-07-23T02:50:22.506Z,1563850222.506 [esp_kiss:SurfaceComms] Stopped
2019-07-23T02:50:22.506Z,1563850222.506 [esp_kiss:SurfaceComms](DEBUG): Aggregate::uninitialize esp_kiss:SurfaceComms
2019-07-23T02:50:22.507Z,1563850222.507 [esp_kiss:SurfaceComms:A] Stopped
2019-07-23T02:50:22.507Z,1563850222.507 [esp_kiss:SurfaceComms:A](DEBUG): Aggregate::uninitialize esp_kiss:SurfaceComms:A
2019-07-23T02:50:22.507Z,1563850222.507 [esp_kiss:I.Mass] Stopped
2019-07-23T02:50:22.507Z,1563850222.507 [esp_kiss:I.Mass](DEBUG): Uninitialize.
2019-07-23T02:50:22.507Z,1563850222.507 [esp_kiss:StartingMission] Stopped
2019-07-23T02:50:22.507Z,1563850222.507 [esp_kiss:StartingMission](DEBUG): Aggregate::uninitialize esp_kiss:StartingMission
2019-07-23T02:50:22.507Z,1563850222.507 [esp_kiss:Science] Stopped
2019-07-23T02:50:22.507Z,1563850222.507 [esp_kiss:Science](DEBUG): Aggregate::uninitialize esp_kiss:Science
2019-07-23T02:50:22.507Z,1563850222.507 [esp_kiss:Science:G] Stopped
2019-07-23T02:50:22.507Z,1563850222.507 [esp_kiss:InitialDive] Stopped
2019-07-23T02:50:22.507Z,1563850222.507 [esp_kiss:InitialDive](DEBUG): Aggregate::uninitialize esp_kiss:InitialDive
2019-07-23T02:50:22.508Z,1563850222.508 [esp_kiss:InitialDive:A] Stopped
2019-07-23T02:50:22.508Z,1563850222.508 [esp_kiss:InitialDive:B.Buoyancy] Stopped
2019-07-23T02:50:22.508Z,1563850222.508 [esp_kiss:InitialDive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2019-07-23T02:50:22.508Z,1563850222.508 [esp_kiss:InitialDive:C.SetSpeed] Stopped
2019-07-23T02:50:22.508Z,1563850222.508 [esp_kiss:InitialDive:C.SetSpeed](DEBUG): Uninitialize.
2019-07-23T02:50:22.508Z,1563850222.508 [esp_kiss:InitialDive:D.Point] Stopped
2019-07-23T02:50:22.508Z,1563850222.508 [esp_kiss:InitialDive:E.Pitch] Stopped
2019-07-23T02:50:22.891Z,1563850222.891 [MissionManager](IMPORTANT): Started mission Default
2019-07-23T02:50:22.891Z,1563850222.891 [Default] Running Loop=1
2019-07-23T02:50:22.891Z,1563850222.891 [Default](DEBUG): Aggregate::initialize Default
2019-07-23T02:50:22.891Z,1563850222.891 [Default:B.GoToSurface] Running Loop=1
2019-07-23T02:50:22.891Z,1563850222.891 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-07-23T02:50:22.891Z,1563850222.891 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-07-23T02:50:22.892Z,1563850222.892 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-07-23T02:50:22.892Z,1563850222.892 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-07-23T02:50:22.892Z,1563850222.892 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-07-23T02:50:22.893Z,1563850222.893 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-07-23T02:50:22.893Z,1563850222.893 [Default:A.Wait] Running Loop=1
2019-07-23T02:50:22.893Z,1563850222.893 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-07-23T02:50:24.897Z,1563850224.897 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:50:27.729Z,1563850227.729 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:50:30.957Z,1563850230.957 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:50:33.789Z,1563850233.789 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:50:36.222Z,1563850236.222 [Default:A.Wait](INFO): Done Waiting.
