2022-02-16T20:08:28.549Z,1645042108.549 [Supervisor](DEBUG): Initializing supervisor.
2022-02-16T20:08:28.553Z,1645042108.553 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2022-02-16T20:08:28.554Z,1645042108.554 [SyncHandler](INFO): Protected caller Thread ID is 5867
2022-02-16T20:08:28.554Z,1645042108.554 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2022-02-16T20:08:28.555Z,1645042108.555 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2022-02-16T20:08:28.556Z,1645042108.556 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 5868
2022-02-16T20:08:28.560Z,1645042108.560 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2022-02-16T20:08:28.607Z,1645042108.607 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2022-02-16T20:08:28.616Z,1645042108.616 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2022-02-16T20:08:28.617Z,1645042108.617 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 5871
2022-02-16T20:08:28.620Z,1645042108.620 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2022-02-16T20:08:28.621Z,1645042108.621 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2022-02-16T20:08:28.622Z,1645042108.622 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 5872
2022-02-16T20:08:28.624Z,1645042108.624 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2022-02-16T20:08:28.625Z,1645042108.625 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2022-02-16T20:08:28.625Z,1645042108.625 [logger ThreadHandler](INFO): Protected caller Thread ID is 5873
2022-02-16T20:08:28.629Z,1645042108.629 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2022-02-16T20:08:28.629Z,1645042108.629 [Supervisor](INFO): Looking for Config files in directory: Config/
2022-02-16T20:08:28.631Z,1645042108.631 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2022-02-16T20:08:28.729Z,1645042108.729 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2022-02-16T20:08:28.730Z,1645042108.730 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2022-02-16T20:08:28.983Z,1645042108.983 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2022-02-16T20:08:28.983Z,1645042108.983 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2022-02-16T20:08:29.247Z,1645042109.247 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2022-02-16T20:08:29.247Z,1645042109.247 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2022-02-16T20:08:29.394Z,1645042109.394 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2022-02-16T20:08:29.395Z,1645042109.395 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2022-02-16T20:08:30.123Z,1645042110.123 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2022-02-16T20:08:30.124Z,1645042110.124 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2022-02-16T20:08:30.619Z,1645042110.619 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2022-02-16T20:08:30.619Z,1645042110.619 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2022-02-16T20:08:31.283Z,1645042111.283 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2022-02-16T20:08:31.284Z,1645042111.284 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2022-02-16T20:08:31.703Z,1645042111.703 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2022-02-16T20:08:31.703Z,1645042111.703 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2022-02-16T20:08:32.124Z,1645042112.124 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2022-02-16T20:08:32.124Z,1645042112.124 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2022-02-16T20:08:32.530Z,1645042112.530 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2022-02-16T20:08:32.530Z,1645042112.530 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2022-02-16T20:08:32.684Z,1645042112.684 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2022-02-16T20:08:32.685Z,1645042112.685 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2022-02-16T20:08:32.854Z,1645042112.854 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2022-02-16T20:08:32.854Z,1645042112.854 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2022-02-16T20:08:32.938Z,1645042112.938 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2022-02-16T20:08:33.021Z,1645042113.021 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2022-02-16T20:08:33.259Z,1645042113.259 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2022-02-16T20:08:33.260Z,1645042113.260 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2022-02-16T20:08:33.510Z,1645042113.510 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2022-02-16T20:08:33.512Z,1645042113.512 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/
2022-02-16T20:08:33.513Z,1645042113.513 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/secure.cfg
2022-02-16T20:08:33.677Z,1645042113.677 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Battery.cfg
2022-02-16T20:08:34.112Z,1645042114.112 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2022-02-16T20:08:34.113Z,1645042114.113 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Navigation.cfg
2022-02-16T20:08:34.250Z,1645042114.250 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Sensor.cfg
2022-02-16T20:08:34.414Z,1645042114.414 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/vehicle.cfg
2022-02-16T20:08:34.638Z,1645042114.638 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Simulator.cfg
2022-02-16T20:08:34.726Z,1645042114.726 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Servo.cfg
2022-02-16T20:08:34.832Z,1645042114.832 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Control.cfg
2022-02-16T20:08:34.973Z,1645042114.973 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Science.cfg
2022-02-16T20:08:35.140Z,1645042115.140 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/logger.cfg
2022-02-16T20:08:35.246Z,1645042115.246 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/BIT.cfg
2022-02-16T20:08:35.386Z,1645042115.386 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/LOGIN/
2022-02-16T20:08:35.386Z,1645042115.386 [Supervisor](INFO): Looking for Config files in directory: Config/sim/
2022-02-16T20:08:35.387Z,1645042115.387 [Supervisor](INFO): Opening Config file at: Config/sim/secure.cfg
2022-02-16T20:08:35.472Z,1645042115.472 [Supervisor](INFO): Opening Config file at: Config/sim/Navigation.cfg
2022-02-16T20:08:35.548Z,1645042115.548 [Supervisor](INFO): Opening Config file at: Config/sim/Sensor.cfg
2022-02-16T20:08:35.698Z,1645042115.698 [Supervisor](INFO): Opening Config file at: Config/sim/vehicle.cfg
2022-02-16T20:08:35.782Z,1645042115.782 [Supervisor](INFO): Opening Config file at: Config/sim/Simulator.cfg
2022-02-16T20:08:35.895Z,1645042115.895 [Supervisor](INFO): Opening Config file at: Config/sim/Servo.cfg
2022-02-16T20:08:36.019Z,1645042116.019 [Supervisor](INFO): Opening Config file at: Config/sim/Science.cfg
2022-02-16T20:08:36.112Z,1645042116.112 [Supervisor](INFO): Opening Config file at: Config/sim/Derivation.cfg
2022-02-16T20:08:36.198Z,1645042116.198 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/sim/
2022-02-16T20:08:36.198Z,1645042116.198 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/LOGIN/sim/
2022-02-16T20:08:36.198Z,1645042116.198 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2022-02-16T20:08:36.206Z,1645042116.206 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2022-02-16T20:08:36.423Z,1645042116.423 [ExternalSim] Loaded
2022-02-16T20:08:36.423Z,1645042116.423 [ComponentRegistry](DEBUG): SyncComponent "ExternalSim" handled in the control thread.
2022-02-16T20:08:36.434Z,1645042116.434 [InternalEnvSim] Loaded
2022-02-16T20:08:36.434Z,1645042116.434 [ComponentRegistry](DEBUG): SyncComponent "InternalEnvSim" handled in the control thread.
2022-02-16T20:08:36.435Z,1645042116.435 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2022-02-16T20:08:36.435Z,1645042116.435 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2022-02-16T20:08:36.556Z,1645042116.556 [BuoyancyServo] Loaded
2022-02-16T20:08:36.556Z,1645042116.556 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2022-02-16T20:08:36.574Z,1645042116.574 [MassServo] Loaded
2022-02-16T20:08:36.574Z,1645042116.574 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2022-02-16T20:08:36.574Z,1645042116.574 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2022-02-16T20:08:36.575Z,1645042116.575 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2022-02-16T20:08:36.751Z,1645042116.751 [SBIT](DEBUG): Construct Startup Built In Test.
2022-02-16T20:08:36.767Z,1645042116.767 [SBIT] Loaded
2022-02-16T20:08:36.767Z,1645042116.767 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2022-02-16T20:08:36.770Z,1645042116.770 [IBIT](DEBUG): Construct Initiated Built In Test.
2022-02-16T20:08:36.790Z,1645042116.790 [IBIT] Loaded
2022-02-16T20:08:36.791Z,1645042116.791 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2022-02-16T20:08:36.796Z,1645042116.796 [CBIT](DEBUG): Construct Continuous Built In Test.
2022-02-16T20:08:37.042Z,1645042117.042 [CBIT] Loaded
2022-02-16T20:08:37.042Z,1645042117.042 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2022-02-16T20:08:37.043Z,1645042117.043 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2022-02-16T20:08:37.043Z,1645042117.043 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2022-02-16T20:08:37.175Z,1645042117.175 [Aanderaa_O2] Loaded
2022-02-16T20:08:37.175Z,1645042117.175 [ComponentRegistry](DEBUG): SyncComponent "Aanderaa_O2" handled in the control thread.
2022-02-16T20:08:37.230Z,1645042117.230 [ESPComponent] Loaded
2022-02-16T20:08:37.230Z,1645042117.230 [ComponentRegistry](DEBUG): SyncComponent "ESPComponent" handled in the control thread.
2022-02-16T20:08:37.249Z,1645042117.249 [PAR_Licor] Loaded
2022-02-16T20:08:37.249Z,1645042117.249 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2022-02-16T20:08:37.280Z,1645042117.280 [WetLabsSeaOWL_UV_A] Loaded
2022-02-16T20:08:37.280Z,1645042117.280 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2022-02-16T20:08:37.281Z,1645042117.281 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 406614E0
2022-02-16T20:08:37.281Z,1645042117.281 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 6027
2022-02-16T20:08:37.282Z,1645042117.282 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2022-02-16T20:08:37.283Z,1645042117.283 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2022-02-16T20:08:37.345Z,1645042117.345 [DepthRateCalculator] Loaded
2022-02-16T20:08:37.345Z,1645042117.345 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2022-02-16T20:08:37.358Z,1645042117.358 [PitchRateCalculator] Loaded
2022-02-16T20:08:37.359Z,1645042117.359 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2022-02-16T20:08:37.378Z,1645042117.378 [SpeedCalculator] Loaded
2022-02-16T20:08:37.378Z,1645042117.378 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2022-02-16T20:08:37.391Z,1645042117.391 [TempGradientCalculator] Loaded
2022-02-16T20:08:37.391Z,1645042117.391 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2022-02-16T20:08:37.396Z,1645042117.396 [YawRateCalculator] Loaded
2022-02-16T20:08:37.396Z,1645042117.396 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2022-02-16T20:08:37.415Z,1645042117.415 [ElevatorOffsetCalculator] Loaded
2022-02-16T20:08:37.415Z,1645042117.415 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2022-02-16T20:08:37.415Z,1645042117.415 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2022-02-16T20:08:37.416Z,1645042117.416 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2022-02-16T20:08:37.507Z,1645042117.507 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2022-02-16T20:08:37.508Z,1645042117.508 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2022-02-16T20:08:37.534Z,1645042117.534 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2022-02-16T20:08:37.535Z,1645042117.535 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2022-02-16T20:08:37.644Z,1645042117.644 [DeadReckonUsingMultipleVelocitySources] Loaded
2022-02-16T20:08:37.644Z,1645042117.644 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2022-02-16T20:08:37.692Z,1645042117.692 [LBLNavigation] Loaded
2022-02-16T20:08:37.692Z,1645042117.692 [ComponentRegistry](DEBUG): SyncComponent "LBLNavigation" handled in the control thread.
2022-02-16T20:08:37.713Z,1645042117.713 [NavChart] Loaded
2022-02-16T20:08:37.713Z,1645042117.713 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2022-02-16T20:08:37.727Z,1645042117.727 [UniversalFixResidualReporter] Loaded
2022-02-16T20:08:37.727Z,1645042117.727 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2022-02-16T20:08:37.728Z,1645042117.728 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2022-02-16T20:08:37.729Z,1645042117.729 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2022-02-16T20:08:38.150Z,1645042118.150 [BackseatComponent] Loaded
2022-02-16T20:08:38.150Z,1645042118.150 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2022-02-16T20:08:38.151Z,1645042118.151 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 409D54E0
2022-02-16T20:08:38.152Z,1645042118.152 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 6034
2022-02-16T20:08:38.154Z,1645042118.154 [LcmUniversalReporter] Loaded
2022-02-16T20:08:38.155Z,1645042118.155 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2022-02-16T20:08:38.175Z,1645042118.175 [Depth_Keller] Loaded
2022-02-16T20:08:38.175Z,1645042118.175 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2022-02-16T20:08:38.178Z,1645042118.178 [DropWeight] Loaded
2022-02-16T20:08:38.178Z,1645042118.178 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2022-02-16T20:08:38.222Z,1645042118.222 [Micromodem] Loaded
2022-02-16T20:08:38.222Z,1645042118.222 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2022-02-16T20:08:38.278Z,1645042118.278 [NAL9602] Loaded
2022-02-16T20:08:38.279Z,1645042118.279 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2022-02-16T20:08:38.303Z,1645042118.303 [Onboard] Loaded
2022-02-16T20:08:38.303Z,1645042118.303 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2022-02-16T20:08:38.304Z,1645042118.304 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 40A054E0
2022-02-16T20:08:38.305Z,1645042118.305 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 6035
2022-02-16T20:08:38.316Z,1645042118.316 [Power24vConverter] Loaded
2022-02-16T20:08:38.316Z,1645042118.316 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2022-02-16T20:08:38.330Z,1645042118.330 [Radio_Surface] Loaded
2022-02-16T20:08:38.330Z,1645042118.330 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2022-02-16T20:08:38.331Z,1645042118.331 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 40A354E0
2022-02-16T20:08:38.332Z,1645042118.332 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 6036
2022-02-16T20:08:38.333Z,1645042118.333 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2022-02-16T20:08:38.333Z,1645042118.333 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2022-02-16T20:08:38.425Z,1645042118.425 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2022-02-16T20:08:38.426Z,1645042118.426 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2022-02-16T20:08:38.478Z,1645042118.478 [VerticalControl](DEBUG): Construct VerticalControl.
2022-02-16T20:08:38.528Z,1645042118.528 [VerticalControl] Loaded
2022-02-16T20:08:38.529Z,1645042118.529 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2022-02-16T20:08:38.531Z,1645042118.531 [HorizontalControl](DEBUG): Construct HorizontalControl.
2022-02-16T20:08:38.567Z,1645042118.567 [HorizontalControl] Loaded
2022-02-16T20:08:38.568Z,1645042118.568 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2022-02-16T20:08:38.570Z,1645042118.570 [SpeedControl](DEBUG): Construct SpeedControl.
2022-02-16T20:08:38.572Z,1645042118.572 [SpeedControl] Loaded
2022-02-16T20:08:38.572Z,1645042118.572 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2022-02-16T20:08:38.575Z,1645042118.575 [LoopControl](DEBUG): Construct LoopControl.
2022-02-16T20:08:38.575Z,1645042118.575 [LoopControl] Loaded
2022-02-16T20:08:38.576Z,1645042118.576 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2022-02-16T20:08:38.576Z,1645042118.576 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2022-02-16T20:08:38.577Z,1645042118.577 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2022-02-16T20:08:38.587Z,1645042118.587 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2022-02-16T20:08:38.588Z,1645042118.588 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2022-02-16T20:08:38.939Z,1645042118.939 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2022-02-16T20:08:38.956Z,1645042118.956 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2022-02-16T20:08:38.958Z,1645042118.958 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2022-02-16T20:08:39.015Z,1645042119.015 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2022-02-16T20:08:39.054Z,1645042119.054 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40B3B4E0
2022-02-16T20:08:39.054Z,1645042119.054 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 6041
2022-02-16T20:08:39.059Z,1645042119.059 [Supervisor](INFO): Main Thread ID is 5863
2022-02-16T20:08:39.059Z,1645042119.059 [Supervisor](DEBUG): Running supervisor.
2022-02-16T20:08:39.060Z,1645042119.060 [CommandExec ThreadHandler](INFO): Handler Thread ID is 6042
2022-02-16T20:08:39.060Z,1645042119.060 [CommandExec](INFO): Initializing the command executive.
2022-02-16T20:08:39.062Z,1645042119.062 [CommandLine ThreadHandler](INFO): Handler Thread ID is 6043
2022-02-16T20:08:39.063Z,1645042119.063 [controlThread ThreadHandler](INFO): Handler Thread ID is 6044
2022-02-16T20:08:39.064Z,1645042119.064 [controlThread](DEBUG): Initializing ControlThread
2022-02-16T20:08:39.065Z,1645042119.065 [ExternalSim](INFO): ExternalSim initializing...
2022-02-16T20:08:39.112Z,1645042119.112 [logger ThreadHandler](INFO): Handler Thread ID is 6046
2022-02-16T20:08:39.137Z,1645042119.137 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 6047
2022-02-16T20:08:39.176Z,1645042119.176 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 6048
2022-02-16T20:08:39.250Z,1645042119.250 [ExternalSim](ERROR): Error making socket connection to simulation server at tellum.shore.mbari.org: Can not connect to invalid network address: tellum.shore.mbari.org
2022-02-16T20:08:39.252Z,1645042119.252 [Onboard ThreadHandler](INFO): Handler Thread ID is 6050
2022-02-16T20:08:39.260Z,1645042119.260 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 6051
2022-02-16T20:08:39.266Z,1645042119.266 [ExternalSim](DEBUG): oceanModelVarCount=0
2022-02-16T20:08:39.276Z,1645042119.276 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 6052
2022-02-16T20:08:39.278Z,1645042119.278 [NavChartDb](FAULT): Change detected in ENC collection. Wiping NavChart Directory
2022-02-16T20:08:39.294Z,1645042119.294 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2MI01M.000
2022-02-16T20:08:39.296Z,1645042119.296 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US2MI01M.000
2022-02-16T20:08:39.296Z,1645042119.296 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4MI89M.000
2022-02-16T20:08:39.297Z,1645042119.297 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US4MI89M.000
2022-02-16T20:08:39.297Z,1645042119.297 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4MI11M.000
2022-02-16T20:08:39.299Z,1645042119.299 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US4MI11M.000
2022-02-16T20:08:39.299Z,1645042119.299 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5MI07M.000
2022-02-16T20:08:39.454Z,1645042119.454 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5MI07M.000
2022-02-16T20:08:39.454Z,1645042119.454 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5OH07M.000
2022-02-16T20:08:39.456Z,1645042119.456 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5OH07M.000
2022-02-16T20:08:39.456Z,1645042119.456 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5OH31M.000
2022-02-16T20:08:39.458Z,1645042119.458 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5OH31M.000
2022-02-16T20:08:39.477Z,1645042119.477 [CommandExec](IMPORTANT): got command fileExec testing.d
2022-02-16T20:08:39.479Z,1645042119.479 [NavChartDb](INFO): Setup scan of Resources/ElectronicNavigationCharts/US5OH31M.000
2022-02-16T20:08:39.498Z,1645042119.498 [ExternalSim](DEBUG): beaconLat = 36.80340
2022-02-16T20:08:39.498Z,1645042119.498 [ExternalSim](DEBUG): beaconLon = -121.82230
2022-02-16T20:08:39.498Z,1645042119.498 [ExternalSim](DEBUG): beaconDepth = 25.00
2022-02-16T20:08:39.518Z,1645042119.518 [ExternalSim](DEBUG): Simulator initialized
2022-02-16T20:08:39.520Z,1645042119.520 [InternalEnvSim](DEBUG):  InternaEnvlSim initializing...
2022-02-16T20:08:39.612Z,1645042119.612 [CommandExec](INFO): Received command: maintain sensor NAL9602.latitude_fix 36.7 degree
maintain sensor NAL9602.longitude_fix -122.19 degree
maintain sensor Depth_keller.depth 1 meter
set NAL9602.time_fix 1234567890 second
report mod mass_concentration_of_petroleum_hydrocarbons_in_sea_water
run Science/trackPatchOil.xml


2022-02-16T20:08:39.832Z,1645042119.832 [SBIT](INFO): Initialize SBIT Component.
2022-02-16T20:08:39.833Z,1645042119.833 [SBIT](IMPORTANT): git: 2022-02-01-12-g115cb7fe7
2022-02-16T20:08:39.833Z,1645042119.833 [SBIT](INFO): git hash: 115cb7fe7453500f2fb50c4726d394f7fc64f755
2022-02-16T20:08:39.833Z,1645042119.833 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2022-02-16T20:08:39.834Z,1645042119.834 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #2 PREEMPT Thu Jan 11 20:13:48 PST 2018
Kernel Reported: #1 PREEMPT Wed Mar 17 08:23:48 PDT 2021
2022-02-16T20:08:39.835Z,1645042119.835 [SBIT](INFO): Beginning SBIT in 59.000000 seconds.
2022-02-16T20:08:39.840Z,1645042119.840 [IBIT](INFO): Initialize IBIT Component.
2022-02-16T20:08:39.841Z,1645042119.841 [CBIT](DEBUG): Initialize CBIT Component.
2022-02-16T20:08:39.852Z,1645042119.852 [CBIT](DEBUG): Initialized mux pins.
2022-02-16T20:08:39.852Z,1645042119.852 [CBIT](DEBUG): Initializing the watchdog timer.
2022-02-16T20:08:39.876Z,1645042119.876 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2022-02-16T20:08:39.876Z,1645042119.876 [CBIT](DEBUG): Initializing heartbeat.
2022-02-16T20:08:39.948Z,1645042119.948 [CBIT](DEBUG): Deactivating GF circuits.
2022-02-16T20:08:39.948Z,1645042119.948 [CBIT](DEBUG): Deactivating emergency mode.
2022-02-16T20:08:39.984Z,1645042119.984 [CBIT](DEBUG): Backplane powered.
2022-02-16T20:08:39.988Z,1645042119.988 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2022-02-16T20:08:39.989Z,1645042119.989 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2022-02-16T20:08:39.989Z,1645042119.989 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2022-02-16T20:08:39.989Z,1645042119.989 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2022-02-16T20:08:39.990Z,1645042119.990 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2022-02-16T20:08:39.990Z,1645042119.990 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2022-02-16T20:08:39.992Z,1645042119.992 [NavChart](DEBUG): Initialize NavChart Navigation.
2022-02-16T20:08:39.992Z,1645042119.992 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2022-02-16T20:08:39.995Z,1645042119.995 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2022-02-16T20:08:40.001Z,1645042120.001 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2022-02-16T20:08:40.002Z,1645042120.002 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2022-02-16T20:08:40.002Z,1645042120.002 [LoopControl](DEBUG): Initialize LoopControlComponent.
2022-02-16T20:08:40.003Z,1645042120.003 [MissionManager](INFO): Loading Mission from file: Missions/Startup.xml
2022-02-16T20:08:40.069Z,1645042120.069 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2022-02-16T20:08:40.129Z,1645042120.129 [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>


2022-02-16T20:08:40.130Z,1645042120.130 [MissionManager](INFO): Loading Mission from file: Missions/Default.xml
2022-02-16T20:08:40.225Z,1645042120.225 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2022-02-16T20:08:40.226Z,1645042120.226 [Default:A.Wait](DEBUG): Construct Wait.
2022-02-16T20:08:40.252Z,1645042120.252 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2022-02-16T20:08:40.280Z,1645042120.280 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2022-02-16T20:08:40.283Z,1645042120.283 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2022-02-16T20:08:40.300Z,1645042120.300 [Default:E.Execute](DEBUG): Construct Execute.
2022-02-16T20:08:40.303Z,1645042120.303 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
         xmlns="Tethys"
         xmlns:Units="Tethys/Units"
         xmlns:Guidance="Tethys/Guidance"
         xmlns:Universal="Tethys/Universal"
         xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                             Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                             Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                             Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
         Id="Default">

