2022-02-20T13:22:56.980Z,1645363376.980 [Supervisor](DEBUG): Initializing supervisor.
2022-02-20T13:22:56.984Z,1645363376.984 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2022-02-20T13:22:56.985Z,1645363376.985 [SyncHandler](INFO): Protected caller Thread ID is 9996
2022-02-20T13:22:56.985Z,1645363376.985 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2022-02-20T13:22:56.986Z,1645363376.986 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2022-02-20T13:22:56.986Z,1645363376.986 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 9997
2022-02-20T13:22:56.990Z,1645363376.990 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2022-02-20T13:22:57.030Z,1645363377.030 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2022-02-20T13:22:57.040Z,1645363377.040 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2022-02-20T13:22:57.040Z,1645363377.040 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 9999
2022-02-20T13:22:57.051Z,1645363377.051 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2022-02-20T13:22:57.053Z,1645363377.053 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2022-02-20T13:22:57.053Z,1645363377.053 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 301
2022-02-20T13:22:57.056Z,1645363377.056 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2022-02-20T13:22:57.057Z,1645363377.057 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2022-02-20T13:22:57.057Z,1645363377.057 [logger ThreadHandler](INFO): Protected caller Thread ID is 302
2022-02-20T13:22:57.061Z,1645363377.061 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2022-02-20T13:22:57.061Z,1645363377.061 [Supervisor](INFO): Looking for Config files in directory: Config/
2022-02-20T13:22:57.063Z,1645363377.063 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2022-02-20T13:22:57.162Z,1645363377.162 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2022-02-20T13:22:57.162Z,1645363377.162 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2022-02-20T13:22:57.424Z,1645363377.424 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2022-02-20T13:22:57.424Z,1645363377.424 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2022-02-20T13:22:57.726Z,1645363377.726 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2022-02-20T13:22:57.727Z,1645363377.727 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2022-02-20T13:22:57.846Z,1645363377.846 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2022-02-20T13:22:57.847Z,1645363377.847 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2022-02-20T13:22:58.607Z,1645363378.607 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2022-02-20T13:22:58.607Z,1645363378.607 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2022-02-20T13:22:59.142Z,1645363379.142 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2022-02-20T13:22:59.143Z,1645363379.143 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2022-02-20T13:22:59.802Z,1645363379.802 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2022-02-20T13:22:59.803Z,1645363379.803 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2022-02-20T13:23:00.457Z,1645363380.457 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2022-02-20T13:23:00.457Z,1645363380.457 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2022-02-20T13:23:01.024Z,1645363381.024 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2022-02-20T13:23:01.025Z,1645363381.025 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2022-02-20T13:23:01.442Z,1645363381.442 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2022-02-20T13:23:01.442Z,1645363381.442 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2022-02-20T13:23:01.599Z,1645363381.599 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2022-02-20T13:23:01.600Z,1645363381.600 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2022-02-20T13:23:01.785Z,1645363381.785 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2022-02-20T13:23:01.786Z,1645363381.786 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2022-02-20T13:23:01.874Z,1645363381.874 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2022-02-20T13:23:02.057Z,1645363382.057 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2022-02-20T13:23:02.390Z,1645363382.390 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2022-02-20T13:23:02.390Z,1645363382.390 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2022-02-20T13:23:02.674Z,1645363382.674 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2022-02-20T13:23:02.676Z,1645363382.676 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/
2022-02-20T13:23:02.677Z,1645363382.677 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/secure.cfg
2022-02-20T13:23:02.763Z,1645363382.763 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Battery.cfg
2022-02-20T13:23:03.068Z,1645363383.068 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2022-02-20T13:23:03.069Z,1645363383.069 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Navigation.cfg
2022-02-20T13:23:03.205Z,1645363383.205 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Sensor.cfg
2022-02-20T13:23:03.374Z,1645363383.374 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/vehicle.cfg
2022-02-20T13:23:03.603Z,1645363383.603 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Simulator.cfg
2022-02-20T13:23:03.691Z,1645363383.691 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Servo.cfg
2022-02-20T13:23:04.022Z,1645363384.022 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Control.cfg
2022-02-20T13:23:04.275Z,1645363384.275 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Science.cfg
2022-02-20T13:23:04.454Z,1645363384.454 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/logger.cfg
2022-02-20T13:23:04.561Z,1645363384.561 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/BIT.cfg
2022-02-20T13:23:04.702Z,1645363384.702 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/root/
2022-02-20T13:23:04.702Z,1645363384.702 [Supervisor](INFO): Looking for Config files in directory: Config/sim/
2022-02-20T13:23:04.703Z,1645363384.703 [Supervisor](INFO): Opening Config file at: Config/sim/secure.cfg
2022-02-20T13:23:04.788Z,1645363384.788 [Supervisor](INFO): Opening Config file at: Config/sim/Navigation.cfg
2022-02-20T13:23:04.863Z,1645363384.863 [Supervisor](INFO): Opening Config file at: Config/sim/Sensor.cfg
2022-02-20T13:23:05.016Z,1645363385.016 [Supervisor](INFO): Opening Config file at: Config/sim/vehicle.cfg
2022-02-20T13:23:05.102Z,1645363385.102 [Supervisor](INFO): Opening Config file at: Config/sim/Simulator.cfg
2022-02-20T13:23:05.217Z,1645363385.217 [Supervisor](INFO): Opening Config file at: Config/sim/Servo.cfg
2022-02-20T13:23:05.306Z,1645363385.306 [Supervisor](INFO): Opening Config file at: Config/sim/Science.cfg
2022-02-20T13:23:05.435Z,1645363385.435 [Supervisor](INFO): Opening Config file at: Config/sim/Derivation.cfg
2022-02-20T13:23:05.521Z,1645363385.521 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/sim/
2022-02-20T13:23:05.521Z,1645363385.521 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/root/sim/
2022-02-20T13:23:05.522Z,1645363385.522 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2022-02-20T13:23:05.529Z,1645363385.529 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2022-02-20T13:23:05.751Z,1645363385.751 [ExternalSim] Loaded
2022-02-20T13:23:05.751Z,1645363385.751 [ComponentRegistry](DEBUG): SyncComponent "ExternalSim" handled in the control thread.
2022-02-20T13:23:05.762Z,1645363385.762 [InternalEnvSim] Loaded
2022-02-20T13:23:05.762Z,1645363385.762 [ComponentRegistry](DEBUG): SyncComponent "InternalEnvSim" handled in the control thread.
2022-02-20T13:23:05.763Z,1645363385.763 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2022-02-20T13:23:05.763Z,1645363385.763 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2022-02-20T13:23:05.885Z,1645363385.885 [BuoyancyServo] Loaded
2022-02-20T13:23:05.886Z,1645363385.886 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2022-02-20T13:23:05.903Z,1645363385.903 [MassServo] Loaded
2022-02-20T13:23:05.903Z,1645363385.903 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2022-02-20T13:23:05.904Z,1645363385.904 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2022-02-20T13:23:05.905Z,1645363385.905 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2022-02-20T13:23:06.079Z,1645363386.079 [SBIT](DEBUG): Construct Startup Built In Test.
2022-02-20T13:23:06.104Z,1645363386.104 [SBIT] Loaded
2022-02-20T13:23:06.104Z,1645363386.104 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2022-02-20T13:23:06.107Z,1645363386.107 [IBIT](DEBUG): Construct Initiated Built In Test.
2022-02-20T13:23:06.128Z,1645363386.128 [IBIT] Loaded
2022-02-20T13:23:06.128Z,1645363386.128 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2022-02-20T13:23:06.133Z,1645363386.133 [CBIT](DEBUG): Construct Continuous Built In Test.
2022-02-20T13:23:06.737Z,1645363386.737 [CBIT] Loaded
2022-02-20T13:23:06.738Z,1645363386.738 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2022-02-20T13:23:06.738Z,1645363386.738 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2022-02-20T13:23:06.739Z,1645363386.739 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2022-02-20T13:23:07.349Z,1645363387.349 [Aanderaa_O2] Loaded
2022-02-20T13:23:07.349Z,1645363387.349 [ComponentRegistry](DEBUG): SyncComponent "Aanderaa_O2" handled in the control thread.
2022-02-20T13:23:07.414Z,1645363387.414 [ESPComponent] Loaded
2022-02-20T13:23:07.414Z,1645363387.414 [ComponentRegistry](DEBUG): SyncComponent "ESPComponent" handled in the control thread.
2022-02-20T13:23:07.502Z,1645363387.502 [PAR_Licor] Loaded
2022-02-20T13:23:07.502Z,1645363387.502 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2022-02-20T13:23:07.632Z,1645363387.632 [WetLabsSeaOWL_UV_A] Loaded
2022-02-20T13:23:07.632Z,1645363387.632 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2022-02-20T13:23:07.640Z,1645363387.640 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 406614E0
2022-02-20T13:23:07.640Z,1645363387.640 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 469
2022-02-20T13:23:07.641Z,1645363387.641 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2022-02-20T13:23:07.642Z,1645363387.642 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2022-02-20T13:23:07.775Z,1645363387.775 [DepthRateCalculator] Loaded
2022-02-20T13:23:07.775Z,1645363387.775 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2022-02-20T13:23:07.781Z,1645363387.781 [PitchRateCalculator] Loaded
2022-02-20T13:23:07.781Z,1645363387.781 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2022-02-20T13:23:07.804Z,1645363387.804 [SpeedCalculator] Loaded
2022-02-20T13:23:07.804Z,1645363387.804 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2022-02-20T13:23:07.870Z,1645363387.870 [TempGradientCalculator] Loaded
2022-02-20T13:23:07.871Z,1645363387.871 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2022-02-20T13:23:07.875Z,1645363387.875 [YawRateCalculator] Loaded
2022-02-20T13:23:07.892Z,1645363387.892 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2022-02-20T13:23:07.972Z,1645363387.972 [ElevatorOffsetCalculator] Loaded
2022-02-20T13:23:07.972Z,1645363387.972 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2022-02-20T13:23:07.973Z,1645363387.973 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2022-02-20T13:23:07.973Z,1645363387.973 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2022-02-20T13:23:08.230Z,1645363388.230 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2022-02-20T13:23:08.230Z,1645363388.230 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2022-02-20T13:23:08.281Z,1645363388.281 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2022-02-20T13:23:08.282Z,1645363388.282 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2022-02-20T13:23:08.651Z,1645363388.651 [DeadReckonUsingMultipleVelocitySources] Loaded
2022-02-20T13:23:08.652Z,1645363388.652 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2022-02-20T13:23:08.751Z,1645363388.751 [LBLNavigation] Loaded
2022-02-20T13:23:08.751Z,1645363388.751 [ComponentRegistry](DEBUG): SyncComponent "LBLNavigation" handled in the control thread.
2022-02-20T13:23:08.792Z,1645363388.792 [NavChart] Loaded
2022-02-20T13:23:08.792Z,1645363388.792 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2022-02-20T13:23:08.798Z,1645363388.798 [UniversalFixResidualReporter] Loaded
2022-02-20T13:23:08.799Z,1645363388.799 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2022-02-20T13:23:08.799Z,1645363388.799 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2022-02-20T13:23:08.800Z,1645363388.800 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2022-02-20T13:23:09.498Z,1645363389.498 [BackseatComponent] Loaded
2022-02-20T13:23:09.498Z,1645363389.498 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2022-02-20T13:23:09.499Z,1645363389.499 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 409D54E0
2022-02-20T13:23:09.499Z,1645363389.499 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 480
2022-02-20T13:23:09.502Z,1645363389.502 [LcmUniversalReporter] Loaded
2022-02-20T13:23:09.502Z,1645363389.502 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2022-02-20T13:23:09.522Z,1645363389.522 [Depth_Keller] Loaded
2022-02-20T13:23:09.523Z,1645363389.523 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2022-02-20T13:23:09.526Z,1645363389.526 [DropWeight] Loaded
2022-02-20T13:23:09.526Z,1645363389.526 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2022-02-20T13:23:09.571Z,1645363389.571 [Micromodem] Loaded
2022-02-20T13:23:09.571Z,1645363389.571 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2022-02-20T13:23:09.628Z,1645363389.628 [NAL9602] Loaded
2022-02-20T13:23:09.629Z,1645363389.629 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2022-02-20T13:23:09.654Z,1645363389.654 [Onboard] Loaded
2022-02-20T13:23:09.654Z,1645363389.654 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2022-02-20T13:23:09.655Z,1645363389.655 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 40A054E0
2022-02-20T13:23:09.655Z,1645363389.655 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 481
2022-02-20T13:23:09.667Z,1645363389.667 [Power24vConverter] Loaded
2022-02-20T13:23:09.667Z,1645363389.667 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2022-02-20T13:23:09.682Z,1645363389.682 [Radio_Surface] Loaded
2022-02-20T13:23:09.682Z,1645363389.682 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2022-02-20T13:23:09.683Z,1645363389.683 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 40A354E0
2022-02-20T13:23:09.684Z,1645363389.684 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 482
2022-02-20T13:23:09.685Z,1645363389.685 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2022-02-20T13:23:09.686Z,1645363389.686 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2022-02-20T13:23:09.742Z,1645363389.742 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2022-02-20T13:23:09.743Z,1645363389.743 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2022-02-20T13:23:09.834Z,1645363389.834 [VerticalControl](DEBUG): Construct VerticalControl.
2022-02-20T13:23:09.887Z,1645363389.887 [VerticalControl] Loaded
2022-02-20T13:23:09.888Z,1645363389.888 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2022-02-20T13:23:09.891Z,1645363389.891 [HorizontalControl](DEBUG): Construct HorizontalControl.
2022-02-20T13:23:09.928Z,1645363389.928 [HorizontalControl] Loaded
2022-02-20T13:23:09.928Z,1645363389.928 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2022-02-20T13:23:09.931Z,1645363389.931 [SpeedControl](DEBUG): Construct SpeedControl.
2022-02-20T13:23:09.933Z,1645363389.933 [SpeedControl] Loaded
2022-02-20T13:23:09.933Z,1645363389.933 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2022-02-20T13:23:09.936Z,1645363389.936 [LoopControl](DEBUG): Construct LoopControl.
2022-02-20T13:23:09.936Z,1645363389.936 [LoopControl] Loaded
2022-02-20T13:23:09.936Z,1645363389.936 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2022-02-20T13:23:09.937Z,1645363389.937 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2022-02-20T13:23:09.937Z,1645363389.937 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2022-02-20T13:23:09.948Z,1645363389.948 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2022-02-20T13:23:09.948Z,1645363389.948 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2022-02-20T13:23:10.306Z,1645363390.306 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2022-02-20T13:23:10.312Z,1645363390.312 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2022-02-20T13:23:10.315Z,1645363390.315 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2022-02-20T13:23:10.325Z,1645363390.325 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2022-02-20T13:23:10.327Z,1645363390.327 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40B3B4E0
2022-02-20T13:23:10.327Z,1645363390.327 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 487
2022-02-20T13:23:10.332Z,1645363390.332 [Supervisor](INFO): Main Thread ID is 9994
2022-02-20T13:23:10.332Z,1645363390.332 [Supervisor](DEBUG): Running supervisor.
2022-02-20T13:23:10.332Z,1645363390.332 [CommandExec ThreadHandler](INFO): Handler Thread ID is 488
2022-02-20T13:23:10.333Z,1645363390.333 [CommandExec](INFO): Initializing the command executive.
2022-02-20T13:23:10.334Z,1645363390.334 [CommandLine ThreadHandler](INFO): Handler Thread ID is 489
2022-02-20T13:23:10.337Z,1645363390.337 [controlThread ThreadHandler](INFO): Handler Thread ID is 490
2022-02-20T13:23:10.338Z,1645363390.338 [controlThread](DEBUG): Initializing ControlThread
2022-02-20T13:23:10.339Z,1645363390.339 [ExternalSim](INFO): ExternalSim initializing...
2022-02-20T13:23:10.355Z,1645363390.355 [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
2022-02-20T13:23:10.361Z,1645363390.361 [ExternalSim](DEBUG): oceanModelVarCount=0
2022-02-20T13:23:10.372Z,1645363390.372 [logger ThreadHandler](INFO): Handler Thread ID is 491
2022-02-20T13:23:10.404Z,1645363390.404 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 492
2022-02-20T13:23:10.420Z,1645363390.420 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 493
2022-02-20T13:23:10.424Z,1645363390.424 [ExternalSim](DEBUG): beaconLat = 36.80340
2022-02-20T13:23:10.424Z,1645363390.424 [ExternalSim](DEBUG): beaconLon = -121.82230
2022-02-20T13:23:10.424Z,1645363390.424 [ExternalSim](DEBUG): beaconDepth = 25.00
2022-02-20T13:23:10.427Z,1645363390.427 [ExternalSim](DEBUG): Simulator initialized
2022-02-20T13:23:10.437Z,1645363390.437 [Onboard ThreadHandler](INFO): Handler Thread ID is 494
2022-02-20T13:23:10.448Z,1645363390.448 [InternalEnvSim](DEBUG):  InternaEnvlSim initializing...
2022-02-20T13:23:10.456Z,1645363390.456 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 495
2022-02-20T13:23:10.472Z,1645363390.472 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 496
2022-02-20T13:23:10.475Z,1645363390.475 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2MI01M.000
2022-02-20T13:23:10.475Z,1645363390.475 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2MI01M.000
2022-02-20T13:23:10.475Z,1645363390.475 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4MI89M.000
2022-02-20T13:23:10.475Z,1645363390.475 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4MI89M.000
2022-02-20T13:23:10.475Z,1645363390.475 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4MI11M.000
2022-02-20T13:23:10.476Z,1645363390.476 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4MI11M.000
2022-02-20T13:23:10.476Z,1645363390.476 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5MI07M.000
2022-02-20T13:23:10.476Z,1645363390.476 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5MI07M.000
2022-02-20T13:23:10.476Z,1645363390.476 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5OH07M.000
2022-02-20T13:23:10.476Z,1645363390.476 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5OH07M.000
2022-02-20T13:23:10.477Z,1645363390.477 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5OH31M.000
2022-02-20T13:23:10.477Z,1645363390.477 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5OH31M.000
2022-02-20T13:23:10.656Z,1645363390.656 [SBIT](INFO): Initialize SBIT Component.
2022-02-20T13:23:10.657Z,1645363390.657 [SBIT](IMPORTANT): git: 2022-02-01-12-g115cb7fe7
2022-02-20T13:23:10.657Z,1645363390.657 [SBIT](INFO): git hash: 115cb7fe7453500f2fb50c4726d394f7fc64f755
2022-02-20T13:23:10.657Z,1645363390.657 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2022-02-20T13:23:10.658Z,1645363390.658 [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
2022-02-20T13:23:10.659Z,1645363390.659 [SBIT](INFO): Beginning SBIT in 59.000000 seconds.
2022-02-20T13:23:10.660Z,1645363390.660 [IBIT](INFO): Initialize IBIT Component.
2022-02-20T13:23:10.661Z,1645363390.661 [CBIT](DEBUG): Initialize CBIT Component.
2022-02-20T13:23:10.672Z,1645363390.672 [CBIT](DEBUG): Initialized mux pins.
2022-02-20T13:23:10.672Z,1645363390.672 [CBIT](DEBUG): Initializing the watchdog timer.
2022-02-20T13:23:10.696Z,1645363390.696 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2022-02-20T13:23:10.696Z,1645363390.696 [CBIT](DEBUG): Initializing heartbeat.
2022-02-20T13:23:10.768Z,1645363390.768 [CBIT](DEBUG): Deactivating GF circuits.
2022-02-20T13:23:10.768Z,1645363390.768 [CBIT](DEBUG): Deactivating emergency mode.
2022-02-20T13:23:10.804Z,1645363390.804 [CBIT](DEBUG): Backplane powered.
2022-02-20T13:23:10.808Z,1645363390.808 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2022-02-20T13:23:10.809Z,1645363390.809 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2022-02-20T13:23:10.809Z,1645363390.809 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2022-02-20T13:23:10.809Z,1645363390.809 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2022-02-20T13:23:10.810Z,1645363390.810 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2022-02-20T13:23:10.810Z,1645363390.810 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2022-02-20T13:23:10.812Z,1645363390.812 [NavChart](DEBUG): Initialize NavChart Navigation.
2022-02-20T13:23:10.812Z,1645363390.812 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2022-02-20T13:23:10.815Z,1645363390.815 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2022-02-20T13:23:10.817Z,1645363390.817 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2022-02-20T13:23:10.818Z,1645363390.818 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2022-02-20T13:23:10.818Z,1645363390.818 [LoopControl](DEBUG): Initialize LoopControlComponent.
2022-02-20T13:23:10.819Z,1645363390.819 [MissionManager](INFO): Loading Mission from file: Missions/Startup.xml
2022-02-20T13:23:10.869Z,1645363390.869 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2022-02-20T13:23:10.897Z,1645363390.897 [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>


