2017-10-06T22:37:47.732Z,1507329467.732 [Supervisor](DEBUG): Initializing supervisor.
2017-10-06T22:37:47.735Z,1507329467.735 [SyncHandler](DEBUG): Created PCaller Thread at 4051A4E0
2017-10-06T22:37:47.736Z,1507329467.736 [SyncHandler](INFO): Protected caller Thread ID is 788
2017-10-06T22:37:47.736Z,1507329467.736 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2017-10-06T22:37:47.737Z,1507329467.737 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4054A4E0
2017-10-06T22:37:47.738Z,1507329467.738 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 789
2017-10-06T22:37:47.741Z,1507329467.741 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2017-10-06T22:37:47.755Z,1507329467.755 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2017-10-06T22:37:47.756Z,1507329467.756 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4057A4E0
2017-10-06T22:37:47.756Z,1507329467.756 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 790
2017-10-06T22:37:47.757Z,1507329467.757 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2017-10-06T22:37:47.758Z,1507329467.758 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405AA4E0
2017-10-06T22:37:47.758Z,1507329467.758 [logger ThreadHandler](INFO): Protected caller Thread ID is 791
2017-10-06T22:37:47.761Z,1507329467.761 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2017-10-06T22:37:47.761Z,1507329467.761 [Supervisor](INFO): Looking for Config files in directory: Config/
2017-10-06T22:37:47.763Z,1507329467.763 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2017-10-06T22:37:47.888Z,1507329467.888 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2017-10-06T22:37:47.888Z,1507329467.888 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2017-10-06T22:37:48.009Z,1507329468.009 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2017-10-06T22:37:48.010Z,1507329468.010 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2017-10-06T22:37:48.229Z,1507329468.229 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2017-10-06T22:37:48.230Z,1507329468.230 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2017-10-06T22:37:48.558Z,1507329468.558 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2017-10-06T22:37:48.558Z,1507329468.558 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2017-10-06T22:37:48.965Z,1507329468.965 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2017-10-06T22:37:48.965Z,1507329468.965 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2017-10-06T22:37:49.551Z,1507329469.551 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2017-10-06T22:37:49.552Z,1507329469.552 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2017-10-06T22:37:49.985Z,1507329469.985 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2017-10-06T22:37:49.986Z,1507329469.986 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2017-10-06T22:37:50.545Z,1507329470.545 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2017-10-06T22:37:50.545Z,1507329470.545 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2017-10-06T22:37:50.646Z,1507329470.646 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2017-10-06T22:37:51.024Z,1507329471.024 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2017-10-06T22:37:51.025Z,1507329471.025 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2017-10-06T22:37:51.190Z,1507329471.190 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2017-10-06T22:37:51.190Z,1507329471.190 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2017-10-06T22:37:51.485Z,1507329471.485 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2017-10-06T22:37:51.486Z,1507329471.486 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2017-10-06T22:37:51.772Z,1507329471.772 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2017-10-06T22:37:51.773Z,1507329471.773 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2017-10-06T22:37:51.893Z,1507329471.893 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2017-10-06T22:37:51.893Z,1507329471.893 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2017-10-06T22:37:52.106Z,1507329472.106 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2017-10-06T22:37:52.109Z,1507329472.109 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/
2017-10-06T22:37:52.110Z,1507329472.110 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Battery.cfg
2017-10-06T22:37:52.423Z,1507329472.423 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2017-10-06T22:37:52.424Z,1507329472.424 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/logger.cfg
2017-10-06T22:37:52.517Z,1507329472.517 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Science.cfg
2017-10-06T22:37:52.689Z,1507329472.689 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Control.cfg
2017-10-06T22:37:52.841Z,1507329472.841 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Simulator.cfg
2017-10-06T22:37:52.952Z,1507329472.952 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Sensor.cfg
2017-10-06T22:37:53.198Z,1507329473.198 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/vehicle.cfg
2017-10-06T22:37:53.408Z,1507329473.408 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Servo.cfg
2017-10-06T22:37:53.530Z,1507329473.530 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Navigation.cfg
2017-10-06T22:37:53.649Z,1507329473.649 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/BIT.cfg
2017-10-06T22:37:53.771Z,1507329473.771 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/secure.cfg
2017-10-06T22:37:54.056Z,1507329474.056 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/root/
2017-10-06T22:37:54.056Z,1507329474.056 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2017-10-06T22:37:54.058Z,1507329474.058 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2017-10-06T22:37:54.156Z,1507329474.156 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2017-10-06T22:37:54.156Z,1507329474.156 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2017-10-06T22:37:54.169Z,1507329474.169 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2017-10-06T22:37:54.169Z,1507329474.169 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2017-10-06T22:37:54.195Z,1507329474.195 [DepthRateCalculator] Loaded
2017-10-06T22:37:54.196Z,1507329474.196 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2017-10-06T22:37:54.202Z,1507329474.202 [PitchRateCalculator] Loaded
2017-10-06T22:37:54.203Z,1507329474.203 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2017-10-06T22:37:54.221Z,1507329474.221 [SpeedCalculator] Loaded
2017-10-06T22:37:54.222Z,1507329474.222 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2017-10-06T22:37:54.247Z,1507329474.247 [TempGradientCalculator] Loaded
2017-10-06T22:37:54.247Z,1507329474.247 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2017-10-06T22:37:54.265Z,1507329474.265 [VerticalTemperatureHomogeneityIndexCalculator] Loaded
2017-10-06T22:37:54.265Z,1507329474.265 [ComponentRegistry](DEBUG): SyncComponent "VerticalTemperatureHomogeneityIndexCalculator" handled in the control thread.
2017-10-06T22:37:54.272Z,1507329474.272 [YawRateCalculator] Loaded
2017-10-06T22:37:54.272Z,1507329474.272 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2017-10-06T22:37:54.273Z,1507329474.273 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2017-10-06T22:37:54.273Z,1507329474.273 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2017-10-06T22:37:54.297Z,1507329474.297 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2017-10-06T22:37:54.298Z,1507329474.298 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2017-10-06T22:37:54.557Z,1507329474.557 [AcousticModem_Benthos_ATM900] Loaded
2017-10-06T22:37:54.558Z,1507329474.558 [ComponentRegistry](DEBUG): SyncComponent "AcousticModem_Benthos_ATM900" handled in the control thread.
2017-10-06T22:37:54.632Z,1507329474.632 [DataOverHttps] Loaded
2017-10-06T22:37:54.632Z,1507329474.632 [ComponentRegistry](DEBUG): SyncComponent "DataOverHttps" handled in the control thread.
2017-10-06T22:37:54.649Z,1507329474.649 [Depth_Keller] Loaded
2017-10-06T22:37:54.649Z,1507329474.649 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2017-10-06T22:37:54.655Z,1507329474.655 [DropWeight] Loaded
2017-10-06T22:37:54.656Z,1507329474.656 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2017-10-06T22:37:54.774Z,1507329474.774 [NAL9602] Loaded
2017-10-06T22:37:54.775Z,1507329474.775 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2017-10-06T22:37:54.793Z,1507329474.793 [Onboard] Loaded
2017-10-06T22:37:54.794Z,1507329474.794 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2017-10-06T22:37:54.806Z,1507329474.806 [Radio_Surface] Loaded
2017-10-06T22:37:54.806Z,1507329474.806 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2017-10-06T22:37:54.807Z,1507329474.807 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 408D54E0
2017-10-06T22:37:54.808Z,1507329474.808 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 872
2017-10-06T22:37:54.864Z,1507329474.864 [PNI_TCM] Loaded
2017-10-06T22:37:54.864Z,1507329474.864 [ComponentRegistry](DEBUG): SyncComponent "PNI_TCM" handled in the control thread.
2017-10-06T22:37:54.936Z,1507329474.936 [Rowe_600LCM] Loaded
2017-10-06T22:37:54.936Z,1507329474.936 [ComponentRegistry](DEBUG): Component "Rowe_600LCM" handled in its own thread.
2017-10-06T22:37:54.937Z,1507329474.937 [Rowe_600LCM ThreadHandler](DEBUG): Created PCaller Thread at 409054E0
2017-10-06T22:37:54.938Z,1507329474.938 [Rowe_600LCM ThreadHandler](INFO): Protected caller Thread ID is 873
2017-10-06T22:37:57.195Z,1507329477.195 [BPC1] Loaded
2017-10-06T22:37:57.195Z,1507329477.195 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2017-10-06T22:37:57.196Z,1507329477.196 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2017-10-06T22:37:57.196Z,1507329477.196 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2017-10-06T22:37:57.321Z,1507329477.321 [SBIT](DEBUG): Construct Startup Built In Test.
2017-10-06T22:37:57.354Z,1507329477.354 [SBIT] Loaded
2017-10-06T22:37:57.354Z,1507329477.354 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2017-10-06T22:37:57.355Z,1507329477.355 [IBIT](DEBUG): Construct Initiated Built In Test.
2017-10-06T22:37:57.370Z,1507329477.370 [IBIT] Loaded
2017-10-06T22:37:57.371Z,1507329477.371 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2017-10-06T22:37:57.375Z,1507329477.375 [CBIT](DEBUG): Construct Continuous Built In Test.
2017-10-06T22:37:57.567Z,1507329477.567 [CBIT] Loaded
2017-10-06T22:37:57.567Z,1507329477.567 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2017-10-06T22:37:57.567Z,1507329477.567 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2017-10-06T22:37:57.568Z,1507329477.568 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2017-10-06T22:37:57.704Z,1507329477.704 [Aanderaa_O2] Loaded
2017-10-06T22:37:57.705Z,1507329477.705 [ComponentRegistry](DEBUG): SyncComponent "Aanderaa_O2" handled in the control thread.
2017-10-06T22:37:57.807Z,1507329477.807 [CTD_NeilBrown] Loaded
2017-10-06T22:37:57.807Z,1507329477.807 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2017-10-06T22:37:57.808Z,1507329477.808 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 409F84E0
2017-10-06T22:37:57.809Z,1507329477.809 [CTD_NeilBrown ThreadHandler](INFO): Protected caller Thread ID is 874
2017-10-06T22:37:57.829Z,1507329477.829 [ESPComponent] Loaded
2017-10-06T22:37:57.830Z,1507329477.830 [ComponentRegistry](DEBUG): SyncComponent "ESPComponent" handled in the control thread.
2017-10-06T22:37:57.847Z,1507329477.847 [PAR_Licor] Loaded
2017-10-06T22:37:57.847Z,1507329477.847 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2017-10-06T22:37:57.905Z,1507329477.905 [WetLabsBB2FL] Loaded
2017-10-06T22:37:57.905Z,1507329477.905 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2017-10-06T22:37:57.906Z,1507329477.906 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 40A284E0
2017-10-06T22:37:57.907Z,1507329477.907 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 875
2017-10-06T22:37:57.907Z,1507329477.907 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2017-10-06T22:37:57.908Z,1507329477.908 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2017-10-06T22:37:58.136Z,1507329478.136 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2017-10-06T22:37:58.136Z,1507329478.136 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2017-10-06T22:37:58.200Z,1507329478.200 [VerticalControl](DEBUG): Construct VerticalControl.
2017-10-06T22:37:58.319Z,1507329478.319 [VerticalControl] Loaded
2017-10-06T22:37:58.320Z,1507329478.320 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2017-10-06T22:37:58.320Z,1507329478.320 [HorizontalControl](DEBUG): Construct HorizontalControl.
2017-10-06T22:37:58.397Z,1507329478.397 [HorizontalControl] Loaded
2017-10-06T22:37:58.397Z,1507329478.397 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2017-10-06T22:37:58.398Z,1507329478.398 [SpeedControl](DEBUG): Construct SpeedControl.
2017-10-06T22:37:58.404Z,1507329478.404 [SpeedControl] Loaded
2017-10-06T22:37:58.405Z,1507329478.405 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2017-10-06T22:37:58.406Z,1507329478.406 [LoopControl](DEBUG): Construct LoopControl.
2017-10-06T22:37:58.406Z,1507329478.406 [LoopControl] Loaded
2017-10-06T22:37:58.407Z,1507329478.407 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2017-10-06T22:37:58.407Z,1507329478.407 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2017-10-06T22:37:58.408Z,1507329478.408 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2017-10-06T22:37:58.489Z,1507329478.489 [StratificationFrontDetector](INFO): threshold set to: 0.399988 degC
2017-10-06T22:37:58.490Z,1507329478.490 [StratificationFrontDetector](DEBUG): (re)initializing
2017-10-06T22:37:58.490Z,1507329478.490 [StratificationFrontDetector] Loaded
2017-10-06T22:37:58.490Z,1507329478.490 [ComponentRegistry](DEBUG): SyncComponent "StratificationFrontDetector" handled in the control thread.
2017-10-06T22:37:58.491Z,1507329478.491 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2017-10-06T22:37:58.492Z,1507329478.492 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2017-10-06T22:37:58.590Z,1507329478.590 [BuoyancyServo] Loaded
2017-10-06T22:37:58.590Z,1507329478.590 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2017-10-06T22:37:58.604Z,1507329478.604 [ElevatorServo] Loaded
2017-10-06T22:37:58.605Z,1507329478.605 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2017-10-06T22:37:58.619Z,1507329478.619 [MassServo] Loaded
2017-10-06T22:37:58.619Z,1507329478.619 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2017-10-06T22:37:58.633Z,1507329478.633 [RudderServo] Loaded
2017-10-06T22:37:58.633Z,1507329478.633 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2017-10-06T22:37:58.647Z,1507329478.647 [ThrusterServo] Loaded
2017-10-06T22:37:58.648Z,1507329478.648 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2017-10-06T22:37:58.648Z,1507329478.648 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2017-10-06T22:37:58.649Z,1507329478.649 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2017-10-06T22:37:58.760Z,1507329478.760 [DeadReckonUsingMultipleVelocitySources] Loaded
2017-10-06T22:37:58.761Z,1507329478.761 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2017-10-06T22:37:58.829Z,1507329478.829 [DeadReckonUsingSpeedCalculator] Loaded
2017-10-06T22:37:58.829Z,1507329478.829 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingSpeedCalculator" handled in the control thread.
2017-10-06T22:37:58.849Z,1507329478.849 [NavChart] Loaded
2017-10-06T22:37:58.850Z,1507329478.850 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2017-10-06T22:37:58.855Z,1507329478.855 [UniversalFixResidualReporter] Loaded
2017-10-06T22:37:58.855Z,1507329478.855 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2017-10-06T22:37:58.856Z,1507329478.856 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2017-10-06T22:37:58.860Z,1507329478.860 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2017-10-06T22:37:58.862Z,1507329478.862 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2017-10-06T22:37:58.872Z,1507329478.872 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2017-10-06T22:37:58.873Z,1507329478.873 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40BCF4E0
2017-10-06T22:37:58.873Z,1507329478.873 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 876
2017-10-06T22:37:58.889Z,1507329478.889 [Supervisor](INFO): Main Thread ID is 787
2017-10-06T22:37:58.889Z,1507329478.889 [Supervisor](DEBUG): Running supervisor.
2017-10-06T22:37:58.890Z,1507329478.890 [CommandLine ThreadHandler](INFO): Handler Thread ID is 877
2017-10-06T22:37:58.893Z,1507329478.893 [controlThread ThreadHandler](INFO): Handler Thread ID is 878
2017-10-06T22:37:58.893Z,1507329478.893 [controlThread](DEBUG): Initializing ControlThread
2017-10-06T22:37:58.894Z,1507329478.894 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2017-10-06T22:37:58.895Z,1507329478.895 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2017-10-06T22:37:58.895Z,1507329478.895 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2017-10-06T22:37:58.895Z,1507329478.895 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2017-10-06T22:37:58.896Z,1507329478.896 [VerticalTemperatureHomogeneityIndexCalculator](DEBUG): (re)initializing
2017-10-06T22:37:58.897Z,1507329478.897 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2017-10-06T22:37:58.903Z,1507329478.903 [SBIT](INFO): Initialize SBIT Component.
2017-10-06T22:37:58.904Z,1507329478.904 [SBIT](IMPORTANT): git: 2017-09-28
2017-10-06T22:37:58.904Z,1507329478.904 [SBIT](INFO): git hash: 24ca05b165c0d131bc4566abd5c70f54463494da
2017-10-06T22:37:58.904Z,1507329478.904 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2017-10-06T22:37:58.906Z,1507329478.906 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #639 PREEMPT Wed Mar 12 12:53:33 PDT 2014
Kernel Reported: #2 PREEMPT Tue Oct 3 09:53:58 PDT 2017
2017-10-06T22:37:58.907Z,1507329478.907 [SBIT](INFO): Beginning SBIT in 63.000000 seconds.
2017-10-06T22:37:58.907Z,1507329478.907 [IBIT](INFO): Initialize IBIT Component.
2017-10-06T22:37:58.908Z,1507329478.908 [CBIT](DEBUG): Initialize CBIT Component.
2017-10-06T22:37:58.909Z,1507329478.909 [CBIT](CRITICAL): LAST REBOOT DUE TO WATCHDOG TIMER RESET.
2017-10-06T22:37:58.909Z,1507329478.909 [logger ThreadHandler](INFO): Handler Thread ID is 879
2017-10-06T22:37:58.913Z,1507329478.913 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 880
2017-10-06T22:37:58.944Z,1507329478.944 [Radio_Surface](INFO): Powering up
2017-10-06T22:37:58.945Z,1507329478.945 [Rowe_600LCM ThreadHandler](INFO): Handler Thread ID is 881
2017-10-06T22:37:58.946Z,1507329478.946 [Rowe_600LCM](INFO): Initializing
2017-10-06T22:37:58.947Z,1507329478.947 [Rowe_600LCM](INFO): Checking LCM
2017-10-06T22:37:58.954Z,1507329478.954 [Rowe_600LCM](INFO): LCM OK
2017-10-06T22:37:58.954Z,1507329478.954 [Rowe_600LCM](INFO): Powering up
2017-10-06T22:37:58.960Z,1507329478.960 [CTD_NeilBrown ThreadHandler](INFO): Handler Thread ID is 882
2017-10-06T22:37:58.961Z,1507329478.961 [CTD_NeilBrown](INFO): Powering down
2017-10-06T22:37:58.996Z,1507329478.996 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2017-10-06T22:37:58.998Z,1507329478.998 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2017-10-06T22:37:58.999Z,1507329478.999 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2017-10-06T22:37:58.000Z,1507329479.000 [LoopControl](DEBUG): Initialize LoopControlComponent.
2017-10-06T22:37:59.002Z,1507329479.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): Initializing DeadReckonUsingMultipleVelocitySources component.
2017-10-06T22:37:59.003Z,1507329479.003 [DeadReckonUsingMultipleVelocitySources](INFO): Will consider orientation measurement stale after 120s.
2017-10-06T22:37:59.003Z,1507329479.003 [DeadReckonUsingMultipleVelocitySources](INFO): Will consider velocity measurement stale after 20s.
2017-10-06T22:37:59.004Z,1507329479.004 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2017-10-06T22:37:59.004Z,1507329479.004 [DeadReckonUsingSpeedCalculator](INFO): Will consider orientation measurement stale after 120s.
2017-10-06T22:37:59.005Z,1507329479.005 [DeadReckonUsingSpeedCalculator](INFO): Will consider velocity measurement stale after 20s.
2017-10-06T22:37:59.005Z,1507329479.005 [NavChart](DEBUG): Initialize NavChart Navigation.
2017-10-06T22:37:59.006Z,1507329479.006 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2017-10-06T22:37:59.007Z,1507329479.007 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2017-10-06T22:37:59.008Z,1507329479.008 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 883
2017-10-06T22:37:59.009Z,1507329479.009 [WetLabsBB2FL](INFO): Powering down
2017-10-06T22:37:59.060Z,1507329479.060 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2017-10-06T22:37:59.064Z,1507329479.064 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 884
2017-10-06T22:37:59.067Z,1507329479.067 [NavChartDb](FAULT): Change detected in ENC collection. Wiping NavChart Directory
2017-10-06T22:37:59.100Z,1507329479.100 [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>


