2017-12-12T23:01:49.073Z,1513119709.073 [Supervisor](DEBUG): Initializing supervisor.
2017-12-12T23:01:49.075Z,1513119709.075 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2017-12-12T23:01:49.076Z,1513119709.076 [SyncHandler](INFO): Protected caller Thread ID is 4001
2017-12-12T23:01:49.076Z,1513119709.076 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2017-12-12T23:01:49.077Z,1513119709.077 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2017-12-12T23:01:49.078Z,1513119709.078 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 4002
2017-12-12T23:01:49.080Z,1513119709.080 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2017-12-12T23:01:49.092Z,1513119709.092 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2017-12-12T23:01:49.093Z,1513119709.093 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2017-12-12T23:01:49.093Z,1513119709.093 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 4003
2017-12-12T23:01:49.094Z,1513119709.094 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2017-12-12T23:01:49.094Z,1513119709.094 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2017-12-12T23:01:49.095Z,1513119709.095 [logger ThreadHandler](INFO): Protected caller Thread ID is 4004
2017-12-12T23:01:49.097Z,1513119709.097 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2017-12-12T23:01:49.097Z,1513119709.097 [Supervisor](INFO): Looking for Config files in directory: Config/
2017-12-12T23:01:49.099Z,1513119709.099 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2017-12-12T23:01:49.192Z,1513119709.192 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2017-12-12T23:01:49.193Z,1513119709.193 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2017-12-12T23:01:49.291Z,1513119709.291 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2017-12-12T23:01:49.291Z,1513119709.291 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2017-12-12T23:01:49.467Z,1513119709.467 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2017-12-12T23:01:49.467Z,1513119709.467 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2017-12-12T23:01:49.747Z,1513119709.747 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2017-12-12T23:01:49.748Z,1513119709.748 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2017-12-12T23:01:50.046Z,1513119710.046 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2017-12-12T23:01:50.046Z,1513119710.046 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2017-12-12T23:01:50.466Z,1513119710.466 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2017-12-12T23:01:50.467Z,1513119710.467 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2017-12-12T23:01:50.781Z,1513119710.781 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2017-12-12T23:01:50.782Z,1513119710.782 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2017-12-12T23:01:51.184Z,1513119711.184 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2017-12-12T23:01:51.185Z,1513119711.185 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2017-12-12T23:01:51.263Z,1513119711.263 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2017-12-12T23:01:51.535Z,1513119711.535 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2017-12-12T23:01:51.536Z,1513119711.536 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2017-12-12T23:01:51.671Z,1513119711.671 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2017-12-12T23:01:51.672Z,1513119711.672 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2017-12-12T23:01:51.860Z,1513119711.860 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2017-12-12T23:01:51.861Z,1513119711.861 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2017-12-12T23:01:52.048Z,1513119712.048 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2017-12-12T23:01:52.049Z,1513119712.049 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2017-12-12T23:01:52.142Z,1513119712.142 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2017-12-12T23:01:52.143Z,1513119712.143 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2017-12-12T23:01:52.276Z,1513119712.276 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2017-12-12T23:01:52.278Z,1513119712.278 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/
2017-12-12T23:01:52.279Z,1513119712.279 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Battery.cfg
2017-12-12T23:01:52.499Z,1513119712.499 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2017-12-12T23:01:52.500Z,1513119712.500 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/logger.cfg
2017-12-12T23:01:52.576Z,1513119712.576 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Science.cfg
2017-12-12T23:01:52.710Z,1513119712.710 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Control.cfg
2017-12-12T23:01:52.799Z,1513119712.799 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Simulator.cfg
2017-12-12T23:01:52.881Z,1513119712.881 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Sensor.cfg
2017-12-12T23:01:53.009Z,1513119713.009 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/vehicle.cfg
2017-12-12T23:01:53.164Z,1513119713.164 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Servo.cfg
2017-12-12T23:01:53.258Z,1513119713.258 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Navigation.cfg
2017-12-12T23:01:53.347Z,1513119713.347 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/BIT.cfg
2017-12-12T23:01:53.439Z,1513119713.439 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/secure.cfg
2017-12-12T23:01:53.521Z,1513119713.521 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/root/
2017-12-12T23:01:53.521Z,1513119713.521 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2017-12-12T23:01:53.530Z,1513119713.530 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2017-12-12T23:01:53.623Z,1513119713.623 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2017-12-12T23:01:53.624Z,1513119713.624 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2017-12-12T23:01:53.636Z,1513119713.636 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2017-12-12T23:01:53.637Z,1513119713.637 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2017-12-12T23:01:53.677Z,1513119713.677 [DepthRateCalculator] Loaded
2017-12-12T23:01:53.677Z,1513119713.677 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2017-12-12T23:01:53.683Z,1513119713.683 [PitchRateCalculator] Loaded
2017-12-12T23:01:53.683Z,1513119713.683 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2017-12-12T23:01:53.699Z,1513119713.699 [SpeedCalculator] Loaded
2017-12-12T23:01:53.699Z,1513119713.699 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2017-12-12T23:01:53.720Z,1513119713.720 [TempGradientCalculator] Loaded
2017-12-12T23:01:53.720Z,1513119713.720 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2017-12-12T23:01:53.735Z,1513119713.735 [VerticalTemperatureHomogeneityIndexCalculator] Loaded
2017-12-12T23:01:53.736Z,1513119713.736 [ComponentRegistry](DEBUG): SyncComponent "VerticalTemperatureHomogeneityIndexCalculator" handled in the control thread.
2017-12-12T23:01:53.741Z,1513119713.741 [YawRateCalculator] Loaded
2017-12-12T23:01:53.741Z,1513119713.741 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2017-12-12T23:01:53.777Z,1513119713.777 [ElevatorOffsetCalculator] Loaded
2017-12-12T23:01:53.778Z,1513119713.778 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2017-12-12T23:01:53.778Z,1513119713.778 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2017-12-12T23:01:53.778Z,1513119713.778 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2017-12-12T23:01:53.947Z,1513119713.947 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2017-12-12T23:01:53.957Z,1513119713.957 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2017-12-12T23:01:54.527Z,1513119714.527 [AcousticModem_Benthos_ATM900] Loaded
2017-12-12T23:01:54.527Z,1513119714.527 [ComponentRegistry](DEBUG): SyncComponent "AcousticModem_Benthos_ATM900" handled in the control thread.
2017-12-12T23:01:54.593Z,1513119714.593 [DataOverHttps] Loaded
2017-12-12T23:01:54.593Z,1513119714.593 [ComponentRegistry](DEBUG): SyncComponent "DataOverHttps" handled in the control thread.
2017-12-12T23:01:54.607Z,1513119714.607 [Depth_Keller] Loaded
2017-12-12T23:01:54.607Z,1513119714.607 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2017-12-12T23:01:54.612Z,1513119714.612 [DropWeight] Loaded
2017-12-12T23:01:54.612Z,1513119714.612 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2017-12-12T23:01:54.874Z,1513119714.874 [NAL9602] Loaded
2017-12-12T23:01:54.874Z,1513119714.874 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2017-12-12T23:01:54.890Z,1513119714.890 [Onboard] Loaded
2017-12-12T23:01:54.890Z,1513119714.890 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2017-12-12T23:01:54.897Z,1513119714.897 [Radio_Surface] Loaded
2017-12-12T23:01:54.897Z,1513119714.897 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2017-12-12T23:01:54.898Z,1513119714.898 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 407A24E0
2017-12-12T23:01:54.898Z,1513119714.898 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 4083
2017-12-12T23:01:54.944Z,1513119714.944 [PNI_TCM] Loaded
2017-12-12T23:01:54.944Z,1513119714.944 [ComponentRegistry](DEBUG): SyncComponent "PNI_TCM" handled in the control thread.
2017-12-12T23:01:56.655Z,1513119716.655 [BPC1] Loaded
2017-12-12T23:01:56.655Z,1513119716.655 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2017-12-12T23:01:56.656Z,1513119716.656 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2017-12-12T23:01:56.656Z,1513119716.656 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2017-12-12T23:01:56.777Z,1513119716.777 [SBIT](DEBUG): Construct Startup Built In Test.
2017-12-12T23:01:56.803Z,1513119716.803 [SBIT] Loaded
2017-12-12T23:01:56.803Z,1513119716.803 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2017-12-12T23:01:56.803Z,1513119716.803 [IBIT](DEBUG): Construct Initiated Built In Test.
2017-12-12T23:01:56.815Z,1513119716.815 [IBIT] Loaded
2017-12-12T23:01:56.815Z,1513119716.815 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2017-12-12T23:01:56.818Z,1513119716.818 [CBIT](DEBUG): Construct Continuous Built In Test.
2017-12-12T23:01:56.966Z,1513119716.966 [CBIT] Loaded
2017-12-12T23:01:56.967Z,1513119716.967 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2017-12-12T23:01:56.967Z,1513119716.967 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2017-12-12T23:01:56.968Z,1513119716.968 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2017-12-12T23:01:57.103Z,1513119717.103 [Aanderaa_O2] Loaded
2017-12-12T23:01:57.104Z,1513119717.104 [ComponentRegistry](DEBUG): SyncComponent "Aanderaa_O2" handled in the control thread.
2017-12-12T23:01:57.137Z,1513119717.137 [CTD_Seabird] Loaded
2017-12-12T23:01:57.137Z,1513119717.137 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2017-12-12T23:01:57.138Z,1513119717.138 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 408694E0
2017-12-12T23:01:57.139Z,1513119717.139 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 4084
2017-12-12T23:01:57.155Z,1513119717.155 [ESPComponent] Loaded
2017-12-12T23:01:57.155Z,1513119717.155 [ComponentRegistry](DEBUG): SyncComponent "ESPComponent" handled in the control thread.
2017-12-12T23:01:57.169Z,1513119717.169 [PAR_Licor] Loaded
2017-12-12T23:01:57.169Z,1513119717.169 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2017-12-12T23:01:57.217Z,1513119717.217 [WetLabsBB2FL] Loaded
2017-12-12T23:01:57.217Z,1513119717.217 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2017-12-12T23:01:57.218Z,1513119717.218 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 408994E0
2017-12-12T23:01:57.219Z,1513119717.219 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 4085
2017-12-12T23:01:57.261Z,1513119717.261 [WetLabsSeaOWL_UV_A] Loaded
2017-12-12T23:01:57.262Z,1513119717.262 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2017-12-12T23:01:57.263Z,1513119717.263 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 408C94E0
2017-12-12T23:01:57.263Z,1513119717.263 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 4086
2017-12-12T23:01:57.263Z,1513119717.263 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2017-12-12T23:01:57.264Z,1513119717.264 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2017-12-12T23:01:57.484Z,1513119717.484 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2017-12-12T23:01:57.484Z,1513119717.484 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2017-12-12T23:01:57.549Z,1513119717.549 [VerticalControl](DEBUG): Construct VerticalControl.
2017-12-12T23:01:57.641Z,1513119717.641 [VerticalControl] Loaded
2017-12-12T23:01:57.642Z,1513119717.642 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2017-12-12T23:01:57.642Z,1513119717.642 [HorizontalControl](DEBUG): Construct HorizontalControl.
2017-12-12T23:01:57.703Z,1513119717.703 [HorizontalControl] Loaded
2017-12-12T23:01:57.703Z,1513119717.703 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2017-12-12T23:01:57.704Z,1513119717.704 [SpeedControl](DEBUG): Construct SpeedControl.
2017-12-12T23:01:57.709Z,1513119717.709 [SpeedControl] Loaded
2017-12-12T23:01:57.709Z,1513119717.709 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2017-12-12T23:01:57.710Z,1513119717.710 [LoopControl](DEBUG): Construct LoopControl.
2017-12-12T23:01:57.710Z,1513119717.710 [LoopControl] Loaded
2017-12-12T23:01:57.710Z,1513119717.710 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2017-12-12T23:01:57.711Z,1513119717.711 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2017-12-12T23:01:57.711Z,1513119717.711 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2017-12-12T23:01:57.790Z,1513119717.790 [StratificationFrontDetector](INFO): threshold set to: 0.399988 degC
2017-12-12T23:01:57.790Z,1513119717.790 [StratificationFrontDetector](DEBUG): (re)initializing
2017-12-12T23:01:57.790Z,1513119717.790 [StratificationFrontDetector] Loaded
2017-12-12T23:01:57.791Z,1513119717.791 [ComponentRegistry](DEBUG): SyncComponent "StratificationFrontDetector" handled in the control thread.
2017-12-12T23:01:57.791Z,1513119717.791 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2017-12-12T23:01:57.792Z,1513119717.792 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2017-12-12T23:01:57.884Z,1513119717.884 [BuoyancyServo] Loaded
2017-12-12T23:01:57.885Z,1513119717.885 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2017-12-12T23:01:57.896Z,1513119717.896 [ElevatorServo] Loaded
2017-12-12T23:01:57.896Z,1513119717.896 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2017-12-12T23:01:57.906Z,1513119717.906 [MassServo] Loaded
2017-12-12T23:01:57.907Z,1513119717.907 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2017-12-12T23:01:57.917Z,1513119717.917 [RudderServo] Loaded
2017-12-12T23:01:57.918Z,1513119717.918 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2017-12-12T23:01:57.928Z,1513119717.928 [ThrusterServo] Loaded
2017-12-12T23:01:57.929Z,1513119717.929 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2017-12-12T23:01:57.929Z,1513119717.929 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2017-12-12T23:01:57.930Z,1513119717.930 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2017-12-12T23:01:58.024Z,1513119718.024 [DeadReckonUsingMultipleVelocitySources] Loaded
2017-12-12T23:01:58.024Z,1513119718.024 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2017-12-12T23:01:58.079Z,1513119718.079 [DeadReckonUsingSpeedCalculator] Loaded
2017-12-12T23:01:58.079Z,1513119718.079 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingSpeedCalculator" handled in the control thread.
2017-12-12T23:01:58.095Z,1513119718.095 [NavChart] Loaded
2017-12-12T23:01:58.096Z,1513119718.096 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2017-12-12T23:01:58.100Z,1513119718.100 [UniversalFixResidualReporter] Loaded
2017-12-12T23:01:58.100Z,1513119718.100 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2017-12-12T23:01:58.100Z,1513119718.100 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2017-12-12T23:01:58.104Z,1513119718.104 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2017-12-12T23:01:58.105Z,1513119718.105 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2017-12-12T23:01:58.111Z,1513119718.111 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2017-12-12T23:01:58.112Z,1513119718.112 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40A1B4E0
2017-12-12T23:01:58.113Z,1513119718.113 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 4087
2017-12-12T23:01:58.117Z,1513119718.117 [Supervisor](INFO): Main Thread ID is 3830
2017-12-12T23:01:58.117Z,1513119718.117 [Supervisor](DEBUG): Running supervisor.
2017-12-12T23:01:58.118Z,1513119718.118 [CommandLine ThreadHandler](INFO): Handler Thread ID is 4088
2017-12-12T23:01:58.121Z,1513119718.121 [controlThread ThreadHandler](INFO): Handler Thread ID is 4089
2017-12-12T23:01:58.121Z,1513119718.121 [controlThread](DEBUG): Initializing ControlThread
2017-12-12T23:01:58.122Z,1513119718.122 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2017-12-12T23:01:58.122Z,1513119718.122 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2017-12-12T23:01:58.123Z,1513119718.123 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2017-12-12T23:01:58.123Z,1513119718.123 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2017-12-12T23:01:58.123Z,1513119718.123 [VerticalTemperatureHomogeneityIndexCalculator](DEBUG): (re)initializing
2017-12-12T23:01:58.124Z,1513119718.124 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2017-12-12T23:01:58.125Z,1513119718.125 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2017-12-12T23:01:58.131Z,1513119718.131 [SBIT](INFO): Initialize SBIT Component.
2017-12-12T23:01:58.131Z,1513119718.131 [SBIT](IMPORTANT): git: 2017-11-20A-2-g40c84ee
2017-12-12T23:01:58.132Z,1513119718.132 [SBIT](INFO): git hash: 40c84eed00c272bed270104db0bfbfef219794f5
2017-12-12T23:01:58.132Z,1513119718.132 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2017-12-12T23:01:58.133Z,1513119718.133 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #639 PREEMPT Wed Mar 12 12:53:33 PDT 2014
Kernel Reported: #1 PREEMPT Wed Nov 29 17:23:09 PST 2017
2017-12-12T23:01:58.134Z,1513119718.134 [SBIT](INFO): Beginning SBIT in 63.000000 seconds.
2017-12-12T23:01:58.135Z,1513119718.135 [IBIT](INFO): Initialize IBIT Component.
2017-12-12T23:01:58.136Z,1513119718.136 [CBIT](DEBUG): Initialize CBIT Component.
2017-12-12T23:01:58.136Z,1513119718.136 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2017-12-12T23:01:58.137Z,1513119718.137 [logger ThreadHandler](INFO): Handler Thread ID is 4090
2017-12-12T23:01:58.157Z,1513119718.157 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 4091
2017-12-12T23:01:58.163Z,1513119718.163 [Radio_Surface](INFO): Powering up
2017-12-12T23:01:58.169Z,1513119718.169 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 4092
2017-12-12T23:01:58.170Z,1513119718.170 [CTD_Seabird](INFO): Initializing
2017-12-12T23:01:58.206Z,1513119718.206 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 4094
2017-12-12T23:01:58.207Z,1513119718.207 [WetLabsBB2FL](INFO): Powering down
2017-12-12T23:01:58.221Z,1513119718.221 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2017-12-12T23:01:58.223Z,1513119718.223 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2017-12-12T23:01:58.229Z,1513119718.229 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2017-12-12T23:01:58.229Z,1513119718.229 [LoopControl](DEBUG): Initialize LoopControlComponent.
2017-12-12T23:01:58.231Z,1513119718.231 [DeadReckonUsingMultipleVelocitySources](DEBUG): Initializing DeadReckonUsingMultipleVelocitySources component.
2017-12-12T23:01:58.232Z,1513119718.232 [DeadReckonUsingMultipleVelocitySources](INFO): Will consider orientation measurement stale after 120s.
2017-12-12T23:01:58.241Z,1513119718.241 [DeadReckonUsingMultipleVelocitySources](INFO): Will consider velocity measurement stale after 20s.
2017-12-12T23:01:58.241Z,1513119718.241 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2017-12-12T23:01:58.242Z,1513119718.242 [DeadReckonUsingSpeedCalculator](INFO): Will consider orientation measurement stale after 120s.
2017-12-12T23:01:58.242Z,1513119718.242 [DeadReckonUsingSpeedCalculator](INFO): Will consider velocity measurement stale after 20s.
2017-12-12T23:01:58.242Z,1513119718.242 [NavChart](DEBUG): Initialize NavChart Navigation.
2017-12-12T23:01:58.243Z,1513119718.243 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2017-12-12T23:01:58.244Z,1513119718.244 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2017-12-12T23:01:58.253Z,1513119718.253 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 4095
2017-12-12T23:01:58.273Z,1513119718.273 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 4096
2017-12-12T23:01:58.276Z,1513119718.276 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2017-12-12T23:01:58.277Z,1513119718.277 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2017-12-12T23:01:58.277Z,1513119718.277 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2017-12-12T23:01:58.277Z,1513119718.277 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2017-12-12T23:01:58.277Z,1513119718.277 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2017-12-12T23:01:58.277Z,1513119718.277 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2017-12-12T23:01:58.277Z,1513119718.277 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2017-12-12T23:01:58.278Z,1513119718.278 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2017-12-12T23:01:58.278Z,1513119718.278 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2017-12-12T23:01:58.278Z,1513119718.278 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2017-12-12T23:01:58.278Z,1513119718.278 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2017-12-12T23:01:58.278Z,1513119718.278 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2017-12-12T23:01:58.278Z,1513119718.278 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2017-12-12T23:01:58.279Z,1513119718.279 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2017-12-12T23:01:58.279Z,1513119718.279 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2017-12-12T23:01:58.279Z,1513119718.279 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2017-12-12T23:01:58.313Z,1513119718.313 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2017-12-12T23:01:58.347Z,1513119718.347 [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>


2017-12-12T23:01:58.348Z,1513119718.348 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2017-12-12T23:01:58.438Z,1513119718.438 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2017-12-12T23:01:58.439Z,1513119718.439 [Default:A.Wait](DEBUG): Construct Wait.
2017-12-12T23:01:58.463Z,1513119718.463 [CTD_Seabird](INFO): Stopping potential previous instance(s) of CTD_Seabird LCM interface
2017-12-12T23:01:58.463Z,1513119718.463 [CTD_Seabird](INFO): Powering down
2017-12-12T23:01:58.484Z,1513119718.484 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2017-12-12T23:01:58.513Z,1513119718.513 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2017-12-12T23:01:58.516Z,1513119718.516 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2017-12-12T23:01:58.537Z,1513119718.537 [Default:E.Execute](DEBUG): Construct Execute.
2017-12-12T23:01:58.558Z,1513119718.558 [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>


2017-12-12T23:01:58.564Z,1513119718.564 [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,ElevatorOffsetCalculator,StratificationFrontDetector,DeadReckonUsingMultipleVelocitySources,DeadReckonUsingSpeedCalculator,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2017-12-12T23:01:58.592Z,1513119718.592 [AcousticModem_Benthos_ATM900](INFO): Powering up
2017-12-12T23:01:58.592Z,1513119718.592 [AcousticModem_Benthos_ATM900](DEBUG): Initializing AcousticModem_Benthos_ATM900.
2017-12-12T23:01:58.623Z,1513119718.623 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2017-12-12T23:01:58.665Z,1513119718.665 [Depth_Keller](ERROR): Pressure reading out of range: 1895.584351 decibar
2017-12-12T23:01:59.033Z,1513119719.033 [DepthRateCalculator](ERROR): Depth measurement is not active
2017-12-12T23:01:59.165Z,1513119719.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-12-12T23:01:59.189Z,1513119719.189 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-12-12T23:01:59.278Z,1513119719.278 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2017-12-12T23:01:59.285Z,1513119719.285 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2017-12-12T23:01:59.307Z,1513119719.307 [ElevatorServo](DEBUG): Initializing EZServoServo.
2017-12-12T23:01:59.313Z,1513119719.313 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2017-12-12T23:01:59.337Z,1513119719.337 [MassServo](DEBUG): Initializing EZServoServo.
2017-12-12T23:01:59.345Z,1513119719.345 [MassServo](DEBUG): Initializing MassServo.
2017-12-12T23:01:59.350Z,1513119719.350 [RudderServo](DEBUG): Initializing EZServoServo.
2017-12-12T23:01:59.357Z,1513119719.357 [RudderServo](DEBUG): Initializing RudderServo.
2017-12-12T23:01:59.382Z,1513119719.382 [ThrusterServo](DEBUG): Initializing EZServoServo.
2017-12-12T23:01:59.389Z,1513119719.389 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2017-12-12T23:01:59.705Z,1513119719.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-12-12T23:01:59.706Z,1513119719.706 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-12-12T23:01:59.945Z,1513119719.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-12-12T23:01:59.946Z,1513119719.946 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-12-12T23:02:00.398Z,1513119720.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-12-12T23:02:00.399Z,1513119720.399 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-12-12T23:02:00.842Z,1513119720.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-12-12T23:02:00.843Z,1513119720.843 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-12-12T23:02:01.240Z,1513119721.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-12-12T23:02:01.242Z,1513119721.242 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-12-12T23:02:01.610Z,1513119721.610 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-12-12T23:02:01.611Z,1513119721.611 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-12-12T23:02:02.121Z,1513119722.121 [Aanderaa_O2](INFO): Powering down
2017-12-12T23:02:02.185Z,1513119722.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2017-12-12T23:02:02.186Z,1513119722.186 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2017-12-12T23:02:05.964Z,1513119725.964 [AcousticModem_Benthos_ATM900](DEBUG): 
2017-12-12T23:02:07.565Z,1513119727.565 [AcousticModem_Benthos_ATM900](DEBUG): Teledyne Benthos ATM-900 Series OEM w/burn wire
2017-12-12T23:02:07.566Z,1513119727.566 [AcousticModem_Benthos_ATM900](DEBUG): MF Frequency Band
2017-12-12T23:02:07.567Z,1513119727.567 [AcousticModem_Benthos_ATM900](DEBUG): Standard version 8.6.3
2017-12-12T23:02:07.567Z,1513119727.567 [AcousticModem_Benthos_ATM900](DEBUG): Feb  6 2000 05:23:38 
2017-12-12T23:02:07.965Z,1513119727.965 [AcousticModem_Benthos_ATM900](DEBUG): WARNING: battery low
2017-12-12T23:02:08.764Z,1513119728.764 [AcousticModem_Benthos_ATM900](INFO): entering command mode
2017-12-12T23:02:09.164Z,1513119729.164 [AcousticModem_Benthos_ATM900](DEBUG): checking for command mode acknowledgment
2017-12-12T23:02:09.165Z,1513119729.165 [AcousticModem_Benthos_ATM900](DEBUG): read user prompt 1: user:1>
2017-12-12T23:02:09.165Z,1513119729.165 [AcousticModem_Benthos_ATM900](INFO): command mode acknowledged
2017-12-12T23:02:09.564Z,1513119729.564 [AcousticModem_Benthos_ATM900](INFO): setting local address to 3
2017-12-12T23:02:09.964Z,1513119729.964 [AcousticModem_Benthos_ATM900](DEBUG): checking for local address setting acknowledgment
2017-12-12T23:02:09.965Z,1513119729.965 [AcousticModem_Benthos_ATM900](INFO): set local address to 3
2017-12-12T23:02:10.365Z,1513119730.365 [AcousticModem_Benthos_ATM900](DEBUG): read user prompt 2: user:2>
2017-12-12T23:02:25.174Z,1513119745.174 [NAL9602](INFO): Powering up NAL9602
2017-12-12T23:02:35.986Z,1513119755.986 [NAL9602](INFO): NAL9602 initialized
2017-12-12T23:02:48.784Z,1513119768.784 [NAL9602](INFO): SBD MO Status=2, MOMSN=19277, MT Status=2, MTMSN=0
2017-12-12T23:02:48.784Z,1513119768.784 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2017-12-12T23:03:01.694Z,1513119781.694 [SBIT](IMPORTANT): Beginning Startup BIT
2017-12-12T23:03:01.698Z,1513119781.698 [CBIT](IMPORTANT): Beginning ground fault scan
2017-12-12T23:03:02.379Z,1513119782.379 [NAL9602](INFO): SBD MO Status=2, MOMSN=19277, MT Status=2, MTMSN=0
2017-12-12T23:03:02.379Z,1513119782.379 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2017-12-12T23:03:12.654Z,1513119792.654 [CBIT](IMPORTANT): Ground fault detected
mA:
CHAN A0 (Batt): 0.114647
CHAN A1 (24V): 0.097536
CHAN A2 (12V): 0.064142
CHAN A3 (5V): 0.010897
CHAN B0 (3.3V): 0.004639
CHAN B1 (3.15aV): 0.004586
CHAN B2 (3.15bV): 0.004456
CHAN B3 (GND): -0.007331
OPEN: 0.013121
Full Scale Calc: 4.765 mA, -1.589 mA
2017-12-12T23:03:15.107Z,1513119795.107 [SBIT](FAULT): Rudder: EXPECTED:15.000000 ACTUAL:14.604862
2017-12-12T23:03:20.639Z,1513119800.639 [NAL9602](INFO): SBD MO Status=2, MOMSN=19277, MT Status=2, MTMSN=0
2017-12-12T23:03:20.640Z,1513119800.640 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2017-12-12T23:03:29.440Z,1513119809.440 [NAL9602](INFO): SBD MO Status=2, MOMSN=19277, MT Status=2, MTMSN=0
2017-12-12T23:03:29.440Z,1513119809.440 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2017-12-12T23:03:29.833Z,1513119809.833 [AcousticModem_Benthos_ATM900](INFO): received an acoustic signal
2017-12-12T23:03:30.228Z,1513119810.228 [AcousticModem_Benthos_ATM900](INFO): received a range request message
2017-12-12T23:03:41.836Z,1513119821.836 [NAL9602](INFO): SBD MO Status=2, MOMSN=19277, MT Status=2, MTMSN=0
2017-12-12T23:03:41.836Z,1513119821.836 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2017-12-12T23:03:45.553Z,1513119825.553 [AcousticModem_Benthos_ATM900](INFO): unknown deviceResponse_: TX time:05:25:03.1587