2022-02-20T13:23:10.898Z,1645363390.898 [MissionManager](INFO): Loading Mission from file: Missions/Default.xml
2022-02-20T13:23:11.027Z,1645363391.027 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2022-02-20T13:23:11.032Z,1645363391.032 [Default:A.Wait](DEBUG): Construct Wait.
2022-02-20T13:23:11.035Z,1645363391.035 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2022-02-20T13:23:11.089Z,1645363391.089 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2022-02-20T13:23:11.092Z,1645363391.092 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2022-02-20T13:23:11.126Z,1645363391.126 [Default:E.Execute](DEBUG): Construct Execute.
2022-02-20T13:23:11.129Z,1645363391.129 [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>


2022-02-20T13:23:11.134Z,1645363391.134 [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,
2022-02-20T13:23:11.182Z,1645363391.182 [Power24vConverter](INFO): Powering up.
2022-02-20T13:23:11.204Z,1645363391.204 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:11.225Z,1645363391.225 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2022-02-20T13:23:11.226Z,1645363391.226 [MassServo](DEBUG): Initializing MassServo.
2022-02-20T13:23:11.568Z,1645363391.568 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:11.952Z,1645363391.952 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:12.398Z,1645363392.398 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:12.760Z,1645363392.760 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:13.164Z,1645363393.164 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:13.568Z,1645363393.568 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:13.973Z,1645363393.973 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:14.376Z,1645363394.376 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:14.780Z,1645363394.780 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:15.184Z,1645363395.184 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:15.589Z,1645363395.589 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:15.992Z,1645363395.992 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:16.394Z,1645363396.394 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2022-02-20T13:23:16.400Z,1645363396.400 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:16.822Z,1645363396.822 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:17.204Z,1645363397.204 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:17.608Z,1645363397.608 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:18.013Z,1645363398.013 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:18.416Z,1645363398.416 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:18.820Z,1645363398.820 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:19.224Z,1645363399.224 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:19.628Z,1645363399.628 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:20.032Z,1645363400.032 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:20.436Z,1645363400.436 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:20.848Z,1645363400.848 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:21.244Z,1645363401.244 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:21.646Z,1645363401.646 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2022-02-20T13:23:21.646Z,1645363401.646 [Micromodem](INFO): Nmea out: $CCCFG,POW,20*08

2022-02-20T13:23:21.648Z,1645363401.648 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:22.056Z,1645363402.056 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:22.457Z,1645363402.457 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:22.860Z,1645363402.860 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:23.264Z,1645363403.264 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:23.677Z,1645363403.677 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:24.072Z,1645363404.072 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:24.480Z,1645363404.480 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:24.880Z,1645363404.880 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:25.284Z,1645363405.284 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:25.688Z,1645363405.688 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:26.092Z,1645363406.092 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:26.496Z,1645363406.496 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:26.898Z,1645363406.898 [Micromodem](INFO): Nmea in: $CACFG,POW,20*0A

2022-02-20T13:23:26.898Z,1645363406.898 [Micromodem](INFO): Nmea out: $CCCFG,SRC,0*30

2022-02-20T13:23:26.900Z,1645363406.900 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:27.304Z,1645363407.304 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:27.708Z,1645363407.708 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:28.113Z,1645363408.113 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:28.519Z,1645363408.519 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:28.920Z,1645363408.920 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:29.325Z,1645363409.325 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:29.728Z,1645363409.728 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:30.132Z,1645363410.132 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:30.536Z,1645363410.536 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:30.940Z,1645363410.940 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:31.344Z,1645363411.344 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:31.748Z,1645363411.748 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:32.150Z,1645363412.150 [Micromodem](INFO): Nmea in: $CACFG,SRC,0*32

2022-02-20T13:23:32.150Z,1645363412.150 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2022-02-20T13:23:32.152Z,1645363412.152 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:32.556Z,1645363412.556 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:32.963Z,1645363412.963 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:33.364Z,1645363413.364 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:33.764Z,1645363413.764 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:34.172Z,1645363414.172 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:34.576Z,1645363414.576 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:34.980Z,1645363414.980 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:35.388Z,1645363415.388 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:35.788Z,1645363415.788 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:36.192Z,1645363416.192 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:36.599Z,1645363416.599 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:37.003Z,1645363417.003 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:37.406Z,1645363417.406 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2022-02-20T13:23:37.406Z,1645363417.406 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2022-02-20T13:23:37.407Z,1645363417.407 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:37.811Z,1645363417.811 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:38.209Z,1645363418.209 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:38.619Z,1645363418.619 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:39.017Z,1645363419.017 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:39.421Z,1645363419.421 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:39.831Z,1645363419.831 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:40.229Z,1645363420.229 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:40.636Z,1645363420.636 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:41.043Z,1645363421.043 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:41.443Z,1645363421.443 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:41.846Z,1645363421.846 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:42.253Z,1645363422.253 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:42.658Z,1645363422.658 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2022-02-20T13:23:42.658Z,1645363422.658 [Micromodem](INFO): Nmea out: $CCCFG,FC0,14500*47

2022-02-20T13:23:42.660Z,1645363422.660 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:43.063Z,1645363423.063 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:43.297Z,1645363423.297 [CommandExec](IMPORTANT): got command fileExec testing.d
2022-02-20T13:23:43.400Z,1645363423.400 [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


2022-02-20T13:23:43.473Z,1645363423.473 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:43.868Z,1645363423.868 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:43.962Z,1645363423.962 [CommandExec](IMPORTANT): got command maintain sensor NAL9602.latitude_fix 36.7 degree
2022-02-20T13:23:43.973Z,1645363423.973 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.latitude_fix" handled in the control thread.
2022-02-20T13:23:44.272Z,1645363424.272 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:44.303Z,1645363424.303 [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,
2022-02-20T13:23:44.533Z,1645363424.533 [CommandExec](IMPORTANT): got command maintain sensor NAL9602.longitude_fix -122.19 degree
2022-02-20T13:23:44.547Z,1645363424.547 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.longitude_fix" handled in the control thread.
2022-02-20T13:23:44.677Z,1645363424.677 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:44.715Z,1645363424.715 [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,
2022-02-20T13:23:45.008Z,1645363425.008 [CommandExec](IMPORTANT): got command maintain sensor Depth_Keller.depth 1 meter
2022-02-20T13:23:45.011Z,1645363425.011 [ComponentRegistry](DEBUG): SyncComponent "Maintain_Depth_Keller.depth" handled in the control thread.
2022-02-20T13:23:45.081Z,1645363425.081 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T13:23:45.087Z,1645363425.087 [LBLNavigation](INFO): Reset ping filters
2022-02-20T13:23:45.087Z,1645363425.087 [LBLNavigation](INFO): Reset fix filter
2022-02-20T13:23:45.102Z,1645363425.102 [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,
2022-02-20T13:23:45.484Z,1645363425.484 [NAL9602](INFO): No messages in MT queue
2022-02-20T13:23:45.993Z,1645363425.993 [CommandExec](IMPORTANT): got command set NAL9602.time_fix 1234567890 second
2022-02-20T13:23:47.439Z,1645363427.439 [CommandExec](IMPORTANT): got command report mod mass_concentration_of_petroleum_hydrocarbons_in_sea_water
2022-02-20T13:23:47.474Z,1645363427.474 [CommandExec](IMPORTANT): got command run ./Missions/Science/trackPatchOil.xml
2022-02-20T13:23:47.474Z,1645363427.474 [MissionManager](INFO): Loading Mission from file: ./Missions/Science/trackPatchOil.xml
2022-02-20T13:23:47.682Z,1645363427.682 [MissionManager](INFO): DefineArg trackPatchOil.MinAltitude = 5.000000 m
2022-02-20T13:23:47.684Z,1645363427.684 [MissionManager](INFO): DefineArg trackPatchOil.MaxDepth = 65.000000 m
2022-02-20T13:23:47.687Z,1645363427.687 [MissionManager](INFO): DefineArg trackPatchOil.MinWaterDepth = 10.000000 m
2022-02-20T13:23:47.690Z,1645363427.690 [MissionManager](INFO): DefineArg trackPatchOil.MinOffshore = 2000.000000 m
2022-02-20T13:23:47.693Z,1645363427.693 [MissionManager](INFO): DefineArg trackPatchOil.NeedCommsTime = 180.000000 min
2022-02-20T13:23:47.696Z,1645363427.696 [MissionManager](INFO): DefineArg trackPatchOil.MissionTimeout = 9.000000 d
2022-02-20T13:23:47.699Z,1645363427.699 [MissionManager](INFO): DefineArg trackPatchOil.MassDefault = 0.990000 cm
2022-02-20T13:23:47.703Z,1645363427.703 [MissionManager](INFO): DefineArg trackPatchOil.BuoyancyNeutral = 223.000000 cc
2022-02-20T13:23:47.706Z,1645363427.706 [MissionManager](INFO): DefineArg trackPatchOil.Depth = 3.000000 m
2022-02-20T13:23:47.708Z,1645363427.708 [MissionManager](INFO): DefineArg trackPatchOil.Speed = 1.000000 m/s
2022-02-20T13:23:47.711Z,1645363427.711 [MissionManager](INFO): DefineArg trackPatchOil.WpMaxDistance = 12000.000000 m
2022-02-20T13:23:47.760Z,1645363427.760 [MissionManager](INFO): DefineArg trackPatchOil.WpTimeout = 12000.000000 s
2022-02-20T13:23:47.762Z,1645363427.762 [MissionManager](INFO): DefineArg trackPatchOil.WaterFrame = 1 bool
2022-02-20T13:23:47.765Z,1645363427.765 [MissionManager](INFO): DefineArg trackPatchOil.Repeat = 200.000000 count
2022-02-20T13:23:47.796Z,1645363427.796 [MissionManager](INFO): DefineArg trackPatchOil.Turn = 90.000000 arcdeg
2022-02-20T13:23:47.799Z,1645363427.799 [MissionManager](INFO): DefineArg trackPatchOil.Reverse = 180.000000 arcdeg
2022-02-20T13:23:47.802Z,1645363427.802 [MissionManager](INFO): DefineArg trackPatchOil.TwoPi = 360.000000 arcdeg
2022-02-20T13:23:47.805Z,1645363427.805 [MissionManager](INFO): DefineArg trackPatchOil.FilterWidth = 260.000000 count
2022-02-20T13:23:47.813Z,1645363427.813 [MissionManager](INFO): DefineArg trackPatchOil.BeginThreshold = 0.200000 kg/m3
2022-02-20T13:23:47.817Z,1645363427.817 [MissionManager](INFO): DefineArg trackPatchOil.OffPeakFraction = 10.000000 %
2022-02-20T13:23:47.819Z,1645363427.819 [MissionManager](INFO): DefineArg trackPatchOil.PatchMode = 0 bool
2022-02-20T13:23:47.822Z,1645363427.822 [MissionManager](INFO): DefineArg trackPatchOil.DetectOilTimeout = 15.000000 min
2022-02-20T13:23:47.841Z,1645363427.841 [MissionManager](INFO): DefineArg trackPatchOil.WpBearing = 90.000000 arcdeg
2022-02-20T13:23:47.844Z,1645363427.844 [MissionManager](INFO): DefineOutput trackPatchOil.PatchDetectOn = 0 bool
2022-02-20T13:23:47.847Z,1645363427.847 [MissionManager](INFO): DefineOutput trackPatchOil.WpDone = 0 bool
2022-02-20T13:23:47.850Z,1645363427.850 [MissionManager](INFO): DefineOutput trackPatchOil.PatchOil = nan ug/l
2022-02-20T13:23:47.872Z,1645363427.872 [MissionManager](INFO): DefineOutput trackPatchOil.PatchOilDepth = nan m
2022-02-20T13:23:47.875Z,1645363427.875 [MissionManager](INFO): DefineOutput trackPatchOil.PatchOilLatitude = nan arcdeg
2022-02-20T13:23:47.878Z,1645363427.878 [MissionManager](INFO): DefineOutput trackPatchOil.PatchOilLongitude = nan arcdeg
2022-02-20T13:23:47.895Z,1645363427.895 [MissionManager](INFO): DefineOutput trackPatchOil.PatchOilDistance = 0.000000 m
2022-02-20T13:23:47.918Z,1645363427.918 [Micromodem](INFO): Nmea in: $CACFG,FC0,14500*45