2017-10-06T22:37:59.109Z,1507329479.109 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2017-10-06T22:37:59.194Z,1507329479.194 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2017-10-06T22:37:59.197Z,1507329479.197 [Default:A.Wait](DEBUG): Construct Wait.
2017-10-06T22:37:59.199Z,1507329479.199 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2017-10-06T22:37:59.244Z,1507329479.244 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2017-10-06T22:37:59.247Z,1507329479.247 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2017-10-06T22:37:59.255Z,1507329479.255 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2017-10-06T22:37:59.263Z,1507329479.263 [Default:E.Execute](DEBUG): Construct Execute.
2017-10-06T22:37:59.281Z,1507329479.281 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
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/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="Default">

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

    <Guidance:Wait>
        <Sequence/>
        <Description>
            Wait a moment to see if the scheduler starts a new mission before
            starting to actually run Default.
        </Description>
        <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">
            <Sequence/>
            <Timeout Duration="P5M"/>
            <Universal:time_fix/>
        </ReadDatum>

        <ReadDatum Id="Read_Iridium">
            <Sequence/>
            <Timeout Duration="P2H">
                <Guidance:Execute>
                    <Sequence/>
                    <Setting><Guidance:Execute.command/><String>Burn 300</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>


2017-10-06T22:37:59.287Z,1507329479.287 [controlThread](DEBUG): Component order: CycleStarter,AcousticModem_Benthos_ATM900,DataOverHttps,Depth_Keller,DropWeight,NAL9602,Onboard,PNI_TCM,BPC1,Aanderaa_O2,ESPComponent,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,VerticalTemperatureHomogeneityIndexCalculator,YawRateCalculator,StratificationFrontDetector,DeadReckonUsingMultipleVelocitySources,DeadReckonUsingSpeedCalculator,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2017-10-06T22:37:59.328Z,1507329479.328 [AcousticModem_Benthos_ATM900](INFO): Powering up
2017-10-06T22:37:59.328Z,1507329479.328 [AcousticModem_Benthos_ATM900](DEBUG): Initializing AcousticModem_Benthos_ATM900.
2017-10-06T22:37:59.368Z,1507329479.368 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US1WC07M.000
2017-10-06T22:37:59.368Z,1507329479.368 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2017-10-06T22:37:59.389Z,1507329479.389 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US2WC11M.000
2017-10-06T22:37:59.389Z,1507329479.389 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2017-10-06T22:37:59.409Z,1507329479.409 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2017-10-06T22:37:59.415Z,1507329479.415 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US3CA52M.000
2017-10-06T22:37:59.416Z,1507329479.416 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2017-10-06T22:37:59.446Z,1507329479.446 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US4CA60M.000
2017-10-06T22:37:59.447Z,1507329479.447 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2017-10-06T22:37:59.496Z,1507329479.496 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA50M.000
2017-10-06T22:37:59.496Z,1507329479.496 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2017-10-06T22:37:59.523Z,1507329479.523 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA61M.000
2017-10-06T22:37:59.524Z,1507329479.524 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2017-10-06T22:37:59.550Z,1507329479.550 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA62M.000
2017-10-06T22:37:59.550Z,1507329479.550 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2017-10-06T22:37:59.578Z,1507329479.578 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA83M.000
2017-10-06T22:37:59.612Z,1507329479.612 [NavChartDb](INFO): Setup scan of Resources/ElectronicNavigationCharts/US5CA83M.000
2017-10-06T22:37:59.792Z,1507329479.792 [ESPComponent](INFO): powering down ESP
2017-10-06T22:38:00.360Z,1507329480.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:00.378Z,1507329480.378 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:00.546Z,1507329480.546 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2017-10-06T22:38:00.552Z,1507329480.552 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2017-10-06T22:38:00.580Z,1507329480.580 [ElevatorServo](DEBUG): Initializing EZServoServo.
2017-10-06T22:38:00.586Z,1507329480.586 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2017-10-06T22:38:00.599Z,1507329480.599 [MassServo](DEBUG): Initializing EZServoServo.
2017-10-06T22:38:00.604Z,1507329480.604 [MassServo](DEBUG): Initializing MassServo.
2017-10-06T22:38:00.610Z,1507329480.610 [RudderServo](DEBUG): Initializing EZServoServo.
2017-10-06T22:38:00.640Z,1507329480.640 [RudderServo](DEBUG): Initializing RudderServo.
2017-10-06T22:38:00.651Z,1507329480.651 [ThrusterServo](DEBUG): Initializing EZServoServo.
2017-10-06T22:38:00.660Z,1507329480.660 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2017-10-06T22:38:00.693Z,1507329480.693 [CommandLine](FAULT): Scheduling is paused
2017-10-06T22:38:00.694Z,1507329480.694 [CBIT](INFO): Critical error at 20171006T223758
2017-10-06T22:38:00.694Z,1507329480.694 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2017-10-06T22:38:00.887Z,1507329480.887 [DropWeight](CRITICAL): DROP WEIGHT MISSING.