2019-07-23T02:50:36.222Z,1563850236.222 [Default:A.Wait] Stopped
2019-07-23T02:50:36.222Z,1563850236.222 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-07-23T02:50:36.619Z,1563850236.619 [Default:CheckIn] Running Loop=1
2019-07-23T02:50:36.619Z,1563850236.619 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-07-23T02:50:36.619Z,1563850236.619 [Default:CheckIn:Read_GPS] Running Loop=1
2019-07-23T02:50:37.017Z,1563850237.017 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:50:39.865Z,1563850239.865 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:50:42.673Z,1563850242.673 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:50:42.711Z,1563850242.711 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-23T02:50:42.711Z,1563850242.711 [WetLabsBB2FL] No Fault, FailCount= 5
2019-07-23T02:50:42.814Z,1563850242.814 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-23T02:50:42.814Z,1563850242.814 [WetLabsBB2FL](INFO): Powering up
2019-07-23T02:50:44.697Z,1563850244.697 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:50:46.713Z,1563850246.713 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:50:48.109Z,1563850248.109 [WetLabsBB2FL] Communications Fault, FailCount= 1
2019-07-23T02:50:48.109Z,1563850248.109 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-23T02:50:48.343Z,1563850248.343 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-23T02:50:48.609Z,1563850248.609 [WetLabsBB2FL](INFO): Powering down
2019-07-23T02:50:49.555Z,1563850249.555 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-23T02:50:49.555Z,1563850249.555 [WetLabsBB2FL] No Fault, FailCount= 1
2019-07-23T02:50:49.822Z,1563850249.822 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-23T02:50:49.822Z,1563850249.822 [WetLabsBB2FL](INFO): Powering up
2019-07-23T02:50:49.945Z,1563850249.945 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:50:52.773Z,1563850252.773 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:50:55.113Z,1563850255.113 [WetLabsBB2FL] Communications Fault, FailCount= 2
2019-07-23T02:50:55.113Z,1563850255.113 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-23T02:50:55.222Z,1563850255.222 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-23T02:50:55.613Z,1563850255.613 [WetLabsBB2FL](INFO): Powering down
2019-07-23T02:50:56.005Z,1563850256.005 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:50:56.446Z,1563850256.446 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-23T02:50:56.446Z,1563850256.446 [WetLabsBB2FL] No Fault, FailCount= 2
2019-07-23T02:50:56.826Z,1563850256.826 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-23T02:50:56.826Z,1563850256.826 [WetLabsBB2FL](INFO): Powering up
2019-07-23T02:50:58.833Z,1563850258.833 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:51:02.065Z,1563850262.065 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:51:02.125Z,1563850262.125 [WetLabsBB2FL] Communications Fault, FailCount= 3
2019-07-23T02:51:02.125Z,1563850262.125 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-23T02:51:02.506Z,1563850262.506 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-23T02:51:02.625Z,1563850262.625 [WetLabsBB2FL](INFO): Powering down
2019-07-23T02:51:03.710Z,1563850263.710 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-23T02:51:03.710Z,1563850263.710 [WetLabsBB2FL] No Fault, FailCount= 3
2019-07-23T02:51:03.838Z,1563850263.838 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-23T02:51:03.838Z,1563850263.838 [WetLabsBB2FL](INFO): Powering up
2019-07-23T02:51:04.897Z,1563850264.897 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:51:07.725Z,1563850267.725 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:51:09.133Z,1563850269.133 [WetLabsBB2FL] Communications Fault, FailCount= 4
2019-07-23T02:51:09.133Z,1563850269.133 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-23T02:51:09.352Z,1563850269.352 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-23T02:51:09.633Z,1563850269.633 [WetLabsBB2FL](INFO): Powering down
2019-07-23T02:51:09.741Z,1563850269.741 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:51:10.594Z,1563850270.594 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2019-07-23T02:51:10.594Z,1563850270.594 [WetLabsBB2FL] No Fault, FailCount= 4
2019-07-23T02:51:10.846Z,1563850270.846 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-07-23T02:51:10.846Z,1563850270.846 [WetLabsBB2FL](INFO): Powering up
2019-07-23T02:51:12.969Z,1563850272.969 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:51:13.413Z,1563850273.413 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-23T02:51:13.413Z,1563850273.413 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 5
2019-07-23T02:51:13.413Z,1563850273.413 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-23T02:51:13.423Z,1563850273.423 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-23T02:51:13.812Z,1563850273.812 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-23T02:51:13.812Z,1563850273.812 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 5
2019-07-23T02:51:15.801Z,1563850275.801 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:51:16.137Z,1563850276.137 [WetLabsBB2FL] Communications Fault, FailCount= 5
2019-07-23T02:51:16.137Z,1563850276.137 [WetLabsBB2FL](ERROR): Communications Fault
2019-07-23T02:51:16.237Z,1563850276.237 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2019-07-23T02:51:16.237Z,1563850276.237 [CBIT](FAULT): Communications Fault in component: WetLabsBB2FL
2019-07-23T02:51:16.637Z,1563850276.637 [WetLabsBB2FL](INFO): Powering down
2019-07-23T02:51:19.037Z,1563850279.037 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:51:21.861Z,1563850281.861 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:51:25.097Z,1563850285.097 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:51:27.921Z,1563850287.921 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:51:30.753Z,1563850290.753 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:51:32.773Z,1563850292.773 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:51:34.792Z,1563850294.792 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:51:36.655Z,1563850296.655 [CommandLine](IMPORTANT): got command configSet WetLabsBB2FL.loadAtStartup 0.000000 bool persist
2019-07-23T02:51:36.655Z,1563850296.655 [CommandLine](IMPORTANT): configSet WetLabsBB2FL.loadAtStartup requires a restart to take effect.