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

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

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

    <Aggregate Id="CheckIn">

        <Sequence Repeat="288"/>

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

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

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

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

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

    </Aggregate>

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

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

</Mission>


2022-02-16T20:08:40.336Z,1645042120.336 [controlThread](DEBUG): Component order: CycleStarter,ExternalSim,InternalEnvSim,Aanderaa_O2,ESPComponent,PAR_Licor,Depth_Keller,DropWeight,Micromodem,NAL9602,Power24vConverter,PAR_Licor,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,LBLNavigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,MassServo,SBIT,IBIT,CBIT,LcmUniversalReporter,Reporter,LogSplitter,
2022-02-16T20:08:40.377Z,1645042120.377 [Power24vConverter](INFO): Powering up.
2022-02-16T20:08:40.379Z,1645042120.379 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-16T20:08:40.421Z,1645042120.421 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2022-02-16T20:08:40.422Z,1645042120.422 [MassServo](DEBUG): Initializing MassServo.
2022-02-16T20:08:40.836Z,1645042120.836 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-16T20:08:41.156Z,1645042121.156 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-16T20:08:41.364Z,1645042121.364 [NavChartDb](INFO): Done scanning features of Resources/ElectronicNavigationCharts/US5OH31M.000
2022-02-16T20:08:41.416Z,1645042121.416 [CommandExec](IMPORTANT): got command maintain sensor NAL9602.latitude_fix 36.7 degree
2022-02-16T20:08:41.423Z,1645042121.423 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.latitude_fix" handled in the control thread.
2022-02-16T20:08:41.576Z,1645042121.576 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-16T20:08:41.591Z,1645042121.591 [controlThread](DEBUG): Component order: CycleStarter,ExternalSim,InternalEnvSim,Aanderaa_O2,ESPComponent,PAR_Licor,Depth_Keller,DropWeight,Micromodem,NAL9602,Power24vConverter,PAR_Licor,Depth_Keller,Maintain_NAL9602.latitude_fix,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,LBLNavigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,MassServo,SBIT,IBIT,CBIT,LcmUniversalReporter,Reporter,LogSplitter,
2022-02-16T20:08:41.969Z,1645042121.969 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-16T20:08:42.369Z,1645042122.369 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-16T20:08:42.773Z,1645042122.773 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-16T20:08:43.177Z,1645042123.177 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-16T20:08:43.264Z,1645042123.264 [CommandExec](IMPORTANT): got command maintain sensor NAL9602.longitude_fix -122.19 degree
2022-02-16T20:08:43.273Z,1645042123.273 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.longitude_fix" handled in the control thread.
2022-02-16T20:08:43.581Z,1645042123.581 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-16T20:08:43.596Z,1645042123.596 [controlThread](DEBUG): Component order: CycleStarter,ExternalSim,InternalEnvSim,Aanderaa_O2,ESPComponent,PAR_Licor,Depth_Keller,DropWeight,Micromodem,NAL9602,Power24vConverter,PAR_Licor,Depth_Keller,Maintain_NAL9602.latitude_fix,Maintain_NAL9602.longitude_fix,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,LBLNavigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,MassServo,SBIT,IBIT,CBIT,LcmUniversalReporter,Reporter,LogSplitter,
2022-02-16T20:08:43.985Z,1645042123.985 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-16T20:08:43.990Z,1645042123.990 [LBLNavigation](INFO): Reset ping filters
2022-02-16T20:08:43.990Z,1645042123.990 [LBLNavigation](INFO): Reset fix filter
2022-02-16T20:08:44.836Z,1645042124.836 [CommandExec](IMPORTANT): got command maintain sensor Depth_Keller.depth 1 meter
2022-02-16T20:08:44.848Z,1645042124.848 [ComponentRegistry](DEBUG): SyncComponent "Maintain_Depth_Keller.depth" handled in the control thread.
2022-02-16T20:08:45.278Z,1645042125.278 [controlThread](DEBUG): Component order: CycleStarter,ExternalSim,InternalEnvSim,Aanderaa_O2,ESPComponent,PAR_Licor,Depth_Keller,DropWeight,Micromodem,NAL9602,Power24vConverter,PAR_Licor,Depth_Keller,Maintain_NAL9602.latitude_fix,Maintain_NAL9602.longitude_fix,Maintain_Depth_Keller.depth,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,LBLNavigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,MassServo,SBIT,IBIT,CBIT,LcmUniversalReporter,Reporter,LogSplitter,
2022-02-16T20:08:45.598Z,1645042125.598 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2022-02-16T20:08:47.719Z,1645042127.719 [CommandExec](IMPORTANT): got command set NAL9602.time_fix 1234567890 second
2022-02-16T20:08:50.866Z,1645042130.866 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2022-02-16T20:08:50.866Z,1645042130.866 [Micromodem](INFO): Nmea out: $CCCFG,POW,20*08

2022-02-16T20:08:52.569Z,1645042132.569 [CommandExec](IMPORTANT): got command report mod mass_concentration_of_petroleum_hydrocarbons_in_sea_water
2022-02-16T20:08:52.637Z,1645042132.637 [CommandExec](IMPORTANT): got command run ./Missions/Science/trackPatchOil.xml
2022-02-16T20:08:52.638Z,1645042132.638 [MissionManager](INFO): Loading Mission from file: ./Missions/Science/trackPatchOil.xml
2022-02-16T20:08:53.194Z,1645042133.194 [MissionManager](INFO): DefineArg trackPatchOil.MinAltitude = 5.000000 m
2022-02-16T20:08:53.205Z,1645042133.205 [MissionManager](INFO): DefineArg trackPatchOil.MaxDepth = 65.000000 m
2022-02-16T20:08:53.216Z,1645042133.216 [MissionManager](INFO): DefineArg trackPatchOil.MinWaterDepth = 10.000000 m
2022-02-16T20:08:53.219Z,1645042133.219 [MissionManager](INFO): DefineArg trackPatchOil.MinOffshore = 2000.000000 m
2022-02-16T20:08:53.222Z,1645042133.222 [MissionManager](INFO): DefineArg trackPatchOil.NeedCommsTime = 180.000000 min
2022-02-16T20:08:53.253Z,1645042133.253 [MissionManager](INFO): DefineArg trackPatchOil.MissionTimeout = 9.000000 d
2022-02-16T20:08:53.305Z,1645042133.305 [MissionManager](INFO): DefineArg trackPatchOil.MassDefault = 0.990000 cm
2022-02-16T20:08:53.322Z,1645042133.322 [MissionManager](INFO): DefineArg trackPatchOil.BuoyancyNeutral = 223.000000 cc
2022-02-16T20:08:53.325Z,1645042133.325 [MissionManager](INFO): DefineArg trackPatchOil.Depth = 3.000000 m
2022-02-16T20:08:53.352Z,1645042133.352 [MissionManager](INFO): DefineArg trackPatchOil.Speed = 1.000000 m/s
2022-02-16T20:08:53.355Z,1645042133.355 [MissionManager](INFO): DefineArg trackPatchOil.WpMaxDistance = 12000.000000 m
2022-02-16T20:08:53.358Z,1645042133.358 [MissionManager](INFO): DefineArg trackPatchOil.WpTimeout = 12000.000000 s
2022-02-16T20:08:53.361Z,1645042133.361 [MissionManager](INFO): DefineArg trackPatchOil.WaterFrame = 1 bool
2022-02-16T20:08:53.380Z,1645042133.380 [MissionManager](INFO): DefineArg trackPatchOil.Repeat = 200.000000 count
2022-02-16T20:08:53.383Z,1645042133.383 [MissionManager](INFO): DefineArg trackPatchOil.Turn = 90.000000 arcdeg
2022-02-16T20:08:53.386Z,1645042133.386 [MissionManager](INFO): DefineArg trackPatchOil.Reverse = 180.000000 arcdeg
2022-02-16T20:08:53.398Z,1645042133.398 [MissionManager](INFO): DefineArg trackPatchOil.TwoPi = 360.000000 arcdeg
2022-02-16T20:08:53.401Z,1645042133.401 [MissionManager](INFO): DefineArg trackPatchOil.FilterWidth = 260.000000 count
2022-02-16T20:08:53.419Z,1645042133.419 [MissionManager](INFO): DefineArg trackPatchOil.BeginThreshold = 0.200000 kg/m3
2022-02-16T20:08:53.422Z,1645042133.422 [MissionManager](INFO): DefineArg trackPatchOil.OffPeakFraction = 10.000000 %
2022-02-16T20:08:53.452Z,1645042133.452 [MissionManager](INFO): DefineArg trackPatchOil.PatchMode = 0 bool
2022-02-16T20:08:53.455Z,1645042133.455 [MissionManager](INFO): DefineArg trackPatchOil.DetectOilTimeout = 15.000000 min
2022-02-16T20:08:53.458Z,1645042133.458 [MissionManager](INFO): DefineArg trackPatchOil.WpBearing = 90.000000 arcdeg
2022-02-16T20:08:53.477Z,1645042133.477 [MissionManager](INFO): DefineOutput trackPatchOil.PatchDetectOn = 0 bool
2022-02-16T20:08:53.480Z,1645042133.480 [MissionManager](INFO): DefineOutput trackPatchOil.WpDone = 0 bool
2022-02-16T20:08:53.483Z,1645042133.483 [MissionManager](INFO): DefineOutput trackPatchOil.PatchOil = nan ug/l
2022-02-16T20:08:53.498Z,1645042133.498 [MissionManager](INFO): DefineOutput trackPatchOil.PatchOilDepth = nan m
2022-02-16T20:08:53.501Z,1645042133.501 [MissionManager](INFO): DefineOutput trackPatchOil.PatchOilLatitude = nan arcdeg
2022-02-16T20:08:53.521Z,1645042133.521 [MissionManager](INFO): DefineOutput trackPatchOil.PatchOilLongitude = nan arcdeg
2022-02-16T20:08:53.524Z,1645042133.524 [MissionManager](INFO): DefineOutput trackPatchOil.PatchOilDistance = 0.000000 m
2022-02-16T20:08:53.525Z,1645042133.525 [trackPatchOil:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2022-02-16T20:08:53.553Z,1645042133.553 [trackPatchOil:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2022-02-16T20:08:53.581Z,1645042133.581 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Surface.xml
2022-02-16T20:08:53.677Z,1645042133.677 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceCommsSplit.SurfaceDepthRate = nan m/s
2022-02-16T20:08:53.713Z,1645042133.713 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceCommsSplit.SurfacePitch = 20.000000 arcdeg
2022-02-16T20:08:53.716Z,1645042133.716 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceCommsSplit.SurfaceSpeed = 1.000000 m/s
2022-02-16T20:08:53.719Z,1645042133.719 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceCommsSplit.IridiumTimeout = 30.000000 min
2022-02-16T20:08:53.753Z,1645042133.753 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceCommsSplit.UnpackSplitAtSurface = 0 bool
2022-02-16T20:08:53.755Z,1645042133.755 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](DEBUG): Construct GoToSurface.
2022-02-16T20:08:53.800Z,1645042133.800 [MissionManager](INFO): RedefineArg trackPatchOil:SurfaceCommsSplit.SurfacePitch = value:20.000000 arcdeg
2022-02-16T20:08:53.803Z,1645042133.803 [MissionManager](INFO): RedefineArg trackPatchOil:SurfaceCommsSplit.SurfaceSpeed = value:1.000000 m/s
2022-02-16T20:08:53.820Z,1645042133.820 [MissionManager](INFO): RedefineArg trackPatchOil:SurfaceCommsSplit.UnpackSplitAtSurface = value:1 bool
2022-02-16T20:08:53.822Z,1645042133.822 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Surface.xml
2022-02-16T20:08:53.874Z,1645042133.874 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceComms:SurfaceComms.SurfaceDepthRate = nan m/s
2022-02-16T20:08:53.893Z,1645042133.893 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceComms:SurfaceComms.SurfacePitch = 20.000000 arcdeg
2022-02-16T20:08:53.895Z,1645042133.895 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceComms:SurfaceComms.SurfaceSpeed = 1.000000 m/s
2022-02-16T20:08:53.915Z,1645042133.915 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceComms:SurfaceComms.IridiumTimeout = 30.000000 min
2022-02-16T20:08:53.918Z,1645042133.918 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceComms:SurfaceComms.UnpackSplitAtSurface = 0 bool
2022-02-16T20:08:53.920Z,1645042133.920 [trackPatchOil:SurfaceComms:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2022-02-16T20:08:53.970Z,1645042133.970 [MissionManager](INFO): RedefineArg trackPatchOil:SurfaceComms:SurfaceComms.SurfacePitch = value:20.000000 arcdeg
2022-02-16T20:08:53.997Z,1645042133.997 [MissionManager](INFO): RedefineArg trackPatchOil:SurfaceComms:SurfaceComms.SurfaceSpeed = value:1.000000 m/s
2022-02-16T20:08:54.020Z,1645042134.020 [trackPatchOil:F.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2022-02-16T20:08:54.056Z,1645042134.056 [trackPatchOil:G.WaterDepthEnvelope](DEBUG): Construct WaterDepthEnvelope.
2022-02-16T20:08:54.082Z,1645042134.082 [trackPatchOil:H.Pitch](DEBUG): Construct.
2022-02-16T20:08:54.137Z,1645042134.137 [trackPatchOil:I.Buoyancy](DEBUG): Construct Buoyancy.
2022-02-16T20:08:54.139Z,1645042134.139 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.xml
2022-02-16T20:08:54.852Z,1645042134.852 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakDetectChlActive = 0 bool
2022-02-16T20:08:54.855Z,1645042134.855 [MissionManager](INFO): DefineArg trackPatchOil:Science.TimeWindowPeakReport = nan min
2022-02-16T20:08:54.874Z,1645042134.874 [MissionManager](INFO): DefineArg trackPatchOil:Science.HighestChlPeakReportActive = 0 bool
2022-02-16T20:08:54.877Z,1645042134.877 [MissionManager](INFO): DefineArg trackPatchOil:Science.HighestSaltPeakReportActive = 0 bool
2022-02-16T20:08:54.879Z,1645042134.879 [MissionManager](INFO): DefineArg trackPatchOil:Science.HighestOilPeakReportActive = 0 bool
2022-02-16T20:08:54.894Z,1645042134.894 [MissionManager](INFO): DefineArg trackPatchOil:Science.PatchTracking = 0 bool
2022-02-16T20:08:54.929Z,1645042134.929 [MissionManager](INFO): DefineArg trackPatchOil:Science.DetectTrough = 0 bool
2022-02-16T20:08:54.932Z,1645042134.932 [MissionManager](INFO): DefineArg trackPatchOil:Science.FilterWidthHorizontal = 3.000000 count
2022-02-16T20:08:54.935Z,1645042134.935 [MissionManager](INFO): DefineArg trackPatchOil:Science.NumProfilesSlidingwindow = 100.000000 count
2022-02-16T20:08:54.958Z,1645042134.958 [MissionManager](INFO): DefineArg trackPatchOil:Science.OffPeakFractionHorizontal = 80.000000 %
2022-02-16T20:08:54.961Z,1645042134.961 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakDetectNO3Active = 0 bool
2022-02-16T20:08:54.964Z,1645042134.964 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakDetectOilActive = 0 bool
2022-02-16T20:08:54.986Z,1645042134.986 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakDetectFDOMActive = 0 bool
2022-02-16T20:08:54.989Z,1645042134.989 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakDetectSalinityActive = 0 bool
2022-02-16T20:08:55.004Z,1645042135.004 [MissionManager](INFO): DefineArg trackPatchOil:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2022-02-16T20:08:55.007Z,1645042135.007 [MissionManager](INFO): DefineArg trackPatchOil:Science.EnabledAanderaaO2 = 1 bool
2022-02-16T20:08:55.011Z,1645042135.011 [MissionManager](INFO): DefineArg trackPatchOil:Science.EnabledNeilBrown = 0 bool
2022-02-16T20:08:55.022Z,1645042135.022 [MissionManager](INFO): DefineArg trackPatchOil:Science.EnabledSeabird = 0 bool
2022-02-16T20:08:55.037Z,1645042135.037 [MissionManager](INFO): DefineArg trackPatchOil:Science.EnabledWetLabsBB2FL = 0 bool
2022-02-16T20:08:55.041Z,1645042135.041 [MissionManager](INFO): DefineArg trackPatchOil:Science.EnabledWetLabsSeaOWL_UV_A = 1 bool
2022-02-16T20:08:55.044Z,1645042135.044 [MissionManager](INFO): DefineArg trackPatchOil:Science.EnabledWetLabsUBAT = 0 bool
2022-02-16T20:08:55.047Z,1645042135.047 [MissionManager](INFO): DefineArg trackPatchOil:Science.LowPassWindowLength = 20.000000 count
2022-02-16T20:08:55.062Z,1645042135.062 [MissionManager](INFO): DefineArg trackPatchOil:Science.MedianFilterLen = 5.000000 count
2022-02-16T20:08:55.065Z,1645042135.065 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakShallowBound = nan m
2022-02-16T20:08:55.068Z,1645042135.068 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakDeepBound = nan m
2022-02-16T20:08:55.071Z,1645042135.071 [MissionManager](INFO): DefineArg trackPatchOil:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2022-02-16T20:08:55.138Z,1645042135.138 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakChl = 0.000000 ug/l
2022-02-16T20:08:55.147Z,1645042135.147 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakChlDepth = 0.000000 m
2022-02-16T20:08:55.150Z,1645042135.150 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakChlTemperature = 0.000000 degC
2022-02-16T20:08:55.181Z,1645042135.181 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakChlLatitude = nan arcdeg
2022-02-16T20:08:55.185Z,1645042135.185 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakChlLongitude = nan arcdeg
2022-02-16T20:08:55.204Z,1645042135.204 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakNO3 = 0.000000 umol/l
2022-02-16T20:08:55.207Z,1645042135.207 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakNO3Depth = 0.000000 m
2022-02-16T20:08:55.210Z,1645042135.210 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakNO3Latitude = nan arcdeg
2022-02-16T20:08:55.222Z,1645042135.222 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakNO3Longitude = nan arcdeg
2022-02-16T20:08:55.225Z,1645042135.225 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakOil = 0.000000 kg/m3
2022-02-16T20:08:55.256Z,1645042135.256 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakOilDepth = 0.000000 m
2022-02-16T20:08:55.260Z,1645042135.260 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakOilLatitude = nan arcdeg
2022-02-16T20:08:55.263Z,1645042135.263 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakOilLongitude = nan arcdeg
2022-02-16T20:08:55.274Z,1645042135.274 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakFDOM = 0.000000 ppb
2022-02-16T20:08:55.277Z,1645042135.277 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakFDOMDepth = 0.000000 m
2022-02-16T20:08:55.336Z,1645042135.336 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakFDOMTemperature = nan degC
2022-02-16T20:08:55.356Z,1645042135.356 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakFDOMLatitude = nan arcdeg
2022-02-16T20:08:55.359Z,1645042135.359 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakFDOMLongitude = nan arcdeg
2022-02-16T20:08:55.370Z,1645042135.370 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchFDOMDistance = nan m
2022-02-16T20:08:55.378Z,1645042135.378 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakSalt = 0.000000 psu
2022-02-16T20:08:55.393Z,1645042135.393 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakSaltDepth = 0.000000 m
2022-02-16T20:08:55.400Z,1645042135.400 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakSaltTemperature = 0.000000 degC
2022-02-16T20:08:55.403Z,1645042135.403 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakSaltLatitude = nan arcdeg
2022-02-16T20:08:55.415Z,1645042135.415 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakSaltLongitude = nan arcdeg
2022-02-16T20:08:55.426Z,1645042135.426 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchChl = 0.000000 ug/l
2022-02-16T20:08:55.434Z,1645042135.434 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchChlDepth = 0.000000 m
2022-02-16T20:08:55.470Z,1645042135.470 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchChlLatitude = nan arcdeg
2022-02-16T20:08:55.485Z,1645042135.485 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchChlLongitude = nan arcdeg
2022-02-16T20:08:55.501Z,1645042135.501 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchChlDistance = nan m
2022-02-16T20:08:55.533Z,1645042135.533 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchSalt = 0.000000 psu
2022-02-16T20:08:55.537Z,1645042135.537 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchSaltDepth = 0.000000 m
2022-02-16T20:08:55.549Z,1645042135.549 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchSaltLatitude = nan arcdeg
2022-02-16T20:08:55.552Z,1645042135.552 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchSaltLongitude = nan arcdeg
2022-02-16T20:08:55.555Z,1645042135.555 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchSaltDistance = nan m
2022-02-16T20:08:55.575Z,1645042135.575 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchOil = 0.000000 psu
2022-02-16T20:08:55.578Z,1645042135.578 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchOilDepth = 0.000000 m
2022-02-16T20:08:55.597Z,1645042135.597 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchOilLatitude = nan arcdeg
2022-02-16T20:08:55.600Z,1645042135.600 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchOilLongitude = nan arcdeg
2022-02-16T20:08:55.608Z,1645042135.608 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchOilDistance = nan m
2022-02-16T20:08:55.732Z,1645042135.732 [trackPatchOil:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-02-16T20:08:55.787Z,1645042135.787 [trackPatchOil:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2022-02-16T20:08:55.815Z,1645042135.815 [trackPatchOil:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-02-16T20:08:55.894Z,1645042135.894 [trackPatchOil:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-02-16T20:08:55.938Z,1645042135.938 [trackPatchOil:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2022-02-16T20:08:55.979Z,1645042135.979 [trackPatchOil:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-02-16T20:08:56.010Z,1645042136.010 [trackPatchOil:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-02-16T20:08:56.054Z,1645042136.054 [trackPatchOil:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2022-02-16T20:08:56.082Z,1645042136.082 [trackPatchOil:K.SetSpeed](DEBUG): Construct.
2022-02-16T20:08:56.097Z,1645042136.097 [trackPatchOil:L.Pitch](DEBUG): Construct.
2022-02-16T20:08:56.117Z,1645042136.117 [Micromodem](INFO): Nmea in: $CACFG,POW,20*0A

2022-02-16T20:08:56.118Z,1645042136.118 [Micromodem](INFO): Nmea out: $CCCFG,SRC,0*30

2022-02-16T20:08:56.149Z,1645042136.149 [trackPatchOil:PatchDetectHorizontal:PatchDetection:PatchTrackTrigger.PatchTrack](DEBUG): Construct PatchTrack.
2022-02-16T20:08:56.202Z,1645042136.202 [trackPatchOil:PatchDetectHorizontal:CrossLeg:CrossSurfaceWp.Waypoint](DEBUG): Construct Waypoint.
2022-02-16T20:08:56.234Z,1645042136.234 [trackPatchOil:PatchDetectHorizontal:CrossLeg:CrossPeakWp.Waypoint](DEBUG): Construct Waypoint.
2022-02-16T20:08:56.302Z,1645042136.302 [trackPatchOil:PatchDetectHorizontal:InLegWp.Waypoint](DEBUG): Construct Waypoint.
2022-02-16T20:08:56.371Z,1645042136.371 [trackPatchOil:PatchDetectHorizontal:OutLeg:OutLegWp.Waypoint](DEBUG): Construct Waypoint.
2022-02-16T20:08:56.501Z,1645042136.501 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       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/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Trigger http://okeanids.mbari.org/tethys/Xml/Trigger.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="trackPatchOil">

    <Description>
        Vehicle runs at 3m depth (instead of yo-yos since oil concentration
        varies strongly with depth), with patch detect enabled for oil
        concentration. Suggested settings for simulaton:
        Config/sim/[username]/Simulator.cfg: oceanModelData =
        "Resources/BurgerOilfieldSpill.nc:mass_concentration_of_petroleum_hydrocarbons_in_sea_water:kg/m3";
        eastCurrent = 0.05 m/s; // vel y wrto LV northCurrent = 0.005 m/s; //
        vel x wrto LV Config/sim/[username]/workSite.cfg: initLat =
        71.2225805280196 arcdeg; // Initial latitude initLon =
        -163.5093252100575 arcdeg; // Initial longitude
        Config/sim/[username]/sim.cfg: WetLabsBB2FL.loadAtStartup = 0 bool;
        WetLabsSeaOWL_UV_A.loadAtStartup = 1 bool;
        WetLabsSeaOWL_UV_A.simulateSensors = 1 bool; WetLabsSeaOWL_UV_A.serial =
        "SEAOWLA2K-019"; WetLabsSeaOWL_UV_A.scaleFactor700 = 3.204e-7
        1/m/sr/count; WetLabsSeaOWL_UV_A.darkCounts700 = 48 count;
        WetLabsSeaOWL_UV_A.scaleFactorFDOM = 8.096e-3 ppb/count;
        WetLabsSeaOWL_UV_A.darkCountsFDOM = 50 count;
        WetLabsSeaOWL_UV_A.fdomAccuracy = 8.19 ppb;
        WetLabsSeaOWL_UV_A.scaleFactorChl = 2.170e-3 ug/l/count;
        WetLabsSeaOWL_UV_A.darkCountsChl = 50 count;
        WetLabsSeaOWL_UV_A.chlAccuracy = 1.475 ug/l;
        WetLabsSeaOWL_UV_A.scaleFactorOil = 2.8 ppb/count;
        WetLabsSeaOWL_UV_A.darkCountsOil = 50 count;
        WetLabsSeaOWL_UV_A.oilAccuracy = 3.6 ppb; NavChartDb.charts =
        "US1AK90M,US2AK92M,US5AK9NM,US5AK9OM,US5AK9PM,US5AK9QM,US5AK9RM,US5AK9SM,US5AK9TM,US5AK9UM";
    </Description>