2017-10-06T22:38:00.888Z,1507329480.888 [DropWeight] Hardware Fault, FailCount= 1
2017-10-06T22:38:00.888Z,1507329480.888 [DropWeight](ERROR): Hardware Fault
2017-10-06T22:38:00.932Z,1507329480.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:00.934Z,1507329480.934 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:00.952Z,1507329480.952 [CBIT](INFO): Critical error at 20171006T223800
2017-10-06T22:38:00.954Z,1507329480.954 [CBIT](ERROR): Hardware Fault in component: DropWeight
2017-10-06T22:38:00.955Z,1507329480.955 [CBIT](CRITICAL): Hardware Fault in component: DropWeight
2017-10-06T22:38:03.345Z,1507329483.345 [Rowe_600LCM](INFO): Stopping potential previous instance(s) of Rowe LCM interface
2017-10-06T22:38:03.494Z,1507329483.494 [Rowe_600LCM](INFO): Started Rowe LCM interface with command:nohup ./lrauv-framework/onboard/bin/roweadcp -ldir /mnt/mmc/LRAUV/Logs/latest/ -dev /dev/ttyA1 -b 38400 >& /dev/null &
2017-10-06T22:38:03.564Z,1507329483.564 [Rowe_600LCM](INFO): LCM subscribed to channel:Rowe_600LCM.adcp_dvl.bottom_track
2017-10-06T22:38:03.565Z,1507329483.565 [Rowe_600LCM](INFO): LCM subscribed to channel:Rowe_600LCM.adcp_dvl.vehicle_water_velocity
2017-10-06T22:38:03.566Z,1507329483.566 [Rowe_600LCM](INFO): LCM subscribed to channel:rowe_dvl.rowe
2017-10-06T22:38:09.850Z,1507329489.850 [Depth_Keller](INFO): A/D timeout, 7 tries over 152 ms

2017-10-06T22:38:09.850Z,1507329489.850 [Depth_Keller] Data Fault, FailCount= 1
2017-10-06T22:38:09.850Z,1507329489.850 [Depth_Keller](ERROR): Data Fault
2017-10-06T22:38:09.884Z,1507329489.884 [Radio_Surface](INFO): Powering down
2017-10-06T22:38:09.887Z,1507329489.887 [Aanderaa_O2](FAULT): Timed out starting
2017-10-06T22:38:09.887Z,1507329489.887 [Aanderaa_O2] Communications Fault, FailCount= 1
2017-10-06T22:38:09.887Z,1507329489.887 [Aanderaa_O2](ERROR): Communications Fault
2017-10-06T22:38:09.898Z,1507329489.898 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:09.904Z,1507329489.904 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:10.001Z,1507329490.001 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2017-10-06T22:38:10.004Z,1507329490.004 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2017-10-06T22:38:10.264Z,1507329490.264 [BuoyancyServo](ERROR): Buoyancy initialization uart error serial timeout
2017-10-06T22:38:10.264Z,1507329490.264 [BuoyancyServo](FAULT): Buoyancy failed to initialize
2017-10-06T22:38:10.264Z,1507329490.264 [BuoyancyServo] Communications Fault, FailCount= 1
2017-10-06T22:38:10.264Z,1507329490.264 [BuoyancyServo](ERROR): Communications Fault
2017-10-06T22:38:10.704Z,1507329490.704 [ThrusterServo](ERROR): Thruster halt for initialization uart error serial timeout
2017-10-06T22:38:11.032Z,1507329491.032 [ThrusterServo](ERROR): Thruster initialization uart error serial timeout
2017-10-06T22:38:11.032Z,1507329491.032 [ThrusterServo](FAULT): Thruster failed to initialize
2017-10-06T22:38:11.032Z,1507329491.032 [ThrusterServo] Communications Fault, FailCount= 1
2017-10-06T22:38:11.032Z,1507329491.032 [ThrusterServo](ERROR): Communications Fault
2017-10-06T22:38:11.034Z,1507329491.034 [CBIT](INFO): Critical error at 20171006T223800
2017-10-06T22:38:11.037Z,1507329491.037 [CBIT](ERROR): Data Fault in component: Depth_Keller
2017-10-06T22:38:11.037Z,1507329491.037 [CBIT](INFO): Clearing failed state for component Depth_Keller
2017-10-06T22:38:11.037Z,1507329491.037 [Depth_Keller] No Fault, FailCount= 1
2017-10-06T22:38:11.038Z,1507329491.038 [CBIT](ERROR): Communications Fault in component: Aanderaa_O2
2017-10-06T22:38:11.038Z,1507329491.038 [CBIT](ERROR): Communications Fault in component: BuoyancyServo
2017-10-06T22:38:11.038Z,1507329491.038 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2017-10-06T22:38:11.077Z,1507329491.077 [Aanderaa_O2](INFO): Powering down
2017-10-06T22:38:11.187Z,1507329491.187 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:11.197Z,1507329491.197 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:11.208Z,1507329491.208 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2017-10-06T22:38:11.224Z,1507329491.224 [BuoyancyServo](INFO): Powering down
2017-10-06T22:38:11.306Z,1507329491.306 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2017-10-06T22:38:11.306Z,1507329491.306 [ThrusterServo](INFO): Powering down
2017-10-06T22:38:11.493Z,1507329491.493 [Aanderaa_O2](FAULT): LCB fault: LCB Watchdog Reset. Invalid Command. Hardware Overcurrent Shutdown. Software Overcurrent. Current Limiter Activated.
2017-10-06T22:38:11.493Z,1507329491.493 [Aanderaa_O2] Hardware Fault, FailCount= 1
2017-10-06T22:38:11.493Z,1507329491.493 [Aanderaa_O2](ERROR): Hardware Fault
2017-10-06T22:38:11.540Z,1507329491.540 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:11.543Z,1507329491.543 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:11.853Z,1507329491.853 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003445
2017-10-06T22:38:11.997Z,1507329491.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:11.999Z,1507329491.999 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:12.332Z,1507329492.332 [ElevatorServo](FAULT): Elevator initialization uart error:serial timeout
2017-10-06T22:38:12.332Z,1507329492.332 [ElevatorServo] Communications Fault, FailCount= 1
2017-10-06T22:38:12.332Z,1507329492.332 [ElevatorServo](ERROR): Communications Fault
2017-10-06T22:38:12.592Z,1507329492.592 [MassServo](FAULT): Mass initialization uart error:serial timeout
2017-10-06T22:38:12.592Z,1507329492.592 [MassServo] Communications Fault, FailCount= 1
2017-10-06T22:38:12.592Z,1507329492.592 [MassServo](ERROR): Communications Fault
2017-10-06T22:38:12.904Z,1507329492.904 [RudderServo](FAULT): Rudder initialization uart error:serial timeout
2017-10-06T22:38:12.904Z,1507329492.904 [RudderServo] Communications Fault, FailCount= 1
2017-10-06T22:38:12.904Z,1507329492.904 [RudderServo](ERROR): Communications Fault
2017-10-06T22:38:12.909Z,1507329492.909 [CBIT](INFO): Clearing failed state for component Aanderaa_O2
2017-10-06T22:38:12.909Z,1507329492.909 [Aanderaa_O2] No Fault, FailCount= 1
2017-10-06T22:38:12.910Z,1507329492.910 [CBIT](ERROR): Communications Fault in component: ElevatorServo
2017-10-06T22:38:12.910Z,1507329492.910 [CBIT](ERROR): Communications Fault in component: MassServo
2017-10-06T22:38:12.910Z,1507329492.910 [CBIT](ERROR): Communications Fault in component: RudderServo
2017-10-06T22:38:12.910Z,1507329492.910 [CBIT](INFO): Clearing failed state for component ThrusterServo
2017-10-06T22:38:12.910Z,1507329492.910 [ThrusterServo] No Fault, FailCount= 1
2017-10-06T22:38:13.052Z,1507329493.052 [Depth_Keller](INFO): A/D timeout, 8 tries over 122 ms

2017-10-06T22:38:13.052Z,1507329493.052 [Depth_Keller] Data Fault, FailCount= 1
2017-10-06T22:38:13.052Z,1507329493.052 [Depth_Keller](ERROR): Data Fault
2017-10-06T22:38:13.148Z,1507329493.148 [PNI_TCM](ERROR): No parameter response UART error: serial timeout
2017-10-06T22:38:13.148Z,1507329493.148 [PNI_TCM](ERROR): Received 0xFF
2017-10-06T22:38:13.167Z,1507329493.167 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:13.168Z,1507329493.168 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:13.187Z,1507329493.187 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2017-10-06T22:38:13.187Z,1507329493.187 [ElevatorServo](INFO): Powering down
2017-10-06T22:38:13.248Z,1507329493.248 [MassServo](DEBUG): Uninitialize Mass Servo.
2017-10-06T22:38:13.248Z,1507329493.248 [MassServo](INFO): Powering down
2017-10-06T22:38:13.292Z,1507329493.292 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2017-10-06T22:38:13.292Z,1507329493.292 [RudderServo](INFO): Powering down
2017-10-06T22:38:13.356Z,1507329493.356 [ThrusterServo](DEBUG): Initializing EZServoServo.
2017-10-06T22:38:13.367Z,1507329493.367 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2017-10-06T22:38:13.372Z,1507329493.372 [CBIT](ERROR): Data Fault in component: Depth_Keller
2017-10-06T22:38:13.372Z,1507329493.372 [CBIT](INFO): Clearing failed state for component Depth_Keller
2017-10-06T22:38:13.372Z,1507329493.372 [Depth_Keller] No Fault, FailCount= 1
2017-10-06T22:38:13.548Z,1507329493.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:13.550Z,1507329493.550 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:13.575Z,1507329493.575 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2017-10-06T22:38:13.575Z,1507329493.575 [BuoyancyServo] No Fault, FailCount= 1
2017-10-06T22:38:13.875Z,1507329493.875 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:13.877Z,1507329493.877 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:13.883Z,1507329493.883 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2017-10-06T22:38:13.884Z,1507329493.884 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2017-10-06T22:38:13.885Z,1507329493.885 [ElevatorServo](DEBUG): Initializing EZServoServo.
2017-10-06T22:38:13.885Z,1507329493.885 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2017-10-06T22:38:13.887Z,1507329493.887 [MassServo](DEBUG): Initializing EZServoServo.
2017-10-06T22:38:13.887Z,1507329493.887 [MassServo](DEBUG): Initializing MassServo.
2017-10-06T22:38:13.888Z,1507329493.888 [RudderServo](DEBUG): Initializing EZServoServo.
2017-10-06T22:38:13.889Z,1507329493.889 [RudderServo](DEBUG): Initializing RudderServo.
2017-10-06T22:38:14.220Z,1507329494.220 [ThrusterServo](ERROR): Thruster halt for initialization uart error serial timeout
2017-10-06T22:38:14.540Z,1507329494.540 [ThrusterServo](ERROR): Thruster initialization uart error serial timeout
2017-10-06T22:38:14.540Z,1507329494.540 [ThrusterServo](FAULT): Thruster failed to initialize
2017-10-06T22:38:14.540Z,1507329494.540 [ThrusterServo] Communications Fault, FailCount= 2
2017-10-06T22:38:14.540Z,1507329494.540 [ThrusterServo](ERROR): Communications Fault
2017-10-06T22:38:14.544Z,1507329494.544 [CBIT](INFO): Clearing failed state for component ElevatorServo
2017-10-06T22:38:14.544Z,1507329494.544 [ElevatorServo] No Fault, FailCount= 1
2017-10-06T22:38:14.544Z,1507329494.544 [CBIT](INFO): Clearing failed state for component MassServo
2017-10-06T22:38:14.544Z,1507329494.544 [MassServo] No Fault, FailCount= 1
2017-10-06T22:38:14.545Z,1507329494.545 [CBIT](INFO): Clearing failed state for component RudderServo
2017-10-06T22:38:14.545Z,1507329494.545 [RudderServo] No Fault, FailCount= 1
2017-10-06T22:38:14.545Z,1507329494.545 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2017-10-06T22:38:14.680Z,1507329494.680 [Depth_Keller](INFO): A/D timeout, 8 tries over 124 ms