2022-02-20T13:23:47.918Z,1645363427.918 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2022-02-20T13:23:47.921Z,1645363427.921 [trackPatchOil:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2022-02-20T13:23:47.945Z,1645363427.945 [trackPatchOil:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2022-02-20T13:23:47.982Z,1645363427.982 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Surface.xml
2022-02-20T13:23:48.039Z,1645363428.039 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceCommsSplit.SurfaceDepthRate = nan m/s
2022-02-20T13:23:48.043Z,1645363428.043 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceCommsSplit.SurfacePitch = 20.000000 arcdeg
2022-02-20T13:23:48.058Z,1645363428.058 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceCommsSplit.SurfaceSpeed = 1.000000 m/s
2022-02-20T13:23:48.080Z,1645363428.080 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceCommsSplit.IridiumTimeout = 30.000000 min
2022-02-20T13:23:48.083Z,1645363428.083 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceCommsSplit.UnpackSplitAtSurface = 0 bool
2022-02-20T13:23:48.093Z,1645363428.093 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](DEBUG): Construct GoToSurface.
2022-02-20T13:23:48.138Z,1645363428.138 [MissionManager](INFO): RedefineArg trackPatchOil:SurfaceCommsSplit.SurfacePitch = value:20.000000 arcdeg
2022-02-20T13:23:48.157Z,1645363428.157 [MissionManager](INFO): RedefineArg trackPatchOil:SurfaceCommsSplit.SurfaceSpeed = value:1.000000 m/s
2022-02-20T13:23:48.159Z,1645363428.159 [MissionManager](INFO): RedefineArg trackPatchOil:SurfaceCommsSplit.UnpackSplitAtSurface = value:1 bool
2022-02-20T13:23:48.160Z,1645363428.160 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Surface.xml
2022-02-20T13:23:48.216Z,1645363428.216 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceComms:SurfaceComms.SurfaceDepthRate = nan m/s
2022-02-20T13:23:48.219Z,1645363428.219 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceComms:SurfaceComms.SurfacePitch = 20.000000 arcdeg
2022-02-20T13:23:48.242Z,1645363428.242 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceComms:SurfaceComms.SurfaceSpeed = 1.000000 m/s
2022-02-20T13:23:48.245Z,1645363428.245 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceComms:SurfaceComms.IridiumTimeout = 30.000000 min
2022-02-20T13:23:48.248Z,1645363428.248 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceComms:SurfaceComms.UnpackSplitAtSurface = 0 bool
2022-02-20T13:23:48.250Z,1645363428.250 [trackPatchOil:SurfaceComms:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2022-02-20T13:23:48.296Z,1645363428.296 [MissionManager](INFO): RedefineArg trackPatchOil:SurfaceComms:SurfaceComms.SurfacePitch = value:20.000000 arcdeg
2022-02-20T13:23:48.298Z,1645363428.298 [MissionManager](INFO): RedefineArg trackPatchOil:SurfaceComms:SurfaceComms.SurfaceSpeed = value:1.000000 m/s
2022-02-20T13:23:48.355Z,1645363428.355 [trackPatchOil:F.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2022-02-20T13:23:48.378Z,1645363428.378 [trackPatchOil:G.WaterDepthEnvelope](DEBUG): Construct WaterDepthEnvelope.
2022-02-20T13:23:48.387Z,1645363428.387 [trackPatchOil:H.Pitch](DEBUG): Construct.
2022-02-20T13:23:48.409Z,1645363428.409 [trackPatchOil:I.Buoyancy](DEBUG): Construct Buoyancy.
2022-02-20T13:23:48.411Z,1645363428.411 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.xml
2022-02-20T13:23:48.938Z,1645363428.938 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakDetectChlActive = 0 bool
2022-02-20T13:23:48.952Z,1645363428.952 [MissionManager](INFO): DefineArg trackPatchOil:Science.TimeWindowPeakReport = nan min
2022-02-20T13:23:48.955Z,1645363428.955 [MissionManager](INFO): DefineArg trackPatchOil:Science.HighestChlPeakReportActive = 0 bool
2022-02-20T13:23:48.958Z,1645363428.958 [MissionManager](INFO): DefineArg trackPatchOil:Science.HighestSaltPeakReportActive = 0 bool
2022-02-20T13:23:48.960Z,1645363428.960 [MissionManager](INFO): DefineArg trackPatchOil:Science.HighestOilPeakReportActive = 0 bool
2022-02-20T13:23:48.963Z,1645363428.963 [MissionManager](INFO): DefineArg trackPatchOil:Science.PatchTracking = 0 bool
2022-02-20T13:23:48.978Z,1645363428.978 [MissionManager](INFO): DefineArg trackPatchOil:Science.DetectTrough = 0 bool
2022-02-20T13:23:48.981Z,1645363428.981 [MissionManager](INFO): DefineArg trackPatchOil:Science.FilterWidthHorizontal = 3.000000 count
2022-02-20T13:23:48.984Z,1645363428.984 [MissionManager](INFO): DefineArg trackPatchOil:Science.NumProfilesSlidingwindow = 100.000000 count
2022-02-20T13:23:48.987Z,1645363428.987 [MissionManager](INFO): DefineArg trackPatchOil:Science.OffPeakFractionHorizontal = 80.000000 %
2022-02-20T13:23:49.005Z,1645363429.005 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakDetectNO3Active = 0 bool
2022-02-20T13:23:49.008Z,1645363429.008 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakDetectOilActive = 0 bool
2022-02-20T13:23:49.011Z,1645363429.011 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakDetectFDOMActive = 0 bool
2022-02-20T13:23:49.014Z,1645363429.014 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakDetectSalinityActive = 0 bool
2022-02-20T13:23:49.028Z,1645363429.028 [MissionManager](INFO): DefineArg trackPatchOil:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2022-02-20T13:23:49.032Z,1645363429.032 [MissionManager](INFO): DefineArg trackPatchOil:Science.EnabledAanderaaO2 = 1 bool
2022-02-20T13:23:49.036Z,1645363429.036 [MissionManager](INFO): DefineArg trackPatchOil:Science.EnabledNeilBrown = 0 bool
2022-02-20T13:23:49.039Z,1645363429.039 [MissionManager](INFO): DefineArg trackPatchOil:Science.EnabledSeabird = 0 bool
2022-02-20T13:23:49.043Z,1645363429.043 [MissionManager](INFO): DefineArg trackPatchOil:Science.EnabledWetLabsBB2FL = 0 bool
2022-02-20T13:23:49.046Z,1645363429.046 [MissionManager](INFO): DefineArg trackPatchOil:Science.EnabledWetLabsSeaOWL_UV_A = 1 bool
2022-02-20T13:23:49.050Z,1645363429.050 [MissionManager](INFO): DefineArg trackPatchOil:Science.EnabledWetLabsUBAT = 0 bool
2022-02-20T13:23:49.071Z,1645363429.071 [MissionManager](INFO): DefineArg trackPatchOil:Science.LowPassWindowLength = 20.000000 count
2022-02-20T13:23:49.074Z,1645363429.074 [MissionManager](INFO): DefineArg trackPatchOil:Science.MedianFilterLen = 5.000000 count
2022-02-20T13:23:49.077Z,1645363429.077 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakShallowBound = nan m
2022-02-20T13:23:49.092Z,1645363429.092 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakDeepBound = nan m
2022-02-20T13:23:49.095Z,1645363429.095 [MissionManager](INFO): DefineArg trackPatchOil:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2022-02-20T13:23:49.098Z,1645363429.098 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakChl = 0.000000 ug/l
2022-02-20T13:23:49.101Z,1645363429.101 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakChlDepth = 0.000000 m
2022-02-20T13:23:49.144Z,1645363429.144 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakChlTemperature = 0.000000 degC
2022-02-20T13:23:49.152Z,1645363429.152 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakChlLatitude = nan arcdeg
2022-02-20T13:23:49.155Z,1645363429.155 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakChlLongitude = nan arcdeg
2022-02-20T13:23:49.162Z,1645363429.162 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakNO3 = 0.000000 umol/l
2022-02-20T13:23:49.169Z,1645363429.169 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakNO3Depth = 0.000000 m
2022-02-20T13:23:49.173Z,1645363429.173 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakNO3Latitude = nan arcdeg
2022-02-20T13:23:49.184Z,1645363429.184 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakNO3Longitude = nan arcdeg
2022-02-20T13:23:49.187Z,1645363429.187 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakOil = 0.000000 kg/m3
2022-02-20T13:23:49.195Z,1645363429.195 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakOilDepth = 0.000000 m
2022-02-20T13:23:49.206Z,1645363429.206 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakOilLatitude = nan arcdeg
2022-02-20T13:23:49.210Z,1645363429.210 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakOilLongitude = nan arcdeg
2022-02-20T13:23:49.214Z,1645363429.214 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakFDOM = 0.000000 ppb
2022-02-20T13:23:49.229Z,1645363429.229 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakFDOMDepth = 0.000000 m
2022-02-20T13:23:49.233Z,1645363429.233 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakFDOMTemperature = nan degC
2022-02-20T13:23:49.244Z,1645363429.244 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakFDOMLatitude = nan arcdeg
2022-02-20T13:23:49.247Z,1645363429.247 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakFDOMLongitude = nan arcdeg
2022-02-20T13:23:49.259Z,1645363429.259 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchFDOMDistance = nan m
2022-02-20T13:23:49.262Z,1645363429.262 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakSalt = 0.000000 psu
2022-02-20T13:23:49.275Z,1645363429.275 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakSaltDepth = 0.000000 m
2022-02-20T13:23:49.287Z,1645363429.287 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakSaltTemperature = 0.000000 degC
2022-02-20T13:23:49.291Z,1645363429.291 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakSaltLatitude = nan arcdeg
2022-02-20T13:23:49.307Z,1645363429.307 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakSaltLongitude = nan arcdeg
2022-02-20T13:23:49.311Z,1645363429.311 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchChl = 0.000000 ug/l
2022-02-20T13:23:49.334Z,1645363429.334 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchChlDepth = 0.000000 m
2022-02-20T13:23:49.337Z,1645363429.337 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchChlLatitude = nan arcdeg
2022-02-20T13:23:49.353Z,1645363429.353 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchChlLongitude = nan arcdeg
2022-02-20T13:23:49.356Z,1645363429.356 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchChlDistance = nan m
2022-02-20T13:23:49.359Z,1645363429.359 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchSalt = 0.000000 psu
2022-02-20T13:23:49.363Z,1645363429.363 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchSaltDepth = 0.000000 m
2022-02-20T13:23:49.390Z,1645363429.390 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchSaltLatitude = nan arcdeg
2022-02-20T13:23:49.393Z,1645363429.393 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchSaltLongitude = nan arcdeg
2022-02-20T13:23:49.397Z,1645363429.397 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchSaltDistance = nan m
2022-02-20T13:23:49.412Z,1645363429.412 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchOil = 0.000000 psu
2022-02-20T13:23:49.416Z,1645363429.416 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchOilDepth = 0.000000 m
2022-02-20T13:23:49.419Z,1645363429.419 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchOilLatitude = nan arcdeg
2022-02-20T13:23:49.422Z,1645363429.422 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchOilLongitude = nan arcdeg
2022-02-20T13:23:49.441Z,1645363429.441 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchOilDistance = nan m
2022-02-20T13:23:49.542Z,1645363429.542 [trackPatchOil:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-02-20T13:23:49.574Z,1645363429.574 [trackPatchOil:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2022-02-20T13:23:49.609Z,1645363429.609 [trackPatchOil:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-02-20T13:23:49.639Z,1645363429.639 [trackPatchOil:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-02-20T13:23:49.663Z,1645363429.663 [trackPatchOil:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2022-02-20T13:23:49.719Z,1645363429.719 [trackPatchOil:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-02-20T13:23:49.744Z,1645363429.744 [trackPatchOil:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-02-20T13:23:49.780Z,1645363429.780 [trackPatchOil:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2022-02-20T13:23:49.805Z,1645363429.805 [trackPatchOil:K.SetSpeed](DEBUG): Construct.
2022-02-20T13:23:49.820Z,1645363429.820 [trackPatchOil:L.Pitch](DEBUG): Construct.
2022-02-20T13:23:49.828Z,1645363429.828 [trackPatchOil:PatchDetectHorizontal:PatchDetection:PatchTrackTrigger.PatchTrack](DEBUG): Construct PatchTrack.
2022-02-20T13:23:49.901Z,1645363429.901 [trackPatchOil:PatchDetectHorizontal:CrossLeg:CrossSurfaceWp.Waypoint](DEBUG): Construct Waypoint.
2022-02-20T13:23:49.942Z,1645363429.942 [trackPatchOil:PatchDetectHorizontal:CrossLeg:CrossPeakWp.Waypoint](DEBUG): Construct Waypoint.
2022-02-20T13:23:49.985Z,1645363429.985 [trackPatchOil:PatchDetectHorizontal:InLegWp.Waypoint](DEBUG): Construct Waypoint.
2022-02-20T13:23:50.006Z,1645363430.006 [trackPatchOil:PatchDetectHorizontal:OutLeg:OutLegWp.Waypoint](DEBUG): Construct Waypoint.
2022-02-20T13:23:50.121Z,1645363430.121 [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>


2022-02-20T13:23:50.144Z,1645363430.144 [CommandExec](IMPORTANT): Running ./Missions/Science/trackPatchOil.xml
2022-02-20T13:23:53.159Z,1645363433.159 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2022-02-20T13:23:53.159Z,1645363433.159 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2022-02-20T13:23:58.410Z,1645363438.410 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2022-02-20T13:23:58.411Z,1645363438.411 [Micromodem](INFO): Nmea out: $CCCLK,2022,02,20,13,23,59*49

2022-02-20T13:24:03.666Z,1645363443.666 [Micromodem](INFO): Nmea in: $CACLK,2022,02,20,13,23,59*4B

2022-02-20T13:24:10.142Z,1645363450.142 [SBIT](IMPORTANT): Beginning Startup BIT
2022-02-20T13:24:10.145Z,1645363450.145 [CBIT](IMPORTANT): Beginning ground fault scan
2022-02-20T13:24:16.186Z,1645363456.186 [NAL9602](INFO): Not Powering down - fast GPS
2022-02-20T13:24:17.791Z,1645363457.791 [CommandExec](IMPORTANT): got command get WetLabsSeaOWL_UV_A.loadAtStartup
2022-02-20T13:24:17.791Z,1645363457.791 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.loadAtStartup 1 bool
2022-02-20T13:24:21.069Z,1645363461.069 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): 0.007135
CHAN A1 (24V): 0.000104
CHAN A2 (12V): -0.005258
CHAN A3 (5V): -0.002589
CHAN B0 (3.3V): -0.000904
CHAN B1 (3.15aV): -0.001099
CHAN B2 (3.15bV): -0.000782
CHAN B3 (GND): 0.000346
OPEN: -0.000882
Full Scale: +/- 1 mA
2022-02-20T13:24:23.475Z,1645363463.475 [SBIT](ERROR): Could not read elevatorAngleReader_.
2022-02-20T13:24:23.476Z,1645363463.476 [SBIT](ERROR): Could not read rudderAngleReader_.
2022-02-20T13:24:23.476Z,1645363463.476 [SBIT](ERROR): Could not read massPosReader_.
2022-02-20T13:24:44.435Z,1645363484.435 [CommandExec](IMPORTANT): got command get WetLabsSeaOWL_UV_A.simulateHardware
2022-02-20T13:24:44.435Z,1645363484.435 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.simulateHardware 1 bool
2022-02-20T13:24:50.142Z,1645363490.142 [SBIT](ERROR): Could not read elevatorAngleReader_.
2022-02-20T13:24:50.142Z,1645363490.142 [SBIT](ERROR): Could not read rudderAngleReader_.
2022-02-20T13:24:50.142Z,1645363490.142 [SBIT](ERROR): Could not read massPosReader_.
2022-02-20T13:24:50.142Z,1645363490.142 [SBIT](FAULT): Control surface position failure.
2022-02-20T13:24:50.473Z,1645363490.473 [CommandExec](IMPORTANT): got command show stack
2022-02-20T13:24:50.473Z,1645363490.473 [CommandExec](IMPORTANT): Behavior Stack:

2022-02-20T13:24:50.473Z,1645363490.473 [MissionManager](IMPORTANT): Mission loaded, but not running.
2022-02-20T13:24:55.673Z,1645363495.673 [CommandExec](IMPORTANT): got command show state
2022-02-20T13:24:55.673Z,1645363495.673 [CommandExec](IMPORTANT): Mission State:

2022-02-20T13:25:03.877Z,1645363503.877 [SBIT](ERROR): Could not read elevatorAngleReader_.
2022-02-20T13:25:03.877Z,1645363503.877 [SBIT](ERROR): Could not read rudderAngleReader_.
2022-02-20T13:25:03.877Z,1645363503.877 [SBIT](ERROR): Could not read massPosReader_.
2022-02-20T13:25:03.877Z,1645363503.877 [SBIT](FAULT): Control surface position failure.
2022-02-20T13:25:04.273Z,1645363504.273 [SBIT](CRITICAL): SBIT FAILED
2022-02-20T13:25:04.274Z,1645363504.274 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2022-02-20T13:25:04.275Z,1645363504.275 [SBIT](IMPORTANT): AHRS_M2.loadAtStartup=0 bool;

2022-02-20T13:25:04.275Z,1645363504.275 [SBIT](IMPORTANT): CTD_Seabird.loadAtStartup=0 bool;

2022-02-20T13:25:04.275Z,1645363504.275 [SBIT](IMPORTANT): DVL_micro.loadAtStartup=0 bool;

2022-02-20T13:25:04.275Z,1645363504.275 [SBIT](IMPORTANT): ElevatorServo.loadAtStartup=0 bool;

2022-02-20T13:25:04.275Z,1645363504.275 [SBIT](IMPORTANT): RudderServo.loadAtStartup=0 bool;

2022-02-20T13:25:04.275Z,1645363504.275 [SBIT](IMPORTANT): ThrusterServo.loadAtStartup=0 bool;

2022-02-20T13:25:04.275Z,1645363504.275 [SBIT](IMPORTANT): WetLabsBB2FL.loadAtStartup=0 bool;