<!-- Vehicle safety parameters -->

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

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>65</Value></DefineArg>

    <DefineArg Name="MinWaterDepth"><Description>
        Minimum water depth for the entire mission.
    </Description><Units:meter/><Value>10</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Description>
        Minimum offshore distance for the entire mission.
    </Description><Units:meter/><Value>2000</Value></DefineArg>

    <DefineArg Name="NeedCommsTime"><Description>
        Maximum time between surfacings for communications
    </Description><Units:minute/><Value>180</Value></DefineArg>

    <DefineArg Name="MissionTimeout"><Description>
        Timeout for the entire mission
    </Description><Units:day/><Value>9</Value></DefineArg>

    <DefineArg Name="MassDefault"><Description>
        Static setting for mass during the mission. Defaults to massDefault
        setting in the Config/Control.cfg file.
    </Description><Control:VerticalControl.massDefault/></DefineArg>

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

<!-- Basic guidance settings -->

    <DefineArg Name="Depth"><Description>
        Depth during sampling.
    </Description><Units:meter/><Value>3.0</Value></DefineArg>

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

    <DefineArg Name="WpMaxDistance"><Description>
        Maximum length of each tracking leg
    </Description><Units:meter/><Value>12000</Value></DefineArg>

    <DefineArg Name="WpTimeout"><Description>
        Maximum duration of each tracking leg
    </Description><Units:second/><Value>12000</Value></DefineArg>

    <DefineArg Name="WaterFrame"><Description>
        Set WaterFrame true to drive towards waypoints in the water frame of
        reference
    </Description><True/></DefineArg>

    <DefineArg Name="Repeat"><Description>
        Maximum number of tracking legs
    </Description><Units:count/><Value>200</Value></DefineArg>

<!-- Constant settings for each tracking leg -->

    <DefineArg Name="Turn"><Description>
        Amount to turn at each leg
    </Description><Units:degree/><Value>90</Value></DefineArg>

    <DefineArg Name="Reverse"><Description>
        Change in bearing which reverses vehicle direction
    </Description><Units:degree/><Value>180</Value></DefineArg>

    <DefineArg Name="TwoPi"><Description>
        Applied to stop run-up of angles
    </Description><Units:degree/><Value>360</Value></DefineArg>

    <DefineArg Name="FilterWidth"><Description>
        Width of boxcar filter used in horizontal patch detection Set to 130 if
        Guidance:SetSpeed.period set to 800 msec
    </Description><Units:count/><Value>260</Value></DefineArg>

    <DefineArg Name="BeginThreshold"><Description>
        If non-NaN, sets threshold for starting horizontal patch detection
    </Description><Units:kilogram_per_cubic_meter/><Value>0.2</Value></DefineArg>

    <DefineArg Name="OffPeakFraction"><Description>
        When filtered horizontal value is this fraction of the peak, consider it
        outside the patch.
    </Description><Units:percent/><Value>10</Value></DefineArg>

    <DefineArg Name="PatchMode"><Description>
        If true, use center of "in peak" range as the turn-around point. If
        false use maximum horizontal peak location as the turn-around point.
    </Description><False/></DefineArg>

    <DefineArg Name="DetectOilTimeout"><Description>
        Look for signal for this long. If none found, return to previous point.
    </Description><Units:minute/><Value>15</Value></DefineArg>

<!-- Variable Settings for each tracking leg -->

    <DefineArg Name="WpBearing"><Description>
        Bearing being followed in the current leg. Set this to initialize start
        direction of patch tracking.
    </Description><Units:degree/><Value>90</Value></DefineArg>

    <DefineOutput Name="PatchDetectOn"><Description>
        Mission sets this to true when the patch has been crossed.
    </Description><False/></DefineOutput>

    <DefineOutput Name="WpDone"><Description>
        Mission sets this to true when the cross-patch waypoint has been
        reached.
    </Description><False/></DefineOutput>

    <DefineOutput Name="PatchOil"><Units:microgram_per_liter/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="PatchOilDepth"><Units:meter/><Value>NaN</Value></DefineOutput>

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

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

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

<!-- The timeout -->

    <Timeout Duration="MissionTimeout"/>

<!-- And now the mission -->

<!-- Uncomment to speed up simulation
    <Guidance:SetSpeed>
        <Parallel/>
        <Setting><Guidance:SetSpeed.period/><Units:millisecond/><Value>800</Value></Setting>
    </Guidance:SetSpeed>
-->

    <Guidance:AltitudeEnvelope>
        <Parallel/>
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Arg Name="MinAltitude"/></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:DepthEnvelope>
        <Parallel/>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="MaxDepth"/></Setting>
    </Guidance:DepthEnvelope>

    <Insert Filename="Insert/Surface.xml" Id="SurfaceCommsSplit">
        <RedefineArg Name="SurfacePitch"><Units:degree/><Value>20</Value></RedefineArg>
        <RedefineArg Name="SurfaceSpeed"><Units:meter_per_second/><Value>1</Value></RedefineArg>
        <RedefineArg Name="UnpackSplitAtSurface"><True/></RedefineArg>
    </Insert>

    <Aggregate Id="SurfaceComms">

        <When>
            <Called/>
        </When>

        <Insert Filename="Insert/Surface.xml">
            <RedefineArg Name="SurfacePitch"><Units:degree/><Value>20</Value></RedefineArg>
            <RedefineArg Name="SurfaceSpeed"><Units:meter_per_second/><Value>1</Value></RedefineArg>
        </Insert>

    </Aggregate>

<!-- GPS Update.  Don't go too long w/o a GPS fix. -->

    <Aggregate Id="NeedComms">

        <When>
            <Universal:platform_pitch_angle/>
            <Gt><Units:degree/><Value>0</Value></Gt>
            <And><Elapsed><Universal:time_fix/></Elapsed><Gt><Arg Name="NeedCommsTime"/></Gt></And>
            <Or><Elapsed><Universal:time_fix/></Elapsed><Gt><Arg Name="NeedCommsTime"/><Add><Units:minute/><Value>10</Value></Add></Gt></Or>
        </When>

        <Syslog Severity="Important">NeedComms Timeout Surfacing</Syslog>

        <Call RefId="SurfaceComms"/>

    </Aggregate>

    <Guidance:OffshoreEnvelope>
        <Parallel/>
        <Setting><Guidance:OffshoreEnvelope.minOffshore/><Arg Name="MinOffshore"/></Setting>
    </Guidance:OffshoreEnvelope>

    <Guidance:WaterDepthEnvelope>
        <Parallel/>
        <Setting><Guidance:WaterDepthEnvelope.minWaterDepth/><Arg Name="MinWaterDepth"/></Setting>
    </Guidance:WaterDepthEnvelope>

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

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

<!-- If we're executing here or below, lets' get science data! -->

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

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

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

    <Aggregate Id="PatchDetectHorizontal">

        <Sequence Repeat="Repeat"/>

        <Aggregate Id="PatchDetection">

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

            <Trigger:PatchTrack Id="PatchTrackTrigger">
                <Sequence/>
                <Break><Arg Name="WpDone"/>
                </Break>
                <Setting><Trigger:PeakDetectHorizontal.detectFrom/><Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.beginThreshold/><Arg Name="BeginThreshold"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.offPeakFraction/><Arg Name="OffPeakFraction"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.filterWidth/><Arg Name="FilterWidth"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.centerPeak/><Arg Name="PatchMode"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.detectTimeout/><Arg Name="DetectOilTimeout"/></Setting>
                <OutputArg Name="PatchOil"><Trigger:PeakDetectHorizontal.peakDetect/></OutputArg>
                <OutputArg Name="PatchOilDepth"><Trigger:PeakDetectHorizontal.peakDepth/></OutputArg>
                <OutputArg Name="PatchOilLatitude"><Trigger:PeakDetectHorizontal.peakLatitude/></OutputArg>
                <OutputArg Name="PatchOilLongitude"><Trigger:PeakDetectHorizontal.peakLongitude/></OutputArg>
                <OutputArg Name="PatchOilDistance"><Trigger:PeakDetectHorizontal.peakDistance/></OutputArg>
            </Trigger:PatchTrack>

            <Syslog Severity="Important">Patch value is <Arg Name="PatchOil"/><Units:kilogram_per_cubic_meter/>at <Arg Name="PatchOilLatitude"/><Units:degree/>,<Arg Name="PatchOilLongitude"/><Units:degree/>distance = <Arg Name="PatchOilDistance"/><Units:meter/></Syslog>

            <SendData Service="Express"><Arg Name="PatchOil"/><Arg Name="PatchOilDepth"/><Arg Name="PatchOilLatitude"/><Arg Name="PatchOilLongitude"/>
            </SendData>

            <Assign Id="AssignPatchDetectOff"><Sequence/><Arg Name="PatchDetectOn"/><False/></Assign>

        </Aggregate>

        <Assign Id="AssignPatchDetectOn"><Sequence/><Arg Name="PatchDetectOn"/><True/></Assign>

        <Syslog>Bearing for CrossLeg: <Arg Name="WpBearing"/><Units:degree/></Syslog>

        <Aggregate Id="CrossLeg">

            <Description>
                This is a long leg across the width of the patch. Also the first
                leg in a mission run. Two waypoints run in sequence: a short run
                to the surfacing point, and a longer run to the edge of the
                patch.
            </Description>

            <Sequence/>

            <Break><Arg Name="WpDone"/>
                <Or><Arg Name="PatchDetectOn"/><Eq><False/></Eq></Or>
            </Break>

            <Guidance:Waypoint Id="CrossSurfaceWp">
                <Sequence/>
                <Timeout Duration="WpTimeout"/>
                <Setting><Guidance:Waypoint.distanceDelta/><Arg Name="PatchOilDistance"/></Setting>
                <Setting><Guidance:Waypoint.distanceDeltaBearing/><Arg Name="WpBearing"/></Setting>
                <Setting><Guidance:Waypoint.waterFrame/><Arg Name="WaterFrame"/></Setting>
            </Guidance:Waypoint>

            <Call RefId="SurfaceComms"/>

            <Guidance:Waypoint Id="CrossPeakWp">
                <Sequence/>
                <Timeout Duration="WpTimeout"/>
                <Setting><Guidance:Waypoint.distanceDelta/><Arg Name="WpMaxDistance"/></Setting>
                <Setting><Guidance:Waypoint.distanceDeltaBearing/><Arg Name="WpBearing"/></Setting>
                <Setting><Guidance:Waypoint.waterFrame/><Arg Name="WaterFrame"/></Setting>
            </Guidance:Waypoint>

            <Assign Id="AssignPatchDetectOffInCrossLeg"><Sequence/><Arg Name="PatchDetectOn"/><False/></Assign>

            <Assign Id="AssignWpDoneInCrossLeg"><Sequence/><Arg Name="WpDone"/><True/></Assign>

        </Aggregate>

        <Assign Id="AssignWpBearingForInLeg"><Sequence/><Arg Name="WpBearing"/><Arg Name="WpBearing"/><Add><Arg Name="Reverse"/></Add><Mod><Arg Name="TwoPi"/>
        </Mod></Assign>

        <Syslog>Bearing for InLeg: <Arg Name="WpBearing"/><Units:degree/></Syslog>

        <Guidance:Waypoint Id="InLegWp">
            <Description>
                Simply drive back towards the patch center
            </Description>
            <Sequence/>
            <Timeout Duration="WpTimeout"/>
            <Setting><Guidance:Waypoint.distanceDelta/><Arg Name="PatchOilDistance"/></Setting>
            <Setting><Guidance:Waypoint.distanceDeltaBearing/><Arg Name="WpBearing"/></Setting>
            <Setting><Guidance:Waypoint.waterFrame/><Arg Name="WaterFrame"/></Setting>
        </Guidance:Waypoint>

        <Assign Id="AssignWpBearingForOutLeg"><Sequence/><Arg Name="WpBearing"/><Arg Name="WpBearing"/><Sub><Arg Name="Turn"/></Sub><Mod><Arg Name="TwoPi"/>
        </Mod></Assign>

        <Syslog>Bearing for OutLeg: <Arg Name="WpBearing"/><Units:degree/></Syslog>

        <Call RefId="SurfaceCommsSplit"/>

        <Assign Id="AssignPatchDetectOnForOutLeg"><Sequence/><Arg Name="PatchDetectOn"/><True/></Assign>

        <Aggregate Id="OutLeg">

            <Description>
                Drive outward until edge of patch is detected.
            </Description>

            <Sequence/>

            <Break><Arg Name="WpDone"/>
                <Or><Arg Name="PatchDetectOn"/><Eq><False/></Eq></Or>
            </Break>

            <Guidance:Waypoint Id="OutLegWp">
                <Sequence/>
                <Timeout Duration="WpTimeout"/>
                <Setting><Guidance:Waypoint.distanceDelta/><Arg Name="WpMaxDistance"/></Setting>
                <Setting><Guidance:Waypoint.distanceDeltaBearing/><Arg Name="WpBearing"/></Setting>
                <Setting><Guidance:Waypoint.waterFrame/><Arg Name="WaterFrame"/></Setting>
            </Guidance:Waypoint>

            <Assign Id="AssignPatchDetectOffInOutLeg"><Sequence/><Arg Name="PatchDetectOn"/><False/></Assign>

            <Assign Id="AssignWpDoneInOutLeg"><Sequence/><Arg Name="WpDone"/><True/></Assign>

        </Aggregate>

        <Assign Id="AssignWpBearingForCrossLeg"><Sequence/><Arg Name="WpBearing"/><Arg Name="WpBearing"/><Add><Arg Name="Reverse"/></Add><Mod><Arg Name="TwoPi"/>
        </Mod></Assign>

    </Aggregate>

</Mission>


2022-02-16T20:08:56.541Z,1645042136.541 [CommandExec](IMPORTANT): Running ./Missions/Science/trackPatchOil.xml
2022-02-16T20:09:00.667Z,1645042140.667 [NavChartDb](INFO): # of records loaded: 5000
2022-02-16T20:09:01.369Z,1645042141.369 [Micromodem](INFO): Nmea in: $CACFG,SRC,0*32

2022-02-16T20:09:01.370Z,1645042141.370 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2022-02-16T20:09:06.622Z,1645042146.622 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2022-02-16T20:09:06.622Z,1645042146.622 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2022-02-16T20:09:09.557Z,1645042149.557 [CommandExec](IMPORTANT): got command report
2022-02-16T20:09:09.557Z,1645042149.557 [Reporter](INFO): mass_concentration_of_petroleum_hydrocarbons_in_sea_water reporting changes
2022-02-16T20:09:11.514Z,1645042151.514 [NavChartDb](INFO): # of records loaded: 10000
2022-02-16T20:09:11.877Z,1645042151.877 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2022-02-16T20:09:11.878Z,1645042151.878 [Micromodem](INFO): Nmea out: $CCCFG,FC0,14500*47

2022-02-16T20:09:13.873Z,1645042153.873 [NavChartDb](INFO): Calculating coverage of Resources/ElectronicNavigationCharts/US5OH31M.000
2022-02-16T20:09:17.154Z,1645042157.154 [Micromodem](INFO): Nmea in: $CACFG,FC0,14500*45

2022-02-16T20:09:17.154Z,1645042157.154 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2022-02-16T20:09:18.469Z,1645042158.469 [NavChartDb](INFO): Calculating coverage of Resources/ElectronicNavigationCharts/US5OH31M.000
2022-02-16T20:09:18.513Z,1645042158.513 [CommandExec](IMPORTANT): got command get depth
2022-02-16T20:09:18.513Z,1645042158.513 [CommandExec](IMPORTANT): depth 1.000000 m
2022-02-16T20:09:20.211Z,1645042160.211 [NavChartDb](INFO): # of records loaded: 15000
2022-02-16T20:09:21.662Z,1645042161.662 [CommandExec](IMPORTANT): got command get latitude
2022-02-16T20:09:21.662Z,1645042161.662 [CommandExec](IMPORTANT): latitude 36.700001 arcdeg
2022-02-16T20:09:22.405Z,1645042162.405 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2022-02-16T20:09:22.406Z,1645042162.406 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2022-02-16T20:09:22.862Z,1645042162.862 [NavChartDb](INFO): Calculating coverage of Resources/ElectronicNavigationCharts/US5OH31M.000
2022-02-16T20:09:23.476Z,1645042163.476 [NavChartDb](INFO): Done scanning edges of Resources/ElectronicNavigationCharts/US5OH31M.000
2022-02-16T20:09:27.677Z,1645042167.677 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2022-02-16T20:09:27.678Z,1645042167.678 [Micromodem](INFO): Nmea out: $CCCLK,2022,02,16,20,09,28*42

2022-02-16T20:09:28.250Z,1645042168.250 [NavChartDb](INFO): Done scanning nodes of Resources/ElectronicNavigationCharts/US5OH31M.000
2022-02-16T20:09:29.103Z,1645042169.103 [NavChartDb](INFO): # of records loaded: 17944
2022-02-16T20:09:29.114Z,1645042169.114 [NavChartDb](IMPORTANT): Loaded Electronic Nav Chart data from US5OH31M.000
2022-02-16T20:09:29.115Z,1645042169.115 [NavChartDb](INFO): Setup scan of Resources/ElectronicNavigationCharts/US5OH07M.000
2022-02-16T20:09:32.909Z,1645042172.909 [Micromodem](INFO): Nmea in: $CACLK,2022,02,16,20,09,28*40

2022-02-16T20:09:33.643Z,1645042173.643 [NavChartDb](INFO): Done scanning features of Resources/ElectronicNavigationCharts/US5OH07M.000
2022-02-16T20:09:34.713Z,1645042174.713 [CommandExec](IMPORTANT): got command show stack
2022-02-16T20:09:34.713Z,1645042174.713 [CommandExec](IMPORTANT): Behavior Stack:

2022-02-16T20:09:34.713Z,1645042174.713 [MissionManager](IMPORTANT): Mission loaded, but not running.
2022-02-16T20:09:39.391Z,1645042179.391 [SBIT](IMPORTANT): Beginning Startup BIT
2022-02-16T20:09:39.395Z,1645042179.395 [CBIT](IMPORTANT): Beginning ground fault scan
2022-02-16T20:09:40.182Z,1645042180.182 [NAL9602](INFO): Not Powering down - fast GPS
2022-02-16T20:09:46.229Z,1645042186.229 [NavChartDb](INFO): # of records loaded: 5000
2022-02-16T20:09:50.370Z,1645042190.370 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): 0.009059
CHAN A1 (24V): 0.000381
CHAN A2 (12V): -0.005484
CHAN A3 (5V): -0.002454
CHAN B0 (3.3V): -0.001348
CHAN B1 (3.15aV): -0.001355
CHAN B2 (3.15bV): -0.001252
CHAN B3 (GND): -0.000094
OPEN: -0.000779
Full Scale: +/- 1 mA
2022-02-16T20:09:52.755Z,1645042192.755 [SBIT](ERROR): Could not read elevatorAngleReader_.
2022-02-16T20:09:52.756Z,1645042192.756 [SBIT](ERROR): Could not read rudderAngleReader_.
2022-02-16T20:09:52.756Z,1645042192.756 [SBIT](ERROR): Could not read massPosReader_.
2022-02-16T20:09:54.414Z,1645042194.414 [CommandExec](IMPORTANT): got command show variable seaOwl
2022-02-16T20:09:54.520Z,1645042194.520 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.loadControl (none)
2022-02-16T20:09:54.521Z,1645042194.521 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.uart (none)
2022-02-16T20:09:54.521Z,1645042194.521 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.baud (bit_per_second)
2022-02-16T20:09:54.581Z,1645042194.581 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.loadAtStartup (bool)
2022-02-16T20:09:54.582Z,1645042194.582 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.simulateHardware (bool)
2022-02-16T20:09:54.582Z,1645042194.582 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.chlAccuracy (microgram_per_liter)
2022-02-16T20:09:54.583Z,1645042194.583 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.darkCounts700 (count)
2022-02-16T20:09:54.583Z,1645042194.583 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.darkCountsChl (count)
2022-02-16T20:09:54.583Z,1645042194.583 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.darkCountsFDOM (count)
2022-02-16T20:09:54.596Z,1645042194.596 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.darkCountsOil (count)
2022-02-16T20:09:54.596Z,1645042194.596 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.fdomAccuracy (part_per_billion)
2022-02-16T20:09:54.597Z,1645042194.597 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.oilAccuracy (part_per_billion)
2022-02-16T20:09:54.597Z,1645042194.597 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.period (second)
2022-02-16T20:09:54.597Z,1645042194.597 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.power (watt)
2022-02-16T20:09:54.598Z,1645042194.598 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.scaleFactor700 (reciprocal_meter_per_steradian_count)
2022-02-16T20:09:54.598Z,1645042194.598 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.scaleFactorChl (microgram_per_liter_per_count)
2022-02-16T20:09:54.598Z,1645042194.598 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.scaleFactorFDOM (part_per_billion_per_count)
2022-02-16T20:09:54.599Z,1645042194.599 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.scaleFactorOil (part_per_billion_per_count)
2022-02-16T20:09:54.599Z,1645042194.599 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.serial (none)
2022-02-16T20:09:54.600Z,1645042194.600 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.timeout (second)
2022-02-16T20:09:54.660Z,1645042194.660 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.enableBroadcast (bool)
2022-02-16T20:09:54.661Z,1645042194.661 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.component_voltage (volt)
2022-02-16T20:09:54.661Z,1645042194.661 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.component_avgVoltage (volt)
2022-02-16T20:09:54.661Z,1645042194.661 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.component_current (milliampere)
2022-02-16T20:09:54.662Z,1645042194.662 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.component_avgCurrent (milliampere)
2022-02-16T20:09:54.662Z,1645042194.662 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.Output700 (count)
2022-02-16T20:09:54.662Z,1645042194.662 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.OutputFDOM (count)
2022-02-16T20:09:54.663Z,1645042194.663 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.OutputOil (count)
2022-02-16T20:09:54.663Z,1645042194.663 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.OutputChl (count)
2022-02-16T20:09:54.663Z,1645042194.663 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.VolumeScatCoeff117deg700nm (reciprocal_meter_per_steradian)
2022-02-16T20:09:54.683Z,1645042194.683 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.BackscatteringCoeff700nm (reciprocal_meter)
2022-02-16T20:09:54.683Z,1645042194.683 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.concentration_of_colored_dissolved_organic_matter_in_sea_water (part_per_billion)
2022-02-16T20:09:54.696Z,1645042194.696 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.mass_concentration_of_petroleum_hydrocarbons_in_sea_water (kilogram_per_cubic_meter)
2022-02-16T20:09:54.696Z,1645042194.696 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.mass_concentration_of_chlorophyll_in_sea_water (microgram_per_liter)
2022-02-16T20:09:54.731Z,1645042194.731 [CommandExec](IMPORTANT): trackPatchOil:Science.EnabledWetLabsSeaOWL_UV_A (bool)
2022-02-16T20:09:56.482Z,1645042196.482 [NavChartDb](INFO): # of records loaded: 10000
2022-02-16T20:10:07.654Z,1645042207.654 [NavChartDb](INFO): # of records loaded: 15000
2022-02-16T20:10:08.836Z,1645042208.836 [CommandExec](IMPORTANT): got command get WetLabsSeaOWL_UV_A.loadAtStartup
2022-02-16T20:10:08.836Z,1645042208.836 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.loadAtStartup 1 bool
2022-02-16T20:10:17.690Z,1645042217.690 [NavChartDb](INFO): # of records loaded: 20000
2022-02-16T20:10:19.455Z,1645042219.455 [SBIT](ERROR): Could not read elevatorAngleReader_.
2022-02-16T20:10:19.455Z,1645042219.455 [SBIT](ERROR): Could not read rudderAngleReader_.
2022-02-16T20:10:19.455Z,1645042219.455 [SBIT](ERROR): Could not read massPosReader_.
2022-02-16T20:10:19.455Z,1645042219.455 [SBIT](FAULT): Control surface position failure.
2022-02-16T20:10:25.809Z,1645042225.809 [NavChartDb](INFO): # of records loaded: 25000
2022-02-16T20:10:33.199Z,1645042233.199 [SBIT](ERROR): Could not read elevatorAngleReader_.
2022-02-16T20:10:33.199Z,1645042233.199 [SBIT](ERROR): Could not read rudderAngleReader_.
2022-02-16T20:10:33.199Z,1645042233.199 [SBIT](ERROR): Could not read massPosReader_.
2022-02-16T20:10:33.199Z,1645042233.199 [SBIT](FAULT): Control surface position failure.
2022-02-16T20:10:33.595Z,1645042233.595 [SBIT](CRITICAL): SBIT FAILED
2022-02-16T20:10:33.596Z,1645042233.596 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2022-02-16T20:10:33.597Z,1645042233.597 [SBIT](IMPORTANT): AHRS_M2.loadAtStartup=0 bool;