2017-10-06T22:38:14.680Z,1507329494.680 [Depth_Keller] Data Fault, FailCount= 1
2017-10-06T22:38:14.680Z,1507329494.680 [Depth_Keller](ERROR): Data Fault
2017-10-06T22:38:14.749Z,1507329494.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:14.750Z,1507329494.750 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:15.092Z,1507329495.092 [BuoyancyServo](ERROR): Buoyancy initialization uart error serial timeout
2017-10-06T22:38:15.092Z,1507329495.092 [BuoyancyServo](FAULT): Buoyancy failed to initialize
2017-10-06T22:38:15.092Z,1507329495.092 [BuoyancyServo] Communications Fault, FailCount= 2
2017-10-06T22:38:15.092Z,1507329495.092 [BuoyancyServo](ERROR): Communications Fault
2017-10-06T22:38:15.355Z,1507329495.355 [NavChartDb](INFO): Done scanning features of Resources/ElectronicNavigationCharts/US5CA83M.000
2017-10-06T22:38:15.404Z,1507329495.404 [ElevatorServo](ERROR): Elevator initialization uart error I:serial timeout
2017-10-06T22:38:15.404Z,1507329495.404 [ElevatorServo](FAULT): Elevator failed to initialize
2017-10-06T22:38:15.404Z,1507329495.404 [ElevatorServo] Communications Fault, FailCount= 2
2017-10-06T22:38:15.404Z,1507329495.404 [ElevatorServo](ERROR): Communications Fault
2017-10-06T22:38:15.712Z,1507329495.712 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2017-10-06T22:38:15.712Z,1507329495.712 [RudderServo](FAULT): Rudder failed to initialize
2017-10-06T22:38:15.712Z,1507329495.712 [RudderServo] Communications Fault, FailCount= 2
2017-10-06T22:38:15.712Z,1507329495.712 [RudderServo](ERROR): Communications Fault
2017-10-06T22:38:15.713Z,1507329495.713 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2017-10-06T22:38:15.713Z,1507329495.713 [ThrusterServo](INFO): Powering down
2017-10-06T22:38:15.717Z,1507329495.717 [CBIT](ERROR): Data Fault in component: Depth_Keller
2017-10-06T22:38:15.717Z,1507329495.717 [CBIT](INFO): Clearing failed state for component Depth_Keller
2017-10-06T22:38:15.717Z,1507329495.717 [Depth_Keller] No Fault, FailCount= 1
2017-10-06T22:38:15.718Z,1507329495.718 [CBIT](ERROR): Communications Fault in component: BuoyancyServo
2017-10-06T22:38:15.718Z,1507329495.718 [CBIT](ERROR): Communications Fault in component: ElevatorServo
2017-10-06T22:38:15.718Z,1507329495.718 [CBIT](ERROR): Communications Fault in component: RudderServo
2017-10-06T22:38:15.764Z,1507329495.764 [BPC1](FAULT): Failed to initialize
2017-10-06T22:38:15.764Z,1507329495.764 [BPC1] Communications Fault, FailCount= 1
2017-10-06T22:38:15.764Z,1507329495.764 [BPC1](ERROR): Communications Fault
2017-10-06T22:38:15.820Z,1507329495.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:15.821Z,1507329495.821 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:15.828Z,1507329495.828 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2017-10-06T22:38:15.829Z,1507329495.829 [BuoyancyServo](INFO): Powering down
2017-10-06T22:38:15.848Z,1507329495.848 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2017-10-06T22:38:15.848Z,1507329495.848 [ElevatorServo](INFO): Powering down
2017-10-06T22:38:15.850Z,1507329495.850 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2017-10-06T22:38:15.850Z,1507329495.850 [RudderServo](INFO): Powering down
2017-10-06T22:38:15.855Z,1507329495.855 [CBIT](ERROR): Communications Fault in component: BPC1
2017-10-06T22:38:15.957Z,1507329495.957 [Radio_Surface](INFO): Powering up
2017-10-06T22:38:16.249Z,1507329496.249 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:16.251Z,1507329496.251 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:16.280Z,1507329496.280 [CBIT](INFO): Clearing failed state for component ThrusterServo
2017-10-06T22:38:16.280Z,1507329496.280 [ThrusterServo] No Fault, FailCount= 2
2017-10-06T22:38:16.656Z,1507329496.656 [Depth_Keller](INFO): A/D timeout, 9 tries over 123 ms

2017-10-06T22:38:16.656Z,1507329496.656 [Depth_Keller] Data Fault, FailCount= 1
2017-10-06T22:38:16.656Z,1507329496.656 [Depth_Keller](ERROR): Data Fault
2017-10-06T22:38:16.735Z,1507329496.735 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:16.741Z,1507329496.741 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:16.756Z,1507329496.756 [ElevatorServo](DEBUG): Initializing EZServoServo.
2017-10-06T22:38:16.757Z,1507329496.757 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2017-10-06T22:38:16.758Z,1507329496.758 [RudderServo](DEBUG): Initializing EZServoServo.
2017-10-06T22:38:16.759Z,1507329496.759 [RudderServo](DEBUG): Initializing RudderServo.
2017-10-06T22:38:16.780Z,1507329496.780 [ThrusterServo](DEBUG): Initializing EZServoServo.
2017-10-06T22:38:16.780Z,1507329496.780 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2017-10-06T22:38:16.788Z,1507329496.788 [CBIT](ERROR): Data Fault in component: Depth_Keller
2017-10-06T22:38:16.789Z,1507329496.789 [CBIT](INFO): Clearing failed state for component Depth_Keller
2017-10-06T22:38:16.789Z,1507329496.789 [Depth_Keller] No Fault, FailCount= 1
2017-10-06T22:38:16.790Z,1507329496.790 [CBIT](INFO): Clearing failed state for component ElevatorServo
2017-10-06T22:38:16.790Z,1507329496.790 [ElevatorServo] No Fault, FailCount= 2
2017-10-06T22:38:16.790Z,1507329496.790 [CBIT](INFO): Clearing failed state for component RudderServo
2017-10-06T22:38:16.790Z,1507329496.790 [RudderServo] No Fault, FailCount= 2
2017-10-06T22:38:16.985Z,1507329496.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:16.987Z,1507329496.987 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:17.280Z,1507329497.280 [MassServo](FAULT): Mass initialization uart error:serial timeout
2017-10-06T22:38:17.280Z,1507329497.280 [MassServo] Communications Fault, FailCount= 2
2017-10-06T22:38:17.280Z,1507329497.280 [MassServo](ERROR): Communications Fault
2017-10-06T22:38:17.588Z,1507329497.588 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2017-10-06T22:38:17.588Z,1507329497.588 [RudderServo](FAULT): Rudder failed to initialize
2017-10-06T22:38:17.588Z,1507329497.588 [RudderServo] Communications Fault, FailCount= 3
2017-10-06T22:38:17.588Z,1507329497.588 [RudderServo](ERROR): Communications Fault
2017-10-06T22:38:17.912Z,1507329497.912 [ThrusterServo](ERROR): Thruster halt for initialization uart error serial timeout
2017-10-06T22:38:18.228Z,1507329498.228 [ThrusterServo](ERROR): Thruster initialization uart error serial timeout
2017-10-06T22:38:18.228Z,1507329498.228 [ThrusterServo](FAULT): Thruster failed to initialize
2017-10-06T22:38:18.228Z,1507329498.228 [ThrusterServo] Communications Fault, FailCount= 3
2017-10-06T22:38:18.228Z,1507329498.228 [ThrusterServo](ERROR): Communications Fault
2017-10-06T22:38:18.233Z,1507329498.233 [CBIT](INFO): Clearing failed state for component BPC1
2017-10-06T22:38:18.233Z,1507329498.233 [BPC1] No Fault, FailCount= 1
2017-10-06T22:38:18.235Z,1507329498.235 [CBIT](ERROR): Communications Fault in component: MassServo
2017-10-06T22:38:18.235Z,1507329498.235 [CBIT](ERROR): Communications Fault in component: RudderServo
2017-10-06T22:38:18.235Z,1507329498.235 [CBIT](CRITICAL): Communications Fault in component: RudderServo
2017-10-06T22:38:18.238Z,1507329498.238 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2017-10-06T22:38:18.456Z,1507329498.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:18.458Z,1507329498.458 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:18.800Z,1507329498.800 [ElevatorServo](ERROR): Elevator initialization uart error I:serial timeout
2017-10-06T22:38:18.800Z,1507329498.800 [ElevatorServo](FAULT): Elevator failed to initialize
2017-10-06T22:38:18.800Z,1507329498.800 [ElevatorServo] Communications Fault, FailCount= 3
2017-10-06T22:38:18.800Z,1507329498.800 [ElevatorServo](ERROR): Communications Fault
2017-10-06T22:38:18.801Z,1507329498.801 [MassServo](DEBUG): Uninitialize Mass Servo.
2017-10-06T22:38:18.801Z,1507329498.801 [MassServo](INFO): Powering down
2017-10-06T22:38:18.802Z,1507329498.802 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2017-10-06T22:38:18.802Z,1507329498.802 [RudderServo](INFO): Powering down
2017-10-06T22:38:18.803Z,1507329498.803 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2017-10-06T22:38:18.803Z,1507329498.803 [ThrusterServo](INFO): Powering down
2017-10-06T22:38:18.806Z,1507329498.806 [CBIT](INFO): Critical error at 20171006T223818
2017-10-06T22:38:18.808Z,1507329498.808 [CBIT](ERROR): Communications Fault in component: ElevatorServo
2017-10-06T22:38:18.809Z,1507329498.809 [CBIT](CRITICAL): Communications Fault in component: ElevatorServo
2017-10-06T22:38:18.868Z,1507329498.868 [PNI_TCM](FAULT): Failed to acquire valid data within timeout.
2017-10-06T22:38:18.868Z,1507329498.868 [PNI_TCM] Data Fault, FailCount= 1
2017-10-06T22:38:18.868Z,1507329498.868 [PNI_TCM](ERROR): Data Fault
2017-10-06T22:38:18.917Z,1507329498.917 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:18.918Z,1507329498.918 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:18.944Z,1507329498.944 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2017-10-06T22:38:18.944Z,1507329498.944 [ElevatorServo](INFO): Powering down
2017-10-06T22:38:18.949Z,1507329498.949 [CBIT](INFO): Critical error at 20171006T223818
2017-10-06T22:38:18.951Z,1507329498.951 [CBIT](ERROR): Data Fault in component: PNI_TCM
2017-10-06T22:38:18.956Z,1507329498.956 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2017-10-06T22:38:18.956Z,1507329498.956 [BuoyancyServo] No Fault, FailCount= 2
2017-10-06T22:38:19.384Z,1507329499.384 [Depth_Keller](INFO): A/D timeout, 10 tries over 162 ms