2022-02-20T13:25:04.289Z,1645363504.289 [CommandExec](FAULT): Scheduling is paused
2022-02-20T13:25:04.289Z,1645363504.289 [CBIT](INFO): Critical error at 20220220T132504
2022-02-20T13:25:04.289Z,1645363504.289 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2022-02-20T13:25:04.682Z,1645363504.682 [MissionManager](IMPORTANT): Started mission Startup
2022-02-20T13:25:04.682Z,1645363504.682 [Startup] Running Loop=1
2022-02-20T13:25:04.683Z,1645363504.683 [Startup](DEBUG): Aggregate::initialize Startup
2022-02-20T13:25:04.683Z,1645363504.683 [Startup:A.GoToSurface] Running Loop=1
2022-02-20T13:25:04.683Z,1645363504.683 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2022-02-20T13:25:04.683Z,1645363504.683 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2022-02-20T13:25:04.684Z,1645363504.684 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2022-02-20T13:25:04.684Z,1645363504.684 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2022-02-20T13:25:04.685Z,1645363504.685 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2022-02-20T13:25:04.685Z,1645363504.685 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2022-02-20T13:25:04.686Z,1645363504.686 [Startup:StartupSatComms] Running Loop=1
2022-02-20T13:25:04.687Z,1645363504.687 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2022-02-20T13:25:04.687Z,1645363504.687 [Startup:StartupSatComms:A] Running Loop=1
2022-02-20T13:25:05.083Z,1645363505.083 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2022-02-20T13:25:05.083Z,1645363505.083 [Startup:StartupSatComms:A] Stopped
2022-02-20T13:25:05.083Z,1645363505.083 [Startup:StartupSatComms:B] Running Loop=1
2022-02-20T13:25:05.481Z,1645363505.481 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2022-02-20T13:25:05.877Z,1645363505.877 [Micromodem](INFO): No more packets to send
2022-02-20T13:25:05.885Z,1645363505.885 [Startup:StartupSatComms:B] Stopped
2022-02-20T13:25:05.885Z,1645363505.885 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2022-02-20T13:25:05.885Z,1645363505.885 [Startup:StartupSatComms] Stopped
2022-02-20T13:25:05.885Z,1645363505.885 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2022-02-20T13:25:05.886Z,1645363505.886 [Startup](INFO): Completed Startup
2022-02-20T13:25:05.886Z,1645363505.886 [MissionManager](INFO): Startup is completed.
2022-02-20T13:25:05.887Z,1645363505.887 [MissionManager](INFO): Uninitializing Mission Startup
2022-02-20T13:25:05.887Z,1645363505.887 [Startup] Stopped
2022-02-20T13:25:05.887Z,1645363505.887 [Startup](DEBUG): Aggregate::uninitialize Startup
2022-02-20T13:25:05.887Z,1645363505.887 [Startup:A.GoToSurface] Stopped
2022-02-20T13:25:05.887Z,1645363505.887 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2022-02-20T13:25:06.290Z,1645363506.290 [MissionManager](IMPORTANT): Started mission trackPatchOil
2022-02-20T13:25:06.290Z,1645363506.290 [trackPatchOil] Running Loop=1
2022-02-20T13:25:06.290Z,1645363506.290 [trackPatchOil](DEBUG): Aggregate::initialize trackPatchOil
2022-02-20T13:25:06.290Z,1645363506.290 [trackPatchOil:A.AltitudeEnvelope] Running Loop=1
2022-02-20T13:25:06.290Z,1645363506.290 [trackPatchOil:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2022-02-20T13:25:06.291Z,1645363506.291 [trackPatchOil:B.DepthEnvelope] Running Loop=1
2022-02-20T13:25:06.291Z,1645363506.291 [trackPatchOil:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2022-02-20T13:25:06.291Z,1645363506.291 [trackPatchOil:F.OffshoreEnvelope] Running Loop=1
2022-02-20T13:25:06.291Z,1645363506.291 [trackPatchOil:F.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2022-02-20T13:25:06.291Z,1645363506.291 [trackPatchOil:G.WaterDepthEnvelope] Running Loop=1
2022-02-20T13:25:06.291Z,1645363506.291 [trackPatchOil:G.WaterDepthEnvelope](DEBUG): Initialize WaterDepthEnvelopeComponent.
2022-02-20T13:25:06.291Z,1645363506.291 [trackPatchOil:H.Pitch] Running Loop=1
2022-02-20T13:25:06.291Z,1645363506.291 [trackPatchOil:H.Pitch](DEBUG): Initialize.
2022-02-20T13:25:06.292Z,1645363506.292 [trackPatchOil:I.Buoyancy] Running Loop=1
2022-02-20T13:25:06.292Z,1645363506.292 [trackPatchOil:I.Buoyancy](DEBUG): Initialize Buoyancy Component.
2022-02-20T13:25:06.292Z,1645363506.292 [trackPatchOil:Science] Running Loop=1
2022-02-20T13:25:06.292Z,1645363506.292 [trackPatchOil:Science](DEBUG): Aggregate::initialize trackPatchOil:Science
2022-02-20T13:25:06.292Z,1645363506.292 [trackPatchOil:Science:A] Running Loop=1
2022-02-20T13:25:06.292Z,1645363506.292 [trackPatchOil:Science:B] Running Loop=1
2022-02-20T13:25:06.292Z,1645363506.292 [trackPatchOil:Science:C] Running Loop=1
2022-02-20T13:25:06.292Z,1645363506.292 [trackPatchOil:Science:D] Running Loop=1
2022-02-20T13:25:06.292Z,1645363506.292 [trackPatchOil:Science:E] Running Loop=1
2022-02-20T13:25:06.292Z,1645363506.292 [trackPatchOil:Science:F] Running Loop=1
2022-02-20T13:25:06.292Z,1645363506.292 [trackPatchOil:Science:Read_Oil] Running Loop=1
2022-02-20T13:25:06.292Z,1645363506.292 [trackPatchOil:Science:PeakDetectChl] Running Loop=1
2022-02-20T13:25:06.293Z,1645363506.293 [trackPatchOil:Science:PeakDetectChl](DEBUG): Aggregate::initialize trackPatchOil:Science:PeakDetectChl
2022-02-20T13:25:06.293Z,1645363506.293 [trackPatchOil:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2022-02-20T13:25:06.293Z,1645363506.293 [trackPatchOil:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-02-20T13:25:06.295Z,1645363506.295 [trackPatchOil:Science:HighestChlPeakReport] Running Loop=1
2022-02-20T13:25:06.295Z,1645363506.295 [trackPatchOil:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize trackPatchOil:Science:HighestChlPeakReport
2022-02-20T13:25:06.295Z,1645363506.295 [trackPatchOil:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2022-02-20T13:25:06.295Z,1645363506.295 [trackPatchOil:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2022-02-20T13:25:06.296Z,1645363506.296 [trackPatchOil:Science:PeakDetectNO3] Running Loop=1
2022-02-20T13:25:06.296Z,1645363506.296 [trackPatchOil:Science:PeakDetectNO3](DEBUG): Aggregate::initialize trackPatchOil:Science:PeakDetectNO3
2022-02-20T13:25:06.296Z,1645363506.296 [trackPatchOil:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2022-02-20T13:25:06.296Z,1645363506.296 [trackPatchOil:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-02-20T13:25:06.298Z,1645363506.298 [trackPatchOil:Science:PeakDetectOil] Running Loop=1
2022-02-20T13:25:06.298Z,1645363506.298 [trackPatchOil:Science:PeakDetectOil](DEBUG): Aggregate::initialize trackPatchOil:Science:PeakDetectOil
2022-02-20T13:25:06.298Z,1645363506.298 [trackPatchOil:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2022-02-20T13:25:06.298Z,1645363506.298 [trackPatchOil:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-02-20T13:25:06.300Z,1645363506.300 [trackPatchOil:Science:HighestOilPeakReport] Running Loop=1
2022-02-20T13:25:06.300Z,1645363506.300 [trackPatchOil:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize trackPatchOil:Science:HighestOilPeakReport
2022-02-20T13:25:06.300Z,1645363506.300 [trackPatchOil:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2022-02-20T13:25:06.300Z,1645363506.300 [trackPatchOil:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2022-02-20T13:25:06.301Z,1645363506.301 [trackPatchOil:Science:PeakDetectFDOM] Running Loop=1
2022-02-20T13:25:06.301Z,1645363506.301 [trackPatchOil:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize trackPatchOil:Science:PeakDetectFDOM
2022-02-20T13:25:06.301Z,1645363506.301 [trackPatchOil:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2022-02-20T13:25:06.301Z,1645363506.301 [trackPatchOil:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-02-20T13:25:06.302Z,1645363506.302 [trackPatchOil:Science:PeakDetectSalinity] Running Loop=1
2022-02-20T13:25:06.302Z,1645363506.302 [trackPatchOil:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize trackPatchOil:Science:PeakDetectSalinity
2022-02-20T13:25:06.303Z,1645363506.303 [trackPatchOil:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Running Loop=1
2022-02-20T13:25:06.303Z,1645363506.303 [trackPatchOil:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-02-20T13:25:06.304Z,1645363506.304 [trackPatchOil:Science:HighestSaltPeakReport] Running Loop=1
2022-02-20T13:25:06.304Z,1645363506.304 [trackPatchOil:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize trackPatchOil:Science:HighestSaltPeakReport
2022-02-20T13:25:06.304Z,1645363506.304 [trackPatchOil:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2022-02-20T13:25:06.305Z,1645363506.305 [trackPatchOil:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2022-02-20T13:25:06.305Z,1645363506.305 [trackPatchOil:Science:OceanCurrent] Running Loop=1
2022-02-20T13:25:06.305Z,1645363506.305 [trackPatchOil:Science:OceanCurrent](DEBUG): Aggregate::initialize trackPatchOil:Science:OceanCurrent
2022-02-20T13:25:06.305Z,1645363506.305 [trackPatchOil:Science:OceanCurrent:A.] Running Loop=1
2022-02-20T13:25:06.305Z,1645363506.305 [trackPatchOil:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2022-02-20T13:25:06.305Z,1645363506.305 [trackPatchOil:K.SetSpeed] Running Loop=1
2022-02-20T13:25:06.306Z,1645363506.306 [trackPatchOil:K.SetSpeed](DEBUG): Initialize.
2022-02-20T13:25:06.306Z,1645363506.306 [trackPatchOil:L.Pitch] Running Loop=1
2022-02-20T13:25:06.306Z,1645363506.306 [trackPatchOil:L.Pitch](DEBUG): Initialize.
2022-02-20T13:25:06.306Z,1645363506.306 [trackPatchOil:SurfaceCommsSplit] Running Loop=1
2022-02-20T13:25:06.306Z,1645363506.306 [trackPatchOil:SurfaceCommsSplit](DEBUG): Aggregate::initialize trackPatchOil:SurfaceCommsSplit
2022-02-20T13:25:06.306Z,1645363506.306 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface] Running Loop=1
2022-02-20T13:25:06.306Z,1645363506.306 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2022-02-20T13:25:06.307Z,1645363506.307 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](INFO): Received depth rate setting nan m/s.
2022-02-20T13:25:06.307Z,1645363506.307 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2022-02-20T13:25:06.307Z,1645363506.307 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2022-02-20T13:25:06.308Z,1645363506.308 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2022-02-20T13:25:06.308Z,1645363506.308 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2022-02-20T13:25:06.309Z,1645363506.309 [trackPatchOil:L.Pitch] Running Loop=1
2022-02-20T13:25:06.310Z,1645363506.310 [trackPatchOil:K.SetSpeed] Running Loop=1
2022-02-20T13:25:06.310Z,1645363506.310 [trackPatchOil:Science] Running Loop=1
2022-02-20T13:25:06.311Z,1645363506.311 [trackPatchOil:Science:HighestSaltPeakReport] Stopped
2022-02-20T13:25:06.311Z,1645363506.311 [trackPatchOil:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize trackPatchOil:Science:HighestSaltPeakReport
2022-02-20T13:25:06.311Z,1645363506.311 [trackPatchOil:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2022-02-20T13:25:06.311Z,1645363506.311 [trackPatchOil:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2022-02-20T13:25:06.311Z,1645363506.311 [trackPatchOil:Science:PeakDetectSalinity] Stopped
2022-02-20T13:25:06.311Z,1645363506.311 [trackPatchOil:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize trackPatchOil:Science:PeakDetectSalinity
2022-02-20T13:25:06.311Z,1645363506.311 [trackPatchOil:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Stopped
2022-02-20T13:25:06.311Z,1645363506.311 [trackPatchOil:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-02-20T13:25:06.311Z,1645363506.311 [trackPatchOil:Science:PeakDetectFDOM] Stopped
2022-02-20T13:25:06.312Z,1645363506.312 [trackPatchOil:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize trackPatchOil:Science:PeakDetectFDOM
2022-02-20T13:25:06.312Z,1645363506.312 [trackPatchOil:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2022-02-20T13:25:06.312Z,1645363506.312 [trackPatchOil:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-02-20T13:25:06.312Z,1645363506.312 [trackPatchOil:Science:HighestOilPeakReport] Stopped
2022-02-20T13:25:06.312Z,1645363506.312 [trackPatchOil:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize trackPatchOil:Science:HighestOilPeakReport
2022-02-20T13:25:06.312Z,1645363506.312 [trackPatchOil:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2022-02-20T13:25:06.312Z,1645363506.312 [trackPatchOil:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2022-02-20T13:25:06.312Z,1645363506.312 [trackPatchOil:Science:PeakDetectOil] Stopped
2022-02-20T13:25:06.312Z,1645363506.312 [trackPatchOil:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize trackPatchOil:Science:PeakDetectOil
2022-02-20T13:25:06.312Z,1645363506.312 [trackPatchOil:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2022-02-20T13:25:06.313Z,1645363506.313 [trackPatchOil:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-02-20T13:25:06.313Z,1645363506.313 [trackPatchOil:Science:PeakDetectNO3] Stopped
2022-02-20T13:25:06.313Z,1645363506.313 [trackPatchOil:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize trackPatchOil:Science:PeakDetectNO3
2022-02-20T13:25:06.313Z,1645363506.313 [trackPatchOil:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2022-02-20T13:25:06.313Z,1645363506.313 [trackPatchOil:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-02-20T13:25:06.313Z,1645363506.313 [trackPatchOil:Science:HighestChlPeakReport] Stopped
2022-02-20T13:25:06.313Z,1645363506.313 [trackPatchOil:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize trackPatchOil:Science:HighestChlPeakReport
2022-02-20T13:25:06.313Z,1645363506.313 [trackPatchOil:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2022-02-20T13:25:06.313Z,1645363506.313 [trackPatchOil:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2022-02-20T13:25:06.313Z,1645363506.313 [trackPatchOil:Science:PeakDetectChl] Stopped
2022-02-20T13:25:06.313Z,1645363506.313 [trackPatchOil:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize trackPatchOil:Science:PeakDetectChl
2022-02-20T13:25:06.313Z,1645363506.313 [trackPatchOil:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2022-02-20T13:25:06.314Z,1645363506.314 [trackPatchOil:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-02-20T13:25:06.314Z,1645363506.314 [trackPatchOil:Science:OceanCurrent:A.] Running Loop=1
2022-02-20T13:25:06.314Z,1645363506.314 [trackPatchOil:Science:Read_Oil] Running Loop=1
2022-02-20T13:25:06.315Z,1645363506.315 [trackPatchOil:Science:Read_Oil](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_petroleum_hydrocarbons_in_sea_water
2022-02-20T13:25:06.315Z,1645363506.315 [trackPatchOil:Science:F] Stopped
2022-02-20T13:25:06.315Z,1645363506.315 [trackPatchOil:Science:E] Stopped
2022-02-20T13:25:06.315Z,1645363506.315 [trackPatchOil:Science:D] Stopped
2022-02-20T13:25:06.315Z,1645363506.315 [trackPatchOil:Science:C] Stopped
2022-02-20T13:25:06.315Z,1645363506.315 [trackPatchOil:Science:B] Stopped
2022-02-20T13:25:06.315Z,1645363506.315 [trackPatchOil:Science:A] Running Loop=1
2022-02-20T13:25:06.336Z,1645363506.336 [WetLabsSeaOWL_UV_A](INFO): Start
2022-02-20T13:25:06.337Z,1645363506.337 [WetLabsSeaOWL_UV_A](INFO): Starting
2022-02-20T13:25:06.338Z,1645363506.338 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:06.352Z,1645363506.352 [trackPatchOil:Science:A](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_oxygen_in_sea_water
2022-02-20T13:25:06.352Z,1645363506.352 [trackPatchOil:I.Buoyancy] Running Loop=1
2022-02-20T13:25:06.352Z,1645363506.352 [trackPatchOil:H.Pitch] Running Loop=1
2022-02-20T13:25:06.353Z,1645363506.353 [trackPatchOil:G.WaterDepthEnvelope] Running Loop=1
2022-02-20T13:25:06.353Z,1645363506.353 [trackPatchOil:F.OffshoreEnvelope] Running Loop=1
2022-02-20T13:25:06.355Z,1645363506.355 [trackPatchOil:SurfaceCommsSplit:B] Running Loop=1
2022-02-20T13:25:06.355Z,1645363506.355 [trackPatchOil:SurfaceCommsSplit:B](DEBUG): Aggregate::initialize trackPatchOil:SurfaceCommsSplit:B
2022-02-20T13:25:06.355Z,1645363506.355 [trackPatchOil:SurfaceCommsSplit:B:A] Running Loop=1
2022-02-20T13:25:06.355Z,1645363506.355 [trackPatchOil:B.DepthEnvelope] Running Loop=1
2022-02-20T13:25:06.356Z,1645363506.356 [trackPatchOil:A.AltitudeEnvelope] Running Loop=1
2022-02-20T13:25:06.356Z,1645363506.356 [MissionManager](INFO): MissionManager is completed.
2022-02-20T13:25:06.356Z,1645363506.356 [MissionManager](INFO): Uninitializing Mission trackPatchOil
2022-02-20T13:25:06.356Z,1645363506.356 [trackPatchOil] Stopped
2022-02-20T13:25:06.356Z,1645363506.356 [trackPatchOil](DEBUG): Aggregate::uninitialize trackPatchOil
2022-02-20T13:25:06.357Z,1645363506.357 [trackPatchOil:A.AltitudeEnvelope] Stopped
2022-02-20T13:25:06.357Z,1645363506.357 [trackPatchOil:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2022-02-20T13:25:06.357Z,1645363506.357 [trackPatchOil:B.DepthEnvelope] Stopped
2022-02-20T13:25:06.357Z,1645363506.357 [trackPatchOil:B.DepthEnvelope](DEBUG): Uninitialize.
2022-02-20T13:25:06.357Z,1645363506.357 [trackPatchOil:SurfaceCommsSplit] Stopped
2022-02-20T13:25:06.357Z,1645363506.357 [trackPatchOil:SurfaceCommsSplit](DEBUG): Aggregate::uninitialize trackPatchOil:SurfaceCommsSplit
2022-02-20T13:25:06.357Z,1645363506.357 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface] Stopped
2022-02-20T13:25:06.357Z,1645363506.357 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2022-02-20T13:25:06.357Z,1645363506.357 [trackPatchOil:SurfaceCommsSplit:B] Stopped
2022-02-20T13:25:06.357Z,1645363506.357 [trackPatchOil:SurfaceCommsSplit:B](DEBUG): Aggregate::uninitialize trackPatchOil:SurfaceCommsSplit:B
2022-02-20T13:25:06.357Z,1645363506.357 [trackPatchOil:SurfaceCommsSplit:B:A] Stopped
2022-02-20T13:25:06.357Z,1645363506.357 [trackPatchOil:F.OffshoreEnvelope] Stopped
2022-02-20T13:25:06.357Z,1645363506.357 [trackPatchOil:F.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2022-02-20T13:25:06.358Z,1645363506.358 [trackPatchOil:G.WaterDepthEnvelope] Stopped
2022-02-20T13:25:06.358Z,1645363506.358 [trackPatchOil:G.WaterDepthEnvelope](DEBUG): Uninitialize WaterDepthEnvelopeComponent.
2022-02-20T13:25:06.358Z,1645363506.358 [trackPatchOil:H.Pitch] Stopped
2022-02-20T13:25:06.358Z,1645363506.358 [trackPatchOil:I.Buoyancy] Stopped
2022-02-20T13:25:06.358Z,1645363506.358 [trackPatchOil:I.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2022-02-20T13:25:06.358Z,1645363506.358 [trackPatchOil:Science] Stopped
2022-02-20T13:25:06.358Z,1645363506.358 [trackPatchOil:Science](DEBUG): Aggregate::uninitialize trackPatchOil:Science
2022-02-20T13:25:06.358Z,1645363506.358 [trackPatchOil:Science:A] Stopped
2022-02-20T13:25:06.358Z,1645363506.358 [trackPatchOil:Science:Read_Oil] Stopped
2022-02-20T13:25:06.358Z,1645363506.358 [trackPatchOil:Science:OceanCurrent] Stopped
2022-02-20T13:25:06.358Z,1645363506.358 [trackPatchOil:Science:OceanCurrent](DEBUG): Aggregate::uninitialize trackPatchOil:Science:OceanCurrent
2022-02-20T13:25:06.358Z,1645363506.358 [trackPatchOil:Science:OceanCurrent:A.] Stopped
2022-02-20T13:25:06.358Z,1645363506.358 [trackPatchOil:K.SetSpeed] Stopped
2022-02-20T13:25:06.359Z,1645363506.359 [trackPatchOil:K.SetSpeed](DEBUG): Uninitialize.
2022-02-20T13:25:06.359Z,1645363506.359 [trackPatchOil:L.Pitch] Stopped