2019-07-23T02:51:38.021Z,1563850298.021 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:51:39.659Z,1563850299.659 [CommandLine](IMPORTANT): got command restart application
2019-07-23T02:51:40.665Z,1563850300.665 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2019-07-23T02:51:40.665Z,1563850300.665 [CommandLine ThreadHandler](INFO): Thread cancelled.
2019-07-23T02:51:40.697Z,1563850300.697 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2019-07-23T02:51:40.697Z,1563850300.697 [CommandLine ThreadHandler](INFO): Thread cancelled.
2019-07-23T02:51:40.698Z,1563850300.698 [CommandLine](INFO): Join timeout helper Thread ID is 1994
2019-07-23T02:51:40.709Z,1563850300.709 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2019-07-23T02:51:40.709Z,1563850300.709 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2019-07-23T02:51:40.709Z,1563850300.709 [NavChartDb](INFO): Join timeout helper Thread ID is 1995
2019-07-23T02:51:40.849Z,1563850300.849 [NAL9602](DEBUG): Fix Requested
2019-07-23T02:51:41.093Z,1563850301.093 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2019-07-23T02:51:41.093Z,1563850301.093 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2019-07-23T02:51:41.101Z,1563850301.101 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2019-07-23T02:51:41.101Z,1563850301.101 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2019-07-23T02:51:41.101Z,1563850301.101 [WetLabsBB2FL](INFO): Join timeout helper Thread ID is 1996
2019-07-23T02:51:41.297Z,1563850301.297 [WetLabsBB2FL ThreadHandler](INFO): Uninitializing protected caller thread.
2019-07-23T02:51:41.297Z,1563850301.297 [WetLabsBB2FL](INFO): Powering down
2019-07-23T02:51:41.298Z,1563850301.298 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2019-07-23T02:51:41.309Z,1563850301.309 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2019-07-23T02:51:41.309Z,1563850301.309 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2019-07-23T02:51:41.309Z,1563850301.309 [Radio_Surface](INFO): Join timeout helper Thread ID is 1997
2019-07-23T02:51:41.353Z,1563850301.353 [Radio_Surface](INFO): Powering down
2019-07-23T02:51:41.354Z,1563850301.354 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2019-07-23T02:51:41.354Z,1563850301.354 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2019-07-23T02:51:41.361Z,1563850301.361 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2019-07-23T02:51:41.361Z,1563850301.361 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2019-07-23T02:51:41.361Z,1563850301.361 [DataOverHttps](INFO): Join timeout helper Thread ID is 1998
2019-07-23T02:51:43.504Z,1563850303.504 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2019-07-23T02:51:43.508Z,1563850303.508 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2019-07-23T02:51:43.518Z,1563850303.518 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2019-07-23T02:51:43.518Z,1563850303.518 [logger ThreadHandler](INFO): Thread cancelled.
2019-07-23T02:51:43.518Z,1563850303.518 [logger](INFO): Join timeout helper Thread ID is 1999
2019-07-23T02:51:43.525Z,1563850303.525 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2019-07-23T02:51:43.525Z,1563850303.525 [logger ThreadHandler](INFO): Thread cancelled.