2022-02-16T20:10:33.597Z,1645042233.597 [SBIT](IMPORTANT): CTD_Seabird.loadAtStartup=0 bool;

2022-02-16T20:10:33.597Z,1645042233.597 [SBIT](IMPORTANT): DVL_micro.loadAtStartup=0 bool;

2022-02-16T20:10:33.597Z,1645042233.597 [SBIT](IMPORTANT): ElevatorServo.loadAtStartup=0 bool;

2022-02-16T20:10:33.597Z,1645042233.597 [SBIT](IMPORTANT): RudderServo.loadAtStartup=0 bool;

2022-02-16T20:10:33.598Z,1645042233.598 [SBIT](IMPORTANT): ThrusterServo.loadAtStartup=0 bool;

2022-02-16T20:10:33.598Z,1645042233.598 [SBIT](IMPORTANT): WetLabsBB2FL.loadAtStartup=0 bool;

2022-02-16T20:10:33.599Z,1645042233.599 [CommandExec](FAULT): Scheduling is paused
2022-02-16T20:10:33.599Z,1645042233.599 [CBIT](INFO): Critical error at 20220216T201033
2022-02-16T20:10:33.600Z,1645042233.600 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2022-02-16T20:10:33.999Z,1645042233.999 [MissionManager](IMPORTANT): Started mission Startup
2022-02-16T20:10:33.000Z,1645042234.000 [Startup] Running Loop=1
2022-02-16T20:10:33.000Z,1645042234.000 [Startup](DEBUG): Aggregate::initialize Startup
2022-02-16T20:10:33.000Z,1645042234.000 [Startup:A.GoToSurface] Running Loop=1
2022-02-16T20:10:34.000Z,1645042234.000 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2022-02-16T20:10:34.001Z,1645042234.001 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2022-02-16T20:10:34.001Z,1645042234.001 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2022-02-16T20:10:34.001Z,1645042234.001 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2022-02-16T20:10:34.002Z,1645042234.002 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2022-02-16T20:10:34.002Z,1645042234.002 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2022-02-16T20:10:34.004Z,1645042234.004 [Startup:StartupSatComms] Running Loop=1
2022-02-16T20:10:34.004Z,1645042234.004 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2022-02-16T20:10:34.004Z,1645042234.004 [Startup:StartupSatComms:A] Running Loop=1
2022-02-16T20:10:34.398Z,1645042234.398 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2022-02-16T20:10:34.398Z,1645042234.398 [Startup:StartupSatComms:A] Stopped
2022-02-16T20:10:34.398Z,1645042234.398 [Startup:StartupSatComms:B] Running Loop=1
2022-02-16T20:10:34.707Z,1645042234.707 [NavChartDb](INFO): # of records loaded: 30000
2022-02-16T20:10:34.803Z,1645042234.803 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2022-02-16T20:10:35.578Z,1645042235.578 [Micromodem](INFO): No more packets to send
2022-02-16T20:10:35.589Z,1645042235.589 [Startup:StartupSatComms:B] Stopped
2022-02-16T20:10:35.590Z,1645042235.590 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2022-02-16T20:10:35.590Z,1645042235.590 [Startup:StartupSatComms] Stopped
2022-02-16T20:10:35.590Z,1645042235.590 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2022-02-16T20:10:35.591Z,1645042235.591 [Startup](INFO): Completed Startup
2022-02-16T20:10:35.591Z,1645042235.591 [MissionManager](INFO): Startup is completed.
2022-02-16T20:10:35.591Z,1645042235.591 [MissionManager](INFO): Uninitializing Mission Startup
2022-02-16T20:10:35.591Z,1645042235.591 [Startup] Stopped
2022-02-16T20:10:35.591Z,1645042235.591 [Startup](DEBUG): Aggregate::uninitialize Startup
2022-02-16T20:10:35.591Z,1645042235.591 [Startup:A.GoToSurface] Stopped
2022-02-16T20:10:35.591Z,1645042235.591 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2022-02-16T20:10:35.975Z,1645042235.975 [MissionManager](IMPORTANT): Started mission trackPatchOil
2022-02-16T20:10:35.975Z,1645042235.975 [trackPatchOil] Running Loop=1
2022-02-16T20:10:35.975Z,1645042235.975 [trackPatchOil](DEBUG): Aggregate::initialize trackPatchOil
2022-02-16T20:10:35.975Z,1645042235.975 [trackPatchOil:A.AltitudeEnvelope] Running Loop=1
2022-02-16T20:10:35.975Z,1645042235.975 [trackPatchOil:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2022-02-16T20:10:35.975Z,1645042235.975 [trackPatchOil:B.DepthEnvelope] Running Loop=1
2022-02-16T20:10:35.975Z,1645042235.975 [trackPatchOil:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2022-02-16T20:10:36.000Z,1645042236.000 [trackPatchOil:F.OffshoreEnvelope] Running Loop=1
2022-02-16T20:10:36.000Z,1645042236.000 [trackPatchOil:F.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2022-02-16T20:10:36.000Z,1645042236.000 [trackPatchOil:G.WaterDepthEnvelope] Running Loop=1
2022-02-16T20:10:36.000Z,1645042236.000 [trackPatchOil:G.WaterDepthEnvelope](DEBUG): Initialize WaterDepthEnvelopeComponent.
2022-02-16T20:10:36.000Z,1645042236.000 [trackPatchOil:H.Pitch] Running Loop=1
2022-02-16T20:10:36.000Z,1645042236.000 [trackPatchOil:H.Pitch](DEBUG): Initialize.
2022-02-16T20:10:36.001Z,1645042236.001 [trackPatchOil:I.Buoyancy] Running Loop=1
2022-02-16T20:10:36.001Z,1645042236.001 [trackPatchOil:I.Buoyancy](DEBUG): Initialize Buoyancy Component.
2022-02-16T20:10:36.001Z,1645042236.001 [trackPatchOil:Science] Running Loop=1
2022-02-16T20:10:36.001Z,1645042236.001 [trackPatchOil:Science](DEBUG): Aggregate::initialize trackPatchOil:Science
2022-02-16T20:10:36.001Z,1645042236.001 [trackPatchOil:Science:A] Running Loop=1
2022-02-16T20:10:36.001Z,1645042236.001 [trackPatchOil:Science:B] Running Loop=1
2022-02-16T20:10:36.001Z,1645042236.001 [trackPatchOil:Science:C] Running Loop=1
2022-02-16T20:10:36.001Z,1645042236.001 [trackPatchOil:Science:D] Running Loop=1
2022-02-16T20:10:36.001Z,1645042236.001 [trackPatchOil:Science:E] Running Loop=1
2022-02-16T20:10:36.001Z,1645042236.001 [trackPatchOil:Science:F] Running Loop=1
2022-02-16T20:10:36.002Z,1645042236.001 [trackPatchOil:Science:Read_Oil] Running Loop=1
2022-02-16T20:10:36.002Z,1645042236.002 [trackPatchOil:Science:PeakDetectChl] Running Loop=1
2022-02-16T20:10:36.002Z,1645042236.002 [trackPatchOil:Science:PeakDetectChl](DEBUG): Aggregate::initialize trackPatchOil:Science:PeakDetectChl
2022-02-16T20:10:36.002Z,1645042236.002 [trackPatchOil:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2022-02-16T20:10:36.002Z,1645042236.002 [trackPatchOil:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-02-16T20:10:36.020Z,1645042236.020 [trackPatchOil:Science:HighestChlPeakReport] Running Loop=1
2022-02-16T20:10:36.020Z,1645042236.020 [trackPatchOil:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize trackPatchOil:Science:HighestChlPeakReport
2022-02-16T20:10:36.020Z,1645042236.020 [trackPatchOil:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2022-02-16T20:10:36.020Z,1645042236.020 [trackPatchOil:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2022-02-16T20:10:36.021Z,1645042236.021 [trackPatchOil:Science:PeakDetectNO3] Running Loop=1
2022-02-16T20:10:36.021Z,1645042236.021 [trackPatchOil:Science:PeakDetectNO3](DEBUG): Aggregate::initialize trackPatchOil:Science:PeakDetectNO3
2022-02-16T20:10:36.021Z,1645042236.021 [trackPatchOil:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2022-02-16T20:10:36.021Z,1645042236.021 [trackPatchOil:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-02-16T20:10:36.023Z,1645042236.023 [trackPatchOil:Science:PeakDetectOil] Running Loop=1
2022-02-16T20:10:36.023Z,1645042236.023 [trackPatchOil:Science:PeakDetectOil](DEBUG): Aggregate::initialize trackPatchOil:Science:PeakDetectOil
2022-02-16T20:10:36.023Z,1645042236.023 [trackPatchOil:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2022-02-16T20:10:36.023Z,1645042236.023 [trackPatchOil:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-02-16T20:10:36.025Z,1645042236.025 [trackPatchOil:Science:HighestOilPeakReport] Running Loop=1
2022-02-16T20:10:36.025Z,1645042236.025 [trackPatchOil:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize trackPatchOil:Science:HighestOilPeakReport
2022-02-16T20:10:36.025Z,1645042236.025 [trackPatchOil:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2022-02-16T20:10:36.025Z,1645042236.025 [trackPatchOil:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2022-02-16T20:10:36.026Z,1645042236.026 [trackPatchOil:Science:PeakDetectFDOM] Running Loop=1
2022-02-16T20:10:36.026Z,1645042236.026 [trackPatchOil:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize trackPatchOil:Science:PeakDetectFDOM
2022-02-16T20:10:36.026Z,1645042236.026 [trackPatchOil:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2022-02-16T20:10:36.026Z,1645042236.026 [trackPatchOil:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-02-16T20:10:36.027Z,1645042236.027 [trackPatchOil:Science:PeakDetectSalinity] Running Loop=1
2022-02-16T20:10:36.027Z,1645042236.027 [trackPatchOil:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize trackPatchOil:Science:PeakDetectSalinity
2022-02-16T20:10:36.036Z,1645042236.036 [trackPatchOil:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Running Loop=1
2022-02-16T20:10:36.036Z,1645042236.036 [trackPatchOil:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-02-16T20:10:36.037Z,1645042236.037 [trackPatchOil:Science:HighestSaltPeakReport] Running Loop=1
2022-02-16T20:10:36.038Z,1645042236.038 [trackPatchOil:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize trackPatchOil:Science:HighestSaltPeakReport
2022-02-16T20:10:36.038Z,1645042236.038 [trackPatchOil:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2022-02-16T20:10:36.038Z,1645042236.038 [trackPatchOil:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2022-02-16T20:10:36.038Z,1645042236.038 [trackPatchOil:Science:OceanCurrent] Running Loop=1
2022-02-16T20:10:36.038Z,1645042236.038 [trackPatchOil:Science:OceanCurrent](DEBUG): Aggregate::initialize trackPatchOil:Science:OceanCurrent
2022-02-16T20:10:36.038Z,1645042236.038 [trackPatchOil:Science:OceanCurrent:A.] Running Loop=1
2022-02-16T20:10:36.039Z,1645042236.039 [trackPatchOil:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2022-02-16T20:10:36.039Z,1645042236.039 [trackPatchOil:K.SetSpeed] Running Loop=1
2022-02-16T20:10:36.039Z,1645042236.039 [trackPatchOil:K.SetSpeed](DEBUG): Initialize.
2022-02-16T20:10:36.039Z,1645042236.039 [trackPatchOil:L.Pitch] Running Loop=1
2022-02-16T20:10:36.039Z,1645042236.039 [trackPatchOil:L.Pitch](DEBUG): Initialize.
2022-02-16T20:10:36.039Z,1645042236.039 [trackPatchOil:SurfaceCommsSplit] Running Loop=1
2022-02-16T20:10:36.039Z,1645042236.039 [trackPatchOil:SurfaceCommsSplit](DEBUG): Aggregate::initialize trackPatchOil:SurfaceCommsSplit
2022-02-16T20:10:36.040Z,1645042236.040 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface] Running Loop=1
2022-02-16T20:10:36.048Z,1645042236.048 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2022-02-16T20:10:36.048Z,1645042236.048 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](INFO): Received depth rate setting nan m/s.
2022-02-16T20:10:36.049Z,1645042236.049 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2022-02-16T20:10:36.049Z,1645042236.049 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2022-02-16T20:10:36.049Z,1645042236.049 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2022-02-16T20:10:36.050Z,1645042236.050 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2022-02-16T20:10:36.050Z,1645042236.050 [trackPatchOil:L.Pitch] Running Loop=1
2022-02-16T20:10:36.051Z,1645042236.051 [trackPatchOil:K.SetSpeed] Running Loop=1
2022-02-16T20:10:36.051Z,1645042236.051 [trackPatchOil:Science] Running Loop=1
2022-02-16T20:10:36.061Z,1645042236.061 [trackPatchOil:Science:HighestSaltPeakReport] Stopped
2022-02-16T20:10:36.061Z,1645042236.061 [trackPatchOil:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize trackPatchOil:Science:HighestSaltPeakReport
2022-02-16T20:10:36.061Z,1645042236.061 [trackPatchOil:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2022-02-16T20:10:36.061Z,1645042236.061 [trackPatchOil:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2022-02-16T20:10:36.061Z,1645042236.061 [trackPatchOil:Science:PeakDetectSalinity] Stopped
2022-02-16T20:10:36.061Z,1645042236.061 [trackPatchOil:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize trackPatchOil:Science:PeakDetectSalinity
2022-02-16T20:10:36.061Z,1645042236.061 [trackPatchOil:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Stopped
2022-02-16T20:10:36.061Z,1645042236.061 [trackPatchOil:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-02-16T20:10:36.061Z,1645042236.061 [trackPatchOil:Science:PeakDetectFDOM] Stopped
2022-02-16T20:10:36.061Z,1645042236.061 [trackPatchOil:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize trackPatchOil:Science:PeakDetectFDOM
2022-02-16T20:10:36.061Z,1645042236.061 [trackPatchOil:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2022-02-16T20:10:36.062Z,1645042236.062 [trackPatchOil:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-02-16T20:10:36.062Z,1645042236.062 [trackPatchOil:Science:HighestOilPeakReport] Stopped
2022-02-16T20:10:36.062Z,1645042236.062 [trackPatchOil:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize trackPatchOil:Science:HighestOilPeakReport
2022-02-16T20:10:36.062Z,1645042236.062 [trackPatchOil:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2022-02-16T20:10:36.062Z,1645042236.062 [trackPatchOil:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2022-02-16T20:10:36.062Z,1645042236.062 [trackPatchOil:Science:PeakDetectOil] Stopped
2022-02-16T20:10:36.062Z,1645042236.062 [trackPatchOil:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize trackPatchOil:Science:PeakDetectOil
2022-02-16T20:10:36.062Z,1645042236.062 [trackPatchOil:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2022-02-16T20:10:36.062Z,1645042236.062 [trackPatchOil:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-02-16T20:10:36.062Z,1645042236.062 [trackPatchOil:Science:PeakDetectNO3] Stopped
2022-02-16T20:10:36.063Z,1645042236.063 [trackPatchOil:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize trackPatchOil:Science:PeakDetectNO3
2022-02-16T20:10:36.063Z,1645042236.063 [trackPatchOil:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2022-02-16T20:10:36.063Z,1645042236.063 [trackPatchOil:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-02-16T20:10:36.063Z,1645042236.063 [trackPatchOil:Science:HighestChlPeakReport] Stopped
2022-02-16T20:10:36.063Z,1645042236.063 [trackPatchOil:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize trackPatchOil:Science:HighestChlPeakReport
2022-02-16T20:10:36.063Z,1645042236.063 [trackPatchOil:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2022-02-16T20:10:36.063Z,1645042236.063 [trackPatchOil:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2022-02-16T20:10:36.063Z,1645042236.063 [trackPatchOil:Science:PeakDetectChl] Stopped
2022-02-16T20:10:36.063Z,1645042236.063 [trackPatchOil:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize trackPatchOil:Science:PeakDetectChl
2022-02-16T20:10:36.063Z,1645042236.063 [trackPatchOil:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2022-02-16T20:10:36.063Z,1645042236.063 [trackPatchOil:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-02-16T20:10:36.063Z,1645042236.063 [trackPatchOil:Science:OceanCurrent:A.] Running Loop=1
2022-02-16T20:10:36.072Z,1645042236.072 [trackPatchOil:Science:Read_Oil] Running Loop=1
2022-02-16T20:10:36.073Z,1645042236.073 [trackPatchOil:Science:Read_Oil](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_petroleum_hydrocarbons_in_sea_water
2022-02-16T20:10:36.073Z,1645042236.073 [trackPatchOil:Science:F] Stopped
2022-02-16T20:10:36.073Z,1645042236.073 [trackPatchOil:Science:E] Stopped
2022-02-16T20:10:36.073Z,1645042236.073 [trackPatchOil:Science:D] Stopped
2022-02-16T20:10:36.073Z,1645042236.073 [trackPatchOil:Science:C] Stopped
2022-02-16T20:10:36.073Z,1645042236.073 [trackPatchOil:Science:B] Stopped
2022-02-16T20:10:36.073Z,1645042236.073 [trackPatchOil:Science:A] Running Loop=1
2022-02-16T20:10:36.074Z,1645042236.074 [trackPatchOil:Science:A](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_oxygen_in_sea_water
2022-02-16T20:10:36.074Z,1645042236.074 [trackPatchOil:I.Buoyancy] Running Loop=1
2022-02-16T20:10:36.074Z,1645042236.074 [trackPatchOil:H.Pitch] Running Loop=1
2022-02-16T20:10:36.074Z,1645042236.074 [trackPatchOil:G.WaterDepthEnvelope] Running Loop=1
2022-02-16T20:10:36.075Z,1645042236.075 [trackPatchOil:F.OffshoreEnvelope] Running Loop=1
2022-02-16T20:10:36.085Z,1645042236.085 [trackPatchOil:SurfaceCommsSplit:B] Running Loop=1
2022-02-16T20:10:36.085Z,1645042236.085 [trackPatchOil:SurfaceCommsSplit:B](DEBUG): Aggregate::initialize trackPatchOil:SurfaceCommsSplit:B
2022-02-16T20:10:36.085Z,1645042236.085 [trackPatchOil:SurfaceCommsSplit:B:A] Running Loop=1
2022-02-16T20:10:36.085Z,1645042236.085 [trackPatchOil:B.DepthEnvelope] Running Loop=1
2022-02-16T20:10:36.086Z,1645042236.086 [trackPatchOil:A.AltitudeEnvelope] Running Loop=1
2022-02-16T20:10:36.087Z,1645042236.087 [MissionManager](INFO): MissionManager is completed.
2022-02-16T20:10:36.087Z,1645042236.087 [MissionManager](INFO): Uninitializing Mission trackPatchOil
2022-02-16T20:10:36.087Z,1645042236.087 [trackPatchOil] Stopped
2022-02-16T20:10:36.087Z,1645042236.087 [trackPatchOil](DEBUG): Aggregate::uninitialize trackPatchOil
2022-02-16T20:10:36.087Z,1645042236.087 [trackPatchOil:A.AltitudeEnvelope] Stopped
2022-02-16T20:10:36.087Z,1645042236.087 [trackPatchOil:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2022-02-16T20:10:36.087Z,1645042236.087 [trackPatchOil:B.DepthEnvelope] Stopped
2022-02-16T20:10:36.087Z,1645042236.087 [trackPatchOil:B.DepthEnvelope](DEBUG): Uninitialize.
2022-02-16T20:10:36.087Z,1645042236.087 [trackPatchOil:SurfaceCommsSplit] Stopped
2022-02-16T20:10:36.087Z,1645042236.087 [trackPatchOil:SurfaceCommsSplit](DEBUG): Aggregate::uninitialize trackPatchOil:SurfaceCommsSplit
2022-02-16T20:10:36.096Z,1645042236.096 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface] Stopped
2022-02-16T20:10:36.096Z,1645042236.096 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2022-02-16T20:10:36.096Z,1645042236.096 [trackPatchOil:SurfaceCommsSplit:B] Stopped
2022-02-16T20:10:36.096Z,1645042236.096 [trackPatchOil:SurfaceCommsSplit:B](DEBUG): Aggregate::uninitialize trackPatchOil:SurfaceCommsSplit:B
2022-02-16T20:10:36.096Z,1645042236.096 [trackPatchOil:SurfaceCommsSplit:B:A] Stopped
2022-02-16T20:10:36.096Z,1645042236.096 [trackPatchOil:F.OffshoreEnvelope] Stopped
2022-02-16T20:10:36.096Z,1645042236.096 [trackPatchOil:F.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2022-02-16T20:10:36.096Z,1645042236.096 [trackPatchOil:G.WaterDepthEnvelope] Stopped
2022-02-16T20:10:36.096Z,1645042236.096 [trackPatchOil:G.WaterDepthEnvelope](DEBUG): Uninitialize WaterDepthEnvelopeComponent.
2022-02-16T20:10:36.097Z,1645042236.097 [trackPatchOil:H.Pitch] Stopped
2022-02-16T20:10:36.097Z,1645042236.097 [trackPatchOil:I.Buoyancy] Stopped
2022-02-16T20:10:36.097Z,1645042236.097 [trackPatchOil:I.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2022-02-16T20:10:36.097Z,1645042236.097 [trackPatchOil:Science] Stopped
2022-02-16T20:10:36.097Z,1645042236.097 [trackPatchOil:Science](DEBUG): Aggregate::uninitialize trackPatchOil:Science
2022-02-16T20:10:36.097Z,1645042236.097 [trackPatchOil:Science:A] Stopped
2022-02-16T20:10:36.097Z,1645042236.097 [trackPatchOil:Science:Read_Oil] Stopped
2022-02-16T20:10:36.097Z,1645042236.097 [trackPatchOil:Science:OceanCurrent] Stopped
2022-02-16T20:10:36.097Z,1645042236.097 [trackPatchOil:Science:OceanCurrent](DEBUG): Aggregate::uninitialize trackPatchOil:Science:OceanCurrent
2022-02-16T20:10:36.097Z,1645042236.097 [trackPatchOil:Science:OceanCurrent:A.] Stopped
2022-02-16T20:10:36.097Z,1645042236.097 [trackPatchOil:K.SetSpeed] Stopped
2022-02-16T20:10:36.097Z,1645042236.097 [trackPatchOil:K.SetSpeed](DEBUG): Uninitialize.
2022-02-16T20:10:36.097Z,1645042236.097 [trackPatchOil:L.Pitch] Stopped
2022-02-16T20:10:36.425Z,1645042236.425 [MissionManager](IMPORTANT): Started mission Default
2022-02-16T20:10:36.426Z,1645042236.426 [Default] Running Loop=1
2022-02-16T20:10:36.426Z,1645042236.426 [Default](DEBUG): Aggregate::initialize Default
2022-02-16T20:10:36.426Z,1645042236.426 [Default:B.GoToSurface] Running Loop=1
2022-02-16T20:10:36.426Z,1645042236.426 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2022-02-16T20:10:36.426Z,1645042236.426 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2022-02-16T20:10:36.426Z,1645042236.426 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2022-02-16T20:10:36.427Z,1645042236.427 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2022-02-16T20:10:36.427Z,1645042236.427 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2022-02-16T20:10:36.427Z,1645042236.427 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2022-02-16T20:10:36.428Z,1645042236.428 [Default:A.Wait] Running Loop=1
2022-02-16T20:10:36.428Z,1645042236.428 [Default:A.Wait](DEBUG): Initialize Wait Component.
2022-02-16T20:10:38.724Z,1645042238.724 [NavChartDb](INFO): Calculating coverage of Resources/ElectronicNavigationCharts/US5OH07M.000
2022-02-16T20:10:40.011Z,1645042240.011 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2022-02-16T20:10:40.012Z,1645042240.012 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2022-02-16T20:10:40.012Z,1645042240.012 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2022-02-16T20:10:40.023Z,1645042240.023 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2022-02-16T20:10:40.430Z,1645042240.430 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2022-02-16T20:10:40.430Z,1645042240.430 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 0
2022-02-16T20:10:44.806Z,1645042244.806 [NavChartDb](INFO): # of records loaded: 35000
2022-02-16T20:10:49.715Z,1645042249.715 [Default:A.Wait](INFO): Done Waiting.
2022-02-16T20:10:49.715Z,1645042249.715 [Default:A.Wait] Stopped
2022-02-16T20:10:49.715Z,1645042249.715 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2022-02-16T20:10:50.119Z,1645042250.119 [Default:CheckIn] Running Loop=1
2022-02-16T20:10:50.119Z,1645042250.119 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2022-02-16T20:10:50.119Z,1645042250.119 [Default:CheckIn:Read_GPS] Running Loop=1
2022-02-16T20:10:50.519Z,1645042250.519 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2022-02-16T20:10:55.216Z,1645042255.216 [NavChartDb](INFO): # of records loaded: 40000
2022-02-16T20:10:56.166Z,1645042256.166 [NAL9602](INFO): No messages in MT queue
2022-02-16T20:11:07.171Z,1645042267.171 [NavChartDb](INFO): # of records loaded: 45000
2022-02-16T20:11:18.742Z,1645042278.742 [NavChartDb](INFO): Done scanning edges of Resources/ElectronicNavigationCharts/US5OH07M.000
2022-02-16T20:11:24.222Z,1645042284.222 [NavChartDb](INFO): # of records loaded: 50000
2022-02-16T20:11:31.515Z,1645042291.515 [CommandExec](IMPORTANT): got command run ./Missions/Science/trackPatchOil.xml
2022-02-16T20:11:31.520Z,1645042291.520 [MissionManager](INFO): Loading Mission from file: ./Missions/Science/trackPatchOil.xml
2022-02-16T20:11:31.770Z,1645042291.770 [MissionManager](INFO): DefineArg trackPatchOil.MinAltitude = 5.000000 m
2022-02-16T20:11:31.815Z,1645042291.815 [MissionManager](INFO): DefineArg trackPatchOil.MaxDepth = 65.000000 m
2022-02-16T20:11:31.817Z,1645042291.817 [MissionManager](INFO): DefineArg trackPatchOil.MinWaterDepth = 10.000000 m
2022-02-16T20:11:31.819Z,1645042291.819 [MissionManager](INFO): DefineArg trackPatchOil.MinOffshore = 2000.000000 m
2022-02-16T20:11:31.826Z,1645042291.826 [MissionManager](INFO): DefineArg trackPatchOil.NeedCommsTime = 180.000000 min
2022-02-16T20:11:31.872Z,1645042291.872 [MissionManager](INFO): DefineArg trackPatchOil.MissionTimeout = 9.000000 d
2022-02-16T20:11:31.875Z,1645042291.875 [MissionManager](INFO): DefineArg trackPatchOil.MassDefault = 0.990000 cm
2022-02-16T20:11:31.890Z,1645042291.890 [MissionManager](INFO): DefineArg trackPatchOil.BuoyancyNeutral = 223.000000 cc
2022-02-16T20:11:31.904Z,1645042291.904 [MissionManager](INFO): DefineArg trackPatchOil.Depth = 3.000000 m
2022-02-16T20:11:31.907Z,1645042291.907 [MissionManager](INFO): DefineArg trackPatchOil.Speed = 1.000000 m/s
2022-02-16T20:11:31.913Z,1645042291.913 [MissionManager](INFO): DefineArg trackPatchOil.WpMaxDistance = 12000.000000 m
2022-02-16T20:11:31.915Z,1645042291.915 [MissionManager](INFO): DefineArg trackPatchOil.WpTimeout = 12000.000000 s
2022-02-16T20:11:31.930Z,1645042291.930 [MissionManager](INFO): DefineArg trackPatchOil.WaterFrame = 1 bool
2022-02-16T20:11:31.936Z,1645042291.936 [MissionManager](INFO): DefineArg trackPatchOil.Repeat = 200.000000 count
2022-02-16T20:11:31.938Z,1645042291.938 [MissionManager](INFO): DefineArg trackPatchOil.Turn = 90.000000 arcdeg
2022-02-16T20:11:31.945Z,1645042291.945 [MissionManager](INFO): DefineArg trackPatchOil.Reverse = 180.000000 arcdeg
2022-02-16T20:11:31.947Z,1645042291.947 [MissionManager](INFO): DefineArg trackPatchOil.TwoPi = 360.000000 arcdeg
2022-02-16T20:11:31.950Z,1645042291.950 [MissionManager](INFO): DefineArg trackPatchOil.FilterWidth = 260.000000 count
2022-02-16T20:11:31.960Z,1645042291.960 [MissionManager](INFO): DefineArg trackPatchOil.BeginThreshold = 0.200000 kg/m3
2022-02-16T20:11:31.963Z,1645042291.963 [MissionManager](INFO): DefineArg trackPatchOil.OffPeakFraction = 10.000000 %
2022-02-16T20:11:31.969Z,1645042291.969 [MissionManager](INFO): DefineArg trackPatchOil.PatchMode = 0 bool
2022-02-16T20:11:31.971Z,1645042291.971 [MissionManager](INFO): DefineArg trackPatchOil.DetectOilTimeout = 15.000000 min
2022-02-16T20:11:31.994Z,1645042291.994 [MissionManager](INFO): DefineArg trackPatchOil.WpBearing = 90.000000 arcdeg
2022-02-16T20:11:32.000Z,1645042292.000 [MissionManager](INFO): DefineOutput trackPatchOil.PatchDetectOn = 0 bool
2022-02-16T20:11:32.002Z,1645042292.002 [MissionManager](INFO): DefineOutput trackPatchOil.WpDone = 0 bool
2022-02-16T20:11:32.024Z,1645042292.024 [MissionManager](INFO): DefineOutput trackPatchOil.PatchOil = nan ug/l
2022-02-16T20:11:32.026Z,1645042292.026 [MissionManager](INFO): DefineOutput trackPatchOil.PatchOilDepth = nan m
2022-02-16T20:11:32.034Z,1645042292.034 [MissionManager](INFO): DefineOutput trackPatchOil.PatchOilLatitude = nan arcdeg
2022-02-16T20:11:32.036Z,1645042292.036 [MissionManager](INFO): DefineOutput trackPatchOil.PatchOilLongitude = nan arcdeg
2022-02-16T20:11:32.039Z,1645042292.039 [MissionManager](INFO): DefineOutput trackPatchOil.PatchOilDistance = 0.000000 m
2022-02-16T20:11:32.040Z,1645042292.040 [trackPatchOil:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2022-02-16T20:11:32.060Z,1645042292.060 [trackPatchOil:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2022-02-16T20:11:32.066Z,1645042292.066 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Surface.xml
2022-02-16T20:11:32.158Z,1645042292.158 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceCommsSplit.SurfaceDepthRate = nan m/s
2022-02-16T20:11:32.161Z,1645042292.161 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceCommsSplit.SurfacePitch = 20.000000 arcdeg
2022-02-16T20:11:32.163Z,1645042292.163 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceCommsSplit.SurfaceSpeed = 1.000000 m/s
2022-02-16T20:11:32.166Z,1645042292.166 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceCommsSplit.IridiumTimeout = 30.000000 min
2022-02-16T20:11:32.167Z,1645042292.167 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceCommsSplit.UnpackSplitAtSurface = 0 bool
2022-02-16T20:11:32.169Z,1645042292.169 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](DEBUG): Construct GoToSurface.
2022-02-16T20:11:32.277Z,1645042292.277 [MissionManager](INFO): RedefineArg trackPatchOil:SurfaceCommsSplit.SurfacePitch = value:20.000000 arcdeg
2022-02-16T20:11:32.279Z,1645042292.279 [MissionManager](INFO): RedefineArg trackPatchOil:SurfaceCommsSplit.SurfaceSpeed = value:1.000000 m/s
2022-02-16T20:11:32.281Z,1645042292.281 [MissionManager](INFO): RedefineArg trackPatchOil:SurfaceCommsSplit.UnpackSplitAtSurface = value:1 bool
2022-02-16T20:11:32.282Z,1645042292.282 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Surface.xml
2022-02-16T20:11:32.352Z,1645042292.352 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceComms:SurfaceComms.SurfaceDepthRate = nan m/s
2022-02-16T20:11:32.355Z,1645042292.355 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceComms:SurfaceComms.SurfacePitch = 20.000000 arcdeg
2022-02-16T20:11:32.368Z,1645042292.368 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceComms:SurfaceComms.SurfaceSpeed = 1.000000 m/s
2022-02-16T20:11:32.370Z,1645042292.370 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceComms:SurfaceComms.IridiumTimeout = 30.000000 min
2022-02-16T20:11:32.384Z,1645042292.384 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceComms:SurfaceComms.UnpackSplitAtSurface = 0 bool
2022-02-16T20:11:32.386Z,1645042292.386 [trackPatchOil:SurfaceComms:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2022-02-16T20:11:32.415Z,1645042292.415 [MissionManager](INFO): RedefineArg trackPatchOil:SurfaceComms:SurfaceComms.SurfacePitch = value:20.000000 arcdeg
2022-02-16T20:11:32.441Z,1645042292.441 [MissionManager](INFO): RedefineArg trackPatchOil:SurfaceComms:SurfaceComms.SurfaceSpeed = value:1.000000 m/s
2022-02-16T20:11:32.447Z,1645042292.447 [trackPatchOil:F.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2022-02-16T20:11:32.451Z,1645042292.451 [trackPatchOil:G.WaterDepthEnvelope](DEBUG): Construct WaterDepthEnvelope.
2022-02-16T20:11:32.462Z,1645042292.462 [trackPatchOil:H.Pitch](DEBUG): Construct.
2022-02-16T20:11:32.467Z,1645042292.467 [trackPatchOil:I.Buoyancy](DEBUG): Construct Buoyancy.
2022-02-16T20:11:32.469Z,1645042292.469 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.xml
2022-02-16T20:11:32.884Z,1645042292.884 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakDetectChlActive = 0 bool
2022-02-16T20:11:32.886Z,1645042292.886 [MissionManager](INFO): DefineArg trackPatchOil:Science.TimeWindowPeakReport = nan min
2022-02-16T20:11:32.888Z,1645042292.888 [MissionManager](INFO): DefineArg trackPatchOil:Science.HighestChlPeakReportActive = 0 bool
2022-02-16T20:11:32.890Z,1645042292.890 [MissionManager](INFO): DefineArg trackPatchOil:Science.HighestSaltPeakReportActive = 0 bool
2022-02-16T20:11:32.892Z,1645042292.892 [MissionManager](INFO): DefineArg trackPatchOil:Science.HighestOilPeakReportActive = 0 bool
2022-02-16T20:11:32.894Z,1645042292.894 [MissionManager](INFO): DefineArg trackPatchOil:Science.PatchTracking = 0 bool
2022-02-16T20:11:32.895Z,1645042292.895 [MissionManager](INFO): DefineArg trackPatchOil:Science.DetectTrough = 0 bool
2022-02-16T20:11:32.897Z,1645042292.897 [MissionManager](INFO): DefineArg trackPatchOil:Science.FilterWidthHorizontal = 3.000000 count
2022-02-16T20:11:32.899Z,1645042292.899 [MissionManager](INFO): DefineArg trackPatchOil:Science.NumProfilesSlidingwindow = 100.000000 count
2022-02-16T20:11:32.941Z,1645042292.941 [MissionManager](INFO): DefineArg trackPatchOil:Science.OffPeakFractionHorizontal = 80.000000 %
2022-02-16T20:11:32.943Z,1645042292.943 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakDetectNO3Active = 0 bool
2022-02-16T20:11:32.999Z,1645042292.999 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakDetectOilActive = 0 bool
2022-02-16T20:11:33.001Z,1645042293.001 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakDetectFDOMActive = 0 bool
2022-02-16T20:11:33.003Z,1645042293.003 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakDetectSalinityActive = 0 bool
2022-02-16T20:11:33.046Z,1645042293.046 [MissionManager](INFO): DefineArg trackPatchOil:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2022-02-16T20:11:33.060Z,1645042293.060 [MissionManager](INFO): DefineArg trackPatchOil:Science.EnabledAanderaaO2 = 1 bool
2022-02-16T20:11:33.063Z,1645042293.063 [MissionManager](INFO): DefineArg trackPatchOil:Science.EnabledNeilBrown = 0 bool
2022-02-16T20:11:33.075Z,1645042293.075 [MissionManager](INFO): DefineArg trackPatchOil:Science.EnabledSeabird = 0 bool
2022-02-16T20:11:33.081Z,1645042293.081 [MissionManager](INFO): DefineArg trackPatchOil:Science.EnabledWetLabsBB2FL = 0 bool
2022-02-16T20:11:33.088Z,1645042293.088 [MissionManager](INFO): DefineArg trackPatchOil:Science.EnabledWetLabsSeaOWL_UV_A = 1 bool
2022-02-16T20:11:33.091Z,1645042293.091 [MissionManager](INFO): DefineArg trackPatchOil:Science.EnabledWetLabsUBAT = 0 bool
2022-02-16T20:11:33.093Z,1645042293.093 [MissionManager](INFO): DefineArg trackPatchOil:Science.LowPassWindowLength = 20.000000 count
2022-02-16T20:11:33.095Z,1645042293.095 [MissionManager](INFO): DefineArg trackPatchOil:Science.MedianFilterLen = 5.000000 count
2022-02-16T20:11:33.106Z,1645042293.106 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakShallowBound = nan m
2022-02-16T20:11:33.112Z,1645042293.112 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakDeepBound = nan m
2022-02-16T20:11:33.115Z,1645042293.115 [MissionManager](INFO): DefineArg trackPatchOil:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2022-02-16T20:11:33.137Z,1645042293.137 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakChl = 0.000000 ug/l
2022-02-16T20:11:33.148Z,1645042293.148 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakChlDepth = 0.000000 m
2022-02-16T20:11:33.155Z,1645042293.155 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakChlTemperature = 0.000000 degC
2022-02-16T20:11:33.166Z,1645042293.166 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakChlLatitude = nan arcdeg
2022-02-16T20:11:33.175Z,1645042293.175 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakChlLongitude = nan arcdeg
2022-02-16T20:11:33.178Z,1645042293.178 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakNO3 = 0.000000 umol/l
2022-02-16T20:11:33.188Z,1645042293.188 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakNO3Depth = 0.000000 m
2022-02-16T20:11:33.190Z,1645042293.190 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakNO3Latitude = nan arcdeg
2022-02-16T20:11:33.193Z,1645042293.193 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakNO3Longitude = nan arcdeg
2022-02-16T20:11:33.195Z,1645042293.195 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakOil = 0.000000 kg/m3
2022-02-16T20:11:33.206Z,1645042293.206 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakOilDepth = 0.000000 m
2022-02-16T20:11:33.208Z,1645042293.208 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakOilLatitude = nan arcdeg
2022-02-16T20:11:33.210Z,1645042293.210 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakOilLongitude = nan arcdeg
2022-02-16T20:11:33.213Z,1645042293.213 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakFDOM = 0.000000 ppb
2022-02-16T20:11:33.215Z,1645042293.215 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakFDOMDepth = 0.000000 m
2022-02-16T20:11:33.254Z,1645042293.254 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakFDOMTemperature = nan degC
2022-02-16T20:11:33.256Z,1645042293.256 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakFDOMLatitude = nan arcdeg
2022-02-16T20:11:33.258Z,1645042293.258 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakFDOMLongitude = nan arcdeg
2022-02-16T20:11:33.277Z,1645042293.277 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchFDOMDistance = nan m
2022-02-16T20:11:33.279Z,1645042293.279 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakSalt = 0.000000 psu
2022-02-16T20:11:33.281Z,1645042293.281 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakSaltDepth = 0.000000 m
2022-02-16T20:11:33.295Z,1645042293.295 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakSaltTemperature = 0.000000 degC
2022-02-16T20:11:33.304Z,1645042293.304 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakSaltLatitude = nan arcdeg
2022-02-16T20:11:33.306Z,1645042293.306 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakSaltLongitude = nan arcdeg
2022-02-16T20:11:33.309Z,1645042293.309 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchChl = 0.000000 ug/l
2022-02-16T20:11:33.311Z,1645042293.311 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchChlDepth = 0.000000 m
2022-02-16T20:11:33.373Z,1645042293.373 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchChlLatitude = nan arcdeg
2022-02-16T20:11:33.387Z,1645042293.387 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchChlLongitude = nan arcdeg
2022-02-16T20:11:33.390Z,1645042293.390 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchChlDistance = nan m
2022-02-16T20:11:33.400Z,1645042293.400 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchSalt = 0.000000 psu
2022-02-16T20:11:33.403Z,1645042293.403 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchSaltDepth = 0.000000 m
2022-02-16T20:11:33.405Z,1645042293.405 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchSaltLatitude = nan arcdeg
2022-02-16T20:11:33.407Z,1645042293.407 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchSaltLongitude = nan arcdeg
2022-02-16T20:11:33.461Z,1645042293.461 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchSaltDistance = nan m
2022-02-16T20:11:33.463Z,1645042293.463 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchOil = 0.000000 psu
2022-02-16T20:11:33.482Z,1645042293.482 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchOilDepth = 0.000000 m
2022-02-16T20:11:33.491Z,1645042293.491 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchOilLatitude = nan arcdeg
2022-02-16T20:11:33.493Z,1645042293.493 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchOilLongitude = nan arcdeg
2022-02-16T20:11:33.507Z,1645042293.507 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchOilDistance = nan m
2022-02-16T20:11:33.573Z,1645042293.573 [trackPatchOil:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-02-16T20:11:33.600Z,1645042293.600 [trackPatchOil:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2022-02-16T20:11:33.619Z,1645042293.619 [trackPatchOil:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-02-16T20:11:33.665Z,1645042293.665 [trackPatchOil:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-02-16T20:11:33.687Z,1645042293.687 [trackPatchOil:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2022-02-16T20:11:33.723Z,1645042293.723 [trackPatchOil:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-02-16T20:11:33.757Z,1645042293.757 [trackPatchOil:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-02-16T20:11:33.791Z,1645042293.791 [trackPatchOil:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2022-02-16T20:11:33.804Z,1645042293.804 [trackPatchOil:K.SetSpeed](DEBUG): Construct.
2022-02-16T20:11:33.807Z,1645042293.807 [trackPatchOil:L.Pitch](DEBUG): Construct.
2022-02-16T20:11:33.857Z,1645042293.857 [trackPatchOil:PatchDetectHorizontal:PatchDetection:PatchTrackTrigger.PatchTrack](DEBUG): Construct PatchTrack.
2022-02-16T20:11:33.903Z,1645042293.903 [trackPatchOil:PatchDetectHorizontal:CrossLeg:CrossSurfaceWp.Waypoint](DEBUG): Construct Waypoint.
2022-02-16T20:11:33.909Z,1645042293.909 [trackPatchOil:PatchDetectHorizontal:CrossLeg:CrossPeakWp.Waypoint](DEBUG): Construct Waypoint.
2022-02-16T20:11:33.919Z,1645042293.919 [trackPatchOil:PatchDetectHorizontal:InLegWp.Waypoint](DEBUG): Construct Waypoint.
2022-02-16T20:11:33.937Z,1645042293.937 [trackPatchOil:PatchDetectHorizontal:OutLeg:OutLegWp.Waypoint](DEBUG): Construct Waypoint.
2022-02-16T20:11:34.014Z,1645042294.014 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       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/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Trigger http://okeanids.mbari.org/tethys/Xml/Trigger.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="trackPatchOil">