2022-02-20T13:25:06.440Z,1645363506.440 [WetLabsSeaOWL_UV_A](INFO): Stop
2022-02-20T13:25:06.480Z,1645363506.480 [Reporter](INFO): mass_concentration_of_petroleum_hydrocarbons_in_sea_water nan kg/m3
2022-02-20T13:25:06.544Z,1645363506.544 [WetLabsSeaOWL_UV_A](INFO): Stopping
2022-02-20T13:25:06.694Z,1645363506.694 [MissionManager](IMPORTANT): Started mission Default
2022-02-20T13:25:06.695Z,1645363506.695 [Default] Running Loop=1
2022-02-20T13:25:06.695Z,1645363506.695 [Default](DEBUG): Aggregate::initialize Default
2022-02-20T13:25:06.695Z,1645363506.695 [Default:B.GoToSurface] Running Loop=1
2022-02-20T13:25:06.695Z,1645363506.695 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2022-02-20T13:25:06.695Z,1645363506.695 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2022-02-20T13:25:06.695Z,1645363506.695 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2022-02-20T13:25:06.700Z,1645363506.700 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2022-02-20T13:25:06.700Z,1645363506.700 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2022-02-20T13:25:06.701Z,1645363506.701 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2022-02-20T13:25:06.701Z,1645363506.701 [Default:A.Wait] Running Loop=1
2022-02-20T13:25:06.701Z,1645363506.701 [Default:A.Wait](DEBUG): Initialize Wait Component.
2022-02-20T13:25:11.138Z,1645363511.138 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2022-02-20T13:25:11.139Z,1645363511.139 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2022-02-20T13:25:11.139Z,1645363511.139 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2022-02-20T13:25:11.150Z,1645363511.150 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2022-02-20T13:25:11.549Z,1645363511.549 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2022-02-20T13:25:11.549Z,1645363511.549 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 0
2022-02-20T13:25:20.028Z,1645363520.028 [Default:A.Wait](INFO): Done Waiting.
2022-02-20T13:25:20.028Z,1645363520.028 [Default:A.Wait] Stopped
2022-02-20T13:25:20.028Z,1645363520.028 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2022-02-20T13:25:20.437Z,1645363520.437 [Default:CheckIn] Running Loop=1
2022-02-20T13:25:20.438Z,1645363520.438 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2022-02-20T13:25:20.438Z,1645363520.438 [Default:CheckIn:Read_GPS] Running Loop=1
2022-02-20T13:25:20.838Z,1645363520.838 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2022-02-20T13:25:26.486Z,1645363526.486 [NAL9602](INFO): No messages in MT queue
2022-02-20T13:25:30.359Z,1645363530.359 [CommandExec](IMPORTANT): got command run ./Missions/Science/trackPatchOil.xml
2022-02-20T13:25:30.360Z,1645363530.360 [MissionManager](INFO): Loading Mission from file: ./Missions/Science/trackPatchOil.xml
2022-02-20T13:25:30.563Z,1645363530.563 [MissionManager](INFO): DefineArg trackPatchOil.MinAltitude = 5.000000 m
2022-02-20T13:25:30.565Z,1645363530.565 [MissionManager](INFO): DefineArg trackPatchOil.MaxDepth = 65.000000 m
2022-02-20T13:25:30.567Z,1645363530.567 [MissionManager](INFO): DefineArg trackPatchOil.MinWaterDepth = 10.000000 m
2022-02-20T13:25:30.570Z,1645363530.570 [MissionManager](INFO): DefineArg trackPatchOil.MinOffshore = 2000.000000 m
2022-02-20T13:25:30.572Z,1645363530.572 [MissionManager](INFO): DefineArg trackPatchOil.NeedCommsTime = 180.000000 min
2022-02-20T13:25:30.574Z,1645363530.574 [MissionManager](INFO): DefineArg trackPatchOil.MissionTimeout = 9.000000 d
2022-02-20T13:25:30.576Z,1645363530.576 [MissionManager](INFO): DefineArg trackPatchOil.MassDefault = 0.990000 cm
2022-02-20T13:25:30.579Z,1645363530.579 [MissionManager](INFO): DefineArg trackPatchOil.BuoyancyNeutral = 223.000000 cc
2022-02-20T13:25:30.581Z,1645363530.581 [MissionManager](INFO): DefineArg trackPatchOil.Depth = 3.000000 m
2022-02-20T13:25:30.583Z,1645363530.583 [MissionManager](INFO): DefineArg trackPatchOil.Speed = 1.000000 m/s
2022-02-20T13:25:30.585Z,1645363530.585 [MissionManager](INFO): DefineArg trackPatchOil.WpMaxDistance = 12000.000000 m
2022-02-20T13:25:30.638Z,1645363530.638 [MissionManager](INFO): DefineArg trackPatchOil.WpTimeout = 12000.000000 s
2022-02-20T13:25:30.659Z,1645363530.659 [MissionManager](INFO): DefineArg trackPatchOil.WaterFrame = 1 bool
2022-02-20T13:25:30.661Z,1645363530.661 [MissionManager](INFO): DefineArg trackPatchOil.Repeat = 200.000000 count
2022-02-20T13:25:30.663Z,1645363530.663 [MissionManager](INFO): DefineArg trackPatchOil.Turn = 90.000000 arcdeg
2022-02-20T13:25:30.665Z,1645363530.665 [MissionManager](INFO): DefineArg trackPatchOil.Reverse = 180.000000 arcdeg
2022-02-20T13:25:30.692Z,1645363530.692 [MissionManager](INFO): DefineArg trackPatchOil.TwoPi = 360.000000 arcdeg
2022-02-20T13:25:30.695Z,1645363530.695 [MissionManager](INFO): DefineArg trackPatchOil.FilterWidth = 260.000000 count
2022-02-20T13:25:30.702Z,1645363530.702 [MissionManager](INFO): DefineArg trackPatchOil.BeginThreshold = 0.200000 kg/m3
2022-02-20T13:25:30.704Z,1645363530.704 [MissionManager](INFO): DefineArg trackPatchOil.OffPeakFraction = 10.000000 %
2022-02-20T13:25:30.706Z,1645363530.706 [MissionManager](INFO): DefineArg trackPatchOil.PatchMode = 0 bool
2022-02-20T13:25:30.708Z,1645363530.708 [MissionManager](INFO): DefineArg trackPatchOil.DetectOilTimeout = 15.000000 min
2022-02-20T13:25:30.710Z,1645363530.710 [MissionManager](INFO): DefineArg trackPatchOil.WpBearing = 90.000000 arcdeg
2022-02-20T13:25:30.732Z,1645363530.732 [MissionManager](INFO): DefineOutput trackPatchOil.PatchDetectOn = 0 bool
2022-02-20T13:25:30.734Z,1645363530.734 [MissionManager](INFO): DefineOutput trackPatchOil.WpDone = 0 bool
2022-02-20T13:25:30.737Z,1645363530.737 [MissionManager](INFO): DefineOutput trackPatchOil.PatchOil = nan ug/l
2022-02-20T13:25:30.739Z,1645363530.739 [MissionManager](INFO): DefineOutput trackPatchOil.PatchOilDepth = nan m
2022-02-20T13:25:30.753Z,1645363530.753 [MissionManager](INFO): DefineOutput trackPatchOil.PatchOilLatitude = nan arcdeg
2022-02-20T13:25:30.756Z,1645363530.756 [MissionManager](INFO): DefineOutput trackPatchOil.PatchOilLongitude = nan arcdeg
2022-02-20T13:25:30.758Z,1645363530.758 [MissionManager](INFO): DefineOutput trackPatchOil.PatchOilDistance = 0.000000 m
2022-02-20T13:25:30.759Z,1645363530.759 [trackPatchOil:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2022-02-20T13:25:30.783Z,1645363530.783 [trackPatchOil:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2022-02-20T13:25:30.789Z,1645363530.789 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Surface.xml
2022-02-20T13:25:30.865Z,1645363530.865 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceCommsSplit.SurfaceDepthRate = nan m/s
2022-02-20T13:25:30.867Z,1645363530.867 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceCommsSplit.SurfacePitch = 20.000000 arcdeg
2022-02-20T13:25:30.894Z,1645363530.894 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceCommsSplit.SurfaceSpeed = 1.000000 m/s
2022-02-20T13:25:30.896Z,1645363530.896 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceCommsSplit.IridiumTimeout = 30.000000 min
2022-02-20T13:25:30.898Z,1645363530.898 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceCommsSplit.UnpackSplitAtSurface = 0 bool
2022-02-20T13:25:30.899Z,1645363530.899 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](DEBUG): Construct GoToSurface.
2022-02-20T13:25:30.984Z,1645363530.984 [MissionManager](INFO): RedefineArg trackPatchOil:SurfaceCommsSplit.SurfacePitch = value:20.000000 arcdeg
2022-02-20T13:25:30.986Z,1645363530.986 [MissionManager](INFO): RedefineArg trackPatchOil:SurfaceCommsSplit.SurfaceSpeed = value:1.000000 m/s
2022-02-20T13:25:30.987Z,1645363530.987 [MissionManager](INFO): RedefineArg trackPatchOil:SurfaceCommsSplit.UnpackSplitAtSurface = value:1 bool
2022-02-20T13:25:30.989Z,1645363530.989 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Surface.xml
2022-02-20T13:25:31.041Z,1645363531.041 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceComms:SurfaceComms.SurfaceDepthRate = nan m/s
2022-02-20T13:25:31.043Z,1645363531.043 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceComms:SurfaceComms.SurfacePitch = 20.000000 arcdeg
2022-02-20T13:25:31.046Z,1645363531.046 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceComms:SurfaceComms.SurfaceSpeed = 1.000000 m/s
2022-02-20T13:25:31.056Z,1645363531.056 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceComms:SurfaceComms.IridiumTimeout = 30.000000 min
2022-02-20T13:25:31.058Z,1645363531.058 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceComms:SurfaceComms.UnpackSplitAtSurface = 0 bool
2022-02-20T13:25:31.060Z,1645363531.060 [trackPatchOil:SurfaceComms:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2022-02-20T13:25:31.129Z,1645363531.129 [MissionManager](INFO): RedefineArg trackPatchOil:SurfaceComms:SurfaceComms.SurfacePitch = value:20.000000 arcdeg
2022-02-20T13:25:31.131Z,1645363531.131 [MissionManager](INFO): RedefineArg trackPatchOil:SurfaceComms:SurfaceComms.SurfaceSpeed = value:1.000000 m/s
2022-02-20T13:25:31.147Z,1645363531.147 [trackPatchOil:F.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2022-02-20T13:25:31.151Z,1645363531.151 [trackPatchOil:G.WaterDepthEnvelope](DEBUG): Construct WaterDepthEnvelope.
2022-02-20T13:25:31.167Z,1645363531.167 [trackPatchOil:H.Pitch](DEBUG): Construct.
2022-02-20T13:25:31.171Z,1645363531.171 [trackPatchOil:I.Buoyancy](DEBUG): Construct Buoyancy.
2022-02-20T13:25:31.176Z,1645363531.176 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.xml
2022-02-20T13:25:31.429Z,1645363531.429 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakDetectChlActive = 0 bool
2022-02-20T13:25:31.431Z,1645363531.431 [MissionManager](INFO): DefineArg trackPatchOil:Science.TimeWindowPeakReport = nan min
2022-02-20T13:25:31.450Z,1645363531.450 [MissionManager](INFO): DefineArg trackPatchOil:Science.HighestChlPeakReportActive = 0 bool
2022-02-20T13:25:31.453Z,1645363531.453 [MissionManager](INFO): DefineArg trackPatchOil:Science.HighestSaltPeakReportActive = 0 bool
2022-02-20T13:25:31.455Z,1645363531.455 [MissionManager](INFO): DefineArg trackPatchOil:Science.HighestOilPeakReportActive = 0 bool
2022-02-20T13:25:31.457Z,1645363531.457 [MissionManager](INFO): DefineArg trackPatchOil:Science.PatchTracking = 0 bool
2022-02-20T13:25:31.458Z,1645363531.458 [MissionManager](INFO): DefineArg trackPatchOil:Science.DetectTrough = 0 bool
2022-02-20T13:25:31.461Z,1645363531.461 [MissionManager](INFO): DefineArg trackPatchOil:Science.FilterWidthHorizontal = 3.000000 count
2022-02-20T13:25:31.463Z,1645363531.463 [MissionManager](INFO): DefineArg trackPatchOil:Science.NumProfilesSlidingwindow = 100.000000 count
2022-02-20T13:25:31.465Z,1645363531.465 [MissionManager](INFO): DefineArg trackPatchOil:Science.OffPeakFractionHorizontal = 80.000000 %
2022-02-20T13:25:31.467Z,1645363531.467 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakDetectNO3Active = 0 bool
2022-02-20T13:25:31.469Z,1645363531.469 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakDetectOilActive = 0 bool
2022-02-20T13:25:31.471Z,1645363531.471 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakDetectFDOMActive = 0 bool
2022-02-20T13:25:31.473Z,1645363531.473 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakDetectSalinityActive = 0 bool
2022-02-20T13:25:31.475Z,1645363531.475 [MissionManager](INFO): DefineArg trackPatchOil:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2022-02-20T13:25:31.477Z,1645363531.477 [MissionManager](INFO): DefineArg trackPatchOil:Science.EnabledAanderaaO2 = 1 bool
2022-02-20T13:25:31.479Z,1645363531.479 [MissionManager](INFO): DefineArg trackPatchOil:Science.EnabledNeilBrown = 0 bool
2022-02-20T13:25:31.482Z,1645363531.482 [MissionManager](INFO): DefineArg trackPatchOil:Science.EnabledSeabird = 0 bool
2022-02-20T13:25:31.537Z,1645363531.537 [MissionManager](INFO): DefineArg trackPatchOil:Science.EnabledWetLabsBB2FL = 0 bool
2022-02-20T13:25:31.540Z,1645363531.540 [MissionManager](INFO): DefineArg trackPatchOil:Science.EnabledWetLabsSeaOWL_UV_A = 1 bool
2022-02-20T13:25:31.542Z,1645363531.542 [MissionManager](INFO): DefineArg trackPatchOil:Science.EnabledWetLabsUBAT = 0 bool
2022-02-20T13:25:31.544Z,1645363531.544 [MissionManager](INFO): DefineArg trackPatchOil:Science.LowPassWindowLength = 20.000000 count
2022-02-20T13:25:31.546Z,1645363531.546 [MissionManager](INFO): DefineArg trackPatchOil:Science.MedianFilterLen = 5.000000 count
2022-02-20T13:25:31.571Z,1645363531.571 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakShallowBound = nan m
2022-02-20T13:25:31.573Z,1645363531.573 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakDeepBound = nan m
2022-02-20T13:25:31.575Z,1645363531.575 [MissionManager](INFO): DefineArg trackPatchOil:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2022-02-20T13:25:31.577Z,1645363531.577 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakChl = 0.000000 ug/l
2022-02-20T13:25:31.594Z,1645363531.594 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakChlDepth = 0.000000 m
2022-02-20T13:25:31.596Z,1645363531.596 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakChlTemperature = 0.000000 degC
2022-02-20T13:25:31.599Z,1645363531.599 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakChlLatitude = nan arcdeg
2022-02-20T13:25:31.601Z,1645363531.601 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakChlLongitude = nan arcdeg
2022-02-20T13:25:31.603Z,1645363531.603 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakNO3 = 0.000000 umol/l
2022-02-20T13:25:31.628Z,1645363531.628 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakNO3Depth = 0.000000 m
2022-02-20T13:25:31.630Z,1645363531.630 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakNO3Latitude = nan arcdeg
2022-02-20T13:25:31.632Z,1645363531.632 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakNO3Longitude = nan arcdeg
2022-02-20T13:25:31.635Z,1645363531.635 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakOil = 0.000000 kg/m3
2022-02-20T13:25:31.659Z,1645363531.659 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakOilDepth = 0.000000 m
2022-02-20T13:25:31.664Z,1645363531.664 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakOilLatitude = nan arcdeg
2022-02-20T13:25:31.666Z,1645363531.666 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakOilLongitude = nan arcdeg
2022-02-20T13:25:31.669Z,1645363531.669 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakFDOM = 0.000000 ppb
2022-02-20T13:25:31.671Z,1645363531.671 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakFDOMDepth = 0.000000 m
2022-02-20T13:25:31.705Z,1645363531.705 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakFDOMTemperature = nan degC
2022-02-20T13:25:31.707Z,1645363531.707 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakFDOMLatitude = nan arcdeg
2022-02-20T13:25:31.710Z,1645363531.710 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakFDOMLongitude = nan arcdeg
2022-02-20T13:25:31.751Z,1645363531.751 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchFDOMDistance = nan m
2022-02-20T13:25:31.765Z,1645363531.765 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakSalt = 0.000000 psu
2022-02-20T13:25:31.768Z,1645363531.768 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakSaltDepth = 0.000000 m
2022-02-20T13:25:31.770Z,1645363531.770 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakSaltTemperature = 0.000000 degC
2022-02-20T13:25:31.796Z,1645363531.796 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakSaltLatitude = nan arcdeg
2022-02-20T13:25:31.798Z,1645363531.798 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakSaltLongitude = nan arcdeg
2022-02-20T13:25:31.800Z,1645363531.800 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchChl = 0.000000 ug/l
2022-02-20T13:25:31.803Z,1645363531.803 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchChlDepth = 0.000000 m
2022-02-20T13:25:31.829Z,1645363531.829 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchChlLatitude = nan arcdeg
2022-02-20T13:25:31.831Z,1645363531.831 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchChlLongitude = nan arcdeg
2022-02-20T13:25:31.834Z,1645363531.834 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchChlDistance = nan m
2022-02-20T13:25:31.857Z,1645363531.857 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchSalt = 0.000000 psu
2022-02-20T13:25:31.859Z,1645363531.859 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchSaltDepth = 0.000000 m
2022-02-20T13:25:31.862Z,1645363531.862 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchSaltLatitude = nan arcdeg
2022-02-20T13:25:31.887Z,1645363531.887 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchSaltLongitude = nan arcdeg
2022-02-20T13:25:31.890Z,1645363531.890 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchSaltDistance = nan m
2022-02-20T13:25:31.912Z,1645363531.912 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchOil = 0.000000 psu
2022-02-20T13:25:31.914Z,1645363531.914 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchOilDepth = 0.000000 m
2022-02-20T13:25:31.917Z,1645363531.917 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchOilLatitude = nan arcdeg
2022-02-20T13:25:31.919Z,1645363531.919 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchOilLongitude = nan arcdeg
2022-02-20T13:25:31.934Z,1645363531.934 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchOilDistance = nan m
2022-02-20T13:25:31.968Z,1645363531.968 [trackPatchOil:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-02-20T13:25:32.005Z,1645363532.005 [trackPatchOil:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2022-02-20T13:25:32.037Z,1645363532.037 [trackPatchOil:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-02-20T13:25:32.061Z,1645363532.061 [trackPatchOil:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-02-20T13:25:32.089Z,1645363532.089 [trackPatchOil:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2022-02-20T13:25:32.122Z,1645363532.122 [trackPatchOil:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-02-20T13:25:32.201Z,1645363532.201 [trackPatchOil:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-02-20T13:25:32.221Z,1645363532.221 [trackPatchOil:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2022-02-20T13:25:32.245Z,1645363532.245 [trackPatchOil:K.SetSpeed](DEBUG): Construct.
2022-02-20T13:25:32.247Z,1645363532.247 [trackPatchOil:L.Pitch](DEBUG): Construct.
2022-02-20T13:25:32.258Z,1645363532.258 [trackPatchOil:PatchDetectHorizontal:PatchDetection:PatchTrackTrigger.PatchTrack](DEBUG): Construct PatchTrack.
2022-02-20T13:25:32.280Z,1645363532.280 [trackPatchOil:PatchDetectHorizontal:CrossLeg:CrossSurfaceWp.Waypoint](DEBUG): Construct Waypoint.
2022-02-20T13:25:32.287Z,1645363532.287 [trackPatchOil:PatchDetectHorizontal:CrossLeg:CrossPeakWp.Waypoint](DEBUG): Construct Waypoint.
2022-02-20T13:25:32.298Z,1645363532.298 [trackPatchOil:PatchDetectHorizontal:InLegWp.Waypoint](DEBUG): Construct Waypoint.
2022-02-20T13:25:32.311Z,1645363532.311 [trackPatchOil:PatchDetectHorizontal:OutLeg:OutLegWp.Waypoint](DEBUG): Construct Waypoint.
2022-02-20T13:25:32.361Z,1645363532.361 [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>