2017-12-12T23:03:45.554Z,1513119825.554 [AcousticModem_Benthos_ATM900](INFO): received an acoustic signal
2017-12-12T23:03:45.554Z,1513119825.554 [AcousticModem_Benthos_ATM900](INFO): received a range request message
2017-12-12T23:03:47.193Z,1513119827.193 [BPC1](ERROR): Failed to receive battery data
2017-12-12T23:03:47.193Z,1513119827.193 [BPC1] Communications Fault, FailCount= 1
2017-12-12T23:03:47.193Z,1513119827.193 [BPC1](ERROR): Communications Fault
2017-12-12T23:03:47.317Z,1513119827.317 [CBIT](ERROR): Communications Fault in component: BPC1
2017-12-12T23:03:48.482Z,1513119828.482 [CBIT](INFO): Clearing failed state for component BPC1
2017-12-12T23:03:48.482Z,1513119828.482 [BPC1] No Fault, FailCount= 1
2017-12-12T23:03:53.960Z,1513119833.960 [NAL9602](INFO): SBD MO Status=0, MOMSN=19277, MT Status=0, MTMSN=0
2017-12-12T23:03:53.960Z,1513119833.960 [NAL9602](INFO): No messages in MT queue
2017-12-12T23:03:55.283Z,1513119835.283 [SBIT](FAULT): Rudder: EXPECTED:0.000000 ACTUAL:-0.276392
2017-12-12T23:03:55.283Z,1513119835.283 [SBIT](FAULT): Control surface position failure.
2017-12-12T23:03:55.682Z,1513119835.682 [SBIT](CRITICAL): SBIT FAILED
2017-12-12T23:03:55.683Z,1513119835.683 [CommandLine](FAULT): Scheduling is paused
2017-12-12T23:03:55.684Z,1513119835.684 [CBIT](INFO): Critical error at 20171212T230355
2017-12-12T23:03:55.684Z,1513119835.684 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2017-12-12T23:03:56.011Z,1513119836.011 [MissionManager](IMPORTANT): Started mission Startup
2017-12-12T23:03:56.011Z,1513119836.011 [Startup] Running Loop=1
2017-12-12T23:03:56.011Z,1513119836.011 [Startup](DEBUG): Aggregate::initialize Startup
2017-12-12T23:03:56.011Z,1513119836.011 [Startup:A.GoToSurface] Running Loop=1
2017-12-12T23:03:56.011Z,1513119836.011 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2017-12-12T23:03:56.012Z,1513119836.012 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2017-12-12T23:03:56.012Z,1513119836.012 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2017-12-12T23:03:56.013Z,1513119836.013 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2017-12-12T23:03:56.013Z,1513119836.013 [Startup:A.GoToSurface](DEBUG): No pitch timeout specified. Using default value of 20.000000 seconds.
2017-12-12T23:03:56.014Z,1513119836.014 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2017-12-12T23:03:56.020Z,1513119836.020 [Startup:StartupSatComms] Running Loop=1
2017-12-12T23:03:56.021Z,1513119836.021 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2017-12-12T23:03:56.021Z,1513119836.021 [Startup:StartupSatComms:A] Running Loop=1
2017-12-12T23:03:56.411Z,1513119836.411 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2017-12-12T23:04:40.795Z,1513119880.795 [BPC1](ERROR): Failed to receive battery data
2017-12-12T23:04:40.795Z,1513119880.795 [BPC1] Communications Fault, FailCount= 1
2017-12-12T23:04:40.795Z,1513119880.795 [BPC1](ERROR): Communications Fault
2017-12-12T23:04:40.877Z,1513119880.877 [CBIT](ERROR): Communications Fault in component: BPC1
2017-12-12T23:04:42.086Z,1513119882.086 [CBIT](INFO): Clearing failed state for component BPC1
2017-12-12T23:04:42.086Z,1513119882.086 [BPC1] No Fault, FailCount= 1
2017-12-12T23:04:56.410Z,1513119896.410 [Startup:StartupSatComms:A](INFO): Timed out from 2017-12-12T23:03:56.0Z
2017-12-12T23:04:56.410Z,1513119896.410 [Startup:StartupSatComms:A] Stopped
2017-12-12T23:04:56.410Z,1513119896.410 [Startup:StartupSatComms:B] Running Loop=1
2017-12-12T23:04:56.818Z,1513119896.818 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2017-12-12T23:04:58.392Z,1513119898.392 [DeadReckonUsingMultipleVelocitySources](ERROR): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2017-12-12T23:04:58.392Z,1513119898.392 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2017-12-12T23:04:58.392Z,1513119898.392 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2017-12-12T23:04:58.394Z,1513119898.394 [DeadReckonUsingSpeedCalculator](ERROR): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2017-12-12T23:04:58.394Z,1513119898.394 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 1
2017-12-12T23:04:58.394Z,1513119898.394 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2017-12-12T23:04:58.489Z,1513119898.489 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2017-12-12T23:04:58.489Z,1513119898.489 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2017-12-12T23:04:58.881Z,1513119898.881 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2017-12-12T23:04:58.881Z,1513119898.881 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2017-12-12T23:04:58.881Z,1513119898.881 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2017-12-12T23:04:58.881Z,1513119898.881 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 1
2017-12-12T23:04:59.199Z,1513119899.199 [DeadReckonUsingMultipleVelocitySources](DEBUG): Initializing DeadReckonUsingMultipleVelocitySources component.
2017-12-12T23:04:59.199Z,1513119899.199 [DeadReckonUsingMultipleVelocitySources](INFO): Will consider orientation measurement stale after 120s.
2017-12-12T23:04:59.200Z,1513119899.200 [DeadReckonUsingMultipleVelocitySources](INFO): Will consider velocity measurement stale after 20s.
2017-12-12T23:04:59.200Z,1513119899.200 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2017-12-12T23:04:59.201Z,1513119899.201 [DeadReckonUsingSpeedCalculator](INFO): Will consider orientation measurement stale after 120s.
2017-12-12T23:04:59.201Z,1513119899.201 [DeadReckonUsingSpeedCalculator](INFO): Will consider velocity measurement stale after 20s.
2017-12-12T23:04:59.614Z,1513119899.614 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2017-12-12T23:05:00.075Z,1513119900.075 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.7 s old, using for 20.0 s.
2017-12-12T23:05:03.223Z,1513119903.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s.
2017-12-12T23:05:03.868Z,1513119903.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.5 s old, using for 20.0 s.
2017-12-12T23:05:04.025Z,1513119904.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.6 s old, using for 20.0 s.
2017-12-12T23:05:04.361Z,1513119904.361 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003646
2017-12-12T23:05:04.451Z,1513119904.451 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s.
2017-12-12T23:05:05.319Z,1513119905.319 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s.
2017-12-12T23:05:05.507Z,1513119905.507 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.1 s old, using for 20.0 s.
2017-12-12T23:05:08.853Z,1513119908.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.5 s old, using for 20.0 s.
2017-12-12T23:05:08.965Z,1513119908.965 [DataOverHttps](INFO): Sending 25 bytes from file Logs/20171212T224424/Courier0016.lzma
2017-12-12T23:05:09.066Z,1513119909.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.7 s old, using for 20.0 s.
2017-12-12T23:05:09.426Z,1513119909.426 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.0 s old, using for 20.0 s.
2017-12-12T23:05:09.758Z,1513119909.758 [DataOverHttps](INFO): Moved sent file to Logs/20171212T224424/Courier0016.lzma.bak
2017-12-12T23:05:09.759Z,1513119909.759 [DataOverHttps](INFO): SBD MOMSN=5432456
2017-12-12T23:05:09.894Z,1513119909.894 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.5 s old, using for 20.0 s.
2017-12-12T23:05:11.227Z,1513119911.227 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 12.8 s old, using for 20.0 s.
2017-12-12T23:05:11.395Z,1513119911.395 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 13.0 s old, using for 20.0 s.
2017-12-12T23:05:16.894Z,1513119916.894 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 18.5 s old, using for 20.0 s.
2017-12-12T23:05:17.051Z,1513119917.051 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 18.7 s old, using for 20.0 s.
2017-12-12T23:05:17.461Z,1513119917.461 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 19.1 s old, using for 20.0 s.
2017-12-12T23:05:17.890Z,1513119917.890 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 19.5 s old, using for 20.0 s.
2017-12-12T23:05:18.289Z,1513119918.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 19.9 s old, using for 20.0 s.
2017-12-12T23:05:26.542Z,1513119926.542 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20171212T230149/Courier0000.lzma
2017-12-12T23:05:27.342Z,1513119927.342 [DataOverHttps](INFO): Moved sent file to Logs/20171212T230149/Courier0000.lzma.bak
2017-12-12T23:05:27.342Z,1513119927.342 [DataOverHttps](INFO): SBD MOMSN=5432459
2017-12-12T23:05:29.742Z,1513119929.742 [AcousticModem_Benthos_ATM900](INFO): unknown deviceResponse_: TX time:05:25:18.8094

2017-12-12T23:05:29.743Z,1513119929.743 [AcousticModem_Benthos_ATM900](INFO): received an acoustic signal
2017-12-12T23:05:29.743Z,1513119929.743 [AcousticModem_Benthos_ATM900](INFO): received a range request message
2017-12-12T23:05:38.122Z,1513119938.122 [DataOverHttps](INFO): Sending 133 bytes from file Logs/20171212T224424/Express0017.lzma
2017-12-12T23:05:38.918Z,1513119938.918 [DataOverHttps](INFO): Moved sent file to Logs/20171212T224424/Express0017.lzma.bak
2017-12-12T23:05:38.918Z,1513119938.918 [DataOverHttps](INFO): SBD MOMSN=5432463
2017-12-12T23:05:44.877Z,1513119944.877 [AcousticModem_Benthos_ATM900](INFO): unknown deviceResponse_: TX time:05:27:02.6578