2019-07-23T02:51:43.537Z,1563850303.537 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2019-07-23T02:51:43.538Z,1563850303.538 [CommandLine ThreadHandler](INFO): Thread cancelled.
2019-07-23T02:51:43.538Z,1563850303.538 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2019-07-23T02:51:43.538Z,1563850303.538 [controlThread ThreadHandler](INFO): Thread cancelled.
2019-07-23T02:51:43.538Z,1563850303.538 [controlThread](INFO): Join timeout helper Thread ID is 2000
2019-07-23T02:51:43.657Z,1563850303.657 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2019-07-23T02:51:43.657Z,1563850303.657 [controlThread](DEBUG): Uninitializing ControlThread
2019-07-23T02:51:43.658Z,1563850303.658 [NAL9602](INFO): Powering down
2019-07-23T02:51:43.681Z,1563850303.681 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2019-07-23T02:51:43.682Z,1563850303.682 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2019-07-23T02:51:43.682Z,1563850303.682 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2019-07-23T02:51:43.683Z,1563850303.683 [MissionManager](INFO): Uninitializing Mission Default
2019-07-23T02:51:43.683Z,1563850303.683 [Default] Stopped
2019-07-23T02:51:43.683Z,1563850303.683 [Default](DEBUG): Aggregate::uninitialize Default
2019-07-23T02:51:43.683Z,1563850303.683 [Default:B.GoToSurface] Stopped
2019-07-23T02:51:43.683Z,1563850303.683 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-07-23T02:51:43.683Z,1563850303.683 [Default:CheckIn] Stopped
2019-07-23T02:51:43.683Z,1563850303.683 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-07-23T02:51:43.683Z,1563850303.683 [Default:CheckIn:Read_GPS] Stopped
2019-07-23T02:51:43.686Z,1563850303.686 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2019-07-23T02:51:43.686Z,1563850303.686 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2019-07-23T02:51:43.686Z,1563850303.686 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2019-07-23T02:51:43.687Z,1563850303.687 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2019-07-23T02:51:43.687Z,1563850303.687 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2019-07-23T02:51:43.687Z,1563850303.687 [BuoyancyServo](INFO): Powering down
2019-07-23T02:51:43.701Z,1563850303.701 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2019-07-23T02:51:43.701Z,1563850303.701 [ElevatorServo](INFO): Powering down
2019-07-23T02:51:43.702Z,1563850303.702 [MassServo](DEBUG): Uninitialize Mass Servo.
2019-07-23T02:51:43.702Z,1563850303.702 [MassServo](INFO): Powering down
2019-07-23T02:51:43.703Z,1563850303.703 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2019-07-23T02:51:43.703Z,1563850303.703 [RudderServo](INFO): Powering down
2019-07-23T02:51:43.703Z,1563850303.703 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2019-07-23T02:51:43.704Z,1563850303.704 [ThrusterServo](INFO): Powering down
2019-07-23T02:51:43.704Z,1563850303.704 [SBIT](DEBUG): Uninitialize SBIT Component.
2019-07-23T02:51:43.705Z,1563850303.705 [IBIT](DEBUG): Uninitialize IBIT Component.
2019-07-23T02:51:43.705Z,1563850303.705 [CBIT](DEBUG): Uninitialize CBIT Component.
2019-07-23T02:51:43.705Z,1563850303.705 [CBIT](DEBUG): Powering off loads.
2019-07-23T02:51:43.717Z,1563850303.717 [CBIT](DEBUG): Disabling WDT.
2019-07-23T02:51:43.729Z,1563850303.729 [CBIT](DEBUG): Opening all GF detection circuits.
2019-07-23T02:51:43.729Z,1563850303.729 [controlThread ThreadHandler](INFO): Thread cancelled.
2019-07-23T02:51:43.805Z,1563850303.805 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2019-07-23T02:51:43.811Z,1563850303.811 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2019-07-23T02:51:43.837Z,1563850303.837 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2019-07-23T02:51:43.872Z,1563850303.872 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2019-07-23T02:51:43.927Z,1563850303.927 [logger ThreadHandler](INFO): Thread cancelled.