    <Description>
        Vehicle runs at 3m depth (instead of yo-yos since oil concentration
        varies strongly with depth), with patch detect enabled for oil
        concentration. Suggested settings for simulaton:
        Config/sim/[username]/Simulator.cfg: oceanModelData =
        "Resources/BurgerOilfieldSpill.nc:mass_concentration_of_petroleum_hydrocarbons_in_sea_water:kg/m3";
        eastCurrent = 0.05 m/s; // vel y wrto LV northCurrent = 0.005 m/s; //
        vel x wrto LV Config/sim/[username]/workSite.cfg: initLat =
        71.2225805280196 arcdeg; // Initial latitude initLon =
        -163.5093252100575 arcdeg; // Initial longitude
        Config/sim/[username]/sim.cfg: WetLabsBB2FL.loadAtStartup = 0 bool;
        WetLabsSeaOWL_UV_A.loadAtStartup = 1 bool;
        WetLabsSeaOWL_UV_A.simulateSensors = 1 bool; WetLabsSeaOWL_UV_A.serial =
        "SEAOWLA2K-019"; WetLabsSeaOWL_UV_A.scaleFactor700 = 3.204e-7
        1/m/sr/count; WetLabsSeaOWL_UV_A.darkCounts700 = 48 count;
        WetLabsSeaOWL_UV_A.scaleFactorFDOM = 8.096e-3 ppb/count;
        WetLabsSeaOWL_UV_A.darkCountsFDOM = 50 count;
        WetLabsSeaOWL_UV_A.fdomAccuracy = 8.19 ppb;
        WetLabsSeaOWL_UV_A.scaleFactorChl = 2.170e-3 ug/l/count;
        WetLabsSeaOWL_UV_A.darkCountsChl = 50 count;
        WetLabsSeaOWL_UV_A.chlAccuracy = 1.475 ug/l;
        WetLabsSeaOWL_UV_A.scaleFactorOil = 2.8 ppb/count;
        WetLabsSeaOWL_UV_A.darkCountsOil = 50 count;
        WetLabsSeaOWL_UV_A.oilAccuracy = 3.6 ppb; NavChartDb.charts =
        "US1AK90M,US2AK92M,US5AK9NM,US5AK9OM,US5AK9PM,US5AK9QM,US5AK9RM,US5AK9SM,US5AK9TM,US5AK9UM";
    </Description>

<!-- Vehicle safety parameters -->

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

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>65</Value></DefineArg>

    <DefineArg Name="MinWaterDepth"><Description>
        Minimum water depth for the entire mission.
    </Description><Units:meter/><Value>10</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Description>
        Minimum offshore distance for the entire mission.
    </Description><Units:meter/><Value>2000</Value></DefineArg>

    <DefineArg Name="NeedCommsTime"><Description>
        Maximum time between surfacings for communications
    </Description><Units:minute/><Value>180</Value></DefineArg>

    <DefineArg Name="MissionTimeout"><Description>
        Timeout for the entire mission
    </Description><Units:day/><Value>9</Value></DefineArg>

    <DefineArg Name="MassDefault"><Description>
        Static setting for mass during the mission. Defaults to massDefault
        setting in the Config/Control.cfg file.
    </Description><Control:VerticalControl.massDefault/></DefineArg>

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

<!-- Basic guidance settings -->

    <DefineArg Name="Depth"><Description>
        Depth during sampling.
    </Description><Units:meter/><Value>3.0</Value></DefineArg>

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

    <DefineArg Name="WpMaxDistance"><Description>
        Maximum length of each tracking leg
    </Description><Units:meter/><Value>12000</Value></DefineArg>

    <DefineArg Name="WpTimeout"><Description>
        Maximum duration of each tracking leg
    </Description><Units:second/><Value>12000</Value></DefineArg>

    <DefineArg Name="WaterFrame"><Description>
        Set WaterFrame true to drive towards waypoints in the water frame of
        reference
    </Description><True/></DefineArg>

    <DefineArg Name="Repeat"><Description>
        Maximum number of tracking legs
    </Description><Units:count/><Value>200</Value></DefineArg>

<!-- Constant settings for each tracking leg -->

    <DefineArg Name="Turn"><Description>
        Amount to turn at each leg
    </Description><Units:degree/><Value>90</Value></DefineArg>

    <DefineArg Name="Reverse"><Description>
        Change in bearing which reverses vehicle direction
    </Description><Units:degree/><Value>180</Value></DefineArg>