2017-12-12T23:05:44.878Z,1513119944.878 [AcousticModem_Benthos_ATM900](INFO): received an acoustic signal
2017-12-12T23:05:45.276Z,1513119945.276 [AcousticModem_Benthos_ATM900](INFO): received a range request message
2017-12-12T23:05:49.401Z,1513119949.401 [DataOverHttps](INFO): Sending 634 bytes from file Logs/20171212T230149/Express0001.lzma
2017-12-12T23:05:50.198Z,1513119950.198 [DataOverHttps](INFO): Moved sent file to Logs/20171212T230149/Express0001.lzma.bak
2017-12-12T23:05:50.200Z,1513119950.200 [DataOverHttps](INFO): SBD MOMSN=5432467
2017-12-12T23:05:51.562Z,1513119951.562 [Startup:StartupSatComms:B] Stopped
2017-12-12T23:05:51.562Z,1513119951.562 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2017-12-12T23:05:51.562Z,1513119951.562 [Startup:StartupSatComms] Stopped
2017-12-12T23:05:51.562Z,1513119951.562 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2017-12-12T23:05:51.563Z,1513119951.563 [Startup](INFO): Completed Startup
2017-12-12T23:05:51.563Z,1513119951.563 [MissionManager](INFO): Startup is completed.
2017-12-12T23:05:51.563Z,1513119951.563 [MissionManager](INFO): Uninitializing Mission Startup
2017-12-12T23:05:51.563Z,1513119951.563 [Startup] Stopped
2017-12-12T23:05:51.563Z,1513119951.563 [Startup](DEBUG): Aggregate::uninitialize Startup
2017-12-12T23:05:51.564Z,1513119951.564 [Startup:A.GoToSurface] Stopped
2017-12-12T23:05:51.564Z,1513119951.564 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2017-12-12T23:05:51.727Z,1513119951.727 [MissionManager](IMPORTANT): Started mission Default
2017-12-12T23:05:51.727Z,1513119951.727 [Default] Running Loop=1
2017-12-12T23:05:51.727Z,1513119951.727 [Default](DEBUG): Aggregate::initialize Default
2017-12-12T23:05:51.727Z,1513119951.727 [Default:B.GoToSurface] Running Loop=1
2017-12-12T23:05:51.727Z,1513119951.727 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2017-12-12T23:05:51.728Z,1513119951.728 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2017-12-12T23:05:51.728Z,1513119951.728 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2017-12-12T23:05:51.728Z,1513119951.728 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2017-12-12T23:05:51.734Z,1513119951.734 [Default:B.GoToSurface](DEBUG): No pitch timeout specified. Using default value of 20.000000 seconds.
2017-12-12T23:05:51.734Z,1513119951.734 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2017-12-12T23:05:51.734Z,1513119951.734 [Default:A.Wait] Running Loop=1
2017-12-12T23:05:51.734Z,1513119951.734 [Default:A.Wait](DEBUG): Initialize Wait Component.
2017-12-12T23:06:05.056Z,1513119965.056 [Default:A.Wait](INFO): Done Waiting.
2017-12-12T23:06:05.057Z,1513119965.057 [Default:A.Wait] Stopped
2017-12-12T23:06:05.057Z,1513119965.057 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2017-12-12T23:06:05.441Z,1513119965.441 [Default:CheckIn] Running Loop=1
2017-12-12T23:06:05.441Z,1513119965.441 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2017-12-12T23:06:05.441Z,1513119965.441 [Default:CheckIn:Read_GPS] Running Loop=1
2017-12-12T23:06:05.842Z,1513119965.842 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2017-12-12T23:06:22.596Z,1513119982.596 [NAL9602](INFO): GPS fix at 20171212T230620: (36.802733, -121.787964)
2017-12-12T23:06:22.678Z,1513119982.678 [Default:CheckIn:Read_GPS] Stopped
2017-12-12T23:06:22.678Z,1513119982.678 [Default:CheckIn:Read_Iridium] Running Loop=1
2017-12-12T23:06:23.091Z,1513119983.091 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2017-12-12T23:06:29.503Z,1513119989.503 [DataOverHttps](INFO): Sending 212 bytes from file Logs/20171212T230149/Courier0004.lzma
2017-12-12T23:06:30.303Z,1513119990.303 [DataOverHttps](INFO): Moved sent file to Logs/20171212T230149/Courier0004.lzma.bak
2017-12-12T23:06:30.303Z,1513119990.303 [DataOverHttps](IMPORTANT): SBD MOMSN=5432481, MTMSN=20171212T230628
2017-12-12T23:06:35.603Z,1513119995.603 [DataOverHttps](INFO): Received command:sched asap "load Science/depth_sequence_sampling.xml;set DonutAtDepthSequence.AcousticTimeout 7 minute;set DonutAtDepthSequence.SpeedTransit 0 meter_per_second;set DonutAtDepthSequence.SpeedDepthHoldingSampling 0 meter_per_second" o05y 1 2
2017-12-12T23:06:35.674Z,1513119995.674 [CommandLine](IMPORTANT): got command schedule asap "load Science/depth_sequence_sampling.xml;set DonutAtDepthSequence.AcousticTimeout 7 minute;set DonutAtDepthSequence.SpeedTransit 0 meter_per_second;set DonutAtDepthSequence.SpeedDepthHoldingSampling 0 meter_per_second" o05y 1 2.000000
2017-12-12T23:06:35.674Z,1513119995.674 [CommandLine](IMPORTANT): Scheduling command #1 of 2 with id=o05y
2017-12-12T23:06:35.675Z,1513119995.675 [CommandLine](IMPORTANT): Scheduled #1 (#1 of 2 with id='o05y'): "load Science/depth_sequence_sampling.xml;set DonutAtDepthSequence.AcousticTimeout 7 minute;set DonutAtDepthSequence.SpeedTransit 0 meter_per_second;set DonutAtDepthSequence.SpeedDepthHoldingSampling 0 meter_per_second" ASAP
2017-12-12T23:06:36.576Z,1513119996.576 [DataOverHttps](IMPORTANT): SBD MTMSN=20171212T230634
2017-12-12T23:06:41.702Z,1513120001.702 [DataOverHttps](INFO): Sending 211 bytes from file Logs/20171212T230149/Express0005.lzma
2017-12-12T23:06:41.705Z,1513120001.705 [DataOverHttps](INFO): Received command:sched asap "set DonutAtDepthSequence.RudderAngle 0 degree;set DonutAtDepthSequence.NumESPSamplers 1 count;set DonutAtDepthSequence.Depth1 0 meter;run " o05y 2 2
2017-12-12T23:06:41.781Z,1513120001.781 [CommandLine](IMPORTANT): got command schedule asap "set DonutAtDepthSequence.RudderAngle 0 degree;set DonutAtDepthSequence.NumESPSamplers 1 count;set DonutAtDepthSequence.Depth1 0 meter;run " o05y 2 2.000000
2017-12-12T23:06:41.782Z,1513120001.782 [CommandLine](IMPORTANT): Scheduling command #2 of 2 with id=o05y
2017-12-12T23:06:41.783Z,1513120001.783 [CommandLine](IMPORTANT): Scheduled #2 (#2 of 2 with id='o05y'): "set DonutAtDepthSequence.RudderAngle 0 degree;set DonutAtDepthSequence.NumESPSamplers 1 count;set DonutAtDepthSequence.Depth1 0 meter;run " ASAP
2017-12-12T23:06:41.898Z,1513120001.898 [CommandLine](IMPORTANT): got command load ./Missions/Science/depth_sequence_sampling.xml
2017-12-12T23:06:41.898Z,1513120001.898 [MissionManager](INFO): Loading Mission: ./Missions/Science/depth_sequence_sampling.xml
2017-12-12T23:06:42.675Z,1513120002.675 [DataOverHttps](INFO): Moved sent file to Logs/20171212T230149/Express0005.lzma.bak
2017-12-12T23:06:42.676Z,1513120002.676 [DataOverHttps](INFO): SBD MOMSN=5432485
2017-12-12T23:06:42.772Z,1513120002.772 [MissionManager](INFO): DefineArg DonutAtDepthSequence.MissionTimeout = 10.000000 h
2017-12-12T23:06:42.788Z,1513120002.788 [MissionManager](INFO): DefineArg DonutAtDepthSequence.NeedCommsTimeInTransect = 60.000000 min
2017-12-12T23:06:42.792Z,1513120002.792 [MissionManager](INFO): DefineArg DonutAtDepthSequence.AcousticTimeout = 10.100000 h
2017-12-12T23:06:42.799Z,1513120002.799 [MissionManager](INFO): DefineArg DonutAtDepthSequence.SpeedTransit = 1.000000 m/s
2017-12-12T23:06:42.826Z,1513120002.826 [MissionManager](INFO): DefineArg DonutAtDepthSequence.SpeedDepthHoldingSampling = 1.000000 m/s
2017-12-12T23:06:42.834Z,1513120002.834 [MissionManager](INFO): DefineArg DonutAtDepthSequence.RudderAngle = 13.000000 arcdeg
2017-12-12T23:06:42.852Z,1513120002.852 [MissionManager](INFO): DefineArg DonutAtDepthSequence.NumESPSamplers = 9.000000 count
2017-12-12T23:06:42.861Z,1513120002.861 [MissionManager](INFO): DefineArg DonutAtDepthSequence.RepeatTransects = 1.000000 count
2017-12-12T23:06:42.869Z,1513120002.869 [MissionManager](INFO): DefineArg DonutAtDepthSequence.Lat1 = nan arcdeg
2017-12-12T23:06:42.872Z,1513120002.872 [MissionManager](INFO): DefineArg DonutAtDepthSequence.Lon1 = nan arcdeg
2017-12-12T23:06:42.883Z,1513120002.883 [MissionManager](INFO): DefineArg DonutAtDepthSequence.Lat2 = nan arcdeg
2017-12-12T23:06:42.894Z,1513120002.894 [MissionManager](INFO): DefineArg DonutAtDepthSequence.Lon2 = nan arcdeg
2017-12-12T23:06:42.906Z,1513120002.906 [MissionManager](INFO): DefineArg DonutAtDepthSequence.Lat3 = nan arcdeg
2017-12-12T23:06:42.910Z,1513120002.910 [MissionManager](INFO): DefineArg DonutAtDepthSequence.Lon3 = nan arcdeg
2017-12-12T23:06:42.925Z,1513120002.925 [MissionManager](INFO): DefineArg DonutAtDepthSequence.Lat4 = nan arcdeg
2017-12-12T23:06:42.928Z,1513120002.928 [MissionManager](INFO): DefineArg DonutAtDepthSequence.Lon4 = nan arcdeg
2017-12-12T23:06:42.932Z,1513120002.932 [MissionManager](INFO): DefineArg DonutAtDepthSequence.Lat5 = nan arcdeg
2017-12-12T23:06:42.939Z,1513120002.939 [MissionManager](INFO): DefineArg DonutAtDepthSequence.Lon5 = nan arcdeg
2017-12-12T23:06:42.947Z,1513120002.947 [MissionManager](INFO): DefineArg DonutAtDepthSequence.Lat6 = nan arcdeg
2017-12-12T23:06:42.958Z,1513120002.958 [MissionManager](INFO): DefineArg DonutAtDepthSequence.Lon6 = nan arcdeg
2017-12-12T23:06:42.963Z,1513120002.963 [MissionManager](INFO): DefineArg DonutAtDepthSequence.Lat7 = nan arcdeg
2017-12-12T23:06:42.974Z,1513120002.974 [MissionManager](INFO): DefineArg DonutAtDepthSequence.Lon7 = nan arcdeg
2017-12-12T23:06:42.983Z,1513120002.983 [MissionManager](INFO): DefineArg DonutAtDepthSequence.Lat8 = nan arcdeg
2017-12-12T23:06:42.994Z,1513120002.994 [MissionManager](INFO): DefineArg DonutAtDepthSequence.Lon8 = nan arcdeg
2017-12-12T23:06:42.998Z,1513120002.998 [MissionManager](INFO): DefineArg DonutAtDepthSequence.Lat9 = nan arcdeg
2017-12-12T23:06:43.013Z,1513120003.013 [MissionManager](INFO): DefineArg DonutAtDepthSequence.Lon9 = nan arcdeg
2017-12-12T23:06:43.018Z,1513120003.018 [MissionManager](INFO): DefineArg DonutAtDepthSequence.Lat10 = nan arcdeg
2017-12-12T23:06:43.022Z,1513120003.022 [MissionManager](INFO): DefineArg DonutAtDepthSequence.Lon10 = nan arcdeg
2017-12-12T23:06:43.030Z,1513120003.030 [MissionManager](INFO): DefineArg DonutAtDepthSequence.SampleOptionsSet = 0 bool
2017-12-12T23:06:43.041Z,1513120003.041 [MissionManager](INFO): DefineArg DonutAtDepthSequence.SampleCompleted = 0 bool
2017-12-12T23:06:43.044Z,1513120003.044 [MissionManager](INFO): DefineArg DonutAtDepthSequence.StoppedForNoFiringForTooLong = 0 bool
2017-12-12T23:06:43.054Z,1513120003.054 [MissionManager](INFO): DefineArg DonutAtDepthSequence.Depth1 = 10.000000 m
2017-12-12T23:06:43.069Z,1513120003.069 [MissionManager](INFO): DefineArg DonutAtDepthSequence.Depth2 = 20.000000 m
2017-12-12T23:06:43.105Z,1513120003.105 [MissionManager](INFO): DefineArg DonutAtDepthSequence.Depth3 = 30.000000 m
2017-12-12T23:06:43.118Z,1513120003.118 [MissionManager](INFO): DefineArg DonutAtDepthSequence.Depth4 = 10.000000 m
2017-12-12T23:06:43.153Z,1513120003.153 [MissionManager](INFO): DefineArg DonutAtDepthSequence.Depth5 = 20.000000 m
2017-12-12T23:06:43.170Z,1513120003.170 [MissionManager](INFO): DefineArg DonutAtDepthSequence.Depth6 = 30.000000 m
2017-12-12T23:06:43.197Z,1513120003.197 [MissionManager](INFO): DefineArg DonutAtDepthSequence.Depth7 = 10.000000 m
2017-12-12T23:06:43.200Z,1513120003.200 [MissionManager](INFO): DefineArg DonutAtDepthSequence.Depth8 = 20.000000 m
2017-12-12T23:06:43.220Z,1513120003.220 [MissionManager](INFO): DefineArg DonutAtDepthSequence.Depth9 = 30.000000 m
2017-12-12T23:06:43.242Z,1513120003.242 [MissionManager](INFO): DefineArg DonutAtDepthSequence.Depth10 = 10.000000 m
2017-12-12T23:06:43.258Z,1513120003.258 [MissionManager](INFO): DefineArg DonutAtDepthSequence.FromLastTimeFixToStartDepthSampling = nan min
2017-12-12T23:06:43.265Z,1513120003.265 [MissionManager](INFO): DefineArg DonutAtDepthSequence.FromLastTimeFixToNow = nan min
2017-12-12T23:06:43.278Z,1513120003.278 [MissionManager](INFO): DefineArg DonutAtDepthSequence.FromLastTimeFixToLastFiring = nan min
2017-12-12T23:06:43.289Z,1513120003.289 [MissionManager](INFO): DefineArg DonutAtDepthSequence.CylinderYoYo = 1 bool
2017-12-12T23:06:43.309Z,1513120003.309 [MissionManager](INFO): DefineArg DonutAtDepthSequence.CylinderTimeout = 30.000000 min
2017-12-12T23:06:43.317Z,1513120003.317 [MissionManager](INFO): DefineArg DonutAtDepthSequence.CylinderYoYoMinDep = 1.500000 m
2017-12-12T23:06:43.320Z,1513120003.320 [MissionManager](INFO): DefineArg DonutAtDepthSequence.CylinderYoYoMaxDep = 30.000000 m
2017-12-12T23:06:43.332Z,1513120003.332 [MissionManager](INFO): DefineArg DonutAtDepthSequence.CylinderRadius = 200.000000 m
2017-12-12T23:06:43.347Z,1513120003.347 [MissionManager](INFO): DefineArg DonutAtDepthSequence.CylinderCircleMaxError = 100.000000 m
2017-12-12T23:06:43.355Z,1513120003.355 [MissionManager](INFO): DefineArg DonutAtDepthSequence.CylinderCircleTurnToPort = 0 bool
2017-12-12T23:06:43.379Z,1513120003.379 [MissionManager](INFO): DefineArg DonutAtDepthSequence.KwpHeading = 0.010000 rad/m
2017-12-12T23:06:43.387Z,1513120003.387 [MissionManager](INFO): DefineArg DonutAtDepthSequence.MaxCirclesOnCylinder = 1.000000 count
2017-12-12T23:06:43.410Z,1513120003.410 [MissionManager](INFO): DefineArg DonutAtDepthSequence.TransitYoYoMinDepth = 1.500000 m
2017-12-12T23:06:43.422Z,1513120003.422 [MissionManager](INFO): DefineArg DonutAtDepthSequence.TransitYoYoMaxDepth = 30.000000 m
2017-12-12T23:06:43.433Z,1513120003.433 [MissionManager](INFO): DefineArg DonutAtDepthSequence.YoYoMinDepth = 1.500000 m
2017-12-12T23:06:43.449Z,1513120003.449 [MissionManager](INFO): DefineArg DonutAtDepthSequence.YoYoMaxDepth = 30.000000 m
2017-12-12T23:06:43.452Z,1513120003.452 [MissionManager](INFO): DefineArg DonutAtDepthSequence.YoYoMinAltitude = 9.000000 m
2017-12-12T23:06:43.460Z,1513120003.460 [MissionManager](INFO): DefineArg DonutAtDepthSequence.YoYoUpPitch = 20.000000 arcdeg
2017-12-12T23:06:43.480Z,1513120003.480 [MissionManager](INFO): DefineArg DonutAtDepthSequence.YoYoDownPitch = -20.000000 arcdeg
2017-12-12T23:06:43.492Z,1513120003.492 [MissionManager](INFO): DefineArg DonutAtDepthSequence.NumberOfProfilesSlidingwindow = 100.000000 count
2017-12-12T23:06:43.517Z,1513120003.517 [MissionManager](INFO): DefineArg DonutAtDepthSequence.LPWindowLength = 40.000000 count
2017-12-12T23:06:43.529Z,1513120003.529 [MissionManager](INFO): DefineArg DonutAtDepthSequence.UpRate = -0.040000 m/s
2017-12-12T23:06:43.545Z,1513120003.545 [MissionManager](INFO): DefineArg DonutAtDepthSequence.DownRate = 0.200000 m/s
2017-12-12T23:06:43.550Z,1513120003.550 [MissionManager](INFO): DefineArg DonutAtDepthSequence.BuoyancyNeutral = 330.000010 cc
2017-12-12T23:06:43.582Z,1513120003.582 [MissionManager](INFO): DefineArg DonutAtDepthSequence.MassDefault = 1.100000 cm
2017-12-12T23:06:43.586Z,1513120003.586 [MissionManager](INFO): DefineArg DonutAtDepthSequence.ShallowBoundChl = 4.500000 m
2017-12-12T23:06:43.590Z,1513120003.590 [MissionManager](INFO): DefineArg DonutAtDepthSequence.DeepBoundChl = 27.000000 m
2017-12-12T23:06:43.611Z,1513120003.611 [MissionManager](INFO): DefineArg DonutAtDepthSequence.MinAltitude = 7.000000 m
2017-12-12T23:06:43.614Z,1513120003.614 [MissionManager](INFO): DefineArg DonutAtDepthSequence.MaxDepth = 100.000000 m
2017-12-12T23:06:43.646Z,1513120003.646 [MissionManager](INFO): DefineArg DonutAtDepthSequence.MinOffshore = 2.000000 km
2017-12-12T23:06:43.650Z,1513120003.650 [MissionManager](INFO): DefineArg DonutAtDepthSequence.DepthLogged = 0.000000 m
2017-12-12T23:06:43.685Z,1513120003.685 [MissionManager](INFO): DefineArg DonutAtDepthSequence.ChlLogged = 0.000000 ug/l
2017-12-12T23:06:43.688Z,1513120003.688 [MissionManager](INFO): DefineArg DonutAtDepthSequence.StartDepthSampling = 0 bool
2017-12-12T23:06:43.700Z,1513120003.700 [MissionManager](INFO): DefineArg DonutAtDepthSequence.VerticalTolerance = 0.100000 m
2017-12-12T23:06:43.712Z,1513120003.712 [MissionManager](INFO): DefineArg DonutAtDepthSequence.FlagSamplingOngoing = 0 bool
2017-12-12T23:06:43.731Z,1513120003.731 [MissionManager](INFO): DefineArg DonutAtDepthSequence.FlagFiredAtSamplingLocation = 0 bool
2017-12-12T23:06:43.734Z,1513120003.734 [MissionManager](INFO): DefineArg DonutAtDepthSequence.MaxWaitNoFiring = 3.000000 h
2017-12-12T23:06:43.766Z,1513120003.766 [MissionManager](INFO): DefineArg DonutAtDepthSequence.LatSet = nan arcdeg
2017-12-12T23:06:43.769Z,1513120003.769 [MissionManager](INFO): DefineArg DonutAtDepthSequence.LonSet = nan arcdeg
2017-12-12T23:06:43.793Z,1513120003.793 [MissionManager](INFO): DefineArg DonutAtDepthSequence.DepthSet = 10.000000 m
2017-12-12T23:06:43.797Z,1513120003.797 [MissionManager](INFO): DefineArg DonutAtDepthSequence.WaitDepthUndulation = 10.000000 min
2017-12-12T23:06:43.800Z,1513120003.800 [MissionManager](INFO): DefineArg DonutAtDepthSequence.CntSamples = 1.000000 count
2017-12-12T23:06:43.821Z,1513120003.821 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2017-12-12T23:06:43.869Z,1513120003.869 [MissionManager](INFO): DefineArg DonutAtDepthSequence:StandardEnvelopes.MinAltitude = 5.000000 m
2017-12-12T23:06:43.897Z,1513120003.897 [MissionManager](INFO): DefineArg DonutAtDepthSequence:StandardEnvelopes.MaxDepth = 200.000000 m
2017-12-12T23:06:43.901Z,1513120003.901 [MissionManager](INFO): DefineArg DonutAtDepthSequence:StandardEnvelopes.MinOffshore = 2000.000000 m
2017-12-12T23:06:43.902Z,1513120003.902 [DonutAtDepthSequence:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2017-12-12T23:06:43.962Z,1513120003.962 [DonutAtDepthSequence:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2017-12-12T23:06:43.991Z,1513120003.991 [DonutAtDepthSequence:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2017-12-12T23:06:44.046Z,1513120004.046 [MissionManager](INFO): Inserting Stack: Missions/Insert/AbortDrift.xml
2017-12-12T23:06:44.110Z,1513120004.110 [MissionManager](INFO): DefineArg DonutAtDepthSequence:AbortDrift.AcousticTimeout = 2.000000 h
2017-12-12T23:06:44.121Z,1513120004.121 [MissionManager](INFO): DefineArg DonutAtDepthSequence:AbortDrift.SyslogStop = 0 bool
2017-12-12T23:06:44.134Z,1513120004.134 [DonutAtDepthSequence:AbortDrift:B.Execute](DEBUG): Construct Execute.
2017-12-12T23:06:44.146Z,1513120004.146 [MissionManager](INFO): Inserting Stack: Missions/Insert/SampleAtDepth.xml
2017-12-12T23:06:44.286Z,1513120004.286 [MissionManager](INFO): DefineArg DonutAtDepthSequence:SampleAtDepth.TargetDepth = 5.000000 m
2017-12-12T23:06:44.290Z,1513120004.290 [MissionManager](INFO): DefineArg DonutAtDepthSequence:SampleAtDepth.SettleTime = 30.000000 s
2017-12-12T23:06:44.309Z,1513120004.309 [MissionManager](INFO): DefineArg DonutAtDepthSequence:SampleAtDepth.RotateOnly = 0.000000 bool
2017-12-12T23:06:44.327Z,1513120004.327 [MissionManager](INFO): DefineArg DonutAtDepthSequence:SampleAtDepth.UseCANONSampler = 0.000000 bool
2017-12-12T23:06:44.331Z,1513120004.331 [MissionManager](INFO): DefineArg DonutAtDepthSequence:SampleAtDepth.UseESP = 1.000000 bool
2017-12-12T23:06:44.350Z,1513120004.350 [MissionManager](INFO): DefineArg DonutAtDepthSequence:SampleAtDepth.CANONSamplerTriggerTimeout = 1.000000 min
2017-12-12T23:06:44.374Z,1513120004.374 [MissionManager](INFO): DefineArg DonutAtDepthSequence:SampleAtDepth.CANONSamplerTimeout = 6.000000 min
2017-12-12T23:06:44.376Z,1513120004.376 [DonutAtDepthSequence:SampleAtDepth:B.Pitch](DEBUG): Construct.
2017-12-12T23:06:44.422Z,1513120004.422 [DonutAtDepthSequence:SampleAtDepth:D.Wait](DEBUG): Construct Wait.
2017-12-12T23:06:44.465Z,1513120004.465 [DonutAtDepthSequence:SampleAtDepth:SampleWrapper:SampleCANONSampler:TriggerCANONSampler:A_Timeout:B.Execute](DEBUG): Construct Execute.
2017-12-12T23:06:44.468Z,1513120004.468 [MissionManager](ERROR): Slate does not contain CTD_NeilBrown.bin_mean_sea_water_temperature
2017-12-12T23:06:44.468Z,1513120004.468 [MissionManager](ERROR): Slate does not contain celsius
2017-12-12T23:06:44.493Z,1513120004.493 [DonutAtDepthSequence:SampleAtDepth:SampleWrapper:SampleCANONSampler:E:A_Timeout:B.Execute](DEBUG): Construct Execute.
2017-12-12T23:06:44.518Z,1513120004.518 [MissionManager](ERROR): Slate does not contain CTD_NeilBrown.bin_mean_sea_water_temperature
2017-12-12T23:06:44.518Z,1513120004.518 [MissionManager](ERROR): Slate does not contain celsius
2017-12-12T23:06:44.542Z,1513120004.542 [DonutAtDepthSequence:I.Pitch](DEBUG): Construct.
2017-12-12T23:06:44.547Z,1513120004.547 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2017-12-12T23:06:44.920Z,1513120004.920 [MissionManager](INFO): DefineArg DonutAtDepthSequence:Science.SampleISUS = 0 bool
2017-12-12T23:06:44.924Z,1513120004.924 [MissionManager](INFO): DefineArg DonutAtDepthSequence:Science.SampleISUSmaxPitch = 60.000000 arcdeg
2017-12-12T23:06:44.927Z,1513120004.927 [MissionManager](INFO): DefineArg DonutAtDepthSequence:Science.SampleISUSminPitch = -60.000000 arcdeg
2017-12-12T23:06:44.931Z,1513120004.931 [MissionManager](INFO): DefineArg DonutAtDepthSequence:Science.PeakDetectChlActive = 0 bool
2017-12-12T23:06:44.956Z,1513120004.956 [MissionManager](INFO): DefineArg DonutAtDepthSequence:Science.HighestChlPeakReportActive = 0 bool
2017-12-12T23:06:44.968Z,1513120004.968 [MissionManager](INFO): DefineArg DonutAtDepthSequence:Science.PatchTracking = 0 bool
2017-12-12T23:06:44.977Z,1513120004.977 [MissionManager](INFO): DefineArg DonutAtDepthSequence:Science.FilterWidthHorizontal = 3.000000 count
2017-12-12T23:06:45.005Z,1513120005.005 [MissionManager](INFO): DefineArg DonutAtDepthSequence:Science.NumProfilesSlidingwindow = 100.000000 count
2017-12-12T23:06:45.008Z,1513120005.008 [MissionManager](INFO): DefineArg DonutAtDepthSequence:Science.PeakDetectNO3Active = 0 bool
2017-12-12T23:06:45.011Z,1513120005.011 [MissionManager](INFO): DefineArg DonutAtDepthSequence:Science.PeakDetectOilActive = 0 bool
2017-12-12T23:06:45.055Z,1513120005.055 [MissionManager](INFO): DefineArg DonutAtDepthSequence:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2017-12-12T23:06:45.077Z,1513120005.077 [MissionManager](INFO): DefineArg DonutAtDepthSequence:Science.EnabledAanderaaO2 = 1.000000 bool
2017-12-12T23:06:45.085Z,1513120005.085 [MissionManager](INFO): DefineArg DonutAtDepthSequence:Science.EnabledNeilBrown = 0.000000 bool
2017-12-12T23:06:45.095Z,1513120005.095 [MissionManager](INFO): DefineArg DonutAtDepthSequence:Science.EnabledSeabird = 1.000000 bool
2017-12-12T23:06:45.104Z,1513120005.104 [MissionManager](INFO): DefineArg DonutAtDepthSequence:Science.EnabledTurbulence_NPS = 0.000000 bool
2017-12-12T23:06:45.148Z,1513120005.148 [MissionManager](INFO): DefineArg DonutAtDepthSequence:Science.EnabledWetLabsBB2FL = 1.000000 bool
2017-12-12T23:06:45.161Z,1513120005.161 [MissionManager](INFO): DefineArg DonutAtDepthSequence:Science.EnabledWetLabsSeaOWL_UV_A = 1.000000 bool
2017-12-12T23:06:45.170Z,1513120005.170 [MissionManager](INFO): DefineArg DonutAtDepthSequence:Science.EnabledISUS = 0.000000 bool
2017-12-12T23:06:45.180Z,1513120005.180 [MissionManager](INFO): DefineArg DonutAtDepthSequence:Science.LowPassWindowLength = 20.000000 count
2017-12-12T23:06:45.197Z,1513120005.197 [MissionManager](INFO): DefineArg DonutAtDepthSequence:Science.PeakChlShallowBound = nan m
2017-12-12T23:06:45.200Z,1513120005.200 [MissionManager](INFO): DefineArg DonutAtDepthSequence:Science.PeakChlDeepBound = nan m
2017-12-12T23:06:45.208Z,1513120005.208 [MissionManager](INFO): DefineOutput DonutAtDepthSequence:Science.PeakChl = 0.000000 ug/l
2017-12-12T23:06:45.215Z,1513120005.215 [MissionManager](INFO): DefineOutput DonutAtDepthSequence:Science.PeakChlDepth = 0.000000 m
2017-12-12T23:06:45.234Z,1513120005.234 [MissionManager](INFO): DefineOutput DonutAtDepthSequence:Science.PeakChlTemperature = 0.000000 degC
2017-12-12T23:06:45.239Z,1513120005.239 [MissionManager](INFO): DefineOutput DonutAtDepthSequence:Science.PeakChlLatitude = nan arcdeg
2017-12-12T23:06:45.251Z,1513120005.251 [MissionManager](INFO): DefineOutput DonutAtDepthSequence:Science.PeakChlLongitude = nan arcdeg
2017-12-12T23:06:45.255Z,1513120005.255 [MissionManager](INFO): DefineOutput DonutAtDepthSequence:Science.PeakNO3 = 0.000000 umol/l
2017-12-12T23:06:45.266Z,1513120005.266 [MissionManager](INFO): DefineOutput DonutAtDepthSequence:Science.PeakNO3Depth = 0.000000 m
2017-12-12T23:06:45.289Z,1513120005.289 [MissionManager](INFO): DefineOutput DonutAtDepthSequence:Science.PeakNO3Latitude = nan arcdeg
2017-12-12T23:06:45.297Z,1513120005.297 [MissionManager](INFO): DefineOutput DonutAtDepthSequence:Science.PeakNO3Longitude = nan arcdeg
2017-12-12T23:06:45.305Z,1513120005.305 [MissionManager](INFO): DefineOutput DonutAtDepthSequence:Science.PatchChl = 0.000000 m
2017-12-12T23:06:45.308Z,1513120005.308 [MissionManager](INFO): DefineOutput DonutAtDepthSequence:Science.PatchChlDepth = 0.000000 m
2017-12-12T23:06:45.326Z,1513120005.326 [MissionManager](INFO): DefineOutput DonutAtDepthSequence:Science.PatchChlLatitude = nan arcdeg
2017-12-12T23:06:45.342Z,1513120005.342 [MissionManager](INFO): DefineOutput DonutAtDepthSequence:Science.PatchChlLongitude = nan arcdeg
2017-12-12T23:06:45.347Z,1513120005.347 [MissionManager](INFO): DefineOutput DonutAtDepthSequence:Science.PatchChlDistance = nan arcdeg
2017-12-12T23:06:45.369Z,1513120005.369 [MissionManager](INFO): DefineOutput DonutAtDepthSequence:Science.PeakOil = 0.000000 kg/m3
2017-12-12T23:06:45.372Z,1513120005.372 [MissionManager](INFO): DefineOutput DonutAtDepthSequence:Science.PeakOilDepth = 0.000000 m
2017-12-12T23:06:45.380Z,1513120005.380 [MissionManager](INFO): DefineOutput DonutAtDepthSequence:Science.PeakOilLatitude = nan arcdeg
2017-12-12T23:06:45.387Z,1513120005.387 [MissionManager](INFO): DefineOutput DonutAtDepthSequence:Science.PeakOilLongitude = nan arcdeg
2017-12-12T23:06:45.493Z,1513120005.493 [DonutAtDepthSequence:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2017-12-12T23:06:45.532Z,1513120005.532 [DonutAtDepthSequence:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2017-12-12T23:06:45.581Z,1513120005.581 [DonutAtDepthSequence:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2017-12-12T23:06:45.605Z,1513120005.605 [DonutAtDepthSequence:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2017-12-12T23:06:45.631Z,1513120005.631 [MissionManager](INFO): RedefineArg DonutAtDepthSequence:Science.PeakDetectChlActive = value:1 bool
2017-12-12T23:06:45.641Z,1513120005.641 [MissionManager](INFO): RedefineArg DonutAtDepthSequence:Science.HighestChlPeakReportActive = value:1 bool
2017-12-12T23:06:45.643Z,1513120005.643 [MissionManager](INFO): RedefineArg DonutAtDepthSequence:Science.LowPassWindowLength = reader:DonutAtDepthSequence.LPWindowLength
2017-12-12T23:06:45.653Z,1513120005.653 [MissionManager](INFO): RedefineArg DonutAtDepthSequence:Science.NumProfilesSlidingwindow = reader:DonutAtDepthSequence.NumberOfProfilesSlidingwindow
2017-12-12T23:06:45.666Z,1513120005.666 [MissionManager](INFO): RedefineArg DonutAtDepthSequence:Science.PeakChlShallowBound = reader:DonutAtDepthSequence.ShallowBoundChl
2017-12-12T23:06:45.667Z,1513120005.667 [MissionManager](INFO): RedefineArg DonutAtDepthSequence:Science.PeakChlDeepBound = reader:DonutAtDepthSequence.DeepBoundChl
2017-12-12T23:06:45.677Z,1513120005.677 [DonutAtDepthSequence:K.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2017-12-12T23:06:45.701Z,1513120005.701 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2017-12-12T23:06:45.802Z,1513120005.802 [MissionManager](INFO): DefineArg DonutAtDepthSequence:MissionStart:NeedComms.DiveInterval = 3.000000 h
2017-12-12T23:06:45.821Z,1513120005.821 [MissionManager](INFO): DefineArg DonutAtDepthSequence:MissionStart:NeedComms.AcousticTimeout = 96.000000 h
2017-12-12T23:06:45.825Z,1513120005.825 [MissionManager](INFO): DefineArg DonutAtDepthSequence:MissionStart:NeedComms.WaitForPitchUp = 10.000000 min
2017-12-12T23:06:45.828Z,1513120005.828 [MissionManager](INFO): DefineArg DonutAtDepthSequence:MissionStart:NeedComms.SurfacePitch = 20.000000 arcdeg
2017-12-12T23:06:45.847Z,1513120005.847 [MissionManager](INFO): DefineArg DonutAtDepthSequence:MissionStart:NeedComms.SurfaceDepthRate = nan m/s
2017-12-12T23:06:45.851Z,1513120005.851 [MissionManager](INFO): DefineArg DonutAtDepthSequence:MissionStart:NeedComms.SurfaceSpeed = 1.000000 m/s
2017-12-12T23:06:45.875Z,1513120005.875 [MissionManager](INFO): DefineArg DonutAtDepthSequence:MissionStart:NeedComms.GPSTimeout = 7.000000 min
2017-12-12T23:06:45.887Z,1513120005.887 [MissionManager](INFO): DefineArg DonutAtDepthSequence:MissionStart:NeedComms.CommsTimeout = 30.000000 min
2017-12-12T23:06:45.917Z,1513120005.917 [DonutAtDepthSequence:MissionStart:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2017-12-12T23:06:45.968Z,1513120005.968 [DonutAtDepthSequence:DepthHolding:HoldDepthInDonutMode:A.Pitch](DEBUG): Construct.
2017-12-12T23:06:45.991Z,1513120005.991 [DonutAtDepthSequence:DepthHolding:HoldDepthInDonutMode:B.SetSpeed](DEBUG): Construct.
2017-12-12T23:06:46.010Z,1513120006.010 [DonutAtDepthSequence:DepthHolding:HoldDepthInDonutMode:C.Point](DEBUG): Construct.
2017-12-12T23:06:46.016Z,1513120006.016 [DonutAtDepthSequence:DepthHolding:HoldDepthInDonutMode:D.Buoyancy](DEBUG): Construct Buoyancy.
2017-12-12T23:06:46.375Z,1513120006.375 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2017-12-12T23:06:46.512Z,1513120006.512 [MissionManager](INFO): DefineArg DonutAtDepthSequence:TakeSamples:TransitToSamplingLocation:NeedComms.DiveInterval = 3.000000 h
2017-12-12T23:06:46.525Z,1513120006.525 [MissionManager](INFO): DefineArg DonutAtDepthSequence:TakeSamples:TransitToSamplingLocation:NeedComms.AcousticTimeout = 96.000000 h
2017-12-12T23:06:46.537Z,1513120006.537 [MissionManager](INFO): DefineArg DonutAtDepthSequence:TakeSamples:TransitToSamplingLocation:NeedComms.WaitForPitchUp = 10.000000 min
2017-12-12T23:06:46.549Z,1513120006.549 [MissionManager](INFO): DefineArg DonutAtDepthSequence:TakeSamples:TransitToSamplingLocation:NeedComms.SurfacePitch = 20.000000 arcdeg
2017-12-12T23:06:46.552Z,1513120006.552 [MissionManager](INFO): DefineArg DonutAtDepthSequence:TakeSamples:TransitToSamplingLocation:NeedComms.SurfaceDepthRate = nan m/s
2017-12-12T23:06:46.564Z,1513120006.564 [MissionManager](INFO): DefineArg DonutAtDepthSequence:TakeSamples:TransitToSamplingLocation:NeedComms.SurfaceSpeed = 1.000000 m/s
2017-12-12T23:06:46.575Z,1513120006.575 [MissionManager](INFO): DefineArg DonutAtDepthSequence:TakeSamples:TransitToSamplingLocation:NeedComms.GPSTimeout = 7.000000 min
2017-12-12T23:06:46.588Z,1513120006.588 [MissionManager](INFO): DefineArg DonutAtDepthSequence:TakeSamples:TransitToSamplingLocation:NeedComms.CommsTimeout = 30.000000 min
2017-12-12T23:06:46.624Z,1513120006.624 [DonutAtDepthSequence:TakeSamples:TransitToSamplingLocation:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2017-12-12T23:06:46.675Z,1513120006.675 [DonutAtDepthSequence:TakeSamples:TransitToSamplingLocation:C.SetSpeed](DEBUG): Construct.
2017-12-12T23:06:46.693Z,1513120006.693 [DonutAtDepthSequence:TakeSamples:TransitToSamplingLocation:F.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2017-12-12T23:06:46.722Z,1513120006.722 [DonutAtDepthSequence:TakeSamples:TransitToSamplingLocation:G.YoYo](DEBUG): Construct YoYo.
2017-12-12T23:06:46.741Z,1513120006.741 [DonutAtDepthSequence:TakeSamples:TransitToSamplingLocation:H.Buoyancy](DEBUG): Construct Buoyancy.
2017-12-12T23:06:46.747Z,1513120006.747 [DonutAtDepthSequence:TakeSamples:TransitToSamplingLocation:GoToWaypoint:B.Waypoint](DEBUG): Construct Waypoint.
2017-12-12T23:06:46.827Z,1513120006.827 [DonutAtDepthSequence:TakeSamples:TransitToSamplingLocation:CylinderYoYoAroundSamplingLocation:CylinderWrapper:B.Circle](DEBUG): Construct.
2017-12-12T23:06:46.855Z,1513120006.855 [DonutAtDepthSequence:TakeSamples:TransitToSamplingLocation:GoToCylinderCenter:ToCylinderCenter.Waypoint](DEBUG): Construct Waypoint.
2017-12-12T23:06:46.965Z,1513120006.965 [DonutAtDepthSequence:TakeSamples:NoFiringForTooLong:C.Execute](DEBUG): Construct Execute.
2017-12-12T23:06:47.051Z,1513120007.051 [DonutAtDepthSequence:MissionCompleted:B.Execute](DEBUG): Construct Execute.
2017-12-12T23:06:47.308Z,1513120007.308 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control" 
       xmlns:Derivation="Tethys/Derivation" 
       xmlns:Guidance="Tethys/Guidance"
       xmlns:Science="Tethys/Science"
       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/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Derivation http://okeanids.mbari.org/tethys/Xml/Derivation.xsd
                           Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Trigger http://okeanids.mbari.org/tethys/Xml/Trigger.xsd
                           Tethys/Science http://okeanids.mbari.org/tethys/Xml/Science.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="DonutAtDepthSequence">

<!-- Almost every mission should start with an overall timeout and a NeedCommsTime. Drift Missions will have an acoustic timeout instead of a NeedCommsTime. -->

    <DefineArg Name="MissionTimeout"><Description>
        Maximum duration of mission
    </Description><Units:hour/><Value>10</Value></DefineArg>

    <DefineArg Name="NeedCommsTimeInTransect"><Description>
        On yo-yo transects, how often to surface for commumications
    </Description><Units:minute/><Value>60</Value></DefineArg>

    <DefineArg Name="AcousticTimeout"><Description>
        If the vehicle does not receive an acoustic signal for more than this
        length of time, it will surface for communications. Set longer than
        MissionTimeout to effectively disable.
    </Description><Units:hour/><Value>10.1</Value></DefineArg>

    <DefineArg Name="SpeedTransit"><Description>
        Vehicle speed when transiting.
    </Description><Units:meter_per_second/><Value>1.0</Value></DefineArg>

    <DefineArg Name="SpeedDepthHoldingSampling"><Description>
        Vehicle speed for holding and sampling at designated depth.
    </Description><Units:meter_per_second/><Value>1.0</Value></DefineArg>

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

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

    <DefineArg Name="NumESPSamplers"><Description>
        Total number of ESP cartridges (Maximum 60. Set to a smaller number if
        not using all of them. Set to 0 to disable ESP sampling).
    </Description><Units:count/><Value>9</Value></DefineArg>

    <DefineArg Name="RepeatTransects"><Description>
        Number of times the vehicle should try to cycle through waypoints..
    </Description><Units:count/><Value>1</Value></DefineArg>

    <DefineArg Name="Lat1"><Description>
        Latitude of waypoint 1. If nan, waypoint is skipped.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:degree/><Value>36.815</Value></DefineArg>
    </Description><Units:degree/><Value>36.810</Value></DefineArg>
-->

    <DefineArg Name="Lon1"><Description>
        Longitude of waypoint 1. If nan, waypoint is skipped.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:degree/><Value>-121.835</Value></DefineArg>
    </Description><Units:degree/><Value>-121.825</Value></DefineArg>
-->

    <DefineArg Name="Lat2"><Description>
        Latitude of waypoint 2. If nan, waypoint is skipped.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:degree/><Value>36.825</Value></DefineArg>
-->

    <DefineArg Name="Lon2"><Description>
        Longitude of waypoint 2. If nan, waypoint is skipped.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:degree/><Value>-121.845</Value></DefineArg>
-->

    <DefineArg Name="Lat3"><Description>
        Latitude of waypoint 3. If nan, waypoint is skipped.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:degree/><Value>36.825</Value></DefineArg>
-->

    <DefineArg Name="Lon3"><Description>
        Longitude of waypoint 3. If nan, waypoint is skipped.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:degree/><Value>-121.845</Value></DefineArg>
-->

    <DefineArg Name="Lat4"><Description>
        Latitude of waypoint 4. If nan, waypoint is skipped.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:degree/><Value>36.825</Value></DefineArg>
-->

    <DefineArg Name="Lon4"><Description>
        Longitude of waypoint 4. If nan, waypoint is skipped.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:degree/><Value>-121.845</Value></DefineArg>
-->

    <DefineArg Name="Lat5"><Description>
        Latitude of waypoint 5. If nan, waypoint is skipped.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Lon5"><Description>
        Longitude of waypoint 5. If nan, waypoint is skipped.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Lat6"><Description>
        Latitude of waypoint 6. If nan, waypoint is skipped.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Lon6"><Description>
        Longitude of waypoint 6. If nan, waypoint is skipped.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Lat7"><Description>
        Latitude of waypoint 7. If nan, waypoint is skipped.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:degree/><Value>36.835</Value></DefineArg>
-->

    <DefineArg Name="Lon7"><Description>
        Longitude of waypoint 7. If nan, waypoint is skipped.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:degree/><Value>-121.855</Value></DefineArg>
-->

    <DefineArg Name="Lat8"><Description>
        Latitude of waypoint 8. If nan, waypoint is skipped.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Lon8"><Description>
        Longitude of waypoint 8. If nan, waypoint is skipped.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Lat9"><Description>
        Latitude of waypoint 9. If nan, waypoint is skipped.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Lon9"><Description>
        Longitude of waypoint 9. If nan, waypoint is skipped.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Lat10"><Description>
        Latitude of waypoint 10. If nan, waypoint is skipped.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Lon10"><Description>
        Longitude of waypoint 10. If nan, waypoint is skipped.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="SampleOptionsSet"><Description>
        Sample options (VertDistance, ReportAtSurface, ReacquirePeak) already
        set. Initialized to false.
    </Description><False/></DefineArg>

    <DefineArg Name="SampleCompleted"><Description>
        Sampling completed. Initialized to false.
    </Description><False/></DefineArg>

    <DefineArg Name="StoppedForNoFiringForTooLong"><Description>
        Mission stopped because of no firing for too long. Initialized to false.
    </Description><False/></DefineArg>

    <DefineArg Name="Depth1"><Description>
        Sample 1. Sampling depth.
    </Description><Units:meter/><Value>10</Value></DefineArg>

    <DefineArg Name="Depth2"><Description>
        Sample 2.
    </Description><Units:meter/><Value>20</Value></DefineArg>

    <DefineArg Name="Depth3"><Description>
        Sample 3.
    </Description><Units:meter/><Value>30</Value></DefineArg>

    <DefineArg Name="Depth4"><Description>
        Sample 4.
    </Description><Units:meter/><Value>10</Value></DefineArg>

    <DefineArg Name="Depth5"><Description>
        Sample 5.
    </Description><Units:meter/><Value>20</Value></DefineArg>

    <DefineArg Name="Depth6"><Description>
        Sample 6.
    </Description><Units:meter/><Value>30</Value></DefineArg>

    <DefineArg Name="Depth7"><Description>
        Sample 7.
    </Description><Units:meter/><Value>10</Value></DefineArg>

    <DefineArg Name="Depth8"><Description>
        Sample 8.
    </Description><Units:meter/><Value>20</Value></DefineArg>