2022-02-20T13:25:32.363Z,1645363532.363 [CommandExec](IMPORTANT): Running ./Missions/Science/trackPatchOil.xml
2022-02-20T13:25:32.549Z,1645363532.549 [Default] Stopped
2022-02-20T13:25:32.550Z,1645363532.550 [Default](DEBUG): Aggregate::uninitialize Default
2022-02-20T13:25:32.550Z,1645363532.550 [Default:B.GoToSurface] Stopped
2022-02-20T13:25:32.550Z,1645363532.550 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2022-02-20T13:25:32.550Z,1645363532.550 [Default:CheckIn] Stopped
2022-02-20T13:25:32.550Z,1645363532.550 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2022-02-20T13:25:32.550Z,1645363532.550 [Default:CheckIn:Read_GPS] Stopped
2022-02-20T13:25:32.550Z,1645363532.550 [MissionManager](IMPORTANT): Started mission trackPatchOil
2022-02-20T13:25:32.550Z,1645363532.550 [trackPatchOil] Running Loop=1
2022-02-20T13:25:32.550Z,1645363532.550 [trackPatchOil](DEBUG): Aggregate::initialize trackPatchOil
2022-02-20T13:25:32.551Z,1645363532.551 [trackPatchOil:A.AltitudeEnvelope] Running Loop=1
2022-02-20T13:25:32.551Z,1645363532.551 [trackPatchOil:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2022-02-20T13:25:32.551Z,1645363532.551 [trackPatchOil:B.DepthEnvelope] Running Loop=1
2022-02-20T13:25:32.551Z,1645363532.551 [trackPatchOil:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2022-02-20T13:25:32.551Z,1645363532.551 [trackPatchOil:F.OffshoreEnvelope] Running Loop=1
2022-02-20T13:25:32.551Z,1645363532.551 [trackPatchOil:F.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2022-02-20T13:25:32.551Z,1645363532.551 [trackPatchOil:G.WaterDepthEnvelope] Running Loop=1
2022-02-20T13:25:32.551Z,1645363532.551 [trackPatchOil:G.WaterDepthEnvelope](DEBUG): Initialize WaterDepthEnvelopeComponent.
2022-02-20T13:25:32.551Z,1645363532.551 [trackPatchOil:H.Pitch] Running Loop=1
2022-02-20T13:25:32.551Z,1645363532.551 [trackPatchOil:H.Pitch](DEBUG): Initialize.
2022-02-20T13:25:32.552Z,1645363532.552 [trackPatchOil:I.Buoyancy] Running Loop=1
2022-02-20T13:25:32.552Z,1645363532.552 [trackPatchOil:I.Buoyancy](DEBUG): Initialize Buoyancy Component.
2022-02-20T13:25:32.552Z,1645363532.552 [trackPatchOil:Science] Running Loop=1
2022-02-20T13:25:32.552Z,1645363532.552 [trackPatchOil:Science](DEBUG): Aggregate::initialize trackPatchOil:Science
2022-02-20T13:25:32.552Z,1645363532.552 [trackPatchOil:Science:A] Running Loop=1
2022-02-20T13:25:32.552Z,1645363532.552 [trackPatchOil:Science:B] Running Loop=1
2022-02-20T13:25:32.552Z,1645363532.552 [trackPatchOil:Science:C] Running Loop=1
2022-02-20T13:25:32.552Z,1645363532.552 [trackPatchOil:Science:D] Running Loop=1
2022-02-20T13:25:32.552Z,1645363532.552 [trackPatchOil:Science:E] Running Loop=1
2022-02-20T13:25:32.552Z,1645363532.552 [trackPatchOil:Science:F] Running Loop=1
2022-02-20T13:25:32.553Z,1645363532.553 [trackPatchOil:Science:Read_Oil] Running Loop=1
2022-02-20T13:25:32.553Z,1645363532.553 [trackPatchOil:Science:PeakDetectChl] Running Loop=1
2022-02-20T13:25:32.553Z,1645363532.553 [trackPatchOil:Science:PeakDetectChl](DEBUG): Aggregate::initialize trackPatchOil:Science:PeakDetectChl
2022-02-20T13:25:32.553Z,1645363532.553 [trackPatchOil:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2022-02-20T13:25:32.553Z,1645363532.553 [trackPatchOil:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-02-20T13:25:32.554Z,1645363532.554 [trackPatchOil:Science:HighestChlPeakReport] Running Loop=1
2022-02-20T13:25:32.554Z,1645363532.554 [trackPatchOil:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize trackPatchOil:Science:HighestChlPeakReport
2022-02-20T13:25:32.554Z,1645363532.554 [trackPatchOil:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2022-02-20T13:25:32.554Z,1645363532.554 [trackPatchOil:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2022-02-20T13:25:32.555Z,1645363532.555 [trackPatchOil:Science:PeakDetectNO3] Running Loop=1
2022-02-20T13:25:32.555Z,1645363532.555 [trackPatchOil:Science:PeakDetectNO3](DEBUG): Aggregate::initialize trackPatchOil:Science:PeakDetectNO3
2022-02-20T13:25:32.555Z,1645363532.555 [trackPatchOil:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2022-02-20T13:25:32.555Z,1645363532.555 [trackPatchOil:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-02-20T13:25:32.556Z,1645363532.556 [trackPatchOil:Science:PeakDetectOil] Running Loop=1
2022-02-20T13:25:32.556Z,1645363532.556 [trackPatchOil:Science:PeakDetectOil](DEBUG): Aggregate::initialize trackPatchOil:Science:PeakDetectOil
2022-02-20T13:25:32.557Z,1645363532.557 [trackPatchOil:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2022-02-20T13:25:32.557Z,1645363532.557 [trackPatchOil:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-02-20T13:25:32.558Z,1645363532.558 [trackPatchOil:Science:HighestOilPeakReport] Running Loop=1
2022-02-20T13:25:32.558Z,1645363532.558 [trackPatchOil:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize trackPatchOil:Science:HighestOilPeakReport
2022-02-20T13:25:32.558Z,1645363532.558 [trackPatchOil:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2022-02-20T13:25:32.558Z,1645363532.558 [trackPatchOil:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2022-02-20T13:25:32.558Z,1645363532.558 [trackPatchOil:Science:PeakDetectFDOM] Running Loop=1
2022-02-20T13:25:32.559Z,1645363532.559 [trackPatchOil:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize trackPatchOil:Science:PeakDetectFDOM
2022-02-20T13:25:32.559Z,1645363532.559 [trackPatchOil:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2022-02-20T13:25:32.559Z,1645363532.559 [trackPatchOil:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-02-20T13:25:32.560Z,1645363532.560 [trackPatchOil:Science:PeakDetectSalinity] Running Loop=1
2022-02-20T13:25:32.560Z,1645363532.560 [trackPatchOil:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize trackPatchOil:Science:PeakDetectSalinity
2022-02-20T13:25:32.560Z,1645363532.560 [trackPatchOil:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Running Loop=1
2022-02-20T13:25:32.560Z,1645363532.560 [trackPatchOil:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-02-20T13:25:32.561Z,1645363532.561 [trackPatchOil:Science:HighestSaltPeakReport] Running Loop=1
2022-02-20T13:25:32.561Z,1645363532.561 [trackPatchOil:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize trackPatchOil:Science:HighestSaltPeakReport
2022-02-20T13:25:32.562Z,1645363532.562 [trackPatchOil:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2022-02-20T13:25:32.562Z,1645363532.562 [trackPatchOil:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2022-02-20T13:25:32.562Z,1645363532.562 [trackPatchOil:Science:OceanCurrent] Running Loop=1
2022-02-20T13:25:32.562Z,1645363532.562 [trackPatchOil:Science:OceanCurrent](DEBUG): Aggregate::initialize trackPatchOil:Science:OceanCurrent
2022-02-20T13:25:32.562Z,1645363532.562 [trackPatchOil:Science:OceanCurrent:A.] Running Loop=1
2022-02-20T13:25:32.562Z,1645363532.562 [trackPatchOil:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2022-02-20T13:25:32.563Z,1645363532.563 [trackPatchOil:K.SetSpeed] Running Loop=1
2022-02-20T13:25:32.563Z,1645363532.563 [trackPatchOil:K.SetSpeed](DEBUG): Initialize.
2022-02-20T13:25:32.563Z,1645363532.563 [trackPatchOil:L.Pitch] Running Loop=1
2022-02-20T13:25:32.563Z,1645363532.563 [trackPatchOil:L.Pitch](DEBUG): Initialize.
2022-02-20T13:25:32.563Z,1645363532.563 [trackPatchOil:SurfaceCommsSplit] Running Loop=1
2022-02-20T13:25:32.563Z,1645363532.563 [trackPatchOil:SurfaceCommsSplit](DEBUG): Aggregate::initialize trackPatchOil:SurfaceCommsSplit
2022-02-20T13:25:32.563Z,1645363532.563 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface] Running Loop=1
2022-02-20T13:25:32.563Z,1645363532.563 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2022-02-20T13:25:32.564Z,1645363532.564 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](INFO): Received depth rate setting nan m/s.
2022-02-20T13:25:32.565Z,1645363532.565 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2022-02-20T13:25:32.565Z,1645363532.565 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2022-02-20T13:25:32.566Z,1645363532.566 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2022-02-20T13:25:32.566Z,1645363532.566 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2022-02-20T13:25:32.567Z,1645363532.567 [trackPatchOil:L.Pitch] Running Loop=1
2022-02-20T13:25:32.567Z,1645363532.567 [trackPatchOil:K.SetSpeed] Running Loop=1
2022-02-20T13:25:32.567Z,1645363532.567 [trackPatchOil:Science] Running Loop=1
2022-02-20T13:25:32.568Z,1645363532.568 [trackPatchOil:Science:HighestSaltPeakReport] Stopped
2022-02-20T13:25:32.568Z,1645363532.568 [trackPatchOil:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize trackPatchOil:Science:HighestSaltPeakReport
2022-02-20T13:25:32.568Z,1645363532.568 [trackPatchOil:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2022-02-20T13:25:32.569Z,1645363532.569 [trackPatchOil:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2022-02-20T13:25:32.569Z,1645363532.569 [trackPatchOil:Science:PeakDetectSalinity] Stopped
2022-02-20T13:25:32.569Z,1645363532.569 [trackPatchOil:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize trackPatchOil:Science:PeakDetectSalinity
2022-02-20T13:25:32.569Z,1645363532.569 [trackPatchOil:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Stopped
2022-02-20T13:25:32.569Z,1645363532.569 [trackPatchOil:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-02-20T13:25:32.569Z,1645363532.569 [trackPatchOil:Science:PeakDetectFDOM] Stopped
2022-02-20T13:25:32.569Z,1645363532.569 [trackPatchOil:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize trackPatchOil:Science:PeakDetectFDOM
2022-02-20T13:25:32.569Z,1645363532.569 [trackPatchOil:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2022-02-20T13:25:32.569Z,1645363532.569 [trackPatchOil:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-02-20T13:25:32.569Z,1645363532.569 [trackPatchOil:Science:HighestOilPeakReport] Stopped
2022-02-20T13:25:32.569Z,1645363532.569 [trackPatchOil:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize trackPatchOil:Science:HighestOilPeakReport
2022-02-20T13:25:32.569Z,1645363532.569 [trackPatchOil:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2022-02-20T13:25:32.570Z,1645363532.570 [trackPatchOil:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2022-02-20T13:25:32.570Z,1645363532.570 [trackPatchOil:Science:PeakDetectOil] Stopped
2022-02-20T13:25:32.570Z,1645363532.570 [trackPatchOil:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize trackPatchOil:Science:PeakDetectOil
2022-02-20T13:25:32.570Z,1645363532.570 [trackPatchOil:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2022-02-20T13:25:32.570Z,1645363532.570 [trackPatchOil:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-02-20T13:25:32.570Z,1645363532.570 [trackPatchOil:Science:PeakDetectNO3] Stopped
2022-02-20T13:25:32.570Z,1645363532.570 [trackPatchOil:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize trackPatchOil:Science:PeakDetectNO3
2022-02-20T13:25:32.570Z,1645363532.570 [trackPatchOil:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2022-02-20T13:25:32.570Z,1645363532.570 [trackPatchOil:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-02-20T13:25:32.570Z,1645363532.570 [trackPatchOil:Science:HighestChlPeakReport] Stopped
2022-02-20T13:25:32.570Z,1645363532.570 [trackPatchOil:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize trackPatchOil:Science:HighestChlPeakReport
2022-02-20T13:25:32.570Z,1645363532.570 [trackPatchOil:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2022-02-20T13:25:32.571Z,1645363532.571 [trackPatchOil:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2022-02-20T13:25:32.571Z,1645363532.571 [trackPatchOil:Science:PeakDetectChl] Stopped
2022-02-20T13:25:32.571Z,1645363532.571 [trackPatchOil:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize trackPatchOil:Science:PeakDetectChl
2022-02-20T13:25:32.571Z,1645363532.571 [trackPatchOil:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2022-02-20T13:25:32.571Z,1645363532.571 [trackPatchOil:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-02-20T13:25:32.571Z,1645363532.571 [trackPatchOil:Science:OceanCurrent:A.] Running Loop=1
2022-02-20T13:25:32.571Z,1645363532.571 [trackPatchOil:Science:Read_Oil] Running Loop=1
2022-02-20T13:25:32.573Z,1645363532.573 [trackPatchOil:Science:Read_Oil](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_petroleum_hydrocarbons_in_sea_water
2022-02-20T13:25:32.573Z,1645363532.573 [trackPatchOil:Science:F] Stopped
2022-02-20T13:25:32.573Z,1645363532.573 [trackPatchOil:Science:E] Stopped
2022-02-20T13:25:32.573Z,1645363532.573 [trackPatchOil:Science:D] Stopped
2022-02-20T13:25:32.573Z,1645363532.573 [trackPatchOil:Science:C] Stopped
2022-02-20T13:25:32.573Z,1645363532.573 [trackPatchOil:Science:B] Stopped
2022-02-20T13:25:32.573Z,1645363532.573 [trackPatchOil:Science:A] Running Loop=1
2022-02-20T13:25:32.573Z,1645363532.573 [trackPatchOil:Science:A](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_oxygen_in_sea_water
2022-02-20T13:25:32.574Z,1645363532.574 [trackPatchOil:I.Buoyancy] Running Loop=1
2022-02-20T13:25:32.574Z,1645363532.574 [trackPatchOil:H.Pitch] Running Loop=1
2022-02-20T13:25:32.574Z,1645363532.574 [trackPatchOil:G.WaterDepthEnvelope] Running Loop=1
2022-02-20T13:25:32.574Z,1645363532.574 [trackPatchOil:F.OffshoreEnvelope] Running Loop=1
2022-02-20T13:25:32.596Z,1645363532.596 [trackPatchOil:SurfaceCommsSplit:B] Running Loop=1
2022-02-20T13:25:32.596Z,1645363532.596 [trackPatchOil:SurfaceCommsSplit:B](DEBUG): Aggregate::initialize trackPatchOil:SurfaceCommsSplit:B
2022-02-20T13:25:32.596Z,1645363532.596 [trackPatchOil:SurfaceCommsSplit:B:A] Running Loop=1
2022-02-20T13:25:32.596Z,1645363532.596 [trackPatchOil:B.DepthEnvelope] Running Loop=1
2022-02-20T13:25:32.597Z,1645363532.597 [trackPatchOil:A.AltitudeEnvelope] Running Loop=1
2022-02-20T13:25:32.676Z,1645363532.676 [WetLabsSeaOWL_UV_A](INFO): Start
2022-02-20T13:25:32.677Z,1645363532.677 [WetLabsSeaOWL_UV_A](INFO): Starting
2022-02-20T13:25:32.677Z,1645363532.677 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:32.781Z,1645363532.781 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:32.884Z,1645363532.884 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:32.961Z,1645363532.961 [trackPatchOil:SurfaceCommsSplit:B:A](INFO): ##UnpackSplit##
2022-02-20T13:25:32.962Z,1645363532.962 [trackPatchOil:SurfaceCommsSplit:B:A] Stopped
2022-02-20T13:25:32.962Z,1645363532.962 [trackPatchOil:SurfaceCommsSplit:B](INFO): Completed trackPatchOil:SurfaceCommsSplit:B
2022-02-20T13:25:32.962Z,1645363532.962 [trackPatchOil:SurfaceCommsSplit:B] Stopped
2022-02-20T13:25:32.962Z,1645363532.962 [trackPatchOil:SurfaceCommsSplit:B](DEBUG): Aggregate::uninitialize trackPatchOil:SurfaceCommsSplit:B
2022-02-20T13:25:32.962Z,1645363532.962 [trackPatchOil:SurfaceCommsSplit:C] Running Loop=1
2022-02-20T13:25:32.962Z,1645363532.962 [trackPatchOil:SurfaceCommsSplit:C](DEBUG): Aggregate::initialize trackPatchOil:SurfaceCommsSplit:C
2022-02-20T13:25:32.962Z,1645363532.962 [trackPatchOil:SurfaceCommsSplit:C:A] Running Loop=1
2022-02-20T13:25:32.988Z,1645363532.988 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:33.092Z,1645363533.092 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:33.196Z,1645363533.196 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:33.300Z,1645363533.300 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:33.362Z,1645363533.362 [trackPatchOil:L.Pitch] Preempted
2022-02-20T13:25:33.362Z,1645363533.362 [trackPatchOil:K.SetSpeed] Preempted
2022-02-20T13:25:33.362Z,1645363533.362 [trackPatchOil:Science] Preempted
2022-02-20T13:25:33.362Z,1645363533.362 [trackPatchOil:Science:A] Preempted
2022-02-20T13:25:33.363Z,1645363533.363 [trackPatchOil:Science:Read_Oil] Preempted
2022-02-20T13:25:33.363Z,1645363533.363 [trackPatchOil:I.Buoyancy] Preempted
2022-02-20T13:25:33.363Z,1645363533.363 [trackPatchOil:H.Pitch] Preempted
2022-02-20T13:25:33.363Z,1645363533.363 [trackPatchOil:G.WaterDepthEnvelope] Preempted
2022-02-20T13:25:33.363Z,1645363533.363 [trackPatchOil:F.OffshoreEnvelope] Preempted
2022-02-20T13:25:33.364Z,1645363533.364 [trackPatchOil:SurfaceCommsSplit:C:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2022-02-20T13:25:33.364Z,1645363533.364 [trackPatchOil:SurfaceCommsSplit:C:A] Stopped
2022-02-20T13:25:33.365Z,1645363533.365 [trackPatchOil:SurfaceCommsSplit:C:B] Running Loop=1
2022-02-20T13:25:33.404Z,1645363533.404 [WetLabsSeaOWL_UV_A](INFO): Stop
2022-02-20T13:25:33.508Z,1645363533.508 [WetLabsSeaOWL_UV_A](INFO): Stopping
2022-02-20T13:25:33.763Z,1645363533.763 [trackPatchOil:SurfaceCommsSplit:C:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2022-02-20T13:25:34.157Z,1645363534.157 [Micromodem](INFO): No more packets to send
2022-02-20T13:25:34.166Z,1645363534.166 [trackPatchOil:SurfaceCommsSplit:C:B] Stopped
2022-02-20T13:25:34.166Z,1645363534.166 [trackPatchOil:SurfaceCommsSplit:C:C] Running Loop=1
2022-02-20T13:25:34.167Z,1645363534.167 [trackPatchOil:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2022-02-20T13:25:34.571Z,1645363534.571 [trackPatchOil:SurfaceCommsSplit:C:C](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2022-02-20T13:25:34.571Z,1645363534.571 [trackPatchOil:SurfaceCommsSplit:C:C] Stopped
2022-02-20T13:25:34.571Z,1645363534.571 [trackPatchOil:SurfaceCommsSplit:C](INFO): Completed trackPatchOil:SurfaceCommsSplit:C
2022-02-20T13:25:34.571Z,1645363534.571 [trackPatchOil:SurfaceCommsSplit:C] Stopped
2022-02-20T13:25:34.572Z,1645363534.572 [trackPatchOil:SurfaceCommsSplit:C](DEBUG): Aggregate::uninitialize trackPatchOil:SurfaceCommsSplit:C
2022-02-20T13:25:34.573Z,1645363534.573 [trackPatchOil:SurfaceCommsSplit](INFO): Completed trackPatchOil:SurfaceCommsSplit
2022-02-20T13:25:34.573Z,1645363534.573 [trackPatchOil:SurfaceCommsSplit] Stopped
2022-02-20T13:25:34.573Z,1645363534.573 [trackPatchOil:SurfaceCommsSplit](DEBUG): Aggregate::uninitialize trackPatchOil:SurfaceCommsSplit
2022-02-20T13:25:34.573Z,1645363534.573 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface] Stopped
2022-02-20T13:25:34.573Z,1645363534.573 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2022-02-20T13:25:34.573Z,1645363534.573 [trackPatchOil:PatchDetectHorizontal] Running Loop=1
2022-02-20T13:25:34.573Z,1645363534.573 [trackPatchOil:PatchDetectHorizontal](DEBUG): Aggregate::initialize trackPatchOil:PatchDetectHorizontal
2022-02-20T13:25:34.573Z,1645363534.573 [trackPatchOil:PatchDetectHorizontal:AssignPatchDetectOn] Running Loop=1
2022-02-20T13:25:34.981Z,1645363534.981 [trackPatchOil:PatchDetectHorizontal:AssignPatchDetectOn] Stopped
2022-02-20T13:25:34.982Z,1645363534.982 [trackPatchOil:PatchDetectHorizontal:C] Running Loop=1
2022-02-20T13:25:34.982Z,1645363534.982 [trackPatchOil:L.Pitch] Running Loop=1
2022-02-20T13:25:34.982Z,1645363534.982 [trackPatchOil:K.SetSpeed] Running Loop=1
2022-02-20T13:25:34.982Z,1645363534.982 [trackPatchOil:Science] Running Loop=1
2022-02-20T13:25:34.983Z,1645363534.983 [trackPatchOil:Science:Read_Oil] Running Loop=1
2022-02-20T13:25:34.983Z,1645363534.983 [trackPatchOil:Science:A] Running Loop=1
2022-02-20T13:25:34.983Z,1645363534.983 [trackPatchOil:I.Buoyancy] Running Loop=1
2022-02-20T13:25:34.984Z,1645363534.984 [trackPatchOil:H.Pitch] Running Loop=1
2022-02-20T13:25:34.984Z,1645363534.984 [trackPatchOil:G.WaterDepthEnvelope] Running Loop=1
2022-02-20T13:25:34.984Z,1645363534.984 [trackPatchOil:F.OffshoreEnvelope] Running Loop=1
2022-02-20T13:25:35.072Z,1645363535.072 [WetLabsSeaOWL_UV_A](INFO): Start
2022-02-20T13:25:35.073Z,1645363535.073 [WetLabsSeaOWL_UV_A](INFO): Starting
2022-02-20T13:25:35.073Z,1645363535.073 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:35.176Z,1645363535.176 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:35.280Z,1645363535.280 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:35.379Z,1645363535.379 [trackPatchOil:PatchDetectHorizontal:C](INFO): Bearing for CrossLeg: 90.000000 arcdeg 
2022-02-20T13:25:35.379Z,1645363535.379 [trackPatchOil:PatchDetectHorizontal:C] Stopped
2022-02-20T13:25:35.379Z,1645363535.379 [trackPatchOil:PatchDetectHorizontal:CrossLeg] Running Loop=1
2022-02-20T13:25:35.379Z,1645363535.379 [trackPatchOil:PatchDetectHorizontal:CrossLeg](DEBUG): Aggregate::initialize trackPatchOil:PatchDetectHorizontal:CrossLeg
2022-02-20T13:25:35.380Z,1645363535.380 [trackPatchOil:PatchDetectHorizontal:CrossLeg:CrossSurfaceWp.Waypoint] Running Loop=1
2022-02-20T13:25:35.380Z,1645363535.380 [trackPatchOil:PatchDetectHorizontal:CrossLeg:CrossSurfaceWp.Waypoint](DEBUG): Initialize WaypointComponent.
2022-02-20T13:25:35.381Z,1645363535.381 [trackPatchOil:PatchDetectHorizontal:PatchDetection] Running Loop=1
2022-02-20T13:25:35.381Z,1645363535.381 [trackPatchOil:PatchDetectHorizontal:PatchDetection](DEBUG): Aggregate::initialize trackPatchOil:PatchDetectHorizontal:PatchDetection
2022-02-20T13:25:35.381Z,1645363535.381 [trackPatchOil:PatchDetectHorizontal:PatchDetection:PatchTrackTrigger.PatchTrack] Running Loop=1