    <DefineArg Name="TwoPi"><Description>
        Applied to stop run-up of angles
    </Description><Units:degree/><Value>360</Value></DefineArg>

    <DefineArg Name="FilterWidth"><Description>
        Width of boxcar filter used in horizontal patch detection Set to 130 if
        Guidance:SetSpeed.period set to 800 msec
    </Description><Units:count/><Value>260</Value></DefineArg>

    <DefineArg Name="BeginThreshold"><Description>
        If non-NaN, sets threshold for starting horizontal patch detection
    </Description><Units:kilogram_per_cubic_meter/><Value>0.2</Value></DefineArg>

    <DefineArg Name="OffPeakFraction"><Description>
        When filtered horizontal value is this fraction of the peak, consider it
        outside the patch.
    </Description><Units:percent/><Value>10</Value></DefineArg>

    <DefineArg Name="PatchMode"><Description>
        If true, use center of "in peak" range as the turn-around point. If
        false use maximum horizontal peak location as the turn-around point.
    </Description><False/></DefineArg>

    <DefineArg Name="DetectOilTimeout"><Description>
        Look for signal for this long. If none found, return to previous point.
    </Description><Units:minute/><Value>15</Value></DefineArg>

<!-- Variable Settings for each tracking leg -->

    <DefineArg Name="WpBearing"><Description>
        Bearing being followed in the current leg. Set this to initialize start
        direction of patch tracking.
    </Description><Units:degree/><Value>90</Value></DefineArg>

    <DefineOutput Name="PatchDetectOn"><Description>
        Mission sets this to true when the patch has been crossed.
    </Description><False/></DefineOutput>

    <DefineOutput Name="WpDone"><Description>
        Mission sets this to true when the cross-patch waypoint has been
        reached.
    </Description><False/></DefineOutput>

    <DefineOutput Name="PatchOil"><Units:microgram_per_liter/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="PatchOilDepth"><Units:meter/><Value>NaN</Value></DefineOutput>

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

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

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

<!-- The timeout -->

    <Timeout Duration="MissionTimeout"/>

<!-- And now the mission -->

<!-- Uncomment to speed up simulation
    <Guidance:SetSpeed>
        <Parallel/>
        <Setting><Guidance:SetSpeed.period/><Units:millisecond/><Value>800</Value></Setting>
    </Guidance:SetSpeed>
-->

    <Guidance:AltitudeEnvelope>
        <Parallel/>
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Arg Name="MinAltitude"/></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:DepthEnvelope>
        <Parallel/>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="MaxDepth"/></Setting>
    </Guidance:DepthEnvelope>

    <Insert Filename="Insert/Surface.xml" Id="SurfaceCommsSplit">
        <RedefineArg Name="SurfacePitch"><Units:degree/><Value>20</Value></RedefineArg>
        <RedefineArg Name="SurfaceSpeed"><Units:meter_per_second/><Value>1</Value></RedefineArg>
        <RedefineArg Name="UnpackSplitAtSurface"><True/></RedefineArg>
    </Insert>

    <Aggregate Id="SurfaceComms">

        <When>
            <Called/>
        </When>

        <Insert Filename="Insert/Surface.xml">
            <RedefineArg Name="SurfacePitch"><Units:degree/><Value>20</Value></RedefineArg>
            <RedefineArg Name="SurfaceSpeed"><Units:meter_per_second/><Value>1</Value></RedefineArg>
        </Insert>

    </Aggregate>

<!-- GPS Update.  Don't go too long w/o a GPS fix. -->

    <Aggregate Id="NeedComms">

        <When>
            <Universal:platform_pitch_angle/>
            <Gt><Units:degree/><Value>0</Value></Gt>
            <And><Elapsed><Universal:time_fix/></Elapsed><Gt><Arg Name="NeedCommsTime"/></Gt></And>
            <Or><Elapsed><Universal:time_fix/></Elapsed><Gt><Arg Name="NeedCommsTime"/><Add><Units:minute/><Value>10</Value></Add></Gt></Or>
        </When>

        <Syslog Severity="Important">NeedComms Timeout Surfacing</Syslog>

        <Call RefId="SurfaceComms"/>

    </Aggregate>

    <Guidance:OffshoreEnvelope>
        <Parallel/>
        <Setting><Guidance:OffshoreEnvelope.minOffshore/><Arg Name="MinOffshore"/></Setting>
    </Guidance:OffshoreEnvelope>

    <Guidance:WaterDepthEnvelope>
        <Parallel/>
        <Setting><Guidance:WaterDepthEnvelope.minWaterDepth/><Arg Name="MinWaterDepth"/></Setting>
    </Guidance:WaterDepthEnvelope>

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

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

<!-- If we're executing here or below, lets' get science data! -->

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

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

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

    <Aggregate Id="PatchDetectHorizontal">

        <Sequence Repeat="Repeat"/>

        <Aggregate Id="PatchDetection">

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

            <Trigger:PatchTrack Id="PatchTrackTrigger">
                <Sequence/>
                <Break><Arg Name="WpDone"/>
                </Break>
                <Setting><Trigger:PeakDetectHorizontal.detectFrom/><Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.beginThreshold/><Arg Name="BeginThreshold"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.offPeakFraction/><Arg Name="OffPeakFraction"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.filterWidth/><Arg Name="FilterWidth"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.centerPeak/><Arg Name="PatchMode"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.detectTimeout/><Arg Name="DetectOilTimeout"/></Setting>
                <OutputArg Name="PatchOil"><Trigger:PeakDetectHorizontal.peakDetect/></OutputArg>
                <OutputArg Name="PatchOilDepth"><Trigger:PeakDetectHorizontal.peakDepth/></OutputArg>
                <OutputArg Name="PatchOilLatitude"><Trigger:PeakDetectHorizontal.peakLatitude/></OutputArg>
                <OutputArg Name="PatchOilLongitude"><Trigger:PeakDetectHorizontal.peakLongitude/></OutputArg>
                <OutputArg Name="PatchOilDistance"><Trigger:PeakDetectHorizontal.peakDistance/></OutputArg>
            </Trigger:PatchTrack>

            <Syslog Severity="Important">Patch value is <Arg Name="PatchOil"/><Units:kilogram_per_cubic_meter/>at <Arg Name="PatchOilLatitude"/><Units:degree/>,<Arg Name="PatchOilLongitude"/><Units:degree/>distance = <Arg Name="PatchOilDistance"/><Units:meter/></Syslog>

            <SendData Service="Express"><Arg Name="PatchOil"/><Arg Name="PatchOilDepth"/><Arg Name="PatchOilLatitude"/><Arg Name="PatchOilLongitude"/>
            </SendData>

            <Assign Id="AssignPatchDetectOff"><Sequence/><Arg Name="PatchDetectOn"/><False/></Assign>

        </Aggregate>

        <Assign Id="AssignPatchDetectOn"><Sequence/><Arg Name="PatchDetectOn"/><True/></Assign>

        <Syslog>Bearing for CrossLeg: <Arg Name="WpBearing"/><Units:degree/></Syslog>

        <Aggregate Id="CrossLeg">

            <Description>
                This is a long leg across the width of the patch. Also the first
                leg in a mission run. Two waypoints run in sequence: a short run
                to the surfacing point, and a longer run to the edge of the
                patch.
            </Description>

            <Sequence/>

            <Break><Arg Name="WpDone"/>
                <Or><Arg Name="PatchDetectOn"/><Eq><False/></Eq></Or>
            </Break>

            <Guidance:Waypoint Id="CrossSurfaceWp">
                <Sequence/>
                <Timeout Duration="WpTimeout"/>
                <Setting><Guidance:Waypoint.distanceDelta/><Arg Name="PatchOilDistance"/></Setting>
                <Setting><Guidance:Waypoint.distanceDeltaBearing/><Arg Name="WpBearing"/></Setting>
                <Setting><Guidance:Waypoint.waterFrame/><Arg Name="WaterFrame"/></Setting>
            </Guidance:Waypoint>

            <Call RefId="SurfaceComms"/>

            <Guidance:Waypoint Id="CrossPeakWp">
                <Sequence/>
                <Timeout Duration="WpTimeout"/>
                <Setting><Guidance:Waypoint.distanceDelta/><Arg Name="WpMaxDistance"/></Setting>
                <Setting><Guidance:Waypoint.distanceDeltaBearing/><Arg Name="WpBearing"/></Setting>
                <Setting><Guidance:Waypoint.waterFrame/><Arg Name="WaterFrame"/></Setting>
            </Guidance:Waypoint>

            <Assign Id="AssignPatchDetectOffInCrossLeg"><Sequence/><Arg Name="PatchDetectOn"/><False/></Assign>

            <Assign Id="AssignWpDoneInCrossLeg"><Sequence/><Arg Name="WpDone"/><True/></Assign>

        </Aggregate>

        <Assign Id="AssignWpBearingForInLeg"><Sequence/><Arg Name="WpBearing"/><Arg Name="WpBearing"/><Add><Arg Name="Reverse"/></Add><Mod><Arg Name="TwoPi"/>
        </Mod></Assign>

        <Syslog>Bearing for InLeg: <Arg Name="WpBearing"/><Units:degree/></Syslog>

        <Guidance:Waypoint Id="InLegWp">
            <Description>
                Simply drive back towards the patch center
            </Description>
            <Sequence/>
            <Timeout Duration="WpTimeout"/>
            <Setting><Guidance:Waypoint.distanceDelta/><Arg Name="PatchOilDistance"/></Setting>
            <Setting><Guidance:Waypoint.distanceDeltaBearing/><Arg Name="WpBearing"/></Setting>
            <Setting><Guidance:Waypoint.waterFrame/><Arg Name="WaterFrame"/></Setting>
        </Guidance:Waypoint>

        <Assign Id="AssignWpBearingForOutLeg"><Sequence/><Arg Name="WpBearing"/><Arg Name="WpBearing"/><Sub><Arg Name="Turn"/></Sub><Mod><Arg Name="TwoPi"/>
        </Mod></Assign>

        <Syslog>Bearing for OutLeg: <Arg Name="WpBearing"/><Units:degree/></Syslog>

        <Call RefId="SurfaceCommsSplit"/>

        <Assign Id="AssignPatchDetectOnForOutLeg"><Sequence/><Arg Name="PatchDetectOn"/><True/></Assign>

        <Aggregate Id="OutLeg">

            <Description>
                Drive outward until edge of patch is detected.
            </Description>

            <Sequence/>

            <Break><Arg Name="WpDone"/>
                <Or><Arg Name="PatchDetectOn"/><Eq><False/></Eq></Or>
            </Break>

            <Guidance:Waypoint Id="OutLegWp">
                <Sequence/>
                <Timeout Duration="WpTimeout"/>
                <Setting><Guidance:Waypoint.distanceDelta/><Arg Name="WpMaxDistance"/></Setting>
                <Setting><Guidance:Waypoint.distanceDeltaBearing/><Arg Name="WpBearing"/></Setting>
                <Setting><Guidance:Waypoint.waterFrame/><Arg Name="WaterFrame"/></Setting>
            </Guidance:Waypoint>

            <Assign Id="AssignPatchDetectOffInOutLeg"><Sequence/><Arg Name="PatchDetectOn"/><False/></Assign>

            <Assign Id="AssignWpDoneInOutLeg"><Sequence/><Arg Name="WpDone"/><True/></Assign>

        </Aggregate>

        <Assign Id="AssignWpBearingForCrossLeg"><Sequence/><Arg Name="WpBearing"/><Arg Name="WpBearing"/><Add><Arg Name="Reverse"/></Add><Mod><Arg Name="TwoPi"/>
        </Mod></Assign>