    <DefineArg Name="Depth9"><Description>
        Sample 9.
    </Description><Units:meter/><Value>30</Value></DefineArg>

    <DefineArg Name="Depth10"><Description>
        Sample 10.
    </Description><Units:meter/><Value>10</Value></DefineArg>

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

    <DefineArg Name="FromLastTimeFixToStartDepthSampling"><Description>
        Elapsed time from last time-fix to StartDepthSampling.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="FromLastTimeFixToNow"><Description>
        Elapsed time from last time-fix to now.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="FromLastTimeFixToLastFiring"><Description>
        Elapsed time from last time-fix to last firing.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CylinderYoYo"><Description>
        Whether to yoyo on cylinder centered at the sampling location.
        Initialized to True.
    </Description><True/></DefineArg>

    <DefineArg Name="CylinderTimeout"><Description>
        Maximum duration of cylinder yoyo.
    </Description><Units:minute/><Value>30</Value></DefineArg>

    <DefineArg Name="CylinderYoYoMinDep"><Description>
        Minimum depth while performing the YoYo behavior on cylinder centered at
        the sampling location.
    </Description><Units:meter/><Value>1.5</Value></DefineArg>

    <DefineArg Name="CylinderYoYoMaxDep"><Description>
        Maximum depth while performing the YoYo behavior on cylinder centered at
        the sampling location.
    </Description><Units:meter/><Value>30</Value></DefineArg>

    <DefineArg Name="CylinderRadius"><Description>
        Radius of cylinder centered at the sampling location.
    </Description><Units:meter/><Value>200</Value></DefineArg>

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

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

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

    <DefineArg Name="MaxCirclesOnCylinder"><Description>
        Maximum number of circles on cylinder.
    </Description><Units:count/><Value>1</Value></DefineArg>

    <DefineArg Name="TransitYoYoMinDepth"><Description>
        Minimum depth while performing the YoYo behavior during transit.
    </Description><Units:meter/><Value>1.5</Value></DefineArg>

    <DefineArg Name="TransitYoYoMaxDepth"><Description>
        Maximum depth while performing the YoYo behavior during transit.
    </Description><Units:meter/><Value>30</Value></DefineArg>

    <DefineArg Name="YoYoMinDepth"><Description>
        Minimum depth while performing the YoYo behavior. Program will set to
        TransitYoYoMinDepth, and then CylinderYoYoMinDep.
    </Description><Units:meter/><Value>1.5</Value></DefineArg>

    <DefineArg Name="YoYoMaxDepth"><Description>
        Maximum depth while performing the YoYo behavior. Program will set to
        TransitYoYoMaxDepth, and then CylinderYoYoMaxDep.
    </Description><Units:meter/><Value>30</Value></DefineArg>

    <DefineArg Name="YoYoMinAltitude"><Description>
        Minimum altitude while performing the YoYo behavior (for
        bottom-terminated YoYos).
    </Description><Units:meter/><Value>9</Value></DefineArg>

    <DefineArg Name="YoYoUpPitch"><Description>
        Vehicle up pitch while performing the YoYo behavior.
    </Description><Units:degree/><Value>20</Value></DefineArg>

    <DefineArg Name="YoYoDownPitch"><Description>
        Vehicle down pitch while performing the YoYo behavior.
    </Description><Units:degree/><Value>-20</Value></DefineArg>

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

    <DefineArg Name="NumberOfProfilesSlidingwindow"><Description>
        Length of horizontal sliding window. Picks the highest yoyo-wise chl
        peak (after low-pass filtering by a filter of length
        FilterWidthHorizontal) within this window. Ignore older highs because
        ocean is changing.
    </Description><Units:count/><Value>100</Value></DefineArg>

    <DefineArg Name="LPWindowLength"><Description>
        Low-pass window length (based on depth sensor sampling interval 0.4
        second) for low-pass filtering.
    </Description><Units:count/><Value>40</Value></DefineArg>

    <DefineArg Name="UpRate"><Description>
        Go-up depth rate (Negative depth rate means going up).
    </Description><Units:meter_per_second/><Value>-0.04</Value></DefineArg>

    <DefineArg Name="DownRate"><Description>
        Go-down depth rate (Positive depth rate means going down).
    </Description><Units:meter_per_second/><Value>0.2</Value></DefineArg>

    <DefineArg Name="BuoyancyNeutral"><Description>
        Buoyancy bladder position while performing the YoYo behavior. Defaults
        to buoyancyNeutral setting in the Config/Control.cfg file. Set to NaN cc
        for active buoyancy
    </Description><Control:VerticalControl.buoyancyNeutral/></DefineArg>

    <DefineArg Name="MassDefault"><Description>
        Static setting for mass during the mission. Set to NaN mm for active
        mass position
    </Description><Control:VerticalControl.massDefault/></DefineArg>

<!-- You probably should not change these. -->

    <DefineArg Name="ShallowBoundChl"><Description>
        Shallow depth bound for chl-peak detection.
    </Description><Units:meter/><Value>4.5</Value></DefineArg>

    <DefineArg Name="DeepBoundChl"><Description>
        Deep depth bound for chl-peak detection.
    </Description><Units:meter/><Value>27</Value></DefineArg>

    <DefineArg Name="MinAltitude"><Description>
        Minimum altitude for the entire mission.
    </Description><Units:meter/><Value>7.0</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>100</Value></DefineArg>

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

<!-- Internal variables that you should not change -->

    <DefineArg Name="DepthLogged"><Description></Description><Units:meter/><Value>0.0</Value></DefineArg>

    <DefineArg Name="ChlLogged"><Description></Description><Units:microgram_per_liter/><Value>0.0</Value></DefineArg>

    <DefineArg Name="StartDepthSampling"><Description>
        Start depth sequence sampling (initialized to false).
    </Description><False/></DefineArg>

    <DefineArg Name="VerticalTolerance"><Description>
        Depth error allowed for being considered at/near the target depth.
    </Description><Units:meter/><Value>0.1</Value></DefineArg>

    <DefineArg Name="FlagSamplingOngoing"><Description>
        Flag of water sampling in process (initialized to false).
    </Description><False/></DefineArg>

    <DefineArg Name="FlagFiredAtSamplingLocation"><Description>
        Flag of sample fired at sampling location (initialized to false).
    </Description><False/></DefineArg>

    <DefineArg Name="MaxWaitNoFiring"><Description>
        If no firing after more than MaxWaitNoFiring, terminate mission.
    </Description><Units:hour/><Value>3</Value></DefineArg>

    <DefineArg Name="LatSet"><Description>
        Latitude of sampling location. Initialized to NaN.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="LonSet"><Description>
        Longitude of sampling location. Initialized to NaN.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepthSet"><Description>
        Depth held for triggering sampling. Initialized to 10 meters.
    </Description><Units:meter/><Value>10.0</Value></DefineArg>

    <DefineArg Name="WaitDepthUndulation"><Description>
        Wait duration for the depth undulation to damp down.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

<!--  TODO: This should work, and would be more maintainable, but raises "(CRITICAL): Timeout must be in time units, not none"  </Description><Science:ESPComponent.sampleTimeout/></DefineArg> -->

    <DefineArg Name="CntSamples"><Description>
        Count of water samples (initilized to 1).
    </Description><Units:count/><Value>1</Value></DefineArg>

<!-- Missions should almost always start with a timeout and a NeedComms aggregate. Drift missions will not use NeedComms. -->

    <Timeout Duration="MissionTimeout"/>

<!-- Missions should almost always start with standard safety envelopes -->

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

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

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

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

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

    <Assign><Sequence/><Arg Name="AbortDrift:AcousticTimeout"/><Arg Name="AcousticTimeout"/></Assign>

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

    <Assign><Sequence/><Arg Name="SampleAtDepth:SettleTime"/><Arg Name="WaitDepthUndulation"/></Assign>

<!-- Many missions will keep mass position fixed at the default. This mission allows the buoyancy volume to change to track the chlorophyll peak while drifting. -->

    <Guidance:Pitch>
        <Parallel/>
        <Setting><Guidance:Pitch.massPosition/><Arg Name="MassDefault"/></Setting>
    </Guidance:Pitch>

    <Insert Filename="Insert/Science.xml">
        <RedefineArg Name="PeakDetectChlActive"><True/></RedefineArg>
        <RedefineArg Name="HighestChlPeakReportActive"><True/></RedefineArg>
        <RedefineArg Name="LowPassWindowLength"><Arg Name="LPWindowLength"/></RedefineArg>
        <RedefineArg Name="NumProfilesSlidingwindow"><Arg Name="NumberOfProfilesSlidingwindow"/></RedefineArg>
        <RedefineArg Name="PeakChlShallowBound"><Arg Name="ShallowBoundChl"/></RedefineArg>
        <RedefineArg Name="PeakChlDeepBound"><Arg Name="DeepBoundChl"/></RedefineArg>
    </Insert>

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

    <Aggregate Id="MissionStart">

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

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

    </Aggregate>

    <Aggregate Id="DepthHolding">

        <Aggregate Id="HoldDepthInDonutMode">

            <Parallel/>

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

            <Guidance:Pitch>
                <Setting><Control:VerticalControl.depthDeadband/><Arg Name="VerticalTolerance"/></Setting>
                <Setting><Guidance:Pitch.depth/><Arg Name="DepthSet"/></Setting>
            </Guidance:Pitch>

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

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

            <Guidance:Buoyancy>
                <Parallel/>
                <Setting><Guidance:Buoyancy.position/><Arg Name="BuoyancyNeutral"/></Setting>
            </Guidance:Buoyancy>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="TakeSamples">

        <Parallel Repeat="NumESPSamplers"/>

        <Aggregate Id="SetOptionsOfSample1">

            <Sequence/>

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>1</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumESPSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="LatSet"/><Arg Name="Lat1"/></Assign>

            <Assign><Sequence/><Arg Name="LonSet"/><Arg Name="Lon1"/></Assign>

            <Assign><Sequence/><Arg Name="DepthSet"/><Arg Name="Depth1"/></Assign>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample2">

            <Sequence/>

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>2</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumESPSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="LatSet"/><Arg Name="Lat2"/></Assign>

            <Assign><Sequence/><Arg Name="LonSet"/><Arg Name="Lon2"/></Assign>

            <Assign><Sequence/><Arg Name="DepthSet"/><Arg Name="Depth2"/></Assign>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample3">

            <Sequence/>

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>3</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumESPSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="LatSet"/><Arg Name="Lat3"/></Assign>

            <Assign><Sequence/><Arg Name="LonSet"/><Arg Name="Lon3"/></Assign>

            <Assign><Sequence/><Arg Name="DepthSet"/><Arg Name="Depth3"/></Assign>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample4">

            <Sequence/>

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>4</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumESPSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="LatSet"/><Arg Name="Lat4"/></Assign>

            <Assign><Sequence/><Arg Name="LonSet"/><Arg Name="Lon4"/></Assign>

            <Assign><Sequence/><Arg Name="DepthSet"/><Arg Name="Depth4"/></Assign>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample5">

            <Sequence/>

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>5</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumESPSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="LatSet"/><Arg Name="Lat5"/></Assign>

            <Assign><Sequence/><Arg Name="LonSet"/><Arg Name="Lon5"/></Assign>

            <Assign><Sequence/><Arg Name="DepthSet"/><Arg Name="Depth5"/></Assign>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample6">

            <Sequence/>

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>6</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumESPSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="LatSet"/><Arg Name="Lat6"/></Assign>

            <Assign><Sequence/><Arg Name="LonSet"/><Arg Name="Lon6"/></Assign>

            <Assign><Sequence/><Arg Name="DepthSet"/><Arg Name="Depth6"/></Assign>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample7">

            <Sequence/>

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>7</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumESPSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="LatSet"/><Arg Name="Lat7"/></Assign>

            <Assign><Sequence/><Arg Name="LonSet"/><Arg Name="Lon7"/></Assign>

            <Assign><Sequence/><Arg Name="DepthSet"/><Arg Name="Depth7"/></Assign>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample8">

            <Sequence/>

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>8</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumESPSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="LatSet"/><Arg Name="Lat8"/></Assign>

            <Assign><Sequence/><Arg Name="LonSet"/><Arg Name="Lon8"/></Assign>

            <Assign><Sequence/><Arg Name="DepthSet"/><Arg Name="Depth8"/></Assign>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample9">

            <Sequence/>

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>9</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumESPSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="LatSet"/><Arg Name="Lat9"/></Assign>

            <Assign><Sequence/><Arg Name="LonSet"/><Arg Name="Lon9"/></Assign>

            <Assign><Sequence/><Arg Name="DepthSet"/><Arg Name="Depth9"/></Assign>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample10">

            <Sequence/>

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>10</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumESPSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="LatSet"/><Arg Name="Lat10"/></Assign>

            <Assign><Sequence/><Arg Name="LonSet"/><Arg Name="Lon10"/></Assign>

            <Assign><Sequence/><Arg Name="DepthSet"/><Arg Name="Depth10"/></Assign>

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

        </Aggregate>

        <Aggregate Id="TransitToSamplingLocation">

            <Sequence/>

            <When>
                <Arg Name="SampleOptionsSet"/>
                <And><Not><Arg Name="StartDepthSampling"/></Not></And>
                <And><Not><IsNaN><Arg Name="LatSet"/>
                </IsNaN></Not></And>
                <And><Not><IsNaN><Arg Name="LonSet"/>
                </IsNaN></Not></And>
            </When>

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

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

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

            <Assign><Sequence/><Arg Name="YoYoMinDepth"/><Arg Name="TransitYoYoMinDepth"/></Assign>

            <Assign><Sequence/><Arg Name="YoYoMaxDepth"/><Arg Name="TransitYoYoMaxDepth"/></Assign>

            <Guidance:DepthEnvelope>
                <Parallel/>
                <Setting><Guidance:DepthEnvelope.minDepth/><Arg Name="YoYoMinDepth"/></Setting>
                <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="YoYoMaxDepth"/></Setting>
                <Setting><Guidance:DepthEnvelope.downPitch/><Arg Name="YoYoDownPitch"/></Setting>
                <Setting><Guidance:DepthEnvelope.upPitch/><Arg Name="YoYoUpPitch"/></Setting>
            </Guidance:DepthEnvelope>

            <Guidance:YoYo>
                <Parallel/>
                <Setting><Guidance:YoYo.downPitch/><Arg Name="YoYoDownPitch"/></Setting>
                <Setting><Guidance:YoYo.upPitch/><Arg Name="YoYoUpPitch"/></Setting>
            </Guidance:YoYo>

            <Guidance:Buoyancy>
                <Parallel/>
                <Setting><Guidance:Buoyancy.position/><Arg Name="BuoyancyNeutral"/></Setting>
            </Guidance:Buoyancy>

            <Aggregate Id="GoToWaypoint">

                <Sequence/>

                <Break>
                    <IsNaN><Arg Name="LatSet"/>
                    </IsNaN>
                    <Or><IsNaN><Arg Name="LonSet"/>
                    </IsNaN></Or>
                </Break>

                <Syslog Severity="Important">Yoyo to sampling location <Arg Name="LatSet"/><Units:degree/>,<Arg Name="LonSet"/><Units:degree/></Syslog>

                <Guidance:Waypoint>
                    <Sequence/>
                    <Setting><Guidance:Waypoint.latitude/><Arg Name="LatSet"/></Setting>
                    <Setting><Guidance:Waypoint.longitude/><Arg Name="LonSet"/></Setting>
                </Guidance:Waypoint>

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

            </Aggregate>

            <Aggregate Id="CylinderYoYoAroundSamplingLocation">

                <Sequence/>

                <Timeout Duration="CylinderTimeout"/>

                <Break>
                    <Not><Arg Name="CylinderYoYo"/></Not>
                    <Or><IsNaN><Arg Name="LatSet"/>
                    </IsNaN></Or>
                    <Or><IsNaN><Arg Name="LonSet"/>
                    </IsNaN></Or>
                </Break>

                <Syslog Severity="Important">Yoyo profile on a cylinder around sampling location <Arg Name="LatSet"/><Units:degree/>,<Arg Name="LonSet"/><Units:degree/>, at radius = <Arg Name="CylinderRadius"/><Units:meter/></Syslog>

                <Assign><Sequence/><Arg Name="YoYoMinDepth"/><Arg Name="CylinderYoYoMinDep"/></Assign>

                <Assign><Sequence/><Arg Name="YoYoMaxDepth"/><Arg Name="CylinderYoYoMaxDep"/></Assign>

                <Aggregate Id="CylinderWrapper">

                    <Sequence Repeat="MaxCirclesOnCylinder"/>

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

                    <Guidance:Circle>
                        <Sequence/>
                        <Setting><Guidance:Circle.latitude/><Arg Name="LatSet"/></Setting>
                        <Setting><Guidance:Circle.longitude/><Arg Name="LonSet"/></Setting>
                        <Setting><Guidance:Circle.radius/><Arg Name="CylinderRadius"/></Setting>
                        <Setting><Guidance:Circle.maxError/><Arg Name="CylinderCircleMaxError"/></Setting>
                        <Setting><Guidance:Circle.turnToPort/><Arg Name="CylinderCircleTurnToPort"/></Setting>
                    </Guidance:Circle>

                </Aggregate>

            </Aggregate>

            <Aggregate Id="GoToCylinderCenter">

                <Sequence/>

                <Break>
                    <Not><Arg Name="CylinderYoYo"/></Not>
                    <Or><IsNaN><Arg Name="LatSet"/>
                    </IsNaN></Or>
                    <Or><IsNaN><Arg Name="LonSet"/>
                    </IsNaN></Or>
                </Break>

                <Syslog Severity="Important">Go to cylinder center (i.e., sampling location): <Arg Name="LatSet"/><Units:degree/>,<Arg Name="LonSet"/><Units:degree/></Syslog>

                <Guidance:Waypoint Id="ToCylinderCenter">
                    <Sequence/>
                    <Setting><Guidance:Waypoint.latitude/><Arg Name="LatSet"/></Setting>
                    <Setting><Guidance:Waypoint.longitude/><Arg Name="LonSet"/></Setting>
                </Guidance:Waypoint>

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

            </Aggregate>

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

            <Assign><Sequence/><Arg Name="FromLastTimeFixToStartDepthSampling"/><Elapsed><Universal:time_fix/></Elapsed></Assign>

<!--debug
            <Syslog Severity="Important">FromLastTimeFixToStartDepthSampling = <Arg Name="FromLastTimeFixToStartDepthSampling"/><Units:minute/></Syslog>
-->

        </Aggregate>

        <Aggregate Id="NoChangeSamplingLocation">

            <Sequence/>

            <When>
                <Arg Name="SampleOptionsSet"/>
                <And><Not><Arg Name="StartDepthSampling"/></Not></And>
                <And><IsNaN><Arg Name="LatSet"/>
                </IsNaN></And>
                <Or><Arg Name="SampleOptionsSet"/><And><Not><Arg Name="StartDepthSampling"/></Not></And><And><IsNaN><Arg Name="LonSet"/>
                </IsNaN></And></Or>
            </When>

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

            <Assign><Sequence/><Arg Name="FromLastTimeFixToStartDepthSampling"/><Elapsed><Universal:time_fix/></Elapsed></Assign>

<!--debug
            <Syslog Severity="Important">FromLastTimeFixToStartDepthSampling = <Arg Name="FromLastTimeFixToStartDepthSampling"/><Units:minute/></Syslog>
-->

        </Aggregate>

        <Aggregate Id="NoFiringForTooLong">

            <Sequence/>

            <When>
                <Elapsed><Universal:time_fix/></Elapsed>
                <Gt><Arg Name="FromLastTimeFixToStartDepthSampling"/><Add><Arg Name="MaxWaitNoFiring"/></Add></Gt>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>1</Value></Eq></And>
                <And><Not><Arg Name="FlagFiredAtSamplingLocation"/></Not></And>
                <And><Not><Arg Name="StoppedForNoFiringForTooLong"/></Not></And>
                <Or><Elapsed><Universal:time_fix/></Elapsed><Gt><Arg Name="FromLastTimeFixToLastFiring"/><Add><Arg Name="MaxWaitNoFiring"/></Add></Gt><And><Not><Arg Name="FlagSamplingOngoing"/></Not></And><And><Arg Name="CntSamples"/><Ge><Units:count/><Value>2</Value></Ge></And><And><Arg Name="FlagFiredAtSamplingLocation"/></And><And><Not><Arg Name="StoppedForNoFiringForTooLong"/></Not></And></Or>
            </When>

            <Assign><Sequence/><Arg Name="FromLastTimeFixToNow"/><Elapsed><Universal:time_fix/></Elapsed></Assign>

            <Syslog Severity="Important">No firing for too long. Stopping mission. FromLastTimeFixToNow, FromLastTimeFixToLastFiring = <Arg Name="FromLastTimeFixToNow"/><Units:minute/>, <Arg Name="FromLastTimeFixToLastFiring"/><Units:minute/></Syslog>

            <Guidance:Execute>
                <Sequence/>
                <Setting><Guidance:Execute.command/><String>stop</String></Setting>
            </Guidance:Execute>

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

        </Aggregate>

        <Aggregate Id="Firing">

            <Sequence/>

            <When>
                <Arg Name="StartDepthSampling"/>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumESPSamplers"/></Le></And>
                <And><Arg Name="SampleOptionsSet"/></And>
                <And><Not><Arg Name="SampleCompleted"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="SampleAtDepth:TargetDepth"/><Arg Name="DepthSet"/></Assign>

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

            <Syslog Severity="Important">Taking ESP sample No.<Arg Name="CntSamples"/><Units:count/> at depth <Arg Name="DepthSet"/><Units:meter/>.</Syslog>

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

            <Assign><Sequence/><Arg Name="FromLastTimeFixToLastFiring"/><Elapsed><Universal:time_fix/></Elapsed></Assign>

<!--debug
	    <Syslog Severity="Important">FromLastTimeFixToLastFiring = <Arg Name="FromLastTimeFixToLastFiring"/><Units:minute/></Syslog>
-->

            <Call Id="Sampling" RefId="SampleAtDepth"/>

            <Syslog Severity="Important"> ESP sample No.<Arg Name="CntSamples"/><Units:count/> completed.</Syslog>

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

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

<!-- Don't move the following line -->

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

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

        </Aggregate>

        <Aggregate Id="IncrementSampleCounter">

            <Sequence/>

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

            <Assign><Sequence/><Arg Name="CntSamples"/><Arg Name="CntSamples"/><Add><Units:count/> <Value>1</Value></Add></Assign>

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

        </Aggregate>

    </Aggregate>

    <Aggregate Id="MissionCompleted">

        <When>
            <Arg Name="CntSamples"/>
            <Eq><Arg Name="NumESPSamplers"/> <Add><Units:count/> <Value>1</Value></Add></Eq>
        </When>

        <Syslog Severity="Important">Completed sampling. Stopping mission.</Syslog>

        <Guidance:Execute>
            <Sequence/>
            <Setting><Guidance:Execute.command/><String>stop</String></Setting>
        </Guidance:Execute>

        <Assign><Sequence/><Arg Name="CntSamples"/><Arg Name="CntSamples"/><Add><Units:count/> <Value>1</Value></Add></Assign>