2017-10-06T22:38:19.384Z,1507329499.384 [Depth_Keller] Data Fault, FailCount= 1
2017-10-06T22:38:19.384Z,1507329499.384 [Depth_Keller](ERROR): Data Fault
2017-10-06T22:38:19.406Z,1507329499.406 [PNI_TCM](INFO): Powering down
2017-10-06T22:38:19.501Z,1507329499.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:19.503Z,1507329499.503 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:19.519Z,1507329499.519 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2017-10-06T22:38:19.520Z,1507329499.520 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2017-10-06T22:38:19.522Z,1507329499.522 [MassServo](DEBUG): Initializing EZServoServo.
2017-10-06T22:38:19.522Z,1507329499.522 [MassServo](DEBUG): Initializing MassServo.
2017-10-06T22:38:19.523Z,1507329499.523 [RudderServo](DEBUG): Initializing EZServoServo.
2017-10-06T22:38:19.544Z,1507329499.544 [RudderServo](DEBUG): Initializing RudderServo.
2017-10-06T22:38:19.549Z,1507329499.549 [CBIT](ERROR): Data Fault in component: Depth_Keller
2017-10-06T22:38:19.549Z,1507329499.549 [CBIT](INFO): Clearing failed state for component Depth_Keller
2017-10-06T22:38:19.549Z,1507329499.549 [Depth_Keller] No Fault, FailCount= 1
2017-10-06T22:38:19.550Z,1507329499.550 [CBIT](INFO): Clearing failed state for component MassServo
2017-10-06T22:38:19.550Z,1507329499.550 [MassServo] No Fault, FailCount= 2
2017-10-06T22:38:19.551Z,1507329499.551 [CBIT](INFO): Clearing failed state for component ThrusterServo
2017-10-06T22:38:19.551Z,1507329499.551 [ThrusterServo] No Fault, FailCount= 3
2017-10-06T22:38:19.616Z,1507329499.616 [AcousticModem_Benthos_ATM900](FAULT): failed to initialize, no bytes available on serial interface
2017-10-06T22:38:19.617Z,1507329499.617 [AcousticModem_Benthos_ATM900] Communications Fault, FailCount= 1
2017-10-06T22:38:19.617Z,1507329499.617 [AcousticModem_Benthos_ATM900](ERROR): Communications Fault
2017-10-06T22:38:19.640Z,1507329499.640 [PNI_TCM](FAULT): LCB fault: LCB Watchdog Reset. Invalid Command. Hardware Overcurrent Shutdown. Software Overcurrent. Current Limiter Activated.
2017-10-06T22:38:19.640Z,1507329499.640 [PNI_TCM] Hardware Fault, FailCount= 1
2017-10-06T22:38:19.640Z,1507329499.640 [PNI_TCM](ERROR): Hardware Fault
2017-10-06T22:38:19.677Z,1507329499.677 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:19.678Z,1507329499.678 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:19.706Z,1507329499.706 [ElevatorServo](DEBUG): Initializing EZServoServo.
2017-10-06T22:38:19.706Z,1507329499.706 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2017-10-06T22:38:19.708Z,1507329499.708 [ThrusterServo](DEBUG): Initializing EZServoServo.
2017-10-06T22:38:19.708Z,1507329499.708 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2017-10-06T22:38:19.717Z,1507329499.717 [CBIT](ERROR): Communications Fault in component: AcousticModem_Benthos_ATM900
2017-10-06T22:38:20.016Z,1507329500.016 [AcousticModem_Benthos_ATM900](INFO): Powering down
2017-10-06T22:38:20.113Z,1507329500.113 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:20.114Z,1507329500.114 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:20.452Z,1507329500.452 [BuoyancyServo](ERROR): Buoyancy initialization uart error serial timeout
2017-10-06T22:38:20.452Z,1507329500.452 [BuoyancyServo](FAULT): Buoyancy failed to initialize
2017-10-06T22:38:20.452Z,1507329500.452 [BuoyancyServo] Communications Fault, FailCount= 3
2017-10-06T22:38:20.452Z,1507329500.452 [BuoyancyServo](ERROR): Communications Fault
2017-10-06T22:38:20.780Z,1507329500.780 [ThrusterServo](ERROR): Thruster halt for initialization uart error serial timeout
2017-10-06T22:38:21.104Z,1507329501.104 [ThrusterServo](ERROR): Thruster initialization uart error serial timeout
2017-10-06T22:38:21.104Z,1507329501.104 [ThrusterServo](FAULT): Thruster failed to initialize
2017-10-06T22:38:21.104Z,1507329501.104 [ThrusterServo] Communications Fault, FailCount= 4
2017-10-06T22:38:21.104Z,1507329501.104 [ThrusterServo](ERROR): Communications Fault
2017-10-06T22:38:21.108Z,1507329501.108 [CBIT](ERROR): Communications Fault in component: BuoyancyServo
2017-10-06T22:38:21.109Z,1507329501.109 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2017-10-06T22:38:21.251Z,1507329501.251 [Depth_Keller](INFO): A/D timeout, 8 tries over 132 ms

2017-10-06T22:38:21.252Z,1507329501.252 [Depth_Keller] Data Fault, FailCount= 1
2017-10-06T22:38:21.252Z,1507329501.252 [Depth_Keller](ERROR): Data Fault
2017-10-06T22:38:21.324Z,1507329501.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:21.326Z,1507329501.326 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:21.349Z,1507329501.349 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2017-10-06T22:38:21.351Z,1507329501.351 [BuoyancyServo](INFO): Powering down
2017-10-06T22:38:21.389Z,1507329501.389 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2017-10-06T22:38:21.389Z,1507329501.389 [ThrusterServo](INFO): Powering down
2017-10-06T22:38:21.399Z,1507329501.399 [CBIT](ERROR): Data Fault in component: Depth_Keller
2017-10-06T22:38:21.399Z,1507329501.399 [CBIT](INFO): Clearing failed state for component Depth_Keller
2017-10-06T22:38:21.399Z,1507329501.399 [Depth_Keller] No Fault, FailCount= 1
2017-10-06T22:38:21.400Z,1507329501.400 [CBIT](INFO): Clearing failed state for component PNI_TCM
2017-10-06T22:38:21.400Z,1507329501.400 [PNI_TCM] No Fault, FailCount= 1
2017-10-06T22:38:21.580Z,1507329501.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:21.582Z,1507329501.582 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:21.634Z,1507329501.634 [CBIT](INFO): Clearing failed state for component AcousticModem_Benthos_ATM900
2017-10-06T22:38:21.634Z,1507329501.634 [AcousticModem_Benthos_ATM900] No Fault, FailCount= 1
2017-10-06T22:38:21.982Z,1507329501.982 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:21.000Z,1507329502.000 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:22.277Z,1507329502.277 [MassServo](FAULT): Mass initialization uart error:serial timeout
2017-10-06T22:38:22.277Z,1507329502.277 [MassServo] Communications Fault, FailCount= 3
2017-10-06T22:38:22.277Z,1507329502.277 [MassServo](ERROR): Communications Fault
2017-10-06T22:38:22.282Z,1507329502.282 [CBIT](ERROR): Communications Fault in component: MassServo
2017-10-06T22:38:22.283Z,1507329502.283 [CBIT](INFO): Clearing failed state for component ThrusterServo
2017-10-06T22:38:22.283Z,1507329502.283 [ThrusterServo] No Fault, FailCount= 4
2017-10-06T22:38:22.433Z,1507329502.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:22.435Z,1507329502.435 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:22.461Z,1507329502.461 [MassServo](DEBUG): Uninitialize Mass Servo.
2017-10-06T22:38:22.461Z,1507329502.461 [MassServo](INFO): Powering down
2017-10-06T22:38:22.463Z,1507329502.463 [ThrusterServo](DEBUG): Initializing EZServoServo.
2017-10-06T22:38:22.463Z,1507329502.463 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2017-10-06T22:38:22.853Z,1507329502.853 [Depth_Keller](INFO): A/D timeout, 10 tries over 132 ms

2017-10-06T22:38:22.853Z,1507329502.853 [Depth_Keller] Data Fault, FailCount= 1
2017-10-06T22:38:22.853Z,1507329502.853 [Depth_Keller](ERROR): Data Fault
2017-10-06T22:38:22.913Z,1507329502.913 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:22.914Z,1507329502.914 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:22.965Z,1507329502.965 [CBIT](ERROR): Data Fault in component: Depth_Keller
2017-10-06T22:38:22.965Z,1507329502.965 [CBIT](INFO): Clearing failed state for component Depth_Keller
2017-10-06T22:38:22.965Z,1507329502.965 [Depth_Keller] No Fault, FailCount= 1
2017-10-06T22:38:23.117Z,1507329503.117 [AcousticModem_Benthos_ATM900](INFO): Powering up
2017-10-06T22:38:23.117Z,1507329503.117 [AcousticModem_Benthos_ATM900](DEBUG): Initializing AcousticModem_Benthos_ATM900.
2017-10-06T22:38:23.166Z,1507329503.166 [Aanderaa_O2](FAULT): Timed out starting
2017-10-06T22:38:23.166Z,1507329503.166 [Aanderaa_O2] Communications Fault, FailCount= 2
2017-10-06T22:38:23.167Z,1507329503.167 [Aanderaa_O2](ERROR): Communications Fault
2017-10-06T22:38:23.186Z,1507329503.186 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:23.189Z,1507329503.189 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:23.216Z,1507329503.216 [MassServo](DEBUG): Initializing EZServoServo.
2017-10-06T22:38:23.216Z,1507329503.216 [MassServo](DEBUG): Initializing MassServo.
2017-10-06T22:38:23.540Z,1507329503.540 [ThrusterServo](ERROR): Thruster halt for initialization uart error serial timeout
2017-10-06T22:38:23.856Z,1507329503.856 [ThrusterServo](ERROR): Thruster initialization uart error serial timeout
2017-10-06T22:38:23.856Z,1507329503.856 [ThrusterServo](FAULT): Thruster failed to initialize
2017-10-06T22:38:23.856Z,1507329503.856 [ThrusterServo] Communications Fault, FailCount= 5
2017-10-06T22:38:23.856Z,1507329503.856 [ThrusterServo](ERROR): Communications Fault
2017-10-06T22:38:23.860Z,1507329503.860 [CBIT](ERROR): Communications Fault in component: Aanderaa_O2
2017-10-06T22:38:23.860Z,1507329503.860 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2017-10-06T22:38:23.861Z,1507329503.861 [BuoyancyServo] No Fault, FailCount= 3
2017-10-06T22:38:23.861Z,1507329503.861 [CBIT](INFO): Clearing failed state for component MassServo
2017-10-06T22:38:23.861Z,1507329503.861 [MassServo] No Fault, FailCount= 3
2017-10-06T22:38:23.861Z,1507329503.861 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2017-10-06T22:38:23.862Z,1507329503.862 [CBIT](CRITICAL): Communications Fault in component: ThrusterServo
2017-10-06T22:38:24.002Z,1507329504.002 [Depth_Keller](INFO): A/D timeout, 10 tries over 127 ms