2022-02-20T13:25:35.381Z,1645363535.381 [trackPatchOil:PatchDetectHorizontal:PatchDetection:PatchTrackTrigger.PatchTrack](INFO): Initialize.
2022-02-20T13:25:35.384Z,1645363535.384 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:35.488Z,1645363535.488 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:35.592Z,1645363535.592 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:35.696Z,1645363535.696 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:35.800Z,1645363535.800 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:35.905Z,1645363535.905 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:36.008Z,1645363536.008 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:36.112Z,1645363536.112 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:36.216Z,1645363536.216 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:36.320Z,1645363536.320 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:36.424Z,1645363536.424 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:36.528Z,1645363536.528 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:36.632Z,1645363536.632 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:36.736Z,1645363536.736 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:36.840Z,1645363536.840 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:36.945Z,1645363536.945 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:37.048Z,1645363537.048 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:37.152Z,1645363537.152 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:37.256Z,1645363537.256 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:37.360Z,1645363537.360 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:37.464Z,1645363537.464 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:37.568Z,1645363537.568 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:37.672Z,1645363537.672 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:37.776Z,1645363537.776 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:37.880Z,1645363537.880 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:37.984Z,1645363537.984 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:38.088Z,1645363538.088 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:38.199Z,1645363538.199 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:38.300Z,1645363538.300 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:38.404Z,1645363538.404 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:38.508Z,1645363538.508 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:38.612Z,1645363538.612 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:38.716Z,1645363538.716 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:38.820Z,1645363538.820 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:38.924Z,1645363538.924 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:39.028Z,1645363539.028 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:39.133Z,1645363539.133 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:39.236Z,1645363539.236 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:39.340Z,1645363539.340 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:39.444Z,1645363539.444 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:39.548Z,1645363539.548 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:39.652Z,1645363539.652 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:39.756Z,1645363539.756 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:39.860Z,1645363539.860 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:39.964Z,1645363539.964 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:40.068Z,1645363540.068 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:40.172Z,1645363540.172 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:40.276Z,1645363540.276 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:40.380Z,1645363540.380 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:40.484Z,1645363540.484 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:40.588Z,1645363540.588 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:40.692Z,1645363540.692 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:40.796Z,1645363540.796 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:40.900Z,1645363540.900 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:41.004Z,1645363541.004 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:41.108Z,1645363541.108 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:41.212Z,1645363541.212 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:41.316Z,1645363541.316 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:41.432Z,1645363541.432 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:41.536Z,1645363541.536 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:41.640Z,1645363541.640 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:41.744Z,1645363541.744 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:41.852Z,1645363541.852 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:41.956Z,1645363541.956 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:42.060Z,1645363542.060 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:42.164Z,1645363542.164 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:42.268Z,1645363542.268 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:42.372Z,1645363542.372 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:42.476Z,1645363542.476 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:42.580Z,1645363542.580 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:42.684Z,1645363542.684 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:42.788Z,1645363542.788 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:42.892Z,1645363542.892 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:42.996Z,1645363542.996 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:43.100Z,1645363543.100 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:43.204Z,1645363543.204 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:43.308Z,1645363543.308 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:43.412Z,1645363543.412 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:43.496Z,1645363543.496 [CommandExec](IMPORTANT): got command stop
2022-02-20T13:25:43.497Z,1645363543.497 [CommandExec](IMPORTANT): Scheduling is paused
2022-02-20T13:25:43.497Z,1645363543.497 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2022-02-20T13:25:43.516Z,1645363543.516 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:43.620Z,1645363543.620 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:43.724Z,1645363543.724 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:43.828Z,1645363543.828 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=nan
2022-02-20T13:25:43.865Z,1645363543.865 [MissionManager](INFO): MissionManager is completed.
2022-02-20T13:25:43.865Z,1645363543.865 [MissionManager](INFO): Uninitializing Mission trackPatchOil
2022-02-20T13:25:43.865Z,1645363543.865 [trackPatchOil] Stopped
2022-02-20T13:25:43.866Z,1645363543.866 [trackPatchOil](DEBUG): Aggregate::uninitialize trackPatchOil
2022-02-20T13:25:43.866Z,1645363543.866 [trackPatchOil:A.AltitudeEnvelope] Stopped
2022-02-20T13:25:43.866Z,1645363543.866 [trackPatchOil:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2022-02-20T13:25:43.866Z,1645363543.866 [trackPatchOil:B.DepthEnvelope] Stopped
2022-02-20T13:25:43.866Z,1645363543.866 [trackPatchOil:B.DepthEnvelope](DEBUG): Uninitialize.
2022-02-20T13:25:43.866Z,1645363543.866 [trackPatchOil:F.OffshoreEnvelope] Stopped
2022-02-20T13:25:43.866Z,1645363543.866 [trackPatchOil:F.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2022-02-20T13:25:43.866Z,1645363543.866 [trackPatchOil:G.WaterDepthEnvelope] Stopped
2022-02-20T13:25:43.866Z,1645363543.866 [trackPatchOil:G.WaterDepthEnvelope](DEBUG): Uninitialize WaterDepthEnvelopeComponent.
2022-02-20T13:25:43.866Z,1645363543.866 [trackPatchOil:H.Pitch] Stopped
2022-02-20T13:25:43.866Z,1645363543.866 [trackPatchOil:I.Buoyancy] Stopped
2022-02-20T13:25:43.866Z,1645363543.866 [trackPatchOil:I.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2022-02-20T13:25:43.866Z,1645363543.866 [trackPatchOil:Science] Stopped
2022-02-20T13:25:43.867Z,1645363543.867 [trackPatchOil:Science](DEBUG): Aggregate::uninitialize trackPatchOil:Science
2022-02-20T13:25:43.867Z,1645363543.867 [trackPatchOil:Science:A] Stopped
2022-02-20T13:25:43.867Z,1645363543.867 [trackPatchOil:Science:Read_Oil] Stopped
2022-02-20T13:25:43.867Z,1645363543.867 [trackPatchOil:Science:OceanCurrent] Stopped
2022-02-20T13:25:43.867Z,1645363543.867 [trackPatchOil:Science:OceanCurrent](DEBUG): Aggregate::uninitialize trackPatchOil:Science:OceanCurrent
2022-02-20T13:25:43.867Z,1645363543.867 [trackPatchOil:Science:OceanCurrent:A.] Stopped
2022-02-20T13:25:43.867Z,1645363543.867 [trackPatchOil:K.SetSpeed] Stopped
2022-02-20T13:25:43.867Z,1645363543.867 [trackPatchOil:K.SetSpeed](DEBUG): Uninitialize.
2022-02-20T13:25:43.867Z,1645363543.867 [trackPatchOil:L.Pitch] Stopped
2022-02-20T13:25:43.867Z,1645363543.867 [trackPatchOil:PatchDetectHorizontal] Stopped
2022-02-20T13:25:43.867Z,1645363543.867 [trackPatchOil:PatchDetectHorizontal](DEBUG): Aggregate::uninitialize trackPatchOil:PatchDetectHorizontal
2022-02-20T13:25:43.867Z,1645363543.867 [trackPatchOil:PatchDetectHorizontal:PatchDetection] Stopped
2022-02-20T13:25:43.868Z,1645363543.868 [trackPatchOil:PatchDetectHorizontal:PatchDetection](DEBUG): Aggregate::uninitialize trackPatchOil:PatchDetectHorizontal:PatchDetection
2022-02-20T13:25:43.868Z,1645363543.868 [trackPatchOil:PatchDetectHorizontal:PatchDetection:PatchTrackTrigger.PatchTrack] Stopped
2022-02-20T13:25:43.868Z,1645363543.868 [trackPatchOil:PatchDetectHorizontal:PatchDetection:PatchTrackTrigger.PatchTrack](DEBUG): Uninitialize.
2022-02-20T13:25:43.868Z,1645363543.868 [trackPatchOil:PatchDetectHorizontal:CrossLeg] Stopped
2022-02-20T13:25:43.868Z,1645363543.868 [trackPatchOil:PatchDetectHorizontal:CrossLeg](DEBUG): Aggregate::uninitialize trackPatchOil:PatchDetectHorizontal:CrossLeg
2022-02-20T13:25:43.868Z,1645363543.868 [trackPatchOil:PatchDetectHorizontal:CrossLeg:CrossSurfaceWp.Waypoint] Stopped
2022-02-20T13:25:43.868Z,1645363543.868 [trackPatchOil:PatchDetectHorizontal:CrossLeg:CrossSurfaceWp.Waypoint](DEBUG): Uninitialize WaypointComponent.
2022-02-20T13:25:43.932Z,1645363543.932 [WetLabsSeaOWL_UV_A](INFO): Stop
2022-02-20T13:25:44.036Z,1645363544.036 [WetLabsSeaOWL_UV_A](INFO): Stopping
2022-02-20T13:25:44.270Z,1645363544.270 [MissionManager](IMPORTANT): Started mission Default
2022-02-20T13:25:44.271Z,1645363544.271 [Default] Running Loop=1
2022-02-20T13:25:44.271Z,1645363544.271 [Default](DEBUG): Aggregate::initialize Default
2022-02-20T13:25:44.271Z,1645363544.271 [Default:B.GoToSurface] Running Loop=1
2022-02-20T13:25:44.271Z,1645363544.271 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2022-02-20T13:25:44.271Z,1645363544.271 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2022-02-20T13:25:44.271Z,1645363544.271 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2022-02-20T13:25:44.272Z,1645363544.272 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2022-02-20T13:25:44.272Z,1645363544.272 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2022-02-20T13:25:44.273Z,1645363544.273 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2022-02-20T13:25:44.273Z,1645363544.273 [Default:A.Wait] Running Loop=1
2022-02-20T13:25:44.273Z,1645363544.273 [Default:A.Wait](DEBUG): Initialize Wait Component.
2022-02-20T13:25:57.597Z,1645363557.597 [Default:A.Wait](INFO): Done Waiting.
2022-02-20T13:25:57.598Z,1645363557.598 [Default:A.Wait] Stopped
2022-02-20T13:25:57.598Z,1645363557.598 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2022-02-20T13:25:58.003Z,1645363558.003 [Default:CheckIn] Running Loop=1
2022-02-20T13:25:58.003Z,1645363558.003 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2022-02-20T13:25:58.003Z,1645363558.003 [Default:CheckIn:Read_GPS] Running Loop=1
2022-02-20T13:27:12.334Z,1645363632.334 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2022-02-20T13:27:12.335Z,1645363632.335 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2022-02-20T13:27:12.335Z,1645363632.335 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2022-02-20T13:27:12.368Z,1645363632.368 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2022-02-20T13:27:12.753Z,1645363632.753 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2022-02-20T13:27:12.753Z,1645363632.753 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 0
2022-02-20T13:29:13.534Z,1645363753.534 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2022-02-20T13:29:13.534Z,1645363753.534 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2022-02-20T13:29:13.534Z,1645363753.534 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2022-02-20T13:29:13.561Z,1645363753.561 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2022-02-20T13:29:13.963Z,1645363753.963 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2022-02-20T13:29:13.963Z,1645363753.963 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 0
2022-02-20T13:30:58.175Z,1645363858.175 [Default:CheckIn:Read_GPS](INFO): Timed out from 2022-02-20T13:25:58.0Z
2022-02-20T13:30:58.175Z,1645363858.175 [Default:CheckIn:Read_GPS] Stopped
2022-02-20T13:30:58.175Z,1645363858.175 [Default:CheckIn:Read_Iridium] Running Loop=1
2022-02-20T13:30:58.584Z,1645363858.584 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2022-02-20T13:30:58.973Z,1645363858.973 [Micromodem](INFO): No more packets to send
2022-02-20T13:30:58.981Z,1645363858.981 [Default:CheckIn:Read_Iridium] Stopped
2022-02-20T13:30:58.982Z,1645363858.982 [Default:CheckIn:C.Wait] Running Loop=1
2022-02-20T13:30:58.982Z,1645363858.982 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2022-02-20T13:31:14.738Z,1645363874.738 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2022-02-20T13:31:14.738Z,1645363874.738 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2022-02-20T13:31:14.738Z,1645363874.738 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2022-02-20T13:31:14.750Z,1645363874.750 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2022-02-20T13:31:15.150Z,1645363875.150 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2022-02-20T13:31:15.150Z,1645363875.150 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 0
2022-02-20T13:31:31.702Z,1645363891.702 [NAL9602](INFO): Not Powering down - fast GPS
2022-02-20T13:33:15.934Z,1645363995.934 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2022-02-20T13:33:15.934Z,1645363995.934 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2022-02-20T13:33:15.934Z,1645363995.934 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2022-02-20T13:33:15.946Z,1645363995.946 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2022-02-20T13:33:16.391Z,1645363996.391 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2022-02-20T13:33:16.391Z,1645363996.391 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 0
2022-02-20T13:35:17.140Z,1645364117.140 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2022-02-20T13:35:17.140Z,1645364117.140 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2022-02-20T13:35:17.140Z,1645364117.140 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2022-02-20T13:35:17.152Z,1645364117.152 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2022-02-20T13:35:17.544Z,1645364117.544 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2022-02-20T13:35:17.544Z,1645364117.544 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 0
2022-02-20T13:35:59.556Z,1645364159.556 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2022-02-20T13:35:59.556Z,1645364159.556 [Default:CheckIn:C.Wait] Stopped
2022-02-20T13:35:59.556Z,1645364159.556 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2022-02-20T13:35:59.556Z,1645364159.556 [Default:CheckIn:D] Running Loop=1
2022-02-20T13:35:59.963Z,1645364159.963 [Default:CheckIn:D] Stopped
2022-02-20T13:35:59.963Z,1645364159.963 [Default:CheckIn:E] Running Loop=1
2022-02-20T13:36:00.377Z,1645364160.377 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 10.261535 min 
2022-02-20T13:36:00.377Z,1645364160.377 [Default:CheckIn:E] Stopped
2022-02-20T13:36:00.377Z,1645364160.377 [Default:CheckIn](INFO): Completed Default:CheckIn
2022-02-20T13:36:00.377Z,1645364160.377 [Default:CheckIn] Stopped
2022-02-20T13:36:00.378Z,1645364160.378 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2022-02-20T13:36:00.378Z,1645364160.378 [Default:CheckIn](INFO): Running loop #2
2022-02-20T13:36:00.378Z,1645364160.378 [Default:CheckIn] Running Loop=2
2022-02-20T13:36:00.378Z,1645364160.378 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2022-02-20T13:36:00.378Z,1645364160.378 [Default:CheckIn:Read_GPS] Running Loop=1
2022-02-20T13:36:01.978Z,1645364161.978 [NAL9602](FAULT): GPS failed to acquire within timeout.
2022-02-20T13:36:01.978Z,1645364161.978 [NAL9602] Data Fault, FailCount= 1
2022-02-20T13:36:01.978Z,1645364161.978 [NAL9602](ERROR): Data Fault
2022-02-20T13:36:02.016Z,1645364162.016 [CBIT](ERROR): Data Fault in component: NAL9602
2022-02-20T13:36:02.378Z,1645364162.378 [NAL9602](INFO): Powering down
2022-02-20T13:36:03.201Z,1645364163.201 [CBIT](INFO): Clearing failed state for component NAL9602
2022-02-20T13:36:03.201Z,1645364163.201 [NAL9602] No Fault, FailCount= 1
2022-02-20T13:36:09.250Z,1645364169.250 [NAL9602](INFO): No messages in MT queue
2022-02-20T13:37:18.334Z,1645364238.334 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2022-02-20T13:37:18.334Z,1645364238.334 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2022-02-20T13:37:18.334Z,1645364238.334 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2022-02-20T13:37:18.345Z,1645364238.345 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2022-02-20T13:37:18.753Z,1645364238.753 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2022-02-20T13:37:18.753Z,1645364238.753 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 0
2022-02-20T13:39:19.536Z,1645364359.536 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2022-02-20T13:39:19.536Z,1645364359.536 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2022-02-20T13:39:19.536Z,1645364359.536 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2022-02-20T13:39:19.548Z,1645364359.548 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2022-02-20T13:39:19.957Z,1645364359.957 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2022-02-20T13:39:19.957Z,1645364359.957 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 0
2022-02-20T13:39:44.184Z,1645364384.184 [VerticalControl](CRITICAL): Failure to ascend, stopping mission after 840.200562 seconds, depthRate=0.000000 m/s, pitch=nan deg.
2022-02-20T13:39:44.189Z,1645364384.189 [CommandExec](FAULT): Scheduling is paused
2022-02-20T13:39:44.189Z,1645364384.189 [CBIT](INFO): Critical error at 20220220T133944
2022-02-20T13:41:00.537Z,1645364460.537 [Default:CheckIn:Read_GPS](INFO): Timed out from 2022-02-20T13:36:00.4Z
2022-02-20T13:41:00.537Z,1645364460.537 [Default:CheckIn:Read_GPS] Stopped
2022-02-20T13:41:00.538Z,1645364460.538 [Default:CheckIn:Read_Iridium] Running Loop=1
2022-02-20T13:41:01.338Z,1645364461.338 [Micromodem](INFO): No more packets to send
2022-02-20T13:41:01.345Z,1645364461.345 [Default:CheckIn:Read_Iridium] Stopped
2022-02-20T13:41:01.345Z,1645364461.345 [Default:CheckIn:C.Wait] Running Loop=1
2022-02-20T13:41:01.345Z,1645364461.345 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2022-02-20T13:41:20.738Z,1645364480.738 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2022-02-20T13:41:20.738Z,1645364480.738 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2022-02-20T13:41:20.738Z,1645364480.738 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2022-02-20T13:41:20.750Z,1645364480.750 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2022-02-20T13:41:21.153Z,1645364481.153 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2022-02-20T13:41:21.153Z,1645364481.153 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 0
2022-02-20T13:41:33.258Z,1645364493.258 [NAL9602](INFO): Not Powering down - fast GPS
2022-02-20T13:43:21.939Z,1645364601.939 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2022-02-20T13:43:21.939Z,1645364601.939 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2022-02-20T13:43:21.940Z,1645364601.940 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2022-02-20T13:43:21.951Z,1645364601.951 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2022-02-20T13:43:22.345Z,1645364602.345 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2022-02-20T13:43:22.345Z,1645364602.345 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 0
2022-02-20T13:44:44.356Z,1645364684.356 [VerticalControl](CRITICAL): Failure to ascend, dropping drop weight after 300.170776 seconds, depthRate=0.000000 m/s, pitch=nan deg.
2022-02-20T13:44:44.372Z,1645364684.372 [CBIT](INFO): Critical error at 20220220T134444
2022-02-20T13:44:50.005Z,1645364690.005 [DropWeight](CRITICAL): DROP WEIGHT MISSING.