    </Aggregate>

</Mission>


2017-12-12T23:06:47.310Z,1513120007.310 [CommandLine](IMPORTANT): Loaded ./Missions/Science/depth_sequence_sampling.xml
2017-12-12T23:07:01.382Z,1513120021.382 [NAL9602](INFO): Powering down
2017-12-12T23:07:01.627Z,1513120021.627 [DataOverHttps](INFO): Sending 25 bytes from file Logs/20171212T230149/Courier0008.lzma
2017-12-12T23:07:02.426Z,1513120022.426 [DataOverHttps](INFO): Moved sent file to Logs/20171212T230149/Courier0008.lzma.bak
2017-12-12T23:07:02.426Z,1513120022.426 [DataOverHttps](INFO): SBD MOMSN=5432489
2017-12-12T23:07:02.526Z,1513120022.526 [CommandLine](IMPORTANT): got command set DonutAtDepthSequence.AcousticTimeout 7.000000 minute
2017-12-12T23:07:02.527Z,1513120022.527 [CommandLine](IMPORTANT): got command set DonutAtDepthSequence.SpeedTransit 0.000000 meter_per_second
2017-12-12T23:07:02.528Z,1513120022.528 [CommandLine](IMPORTANT): got command set DonutAtDepthSequence.SpeedDepthHoldingSampling 0.000000 meter_per_second
2017-12-12T23:07:13.314Z,1513120033.314 [CommandLine](IMPORTANT): got command set DonutAtDepthSequence.RudderAngle 0.000000 degree
2017-12-12T23:07:13.315Z,1513120033.315 [CommandLine](IMPORTANT): got command set DonutAtDepthSequence.NumESPSamplers 1.000000 count
2017-12-12T23:07:13.316Z,1513120033.316 [CommandLine](IMPORTANT): got command set DonutAtDepthSequence.Depth1 0.000000 meter
2017-12-12T23:07:13.316Z,1513120033.316 [CommandLine](IMPORTANT): got command run 
2017-12-12T23:07:13.355Z,1513120033.355 [CommandLine](IMPORTANT): Running 
2017-12-12T23:07:15.623Z,1513120035.623 [Default] Stopped
2017-12-12T23:07:15.623Z,1513120035.623 [Default](DEBUG): Aggregate::uninitialize Default
2017-12-12T23:07:15.623Z,1513120035.623 [Default:B.GoToSurface] Stopped
2017-12-12T23:07:15.623Z,1513120035.623 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2017-12-12T23:07:15.623Z,1513120035.623 [Default:CheckIn] Stopped
2017-12-12T23:07:15.624Z,1513120035.624 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2017-12-12T23:07:15.624Z,1513120035.624 [Default:CheckIn:Read_Iridium] Stopped
2017-12-12T23:07:15.624Z,1513120035.624 [MissionManager](IMPORTANT): Started mission DonutAtDepthSequence
2017-12-12T23:07:15.641Z,1513120035.641 [DonutAtDepthSequence] Running Loop=1
2017-12-12T23:07:15.641Z,1513120035.641 [DonutAtDepthSequence](DEBUG): Aggregate::initialize DonutAtDepthSequence
2017-12-12T23:07:15.641Z,1513120035.641 [DonutAtDepthSequence:StandardEnvelopes] Running Loop=1
2017-12-12T23:07:15.641Z,1513120035.641 [DonutAtDepthSequence:StandardEnvelopes](DEBUG): Aggregate::initialize DonutAtDepthSequence:StandardEnvelopes
2017-12-12T23:07:15.641Z,1513120035.641 [DonutAtDepthSequence:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2017-12-12T23:07:15.641Z,1513120035.641 [DonutAtDepthSequence:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2017-12-12T23:07:15.641Z,1513120035.641 [DonutAtDepthSequence:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2017-12-12T23:07:15.641Z,1513120035.641 [DonutAtDepthSequence:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2017-12-12T23:07:15.642Z,1513120035.642 [DonutAtDepthSequence:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2017-12-12T23:07:15.642Z,1513120035.642 [DonutAtDepthSequence:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2017-12-12T23:07:15.642Z,1513120035.642 [DonutAtDepthSequence:I.Pitch] Running Loop=1
2017-12-12T23:07:15.642Z,1513120035.642 [DonutAtDepthSequence:I.Pitch](DEBUG): Initialize.
2017-12-12T23:07:15.642Z,1513120035.642 [DonutAtDepthSequence:Science] Running Loop=1
2017-12-12T23:07:15.642Z,1513120035.642 [DonutAtDepthSequence:Science](DEBUG): Aggregate::initialize DonutAtDepthSequence:Science
2017-12-12T23:07:15.642Z,1513120035.642 [DonutAtDepthSequence:Science:A] Running Loop=1
2017-12-12T23:07:15.642Z,1513120035.642 [DonutAtDepthSequence:Science:B] Running Loop=1
2017-12-12T23:07:15.643Z,1513120035.643 [DonutAtDepthSequence:Science:C] Running Loop=1
2017-12-12T23:07:15.643Z,1513120035.643 [DonutAtDepthSequence:Science:D] Running Loop=1
2017-12-12T23:07:15.643Z,1513120035.643 [DonutAtDepthSequence:Science:E] Running Loop=1
2017-12-12T23:07:15.643Z,1513120035.643 [DonutAtDepthSequence:Science:F] Running Loop=1
2017-12-12T23:07:15.643Z,1513120035.643 [DonutAtDepthSequence:Science:G] Running Loop=1
2017-12-12T23:07:15.643Z,1513120035.643 [DonutAtDepthSequence:Science:H] Running Loop=1
2017-12-12T23:07:15.643Z,1513120035.643 [DonutAtDepthSequence:Science:PeakDetectChl] Running Loop=1
2017-12-12T23:07:15.643Z,1513120035.643 [DonutAtDepthSequence:Science:PeakDetectChl](DEBUG): Aggregate::initialize DonutAtDepthSequence:Science:PeakDetectChl
2017-12-12T23:07:15.643Z,1513120035.643 [DonutAtDepthSequence:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2017-12-12T23:07:15.643Z,1513120035.643 [DonutAtDepthSequence:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2017-12-12T23:07:15.646Z,1513120035.646 [DonutAtDepthSequence:Science:HighestChlPeakReport] Running Loop=1
2017-12-12T23:07:15.646Z,1513120035.646 [DonutAtDepthSequence:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize DonutAtDepthSequence:Science:HighestChlPeakReport
2017-12-12T23:07:15.646Z,1513120035.646 [DonutAtDepthSequence:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2017-12-12T23:07:15.646Z,1513120035.646 [DonutAtDepthSequence:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2017-12-12T23:07:15.647Z,1513120035.647 [DonutAtDepthSequence:Science:PeakDetectNO3] Running Loop=1
2017-12-12T23:07:15.647Z,1513120035.647 [DonutAtDepthSequence:Science:PeakDetectNO3](DEBUG): Aggregate::initialize DonutAtDepthSequence:Science:PeakDetectNO3
2017-12-12T23:07:15.647Z,1513120035.647 [DonutAtDepthSequence:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2017-12-12T23:07:15.647Z,1513120035.647 [DonutAtDepthSequence:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2017-12-12T23:07:15.650Z,1513120035.650 [DonutAtDepthSequence:Science:PeakDetectOil] Running Loop=1
2017-12-12T23:07:15.650Z,1513120035.650 [DonutAtDepthSequence:Science:PeakDetectOil](DEBUG): Aggregate::initialize DonutAtDepthSequence:Science:PeakDetectOil
2017-12-12T23:07:15.650Z,1513120035.650 [DonutAtDepthSequence:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2017-12-12T23:07:15.650Z,1513120035.650 [DonutAtDepthSequence:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2017-12-12T23:07:15.652Z,1513120035.652 [DonutAtDepthSequence:K.AltitudeEnvelope] Running Loop=1
2017-12-12T23:07:15.652Z,1513120035.652 [DonutAtDepthSequence:K.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2017-12-12T23:07:15.652Z,1513120035.652 [DonutAtDepthSequence:TakeSamples] Running Loop=1
2017-12-12T23:07:15.652Z,1513120035.652 [DonutAtDepthSequence:TakeSamples](DEBUG): Aggregate::initialize DonutAtDepthSequence:TakeSamples
2017-12-12T23:07:15.652Z,1513120035.652 [DonutAtDepthSequence:B] Running Loop=1
2017-12-12T23:07:15.657Z,1513120035.657 [DonutAtDepthSequence:TakeSamples] Running Loop=1
2017-12-12T23:07:15.659Z,1513120035.659 [DonutAtDepthSequence:TakeSamples:SetOptionsOfSample1] Running Loop=1
2017-12-12T23:07:15.660Z,1513120035.660 [DonutAtDepthSequence:TakeSamples:SetOptionsOfSample1](DEBUG): Aggregate::initialize DonutAtDepthSequence:TakeSamples:SetOptionsOfSample1
2017-12-12T23:07:15.660Z,1513120035.660 [DonutAtDepthSequence:TakeSamples:SetOptionsOfSample1:A] Running Loop=1
2017-12-12T23:07:15.666Z,1513120035.666 [DonutAtDepthSequence:TakeSamples:SetOptionsOfSample1:A] Stopped
2017-12-12T23:07:15.666Z,1513120035.666 [DonutAtDepthSequence:TakeSamples:SetOptionsOfSample1:B] Running Loop=1
2017-12-12T23:07:15.666Z,1513120035.666 [DonutAtDepthSequence:K.AltitudeEnvelope] Running Loop=1
2017-12-12T23:07:15.681Z,1513120035.681 [DonutAtDepthSequence:Science] Running Loop=1
2017-12-12T23:07:15.730Z,1513120035.730 [DonutAtDepthSequence:Science:PeakDetectOil] Stopped
2017-12-12T23:07:15.730Z,1513120035.730 [DonutAtDepthSequence:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize DonutAtDepthSequence:Science:PeakDetectOil
2017-12-12T23:07:15.730Z,1513120035.730 [DonutAtDepthSequence:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2017-12-12T23:07:15.730Z,1513120035.730 [DonutAtDepthSequence:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2017-12-12T23:07:15.730Z,1513120035.730 [DonutAtDepthSequence:Science:PeakDetectNO3] Stopped
2017-12-12T23:07:15.730Z,1513120035.730 [DonutAtDepthSequence:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize DonutAtDepthSequence:Science:PeakDetectNO3
2017-12-12T23:07:15.730Z,1513120035.730 [DonutAtDepthSequence:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2017-12-12T23:07:15.730Z,1513120035.730 [DonutAtDepthSequence:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2017-12-12T23:07:15.730Z,1513120035.730 [DonutAtDepthSequence:Science:HighestChlPeakReport] Running Loop=1
2017-12-12T23:07:15.744Z,1513120035.744 [DonutAtDepthSequence:Science:PeakDetectChl] Running Loop=1
2017-12-12T23:07:15.769Z,1513120035.769 [DonutAtDepthSequence:Science:H] Running Loop=1
2017-12-12T23:07:15.769Z,1513120035.769 [DonutAtDepthSequence:Science:H](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_petroleum_hydrocarbons_in_sea_water
2017-12-12T23:07:15.771Z,1513120035.771 [DonutAtDepthSequence:Science:G] Running Loop=1
2017-12-12T23:07:15.772Z,1513120035.772 [DonutAtDepthSequence:Science:G](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2017-12-12T23:07:15.790Z,1513120035.790 [DonutAtDepthSequence:Science:F] Stopped
2017-12-12T23:07:15.790Z,1513120035.790 [DonutAtDepthSequence:Science:E] Stopped
2017-12-12T23:07:15.790Z,1513120035.790 [DonutAtDepthSequence:Science:D] Running Loop=1
2017-12-12T23:07:15.791Z,1513120035.791 [DonutAtDepthSequence:Science:D](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2017-12-12T23:07:15.792Z,1513120035.792 [DonutAtDepthSequence:Science:D](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2017-12-12T23:07:15.794Z,1513120035.794 [DonutAtDepthSequence:Science:C] Running Loop=1
2017-12-12T23:07:15.794Z,1513120035.794 [DonutAtDepthSequence:Science:C](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2017-12-12T23:07:15.795Z,1513120035.795 [DonutAtDepthSequence:Science:C](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2017-12-12T23:07:15.797Z,1513120035.797 [DonutAtDepthSequence:Science:B] Stopped
2017-12-12T23:07:15.797Z,1513120035.797 [DonutAtDepthSequence:Science:A] Running Loop=1
2017-12-12T23:07:15.798Z,1513120035.798 [DonutAtDepthSequence:Science:A](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_oxygen_in_sea_water
2017-12-12T23:07:15.799Z,1513120035.799 [DonutAtDepthSequence:I.Pitch] Running Loop=1
2017-12-12T23:07:15.818Z,1513120035.818 [DonutAtDepthSequence:B] Stopped
2017-12-12T23:07:15.819Z,1513120035.819 [DonutAtDepthSequence:C] Running Loop=1
2017-12-12T23:07:15.819Z,1513120035.819 [DonutAtDepthSequence:StandardEnvelopes] Running Loop=1
2017-12-12T23:07:15.819Z,1513120035.819 [DonutAtDepthSequence:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2017-12-12T23:07:15.844Z,1513120035.844 [DonutAtDepthSequence:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2017-12-12T23:07:15.866Z,1513120035.866 [DonutAtDepthSequence:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2017-12-12T23:07:15.949Z,1513120035.949 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=4
2017-12-12T23:07:15.949Z,1513120035.949 [WetLabsBB2FL](INFO): Powering up
2017-12-12T23:07:15.986Z,1513120035.986 [DataOverHttps](INFO): Sending 25 bytes from file Logs/20171212T230149/Courier0012.lzma
2017-12-12T23:07:16.089Z,1513120036.089 [DonutAtDepthSequence:TakeSamples:SetOptionsOfSample1:B] Stopped
2017-12-12T23:07:16.089Z,1513120036.089 [DonutAtDepthSequence:TakeSamples:SetOptionsOfSample1:C] Running Loop=1
2017-12-12T23:07:16.095Z,1513120036.095 [DonutAtDepthSequence:C] Stopped
2017-12-12T23:07:16.095Z,1513120036.095 [DonutAtDepthSequence:D] Running Loop=1
2017-12-12T23:07:16.181Z,1513120036.181 [CTD_Seabird](INFO): Initializing
2017-12-12T23:07:16.182Z,1513120036.182 [CTD_Seabird](INFO): Checking LCM
2017-12-12T23:07:16.191Z,1513120036.191 [CTD_Seabird](INFO): LCM OK
2017-12-12T23:07:16.191Z,1513120036.191 [CTD_Seabird](INFO): Powering up
2017-12-12T23:07:16.478Z,1513120036.478 [DonutAtDepthSequence:TakeSamples:SetOptionsOfSample1:C] Stopped
2017-12-12T23:07:16.479Z,1513120036.479 [DonutAtDepthSequence:TakeSamples:SetOptionsOfSample1:D] Running Loop=1
2017-12-12T23:07:16.503Z,1513120036.503 [DonutAtDepthSequence:D] Stopped
2017-12-12T23:07:16.503Z,1513120036.503 [DonutAtDepthSequence:F] Running Loop=1
2017-12-12T23:07:16.873Z,1513120036.873 [ThrusterServo](FAULT): getVelocity uart error serial timeout
2017-12-12T23:07:16.873Z,1513120036.873 [ThrusterServo](FAULT): Thruster uart error: serial timeout
2017-12-12T23:07:16.873Z,1513120036.873 [ThrusterServo] Communications Fault, FailCount= 1
2017-12-12T23:07:16.873Z,1513120036.873 [ThrusterServo](ERROR): Communications Fault
2017-12-12T23:07:16.877Z,1513120036.877 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2017-12-12T23:07:16.900Z,1513120036.900 [DataOverHttps](INFO): Moved sent file to Logs/20171212T230149/Courier0012.lzma.bak
2017-12-12T23:07:16.900Z,1513120036.900 [DataOverHttps](INFO): SBD MOMSN=5432491
2017-12-12T23:07:17.041Z,1513120037.041 [DonutAtDepthSequence:TakeSamples:SetOptionsOfSample1:D] Stopped
2017-12-12T23:07:17.041Z,1513120037.041 [DonutAtDepthSequence:TakeSamples:SetOptionsOfSample1](INFO): Completed DonutAtDepthSequence:TakeSamples:SetOptionsOfSample1
2017-12-12T23:07:17.042Z,1513120037.042 [DonutAtDepthSequence:TakeSamples:SetOptionsOfSample1] Stopped
2017-12-12T23:07:17.042Z,1513120037.042 [DonutAtDepthSequence:TakeSamples:SetOptionsOfSample1](DEBUG): Aggregate::uninitialize DonutAtDepthSequence:TakeSamples:SetOptionsOfSample1
2017-12-12T23:07:17.050Z,1513120037.050 [DonutAtDepthSequence:F] Stopped
2017-12-12T23:07:17.050Z,1513120037.050 [DonutAtDepthSequence:H] Running Loop=1
2017-12-12T23:07:17.265Z,1513120037.265 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2017-12-12T23:07:17.265Z,1513120037.265 [ThrusterServo](INFO): Powering down
2017-12-12T23:07:17.411Z,1513120037.411 [DonutAtDepthSequence:TakeSamples:NoChangeSamplingLocation] Running Loop=1
2017-12-12T23:07:17.411Z,1513120037.411 [DonutAtDepthSequence:TakeSamples:NoChangeSamplingLocation](DEBUG): Aggregate::initialize DonutAtDepthSequence:TakeSamples:NoChangeSamplingLocation
2017-12-12T23:07:17.412Z,1513120037.412 [DonutAtDepthSequence:TakeSamples:NoChangeSamplingLocation:A] Running Loop=1
2017-12-12T23:07:17.424Z,1513120037.424 [DonutAtDepthSequence:TakeSamples:NoChangeSamplingLocation:A] Stopped
2017-12-12T23:07:17.434Z,1513120037.434 [DonutAtDepthSequence:TakeSamples:NoChangeSamplingLocation:B] Running Loop=1
2017-12-12T23:07:17.459Z,1513120037.459 [DonutAtDepthSequence:H] Stopped
2017-12-12T23:07:17.459Z,1513120037.459 [DonutAtDepthSequence:MissionStart] Running Loop=1
2017-12-12T23:07:17.459Z,1513120037.459 [DonutAtDepthSequence:MissionStart](DEBUG): Aggregate::initialize DonutAtDepthSequence:MissionStart
2017-12-12T23:07:17.460Z,1513120037.460 [DonutAtDepthSequence:MissionStart:MissionStartComms] Running Loop=1
2017-12-12T23:07:17.460Z,1513120037.460 [DonutAtDepthSequence:MissionStart:MissionStartComms](DEBUG): Aggregate::initialize DonutAtDepthSequence:MissionStart:MissionStartComms
2017-12-12T23:07:18.087Z,1513120038.087 [DonutAtDepthSequence:TakeSamples:Firing] Running Loop=1
2017-12-12T23:07:18.087Z,1513120038.087 [DonutAtDepthSequence:TakeSamples:Firing](DEBUG): Aggregate::initialize DonutAtDepthSequence:TakeSamples:Firing
2017-12-12T23:07:18.088Z,1513120038.088 [DonutAtDepthSequence:TakeSamples:Firing:A] Running Loop=1
2017-12-12T23:07:18.094Z,1513120038.094 [DonutAtDepthSequence:TakeSamples:Firing:A] Stopped
2017-12-12T23:07:18.094Z,1513120038.094 [DonutAtDepthSequence:TakeSamples:Firing:B] Running Loop=1
2017-12-12T23:07:18.096Z,1513120038.096 [DonutAtDepthSequence:TakeSamples:NoChangeSamplingLocation:B] Stopped
2017-12-12T23:07:18.096Z,1513120038.096 [DonutAtDepthSequence:TakeSamples:NoChangeSamplingLocation](INFO): Completed DonutAtDepthSequence:TakeSamples:NoChangeSamplingLocation
2017-12-12T23:07:18.096Z,1513120038.096 [DonutAtDepthSequence:TakeSamples:NoChangeSamplingLocation] Stopped
2017-12-12T23:07:18.096Z,1513120038.096 [DonutAtDepthSequence:TakeSamples:NoChangeSamplingLocation](DEBUG): Aggregate::uninitialize DonutAtDepthSequence:TakeSamples:NoChangeSamplingLocation
2017-12-12T23:07:18.101Z,1513120038.101 [DonutAtDepthSequence:MissionStart:NeedComms] Running Loop=1
2017-12-12T23:07:18.102Z,1513120038.102 [DonutAtDepthSequence:MissionStart:NeedComms](DEBUG): Aggregate::initialize DonutAtDepthSequence:MissionStart:NeedComms
2017-12-12T23:07:18.102Z,1513120038.102 [DonutAtDepthSequence:MissionStart:NeedComms:B.GoToSurface] Running Loop=1
2017-12-12T23:07:18.102Z,1513120038.102 [DonutAtDepthSequence:MissionStart:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2017-12-12T23:07:18.103Z,1513120038.103 [DonutAtDepthSequence:MissionStart:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2017-12-12T23:07:18.103Z,1513120038.103 [DonutAtDepthSequence:MissionStart:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2017-12-12T23:07:18.109Z,1513120038.109 [DonutAtDepthSequence:MissionStart:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2017-12-12T23:07:18.109Z,1513120038.109 [DonutAtDepthSequence:MissionStart:NeedComms:B.GoToSurface](DEBUG): No pitch timeout specified. Using default value of 20.000000 seconds.
2017-12-12T23:07:18.110Z,1513120038.110 [DonutAtDepthSequence:MissionStart:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2017-12-12T23:07:18.110Z,1513120038.110 [DonutAtDepthSequence:MissionStart:NeedComms:A] Running Loop=1
2017-12-12T23:07:18.130Z,1513120038.130 [DonutAtDepthSequence:MissionStart:NeedComms:A](INFO): last time_fix was: 1513119980.000000 second since 1970/01/01T00:00:00Z 
2017-12-12T23:07:18.134Z,1513120038.134 [DonutAtDepthSequence:MissionStart:NeedComms:A] Stopped
2017-12-12T23:07:18.307Z,1513120038.307 [ThrusterServo](DEBUG): Initializing EZServoServo.
2017-12-12T23:07:18.428Z,1513120038.428 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2017-12-12T23:07:18.440Z,1513120038.440 [CBIT](INFO): Clearing failed state for component ThrusterServo
2017-12-12T23:07:18.440Z,1513120038.440 [ThrusterServo] No Fault, FailCount= 1
2017-12-12T23:07:21.714Z,1513120041.714 [CTD_Seabird](INFO): Stopping potential previous instance(s) of CTD_Seabird LCM interface
2017-12-12T23:07:21.860Z,1513120041.860 [CTD_Seabird](INFO): Started Seabird LCM interface with command:nohup ./lrauv-framework/onboard/bin/gpctd -ldir /mnt/mmc/LRAUV/Logs/latest/ -dev /dev/ttyC6 -b 9600 >& /dev/null &
2017-12-12T23:07:21.946Z,1513120041.946 [CTD_Seabird](INFO): LCM subscribed to channel:ctd_t.seabird-gpctd
2017-12-12T23:07:22.942Z,1513120042.942 [DonutAtDepthSequence:TakeSamples:Firing:B] Stopped
2017-12-12T23:07:22.942Z,1513120042.942 [DonutAtDepthSequence:TakeSamples:Firing:C] Running Loop=1
2017-12-12T23:07:22.943Z,1513120042.943 [DonutAtDepthSequence:MissionStart:NeedComms:C] Running Loop=1
2017-12-12T23:07:23.312Z,1513120043.312 [AcousticModem_Benthos_ATM900](INFO): unknown deviceResponse_: TX time:05:27:18.2079

2017-12-12T23:07:23.313Z,1513120043.313 [AcousticModem_Benthos_ATM900](INFO): received an acoustic signal
2017-12-12T23:07:23.313Z,1513120043.313 [AcousticModem_Benthos_ATM900](INFO): received a range request message
2017-12-12T23:07:23.441Z,1513120043.441 [DonutAtDepthSequence:TakeSamples:Firing:C](IMPORTANT): Taking ESP sample No. 1.000000 count at depth 0.000000 m .
2017-12-12T23:07:23.443Z,1513120043.443 [DonutAtDepthSequence:TakeSamples:Firing:C] Stopped
2017-12-12T23:07:23.443Z,1513120043.443 [DonutAtDepthSequence:TakeSamples:Firing:D] Running Loop=1
2017-12-12T23:07:23.447Z,1513120043.447 [DonutAtDepthSequence:MissionStart:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2017-12-12T23:07:23.726Z,1513120043.726 [NAL9602](INFO): Powering up
2017-12-12T23:07:23.857Z,1513120043.857 [DonutAtDepthSequence:TakeSamples:Firing:D] Stopped
2017-12-12T23:07:23.857Z,1513120043.857 [DonutAtDepthSequence:TakeSamples:Firing:E] Running Loop=1
2017-12-12T23:07:24.213Z,1513120044.213 [DonutAtDepthSequence:TakeSamples:Firing:E] Stopped
2017-12-12T23:07:24.213Z,1513120044.213 [DonutAtDepthSequence:TakeSamples:Firing:Sampling] Running Loop=1
2017-12-12T23:07:24.214Z,1513120044.214 [DonutAtDepthSequence:TakeSamples:Firing:Sampling](DEBUG): Aggregate::initialize DonutAtDepthSequence:TakeSamples:Firing:Sampling
2017-12-12T23:07:24.678Z,1513120044.678 [DonutAtDepthSequence:SampleAtDepth] Running Loop=1
2017-12-12T23:07:24.679Z,1513120044.679 [DonutAtDepthSequence:SampleAtDepth](DEBUG): Aggregate::initialize DonutAtDepthSequence:SampleAtDepth
2017-12-12T23:07:24.679Z,1513120044.679 [DonutAtDepthSequence:SampleAtDepth:B.Pitch] Running Loop=1
2017-12-12T23:07:24.679Z,1513120044.679 [DonutAtDepthSequence:SampleAtDepth:B.Pitch](DEBUG): Initialize.
2017-12-12T23:07:24.679Z,1513120044.679 [DonutAtDepthSequence:SampleAtDepth:A] Running Loop=1
2017-12-12T23:07:24.689Z,1513120044.689 [DonutAtDepthSequence:SampleAtDepth:A](INFO): Moving to 0.000000 m 
2017-12-12T23:07:24.691Z,1513120044.691 [DonutAtDepthSequence:SampleAtDepth:A] Stopped
2017-12-12T23:07:24.974Z,1513120044.974 [Aanderaa_O2](DEBUG): Error parsing data: 4831F	14		290.088		97.457		17.668		29.294		29.465		38.780		9.315		397.5		462.1		153.6	


2017-12-12T23:07:24.974Z,1513120044.974 [Aanderaa_O2](DEBUG): Error parsing device response
2017-12-12T23:07:27.774Z,1513120047.774 [Aanderaa_O2](DEBUG): Error parsing data: 4831F	14		290.356		97.510		17.650		29.291		29.462		38.776		9.314		397.2		461.0		154.2	

2017-12-12T23:07:27.774Z,1513120047.774 [Aanderaa_O2](DEBUG): Error parsing device response
2017-12-12T23:07:34.541Z,1513120054.541 [NAL9602](INFO): NAL9602 initialized
2017-12-12T23:07:38.130Z,1513120058.130 [AcousticModem_Benthos_ATM900](INFO): unknown deviceResponse_: TX time:05:28:56.5582

2017-12-12T23:07:38.131Z,1513120058.131 [AcousticModem_Benthos_ATM900](INFO): received an acoustic signal
2017-12-12T23:07:38.132Z,1513120058.132 [AcousticModem_Benthos_ATM900](INFO): received a range request message
2017-12-12T23:07:46.351Z,1513120066.351 [CommandLine](IMPORTANT): got command get depth
2017-12-12T23:07:46.351Z,1513120066.351 [CommandLine](IMPORTANT): depth 0.243745 m
2017-12-12T23:08:03.120Z,1513120083.120 [CommandLine](IMPORTANT): got command get ESPComponent.simulateHardware
2017-12-12T23:08:03.120Z,1513120083.120 [CommandLine](IMPORTANT): ESPComponent.simulateHardware 1 bool
2017-12-12T23:08:11.498Z,1513120091.498 [CommandLine](IMPORTANT): got command maintain sensor Depth_Keller.depth 0.000000 meter
2017-12-12T23:08:11.500Z,1513120091.500 [ComponentRegistry](DEBUG): SyncComponent "Maintain_Depth_Keller.depth" handled in the control thread.
2017-12-12T23:08:11.820Z,1513120091.820 [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,Maintain_Depth_Keller.depth,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,VerticalTemperatureHomogeneityIndexCalculator,YawRateCalculator,ElevatorOffsetCalculator,StratificationFrontDetector,DeadReckonUsingMultipleVelocitySources,DeadReckonUsingSpeedCalculator,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2017-12-12T23:08:12.037Z,1513120092.037 [DonutAtDepthSequence:SampleAtDepth:C] Running Loop=1
2017-12-12T23:08:12.438Z,1513120092.438 [DonutAtDepthSequence:SampleAtDepth:C](INFO): At 0.000000 m , settling for 10.000000 min 
2017-12-12T23:08:12.444Z,1513120092.444 [DonutAtDepthSequence:SampleAtDepth:C] Stopped
2017-12-12T23:08:12.444Z,1513120092.444 [DonutAtDepthSequence:SampleAtDepth:D.Wait] Running Loop=1
2017-12-12T23:08:12.445Z,1513120092.445 [DonutAtDepthSequence:SampleAtDepth:D.Wait](DEBUG): Initialize Wait Component.
2017-12-12T23:08:17.374Z,1513120097.374 [AcousticModem_Benthos_ATM900](INFO): unknown deviceResponse_: TX time:05:29:11.4583

2017-12-12T23:08:17.375Z,1513120097.375 [AcousticModem_Benthos_ATM900](INFO): received an acoustic signal
2017-12-12T23:08:17.772Z,1513120097.772 [AcousticModem_Benthos_ATM900](INFO): received a range request message
2017-12-12T23:08:27.914Z,1513120107.914 [BPC1](ERROR): Failed to receive battery data
2017-12-12T23:08:27.914Z,1513120107.914 [BPC1] Communications Fault, FailCount= 1
2017-12-12T23:08:27.914Z,1513120107.914 [BPC1](ERROR): Communications Fault
2017-12-12T23:08:28.122Z,1513120108.122 [CBIT](ERROR): Communications Fault in component: BPC1
2017-12-12T23:08:29.349Z,1513120109.349 [CBIT](INFO): Clearing failed state for component BPC1
2017-12-12T23:08:29.349Z,1513120109.349 [BPC1] No Fault, FailCount= 1
2017-12-12T23:08:35.862Z,1513120115.862 [AcousticModem_Benthos_ATM900](INFO): unknown deviceResponse_: TX time:05:29:50.7083

2017-12-12T23:08:35.863Z,1513120115.863 [AcousticModem_Benthos_ATM900](INFO): received an acoustic signal
2017-12-12T23:08:35.863Z,1513120115.863 [AcousticModem_Benthos_ATM900](INFO): received a range request message
2017-12-12T23:08:56.287Z,1513120136.287 [NAL9602](INFO): SBD MO Status=2, MOMSN=19278, MT Status=2, MTMSN=0
2017-12-12T23:08:56.287Z,1513120136.287 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2017-12-12T23:09:15.065Z,1513120155.065 [AcousticModem_Benthos_ATM900](INFO): unknown deviceResponse_: TX time:05:30:09.0584

2017-12-12T23:09:15.065Z,1513120155.065 [AcousticModem_Benthos_ATM900](INFO): received an acoustic signal
2017-12-12T23:09:15.066Z,1513120155.066 [AcousticModem_Benthos_ATM900](INFO): uncaught empty line in deviceResponse_: 

2017-12-12T23:09:22.584Z,1513120162.584 [BPC1](ERROR): Failed to receive battery data
2017-12-12T23:09:22.584Z,1513120162.584 [BPC1] Communications Fault, FailCount= 1
2017-12-12T23:09:22.584Z,1513120162.584 [BPC1](ERROR): Communications Fault
2017-12-12T23:09:22.795Z,1513120162.795 [CBIT](ERROR): Communications Fault in component: BPC1
2017-12-12T23:09:24.030Z,1513120164.030 [CBIT](INFO): Clearing failed state for component BPC1
2017-12-12T23:09:24.030Z,1513120164.030 [BPC1] No Fault, FailCount= 1
2017-12-12T23:09:49.741Z,1513120189.741 [NAL9602](INFO): SBD MO Status=2, MOMSN=19278, MT Status=2, MTMSN=0
2017-12-12T23:09:49.741Z,1513120189.741 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2017-12-12T23:09:59.989Z,1513120199.989 [CommandLine](IMPORTANT): got command show stack
2017-12-12T23:09:59.989Z,1513120199.989 [CommandLine](IMPORTANT): Behavior Stack:

2017-12-12T23:09:59.994Z,1513120199.994 [DonutAtDepthSequence:StandardEnvelopes](IMPORTANT): Priority 0: DonutAtDepthSequence:StandardEnvelopes:A.AltitudeEnvelope
2017-12-12T23:09:59.995Z,1513120199.995 [DonutAtDepthSequence:StandardEnvelopes](IMPORTANT): Priority 1: DonutAtDepthSequence:StandardEnvelopes:B.DepthEnvelope
2017-12-12T23:09:59.995Z,1513120199.995 [DonutAtDepthSequence:StandardEnvelopes](IMPORTANT): Priority 2: DonutAtDepthSequence:StandardEnvelopes:C.OffshoreEnvelope
2017-12-12T23:09:59.995Z,1513120199.995 [DonutAtDepthSequence:SampleAtDepth](IMPORTANT): Priority 3: DonutAtDepthSequence:SampleAtDepth:B.Pitch
2017-12-12T23:09:59.995Z,1513120199.995 [DonutAtDepthSequence:SampleAtDepth](IMPORTANT): Priority 4: DonutAtDepthSequence:SampleAtDepth:D.Wait
2017-12-12T23:09:59.996Z,1513120199.996 [DonutAtDepthSequence](IMPORTANT): Priority 5: DonutAtDepthSequence:I.Pitch
2017-12-12T23:09:59.997Z,1513120199.997 [DonutAtDepthSequence:Science](IMPORTANT): Priority 6: DonutAtDepthSequence:Science:A
2017-12-12T23:09:59.997Z,1513120199.997 [DonutAtDepthSequence:Science](IMPORTANT): Priority 7: DonutAtDepthSequence:Science:C
2017-12-12T23:09:59.997Z,1513120199.997 [DonutAtDepthSequence:Science](IMPORTANT): Priority 8: DonutAtDepthSequence:Science:D
2017-12-12T23:09:59.998Z,1513120199.998 [DonutAtDepthSequence:Science](IMPORTANT): Priority 9: DonutAtDepthSequence:Science:G
2017-12-12T23:09:59.998Z,1513120199.998 [DonutAtDepthSequence:Science](IMPORTANT): Priority 10: DonutAtDepthSequence:Science:H
2017-12-12T23:09:59.998Z,1513120199.998 [DonutAtDepthSequence:Science:PeakDetectChl](IMPORTANT): Priority 11: DonutAtDepthSequence:Science:PeakDetectChl:A.PeakDetectVsDepth
2017-12-12T23:09:59.998Z,1513120199.998 [DonutAtDepthSequence:Science:HighestChlPeakReport](IMPORTANT): Priority 12: DonutAtDepthSequence:Science:HighestChlPeakReport:A.PeakDetectHorizontal
2017-12-12T23:09:59.999Z,1513120199.999 [DonutAtDepthSequence](IMPORTANT): Priority 13: DonutAtDepthSequence:K.AltitudeEnvelope
2017-12-12T23:09:59.999Z,1513120199.999 [DonutAtDepthSequence:MissionStart:NeedComms](IMPORTANT): Priority 14: DonutAtDepthSequence:MissionStart:NeedComms:B.GoToSurface
2017-12-12T23:09:59.999Z,1513120199.999 [DonutAtDepthSequence:MissionStart:NeedComms](IMPORTANT): Priority 15: DonutAtDepthSequence:MissionStart:NeedComms:C
2017-12-12T23:10:04.986Z,1513120204.986 [AcousticModem_Benthos_ATM900](INFO): unknown deviceResponse_: $Packet for address 1

2017-12-12T23:10:04.987Z,1513120204.987 [AcousticModem_Benthos_ATM900](INFO): received an acoustic signal
2017-12-12T23:10:04.988Z,1513120204.988 [AcousticModem_Benthos_ATM900](INFO): received a range request message
2017-12-12T23:10:25.974Z,1513120225.974 [BPC1](ERROR): Failed to receive battery data
2017-12-12T23:10:25.974Z,1513120225.974 [BPC1] Communications Fault, FailCount= 1
2017-12-12T23:10:25.974Z,1513120225.974 [BPC1](ERROR): Communications Fault
2017-12-12T23:10:26.337Z,1513120226.337 [CBIT](ERROR): Communications Fault in component: BPC1
2017-12-12T23:10:26.343Z,1513120226.343 [AcousticModem_Benthos_ATM900](INFO): unknown deviceResponse_: TX time:05:31:38.3098

2017-12-12T23:10:26.344Z,1513120226.344 [AcousticModem_Benthos_ATM900](INFO): received an acoustic signal
2017-12-12T23:10:26.344Z,1513120226.344 [AcousticModem_Benthos_ATM900](INFO): received a range request message
2017-12-12T23:10:27.497Z,1513120227.497 [CBIT](INFO): Clearing failed state for component BPC1
2017-12-12T23:10:27.497Z,1513120227.497 [BPC1] No Fault, FailCount= 1
2017-12-12T23:10:31.060Z,1513120231.060 [NAL9602](INFO): SBD MO Status=2, MOMSN=19278, MT Status=2, MTMSN=0
2017-12-12T23:10:31.063Z,1513120231.063 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2017-12-12T23:10:39.909Z,1513120239.909 [AcousticModem_Benthos_ATM900](INFO): unknown deviceResponse_: TX time:05:31:54.4104

2017-12-12T23:10:39.910Z,1513120239.910 [AcousticModem_Benthos_ATM900](INFO): received an acoustic signal
2017-12-12T23:10:39.910Z,1513120239.910 [AcousticModem_Benthos_ATM900](INFO): received a range request message
2017-12-12T23:10:52.322Z,1513120252.322 [NAL9602](INFO): SBD MO Status=2, MOMSN=19278, MT Status=2, MTMSN=0
2017-12-12T23:10:52.322Z,1513120252.322 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2017-12-12T23:11:05.909Z,1513120265.909 [AcousticModem_Benthos_ATM900](INFO): unknown deviceResponse_: TX time:05:32:12.9592

2017-12-12T23:11:05.910Z,1513120265.910 [AcousticModem_Benthos_ATM900](INFO): received an acoustic signal
2017-12-12T23:11:05.910Z,1513120265.910 [AcousticModem_Benthos_ATM900](INFO): received a range request message
2017-12-12T23:11:22.640Z,1513120282.640 [NAL9602](INFO): SBD MO Status=2, MOMSN=19278, MT Status=2, MTMSN=0
2017-12-12T23:11:22.640Z,1513120282.640 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2017-12-12T23:11:22.735Z,1513120282.735 [BPC1](ERROR): Failed to receive battery data
2017-12-12T23:11:22.735Z,1513120282.735 [BPC1] Communications Fault, FailCount= 1
2017-12-12T23:11:22.735Z,1513120282.735 [BPC1](ERROR): Communications Fault
2017-12-12T23:11:22.999Z,1513120282.999 [CBIT](ERROR): Communications Fault in component: BPC1
2017-12-12T23:11:24.046Z,1513120284.046 [CBIT](INFO): Clearing failed state for component BPC1
2017-12-12T23:11:24.046Z,1513120284.046 [BPC1] No Fault, FailCount= 1
2017-12-12T23:11:27.027Z,1513120287.027 [CommandLine](IMPORTANT): got command show stack
2017-12-12T23:11:27.027Z,1513120287.027 [CommandLine](IMPORTANT): Behavior Stack:

2017-12-12T23:11:27.028Z,1513120287.028 [DonutAtDepthSequence:StandardEnvelopes](IMPORTANT): Priority 0: DonutAtDepthSequence:StandardEnvelopes:A.AltitudeEnvelope
2017-12-12T23:11:27.029Z,1513120287.029 [DonutAtDepthSequence:StandardEnvelopes](IMPORTANT): Priority 1: DonutAtDepthSequence:StandardEnvelopes:B.DepthEnvelope
2017-12-12T23:11:27.029Z,1513120287.029 [DonutAtDepthSequence:StandardEnvelopes](IMPORTANT): Priority 2: DonutAtDepthSequence:StandardEnvelopes:C.OffshoreEnvelope
2017-12-12T23:11:27.029Z,1513120287.029 [DonutAtDepthSequence:SampleAtDepth](IMPORTANT): Priority 3: DonutAtDepthSequence:SampleAtDepth:B.Pitch
2017-12-12T23:11:27.030Z,1513120287.030 [DonutAtDepthSequence:SampleAtDepth](IMPORTANT): Priority 4: DonutAtDepthSequence:SampleAtDepth:D.Wait
2017-12-12T23:11:27.030Z,1513120287.030 [DonutAtDepthSequence](IMPORTANT): Priority 5: DonutAtDepthSequence:I.Pitch
2017-12-12T23:11:27.031Z,1513120287.031 [DonutAtDepthSequence:Science](IMPORTANT): Priority 6: DonutAtDepthSequence:Science:A
2017-12-12T23:11:27.031Z,1513120287.031 [DonutAtDepthSequence:Science](IMPORTANT): Priority 7: DonutAtDepthSequence:Science:C
2017-12-12T23:11:27.031Z,1513120287.031 [DonutAtDepthSequence:Science](IMPORTANT): Priority 8: DonutAtDepthSequence:Science:D
2017-12-12T23:11:27.032Z,1513120287.032 [DonutAtDepthSequence:Science](IMPORTANT): Priority 9: DonutAtDepthSequence:Science:G
2017-12-12T23:11:27.032Z,1513120287.032 [DonutAtDepthSequence:Science](IMPORTANT): Priority 10: DonutAtDepthSequence:Science:H
2017-12-12T23:11:27.032Z,1513120287.032 [DonutAtDepthSequence:Science:PeakDetectChl](IMPORTANT): Priority 11: DonutAtDepthSequence:Science:PeakDetectChl:A.PeakDetectVsDepth
2017-12-12T23:11:27.047Z,1513120287.047 [DonutAtDepthSequence:Science:HighestChlPeakReport](IMPORTANT): Priority 12: DonutAtDepthSequence:Science:HighestChlPeakReport:A.PeakDetectHorizontal
2017-12-12T23:11:27.065Z,1513120287.065 [DonutAtDepthSequence](IMPORTANT): Priority 13: DonutAtDepthSequence:K.AltitudeEnvelope
2017-12-12T23:11:27.065Z,1513120287.065 [DonutAtDepthSequence:MissionStart:NeedComms](IMPORTANT): Priority 14: DonutAtDepthSequence:MissionStart:NeedComms:B.GoToSurface
2017-12-12T23:11:27.065Z,1513120287.065 [DonutAtDepthSequence:MissionStart:NeedComms](IMPORTANT): Priority 15: DonutAtDepthSequence:MissionStart:NeedComms:C
2017-12-12T23:11:34.626Z,1513120294.626 [NAL9602](INFO): SBD MO Status=2, MOMSN=19278, MT Status=2, MTMSN=0
2017-12-12T23:11:34.626Z,1513120294.626 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2017-12-12T23:11:52.623Z,1513120312.623 [NAL9602](INFO): SBD MO Status=2, MOMSN=19278, MT Status=2, MTMSN=0
2017-12-12T23:11:52.624Z,1513120312.624 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2017-12-12T23:11:58.400Z,1513120318.400 [CBIT](DEBUG): EFC running - data check-sum false
2017-12-12T23:12:01.417Z,1513120321.417 [NAL9602](INFO): SBD MO Status=2, MOMSN=19278, MT Status=2, MTMSN=0
2017-12-12T23:12:01.417Z,1513120321.417 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2017-12-12T23:12:17.460Z,1513120337.460 [BPC1](ERROR): Failed to receive battery data
2017-12-12T23:12:17.460Z,1513120337.460 [BPC1] Communications Fault, FailCount= 1
2017-12-12T23:12:17.460Z,1513120337.460 [BPC1](ERROR): Communications Fault
2017-12-12T23:12:17.634Z,1513120337.634 [CBIT](ERROR): Communications Fault in component: BPC1
2017-12-12T23:12:18.627Z,1513120338.627 [NAL9602](INFO): SBD MO Status=2, MOMSN=19278, MT Status=2, MTMSN=0
2017-12-12T23:12:18.627Z,1513120338.627 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2017-12-12T23:12:18.905Z,1513120338.905 [CBIT](INFO): Clearing failed state for component BPC1
2017-12-12T23:12:18.905Z,1513120338.905 [BPC1] No Fault, FailCount= 1
2017-12-12T23:12:44.533Z,1513120364.533 [NAL9602](INFO): SBD MO Status=2, MOMSN=19278, MT Status=2, MTMSN=0
2017-12-12T23:12:44.533Z,1513120364.533 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2017-12-12T23:12:44.926Z,1513120364.926 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2017-12-12T23:12:46.129Z,1513120366.129 [NAL9602](INFO): GPS fix at 20171212T231243: (36.802859, -121.787997)
2017-12-12T23:12:46.247Z,1513120366.247 [DonutAtDepthSequence:MissionStart:NeedComms:C] Stopped
2017-12-12T23:12:46.247Z,1513120366.247 [DonutAtDepthSequence:MissionStart:NeedComms:D] Running Loop=1
2017-12-12T23:12:46.625Z,1513120366.625 [DonutAtDepthSequence:MissionStart:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2017-12-12T23:12:52.971Z,1513120372.971 [DataOverHttps](INFO): Sending 228 bytes from file Logs/20171212T230149/Courier0016.lzma
2017-12-12T23:12:53.770Z,1513120373.770 [DataOverHttps](INFO): Moved sent file to Logs/20171212T230149/Courier0016.lzma.bak
2017-12-12T23:12:53.770Z,1513120373.770 [DataOverHttps](INFO): SBD MOMSN=5432507
2017-12-12T23:13:06.803Z,1513120386.803 [CommandLine](IMPORTANT): got command show stack
2017-12-12T23:13:06.803Z,1513120386.803 [CommandLine](IMPORTANT): Behavior Stack:

2017-12-12T23:13:06.832Z,1513120386.832 [DonutAtDepthSequence:StandardEnvelopes](IMPORTANT): Priority 0: DonutAtDepthSequence:StandardEnvelopes:A.AltitudeEnvelope
2017-12-12T23:13:06.832Z,1513120386.832 [DonutAtDepthSequence:StandardEnvelopes](IMPORTANT): Priority 1: DonutAtDepthSequence:StandardEnvelopes:B.DepthEnvelope
2017-12-12T23:13:06.832Z,1513120386.832 [DonutAtDepthSequence:StandardEnvelopes](IMPORTANT): Priority 2: DonutAtDepthSequence:StandardEnvelopes:C.OffshoreEnvelope
2017-12-12T23:13:06.833Z,1513120386.833 [DonutAtDepthSequence:SampleAtDepth](IMPORTANT): Priority 3: DonutAtDepthSequence:SampleAtDepth:B.Pitch
2017-12-12T23:13:06.833Z,1513120386.833 [DonutAtDepthSequence:SampleAtDepth](IMPORTANT): Priority 4: DonutAtDepthSequence:SampleAtDepth:D.Wait
2017-12-12T23:13:06.833Z,1513120386.833 [DonutAtDepthSequence](IMPORTANT): Priority 5: DonutAtDepthSequence:I.Pitch
2017-12-12T23:13:06.834Z,1513120386.834 [DonutAtDepthSequence:Science](IMPORTANT): Priority 6: DonutAtDepthSequence:Science:A
2017-12-12T23:13:06.834Z,1513120386.834 [DonutAtDepthSequence:Science](IMPORTANT): Priority 7: DonutAtDepthSequence:Science:C
2017-12-12T23:13:06.835Z,1513120386.835 [DonutAtDepthSequence:Science](IMPORTANT): Priority 8: DonutAtDepthSequence:Science:D
2017-12-12T23:13:06.835Z,1513120386.835 [DonutAtDepthSequence:Science](IMPORTANT): Priority 9: DonutAtDepthSequence:Science:G
2017-12-12T23:13:06.835Z,1513120386.835 [DonutAtDepthSequence:Science](IMPORTANT): Priority 10: DonutAtDepthSequence:Science:H
2017-12-12T23:13:06.835Z,1513120386.835 [DonutAtDepthSequence:Science:PeakDetectChl](IMPORTANT): Priority 11: DonutAtDepthSequence:Science:PeakDetectChl:A.PeakDetectVsDepth
2017-12-12T23:13:06.836Z,1513120386.836 [DonutAtDepthSequence:Science:HighestChlPeakReport](IMPORTANT): Priority 12: DonutAtDepthSequence:Science:HighestChlPeakReport:A.PeakDetectHorizontal
2017-12-12T23:13:06.836Z,1513120386.836 [DonutAtDepthSequence](IMPORTANT): Priority 13: DonutAtDepthSequence:K.AltitudeEnvelope
2017-12-12T23:13:06.836Z,1513120386.836 [DonutAtDepthSequence:MissionStart:NeedComms](IMPORTANT): Priority 14: DonutAtDepthSequence:MissionStart:NeedComms:B.GoToSurface
2017-12-12T23:13:06.837Z,1513120386.837 [DonutAtDepthSequence:MissionStart:NeedComms](IMPORTANT): Priority 15: DonutAtDepthSequence:MissionStart:NeedComms:D
2017-12-12T23:13:06.923Z,1513120386.923 [DataOverHttps](INFO): Sending 349 bytes from file Logs/20171212T230149/Express0009.lzma
2017-12-12T23:13:07.699Z,1513120387.699 [DataOverHttps](INFO): Moved sent file to Logs/20171212T230149/Express0009.lzma.bak
2017-12-12T23:13:07.699Z,1513120387.699 [DataOverHttps](INFO): SBD MOMSN=5432510
2017-12-12T23:13:20.883Z,1513120400.883 [NAL9602](INFO): Powering down
2017-12-12T23:13:21.159Z,1513120401.159 [DataOverHttps](INFO): Sending 321 bytes from file Logs/20171212T230149/Express0013.lzma
2017-12-12T23:13:21.954Z,1513120401.954 [DataOverHttps](INFO): Moved sent file to Logs/20171212T230149/Express0013.lzma.bak
2017-12-12T23:13:21.954Z,1513120401.954 [DataOverHttps](INFO): SBD MOMSN=5432516
2017-12-12T23:13:34.838Z,1513120414.838 [DataOverHttps](INFO): Sending 1277 bytes from file Logs/20171212T230149/Express0017.lzma
2017-12-12T23:13:35.620Z,1513120415.620 [DataOverHttps](INFO): Moved sent file to Logs/20171212T230149/Express0017.lzma.bak
2017-12-12T23:13:35.620Z,1513120415.620 [DataOverHttps](INFO): SBD MOMSN=5432523
2017-12-12T23:13:37.647Z,1513120417.647 [DonutAtDepthSequence:MissionStart:NeedComms:D] Stopped
2017-12-12T23:13:37.647Z,1513120417.647 [DonutAtDepthSequence:MissionStart:NeedComms:E] Running Loop=1
2017-12-12T23:13:37.918Z,1513120417.918 [DonutAtDepthSequence:MissionStart:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2017-12-12T23:13:42.330Z,1513120422.330 [NAL9602](INFO): Powering up
2017-12-12T23:13:53.399Z,1513120433.399 [NAL9602](INFO): NAL9602 initialized
2017-12-12T23:14:21.013Z,1513120461.013 [NAL9602](INFO): SBD MO Status=2, MOMSN=19278, MT Status=2, MTMSN=0
2017-12-12T23:14:21.013Z,1513120461.013 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2017-12-12T23:14:36.262Z,1513120476.262 [BPC1](ERROR): Failed to receive battery data
2017-12-12T23:14:36.262Z,1513120476.262 [BPC1] Communications Fault, FailCount= 1
2017-12-12T23:14:36.262Z,1513120476.262 [BPC1](ERROR): Communications Fault
2017-12-12T23:14:36.476Z,1513120476.476 [CBIT](ERROR): Communications Fault in component: BPC1
2017-12-12T23:14:37.629Z,1513120477.629 [CBIT](INFO): Clearing failed state for component BPC1
2017-12-12T23:14:37.630Z,1513120477.630 [BPC1] No Fault, FailCount= 1
2017-12-12T23:14:49.277Z,1513120489.277 [CommandLine](IMPORTANT): got command show stack
2017-12-12T23:14:49.277Z,1513120489.277 [CommandLine](IMPORTANT): Behavior Stack:

2017-12-12T23:14:49.278Z,1513120489.278 [DonutAtDepthSequence:StandardEnvelopes](IMPORTANT): Priority 0: DonutAtDepthSequence:StandardEnvelopes:A.AltitudeEnvelope
2017-12-12T23:14:49.279Z,1513120489.279 [DonutAtDepthSequence:StandardEnvelopes](IMPORTANT): Priority 1: DonutAtDepthSequence:StandardEnvelopes:B.DepthEnvelope
2017-12-12T23:14:49.279Z,1513120489.279 [DonutAtDepthSequence:StandardEnvelopes](IMPORTANT): Priority 2: DonutAtDepthSequence:StandardEnvelopes:C.OffshoreEnvelope
2017-12-12T23:14:49.279Z,1513120489.279 [DonutAtDepthSequence:SampleAtDepth](IMPORTANT): Priority 3: DonutAtDepthSequence:SampleAtDepth:B.Pitch
2017-12-12T23:14:49.279Z,1513120489.279 [DonutAtDepthSequence:SampleAtDepth](IMPORTANT): Priority 4: DonutAtDepthSequence:SampleAtDepth:D.Wait
2017-12-12T23:14:49.280Z,1513120489.280 [DonutAtDepthSequence](IMPORTANT): Priority 5: DonutAtDepthSequence:I.Pitch
2017-12-12T23:14:49.281Z,1513120489.281 [DonutAtDepthSequence:Science](IMPORTANT): Priority 6: DonutAtDepthSequence:Science:A
2017-12-12T23:14:49.281Z,1513120489.281 [DonutAtDepthSequence:Science](IMPORTANT): Priority 7: DonutAtDepthSequence:Science:C
2017-12-12T23:14:49.281Z,1513120489.281 [DonutAtDepthSequence:Science](IMPORTANT): Priority 8: DonutAtDepthSequence:Science:D
2017-12-12T23:14:49.282Z,1513120489.282 [DonutAtDepthSequence:Science](IMPORTANT): Priority 9: DonutAtDepthSequence:Science:G
2017-12-12T23:14:49.282Z,1513120489.282 [DonutAtDepthSequence:Science](IMPORTANT): Priority 10: DonutAtDepthSequence:Science:H
2017-12-12T23:14:49.282Z,1513120489.282 [DonutAtDepthSequence:Science:PeakDetectChl](IMPORTANT): Priority 11: DonutAtDepthSequence:Science:PeakDetectChl:A.PeakDetectVsDepth
2017-12-12T23:14:49.282Z,1513120489.282 [DonutAtDepthSequence:Science:HighestChlPeakReport](IMPORTANT): Priority 12: DonutAtDepthSequence:Science:HighestChlPeakReport:A.PeakDetectHorizontal
2017-12-12T23:14:49.283Z,1513120489.283 [DonutAtDepthSequence](IMPORTANT): Priority 13: DonutAtDepthSequence:K.AltitudeEnvelope
2017-12-12T23:14:49.283Z,1513120489.283 [DonutAtDepthSequence:MissionStart:NeedComms](IMPORTANT): Priority 14: DonutAtDepthSequence:MissionStart:NeedComms:B.GoToSurface
2017-12-12T23:14:49.283Z,1513120489.283 [DonutAtDepthSequence:MissionStart:NeedComms](IMPORTANT): Priority 15: DonutAtDepthSequence:MissionStart:NeedComms:E
2017-12-12T23:15:11.118Z,1513120511.118 [BPC1](ERROR): Failed to receive battery data
2017-12-12T23:15:11.118Z,1513120511.118 [BPC1] Communications Fault, FailCount= 1
2017-12-12T23:15:11.118Z,1513120511.118 [BPC1](ERROR): Communications Fault
2017-12-12T23:15:11.444Z,1513120511.444 [CBIT](ERROR): Communications Fault in component: BPC1
2017-12-12T23:15:12.573Z,1513120512.573 [CBIT](INFO): Clearing failed state for component BPC1
2017-12-12T23:15:12.573Z,1513120512.573 [BPC1] No Fault, FailCount= 1
2017-12-12T23:15:21.045Z,1513120521.045 [CommandLine](IMPORTANT): got command get platform_battery_charge
2017-12-12T23:15:21.046Z,1513120521.046 [CommandLine](IMPORTANT): platform_battery_charge 348.851007 Ah
2017-12-12T23:16:09.950Z,1513120569.950 [BPC1](ERROR): Failed to receive battery data
2017-12-12T23:16:09.950Z,1513120569.950 [BPC1] Communications Fault, FailCount= 1
2017-12-12T23:16:09.950Z,1513120569.950 [BPC1](ERROR): Communications Fault
2017-12-12T23:16:10.121Z,1513120570.121 [CBIT](ERROR): Communications Fault in component: BPC1
2017-12-12T23:16:11.332Z,1513120571.332 [CBIT](INFO): Clearing failed state for component BPC1
2017-12-12T23:16:11.332Z,1513120571.332 [BPC1] No Fault, FailCount= 1
2017-12-12T23:16:47.555Z,1513120607.555 [CommandLine](IMPORTANT): got command show stack
2017-12-12T23:16:47.556Z,1513120607.556 [CommandLine](IMPORTANT): Behavior Stack:

2017-12-12T23:16:47.557Z,1513120607.557 [DonutAtDepthSequence:StandardEnvelopes](IMPORTANT): Priority 0: DonutAtDepthSequence:StandardEnvelopes:A.AltitudeEnvelope
2017-12-12T23:16:47.557Z,1513120607.557 [DonutAtDepthSequence:StandardEnvelopes](IMPORTANT): Priority 1: DonutAtDepthSequence:StandardEnvelopes:B.DepthEnvelope
2017-12-12T23:16:47.558Z,1513120607.558 [DonutAtDepthSequence:StandardEnvelopes](IMPORTANT): Priority 2: DonutAtDepthSequence:StandardEnvelopes:C.OffshoreEnvelope
2017-12-12T23:16:47.558Z,1513120607.558 [DonutAtDepthSequence:SampleAtDepth](IMPORTANT): Priority 3: DonutAtDepthSequence:SampleAtDepth:B.Pitch
2017-12-12T23:16:47.559Z,1513120607.559 [DonutAtDepthSequence:SampleAtDepth](IMPORTANT): Priority 4: DonutAtDepthSequence:SampleAtDepth:D.Wait
2017-12-12T23:16:47.559Z,1513120607.559 [DonutAtDepthSequence](IMPORTANT): Priority 5: DonutAtDepthSequence:I.Pitch
2017-12-12T23:16:47.560Z,1513120607.560 [DonutAtDepthSequence:Science](IMPORTANT): Priority 6: DonutAtDepthSequence:Science:A
2017-12-12T23:16:47.570Z,1513120607.570 [DonutAtDepthSequence:Science](IMPORTANT): Priority 7: DonutAtDepthSequence:Science:C
2017-12-12T23:16:47.570Z,1513120607.570 [DonutAtDepthSequence:Science](IMPORTANT): Priority 8: DonutAtDepthSequence:Science:D
2017-12-12T23:16:47.570Z,1513120607.570 [DonutAtDepthSequence:Science](IMPORTANT): Priority 9: DonutAtDepthSequence:Science:G
2017-12-12T23:16:47.571Z,1513120607.571 [DonutAtDepthSequence:Science](IMPORTANT): Priority 10: DonutAtDepthSequence:Science:H
2017-12-12T23:16:47.571Z,1513120607.571 [DonutAtDepthSequence:Science:PeakDetectChl](IMPORTANT): Priority 11: DonutAtDepthSequence:Science:PeakDetectChl:A.PeakDetectVsDepth
2017-12-12T23:16:47.572Z,1513120607.572 [DonutAtDepthSequence:Science:HighestChlPeakReport](IMPORTANT): Priority 12: DonutAtDepthSequence:Science:HighestChlPeakReport:A.PeakDetectHorizontal
2017-12-12T23:16:47.572Z,1513120607.572 [DonutAtDepthSequence](IMPORTANT): Priority 13: DonutAtDepthSequence:K.AltitudeEnvelope
2017-12-12T23:16:47.573Z,1513120607.573 [DonutAtDepthSequence:MissionStart:NeedComms](IMPORTANT): Priority 14: DonutAtDepthSequence:MissionStart:NeedComms:B.GoToSurface
2017-12-12T23:16:47.573Z,1513120607.573 [DonutAtDepthSequence:MissionStart:NeedComms](IMPORTANT): Priority 15: DonutAtDepthSequence:MissionStart:NeedComms:E
2017-12-12T23:17:05.284Z,1513120625.284 [BPC1](ERROR): Failed to receive battery data
2017-12-12T23:17:05.284Z,1513120625.284 [BPC1] Communications Fault, FailCount= 1
2017-12-12T23:17:05.284Z,1513120625.284 [BPC1](ERROR): Communications Fault
2017-12-12T23:17:05.433Z,1513120625.433 [CBIT](ERROR): Communications Fault in component: BPC1
2017-12-12T23:17:06.634Z,1513120626.634 [CBIT](INFO): Clearing failed state for component BPC1
2017-12-12T23:17:06.634Z,1513120626.634 [BPC1] No Fault, FailCount= 1
2017-12-12T23:17:16.847Z,1513120636.847 [NAL9602](INFO): SBD MO Status=2, MOMSN=19278, MT Status=2, MTMSN=0
2017-12-12T23:17:16.848Z,1513120636.848 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2017-12-12T23:17:35.260Z,1513120655.260 [NAL9602](INFO): SBD MO Status=2, MOMSN=19278, MT Status=2, MTMSN=0
2017-12-12T23:17:35.260Z,1513120655.260 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2017-12-12T23:18:11.830Z,1513120691.830 [NAL9602](INFO): SBD MO Status=2, MOMSN=19278, MT Status=2, MTMSN=0
2017-12-12T23:18:11.831Z,1513120691.831 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2017-12-12T23:18:13.161Z,1513120693.161 [DonutAtDepthSequence:SampleAtDepth:D.Wait](INFO): Done Waiting.
2017-12-12T23:18:13.161Z,1513120693.161 [DonutAtDepthSequence:SampleAtDepth:D.Wait] Stopped
2017-12-12T23:18:13.161Z,1513120693.161 [DonutAtDepthSequence:SampleAtDepth:D.Wait](DEBUG): Uninitialize Wait Component.
2017-12-12T23:18:13.162Z,1513120693.162 [DonutAtDepthSequence:SampleAtDepth:SampleWrapper] Running Loop=1
2017-12-12T23:18:13.162Z,1513120693.162 [DonutAtDepthSequence:SampleAtDepth:SampleWrapper](DEBUG): Aggregate::initialize DonutAtDepthSequence:SampleAtDepth:SampleWrapper
2017-12-12T23:18:13.162Z,1513120693.162 [DonutAtDepthSequence:SampleAtDepth:SampleWrapper:SampleCANONSampler] Running Loop=1
2017-12-12T23:18:13.162Z,1513120693.162 [DonutAtDepthSequence:SampleAtDepth:SampleWrapper:SampleCANONSampler](DEBUG): Aggregate::initialize DonutAtDepthSequence:SampleAtDepth:SampleWrapper:SampleCANONSampler
2017-12-12T23:18:13.162Z,1513120693.162 [DonutAtDepthSequence:SampleAtDepth:SampleWrapper:SampleCANONSampler:A] Running Loop=1
2017-12-12T23:18:13.162Z,1513120693.162 [DonutAtDepthSequence:SampleAtDepth:SampleWrapper:SampleCANONSampler:B] Running Loop=1
2017-12-12T23:18:13.163Z,1513120693.163 [DonutAtDepthSequence:SampleAtDepth:SampleWrapper:SampleCANONSampler:TriggerCANONSampler] Running Loop=1
2017-12-12T23:18:13.518Z,1513120693.518 [DonutAtDepthSequence:SampleAtDepth:SampleWrapper:SampleCANONSampler] Stopped
2017-12-12T23:18:13.518Z,1513120693.518 [DonutAtDepthSequence:SampleAtDepth:SampleWrapper:SampleCANONSampler](DEBUG): Aggregate::uninitialize DonutAtDepthSequence:SampleAtDepth:SampleWrapper:SampleCANONSampler
2017-12-12T23:18:13.519Z,1513120693.519 [DonutAtDepthSequence:SampleAtDepth:SampleWrapper:SampleCANONSampler:A] Stopped
2017-12-12T23:18:13.519Z,1513120693.519 [DonutAtDepthSequence:SampleAtDepth:SampleWrapper:SampleCANONSampler:B] Stopped
2017-12-12T23:18:13.519Z,1513120693.519 [DonutAtDepthSequence:SampleAtDepth:SampleWrapper:SampleCANONSampler:TriggerCANONSampler] Stopped
2017-12-12T23:18:13.519Z,1513120693.519 [DonutAtDepthSequence:SampleAtDepth:SampleWrapper:SampleESP] Running Loop=1
2017-12-12T23:18:13.519Z,1513120693.519 [DonutAtDepthSequence:SampleAtDepth:SampleWrapper:SampleESP](DEBUG): Aggregate::initialize DonutAtDepthSequence:SampleAtDepth:SampleWrapper:SampleESP
2017-12-12T23:18:13.519Z,1513120693.519 [DonutAtDepthSequence:SampleAtDepth:SampleWrapper:SampleESP:TriggerESP] Running Loop=1
2017-12-12T23:18:13.926Z,1513120693.926 [DonutAtDepthSequence:SampleAtDepth:SampleWrapper:SampleESP:TriggerESP](DEBUG): Initialize ReadDataComponent to sense ESPComponent.sampling
2017-12-12T23:18:15.475Z,1513120695.475 [ESPComponent](DEBUG): Writing samplingActive=1, sampleNumber=0
2017-12-12T23:18:15.531Z,1513120695.531 [DonutAtDepthSequence:SampleAtDepth:SampleWrapper:SampleESP:TriggerESP] Stopped
2017-12-12T23:18:15.531Z,1513120695.531 [DonutAtDepthSequence:SampleAtDepth:SampleWrapper:SampleESP:B] Running Loop=1
2017-12-12T23:18:15.934Z,1513120695.934 [DonutAtDepthSequence:SampleAtDepth:SampleWrapper:SampleESP:B](IMPORTANT): ESP sampling at 0.000000 m inwater with 0.086798 ug/l chlorophyll fluorescence.
2017-12-12T23:18:15.937Z,1513120695.937 [DonutAtDepthSequence:SampleAtDepth:SampleWrapper:SampleESP:B] Stopped
2017-12-12T23:18:15.938Z,1513120695.938 [DonutAtDepthSequence:SampleAtDepth:SampleWrapper:SampleESP:WaitForESP] Running Loop=1
2017-12-12T23:18:16.325Z,1513120696.325 [DonutAtDepthSequence:SampleAtDepth:SampleWrapper:SampleESP:WaitForESP](DEBUG): Initialize ReadDataComponent to sense ESPComponent.sample_number
2017-12-12T23:18:20.244Z,1513120700.244 [NAL9602](INFO): SBD MO Status=2, MOMSN=19278, MT Status=2, MTMSN=0
2017-12-12T23:18:20.244Z,1513120700.244 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2017-12-12T23:18:23.058Z,1513120703.058 [BPC1](ERROR): Failed to receive battery data
2017-12-12T23:18:23.058Z,1513120703.058 [BPC1] Communications Fault, FailCount= 1
2017-12-12T23:18:23.059Z,1513120703.059 [BPC1](ERROR): Communications Fault
2017-12-12T23:18:23.215Z,1513120703.215 [CBIT](ERROR): Communications Fault in component: BPC1
2017-12-12T23:18:24.426Z,1513120704.426 [CBIT](INFO): Clearing failed state for component BPC1
2017-12-12T23:18:24.426Z,1513120704.426 [BPC1] No Fault, FailCount= 1
2017-12-12T23:18:39.046Z,1513120719.046 [NAL9602](INFO): SBD MO Status=2, MOMSN=19278, MT Status=2, MTMSN=0
2017-12-12T23:18:39.046Z,1513120719.046 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2017-12-12T23:18:57.359Z,1513120737.359 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2017-12-12T23:18:58.583Z,1513120738.583 [BPC1](ERROR): Failed to receive battery data
2017-12-12T23:18:58.583Z,1513120738.583 [BPC1] Communications Fault, FailCount= 1
2017-12-12T23:18:58.583Z,1513120738.583 [BPC1](ERROR): Communications Fault
2017-12-12T23:18:58.721Z,1513120738.721 [CBIT](ERROR): Communications Fault in component: BPC1
2017-12-12T23:18:59.989Z,1513120739.989 [CBIT](INFO): Clearing failed state for component BPC1
2017-12-12T23:18:59.989Z,1513120739.989 [BPC1] No Fault, FailCount= 1
2017-12-12T23:19:05.750Z,1513120745.750 [NAL9602](INFO): GPS fix at 20171212T231903: (36.802748, -121.787982)
2017-12-12T23:19:05.857Z,1513120745.857 [DonutAtDepthSequence:MissionStart:NeedComms:E] Stopped
2017-12-12T23:19:05.858Z,1513120745.858 [DonutAtDepthSequence:MissionStart:NeedComms](INFO): Completed DonutAtDepthSequence:MissionStart:NeedComms
2017-12-12T23:19:05.858Z,1513120745.858 [DonutAtDepthSequence:MissionStart:NeedComms] Stopped
2017-12-12T23:19:05.858Z,1513120745.858 [DonutAtDepthSequence:MissionStart:NeedComms](DEBUG): Aggregate::uninitialize DonutAtDepthSequence:MissionStart:NeedComms
2017-12-12T23:19:05.858Z,1513120745.858 [DonutAtDepthSequence:MissionStart:NeedComms:B.GoToSurface] Stopped
2017-12-12T23:19:05.858Z,1513120745.858 [DonutAtDepthSequence:MissionStart:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2017-12-12T23:19:06.243Z,1513120746.243 [DonutAtDepthSequence:MissionStart:MissionStartComms](INFO): Completed DonutAtDepthSequence:MissionStart:MissionStartComms
2017-12-12T23:19:06.243Z,1513120746.243 [DonutAtDepthSequence:MissionStart:MissionStartComms] Stopped
2017-12-12T23:19:06.243Z,1513120746.243 [DonutAtDepthSequence:MissionStart:MissionStartComms](DEBUG): Aggregate::uninitialize DonutAtDepthSequence:MissionStart:MissionStartComms
2017-12-12T23:19:06.243Z,1513120746.243 [DonutAtDepthSequence:MissionStart](INFO): Completed DonutAtDepthSequence:MissionStart
2017-12-12T23:19:06.243Z,1513120746.243 [DonutAtDepthSequence:MissionStart] Stopped
2017-12-12T23:19:06.243Z,1513120746.243 [DonutAtDepthSequence:MissionStart](DEBUG): Aggregate::uninitialize DonutAtDepthSequence:MissionStart
2017-12-12T23:19:06.244Z,1513120746.244 [DonutAtDepthSequence:DepthHolding] Running Loop=1
2017-12-12T23:19:06.244Z,1513120746.244 [DonutAtDepthSequence:DepthHolding](DEBUG): Aggregate::initialize DonutAtDepthSequence:DepthHolding
2017-12-12T23:19:06.244Z,1513120746.244 [DonutAtDepthSequence:DepthHolding:HoldDepthInDonutMode] Running Loop=1
2017-12-12T23:19:06.244Z,1513120746.244 [DonutAtDepthSequence:DepthHolding:HoldDepthInDonutMode](DEBUG): Aggregate::initialize DonutAtDepthSequence:DepthHolding:HoldDepthInDonutMode
2017-12-12T23:19:06.244Z,1513120746.244 [DonutAtDepthSequence:DepthHolding:HoldDepthInDonutMode:A.Pitch] Running Loop=1
2017-12-12T23:19:06.244Z,1513120746.244 [DonutAtDepthSequence:DepthHolding:HoldDepthInDonutMode:A.Pitch](DEBUG): Initialize.
2017-12-12T23:19:06.249Z,1513120746.249 [DonutAtDepthSequence:DepthHolding:HoldDepthInDonutMode:B.SetSpeed] Running Loop=1
2017-12-12T23:19:06.249Z,1513120746.249 [DonutAtDepthSequence:DepthHolding:HoldDepthInDonutMode:B.SetSpeed](DEBUG): Initialize.
2017-12-12T23:19:06.249Z,1513120746.249 [DonutAtDepthSequence:DepthHolding:HoldDepthInDonutMode:C.Point] Running Loop=1
2017-12-12T23:19:06.249Z,1513120746.249 [DonutAtDepthSequence:DepthHolding:HoldDepthInDonutMode:C.Point](DEBUG): Initialize.
2017-12-12T23:19:06.249Z,1513120746.249 [DonutAtDepthSequence:DepthHolding:HoldDepthInDonutMode:D.Buoyancy] Running Loop=1
2017-12-12T23:19:06.249Z,1513120746.249 [DonutAtDepthSequence:DepthHolding:HoldDepthInDonutMode:D.Buoyancy](DEBUG): Initialize Buoyancy Component.
2017-12-12T23:19:06.628Z,1513120746.628 [DonutAtDepthSequence:DepthHolding:HoldDepthInDonutMode] Running Loop=1
2017-12-12T23:19:06.633Z,1513120746.633 [DonutAtDepthSequence:DepthHolding:HoldDepthInDonutMode:D.Buoyancy] Running Loop=1
2017-12-12T23:19:06.642Z,1513120746.642 [DonutAtDepthSequence:DepthHolding:HoldDepthInDonutMode:C.Point] Running Loop=1
2017-12-12T23:19:06.651Z,1513120746.651 [DonutAtDepthSequence:DepthHolding:HoldDepthInDonutMode:B.SetSpeed] Running Loop=1
2017-12-12T23:19:06.656Z,1513120746.656 [DonutAtDepthSequence:DepthHolding:HoldDepthInDonutMode:A.Pitch] Running Loop=1
2017-12-12T23:19:37.759Z,1513120777.759 [NAL9602](INFO): Powering down
2017-12-12T23:19:52.492Z,1513120792.492 [BPC1](ERROR): Failed to receive battery data
2017-12-12T23:19:52.492Z,1513120792.492 [BPC1] Communications Fault, FailCount= 1
2017-12-12T23:19:52.492Z,1513120792.492 [BPC1](ERROR): Communications Fault
2017-12-12T23:19:52.745Z,1513120792.745 [CBIT](ERROR): Communications Fault in component: BPC1
2017-12-12T23:19:53.981Z,1513120793.981 [CBIT](INFO): Clearing failed state for component BPC1
2017-12-12T23:19:53.981Z,1513120793.981 [BPC1] No Fault, FailCount= 1
2017-12-12T23:20:05.014Z,1513120805.014 [Radio_Surface](INFO): Powering down
2017-12-12T23:20:11.074Z,1513120811.074 [Radio_Surface](INFO): Powering up
2017-12-12T23:20:36.134Z,1513120836.134 [Radio_Surface](INFO): Powering down
2017-12-12T23:20:42.194Z,1513120842.194 [Radio_Surface](INFO): Powering up
2017-12-12T23:20:46.559Z,1513120846.559 [BPC1](ERROR): Failed to receive battery data
2017-12-12T23:20:46.559Z,1513120846.559 [BPC1] Communications Fault, FailCount= 1
2017-12-12T23:20:46.559Z,1513120846.559 [BPC1](ERROR): Communications Fault
2017-12-12T23:20:46.766Z,1513120846.766 [CBIT](ERROR): Communications Fault in component: BPC1
2017-12-12T23:20:48.057Z,1513120848.057 [CBIT](INFO): Clearing failed state for component BPC1
2017-12-12T23:20:48.057Z,1513120848.057 [BPC1] No Fault, FailCount= 1
2017-12-12T23:21:03.815Z,1513120863.815 [BPC1](ERROR): Failed to parse message.
2017-12-12T23:21:03.815Z,1513120863.815 [BPC1](ERROR): Failed to parse bank B battery data
2017-12-12T23:21:03.815Z,1513120863.815 [BPC1] Data Fault, FailCount= 2
2017-12-12T23:21:03.815Z,1513120863.815 [BPC1](ERROR): Data Fault
2017-12-12T23:21:04.040Z,1513120864.040 [CBIT](ERROR): Data Fault in component: BPC1
2017-12-12T23:21:05.119Z,1513120865.119 [CBIT](INFO): Clearing failed state for component BPC1
2017-12-12T23:21:05.119Z,1513120865.119 [BPC1] No Fault, FailCount= 2
2017-12-12T23:21:09.318Z,1513120869.318 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2017-12-12T23:21:13.327Z,1513120873.327 [Radio_Surface](INFO): Powering down
2017-12-12T23:21:14.090Z,1513120874.090 [CommandLine](IMPORTANT): got command show stack
2017-12-12T23:21:14.090Z,1513120874.090 [CommandLine](IMPORTANT): Behavior Stack:

2017-12-12T23:21:14.091Z,1513120874.091 [DonutAtDepthSequence:StandardEnvelopes](IMPORTANT): Priority 0: DonutAtDepthSequence:StandardEnvelopes:A.AltitudeEnvelope
2017-12-12T23:21:14.092Z,1513120874.092 [DonutAtDepthSequence:StandardEnvelopes](IMPORTANT): Priority 1: DonutAtDepthSequence:StandardEnvelopes:B.DepthEnvelope
2017-12-12T23:21:14.092Z,1513120874.092 [DonutAtDepthSequence:StandardEnvelopes](IMPORTANT): Priority 2: DonutAtDepthSequence:StandardEnvelopes:C.OffshoreEnvelope
2017-12-12T23:21:14.092Z,1513120874.092 [DonutAtDepthSequence:SampleAtDepth](IMPORTANT): Priority 3: DonutAtDepthSequence:SampleAtDepth:B.Pitch
2017-12-12T23:21:14.094Z,1513120874.094 [DonutAtDepthSequence:SampleAtDepth:SampleWrapper:SampleESP](IMPORTANT): Priority 4: DonutAtDepthSequence:SampleAtDepth:SampleWrapper:SampleESP:WaitForESP
2017-12-12T23:21:14.094Z,1513120874.094 [DonutAtDepthSequence](IMPORTANT): Priority 5: DonutAtDepthSequence:I.Pitch
2017-12-12T23:21:14.095Z,1513120874.095 [DonutAtDepthSequence:Science](IMPORTANT): Priority 6: DonutAtDepthSequence:Science:A
2017-12-12T23:21:14.095Z,1513120874.095 [DonutAtDepthSequence:Science](IMPORTANT): Priority 7: DonutAtDepthSequence:Science:C
2017-12-12T23:21:14.096Z,1513120874.096 [DonutAtDepthSequence:Science](IMPORTANT): Priority 8: DonutAtDepthSequence:Science:D
2017-12-12T23:21:14.096Z,1513120874.096 [DonutAtDepthSequence:Science](IMPORTANT): Priority 9: DonutAtDepthSequence:Science:G
2017-12-12T23:21:14.096Z,1513120874.096 [DonutAtDepthSequence:Science](IMPORTANT): Priority 10: DonutAtDepthSequence:Science:H
2017-12-12T23:21:14.097Z,1513120874.097 [DonutAtDepthSequence:Science:PeakDetectChl](IMPORTANT): Priority 11: DonutAtDepthSequence:Science:PeakDetectChl:A.PeakDetectVsDepth
2017-12-12T23:21:14.097Z,1513120874.097 [DonutAtDepthSequence:Science:HighestChlPeakReport](IMPORTANT): Priority 12: DonutAtDepthSequence:Science:HighestChlPeakReport:A.PeakDetectHorizontal
2017-12-12T23:21:14.097Z,1513120874.097 [DonutAtDepthSequence](IMPORTANT): Priority 13: DonutAtDepthSequence:K.AltitudeEnvelope
2017-12-12T23:21:14.098Z,1513120874.098 [DonutAtDepthSequence:DepthHolding:HoldDepthInDonutMode](IMPORTANT): Priority 14: DonutAtDepthSequence:DepthHolding:HoldDepthInDonutMode:A.Pitch
2017-12-12T23:21:14.098Z,1513120874.098 [DonutAtDepthSequence:DepthHolding:HoldDepthInDonutMode](IMPORTANT): Priority 15: DonutAtDepthSequence:DepthHolding:HoldDepthInDonutMode:B.SetSpeed
2017-12-12T23:21:14.098Z,1513120874.098 [DonutAtDepthSequence:DepthHolding:HoldDepthInDonutMode](IMPORTANT): Priority 16: DonutAtDepthSequence:DepthHolding:HoldDepthInDonutMode:C.Point
2017-12-12T23:21:14.098Z,1513120874.098 [DonutAtDepthSequence:DepthHolding:HoldDepthInDonutMode](IMPORTANT): Priority 17: DonutAtDepthSequence:DepthHolding:HoldDepthInDonutMode:D.Buoyancy
2017-12-12T23:21:19.390Z,1513120879.390 [Radio_Surface](INFO): Powering up
2017-12-12T23:21:40.129Z,1513120900.129 [AcousticModem_Benthos_ATM900](INFO): unknown deviceResponse_: TX time:05:32:39.2099

2017-12-12T23:21:45.406Z,1513120905.406 [BPC1](ERROR): Failed to receive battery data
2017-12-12T23:21:45.406Z,1513120905.406 [BPC1] Communications Fault, FailCount= 1
2017-12-12T23:21:45.406Z,1513120905.406 [BPC1](ERROR): Communications Fault
2017-12-12T23:21:45.626Z,1513120905.626 [CBIT](ERROR): Communications Fault in component: BPC1
2017-12-12T23:21:46.809Z,1513120906.809 [CBIT](INFO): Clearing failed state for component BPC1
2017-12-12T23:21:46.809Z,1513120906.809 [BPC1] No Fault, FailCount= 1
2017-12-12T23:21:58.447Z,1513120918.447 [CBIT](DEBUG): EFC running - data check-sum false
2017-12-12T23:22:09.356Z,1513120929.356 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2017-12-12T23:22:28.709Z,1513120948.709 [CommandLine](IMPORTANT): got command show stack
2017-12-12T23:22:28.710Z,1513120948.710 [CommandLine](IMPORTANT): Behavior Stack:

2017-12-12T23:22:28.730Z,1513120948.730 [DonutAtDepthSequence:StandardEnvelopes](IMPORTANT): Priority 0: DonutAtDepthSequence:StandardEnvelopes:A.AltitudeEnvelope
2017-12-12T23:22:28.730Z,1513120948.730 [DonutAtDepthSequence:StandardEnvelopes](IMPORTANT): Priority 1: DonutAtDepthSequence:StandardEnvelopes:B.DepthEnvelope
2017-12-12T23:22:28.731Z,1513120948.731 [DonutAtDepthSequence:StandardEnvelopes](IMPORTANT): Priority 2: DonutAtDepthSequence:StandardEnvelopes:C.OffshoreEnvelope
2017-12-12T23:22:28.732Z,1513120948.732 [DonutAtDepthSequence:SampleAtDepth](IMPORTANT): Priority 3: DonutAtDepthSequence:SampleAtDepth:B.Pitch
2017-12-12T23:22:28.732Z,1513120948.732 [DonutAtDepthSequence:SampleAtDepth:SampleWrapper:SampleESP](IMPORTANT): Priority 4: DonutAtDepthSequence:SampleAtDepth:SampleWrapper:SampleESP:WaitForESP
2017-12-12T23:22:28.733Z,1513120948.733 [DonutAtDepthSequence](IMPORTANT): Priority 5: DonutAtDepthSequence:I.Pitch
2017-12-12T23:22:28.735Z,1513120948.735 [DonutAtDepthSequence:Science](IMPORTANT): Priority 6: DonutAtDepthSequence:Science:A
2017-12-12T23:22:28.735Z,1513120948.735 [DonutAtDepthSequence:Science](IMPORTANT): Priority 7: DonutAtDepthSequence:Science:C
2017-12-12T23:22:28.736Z,1513120948.736 [DonutAtDepthSequence:Science](IMPORTANT): Priority 8: DonutAtDepthSequence:Science:D
2017-12-12T23:22:28.736Z,1513120948.736 [DonutAtDepthSequence:Science](IMPORTANT): Priority 9: DonutAtDepthSequence:Science:G
2017-12-12T23:22:28.736Z,1513120948.736 [DonutAtDepthSequence:Science](IMPORTANT): Priority 10: DonutAtDepthSequence:Science:H
2017-12-12T23:22:28.737Z,1513120948.737 [DonutAtDepthSequence:Science:PeakDetectChl](IMPORTANT): Priority 11: DonutAtDepthSequence:Science:PeakDetectChl:A.PeakDetectVsDepth
2017-12-12T23:22:28.738Z,1513120948.738 [DonutAtDepthSequence:Science:HighestChlPeakReport](IMPORTANT): Priority 12: DonutAtDepthSequence:Science:HighestChlPeakReport:A.PeakDetectHorizontal
2017-12-12T23:22:28.738Z,1513120948.738 [DonutAtDepthSequence](IMPORTANT): Priority 13: DonutAtDepthSequence:K.AltitudeEnvelope
2017-12-12T23:22:28.739Z,1513120948.739 [DonutAtDepthSequence:DepthHolding:HoldDepthInDonutMode](IMPORTANT): Priority 14: DonutAtDepthSequence:DepthHolding:HoldDepthInDonutMode:A.Pitch
2017-12-12T23:22:28.739Z,1513120948.739 [DonutAtDepthSequence:DepthHolding:HoldDepthInDonutMode](IMPORTANT): Priority 15: DonutAtDepthSequence:DepthHolding:HoldDepthInDonutMode:B.SetSpeed
2017-12-12T23:22:28.739Z,1513120948.739 [DonutAtDepthSequence:DepthHolding:HoldDepthInDonutMode](IMPORTANT): Priority 16: DonutAtDepthSequence:DepthHolding:HoldDepthInDonutMode:C.Point
2017-12-12T23:22:28.740Z,1513120948.740 [DonutAtDepthSequence:DepthHolding:HoldDepthInDonutMode](IMPORTANT): Priority 17: DonutAtDepthSequence:DepthHolding:HoldDepthInDonutMode:D.Buoyancy
2017-12-12T23:22:44.188Z,1513120964.188 [BPC1](ERROR): Failed to receive battery data
2017-12-12T23:22:44.188Z,1513120964.188 [BPC1] Communications Fault, FailCount= 1
2017-12-12T23:22:44.189Z,1513120964.189 [BPC1](ERROR): Communications Fault
2017-12-12T23:22:44.409Z,1513120964.409 [CBIT](ERROR): Communications Fault in component: BPC1
2017-12-12T23:22:45.356Z,1513120965.356 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.107788
2017-12-12T23:22:45.625Z,1513120965.625 [CBIT](INFO): Clearing failed state for component BPC1
2017-12-12T23:22:45.626Z,1513120965.626 [BPC1] No Fault, FailCount= 1
2017-12-12T23:23:11.036Z,1513120991.036 [Radio_Surface](INFO): Powering down
2017-12-12T23:23:17.102Z,1513120997.102 [Radio_Surface](INFO): Powering up
2017-12-12T23:23:37.873Z,1513121017.873 [BPC1](ERROR): Failed to receive battery data
2017-12-12T23:23:37.873Z,1513121017.873 [BPC1] Communications Fault, FailCount= 1
2017-12-12T23:23:37.873Z,1513121017.873 [BPC1](ERROR): Communications Fault
2017-12-12T23:23:38.061Z,1513121018.061 [CBIT](ERROR): Communications Fault in component: BPC1
2017-12-12T23:23:39.277Z,1513121019.277 [CBIT](INFO): Clearing failed state for component BPC1
2017-12-12T23:23:39.277Z,1513121019.277 [BPC1] No Fault, FailCount= 1
2017-12-12T23:23:45.504Z,1513121025.504 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.002128
2017-12-12T23:24:23.607Z,1513121063.607 [CommandLine](IMPORTANT): got command show stack
2017-12-12T23:24:23.608Z,1513121063.608 [CommandLine](IMPORTANT): Behavior Stack:

2017-12-12T23:24:23.610Z,1513121063.610 [DonutAtDepthSequence:StandardEnvelopes](IMPORTANT): Priority 0: DonutAtDepthSequence:StandardEnvelopes:A.AltitudeEnvelope
2017-12-12T23:24:23.611Z,1513121063.611 [DonutAtDepthSequence:StandardEnvelopes](IMPORTANT): Priority 1: DonutAtDepthSequence:StandardEnvelopes:B.DepthEnvelope
2017-12-12T23:24:23.612Z,1513121063.612 [DonutAtDepthSequence:StandardEnvelopes](IMPORTANT): Priority 2: DonutAtDepthSequence:StandardEnvelopes:C.OffshoreEnvelope
2017-12-12T23:24:23.612Z,1513121063.612 [DonutAtDepthSequence:SampleAtDepth](IMPORTANT): Priority 3: DonutAtDepthSequence:SampleAtDepth:B.Pitch
2017-12-12T23:24:23.613Z,1513121063.613 [DonutAtDepthSequence:SampleAtDepth:SampleWrapper:SampleESP](IMPORTANT): Priority 4: DonutAtDepthSequence:SampleAtDepth:SampleWrapper:SampleESP:WaitForESP
2017-12-12T23:24:23.614Z,1513121063.614 [DonutAtDepthSequence](IMPORTANT): Priority 5: DonutAtDepthSequence:I.Pitch
2017-12-12T23:24:23.616Z,1513121063.616 [DonutAtDepthSequence:Science](IMPORTANT): Priority 6: DonutAtDepthSequence:Science:A
2017-12-12T23:24:23.616Z,1513121063.616 [DonutAtDepthSequence:Science](IMPORTANT): Priority 7: DonutAtDepthSequence:Science:C
2017-12-12T23:24:23.618Z,1513121063.618 [DonutAtDepthSequence:Science](IMPORTANT): Priority 8: DonutAtDepthSequence:Science:D
2017-12-12T23:24:23.619Z,1513121063.619 [DonutAtDepthSequence:Science](IMPORTANT): Priority 9: DonutAtDepthSequence:Science:G
2017-12-12T23:24:23.619Z,1513121063.619 [DonutAtDepthSequence:Science](IMPORTANT): Priority 10: DonutAtDepthSequence:Science:H
2017-12-12T23:24:23.620Z,1513121063.620 [DonutAtDepthSequence:Science:PeakDetectChl](IMPORTANT): Priority 11: DonutAtDepthSequence:Science:PeakDetectChl:A.PeakDetectVsDepth
2017-12-12T23:24:23.620Z,1513121063.620 [DonutAtDepthSequence:Science:HighestChlPeakReport](IMPORTANT): Priority 12: DonutAtDepthSequence:Science:HighestChlPeakReport:A.PeakDetectHorizontal
2017-12-12T23:24:23.621Z,1513121063.621 [DonutAtDepthSequence](IMPORTANT): Priority 13: DonutAtDepthSequence:K.AltitudeEnvelope
2017-12-12T23:24:23.622Z,1513121063.622 [DonutAtDepthSequence:DepthHolding:HoldDepthInDonutMode](IMPORTANT): Priority 14: DonutAtDepthSequence:DepthHolding:HoldDepthInDonutMode:A.Pitch
2017-12-12T23:24:23.623Z,1513121063.623 [DonutAtDepthSequence:DepthHolding:HoldDepthInDonutMode](IMPORTANT): Priority 15: DonutAtDepthSequence:DepthHolding:HoldDepthInDonutMode:B.SetSpeed
2017-12-12T23:24:23.623Z,1513121063.623 [DonutAtDepthSequence:DepthHolding:HoldDepthInDonutMode](IMPORTANT): Priority 16: DonutAtDepthSequence:DepthHolding:HoldDepthInDonutMode:C.Point
2017-12-12T23:24:23.624Z,1513121063.624 [DonutAtDepthSequence:DepthHolding:HoldDepthInDonutMode](IMPORTANT): Priority 17: DonutAtDepthSequence:DepthHolding:HoldDepthInDonutMode:D.Buoyancy
2017-12-12T23:24:37.681Z,1513121077.681 [BPC1](ERROR): Failed to receive battery data
2017-12-12T23:24:37.681Z,1513121077.681 [BPC1] Communications Fault, FailCount= 1
2017-12-12T23:24:37.681Z,1513121077.681 [BPC1](ERROR): Communications Fault
2017-12-12T23:24:37.861Z,1513121077.861 [CBIT](ERROR): Communications Fault in component: BPC1
2017-12-12T23:24:39.037Z,1513121079.037 [CBIT](INFO): Clearing failed state for component BPC1
2017-12-12T23:24:39.038Z,1513121079.038 [BPC1] No Fault, FailCount= 1
2017-12-12T23:25:18.402Z,1513121118.402 [CommandLine](IMPORTANT): got command failComponent
2017-12-12T23:25:18.403Z,1513121118.403 [CommandLine](IMPORTANT): Failed components:
2017-12-12T23:25:18.403Z,1513121118.403 [CommandLine](IMPORTANT): No failed Components.
2017-12-12T23:25:28.946Z,1513121128.946 [CommandLine](IMPORTANT): got command failComponent hardware AcousticModem_Benthos_ATM900
2017-12-12T23:25:28.946Z,1513121128.946 [AcousticModem_Benthos_ATM900] Hardware Fault, FailCount= 1
2017-12-12T23:25:28.947Z,1513121128.947 [AcousticModem_Benthos_ATM900](ERROR): Hardware Fault
2017-12-12T23:25:28.947Z,1513121128.947 [CommandLine](IMPORTANT): AcousticModem_Benthos_ATM900 failureMode is Hardware Fault
2017-12-12T23:25:28.989Z,1513121128.989 [CBIT](ERROR): Hardware Fault in component: AcousticModem_Benthos_ATM900
2017-12-12T23:25:29.100Z,1513121129.100 [AcousticModem_Benthos_ATM900](INFO): Powering down
2017-12-12T23:25:30.199Z,1513121130.199 [CBIT](INFO): Clearing failed state for component AcousticModem_Benthos_ATM900
2017-12-12T23:25:30.199Z,1513121130.199 [AcousticModem_Benthos_ATM900] No Fault, FailCount= 1
2017-12-12T23:25:30.823Z,1513121130.823 [BPC1](ERROR): Failed to receive battery data
2017-12-12T23:25:30.823Z,1513121130.823 [BPC1] Communications Fault, FailCount= 1
2017-12-12T23:25:30.823Z,1513121130.823 [BPC1](ERROR): Communications Fault
2017-12-12T23:25:31.069Z,1513121131.069 [CBIT](ERROR): Communications Fault in component: BPC1
2017-12-12T23:25:32.212Z,1513121132.212 [CBIT](INFO): Clearing failed state for component BPC1
2017-12-12T23:25:32.212Z,1513121132.212 [BPC1] No Fault, FailCount= 1
2017-12-12T23:25:32.301Z,1513121132.301 [AcousticModem_Benthos_ATM900](INFO): Powering up
2017-12-12T23:25:32.302Z,1513121132.302 [AcousticModem_Benthos_ATM900](DEBUG): Initializing AcousticModem_Benthos_ATM900.
2017-12-12T23:25:33.753Z,1513121133.753 [CommandLine](IMPORTANT): got command failComponent
2017-12-12T23:25:33.753Z,1513121133.753 [CommandLine](IMPORTANT): Failed components:
2017-12-12T23:25:33.754Z,1513121133.754 [CommandLine](IMPORTANT): No failed Components.
2017-12-12T23:25:39.525Z,1513121139.525 [Radio_Surface](INFO): Powering down
2017-12-12T23:25:39.927Z,1513121139.927 [AcousticModem_Benthos_ATM900](DEBUG): 
2017-12-12T23:25:41.169Z,1513121141.169 [AcousticModem_Benthos_ATM900](DEBUG): Teledyne Benthos ATM-900 Series OEM w/burn wire
2017-12-12T23:25:41.170Z,1513121141.170 [AcousticModem_Benthos_ATM900](DEBUG): MF Frequency Band
2017-12-12T23:25:41.170Z,1513121141.170 [AcousticModem_Benthos_ATM900](DEBUG): Standard version 8.6.3
2017-12-12T23:25:41.171Z,1513121141.171 [AcousticModem_Benthos_ATM900](DEBUG): Feb  6 2000 05:47:12 
2017-12-12T23:25:41.571Z,1513121141.571 [AcousticModem_Benthos_ATM900](DEBUG): WARNING: battery low
2017-12-12T23:25:42.369Z,1513121142.369 [AcousticModem_Benthos_ATM900](INFO): entering command mode
2017-12-12T23:25:42.772Z,1513121142.772 [AcousticModem_Benthos_ATM900](DEBUG): checking for command mode acknowledgment
2017-12-12T23:25:42.774Z,1513121142.774 [AcousticModem_Benthos_ATM900](DEBUG): read user prompt 1: user:1>
2017-12-12T23:25:42.774Z,1513121142.774 [AcousticModem_Benthos_ATM900](INFO): command mode acknowledged
2017-12-12T23:25:43.168Z,1513121143.168 [AcousticModem_Benthos_ATM900](INFO): setting local address to 3
2017-12-12T23:25:43.568Z,1513121143.568 [AcousticModem_Benthos_ATM900](DEBUG): checking for local address setting acknowledgment
2017-12-12T23:25:43.569Z,1513121143.569 [AcousticModem_Benthos_ATM900](INFO): set local address to 3
2017-12-12T23:25:43.969Z,1513121143.969 [AcousticModem_Benthos_ATM900](DEBUG): read user prompt 2: user:2>
2017-12-12T23:25:44.861Z,1513121144.861 [PNI_TCM](ERROR): CRC does not match. Expected:0x54389 got:0x7233
2017-12-12T23:25:46.814Z,1513121146.814 [Radio_Surface](INFO): Powering up
2017-12-12T23:25:53.204Z,1513121153.204 [BPC1](ERROR): Failed to receive battery data
2017-12-12T23:25:53.204Z,1513121153.204 [BPC1] Communications Fault, FailCount= 2
2017-12-12T23:25:53.204Z,1513121153.204 [BPC1](ERROR): Communications Fault
2017-12-12T23:25:53.501Z,1513121153.501 [CBIT](ERROR): Communications Fault in component: BPC1
2017-12-12T23:25:54.626Z,1513121154.626 [CBIT](INFO): Clearing failed state for component BPC1
2017-12-12T23:25:54.627Z,1513121154.627 [BPC1] No Fault, FailCount= 2
2017-12-12T23:25:54.894Z,1513121154.894 [Radio_Surface](INFO): Powering down
2017-12-12T23:26:00.954Z,1513121160.954 [Radio_Surface](INFO): Powering up
2017-12-12T23:26:06.081Z,1513121166.081 [DonutAtDepthSequence:AbortDrift] Running Loop=1
2017-12-12T23:26:06.081Z,1513121166.081 [DonutAtDepthSequence:AbortDrift](DEBUG): Aggregate::initialize DonutAtDepthSequence:AbortDrift
2017-12-12T23:26:06.081Z,1513121166.081 [DonutAtDepthSequence:AbortDrift:B.Execute] Running Loop=1
2017-12-12T23:26:06.081Z,1513121166.081 [DonutAtDepthSequence:AbortDrift:A] Running Loop=1
2017-12-12T23:26:06.081Z,1513121166.081 [DonutAtDepthSequence:AbortDrift:B.Execute] Running Loop=1
2017-12-12T23:26:06.082Z,1513121166.082 [DonutAtDepthSequence:AbortDrift:B.Execute](INFO): Executing command stop
2017-12-12T23:26:06.091Z,1513121166.091 [DonutAtDepthSequence:AbortDrift:A](IMPORTANT): Acoustic timeout 0.116667 h exceeded. Aborting drift by executing stop command.
2017-12-12T23:26:06.094Z,1513121166.094 [DonutAtDepthSequence:AbortDrift:A] Stopped
2017-12-12T23:26:06.094Z,1513121166.094 [DonutAtDepthSequence:AbortDrift:C] Running Loop=1
2017-12-12T23:26:06.102Z,1513121166.102 [CommandLine](IMPORTANT): got command stop
2017-12-12T23:26:06.102Z,1513121166.102 [CommandLine](IMPORTANT): Scheduling is paused
2017-12-12T23:26:06.102Z,1513121166.102 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2017-12-12T23:26:06.128Z,1513121166.128 [MissionManager](INFO): MissionManager is completed.
2017-12-12T23:26:06.128Z,1513121166.128 [MissionManager](INFO): Uninitializing Mission DonutAtDepthSequence
2017-12-12T23:26:06.133Z,1513121166.133 [DonutAtDepthSequence] Stopped
2017-12-12T23:26:06.134Z,1513121166.134 [DonutAtDepthSequence](DEBUG): Aggregate::uninitialize DonutAtDepthSequence
2017-12-12T23:26:06.134Z,1513121166.134 [DonutAtDepthSequence:StandardEnvelopes] Stopped
2017-12-12T23:26:06.134Z,1513121166.134 [DonutAtDepthSequence:StandardEnvelopes](DEBUG): Aggregate::uninitialize DonutAtDepthSequence:StandardEnvelopes
2017-12-12T23:26:06.134Z,1513121166.134 [DonutAtDepthSequence:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2017-12-12T23:26:06.135Z,1513121166.135 [DonutAtDepthSequence:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2017-12-12T23:26:06.135Z,1513121166.135 [DonutAtDepthSequence:StandardEnvelopes:B.DepthEnvelope] Stopped
2017-12-12T23:26:06.135Z,1513121166.135 [DonutAtDepthSequence:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2017-12-12T23:26:06.135Z,1513121166.135 [DonutAtDepthSequence:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2017-12-12T23:26:06.135Z,1513121166.135 [DonutAtDepthSequence:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2017-12-12T23:26:06.135Z,1513121166.135 [DonutAtDepthSequence:AbortDrift] Stopped
2017-12-12T23:26:06.135Z,1513121166.135 [DonutAtDepthSequence:AbortDrift](DEBUG): Aggregate::uninitialize DonutAtDepthSequence:AbortDrift
2017-12-12T23:26:06.135Z,1513121166.135 [DonutAtDepthSequence:AbortDrift:B.Execute] Stopped
2017-12-12T23:26:06.135Z,1513121166.135 [DonutAtDepthSequence:AbortDrift:C] Stopped
2017-12-12T23:26:06.136Z,1513121166.136 [DonutAtDepthSequence:SampleAtDepth] Stopped
2017-12-12T23:26:06.136Z,1513121166.136 [DonutAtDepthSequence:SampleAtDepth](DEBUG): Aggregate::uninitialize DonutAtDepthSequence:SampleAtDepth
2017-12-12T23:26:06.136Z,1513121166.136 [DonutAtDepthSequence:SampleAtDepth:B.Pitch] Stopped
2017-12-12T23:26:06.136Z,1513121166.136 [DonutAtDepthSequence:SampleAtDepth:SampleWrapper] Stopped
2017-12-12T23:26:06.136Z,1513121166.136 [DonutAtDepthSequence:SampleAtDepth:SampleWrapper](DEBUG): Aggregate::uninitialize DonutAtDepthSequence:SampleAtDepth:SampleWrapper
2017-12-12T23:26:06.136Z,1513121166.136 [DonutAtDepthSequence:SampleAtDepth:SampleWrapper:SampleESP] Stopped
2017-12-12T23:26:06.136Z,1513121166.136 [DonutAtDepthSequence:SampleAtDepth:SampleWrapper:SampleESP](DEBUG): Aggregate::uninitialize DonutAtDepthSequence:SampleAtDepth:SampleWrapper:SampleESP
2017-12-12T23:26:06.136Z,1513121166.136 [DonutAtDepthSequence:SampleAtDepth:SampleWrapper:SampleESP:WaitForESP] Stopped
2017-12-12T23:26:06.136Z,1513121166.136 [DonutAtDepthSequence:I.Pitch] Stopped
2017-12-12T23:26:06.136Z,1513121166.136 [DonutAtDepthSequence:Science] Stopped
2017-12-12T23:26:06.141Z,1513121166.141 [DonutAtDepthSequence:Science](DEBUG): Aggregate::uninitialize DonutAtDepthSequence:Science
2017-12-12T23:26:06.141Z,1513121166.141 [DonutAtDepthSequence:Science:A] Stopped
2017-12-12T23:26:06.141Z,1513121166.141 [DonutAtDepthSequence:Science:C] Stopped
2017-12-12T23:26:06.141Z,1513121166.141 [DonutAtDepthSequence:Science:D] Stopped
2017-12-12T23:26:06.142Z,1513121166.142 [DonutAtDepthSequence:Science:G] Stopped
2017-12-12T23:26:06.142Z,1513121166.142 [DonutAtDepthSequence:Science:H] Stopped
2017-12-12T23:26:06.142Z,1513121166.142 [DonutAtDepthSequence:Science:PeakDetectChl] Stopped
2017-12-12T23:26:06.142Z,1513121166.142 [DonutAtDepthSequence:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize DonutAtDepthSequence:Science:PeakDetectChl
2017-12-12T23:26:06.142Z,1513121166.142 [DonutAtDepthSequence:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2017-12-12T23:26:06.142Z,1513121166.142 [DonutAtDepthSequence:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2017-12-12T23:26:06.142Z,1513121166.142 [DonutAtDepthSequence:Science:HighestChlPeakReport] Stopped
2017-12-12T23:26:06.142Z,1513121166.142 [DonutAtDepthSequence:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize DonutAtDepthSequence:Science:HighestChlPeakReport
2017-12-12T23:26:06.142Z,1513121166.142 [DonutAtDepthSequence:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2017-12-12T23:26:06.142Z,1513121166.142 [DonutAtDepthSequence:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2017-12-12T23:26:06.142Z,1513121166.142 [DonutAtDepthSequence:K.AltitudeEnvelope] Stopped
2017-12-12T23:26:06.143Z,1513121166.143 [DonutAtDepthSequence:K.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2017-12-12T23:26:06.143Z,1513121166.143 [DonutAtDepthSequence:DepthHolding] Stopped
2017-12-12T23:26:06.143Z,1513121166.143 [DonutAtDepthSequence:DepthHolding](DEBUG): Aggregate::uninitialize DonutAtDepthSequence:DepthHolding
2017-12-12T23:26:06.143Z,1513121166.143 [DonutAtDepthSequence:DepthHolding:HoldDepthInDonutMode] Stopped
2017-12-12T23:26:06.143Z,1513121166.143 [DonutAtDepthSequence:DepthHolding:HoldDepthInDonutMode](DEBUG): Aggregate::uninitialize DonutAtDepthSequence:DepthHolding:HoldDepthInDonutMode
2017-12-12T23:26:06.144Z,1513121166.144 [DonutAtDepthSequence:DepthHolding:HoldDepthInDonutMode:A.Pitch] Stopped
2017-12-12T23:26:06.144Z,1513121166.144 [DonutAtDepthSequence:DepthHolding:HoldDepthInDonutMode:B.SetSpeed] Stopped
2017-12-12T23:26:06.144Z,1513121166.144 [DonutAtDepthSequence:DepthHolding:HoldDepthInDonutMode:B.SetSpeed](DEBUG): Uninitialize.
2017-12-12T23:26:06.144Z,1513121166.144 [DonutAtDepthSequence:DepthHolding:HoldDepthInDonutMode:C.Point] Stopped
2017-12-12T23:26:06.144Z,1513121166.144 [DonutAtDepthSequence:DepthHolding:HoldDepthInDonutMode:D.Buoyancy] Stopped
2017-12-12T23:26:06.144Z,1513121166.144 [DonutAtDepthSequence:DepthHolding:HoldDepthInDonutMode:D.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2017-12-12T23:26:06.144Z,1513121166.144 [DonutAtDepthSequence:TakeSamples] Stopped
2017-12-12T23:26:06.147Z,1513121166.147 [WetLabsBB2FL](INFO): Powering down
2017-12-12T23:26:06.153Z,1513121166.153 [DonutAtDepthSequence:TakeSamples](DEBUG): Aggregate::uninitialize DonutAtDepthSequence:TakeSamples
2017-12-12T23:26:06.153Z,1513121166.153 [DonutAtDepthSequence:TakeSamples:Firing] Stopped
2017-12-12T23:26:06.153Z,1513121166.153 [DonutAtDepthSequence:TakeSamples:Firing](DEBUG): Aggregate::uninitialize DonutAtDepthSequence:TakeSamples:Firing
2017-12-12T23:26:06.153Z,1513121166.153 [DonutAtDepthSequence:TakeSamples:Firing:Sampling] Stopped
2017-12-12T23:26:06.153Z,1513121166.153 [DonutAtDepthSequence:TakeSamples:Firing:Sampling](DEBUG): Aggregate::uninitialize DonutAtDepthSequence:TakeSamples:Firing:Sampling
2017-12-12T23:26:06.565Z,1513121166.565 [CTD_Seabird](INFO): Stopping potential previous instance(s) of CTD_Seabird LCM interface
2017-12-12T23:26:06.565Z,1513121166.565 [CTD_Seabird](INFO): Powering down
2017-12-12T23:26:06.678Z,1513121166.678 [MissionManager](IMPORTANT): Started mission Default
2017-12-12T23:26:06.679Z,1513121166.679 [Default] Running Loop=1
2017-12-12T23:26:06.679Z,1513121166.679 [Default](DEBUG): Aggregate::initialize Default
2017-12-12T23:26:06.679Z,1513121166.679 [Default:B.GoToSurface] Running Loop=1
2017-12-12T23:26:06.679Z,1513121166.679 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2017-12-12T23:26:06.679Z,1513121166.679 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2017-12-12T23:26:06.680Z,1513121166.680 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2017-12-12T23:26:06.680Z,1513121166.680 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2017-12-12T23:26:06.680Z,1513121166.680 [Default:B.GoToSurface](DEBUG): No pitch timeout specified. Using default value of 20.000000 seconds.
2017-12-12T23:26:06.682Z,1513121166.682 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2017-12-12T23:26:06.682Z,1513121166.682 [Default:A.Wait] Running Loop=1
2017-12-12T23:26:06.682Z,1513121166.682 [Default:A.Wait](DEBUG): Initialize Wait Component.
2017-12-12T23:26:07.173Z,1513121167.173 [Aanderaa_O2](INFO): Powering down
2017-12-12T23:26:10.205Z,1513121170.205 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2017-12-12T23:26:19.873Z,1513121179.873 [Default:A.Wait](INFO): Done Waiting.
2017-12-12T23:26:19.873Z,1513121179.873 [Default:A.Wait] Stopped
2017-12-12T23:26:19.873Z,1513121179.873 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2017-12-12T23:26:20.270Z,1513121180.270 [Default:CheckIn] Running Loop=1
2017-12-12T23:26:20.270Z,1513121180.270 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2017-12-12T23:26:20.270Z,1513121180.270 [Default:CheckIn:Read_GPS] Running Loop=1
2017-12-12T23:26:21.010Z,1513121181.010 [NAL9602](INFO): Powering up
2017-12-12T23:26:31.810Z,1513121191.810 [NAL9602](INFO): NAL9602 initialized
2017-12-12T23:26:33.838Z,1513121193.838 [BPC1](ERROR): Failed to receive battery data
2017-12-12T23:26:33.838Z,1513121193.838 [BPC1] Communications Fault, FailCount= 1
2017-12-12T23:26:33.838Z,1513121193.838 [BPC1](ERROR): Communications Fault
2017-12-12T23:26:33.926Z,1513121193.926 [CBIT](ERROR): Communications Fault in component: BPC1
2017-12-12T23:26:35.126Z,1513121195.126 [CBIT](INFO): Clearing failed state for component BPC1
2017-12-12T23:26:35.126Z,1513121195.126 [BPC1] No Fault, FailCount= 1
2017-12-12T23:27:03.810Z,1513121223.810 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2017-12-12T23:27:03.889Z,1513121223.889 [NAL9602](FAULT): received: 
+CSQ:1

OK278, 2, 0, 0, 0

OK
2017-12-12T23:27:03.889Z,1513121223.889 [NAL9602] Data Fault, FailCount= 1
2017-12-12T23:27:03.889Z,1513121223.889 [NAL9602](ERROR): Data Fault
2017-12-12T23:27:04.016Z,1513121224.016 [CBIT](ERROR): Data Fault in component: NAL9602
2017-12-12T23:27:04.210Z,1513121224.210 [NAL9602](INFO): Powering down
2017-12-12T23:27:05.071Z,1513121225.071 [CBIT](INFO): Clearing failed state for component NAL9602
2017-12-12T23:27:05.071Z,1513121225.071 [NAL9602] No Fault, FailCount= 1
2017-12-12T23:27:08.669Z,1513121228.669 [CommandLine](IMPORTANT): got command failComponent
2017-12-12T23:27:08.670Z,1513121228.670 [CommandLine](IMPORTANT): Failed components:
2017-12-12T23:27:08.670Z,1513121228.670 [CommandLine](IMPORTANT): No failed Components.
2017-12-12T23:27:10.205Z,1513121230.205 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2017-12-12T23:27:15.841Z,1513121235.841 [ESPComponent](DEBUG): Writing samplingActive=0, sampleNumber=1
2017-12-12T23:27:34.610Z,1513121254.610 [NAL9602](INFO): Powering up NAL9602
2017-12-12T23:27:45.566Z,1513121265.566 [CommandLine](IMPORTANT): got command maintain clear
2017-12-12T23:27:45.805Z,1513121265.805 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.143799
2017-12-12T23:27:45.810Z,1513121265.810 [NAL9602](INFO): NAL9602 initialized
2017-12-12T23:27:45.903Z,1513121265.903 [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,ElevatorOffsetCalculator,StratificationFrontDetector,DeadReckonUsingMultipleVelocitySources,DeadReckonUsingSpeedCalculator,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2017-12-12T23:27:47.769Z,1513121267.769 [CommandLine](IMPORTANT): got command show stack
2017-12-12T23:27:47.769Z,1513121267.769 [CommandLine](IMPORTANT): Behavior Stack:

2017-12-12T23:27:47.770Z,1513121267.770 [Default](IMPORTANT): Priority 0: Default:B.GoToSurface
2017-12-12T23:27:47.770Z,1513121267.770 [Default:CheckIn](IMPORTANT): Priority 1: Default:CheckIn:Read_GPS
2017-12-12T23:28:07.416Z,1513121287.416 [NAL9602](INFO): SBD MO Status=2, MOMSN=19278, MT Status=2, MTMSN=0
2017-12-12T23:28:07.416Z,1513121287.416 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2017-12-12T23:28:25.816Z,1513121305.816 [NAL9602](INFO): SBD MO Status=2, MOMSN=19278, MT Status=2, MTMSN=0
2017-12-12T23:28:25.817Z,1513121305.817 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2017-12-12T23:28:43.806Z,1513121323.806 [NAL9602](INFO): SBD MO Status=2, MOMSN=19278, MT Status=2, MTMSN=0
2017-12-12T23:28:43.806Z,1513121323.806 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2017-12-12T23:28:44.715Z,1513121324.715 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.002117
2017-12-12T23:29:01.124Z,1513121341.124 [NAL9602](INFO): SBD MO Status=2, MOMSN=19278, MT Status=2, MTMSN=0
2017-12-12T23:29:01.124Z,1513121341.124 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2017-12-12T23:29:09.119Z,1513121349.119 [NAL9602](INFO): SBD MO Status=2, MOMSN=19278, MT Status=2, MTMSN=0
2017-12-12T23:29:09.119Z,1513121349.119 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2017-12-12T23:29:15.923Z,1513121355.923 [NAL9602](INFO): SBD MO Status=2, MOMSN=19278, MT Status=2, MTMSN=0
2017-12-12T23:29:15.924Z,1513121355.924 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2017-12-12T23:29:22.226Z,1513121362.226 [CommandLine](IMPORTANT): got command get platform_buoyancy_position
2017-12-12T23:29:22.227Z,1513121362.227 [CommandLine](IMPORTANT): platform_buoyancy_position 952.176983 cc
2017-12-12T23:29:24.719Z,1513121364.719 [NAL9602](INFO): SBD MO Status=2, MOMSN=19278, MT Status=2, MTMSN=0
2017-12-12T23:29:24.719Z,1513121364.719 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2017-12-12T23:29:43.902Z,1513121383.902 [NAL9602](INFO): SBD MO Status=2, MOMSN=19278, MT Status=2, MTMSN=0
2017-12-12T23:29:43.902Z,1513121383.902 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2017-12-12T23:30:05.635Z,1513121405.635 [NAL9602](INFO): SBD MO Status=2, MOMSN=19278, MT Status=2, MTMSN=0
2017-12-12T23:30:05.635Z,1513121405.635 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2017-12-12T23:30:12.839Z,1513121412.839 [NAL9602](INFO): SBD MO Status=2, MOMSN=19278, MT Status=2, MTMSN=0
2017-12-12T23:30:12.840Z,1513121412.840 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2017-12-12T23:30:18.035Z,1513121418.035 [NAL9602](INFO): SBD MO Status=2, MOMSN=19278, MT Status=2, MTMSN=0
2017-12-12T23:30:18.035Z,1513121418.035 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2017-12-12T23:30:26.838Z,1513121426.838 [NAL9602](INFO): SBD MO Status=2, MOMSN=19278, MT Status=2, MTMSN=0
2017-12-12T23:30:26.838Z,1513121426.838 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2017-12-12T23:30:35.235Z,1513121435.235 [NAL9602](INFO): SBD MO Status=2, MOMSN=19278, MT Status=2, MTMSN=0
2017-12-12T23:30:35.235Z,1513121435.235 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2017-12-12T23:30:37.258Z,1513121437.258 [BPC1](ERROR): Failed to receive battery data
2017-12-12T23:30:37.258Z,1513121437.258 [BPC1] Communications Fault, FailCount= 1
2017-12-12T23:30:37.258Z,1513121437.258 [BPC1](ERROR): Communications Fault
2017-12-12T23:30:37.341Z,1513121437.341 [CBIT](ERROR): Communications Fault in component: BPC1
2017-12-12T23:30:38.522Z,1513121438.522 [CBIT](INFO): Clearing failed state for component BPC1
2017-12-12T23:30:38.522Z,1513121438.522 [BPC1] No Fault, FailCount= 1
2017-12-12T23:30:44.933Z,1513121444.933 [DataOverHttps](IMPORTANT): SBD MTMSN=20171212T233043
2017-12-12T23:30:49.431Z,1513121449.431 [NAL9602](INFO): SBD MO Status=2, MOMSN=19278, MT Status=2, MTMSN=0
2017-12-12T23:30:49.431Z,1513121449.431 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2017-12-12T23:30:49.572Z,1513121449.572 [DataOverHttps](INFO): Received command:restart logs