2017-10-06T22:38:24.002Z,1507329504.002 [Depth_Keller] Data Fault, FailCount= 2
2017-10-06T22:38:24.002Z,1507329504.002 [Depth_Keller](ERROR): Data Fault
2017-10-06T22:38:24.041Z,1507329504.041 [Radio_Surface](INFO): Powering down
2017-10-06T22:38:24.045Z,1507329504.045 [Aanderaa_O2](INFO): Powering down
2017-10-06T22:38:24.081Z,1507329504.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:24.083Z,1507329504.083 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:24.148Z,1507329504.148 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2017-10-06T22:38:24.148Z,1507329504.148 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2017-10-06T22:38:24.166Z,1507329504.166 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2017-10-06T22:38:24.166Z,1507329504.166 [ThrusterServo](INFO): Powering down
2017-10-06T22:38:24.202Z,1507329504.202 [CBIT](INFO): Critical error at 20171006T223823
2017-10-06T22:38:24.212Z,1507329504.212 [CBIT](ERROR): Data Fault in component: Depth_Keller
2017-10-06T22:38:24.212Z,1507329504.212 [CBIT](INFO): Clearing failed state for component Depth_Keller
2017-10-06T22:38:24.212Z,1507329504.212 [Depth_Keller] No Fault, FailCount= 2
2017-10-06T22:38:24.305Z,1507329504.305 [Aanderaa_O2](FAULT): LCB fault: LCB Watchdog Reset. Invalid Command. Hardware Overcurrent Shutdown. Software Overcurrent. Current Limiter Activated.
2017-10-06T22:38:24.305Z,1507329504.305 [Aanderaa_O2] Hardware Fault, FailCount= 2
2017-10-06T22:38:24.306Z,1507329504.306 [Aanderaa_O2](ERROR): Hardware Fault
2017-10-06T22:38:24.338Z,1507329504.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:24.340Z,1507329504.340 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:24.796Z,1507329504.796 [PNI_TCM](ERROR): No parameter response UART error: serial timeout
2017-10-06T22:38:24.796Z,1507329504.796 [PNI_TCM](ERROR): Received 0xFF
2017-10-06T22:38:24.839Z,1507329504.839 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:24.842Z,1507329504.842 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:25.192Z,1507329505.192 [BuoyancyServo](ERROR): Buoyancy initialization uart error serial timeout
2017-10-06T22:38:25.192Z,1507329505.192 [BuoyancyServo](FAULT): Buoyancy failed to initialize
2017-10-06T22:38:25.192Z,1507329505.192 [BuoyancyServo] Communications Fault, FailCount= 4
2017-10-06T22:38:25.192Z,1507329505.192 [BuoyancyServo](ERROR): Communications Fault
2017-10-06T22:38:25.198Z,1507329505.198 [CBIT](INFO): Clearing failed state for component Aanderaa_O2
2017-10-06T22:38:25.198Z,1507329505.198 [Aanderaa_O2] No Fault, FailCount= 2
2017-10-06T22:38:25.198Z,1507329505.198 [CBIT](ERROR): Communications Fault in component: BuoyancyServo
2017-10-06T22:38:25.354Z,1507329505.354 [Depth_Keller](INFO): A/D timeout, 9 tries over 129 ms

2017-10-06T22:38:25.354Z,1507329505.354 [Depth_Keller] Data Fault, FailCount= 1
2017-10-06T22:38:25.354Z,1507329505.354 [Depth_Keller](ERROR): Data Fault
2017-10-06T22:38:25.360Z,1507329505.360 [NAL9602](INFO): Powering up NAL9602
2017-10-06T22:38:25.429Z,1507329505.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:25.431Z,1507329505.431 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:25.456Z,1507329505.456 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2017-10-06T22:38:25.462Z,1507329505.462 [BuoyancyServo](INFO): Powering down
2017-10-06T22:38:25.732Z,1507329505.732 [MassServo](FAULT): Mass initialization uart error:serial timeout
2017-10-06T22:38:25.732Z,1507329505.732 [MassServo] Communications Fault, FailCount= 4
2017-10-06T22:38:25.732Z,1507329505.732 [MassServo](ERROR): Communications Fault
2017-10-06T22:38:25.736Z,1507329505.736 [CBIT](ERROR): Data Fault in component: Depth_Keller
2017-10-06T22:38:25.736Z,1507329505.736 [CBIT](INFO): Clearing failed state for component Depth_Keller
2017-10-06T22:38:25.736Z,1507329505.736 [Depth_Keller] No Fault, FailCount= 1
2017-10-06T22:38:25.737Z,1507329505.737 [CBIT](ERROR): Communications Fault in component: MassServo
2017-10-06T22:38:25.840Z,1507329505.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:25.850Z,1507329505.850 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:25.878Z,1507329505.878 [MassServo](DEBUG): Uninitialize Mass Servo.
2017-10-06T22:38:25.878Z,1507329505.878 [MassServo](INFO): Powering down
2017-10-06T22:38:26.394Z,1507329506.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:26.395Z,1507329506.395 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:26.615Z,1507329506.615 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:26.621Z,1507329506.621 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:26.677Z,1507329506.677 [MassServo](DEBUG): Initializing EZServoServo.
2017-10-06T22:38:26.677Z,1507329506.677 [MassServo](DEBUG): Initializing MassServo.
2017-10-06T22:38:26.689Z,1507329506.689 [CBIT](INFO): Clearing failed state for component MassServo
2017-10-06T22:38:26.689Z,1507329506.689 [MassServo] No Fault, FailCount= 4
2017-10-06T22:38:27.078Z,1507329507.078 [Depth_Keller](INFO): A/D timeout, 9 tries over 124 ms

2017-10-06T22:38:27.078Z,1507329507.078 [Depth_Keller] Data Fault, FailCount= 1
2017-10-06T22:38:27.078Z,1507329507.078 [Depth_Keller](ERROR): Data Fault
2017-10-06T22:38:27.142Z,1507329507.142 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:27.160Z,1507329507.160 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:27.257Z,1507329507.257 [CBIT](ERROR): Data Fault in component: Depth_Keller
2017-10-06T22:38:27.257Z,1507329507.257 [CBIT](INFO): Clearing failed state for component Depth_Keller
2017-10-06T22:38:27.257Z,1507329507.257 [Depth_Keller] No Fault, FailCount= 1
2017-10-06T22:38:27.403Z,1507329507.403 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:27.405Z,1507329507.405 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:27.434Z,1507329507.434 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2017-10-06T22:38:27.434Z,1507329507.434 [BuoyancyServo] No Fault, FailCount= 4
2017-10-06T22:38:27.969Z,1507329507.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:27.970Z,1507329507.970 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:28.028Z,1507329508.028 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2017-10-06T22:38:28.028Z,1507329508.028 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2017-10-06T22:38:28.235Z,1507329508.235 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:28.240Z,1507329508.240 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:28.560Z,1507329508.560 [MassServo](FAULT): Mass shifter EEPROM initialization uart error serial timeout
2017-10-06T22:38:28.560Z,1507329508.560 [MassServo] Communications Fault, FailCount= 5
2017-10-06T22:38:28.560Z,1507329508.560 [MassServo](ERROR): Communications Fault
2017-10-06T22:38:28.565Z,1507329508.565 [CBIT](ERROR): Communications Fault in component: MassServo
2017-10-06T22:38:28.565Z,1507329508.565 [CBIT](CRITICAL): Communications Fault in component: MassServo
2017-10-06T22:38:28.726Z,1507329508.726 [Depth_Keller](INFO): A/D timeout, 9 tries over 146 ms

2017-10-06T22:38:28.726Z,1507329508.726 [Depth_Keller] Data Fault, FailCount= 1
2017-10-06T22:38:28.726Z,1507329508.726 [Depth_Keller](ERROR): Data Fault
2017-10-06T22:38:28.866Z,1507329508.866 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:28.873Z,1507329508.873 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:29.204Z,1507329509.204 [CTD_NeilBrown](DEBUG): serial timeout
2017-10-06T22:38:29.204Z,1507329509.204 [CTD_NeilBrown](FAULT): No CTD communication! Re-initializing
2017-10-06T22:38:29.204Z,1507329509.204 [CTD_NeilBrown] Communications Fault, FailCount= 1
2017-10-06T22:38:29.204Z,1507329509.204 [CTD_NeilBrown](ERROR): Communications Fault
2017-10-06T22:38:29.268Z,1507329509.268 [BuoyancyServo](ERROR): Buoyancy initialization uart error serial timeout
2017-10-06T22:38:29.268Z,1507329509.268 [BuoyancyServo](FAULT): Buoyancy failed to initialize
2017-10-06T22:38:29.268Z,1507329509.268 [BuoyancyServo] Communications Fault, FailCount= 5
2017-10-06T22:38:29.268Z,1507329509.268 [BuoyancyServo](ERROR): Communications Fault
2017-10-06T22:38:29.269Z,1507329509.269 [MassServo](DEBUG): Uninitialize Mass Servo.
2017-10-06T22:38:29.269Z,1507329509.269 [MassServo](INFO): Powering down
2017-10-06T22:38:29.272Z,1507329509.272 [CBIT](INFO): Critical error at 20171006T223828
2017-10-06T22:38:29.274Z,1507329509.274 [CBIT](ERROR): Data Fault in component: Depth_Keller
2017-10-06T22:38:29.274Z,1507329509.274 [CBIT](INFO): Clearing failed state for component Depth_Keller
2017-10-06T22:38:29.274Z,1507329509.274 [Depth_Keller] No Fault, FailCount= 1
2017-10-06T22:38:29.275Z,1507329509.275 [CBIT](ERROR): Communications Fault in component: CTD_NeilBrown
2017-10-06T22:38:29.275Z,1507329509.275 [CBIT](ERROR): Communications Fault in component: BuoyancyServo
2017-10-06T22:38:29.277Z,1507329509.277 [CBIT](CRITICAL): Communications Fault in component: BuoyancyServo
2017-10-06T22:38:29.413Z,1507329509.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:29.415Z,1507329509.415 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:29.433Z,1507329509.433 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2017-10-06T22:38:29.433Z,1507329509.433 [BuoyancyServo](INFO): Powering down
2017-10-06T22:38:29.451Z,1507329509.451 [CBIT](INFO): Critical error at 20171006T223829
2017-10-06T22:38:29.732Z,1507329509.732 [CTD_NeilBrown](INFO): Powering down
2017-10-06T22:38:29.770Z,1507329509.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:29.776Z,1507329509.776 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:29.812Z,1507329509.812 [MassServo](DEBUG): Initializing EZServoServo.
2017-10-06T22:38:29.814Z,1507329509.814 [MassServo](DEBUG): Initializing MassServo.
2017-10-06T22:38:30.104Z,1507329510.104 [Radio_Surface](INFO): Powering up
2017-10-06T22:38:30.225Z,1507329510.225 [Depth_Keller](INFO): A/D timeout, 9 tries over 132 ms

2017-10-06T22:38:30.228Z,1507329510.228 [Depth_Keller] Data Fault, FailCount= 1
2017-10-06T22:38:30.228Z,1507329510.228 [Depth_Keller](ERROR): Data Fault
2017-10-06T22:38:30.321Z,1507329510.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:30.323Z,1507329510.323 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:30.369Z,1507329510.369 [CBIT](ERROR): Data Fault in component: Depth_Keller
2017-10-06T22:38:30.370Z,1507329510.370 [CBIT](INFO): Clearing failed state for component Depth_Keller
2017-10-06T22:38:30.370Z,1507329510.370 [Depth_Keller] No Fault, FailCount= 1
2017-10-06T22:38:30.528Z,1507329510.528 [PNI_TCM](FAULT): Failed to acquire valid data within timeout.
2017-10-06T22:38:30.528Z,1507329510.528 [PNI_TCM] Data Fault, FailCount= 2
2017-10-06T22:38:30.528Z,1507329510.528 [PNI_TCM](ERROR): Data Fault
2017-10-06T22:38:30.541Z,1507329510.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:30.543Z,1507329510.543 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:30.566Z,1507329510.566 [CBIT](ERROR): Data Fault in component: PNI_TCM
2017-10-06T22:38:30.914Z,1507329510.914 [PNI_TCM](INFO): Powering down
2017-10-06T22:38:30.984Z,1507329510.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:30.998Z,1507329510.998 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:31.060Z,1507329511.060 [CBIT](INFO): Clearing failed state for component CTD_NeilBrown
2017-10-06T22:38:31.060Z,1507329511.060 [CTD_NeilBrown] No Fault, FailCount= 1
2017-10-06T22:38:31.312Z,1507329511.312 [PNI_TCM](FAULT): LCB fault: LCB Watchdog Reset. Invalid Command. Hardware Overcurrent Shutdown. Software Overcurrent. Current Limiter Activated.
2017-10-06T22:38:31.312Z,1507329511.312 [PNI_TCM] Hardware Fault, FailCount= 2
2017-10-06T22:38:31.312Z,1507329511.312 [PNI_TCM](ERROR): Hardware Fault
2017-10-06T22:38:31.346Z,1507329511.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:31.348Z,1507329511.348 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2017-10-06T22:38:31.356Z,1507329511.356 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:31.371Z,1507329511.371 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2017-10-06T22:38:31.820Z,1507329511.820 [Depth_Keller](INFO): A/D timeout, 11 tries over 127 ms