2022-02-20T13:44:50.005Z,1645364690.005 [DropWeight] Hardware Fault, FailCount= 1
2022-02-20T13:44:50.005Z,1645364690.005 [DropWeight](ERROR): Hardware Fault
2022-02-20T13:44:50.043Z,1645364690.043 [CBIT](INFO): Critical error at 20220220T134450
2022-02-20T13:44:50.045Z,1645364690.045 [CBIT](ERROR): Hardware Fault in component: DropWeight
2022-02-20T13:44:50.046Z,1645364690.046 [CBIT](CRITICAL): Hardware Fault in component: DropWeight
2022-02-20T13:44:50.418Z,1645364690.418 [CBIT](INFO): Critical error at 20220220T134450
2022-02-20T13:45:23.138Z,1645364723.138 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2022-02-20T13:45:23.138Z,1645364723.138 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2022-02-20T13:45:23.138Z,1645364723.138 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2022-02-20T13:45:23.149Z,1645364723.149 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2022-02-20T13:45:23.545Z,1645364723.545 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2022-02-20T13:45:23.545Z,1645364723.545 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 0
2022-02-20T13:46:01.926Z,1645364761.926 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2022-02-20T13:46:01.926Z,1645364761.926 [Default:CheckIn:C.Wait] Stopped
2022-02-20T13:46:01.926Z,1645364761.926 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2022-02-20T13:46:01.927Z,1645364761.927 [Default:CheckIn:D] Running Loop=1
2022-02-20T13:46:02.325Z,1645364762.325 [Default:CheckIn:D] Stopped
2022-02-20T13:46:02.325Z,1645364762.325 [Default:CheckIn:E] Running Loop=1
2022-02-20T13:46:02.729Z,1645364762.729 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 20.300905 min 
2022-02-20T13:46:02.729Z,1645364762.729 [Default:CheckIn:E] Stopped
2022-02-20T13:46:02.729Z,1645364762.729 [Default:CheckIn](INFO): Completed Default:CheckIn
2022-02-20T13:46:02.729Z,1645364762.729 [Default:CheckIn] Stopped
2022-02-20T13:46:02.729Z,1645364762.729 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2022-02-20T13:46:02.730Z,1645364762.730 [Default:CheckIn](INFO): Running loop #3
2022-02-20T13:46:02.730Z,1645364762.730 [Default:CheckIn] Running Loop=3
2022-02-20T13:46:02.730Z,1645364762.730 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2022-02-20T13:46:02.730Z,1645364762.730 [Default:CheckIn:Read_GPS] Running Loop=1
2022-02-20T13:46:05.154Z,1645364765.154 [NAL9602](FAULT): GPS failed to acquire within timeout.
2022-02-20T13:46:05.154Z,1645364765.154 [NAL9602] Data Fault, FailCount= 1
2022-02-20T13:46:05.154Z,1645364765.154 [NAL9602](ERROR): Data Fault
2022-02-20T13:46:05.170Z,1645364765.170 [CBIT](ERROR): Data Fault in component: NAL9602
2022-02-20T13:46:05.550Z,1645364765.550 [NAL9602](INFO): Powering down
2022-02-20T13:46:06.377Z,1645364766.377 [CBIT](INFO): Clearing failed state for component NAL9602
2022-02-20T13:46:06.377Z,1645364766.377 [NAL9602] No Fault, FailCount= 1
2022-02-20T13:46:09.190Z,1645364769.190 [NAL9602](INFO): No messages in MT queue
2022-02-20T13:47:24.334Z,1645364844.334 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2022-02-20T13:47:24.334Z,1645364844.334 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2022-02-20T13:47:24.334Z,1645364844.334 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2022-02-20T13:47:24.346Z,1645364844.346 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2022-02-20T13:47:24.749Z,1645364844.749 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2022-02-20T13:47:24.749Z,1645364844.749 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 0
2022-02-20T13:49:25.533Z,1645364965.533 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2022-02-20T13:49:25.533Z,1645364965.533 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2022-02-20T13:49:25.533Z,1645364965.533 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2022-02-20T13:49:25.562Z,1645364965.562 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2022-02-20T13:49:25.962Z,1645364965.962 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2022-02-20T13:49:25.962Z,1645364965.962 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 0
2022-02-20T13:51:02.905Z,1645365062.905 [Default:CheckIn:Read_GPS](INFO): Timed out from 2022-02-20T13:46:02.7Z
2022-02-20T13:51:02.905Z,1645365062.905 [Default:CheckIn:Read_GPS] Stopped
2022-02-20T13:51:02.906Z,1645365062.906 [Default:CheckIn:Read_Iridium] Running Loop=1
2022-02-20T13:51:03.701Z,1645365063.701 [Micromodem](INFO): No more packets to send
2022-02-20T13:51:03.724Z,1645365063.724 [Default:CheckIn:Read_Iridium] Stopped
2022-02-20T13:51:03.724Z,1645365063.724 [Default:CheckIn:C.Wait] Running Loop=1
2022-02-20T13:51:03.724Z,1645365063.724 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2022-02-20T13:51:26.410Z,1645365086.410 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2022-02-20T13:51:26.411Z,1645365086.411 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2022-02-20T13:51:26.411Z,1645365086.411 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2022-02-20T13:51:26.424Z,1645365086.424 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2022-02-20T13:51:26.740Z,1645365086.740 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2022-02-20T13:51:26.740Z,1645365086.740 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 0
2022-02-20T13:51:37.637Z,1645365097.637 [NAL9602](INFO): Not Powering down - fast GPS
2022-02-20T13:53:27.534Z,1645365207.534 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2022-02-20T13:53:27.534Z,1645365207.534 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2022-02-20T13:53:27.534Z,1645365207.534 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2022-02-20T13:53:27.546Z,1645365207.546 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2022-02-20T13:53:27.951Z,1645365207.951 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2022-02-20T13:53:27.951Z,1645365207.951 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 0
2022-02-20T13:55:28.735Z,1645365328.735 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2022-02-20T13:55:28.735Z,1645365328.735 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2022-02-20T13:55:28.735Z,1645365328.735 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2022-02-20T13:55:28.747Z,1645365328.747 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2022-02-20T13:55:29.157Z,1645365329.157 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2022-02-20T13:55:29.157Z,1645365329.157 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 0
2022-02-20T13:56:04.284Z,1645365364.284 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2022-02-20T13:56:04.284Z,1645365364.284 [Default:CheckIn:C.Wait] Stopped
2022-02-20T13:56:04.284Z,1645365364.284 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2022-02-20T13:56:04.285Z,1645365364.285 [Default:CheckIn:D] Running Loop=1
2022-02-20T13:56:04.688Z,1645365364.688 [Default:CheckIn:D] Stopped
2022-02-20T13:56:04.688Z,1645365364.688 [Default:CheckIn:E] Running Loop=1
2022-02-20T13:56:05.099Z,1645365365.099 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 30.340291 min 
2022-02-20T13:56:05.099Z,1645365365.099 [Default:CheckIn:E] Stopped
2022-02-20T13:56:05.099Z,1645365365.099 [Default:CheckIn](INFO): Completed Default:CheckIn
2022-02-20T13:56:05.099Z,1645365365.099 [Default:CheckIn] Stopped
2022-02-20T13:56:05.099Z,1645365365.099 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2022-02-20T13:56:05.099Z,1645365365.099 [Default:CheckIn](INFO): Running loop #4