    </Aggregate>

</Mission>


2022-02-16T20:11:34.016Z,1645042294.016 [CommandExec](IMPORTANT): Running ./Missions/Science/trackPatchOil.xml
2022-02-16T20:11:34.234Z,1645042294.234 [Default] Stopped
2022-02-16T20:11:34.235Z,1645042294.235 [Default](DEBUG): Aggregate::uninitialize Default
2022-02-16T20:11:34.235Z,1645042294.235 [Default:B.GoToSurface] Stopped
2022-02-16T20:11:34.235Z,1645042294.235 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2022-02-16T20:11:34.235Z,1645042294.235 [Default:CheckIn] Stopped
2022-02-16T20:11:34.235Z,1645042294.235 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2022-02-16T20:11:34.235Z,1645042294.235 [Default:CheckIn:Read_GPS] Stopped
2022-02-16T20:11:34.235Z,1645042294.235 [MissionManager](IMPORTANT): Started mission trackPatchOil
2022-02-16T20:11:34.235Z,1645042294.235 [trackPatchOil] Running Loop=1
2022-02-16T20:11:34.236Z,1645042294.236 [trackPatchOil](DEBUG): Aggregate::initialize trackPatchOil
2022-02-16T20:11:34.236Z,1645042294.236 [trackPatchOil:A.AltitudeEnvelope] Running Loop=1
2022-02-16T20:11:34.236Z,1645042294.236 [trackPatchOil:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2022-02-16T20:11:34.236Z,1645042294.236 [trackPatchOil:B.DepthEnvelope] Running Loop=1
2022-02-16T20:11:34.236Z,1645042294.236 [trackPatchOil:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2022-02-16T20:11:34.236Z,1645042294.236 [trackPatchOil:F.OffshoreEnvelope] Running Loop=1
2022-02-16T20:11:34.237Z,1645042294.237 [trackPatchOil:F.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2022-02-16T20:11:34.237Z,1645042294.237 [trackPatchOil:G.WaterDepthEnvelope] Running Loop=1
2022-02-16T20:11:34.237Z,1645042294.237 [trackPatchOil:G.WaterDepthEnvelope](DEBUG): Initialize WaterDepthEnvelopeComponent.
2022-02-16T20:11:34.237Z,1645042294.237 [trackPatchOil:H.Pitch] Running Loop=1
2022-02-16T20:11:34.237Z,1645042294.237 [trackPatchOil:H.Pitch](DEBUG): Initialize.
2022-02-16T20:11:34.237Z,1645042294.237 [trackPatchOil:I.Buoyancy] Running Loop=1
2022-02-16T20:11:34.237Z,1645042294.237 [trackPatchOil:I.Buoyancy](DEBUG): Initialize Buoyancy Component.
2022-02-16T20:11:34.237Z,1645042294.237 [trackPatchOil:Science] Running Loop=1
2022-02-16T20:11:34.237Z,1645042294.237 [trackPatchOil:Science](DEBUG): Aggregate::initialize trackPatchOil:Science
2022-02-16T20:11:34.237Z,1645042294.237 [trackPatchOil:Science:A] Running Loop=1
2022-02-16T20:11:34.238Z,1645042294.238 [trackPatchOil:Science:B] Running Loop=1
2022-02-16T20:11:34.238Z,1645042294.238 [trackPatchOil:Science:C] Running Loop=1
2022-02-16T20:11:34.238Z,1645042294.238 [trackPatchOil:Science:D] Running Loop=1
2022-02-16T20:11:34.238Z,1645042294.238 [trackPatchOil:Science:E] Running Loop=1
2022-02-16T20:11:34.238Z,1645042294.238 [trackPatchOil:Science:F] Running Loop=1
2022-02-16T20:11:34.238Z,1645042294.238 [trackPatchOil:Science:Read_Oil] Running Loop=1
2022-02-16T20:11:34.238Z,1645042294.238 [trackPatchOil:Science:PeakDetectChl] Running Loop=1
2022-02-16T20:11:34.238Z,1645042294.238 [trackPatchOil:Science:PeakDetectChl](DEBUG): Aggregate::initialize trackPatchOil:Science:PeakDetectChl
2022-02-16T20:11:34.238Z,1645042294.238 [trackPatchOil:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2022-02-16T20:11:34.238Z,1645042294.238 [trackPatchOil:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-02-16T20:11:34.239Z,1645042294.239 [trackPatchOil:Science:HighestChlPeakReport] Running Loop=1
2022-02-16T20:11:34.240Z,1645042294.240 [trackPatchOil:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize trackPatchOil:Science:HighestChlPeakReport
2022-02-16T20:11:34.240Z,1645042294.240 [trackPatchOil:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2022-02-16T20:11:34.240Z,1645042294.240 [trackPatchOil:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2022-02-16T20:11:34.240Z,1645042294.240 [trackPatchOil:Science:PeakDetectNO3] Running Loop=1
2022-02-16T20:11:34.241Z,1645042294.241 [trackPatchOil:Science:PeakDetectNO3](DEBUG): Aggregate::initialize trackPatchOil:Science:PeakDetectNO3
2022-02-16T20:11:34.241Z,1645042294.241 [trackPatchOil:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2022-02-16T20:11:34.241Z,1645042294.241 [trackPatchOil:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-02-16T20:11:34.242Z,1645042294.242 [trackPatchOil:Science:PeakDetectOil] Running Loop=1
2022-02-16T20:11:34.242Z,1645042294.242 [trackPatchOil:Science:PeakDetectOil](DEBUG): Aggregate::initialize trackPatchOil:Science:PeakDetectOil
2022-02-16T20:11:34.242Z,1645042294.242 [trackPatchOil:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2022-02-16T20:11:34.242Z,1645042294.242 [trackPatchOil:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-02-16T20:11:34.243Z,1645042294.243 [trackPatchOil:Science:HighestOilPeakReport] Running Loop=1
2022-02-16T20:11:34.243Z,1645042294.243 [trackPatchOil:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize trackPatchOil:Science:HighestOilPeakReport
2022-02-16T20:11:34.243Z,1645042294.243 [trackPatchOil:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2022-02-16T20:11:34.244Z,1645042294.244 [trackPatchOil:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2022-02-16T20:11:34.244Z,1645042294.244 [trackPatchOil:Science:PeakDetectFDOM] Running Loop=1
2022-02-16T20:11:34.244Z,1645042294.244 [trackPatchOil:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize trackPatchOil:Science:PeakDetectFDOM
2022-02-16T20:11:34.244Z,1645042294.244 [trackPatchOil:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2022-02-16T20:11:34.245Z,1645042294.245 [trackPatchOil:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-02-16T20:11:34.246Z,1645042294.246 [trackPatchOil:Science:PeakDetectSalinity] Running Loop=1
2022-02-16T20:11:34.246Z,1645042294.246 [trackPatchOil:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize trackPatchOil:Science:PeakDetectSalinity
2022-02-16T20:11:34.246Z,1645042294.246 [trackPatchOil:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Running Loop=1
2022-02-16T20:11:34.246Z,1645042294.246 [trackPatchOil:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-02-16T20:11:34.247Z,1645042294.247 [trackPatchOil:Science:HighestSaltPeakReport] Running Loop=1
2022-02-16T20:11:34.247Z,1645042294.247 [trackPatchOil:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize trackPatchOil:Science:HighestSaltPeakReport
2022-02-16T20:11:34.247Z,1645042294.247 [trackPatchOil:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2022-02-16T20:11:34.247Z,1645042294.247 [trackPatchOil:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2022-02-16T20:11:34.248Z,1645042294.248 [trackPatchOil:Science:OceanCurrent] Running Loop=1
2022-02-16T20:11:34.248Z,1645042294.248 [trackPatchOil:Science:OceanCurrent](DEBUG): Aggregate::initialize trackPatchOil:Science:OceanCurrent
2022-02-16T20:11:34.248Z,1645042294.248 [trackPatchOil:Science:OceanCurrent:A.] Running Loop=1
2022-02-16T20:11:34.248Z,1645042294.248 [trackPatchOil:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2022-02-16T20:11:34.248Z,1645042294.248 [trackPatchOil:K.SetSpeed] Running Loop=1
2022-02-16T20:11:34.248Z,1645042294.248 [trackPatchOil:K.SetSpeed](DEBUG): Initialize.
2022-02-16T20:11:34.249Z,1645042294.249 [trackPatchOil:L.Pitch] Running Loop=1
2022-02-16T20:11:34.249Z,1645042294.249 [trackPatchOil:L.Pitch](DEBUG): Initialize.
2022-02-16T20:11:34.249Z,1645042294.249 [trackPatchOil:SurfaceCommsSplit] Running Loop=1
2022-02-16T20:11:34.249Z,1645042294.249 [trackPatchOil:SurfaceCommsSplit](DEBUG): Aggregate::initialize trackPatchOil:SurfaceCommsSplit
2022-02-16T20:11:34.249Z,1645042294.249 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface] Running Loop=1
2022-02-16T20:11:34.249Z,1645042294.249 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2022-02-16T20:11:34.250Z,1645042294.250 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](INFO): Received depth rate setting nan m/s.
2022-02-16T20:11:34.250Z,1645042294.250 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2022-02-16T20:11:34.250Z,1645042294.250 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2022-02-16T20:11:34.251Z,1645042294.251 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2022-02-16T20:11:34.251Z,1645042294.251 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2022-02-16T20:11:34.252Z,1645042294.252 [trackPatchOil:L.Pitch] Running Loop=1
2022-02-16T20:11:34.252Z,1645042294.252 [trackPatchOil:K.SetSpeed] Running Loop=1
2022-02-16T20:11:34.253Z,1645042294.253 [trackPatchOil:Science] Running Loop=1
2022-02-16T20:11:34.253Z,1645042294.253 [trackPatchOil:Science:HighestSaltPeakReport] Stopped
2022-02-16T20:11:34.254Z,1645042294.254 [trackPatchOil:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize trackPatchOil:Science:HighestSaltPeakReport
2022-02-16T20:11:34.254Z,1645042294.254 [trackPatchOil:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2022-02-16T20:11:34.254Z,1645042294.254 [trackPatchOil:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2022-02-16T20:11:34.254Z,1645042294.254 [trackPatchOil:Science:PeakDetectSalinity] Stopped
2022-02-16T20:11:34.254Z,1645042294.254 [trackPatchOil:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize trackPatchOil:Science:PeakDetectSalinity
2022-02-16T20:11:34.254Z,1645042294.254 [trackPatchOil:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Stopped
2022-02-16T20:11:34.254Z,1645042294.254 [trackPatchOil:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-02-16T20:11:34.254Z,1645042294.254 [trackPatchOil:Science:PeakDetectFDOM] Stopped
2022-02-16T20:11:34.254Z,1645042294.254 [trackPatchOil:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize trackPatchOil:Science:PeakDetectFDOM
2022-02-16T20:11:34.254Z,1645042294.254 [trackPatchOil:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2022-02-16T20:11:34.254Z,1645042294.254 [trackPatchOil:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-02-16T20:11:34.254Z,1645042294.254 [trackPatchOil:Science:HighestOilPeakReport] Stopped
2022-02-16T20:11:34.255Z,1645042294.255 [trackPatchOil:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize trackPatchOil:Science:HighestOilPeakReport
2022-02-16T20:11:34.255Z,1645042294.255 [trackPatchOil:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2022-02-16T20:11:34.255Z,1645042294.255 [trackPatchOil:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2022-02-16T20:11:34.255Z,1645042294.255 [trackPatchOil:Science:PeakDetectOil] Stopped
2022-02-16T20:11:34.255Z,1645042294.255 [trackPatchOil:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize trackPatchOil:Science:PeakDetectOil
2022-02-16T20:11:34.255Z,1645042294.255 [trackPatchOil:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2022-02-16T20:11:34.255Z,1645042294.255 [trackPatchOil:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-02-16T20:11:34.255Z,1645042294.255 [trackPatchOil:Science:PeakDetectNO3] Stopped
2022-02-16T20:11:34.255Z,1645042294.255 [trackPatchOil:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize trackPatchOil:Science:PeakDetectNO3
2022-02-16T20:11:34.255Z,1645042294.255 [trackPatchOil:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2022-02-16T20:11:34.255Z,1645042294.255 [trackPatchOil:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-02-16T20:11:34.255Z,1645042294.255 [trackPatchOil:Science:HighestChlPeakReport] Stopped
2022-02-16T20:11:34.284Z,1645042294.284 [trackPatchOil:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize trackPatchOil:Science:HighestChlPeakReport
2022-02-16T20:11:34.284Z,1645042294.284 [trackPatchOil:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2022-02-16T20:11:34.284Z,1645042294.284 [trackPatchOil:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2022-02-16T20:11:34.284Z,1645042294.284 [trackPatchOil:Science:PeakDetectChl] Stopped
2022-02-16T20:11:34.284Z,1645042294.284 [trackPatchOil:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize trackPatchOil:Science:PeakDetectChl
2022-02-16T20:11:34.284Z,1645042294.284 [trackPatchOil:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2022-02-16T20:11:34.285Z,1645042294.285 [trackPatchOil:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-02-16T20:11:34.285Z,1645042294.285 [trackPatchOil:Science:OceanCurrent:A.] Running Loop=1
2022-02-16T20:11:34.285Z,1645042294.285 [trackPatchOil:Science:Read_Oil] Running Loop=1
2022-02-16T20:11:34.285Z,1645042294.285 [trackPatchOil:Science:Read_Oil](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_petroleum_hydrocarbons_in_sea_water
2022-02-16T20:11:34.285Z,1645042294.285 [trackPatchOil:Science:F] Stopped
2022-02-16T20:11:34.285Z,1645042294.285 [trackPatchOil:Science:E] Stopped
2022-02-16T20:11:34.285Z,1645042294.285 [trackPatchOil:Science:D] Stopped
2022-02-16T20:11:34.286Z,1645042294.286 [trackPatchOil:Science:C] Stopped
2022-02-16T20:11:34.286Z,1645042294.286 [trackPatchOil:Science:B] Stopped
2022-02-16T20:11:34.286Z,1645042294.286 [trackPatchOil:Science:A] Running Loop=1
2022-02-16T20:11:34.286Z,1645042294.286 [trackPatchOil:Science:A](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_oxygen_in_sea_water
2022-02-16T20:11:34.286Z,1645042294.286 [trackPatchOil:I.Buoyancy] Running Loop=1
2022-02-16T20:11:34.287Z,1645042294.287 [trackPatchOil:H.Pitch] Running Loop=1
2022-02-16T20:11:34.287Z,1645042294.287 [trackPatchOil:G.WaterDepthEnvelope] Running Loop=1
2022-02-16T20:11:34.287Z,1645042294.287 [trackPatchOil:F.OffshoreEnvelope] Running Loop=1
2022-02-16T20:11:34.293Z,1645042294.293 [trackPatchOil:SurfaceCommsSplit:B] Running Loop=1
2022-02-16T20:11:34.293Z,1645042294.293 [trackPatchOil:SurfaceCommsSplit:B](DEBUG): Aggregate::initialize trackPatchOil:SurfaceCommsSplit:B
2022-02-16T20:11:34.293Z,1645042294.293 [trackPatchOil:SurfaceCommsSplit:B:A] Running Loop=1
2022-02-16T20:11:34.293Z,1645042294.293 [trackPatchOil:B.DepthEnvelope] Running Loop=1
2022-02-16T20:11:34.294Z,1645042294.294 [trackPatchOil:A.AltitudeEnvelope] Running Loop=1
2022-02-16T20:11:34.319Z,1645042294.319 [Reporter](INFO): mass_concentration_of_petroleum_hydrocarbons_in_sea_water nan kg/m3
2022-02-16T20:11:34.646Z,1645042294.646 [trackPatchOil:SurfaceCommsSplit:B:A](INFO): ##UnpackSplit##
2022-02-16T20:11:34.646Z,1645042294.646 [trackPatchOil:SurfaceCommsSplit:B:A] Stopped
2022-02-16T20:11:34.646Z,1645042294.646 [trackPatchOil:SurfaceCommsSplit:B](INFO): Completed trackPatchOil:SurfaceCommsSplit:B
2022-02-16T20:11:34.646Z,1645042294.646 [trackPatchOil:SurfaceCommsSplit:B] Stopped
2022-02-16T20:11:34.646Z,1645042294.646 [trackPatchOil:SurfaceCommsSplit:B](DEBUG): Aggregate::uninitialize trackPatchOil:SurfaceCommsSplit:B
2022-02-16T20:11:34.646Z,1645042294.646 [trackPatchOil:SurfaceCommsSplit:C] Running Loop=1
2022-02-16T20:11:34.647Z,1645042294.647 [trackPatchOil:SurfaceCommsSplit:C](DEBUG): Aggregate::initialize trackPatchOil:SurfaceCommsSplit:C
2022-02-16T20:11:34.647Z,1645042294.647 [trackPatchOil:SurfaceCommsSplit:C:A] Running Loop=1
2022-02-16T20:11:35.043Z,1645042295.043 [trackPatchOil:L.Pitch] Preempted
2022-02-16T20:11:35.043Z,1645042295.043 [trackPatchOil:K.SetSpeed] Preempted
2022-02-16T20:11:35.044Z,1645042295.044 [trackPatchOil:Science] Preempted
2022-02-16T20:11:35.044Z,1645042295.044 [trackPatchOil:Science:A] Preempted
2022-02-16T20:11:35.044Z,1645042295.044 [trackPatchOil:Science:Read_Oil] Preempted
2022-02-16T20:11:35.044Z,1645042295.044 [trackPatchOil:I.Buoyancy] Preempted
2022-02-16T20:11:35.044Z,1645042295.044 [trackPatchOil:H.Pitch] Preempted
2022-02-16T20:11:35.044Z,1645042295.044 [trackPatchOil:G.WaterDepthEnvelope] Preempted
2022-02-16T20:11:35.044Z,1645042295.044 [trackPatchOil:F.OffshoreEnvelope] Preempted
2022-02-16T20:11:35.045Z,1645042295.045 [trackPatchOil:SurfaceCommsSplit:C:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2022-02-16T20:11:35.045Z,1645042295.045 [trackPatchOil:SurfaceCommsSplit:C:A] Stopped
2022-02-16T20:11:35.045Z,1645042295.045 [trackPatchOil:SurfaceCommsSplit:C:B] Running Loop=1
2022-02-16T20:11:35.447Z,1645042295.447 [trackPatchOil:SurfaceCommsSplit:C:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2022-02-16T20:11:35.890Z,1645042295.890 [Micromodem](INFO): No more packets to send
2022-02-16T20:11:35.907Z,1645042295.907 [trackPatchOil:SurfaceCommsSplit:C:B] Stopped
2022-02-16T20:11:35.907Z,1645042295.907 [trackPatchOil:SurfaceCommsSplit:C:C] Running Loop=1
2022-02-16T20:11:35.908Z,1645042295.908 [trackPatchOil:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2022-02-16T20:11:36.309Z,1645042296.309 [trackPatchOil:SurfaceCommsSplit:C:C](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2022-02-16T20:11:36.309Z,1645042296.309 [trackPatchOil:SurfaceCommsSplit:C:C] Stopped
2022-02-16T20:11:36.309Z,1645042296.309 [trackPatchOil:SurfaceCommsSplit:C](INFO): Completed trackPatchOil:SurfaceCommsSplit:C
2022-02-16T20:11:36.309Z,1645042296.309 [trackPatchOil:SurfaceCommsSplit:C] Stopped
2022-02-16T20:11:36.309Z,1645042296.309 [trackPatchOil:SurfaceCommsSplit:C](DEBUG): Aggregate::uninitialize trackPatchOil:SurfaceCommsSplit:C
2022-02-16T20:11:36.310Z,1645042296.310 [trackPatchOil:SurfaceCommsSplit](INFO): Completed trackPatchOil:SurfaceCommsSplit
2022-02-16T20:11:36.310Z,1645042296.310 [trackPatchOil:SurfaceCommsSplit] Stopped
2022-02-16T20:11:36.310Z,1645042296.310 [trackPatchOil:SurfaceCommsSplit](DEBUG): Aggregate::uninitialize trackPatchOil:SurfaceCommsSplit
2022-02-16T20:11:36.310Z,1645042296.310 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface] Stopped
2022-02-16T20:11:36.310Z,1645042296.310 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2022-02-16T20:11:36.311Z,1645042296.311 [trackPatchOil:PatchDetectHorizontal] Running Loop=1
2022-02-16T20:11:36.311Z,1645042296.311 [trackPatchOil:PatchDetectHorizontal](DEBUG): Aggregate::initialize trackPatchOil:PatchDetectHorizontal
2022-02-16T20:11:36.311Z,1645042296.311 [trackPatchOil:PatchDetectHorizontal:AssignPatchDetectOn] Running Loop=1
2022-02-16T20:11:36.667Z,1645042296.667 [trackPatchOil:PatchDetectHorizontal:AssignPatchDetectOn] Stopped
2022-02-16T20:11:36.667Z,1645042296.667 [trackPatchOil:PatchDetectHorizontal:C] Running Loop=1
2022-02-16T20:11:36.668Z,1645042296.668 [trackPatchOil:L.Pitch] Running Loop=1
2022-02-16T20:11:36.668Z,1645042296.668 [trackPatchOil:K.SetSpeed] Running Loop=1
2022-02-16T20:11:36.668Z,1645042296.668 [trackPatchOil:Science] Running Loop=1
2022-02-16T20:11:36.669Z,1645042296.669 [trackPatchOil:Science:Read_Oil] Running Loop=1
2022-02-16T20:11:36.669Z,1645042296.669 [trackPatchOil:Science:A] Running Loop=1
2022-02-16T20:11:36.670Z,1645042296.670 [trackPatchOil:I.Buoyancy] Running Loop=1
2022-02-16T20:11:36.670Z,1645042296.670 [trackPatchOil:H.Pitch] Running Loop=1
2022-02-16T20:11:36.670Z,1645042296.670 [trackPatchOil:G.WaterDepthEnvelope] Running Loop=1
2022-02-16T20:11:36.670Z,1645042296.670 [trackPatchOil:F.OffshoreEnvelope] Running Loop=1
2022-02-16T20:11:37.063Z,1645042297.063 [trackPatchOil:PatchDetectHorizontal:C](INFO): Bearing for CrossLeg: 90.000000 arcdeg 
2022-02-16T20:11:37.063Z,1645042297.063 [trackPatchOil:PatchDetectHorizontal:C] Stopped
2022-02-16T20:11:37.063Z,1645042297.063 [trackPatchOil:PatchDetectHorizontal:CrossLeg] Running Loop=1
2022-02-16T20:11:37.063Z,1645042297.063 [trackPatchOil:PatchDetectHorizontal:CrossLeg](DEBUG): Aggregate::initialize trackPatchOil:PatchDetectHorizontal:CrossLeg
2022-02-16T20:11:37.063Z,1645042297.063 [trackPatchOil:PatchDetectHorizontal:CrossLeg:CrossSurfaceWp.Waypoint] Running Loop=1
2022-02-16T20:11:37.064Z,1645042297.064 [trackPatchOil:PatchDetectHorizontal:CrossLeg:CrossSurfaceWp.Waypoint](DEBUG): Initialize WaypointComponent.
2022-02-16T20:11:37.114Z,1645042297.114 [trackPatchOil:PatchDetectHorizontal:PatchDetection] Running Loop=1
2022-02-16T20:11:37.114Z,1645042297.114 [trackPatchOil:PatchDetectHorizontal:PatchDetection](DEBUG): Aggregate::initialize trackPatchOil:PatchDetectHorizontal:PatchDetection
2022-02-16T20:11:37.114Z,1645042297.114 [trackPatchOil:PatchDetectHorizontal:PatchDetection:PatchTrackTrigger.PatchTrack] Running Loop=1
2022-02-16T20:11:37.114Z,1645042297.114 [trackPatchOil:PatchDetectHorizontal:PatchDetection:PatchTrackTrigger.PatchTrack](INFO): Initialize.
2022-02-16T20:11:42.682Z,1645042302.682 [CommandExec](IMPORTANT): got command get depth
2022-02-16T20:11:42.682Z,1645042302.682 [CommandExec](IMPORTANT): depth 1.000000 m
2022-02-16T20:11:49.465Z,1645042309.465 [NavChartDb](INFO): Done scanning nodes of Resources/ElectronicNavigationCharts/US5OH07M.000
2022-02-16T20:11:50.289Z,1645042310.289 [CommandExec](IMPORTANT): got command report
2022-02-16T20:11:50.289Z,1645042310.289 [Reporter](INFO): mass_concentration_of_petroleum_hydrocarbons_in_sea_water reporting changes
2022-02-16T20:11:51.482Z,1645042311.482 [NavChartDb](INFO): # of records loaded: 53579
2022-02-16T20:11:51.491Z,1645042311.491 [NavChartDb](IMPORTANT): Loaded Electronic Nav Chart data from US5OH07M.000
2022-02-16T20:11:51.492Z,1645042311.492 [NavChartDb](INFO): Setup scan of Resources/ElectronicNavigationCharts/US5MI07M.000
2022-02-16T20:11:56.996Z,1645042316.996 [NavChartDb](INFO): Done scanning features of Resources/ElectronicNavigationCharts/US5MI07M.000
2022-02-16T20:12:06.201Z,1645042326.201 [CommandExec](IMPORTANT): got command show variable timeAdjust
2022-02-16T20:12:06.426Z,1645042326.426 [CommandExec](IMPORTANT): InternalEnvSim.timeAdjust (second)
2022-02-16T20:12:06.662Z,1645042326.662 [NAL9602](INFO): Not Powering down - fast GPS
2022-02-16T20:12:11.252Z,1645042331.252 [NavChartDb](INFO): # of records loaded: 5000
2022-02-16T20:12:16.112Z,1645042336.112 [CommandExec](IMPORTANT): got command get InternalEnvSim.timeAdjust
2022-02-16T20:12:16.112Z,1645042336.112 [CommandExec](IMPORTANT): InternalEnvSim.timeAdjust 86400.000000 s
2022-02-16T20:12:27.145Z,1645042347.145 [NavChartDb](INFO): # of records loaded: 10000
2022-02-16T20:12:35.816Z,1645042355.816 [NavChartDb](INFO): # of records loaded: 15000
2022-02-16T20:12:41.163Z,1645042361.163 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2022-02-16T20:12:41.164Z,1645042361.164 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2022-02-16T20:12:41.164Z,1645042361.164 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2022-02-16T20:12:41.167Z,1645042361.167 [trackPatchOil:PatchDetectHorizontal:CrossLeg:CrossSurfaceWp.Waypoint](ERROR): Location not readable.
2022-02-16T20:12:41.208Z,1645042361.208 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2022-02-16T20:12:41.564Z,1645042361.564 [trackPatchOil:PatchDetectHorizontal:CrossLeg:CrossSurfaceWp.Waypoint](ERROR): Location not readable.
2022-02-16T20:12:41.576Z,1645042361.576 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2022-02-16T20:12:41.576Z,1645042361.576 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 0
2022-02-16T20:12:44.552Z,1645042364.552 [NavChartDb](INFO): # of records loaded: 20000
2022-02-16T20:12:55.708Z,1645042375.708 [NavChartDb](INFO): # of records loaded: 25000
2022-02-16T20:13:03.638Z,1645042383.638 [CommandExec](IMPORTANT): got command set NAL9602.time_fix 1645042375 second
2022-02-16T20:13:06.702Z,1645042386.702 [NavChartDb](INFO): Calculating coverage of Resources/ElectronicNavigationCharts/US5MI07M.000
2022-02-16T20:13:07.573Z,1645042387.573 [NavChartDb](INFO): # of records loaded: 30000
2022-02-16T20:13:19.189Z,1645042399.189 [NavChartDb](INFO): # of records loaded: 35000
2022-02-16T20:13:33.615Z,1645042413.615 [CommandExec](IMPORTANT): got command get WetLabsSeaOWL_UV_A.simulateHardware
2022-02-16T20:13:33.615Z,1645042413.615 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.simulateHardware 1 bool
2022-02-16T20:13:38.231Z,1645042418.231 [NavChartDb](INFO): Done scanning edges of Resources/ElectronicNavigationCharts/US5MI07M.000
2022-02-16T20:13:39.244Z,1645042419.244 [NavChartDb](INFO): # of records loaded: 40000
2022-02-16T20:13:41.781Z,1645042421.781 [CommandExec](IMPORTANT): got command show stack
2022-02-16T20:13:41.781Z,1645042421.781 [CommandExec](IMPORTANT): Behavior Stack:

2022-02-16T20:13:41.782Z,1645042421.782 [trackPatchOil](IMPORTANT): Priority 0: trackPatchOil:A.AltitudeEnvelope
2022-02-16T20:13:41.782Z,1645042421.782 [trackPatchOil](IMPORTANT): Priority 1: trackPatchOil:B.DepthEnvelope
2022-02-16T20:13:41.782Z,1645042421.782 [trackPatchOil](IMPORTANT): Priority 2: trackPatchOil:F.OffshoreEnvelope
2022-02-16T20:13:41.783Z,1645042421.783 [trackPatchOil](IMPORTANT): Priority 3: trackPatchOil:G.WaterDepthEnvelope
2022-02-16T20:13:41.783Z,1645042421.783 [trackPatchOil](IMPORTANT): Priority 4: trackPatchOil:H.Pitch
2022-02-16T20:13:41.783Z,1645042421.783 [trackPatchOil](IMPORTANT): Priority 5: trackPatchOil:I.Buoyancy
2022-02-16T20:13:41.784Z,1645042421.784 [trackPatchOil:Science](IMPORTANT): Priority 6: trackPatchOil:Science:A
2022-02-16T20:13:41.785Z,1645042421.785 [trackPatchOil:Science](IMPORTANT): Priority 7: trackPatchOil:Science:Read_Oil
2022-02-16T20:13:41.785Z,1645042421.785 [trackPatchOil:Science:OceanCurrent](IMPORTANT): Priority 8: trackPatchOil:Science:OceanCurrent:A.
2022-02-16T20:13:41.785Z,1645042421.785 [trackPatchOil](IMPORTANT): Priority 9: trackPatchOil:K.SetSpeed
2022-02-16T20:13:41.786Z,1645042421.786 [trackPatchOil](IMPORTANT): Priority 10: trackPatchOil:L.Pitch
2022-02-16T20:13:41.786Z,1645042421.786 [trackPatchOil:PatchDetectHorizontal:PatchDetection](IMPORTANT): Priority 11: trackPatchOil:PatchDetectHorizontal:PatchDetection:PatchTrackTrigger.PatchTrack
2022-02-16T20:13:41.786Z,1645042421.786 [trackPatchOil:PatchDetectHorizontal:CrossLeg](IMPORTANT): Priority 12: trackPatchOil:PatchDetectHorizontal:CrossLeg:CrossSurfaceWp.Waypoint
2022-02-16T20:13:59.664Z,1645042439.664 [CommandExec](IMPORTANT): got command get VerticalControl.depthCmd
2022-02-16T20:13:59.664Z,1645042439.664 [CommandExec](IMPORTANT): VerticalControl.depthCmd 3.000000 m
2022-02-16T20:14:06.478Z,1645042446.478 [NavChartDb](INFO): # of records loaded: 45000
2022-02-16T20:14:12.136Z,1645042452.136 [NavChartDb](INFO): Done scanning nodes of Resources/ElectronicNavigationCharts/US5MI07M.000
2022-02-16T20:14:12.700Z,1645042452.700 [CommandExec](IMPORTANT): got command maintain sensor Depth_Keller.depth 3 meter
2022-02-16T20:14:15.320Z,1645042455.320 [CommandExec](IMPORTANT): got command get depth
2022-02-16T20:14:15.321Z,1645042455.321 [CommandExec](IMPORTANT): depth 3.000000 m
2022-02-16T20:14:16.190Z,1645042456.190 [NavChartDb](INFO): # of records loaded: 46075
2022-02-16T20:14:16.199Z,1645042456.199 [NavChartDb](IMPORTANT): Loaded Electronic Nav Chart data from US5MI07M.000
2022-02-16T20:14:16.200Z,1645042456.200 [NavChartDb](INFO): Setup scan of Resources/ElectronicNavigationCharts/US4MI11M.000
2022-02-16T20:14:16.789Z,1645042456.789 [CommandExec](IMPORTANT): got command show stack
2022-02-16T20:14:16.789Z,1645042456.789 [CommandExec](IMPORTANT): Behavior Stack:

2022-02-16T20:14:16.790Z,1645042456.790 [trackPatchOil](IMPORTANT): Priority 0: trackPatchOil:A.AltitudeEnvelope
2022-02-16T20:14:16.790Z,1645042456.790 [trackPatchOil](IMPORTANT): Priority 1: trackPatchOil:B.DepthEnvelope
2022-02-16T20:14:16.791Z,1645042456.791 [trackPatchOil](IMPORTANT): Priority 2: trackPatchOil:F.OffshoreEnvelope
2022-02-16T20:14:16.791Z,1645042456.791 [trackPatchOil](IMPORTANT): Priority 3: trackPatchOil:G.WaterDepthEnvelope
2022-02-16T20:14:16.791Z,1645042456.791 [trackPatchOil](IMPORTANT): Priority 4: trackPatchOil:H.Pitch
2022-02-16T20:14:16.791Z,1645042456.791 [trackPatchOil](IMPORTANT): Priority 5: trackPatchOil:I.Buoyancy
2022-02-16T20:14:16.845Z,1645042456.845 [trackPatchOil:Science](IMPORTANT): Priority 6: trackPatchOil:Science:A
2022-02-16T20:14:16.845Z,1645042456.845 [trackPatchOil:Science](IMPORTANT): Priority 7: trackPatchOil:Science:Read_Oil
2022-02-16T20:14:16.845Z,1645042456.845 [trackPatchOil:Science:OceanCurrent](IMPORTANT): Priority 8: trackPatchOil:Science:OceanCurrent:A.
2022-02-16T20:14:16.846Z,1645042456.846 [trackPatchOil](IMPORTANT): Priority 9: trackPatchOil:K.SetSpeed
2022-02-16T20:14:16.846Z,1645042456.846 [trackPatchOil](IMPORTANT): Priority 10: trackPatchOil:L.Pitch
2022-02-16T20:14:16.846Z,1645042456.846 [trackPatchOil:PatchDetectHorizontal:PatchDetection](IMPORTANT): Priority 11: trackPatchOil:PatchDetectHorizontal:PatchDetection:PatchTrackTrigger.PatchTrack
2022-02-16T20:14:16.847Z,1645042456.847 [trackPatchOil:PatchDetectHorizontal:CrossLeg](IMPORTANT): Priority 12: trackPatchOil:PatchDetectHorizontal:CrossLeg:CrossSurfaceWp.Waypoint
2022-02-16T20:14:21.065Z,1645042461.065 [NavChartDb](INFO): Done scanning features of Resources/ElectronicNavigationCharts/US4MI11M.000
2022-02-16T20:14:28.517Z,1645042468.517 [CommandExec](IMPORTANT): got command get SpeedControl.propOmegaAction
2022-02-16T20:14:28.518Z,1645042468.518 [CommandExec](IMPORTANT): SpeedControl.propOmegaAction 31.416014 rad/s
2022-02-16T20:14:35.983Z,1645042475.983 [NavChartDb](INFO): # of records loaded: 5000
2022-02-16T20:14:36.907Z,1645042476.907 [CommandExec](IMPORTANT): got command get SpeedControl.propOmegaAction revolution_per_minute
2022-02-16T20:14:36.907Z,1645042476.907 [CommandExec](IMPORTANT): SpeedControl.propOmegaAction 300.000824 rpm
2022-02-16T20:14:41.995Z,1645042481.995 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2022-02-16T20:14:41.995Z,1645042481.995 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2022-02-16T20:14:41.995Z,1645042481.995 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2022-02-16T20:14:42.011Z,1645042482.011 [trackPatchOil:PatchDetectHorizontal:CrossLeg:CrossSurfaceWp.Waypoint](ERROR): Location not readable.
2022-02-16T20:14:42.065Z,1645042482.065 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2022-02-16T20:14:42.414Z,1645042482.414 [trackPatchOil:PatchDetectHorizontal:CrossLeg:CrossSurfaceWp.Waypoint](ERROR): Location not readable.
2022-02-16T20:14:42.436Z,1645042482.436 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2022-02-16T20:14:42.436Z,1645042482.436 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 0
2022-02-16T20:14:42.646Z,1645042482.646 [NavChartDb](INFO): # of records loaded: 10000
2022-02-16T20:14:44.338Z,1645042484.338 [CommandExec](IMPORTANT): got command show variable hydrocarbons
2022-02-16T20:14:44.341Z,1645042484.341 [CommandExec](IMPORTANT): mass_concentration_of_petroleum_hydrocarbons_in_sea_water (kilogram_per_cubic_meter)
2022-02-16T20:14:44.541Z,1645042484.541 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.mass_concentration_of_petroleum_hydrocarbons_in_sea_water (kilogram_per_cubic_meter)
2022-02-16T20:14:51.293Z,1645042491.293 [NavChartDb](INFO): # of records loaded: 15000
2022-02-16T20:14:59.713Z,1645042499.713 [NavChartDb](INFO): # of records loaded: 20000
2022-02-16T20:15:09.974Z,1645042509.974 [CommandExec](IMPORTANT): got command get WetLabsSeaOWL_UV_A.mass_concentration_of_petroleum_hydrocarbons_in_sea_water
2022-02-16T20:15:09.974Z,1645042509.974 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.mass_concentration_of_petroleum_hydrocarbons_in_sea_water nan kg/m3
2022-02-16T20:15:14.475Z,1645042514.475 [NavChartDb](INFO): # of records loaded: 25000
2022-02-16T20:15:14.781Z,1645042514.781 [CommandExec](IMPORTANT): got command show variable internalSim
2022-02-16T20:15:14.910Z,1645042514.910 [CommandExec](IMPORTANT): InternalSim.loadAtStartup (bool)
2022-02-16T20:15:23.915Z,1645042523.915 [CommandExec](IMPORTANT): got command get InternalSim.loadAtStartup
2022-02-16T20:15:23.915Z,1645042523.915 [CommandExec](IMPORTANT): InternalSim.loadAtStartup 0 bool
2022-02-16T20:15:25.852Z,1645042525.852 [NavChartDb](INFO): # of records loaded: 30000
2022-02-16T20:15:35.296Z,1645042535.296 [NavChartDb](INFO): # of records loaded: 35000
2022-02-16T20:15:39.769Z,1645042539.769 [NavChartDb](INFO): Calculating coverage of Resources/ElectronicNavigationCharts/US4MI11M.000
2022-02-16T20:15:44.215Z,1645042544.215 [NavChartDb](INFO): # of records loaded: 40000
2022-02-16T20:15:55.913Z,1645042555.913 [NavChartDb](INFO): # of records loaded: 45000
2022-02-16T20:16:02.041Z,1645042562.041 [NavChartDb](INFO): Done scanning edges of Resources/ElectronicNavigationCharts/US4MI11M.000
2022-02-16T20:16:10.981Z,1645042570.981 [NavChartDb](INFO): # of records loaded: 50000
2022-02-16T20:16:20.783Z,1645042580.783 [NavChartDb](INFO): Done scanning nodes of Resources/ElectronicNavigationCharts/US4MI11M.000
2022-02-16T20:16:24.374Z,1645042584.374 [NavChartDb](INFO): # of records loaded: 52197
2022-02-16T20:16:24.380Z,1645042584.380 [NavChartDb](IMPORTANT): Loaded Electronic Nav Chart data from US4MI11M.000
2022-02-16T20:16:24.381Z,1645042584.381 [NavChartDb](INFO): Setup scan of Resources/ElectronicNavigationCharts/US4MI89M.000
2022-02-16T20:16:25.536Z,1645042585.536 [NavChartDb](INFO): Done scanning features of Resources/ElectronicNavigationCharts/US4MI89M.000
2022-02-16T20:16:35.408Z,1645042595.408 [NavChartDb](INFO): # of records loaded: 5000
2022-02-16T20:16:42.919Z,1645042602.919 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2022-02-16T20:16:42.919Z,1645042602.919 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2022-02-16T20:16:42.919Z,1645042602.919 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2022-02-16T20:16:42.931Z,1645042602.931 [trackPatchOil:PatchDetectHorizontal:CrossLeg:CrossSurfaceWp.Waypoint](ERROR): Location not readable.
2022-02-16T20:16:42.993Z,1645042602.993 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2022-02-16T20:16:43.362Z,1645042603.362 [trackPatchOil:PatchDetectHorizontal:CrossLeg:CrossSurfaceWp.Waypoint](ERROR): Location not readable.
2022-02-16T20:16:43.403Z,1645042603.403 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2022-02-16T20:16:43.403Z,1645042603.403 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 0
2022-02-16T20:16:45.309Z,1645042605.309 [NavChartDb](INFO): # of records loaded: 10000
2022-02-16T20:16:50.367Z,1645042610.367 [NavChartDb](INFO): Calculating coverage of Resources/ElectronicNavigationCharts/US4MI89M.000
2022-02-16T20:16:50.797Z,1645042610.797 [NavChartDb](INFO): Done scanning edges of Resources/ElectronicNavigationCharts/US4MI89M.000
2022-02-16T20:16:51.062Z,1645042611.062 [CommandExec](IMPORTANT): got command show variable INternalEnv
2022-02-16T20:16:51.153Z,1645042611.153 [CommandExec](IMPORTANT): InternalEnvSim.loadAtStartup (bool)
2022-02-16T20:16:51.153Z,1645042611.153 [CommandExec](IMPORTANT): InternalEnvSim.nc3File (none)
2022-02-16T20:16:51.153Z,1645042611.153 [CommandExec](IMPORTANT): InternalEnvSim.var1 (none)
2022-02-16T20:16:51.154Z,1645042611.154 [CommandExec](IMPORTANT): InternalEnvSim.var2 (none)
2022-02-16T20:16:51.154Z,1645042611.154 [CommandExec](IMPORTANT): InternalEnvSim.var3 (none)
2022-02-16T20:16:51.155Z,1645042611.155 [CommandExec](IMPORTANT): InternalEnvSim.var4 (none)
2022-02-16T20:16:51.155Z,1645042611.155 [CommandExec](IMPORTANT): InternalEnvSim.var5 (none)
2022-02-16T20:16:51.155Z,1645042611.155 [CommandExec](IMPORTANT): InternalEnvSim.var6 (none)
2022-02-16T20:16:51.156Z,1645042611.156 [CommandExec](IMPORTANT): InternalEnvSim.att1 (none)
2022-02-16T20:16:51.156Z,1645042611.156 [CommandExec](IMPORTANT): InternalEnvSim.att2 (none)
2022-02-16T20:16:51.156Z,1645042611.157 [CommandExec](IMPORTANT): InternalEnvSim.att3 (none)
2022-02-16T20:16:51.157Z,1645042611.157 [CommandExec](IMPORTANT): InternalEnvSim.att4 (none)
2022-02-16T20:16:51.157Z,1645042611.157 [CommandExec](IMPORTANT): InternalEnvSim.att5 (none)
2022-02-16T20:16:51.158Z,1645042611.158 [CommandExec](IMPORTANT): InternalEnvSim.att6 (none)
2022-02-16T20:16:51.158Z,1645042611.158 [CommandExec](IMPORTANT): InternalEnvSim.timeAdjust (second)
2022-02-16T20:16:51.381Z,1645042611.381 [CommandExec](IMPORTANT): InternalEnvSim.enableBroadcast (bool)
2022-02-16T20:16:56.754Z,1645042616.754 [NavChartDb](INFO): Done scanning nodes of Resources/ElectronicNavigationCharts/US4MI89M.000
2022-02-16T20:16:58.487Z,1645042618.487 [NavChartDb](INFO): # of records loaded: 14969
2022-02-16T20:16:58.490Z,1645042618.490 [NavChartDb](IMPORTANT): Loaded Electronic Nav Chart data from US4MI89M.000
2022-02-16T20:16:58.500Z,1645042618.500 [NavChartDb](INFO): Setup scan of Resources/ElectronicNavigationCharts/US2MI01M.000
2022-02-16T20:16:59.756Z,1645042619.756 [CommandExec](IMPORTANT): got command get InternalEnvSim.loadAtStartup
2022-02-16T20:16:59.756Z,1645042619.756 [CommandExec](IMPORTANT): InternalEnvSim.loadAtStartup 1 bool
2022-02-16T20:16:59.805Z,1645042619.805 [NavChartDb](INFO): Done scanning features of Resources/ElectronicNavigationCharts/US2MI01M.000
2022-02-16T20:17:08.895Z,1645042628.895 [NavChartDb](INFO): # of records loaded: 5000
2022-02-16T20:17:11.988Z,1645042631.988 [NavChartDb](INFO): Calculating coverage of Resources/ElectronicNavigationCharts/US2MI01M.000
2022-02-16T20:17:12.329Z,1645042632.329 [NavChartDb](INFO): Done scanning edges of Resources/ElectronicNavigationCharts/US2MI01M.000
2022-02-16T20:17:14.924Z,1645042634.924 [NavChartDb](INFO): Done scanning nodes of Resources/ElectronicNavigationCharts/US2MI01M.000
2022-02-16T20:17:16.208Z,1645042636.208 [NavChartDb](INFO): # of records loaded: 7824
2022-02-16T20:17:16.211Z,1645042636.211 [NavChartDb](IMPORTANT): Loaded Electronic Nav Chart data from US2MI01M.000
2022-02-16T20:17:18.088Z,1645042638.088 [NavChartDb](INFO): Creating index for soundings
2022-02-16T20:17:47.664Z,1645042667.664 [NavChartDb](INFO): Creating index for 0p0
2022-02-16T20:17:57.034Z,1645042677.034 [NavChartDb](INFO): Creating index for 1p8
2022-02-16T20:17:59.945Z,1645042679.945 [NavChartDb](INFO): Creating index for 3p6
2022-02-16T20:18:02.015Z,1645042682.015 [NavChartDb](INFO): Creating index for 5p4
2022-02-16T20:18:04.183Z,1645042684.183 [NavChartDb](INFO): Creating index for 7p3
2022-02-16T20:18:05.941Z,1645042685.941 [NavChartDb](INFO): Creating index for 9p1
2022-02-16T20:18:23.048Z,1645042703.048 [CommandExec](IMPORTANT): got command failComponent
2022-02-16T20:18:23.049Z,1645042703.049 [CommandExec](IMPORTANT): Failed components:
2022-02-16T20:18:23.049Z,1645042703.049 [CommandExec](IMPORTANT): No failed Components.
2022-02-16T20:18:44.106Z,1645042724.106 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2022-02-16T20:18:44.106Z,1645042724.106 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2022-02-16T20:18:44.106Z,1645042724.106 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2022-02-16T20:18:44.113Z,1645042724.113 [trackPatchOil:PatchDetectHorizontal:CrossLeg:CrossSurfaceWp.Waypoint](ERROR): Location not readable.
2022-02-16T20:18:44.125Z,1645042724.125 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2022-02-16T20:18:44.489Z,1645042724.489 [trackPatchOil:PatchDetectHorizontal:CrossLeg:CrossSurfaceWp.Waypoint](ERROR): Location not readable.
2022-02-16T20:18:44.501Z,1645042724.501 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2022-02-16T20:18:44.501Z,1645042724.501 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 0
2022-02-16T20:18:52.233Z,1645042732.233 [CommandExec](IMPORTANT): got command quit
2022-02-16T20:18:53.236Z,1645042733.236 [Supervisor](INFO): Stop Mission called by Supervisor::terminate
2022-02-16T20:18:53.236Z,1645042733.236 [CommandExec ThreadHandler](INFO): Uninitializing protected caller thread.
2022-02-16T20:18:53.236Z,1645042733.236 [CommandExec](INFO): Uninitializing the command executive.
2022-02-16T20:18:53.236Z,1645042733.236 [CommandExec](INFO): Uninitializing the command scheduler.
2022-02-16T20:18:53.237Z,1645042733.237 [CommandExec ThreadHandler](INFO): Thread cancelled.
2022-02-16T20:18:53.256Z,1645042733.256 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2022-02-16T20:18:53.256Z,1645042733.256 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2022-02-16T20:18:53.256Z,1645042733.256 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2022-02-16T20:18:53.257Z,1645042733.257 [NavChartDb](INFO): Join timeout helper Thread ID is 9380
2022-02-16T20:18:53.336Z,1645042733.336 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2022-02-16T20:18:53.336Z,1645042733.336 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2022-02-16T20:18:53.340Z,1645042733.340 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2022-02-16T20:18:53.340Z,1645042733.340 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2022-02-16T20:18:53.341Z,1645042733.341 [Radio_Surface](INFO): Join timeout helper Thread ID is 9381
2022-02-16T20:18:53.393Z,1645042733.393 [MissionManager](INFO): MissionManager is completed.
2022-02-16T20:18:53.394Z,1645042733.394 [MissionManager](INFO): Uninitializing Mission trackPatchOil
2022-02-16T20:18:53.394Z,1645042733.394 [trackPatchOil] Stopped
2022-02-16T20:18:53.394Z,1645042733.394 [trackPatchOil](DEBUG): Aggregate::uninitialize trackPatchOil
2022-02-16T20:18:53.394Z,1645042733.394 [trackPatchOil:A.AltitudeEnvelope] Stopped
2022-02-16T20:18:53.394Z,1645042733.394 [trackPatchOil:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2022-02-16T20:18:53.394Z,1645042733.394 [trackPatchOil:B.DepthEnvelope] Stopped
2022-02-16T20:18:53.394Z,1645042733.394 [trackPatchOil:B.DepthEnvelope](DEBUG): Uninitialize.
2022-02-16T20:18:53.394Z,1645042733.394 [trackPatchOil:F.OffshoreEnvelope] Stopped
2022-02-16T20:18:53.394Z,1645042733.394 [trackPatchOil:F.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2022-02-16T20:18:53.394Z,1645042733.394 [trackPatchOil:G.WaterDepthEnvelope] Stopped
2022-02-16T20:18:53.394Z,1645042733.394 [trackPatchOil:G.WaterDepthEnvelope](DEBUG): Uninitialize WaterDepthEnvelopeComponent.
2022-02-16T20:18:53.395Z,1645042733.395 [trackPatchOil:H.Pitch] Stopped
2022-02-16T20:18:53.395Z,1645042733.395 [trackPatchOil:I.Buoyancy] Stopped
2022-02-16T20:18:53.395Z,1645042733.395 [trackPatchOil:I.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2022-02-16T20:18:53.395Z,1645042733.395 [trackPatchOil:Science] Stopped
2022-02-16T20:18:53.395Z,1645042733.395 [trackPatchOil:Science](DEBUG): Aggregate::uninitialize trackPatchOil:Science
2022-02-16T20:18:53.395Z,1645042733.395 [trackPatchOil:Science:A] Stopped
2022-02-16T20:18:53.395Z,1645042733.395 [trackPatchOil:Science:Read_Oil] Stopped
2022-02-16T20:18:53.395Z,1645042733.395 [trackPatchOil:Science:OceanCurrent] Stopped
2022-02-16T20:18:53.395Z,1645042733.395 [trackPatchOil:Science:OceanCurrent](DEBUG): Aggregate::uninitialize trackPatchOil:Science:OceanCurrent
2022-02-16T20:18:53.395Z,1645042733.395 [trackPatchOil:Science:OceanCurrent:A.] Stopped
2022-02-16T20:18:53.395Z,1645042733.395 [trackPatchOil:K.SetSpeed] Stopped
2022-02-16T20:18:53.395Z,1645042733.395 [trackPatchOil:K.SetSpeed](DEBUG): Uninitialize.
2022-02-16T20:18:53.395Z,1645042733.395 [trackPatchOil:L.Pitch] Stopped
2022-02-16T20:18:53.400Z,1645042733.400 [trackPatchOil:PatchDetectHorizontal] Stopped
2022-02-16T20:18:53.400Z,1645042733.400 [trackPatchOil:PatchDetectHorizontal](DEBUG): Aggregate::uninitialize trackPatchOil:PatchDetectHorizontal
2022-02-16T20:18:53.400Z,1645042733.400 [trackPatchOil:PatchDetectHorizontal:PatchDetection] Stopped
2022-02-16T20:18:53.400Z,1645042733.400 [trackPatchOil:PatchDetectHorizontal:PatchDetection](DEBUG): Aggregate::uninitialize trackPatchOil:PatchDetectHorizontal:PatchDetection
2022-02-16T20:18:53.400Z,1645042733.400 [trackPatchOil:PatchDetectHorizontal:PatchDetection:PatchTrackTrigger.PatchTrack] Stopped
2022-02-16T20:18:53.400Z,1645042733.400 [trackPatchOil:PatchDetectHorizontal:PatchDetection:PatchTrackTrigger.PatchTrack](DEBUG): Uninitialize.
2022-02-16T20:18:53.401Z,1645042733.401 [trackPatchOil:PatchDetectHorizontal:CrossLeg] Stopped
2022-02-16T20:18:53.401Z,1645042733.401 [trackPatchOil:PatchDetectHorizontal:CrossLeg](DEBUG): Aggregate::uninitialize trackPatchOil:PatchDetectHorizontal:CrossLeg
2022-02-16T20:18:53.401Z,1645042733.401 [trackPatchOil:PatchDetectHorizontal:CrossLeg:CrossSurfaceWp.Waypoint] Stopped
2022-02-16T20:18:53.401Z,1645042733.401 [trackPatchOil:PatchDetectHorizontal:CrossLeg:CrossSurfaceWp.Waypoint](DEBUG): Uninitialize WaypointComponent.
2022-02-16T20:18:53.536Z,1645042733.536 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2022-02-16T20:18:53.537Z,1645042733.537 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2022-02-16T20:18:53.540Z,1645042733.540 [ComponentRegistry](INFO): Shutting down Onboard ThreadHandler
2022-02-16T20:18:53.540Z,1645042733.540 [Onboard ThreadHandler](INFO): Thread cancelled.
2022-02-16T20:18:53.540Z,1645042733.540 [Onboard](INFO): Join timeout helper Thread ID is 9384
2022-02-16T20:18:53.825Z,1645042733.825 [MissionManager](IMPORTANT): Started mission Default
2022-02-16T20:18:53.825Z,1645042733.825 [Default] Running Loop=1
2022-02-16T20:18:53.825Z,1645042733.825 [Default](DEBUG): Aggregate::initialize Default
2022-02-16T20:18:53.825Z,1645042733.825 [Default:B.GoToSurface] Running Loop=1
2022-02-16T20:18:53.825Z,1645042733.825 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2022-02-16T20:18:53.825Z,1645042733.825 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2022-02-16T20:18:53.826Z,1645042733.826 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2022-02-16T20:18:53.826Z,1645042733.826 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2022-02-16T20:18:53.826Z,1645042733.826 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2022-02-16T20:18:53.827Z,1645042733.827 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2022-02-16T20:18:53.827Z,1645042733.827 [Default:A.Wait] Running Loop=1
2022-02-16T20:18:53.827Z,1645042733.827 [Default:A.Wait](DEBUG): Initialize Wait Component.
2022-02-16T20:18:54.868Z,1645042734.868 [Onboard ThreadHandler](INFO): Uninitializing protected caller thread.
2022-02-16T20:18:54.868Z,1645042734.868 [Onboard ThreadHandler](INFO): Thread cancelled.
2022-02-16T20:18:54.880Z,1645042734.880 [ComponentRegistry](INFO): Shutting down BackseatComponent ThreadHandler
2022-02-16T20:18:54.880Z,1645042734.880 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2022-02-16T20:18:54.880Z,1645042734.880 [BackseatComponent](INFO): Join timeout helper Thread ID is 9393
2022-02-16T20:18:54.920Z,1645042734.920 [BackseatComponent ThreadHandler](INFO): Uninitializing protected caller thread.
2022-02-16T20:18:54.920Z,1645042734.920 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2022-02-16T20:18:54.928Z,1645042734.928 [ComponentRegistry](INFO): Shutting down WetLabsSeaOWL_UV_A ThreadHandler
2022-02-16T20:18:54.928Z,1645042734.928 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2022-02-16T20:18:54.928Z,1645042734.928 [WetLabsSeaOWL_UV_A](INFO): Join timeout helper Thread ID is 9394
2022-02-16T20:18:55.012Z,1645042735.012 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Uninitializing protected caller thread.
2022-02-16T20:18:55.012Z,1645042735.012 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2022-02-16T20:18:55.017Z,1645042735.017 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2022-02-16T20:18:55.017Z,1645042735.017 [logger ThreadHandler](INFO): Thread cancelled.
2022-02-16T20:18:55.017Z,1645042735.017 [logger](INFO): Join timeout helper Thread ID is 9395
2022-02-16T20:18:55.018Z,1645042735.018 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2022-02-16T20:18:55.018Z,1645042735.018 [logger ThreadHandler](INFO): Thread cancelled.
2022-02-16T20:18:55.019Z,1645042735.019 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2022-02-16T20:18:55.019Z,1645042735.019 [CommandLine ThreadHandler](INFO): Thread cancelled.
2022-02-16T20:18:55.020Z,1645042735.020 [CommandLine](INFO): Join timeout helper Thread ID is 9396
2022-02-16T20:18:55.040Z,1645042735.040 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2022-02-16T20:18:55.040Z,1645042735.040 [CommandLine ThreadHandler](INFO): Thread cancelled.
2022-02-16T20:18:55.061Z,1645042735.061 [ComponentRegistry](INFO): Shutting down CommandExec ThreadHandler
2022-02-16T20:18:55.061Z,1645042735.061 [CommandExec ThreadHandler](INFO): Thread cancelled.
2022-02-16T20:18:55.061Z,1645042735.061 [CommandExec](INFO): Join timeout helper Thread ID is 9397
2022-02-16T20:18:55.062Z,1645042735.062 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2022-02-16T20:18:55.062Z,1645042735.062 [controlThread ThreadHandler](INFO): Thread cancelled.
2022-02-16T20:18:55.063Z,1645042735.063 [controlThread](INFO): Join timeout helper Thread ID is 9398
2022-02-16T20:18:55.380Z,1645042735.380 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2022-02-16T20:18:55.380Z,1645042735.380 [controlThread](DEBUG): Uninitializing ControlThread
2022-02-16T20:18:55.384Z,1645042735.384 [NAL9602](INFO): Powering down
2022-02-16T20:18:55.386Z,1645042735.386 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2022-02-16T20:18:55.387Z,1645042735.387 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2022-02-16T20:18:55.387Z,1645042735.387 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2022-02-16T20:18:55.388Z,1645042735.388 [MissionManager](INFO): Uninitializing Mission Default
2022-02-16T20:18:55.388Z,1645042735.388 [Default] Stopped
2022-02-16T20:18:55.388Z,1645042735.388 [Default](DEBUG): Aggregate::uninitialize Default
2022-02-16T20:18:55.388Z,1645042735.388 [Default:A.Wait] Stopped
2022-02-16T20:18:55.388Z,1645042735.388 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2022-02-16T20:18:55.388Z,1645042735.388 [Default:B.GoToSurface] Stopped
2022-02-16T20:18:55.389Z,1645042735.389 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2022-02-16T20:18:55.391Z,1645042735.391 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2022-02-16T20:18:55.392Z,1645042735.392 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2022-02-16T20:18:55.392Z,1645042735.392 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2022-02-16T20:18:55.392Z,1645042735.392 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2022-02-16T20:18:55.393Z,1645042735.393 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2022-02-16T20:18:55.393Z,1645042735.393 [MassServo](DEBUG): Uninitialize Mass Servo.
2022-02-16T20:18:55.393Z,1645042735.393 [SBIT](DEBUG): Uninitialize SBIT Component.
2022-02-16T20:18:55.393Z,1645042735.393 [IBIT](DEBUG): Uninitialize IBIT Component.
2022-02-16T20:18:55.394Z,1645042735.394 [CBIT](DEBUG): Uninitialize CBIT Component.
2022-02-16T20:18:55.394Z,1645042735.394 [CBIT](DEBUG): Powering off loads.
2022-02-16T20:18:55.408Z,1645042735.408 [CBIT](DEBUG): Disabling WDT.
2022-02-16T20:18:55.420Z,1645042735.420 [CBIT](DEBUG): Opening all GF detection circuits.
2022-02-16T20:18:55.421Z,1645042735.421 [controlThread ThreadHandler](INFO): Thread cancelled.
2022-02-16T20:18:55.495Z,1645042735.495 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2022-02-16T20:18:55.535Z,1645042735.535 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2022-02-16T20:18:55.537Z,1645042735.537 [Onboard ThreadHandler](INFO): Thread cancelled.
2022-02-16T20:18:55.546Z,1645042735.546 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2022-02-16T20:18:55.589Z,1645042735.589 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2022-02-16T20:18:55.639Z,1645042735.639 [logger ThreadHandler](INFO): Thread cancelled.