2017-10-06T22:38:31.821Z,1507329511.821 [Depth_Keller] Data Fault, FailCount= 1
2017-10-06T22:38:31.821Z,1507329511.821 [Depth_Keller](ERROR): Data Fault
2017-10-06T22:38:31.866Z,1507329511.866 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:31.868Z,1507329511.868 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:31.886Z,1507329511.886 [CBIT](ERROR): Data Fault in component: Depth_Keller
2017-10-06T22:38:31.886Z,1507329511.886 [CBIT](INFO): Clearing failed state for component Depth_Keller
2017-10-06T22:38:31.886Z,1507329511.886 [Depth_Keller] No Fault, FailCount= 1
2017-10-06T22:38:32.133Z,1507329512.133 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:32.153Z,1507329512.153 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:32.170Z,1507329512.170 [CBIT](INFO): Clearing failed state for component PNI_TCM
2017-10-06T22:38:32.170Z,1507329512.170 [PNI_TCM] No Fault, FailCount= 2
2017-10-06T22:38:32.616Z,1507329512.616 [Depth_Keller](INFO): A/D timeout, 10 tries over 123 ms

2017-10-06T22:38:32.616Z,1507329512.616 [Depth_Keller] Data Fault, FailCount= 2
2017-10-06T22:38:32.616Z,1507329512.616 [Depth_Keller](ERROR): Data Fault
2017-10-06T22:38:32.662Z,1507329512.662 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:32.664Z,1507329512.664 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:32.675Z,1507329512.675 [CBIT](ERROR): Data Fault in component: Depth_Keller
2017-10-06T22:38:32.675Z,1507329512.675 [CBIT](INFO): Clearing failed state for component Depth_Keller
2017-10-06T22:38:32.675Z,1507329512.675 [Depth_Keller] No Fault, FailCount= 2
2017-10-06T22:38:32.933Z,1507329512.933 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:32.934Z,1507329512.934 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:33.418Z,1507329513.418 [Depth_Keller](INFO): A/D timeout, 14 tries over 124 ms

2017-10-06T22:38:33.418Z,1507329513.418 [Depth_Keller] Data Fault, FailCount= 3
2017-10-06T22:38:33.418Z,1507329513.418 [Depth_Keller](ERROR): Data Fault
2017-10-06T22:38:33.482Z,1507329513.482 [BPC1](FAULT): Failed to initialize
2017-10-06T22:38:33.482Z,1507329513.482 [BPC1] Communications Fault, FailCount= 2
2017-10-06T22:38:33.482Z,1507329513.482 [BPC1](ERROR): Communications Fault
2017-10-06T22:38:33.534Z,1507329513.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:33.536Z,1507329513.536 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:33.581Z,1507329513.581 [CBIT](ERROR): Data Fault in component: Depth_Keller
2017-10-06T22:38:33.584Z,1507329513.584 [CBIT](CRITICAL): Data Fault in component: Depth_Keller
2017-10-06T22:38:33.585Z,1507329513.585 [CBIT](ERROR): Communications Fault in component: BPC1
2017-10-06T22:38:33.674Z,1507329513.674 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2017-10-06T22:38:33.730Z,1507329513.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:33.731Z,1507329513.731 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:33.771Z,1507329513.771 [CBIT](INFO): Critical error at 20171006T223833
2017-10-06T22:38:34.136Z,1507329514.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:34.143Z,1507329514.143 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:34.545Z,1507329514.545 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:34.546Z,1507329514.546 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:34.603Z,1507329514.603 [CBIT](INFO): Clearing failed state for component BPC1
2017-10-06T22:38:34.604Z,1507329514.604 [BPC1] No Fault, FailCount= 2
2017-10-06T22:38:34.985Z,1507329514.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:34.987Z,1507329514.987 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:35.396Z,1507329515.396 [PNI_TCM](ERROR): No parameter response UART error: serial timeout
2017-10-06T22:38:35.396Z,1507329515.396 [PNI_TCM](ERROR): Received 0xFF
2017-10-06T22:38:35.397Z,1507329515.397 [Aanderaa_O2](FAULT): Timed out starting
2017-10-06T22:38:35.397Z,1507329515.397 [Aanderaa_O2] Communications Fault, FailCount= 3
2017-10-06T22:38:35.397Z,1507329515.397 [Aanderaa_O2](ERROR): Communications Fault
2017-10-06T22:38:35.414Z,1507329515.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:35.415Z,1507329515.415 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:35.437Z,1507329515.437 [CBIT](ERROR): Communications Fault in component: Aanderaa_O2
2017-10-06T22:38:35.438Z,1507329515.438 [CBIT](FAULT): Communications Fault in component: Aanderaa_O2
2017-10-06T22:38:35.761Z,1507329515.761 [Radio_Surface](INFO): Powering down
2017-10-06T22:38:35.856Z,1507329515.856 [Aanderaa_O2](INFO): Powering down
2017-10-06T22:38:35.867Z,1507329515.867 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:35.870Z,1507329515.870 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:36.169Z,1507329516.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:36.170Z,1507329516.170 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:36.550Z,1507329516.550 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:36.552Z,1507329516.552 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:36.952Z,1507329516.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:36.953Z,1507329516.953 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:37.344Z,1507329517.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:37.346Z,1507329517.346 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:37.758Z,1507329517.758 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:37.760Z,1507329517.760 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:38.173Z,1507329518.173 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:38.175Z,1507329518.175 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:38.533Z,1507329518.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:38.535Z,1507329518.535 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:38.935Z,1507329518.935 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:38.939Z,1507329518.939 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:39.337Z,1507329519.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:39.339Z,1507329519.339 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:39.760Z,1507329519.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:39.766Z,1507329519.766 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:40.057Z,1507329520.057 [CommandLine](IMPORTANT): got command failComponent
2017-10-06T22:38:40.058Z,1507329520.058 [CommandLine](IMPORTANT): Failed components:
2017-10-06T22:38:40.058Z,1507329520.058 [CommandLine](IMPORTANT): Depth_Keller: Data Fault
2017-10-06T22:38:40.058Z,1507329520.058 [CommandLine](IMPORTANT): DropWeight: Hardware Fault
2017-10-06T22:38:40.059Z,1507329520.059 [CommandLine](IMPORTANT): Aanderaa_O2: Communications Fault
2017-10-06T22:38:40.059Z,1507329520.059 [CommandLine](IMPORTANT): BuoyancyServo: Communications Fault
2017-10-06T22:38:40.059Z,1507329520.059 [CommandLine](IMPORTANT): ElevatorServo: Communications Fault
2017-10-06T22:38:40.059Z,1507329520.059 [CommandLine](IMPORTANT): MassServo: Communications Fault
2017-10-06T22:38:40.060Z,1507329520.060 [CommandLine](IMPORTANT): RudderServo: Communications Fault
2017-10-06T22:38:40.060Z,1507329520.060 [CommandLine](IMPORTANT): ThrusterServo: Communications Fault
2017-10-06T22:38:40.171Z,1507329520.171 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:40.178Z,1507329520.178 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:40.550Z,1507329520.550 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:40.554Z,1507329520.554 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:40.927Z,1507329520.927 [PNI_TCM](FAULT): Failed to acquire valid data within timeout.
2017-10-06T22:38:40.928Z,1507329520.928 [PNI_TCM] Data Fault, FailCount= 3
2017-10-06T22:38:40.928Z,1507329520.928 [PNI_TCM](ERROR): Data Fault
2017-10-06T22:38:40.978Z,1507329520.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:40.979Z,1507329520.979 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-10-06T22:38:41.026Z,1507329521.026 [CBIT](ERROR): Data Fault in component: PNI_TCM
2017-10-06T22:38:41.309Z,1507329521.309 [PNI_TCM](INFO): Powering down
2017-10-06T22:38:48.346Z,1507329528.346 [CommandLine](IMPORTANT): got command run ./Missions/Insert/Science.xml
2017-10-06T22:38:48.347Z,1507329528.347 [MissionManager](INFO): Loading Mission: ./Missions/Insert/Science.xml
2017-10-06T22:38:48.524Z,1507329528.524 [MissionManager](INFO): DefineArg Science.SampleISUS = 0 bool
2017-10-06T22:38:48.552Z,1507329528.552 [MissionManager](INFO): DefineArg Science.SampleISUSmaxPitch = 60.000000 arcdeg
2017-10-06T22:38:48.560Z,1507329528.560 [MissionManager](INFO): DefineArg Science.SampleISUSminPitch = -60.000000 arcdeg
2017-10-06T22:38:48.570Z,1507329528.570 [MissionManager](INFO): DefineArg Science.PeakDetectChlActive = 0 bool
2017-10-06T22:38:48.574Z,1507329528.574 [MissionManager](INFO): DefineArg Science.HighestChlPeakReportActive = 0 bool
2017-10-06T22:38:48.581Z,1507329528.581 [MissionManager](INFO): DefineArg Science.PatchTracking = 0 bool
2017-10-06T22:38:48.601Z,1507329528.601 [MissionManager](INFO): DefineArg Science.FilterWidthHorizontal = 3.000000 count
2017-10-06T22:38:48.614Z,1507329528.614 [MissionManager](INFO): DefineArg Science.NumProfilesSlidingwindow = 100.000000 count
2017-10-06T22:38:48.630Z,1507329528.630 [MissionManager](INFO): DefineArg Science.PeakDetectNO3Active = 0 bool
2017-10-06T22:38:48.637Z,1507329528.637 [MissionManager](INFO): DefineArg Science.UpwardDerivativeOfTemperatureActive = 0 bool
2017-10-06T22:38:48.646Z,1507329528.646 [MissionManager](INFO): DefineArg Science.EnabledAanderaaO2 = 1.000000 bool
2017-10-06T22:38:48.667Z,1507329528.667 [MissionManager](INFO): DefineArg Science.EnabledNeilBrown = 1.000000 bool
2017-10-06T22:38:48.682Z,1507329528.682 [MissionManager](INFO): DefineArg Science.EnabledSeabird = 0.000000 bool
2017-10-06T22:38:48.705Z,1507329528.705 [MissionManager](INFO): DefineArg Science.EnabledTurbulence_NPS = 0.000000 bool
2017-10-06T22:38:48.714Z,1507329528.714 [MissionManager](INFO): DefineArg Science.EnabledWetLabsBB2FL = 1.000000 bool
2017-10-06T22:38:48.722Z,1507329528.722 [MissionManager](INFO): DefineArg Science.EnabledISUS = 0.000000 bool
2017-10-06T22:38:48.727Z,1507329528.727 [MissionManager](INFO): DefineArg Science.LowPassWindowLength = 20.000000 count
2017-10-06T22:38:48.745Z,1507329528.745 [MissionManager](INFO): DefineArg Science.PeakChlShallowBound = nan m
2017-10-06T22:38:48.766Z,1507329528.766 [MissionManager](INFO): DefineArg Science.PeakChlDeepBound = nan m
2017-10-06T22:38:48.777Z,1507329528.777 [MissionManager](INFO): DefineOutput Science.PeakChl = 0.000000 ug/l
2017-10-06T22:38:48.785Z,1507329528.785 [MissionManager](INFO): DefineOutput Science.PeakChlDepth = 0.000000 m
2017-10-06T22:38:48.810Z,1507329528.810 [MissionManager](INFO): DefineOutput Science.PeakChlLatitude = nan arcdeg
2017-10-06T22:38:48.818Z,1507329528.818 [MissionManager](INFO): DefineOutput Science.PeakChlLongitude = nan arcdeg
2017-10-06T22:38:48.841Z,1507329528.841 [MissionManager](INFO): DefineOutput Science.PeakNO3 = 0.000000 umol/l
2017-10-06T22:38:48.856Z,1507329528.856 [MissionManager](INFO): DefineOutput Science.PeakNO3Depth = 0.000000 m
2017-10-06T22:38:48.864Z,1507329528.864 [MissionManager](INFO): DefineOutput Science.PeakNO3Latitude = nan arcdeg
2017-10-06T22:38:48.876Z,1507329528.876 [MissionManager](INFO): DefineOutput Science.PeakNO3Longitude = nan arcdeg
2017-10-06T22:38:48.890Z,1507329528.890 [MissionManager](INFO): DefineOutput Science.PatchChl = 0.000000 m
2017-10-06T22:38:48.932Z,1507329528.932 [MissionManager](INFO): DefineOutput Science.PatchChlDepth = 0.000000 m
2017-10-06T22:38:48.950Z,1507329528.950 [MissionManager](INFO): DefineOutput Science.PatchChlLatitude = nan arcdeg
2017-10-06T22:38:48.962Z,1507329528.962 [MissionManager](INFO): DefineOutput Science.PatchChlLongitude = nan arcdeg
2017-10-06T22:38:48.984Z,1507329528.984 [MissionManager](INFO): DefineOutput Science.PatchChlDistance = nan arcdeg
2017-10-06T22:38:49.038Z,1507329529.038 [Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2017-10-06T22:38:49.105Z,1507329529.105 [Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2017-10-06T22:38:49.149Z,1507329529.149 [Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2017-10-06T22:38:49.235Z,1507329529.235 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Aggregate xmlns="Tethys"
       xmlns:Derivation="Tethys/Derivation"
       xmlns:Science="Tethys/Science"
       xmlns:Sensor="Tethys/Sensor"
       xmlns:Trigger="Tethys/Trigger"
       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/Derivation http://okeanids.mbari.org/tethys/Xml/Derivation.xsd
                           Tethys/Science http://okeanids.mbari.org/tethys/Xml/Science.xsd
                           Tethys/Sensor http://okeanids.mbari.org/tethys/Xml/Sensor.xsd
                           Tethys/Trigger http://okeanids.mbari.org/tethys/Xml/Trigger.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="Science">

    <DefineArg Name="SampleISUS"><Description>
        Set either this or PeakDetectNO3Active to True in order to sample
        Nitrate. EnabledISUS must also be true.
    </Description><False/></DefineArg>

    <DefineArg Name="SampleISUSmaxPitch"><Description>
        Maximum pitch to sample ISUS. (EnabledISUS must also be true.)
    </Description><Units:degree/><Value>60.0</Value></DefineArg>

    <DefineArg Name="SampleISUSminPitch"><Description>
        Minimum pitch to sample ISUS. (EnabledISUS must also be true.)
    </Description><Units:degree/><Value>-60.0</Value></DefineArg>

    <DefineArg Name="PeakDetectChlActive"><Description>
        Turns on peak detection of Cholorphyll.
    </Description><False/></DefineArg>

    <DefineArg Name="HighestChlPeakReportActive"><Description>
        Turns on reporting of the highest peak value on yo-yo profiles in a
        horizontal sliding window (of length numProfilesSlidingwindow)
    </Description><False/></DefineArg>

    <DefineArg Name="PatchTracking"><Description>
        If tracking a patch
    </Description><False/></DefineArg>

    <DefineArg Name="FilterWidthHorizontal"><Description>
        Width of boxcar filter applied to yoyo-wise chl peaks to pick out the
        highest peak.
    </Description><Units:count/><Value>3</Value></DefineArg>

    <DefineArg Name="NumProfilesSlidingwindow"><Description>
        Length of horizontal sliding window. The highest yoyo-wise chl peak
        (after low-pass filtering by a filter of length FilterWidthHorizontal)
        within this window.
    </Description><Units:count/><Value>100</Value></DefineArg>

    <DefineArg Name="PeakDetectNO3Active"><Description>
        Turns on peak detection of Nitrate (and turns on ISUS).
    </Description><False/></DefineArg>

    <DefineArg Name="UpwardDerivativeOfTemperatureActive"><Description>
        Turns on seawater temperature derivative.
    </Description><False/></DefineArg>

    <DefineArg Name="EnabledAanderaaO2"><Description>
        Automatically set to True if the Aanderaa O2 sensor is installed. Set to
        false to disable reading Aandera O2.
    </Description><Science:Aanderaa_O2.loadAtStartup/></DefineArg>

    <DefineArg Name="EnabledNeilBrown"><Description>
        Automatically set to true if the Neil Brown CTD is enabled. Set to false
        to disable reading from the Neil Brown.
    </Description><Science:CTD_NeilBrown.loadAtStartup/></DefineArg>

    <DefineArg Name="EnabledSeabird"><Description>
        Automatically set to true if the CTD is enabled. Set to false to disable
        reading from the CTD.
    </Description><Science:CTD_Seabird.loadAtStartup/></DefineArg>

    <DefineArg Name="EnabledTurbulence_NPS"><Description>
        Automatically set to true if the NPS Turbulence sensor is enabled. Set
        to false to disable reading from the NPS Turbulence sensor.
    </Description><Science:Turbulence_NPS.loadAtStartup/></DefineArg>

    <DefineArg Name="EnabledWetLabsBB2FL"><Description>
        Automatically set to true if the the WetLabs BB2FL is enabled. Set to
        false to disable the WetLabs BB2FL.
    </Description><Science:WetLabsBB2FL.loadAtStartup/></DefineArg>

    <DefineArg Name="EnabledISUS"><Description>
        Automatically set to True if ISUS is enabled. Set to false to disable
        ISUS.
    </Description><Science:ISUS.loadAtStartup/></DefineArg>

<!--
    <DefineArg Name="EnabledSeeStar"><Description>
        Automatically set to True if SeeStar/SCPI is enabled. Set false to
        override.
    </Description><Sensor:SCPI.loadAtStartup/></DefineArg>

    <DefineArg Name="SeeStarTimeout"><Description>
        Timeout to trigger/read trigger for SeeStar camera.
    </Description><Sensor:SCPI.sampleTime/></DefineArg>

    <DefineArg Name="SeeStarTriggerDepth"><Description>
        Trigger the camera above this depth.
    </Description><Units:meter/><Value>40.0</Value></DefineArg>
-->

    <DefineArg Name="LowPassWindowLength"><Description>
        Low-pass window length (based on depth sensor sampling interval 0.4
        second) for low-pass filtering.
    </Description><Units:count/><Value>20</Value></DefineArg>

    <DefineArg Name="PeakChlShallowBound"><Description>
        Shallow depth bound for detecting chl peak on each descent or ascent
        profile.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="PeakChlDeepBound"><Description>
        Deep depth bound for detecting chl peak on each descent or ascent
        profile.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineOutput Name="PeakChl"><Units:microgram_per_liter/><Value>0</Value></DefineOutput>

    <DefineOutput Name="PeakChlDepth"><Units:meter/><Value>0</Value></DefineOutput>

    <DefineOutput Name="PeakChlLatitude"><Units:degree/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="PeakChlLongitude"><Units:degree/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="PeakNO3"><Units:micromole_per_liter/><Value>0</Value></DefineOutput>

    <DefineOutput Name="PeakNO3Depth"><Units:meter/><Value>0</Value></DefineOutput>

    <DefineOutput Name="PeakNO3Latitude"><Units:degree/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="PeakNO3Longitude"><Units:degree/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="PatchChl"><Units:meter/><Value>0</Value></DefineOutput>

    <DefineOutput Name="PatchChlDepth"><Units:meter/><Value>0</Value></DefineOutput>

    <DefineOutput Name="PatchChlLatitude"><Units:degree/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="PatchChlLongitude"><Units:degree/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="PatchChlDistance"><Units:degree/><Value>NaN</Value></DefineOutput>

    <Parallel/>

    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2"/>
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water/>
    </ReadData>

    <ReadData>
        <While>
            <Arg Name="EnabledISUS"/>
            <And><Universal:platform_pitch_angle/><Lt><Arg Name="SampleISUSmaxPitch"/></Lt><And><Universal:platform_pitch_angle/><Gt><Arg Name="SampleISUSminPitch"/></Gt><And><Arg Name="SampleISUS"/><Or><Arg Name="PeakDetectNO3Active"/></Or></And></And></And>
        </While>
        <Universal:mole_concentration_of_nitrate_in_sea_water/>
    </ReadData>

    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown"/>
            <Or><Arg Name="EnabledSeabird"/></Or>
        </While>
        <Universal:sea_water_temperature/>
        <Universal:sea_water_salinity/>
    </ReadData>

    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown"/>
            <Or><Arg Name="EnabledSeabird"/></Or>
            <And><Arg Name="UpwardDerivativeOfTemperatureActive"/></And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature/>
    </ReadData>

    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledTurbulence_NPS"/>
        </While>
        <Science:Turbulence_NPS.MicroCond/>
    </ReadData>

    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL"/>
            <Or><Arg Name="PeakDetectChlActive"/></Or>
        </While>
        <Universal:mass_concentration_of_chlorophyll_in_sea_water/>
    </ReadData>

    <Aggregate  Id="PeakDetectChl">

        <While>
            <Arg Name="PeakDetectChlActive"/>
        </While>

        <Trigger:PeakDetectVsDepth>
            <Sequence/>
            <Setting><Trigger:PeakDetectVsDepth.detect/><Universal:mass_concentration_of_chlorophyll_in_sea_water/></Setting>
            <Setting><Trigger:PeakDetectVsDepth.windowLength/><Arg Name="LowPassWindowLength"/></Setting>
            <Setting><Trigger:PeakDetectVsDepth.shallowBound/><Arg Name="PeakChlShallowBound"/></Setting>
            <Setting><Trigger:PeakDetectVsDepth.deepBound/><Arg Name="PeakChlDeepBound"/></Setting>
            <OutputArg Name="PeakChl"><Trigger:PeakDetectVsDepth.peakDetect/></OutputArg>
            <OutputArg Name="PeakChlDepth"><Trigger:PeakDetectVsDepth.peakDepth/></OutputArg>
            <OutputArg Name="PeakChlLatitude"><Trigger:PeakDetectVsDepth.peakLatitude/></OutputArg>
            <OutputArg Name="PeakChlLongitude"><Trigger:PeakDetectVsDepth.peakLongitude/></OutputArg>
        </Trigger:PeakDetectVsDepth>

        <SendData Service="Express"><Arg Name="PeakChl"/><Arg Name="PeakChlDepth"/>
        </SendData>

    </Aggregate>

    <Aggregate Id="HighestChlPeakReport">

        <While>
            <Arg Name="HighestChlPeakReportActive"/>
        </While>

        <Trigger:PeakDetectHorizontal>
            <Sequence/>
            <Setting><Trigger:PeakDetectHorizontal.detectFrom/><Arg Name="PeakChl"/></Setting>
            <Setting><Trigger:PeakDetectHorizontal.depthFrom/><Arg Name="PeakChlDepth"/></Setting>
            <Setting><Trigger:PeakDetectHorizontal.latitudeFrom/><Arg Name="PeakChlLatitude"/></Setting>
            <Setting><Trigger:PeakDetectHorizontal.longitudeFrom/><Arg Name="PeakChlLongitude"/></Setting>
            <Setting><Trigger:PeakDetectHorizontal.patchTracking/><Arg Name="PatchTracking"/></Setting>
            <Setting><Trigger:PeakDetectHorizontal.filterWidth/><Arg Name="FilterWidthHorizontal"/></Setting>
            <Setting><Trigger:PeakDetectHorizontal.numProfilesSlidingwindow/><Arg Name="NumProfilesSlidingwindow"/></Setting>
            <OutputArg Name="PatchChl"><Trigger:PeakDetectHorizontal.peakDetect/></OutputArg>
            <OutputArg Name="PatchChlDepth"><Trigger:PeakDetectHorizontal.peakDepth/></OutputArg>
            <OutputArg Name="PatchChlLatitude"><Trigger:PeakDetectHorizontal.peakLatitude/></OutputArg>
            <OutputArg Name="PatchChlLongitude"><Trigger:PeakDetectHorizontal.peakLongitude/></OutputArg>
            <OutputArg Name="PatchChlDistance"><Trigger:PeakDetectHorizontal.peakDistance/></OutputArg>
        </Trigger:PeakDetectHorizontal>

    </Aggregate>

    <Aggregate Id="PeakDetectNO3">

        <While>
            <Arg Name="PeakDetectNO3Active"/>
        </While>

        <Trigger:PeakDetectVsDepth>
            <Sequence/>
            <Se